adhoc

completed
2026-09-23T18:45:06.835512+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
204.2 s
total steps
338
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe open red safe is near the back of the table, with a white toy on its left and brown and yellow toys to its right. I’m moving the left gripper above the white toy to line up a grasp.
move_to
left_x0.3500left_y-0.1700left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3916, -0.0193, -0.0299, 0.9993, -0.0212, 0.7933, 0.6075, -0.3965, -0.0204, -0.0154, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0003 left_pitch=-0.0008 left_roll=0.0002 left_gripper=0.9993 right_x=0.2929 right_y=0.001 right_z=0.1783 right_yaw=0.0002 right_pitch=0.0004 right_roll=-0.0003 right_gripper=0.9996 state[joint_eff]: [-0.5812, -1.0872, 10.3179, 2.0195, -0.0855, 0.1538, -0.0855, -0.5675, -1.3333, 9.6889, 1.9219, -0.0562, 0.0611, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.15},"note":"The open red safe is near the back of the table, with a white toy on its left and brown and yellow toys to its right. I’m moving the left gripper above the white toy to line up a grasp."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe white toy is centered on the left wrist camera’s jaw column, and the gripper is above its body. I’m lowering to a mid-body grasp height without shifting sideways.
move_to
left_x0.3400left_y-0.1600left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.704, 1.3769, 0.7895, -0.1936, -0.5446, -0.4515, 0.9992, -0.0212, 0.7986, 0.6094, -0.432, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3386 left_y=-0.1628 left_z=0.1296 left_yaw=-0.0234 left_pitch=-0.0676 left_roll=0.0322 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1706 right_yaw=0.002 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9996 state[joint_eff]: [-0.3077, -5.7915, 9.0051, 1.7314, -0.5201, -0.022, -0.0171, -0.212, -1.6752, 6.9538, 2.0928, -0.0562, -0.0415, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.16,"left_z":0.055},"note":"The white toy is centered on the left wrist camera’s jaw column, and the gripper is above its body. I’m lowering to a mid-body grasp height without shifting sideways."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left gripper is down alongside the white toy’s lower body, with the toy still centered between the jaws in the wrist view. I’m closing the jaws to test the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6987, 1.5429, 0.6056, 0.0692, -0.5415, -0.45, 0.9992, -0.0212, 0.8017, 0.6029, -0.4549, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3282 left_y=-0.1521 left_z=0.0451 left_yaw=-0.0156 left_pitch=-0.1366 left_roll=0.0868 left_gripper=0.9992 right_x=0.2845 right_y=0.0011 right_z=0.1623 right_yaw=0.002 right_pitch=-0.0709 right_roll=-0.0021 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.2427, 5.8188, 1.7118, -0.1783, 0.0904, -0.0122, -0.0205, -1.4154, 7.4735, 1.873, -0.0855, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper is down alongside the white toy’s lower body, with the toy still centered between the jaws in the wrist view. I’m closing the jaws to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe jaws closed almost completely and the white toy remains visible ahead of them, so the first grasp was empty. I’m reopening and advancing a few centimeters while lifting clear for a second, better-centered attempt.
move_to
left_x0.3650left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6991, 1.5558, 0.5953, 0.0654, -0.5392, -0.4545, 0.0104, -0.0212, 0.8017, 0.6018, -0.4778, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3242 left_y=-0.1494 left_z=0.0367 left_yaw=-0.0125 left_pitch=-0.1584 left_roll=0.0992 left_gripper=0.0104 right_x=0.2808 right_y=0.0011 right_z=0.1573 right_yaw=0.0018 right_pitch=-0.095 right_roll=-0.0017 right_gripper=0.9996 state[joint_eff]: [-0.1299, -7.0222, 6.2427, 1.409, -0.2564, 0.0513, 0.8767, -0.0615, -1.2103, 7.0222, 1.8926, -0.0269, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_z":0.12,"left_gripper":1},"note":"The jaws closed almost completely and the white toy remains visible ahead of them, so the first grasp was empty. I’m reopening and advancing a few centimeters while lifting clear for a second, better-centered attempt."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteAfter advancing, the white toy’s torso now reaches the jaw area of the left wrist view. I’m lowering the open jaws around it before closing again.
move_to
left_x0.3600left_y-0.1500left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6121, 1.5124, 0.8646, -0.2569, -0.4896, -0.3977, 0.995, -0.0212, 0.8024, 0.6018, -0.4999, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.3574 left_y=-0.145 left_z=0.098 left_yaw=0.0077 left_pitch=-0.1931 left_roll=0.1159 left_gripper=0.995 right_x=0.2774 right_y=0.0012 right_z=0.1529 right_yaw=0.0018 right_pitch=-0.1178 right_roll=-0.0012 right_gripper=0.9996 state[joint_eff]: [0.5812, -8.1299, 8.9778, 1.3797, -0.1587, 0.1538, -0.0464, -0.2256, -1.1419, 7.0906, 1.8339, -0.0366, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.15,"left_z":0.04},"note":"After advancing, the white toy’s torso now reaches the jaw area of the left wrist view. I’m lowering the open jaws around it before closing again."})
tool
executing move_to over 4 steps (0.4s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe left fingertips are now low on either side of the white toy’s torso, with the toy aligned in the wrist view. I’m closing for the second grasp and will use the jaw reading to check whether it 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]: [-0.6201, 1.6512, 0.7574, -0.0971, -0.487, -0.4019, 0.9963, -0.0212, 0.8051, 0.6018, -0.5163, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3475 left_y=-0.1421 left_z=0.0327 left_yaw=0.0119 left_pitch=-0.2639 left_roll=0.1629 left_gripper=0.9963 right_x=0.2748 right_y=0.0013 right_z=0.1492 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0005 right_gripper=0.9996 state[joint_eff]: [-0.2803, -7.5145, 6.0786, 1.6532, -0.3004, -0.0464, 0.1245, -0.0342, -1.4017, 7.159, 1.8437, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingertips are now low on either side of the white toy’s torso, with the toy aligned in the wrist view. I’m closing for the second grasp and will use the jaw reading to check whether it caught."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe second left-hand close also read empty, so I’m stopping repeated attempts at the white toy and clearing that arm. I’m bringing the right gripper over the brown plush toy to try a better-supported grasp there.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.3400right_y0.1700right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6205, 1.6699, 0.746, -0.094, -0.487, -0.4053, 0.0193, -0.0212, 0.8055, 0.6018, -0.5453, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.3434 left_y=-0.1394 left_z=0.023 left_yaw=0.0179 left_pitch=-0.2854 left_roll=0.1773 left_gripper=0.0193 right_x=0.27 right_y=0.0014 right_z=0.1438 right_yaw=0.0023 right_pitch=-0.1663 right_roll=0.0002 right_gripper=0.9996 state[joint_eff]: [0.0068, -8.4991, 6.3658, 1.2039, -0.2173, 0.0024, 0.9011, -0.1709, -1.1966, 6.8855, 1.8388, -0.022, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.34,"right_y":0.17,"right_z":0.15},"note":"The second left-hand close also read empty, so I’m stopping repeated attempts at the white toy and clearing that arm. I’m bringing the right gripper over the brown plush toy to try a better-supported grasp there."})
tool
executing move_to over 15 steps (1.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe brown plush is just left of the right gripper’s jaw column, while its torso is close enough in depth to grasp. I’m shifting the right gripper left a few centimeters and descending partway to align with its body.
move_to
right_x0.3400right_y0.2150right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.152, 1.034, 0.8513, -0.7223, -0.231, -0.0433, 0.9971, 0.6559, 1.393, 0.9314, -0.4728, 0.4294, 0.4412, 0.9996] state[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1631 left_yaw=0.0615 left_pitch=-0.3055 left_roll=0.1719 left_gripper=0.9971 right_x=0.3252 right_y=0.162 right_z=0.131 right_yaw=0.0359 right_pitch=-0.2384 right_roll=-0.0501 right_gripper=0.9996 state[joint_eff]: [0.253, -3.3299, 9.4427, 1.5458, -0.0855, 0.1685, 0.022, 0.1709, -5.4632, 9.0188, 1.6386, 0.3834, 0.2564, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.215,"right_z":0.095},"note":"The brown plush is just left of the right gripper’s jaw column, while its torso is close enough in depth to grasp. I’m shifting the right gripper left a few centimeters and descending partway to align with its body."})
tool
executing move_to over 5 steps (0.5s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe brown toy is now centered across the right wrist view, with its fur filling the space between the open jaws. I’m lowering to a firm torso-grasp height before closing.
move_to
right_x0.3250right_y0.2050right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0348, 0.8555, -0.7567, -0.2192, -0.0391, 0.9977, 0.7574, 1.6077, 0.96, -0.4149, 0.4603, 0.5064, 0.9996] state[eef_state]: left_x=0.2839 left_y=-0.0007 left_z=0.1592 left_yaw=0.0522 left_pitch=-0.3381 left_roll=0.1717 left_gripper=0.9977 right_x=0.322 right_y=0.2015 right_z=0.0765 right_yaw=0.0547 right_pitch=-0.321 right_roll=-0.1091 right_gripper=0.9996 state[joint_eff]: [-0.3077, -2.6872, 6.3111, 1.663, -0.2418, -0.1099, 0.0415, 0.1983, -7.2137, 9.2923, 1.5165, 0.4811, 0.232, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.325,"right_y":0.205,"right_z":0.035},"note":"The brown toy is now centered across the right wrist view, with its fur filling the space between the open jaws. I’m lowering to a firm torso-grasp height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe right gripper stopped descending with the brown toy directly between its fingertips, suggesting it has met the toy rather than empty table. I’m closing the jaws now and checking whether they remain separated by the toy.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.765, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9771, -0.3923, 0.4747, 0.5247, 0.9996] state[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1579 left_yaw=0.0559 left_pitch=-0.3462 left_roll=0.1729 left_gripper=0.9977 right_x=0.3282 right_y=0.2079 right_z=0.079 right_yaw=0.0455 right_pitch=-0.2965 right_roll=-0.0932 right_gripper=0.9996 state[joint_eff]: [-0.212, -2.6735, 6.6667, 1.3748, -0.1343, -0.0464, -0.0024, -0.3487, -7.6513, 8.2256, 1.5018, 0.3199, 0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right gripper stopped descending with the brown toy directly between its fingertips, suggesting it has met the toy rather than empty table. I’m closing the jaws now and checking whether they remain separated by the toy."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe right jaws also closed empty, and the brown toy is still ahead of the fingertip area in the wrist image. I’m lifting, reopening, and advancing about 3 cm for one adjusted grasp.
move_to
right_x0.3600right_y0.2150right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.7681, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9764, -0.3943, 0.4709, 0.524, 0.009] state[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1575 left_yaw=0.0561 left_pitch=-0.3491 left_roll=0.1736 left_gripper=0.9977 right_x=0.3274 right_y=0.208 right_z=0.0783 right_yaw=0.048 right_pitch=-0.3007 right_roll=-0.093 right_gripper=0.009 state[joint_eff]: [-0.1709, -2.5504, 6.7077, 1.3162, -0.1441, -0.0366, -0.0122, -0.2393, -7.3504, 6.2154, 1.16, 0.2173, -0.0073, 0.7399] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.215,"right_z":0.13,"right_gripper":1},"note":"The right jaws also closed empty, and the brown toy is still ahead of the fingertip area in the wrist image. I’m lifting, reopening, and advancing about 3 cm for one adjusted grasp."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe adjusted right gripper is now further over the brown toy; its torso runs beneath the jaw column. I’m lowering gently toward table level so the fingertips surround the plush rather than closing above it.
move_to
right_x0.3650right_y0.2100right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.037, 0.8555, -0.7715, -0.2211, -0.0422, 0.9977, 0.7166, 1.6592, 1.1957, -0.5972, 0.4442, 0.4709, 0.9945] state[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1565 left_yaw=0.0568 left_pitch=-0.3543 left_roll=0.175 left_gripper=0.9977 right_x=0.3502 right_y=0.2091 right_z=0.1189 right_yaw=0.0463 right_pitch=-0.3305 right_roll=-0.1195 right_gripper=0.9945 state[joint_eff]: [-0.0615, -2.7556, 6.6393, 1.4042, -0.1783, -0.0708, -0.0122, -0.6496, -6.6667, 8.7179, 1.4237, 0.1929, -0.022, 0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.21,"right_z":0.005},"note":"The adjusted right gripper is now further over the brown toy; its torso runs beneath the jaw column. I’m lowering gently toward table level so the fingertips surround the plush rather than closing above it."})
tool
executing move_to over 8 steps (0.8s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe right fingertips have reached near-table height around the brown toy’s fur. I’m closing for the revised grasp and will lift only if the settled opening shows something between the jaws.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6945, 1.8606, 0.9928, -0.2119, 0.4274, 0.4519, 0.9953] state[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3584 right_y=0.2079 right_z=0.0134 right_yaw=0.0432 right_pitch=-0.3559 right_roll=-0.1318 right_gripper=0.9953 state[joint_eff]: [-0.0615, -2.7145, 6.8171, 1.2821, -0.1441, -0.022, -0.0122, -0.4581, -7.0222, 4.7248, 1.2234, 0.232, -0.1392, 0.0708] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right fingertips have reached near-table height around the brown toy’s fur. I’m closing for the revised grasp and will lift only if the settled opening shows something between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe second brown-toy close also settled nearly shut, so it did not make a secure grasp. I’m leaving that toy for a different approach and moving the reopened right gripper above the yellow object beside the safe.
move_to
right_x0.4500right_y0.1650right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6941, 1.8702, 0.9874, -0.2039, 0.4255, 0.445, 0.0233] state[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3574 right_y=0.2072 right_z=0.0088 right_yaw=0.0467 right_pitch=-0.3629 right_roll=-0.1391 right_gripper=0.0233 state[joint_eff]: [-0.1162, -2.6598, 6.8034, 1.2772, -0.1783, -0.0562, -0.0122, -0.2256, -9.6479, 5.8735, 1.0085, 0.188, 0.022, 0.906] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.165,"right_z":0.18,"right_gripper":1},"note":"The second brown-toy close also settled nearly shut, so it did not make a secure grasp. I’m leaving that toy for a different approach and moving the reopened right gripper above the yellow object beside the safe."})
tool
executing move_to over 12 steps (1.2s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe yellow object is centered in the right wrist camera next to the safe’s open rim, but appears forward of the fingertips. I’m moving slightly forward and down to bring the open jaws around it without contacting the safe.
move_to
right_x0.4650right_y0.1650right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7868, -0.2211, -0.0422, 0.9977, 0.4641, 1.8542, 1.6512, -0.7975, 0.3115, 0.2344, 0.996] state[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1533 left_yaw=0.0584 left_pitch=-0.3737 left_roll=0.1794 left_gripper=0.9977 right_x=0.4469 right_y=0.1672 right_z=0.1745 right_yaw=0.0453 right_pitch=-0.354 right_roll=-0.1344 right_gripper=0.996 state[joint_eff]: [-0.1162, -2.9607, 6.8171, 1.4432, -0.188, -0.0171, -0.0122, -0.335, -8.6496, 7.706, 1.0427, 0.0952, -0.0952, -0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.165,"right_z":0.075},"note":"The yellow object is centered in the right wrist camera next to the safe’s open rim, but appears forward of the fingertips. I’m moving slightly forward and down to bring the open jaws around it without contacting the safe."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe yellow object remains well ahead of the jaws as the right gripper descends, while the safe rim is immediately to its left. I’m advancing toward it at low height, within the arm’s table-level reach, to line up the fingertip gap.
move_to
right_x0.4900right_y0.1650right_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7937, -0.2211, -0.0422, 0.9977, 0.4435, 1.9461, 1.4101, -0.5186, 0.2958, 0.2123, 0.9973] state[eef_state]: left_x=0.2769 left_y=0.0007 left_z=0.1523 left_yaw=0.059 left_pitch=-0.3804 left_roll=0.181 left_gripper=0.9977 right_x=0.4505 right_y=0.161 right_z=0.0763 right_yaw=0.0421 right_pitch=-0.4107 right_roll=-0.158 right_gripper=0.9973 state[joint_eff]: [-0.1162, -2.6598, 6.6256, 1.3748, -0.1832, -0.0366, -0.0122, -0.6632, -9.3744, 6.694, 1.5067, 0.1197, -0.0024, 0.1245] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.165,"right_z":0.005},"note":"The yellow object remains well ahead of the jaws as the right gripper descends, while the safe rim is immediately to its left. I’m advancing toward it at low height, within the arm’s table-level reach, to line up the fingertip gap."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe yellow object is still clearly visible ahead of the fingertip convergence, even at the present low pose. I’m extending a few centimeters more while keeping the jaws clear of the safe’s metal edge.
move_to
right_x0.5300right_y0.1600right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0451, 0.8555, -0.7952, -0.2211, -0.0422, 0.9977, 0.4171, 2.1048, 1.4666, -0.347, 0.2867, 0.1925, 0.9974] state[eef_state]: left_x=0.2768 left_y=0.0007 left_z=0.1513 left_yaw=0.0594 left_pitch=-0.3853 left_roll=0.1821 left_gripper=0.9977 right_x=0.4935 right_y=0.168 right_z=0.042 right_yaw=0.0456 right_pitch=-0.3509 right_roll=-0.1343 right_gripper=0.9974 state[joint_eff]: [-0.0615, -2.9197, 6.7214, 1.2723, -0.1734, -0.0366, -0.0122, -0.6769, -6.6393, 5.4085, 0.5836, 0.0269, -0.1245, -0.0024] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.16,"right_z":0.03},"note":"The yellow object is still clearly visible ahead of the fingertip convergence, even at the present low pose. I’m extending a few centimeters more while keeping the jaws clear of the safe’s metal edge."})
tool
executing move_to over 3 steps (0.3s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe gripper’s readback stopped near x=0.49 instead of reaching the yellow object, so this is a reach limit rather than a grasp alignment problem. I’m raising and pitching the tool forward to see whether the fingertips can safely reach it from a less folded wrist pose.
move_to
right_x0.5200right_y0.1600right_z0.0600right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0454, 0.8555, -0.7944, -0.2207, -0.0418, 0.9977, 0.4072, 2.1696, 1.4647, -0.3225, 0.2867, 0.1829, 0.9974] state[eef_state]: left_x=0.2769 left_y=0.0006 left_z=0.1512 left_yaw=0.0588 left_pitch=-0.385 left_roll=0.1819 left_gripper=0.9977 right_x=0.4941 right_y=0.1626 right_z=0.0121 right_yaw=0.0352 right_pitch=-0.391 right_roll=-0.1568 right_gripper=0.9974 state[joint_eff]: [-0.0752, -2.5778, 6.6667, 1.2821, -0.1587, 0.0122, -0.0122, 0.294, -11.0154, 5.8325, 1.1209, 0.0513, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.16,"right_z":0.06,"right_pitch":0.45},"note":"The gripper’s readback stopped near x=0.49 instead of reaching the yellow object, so this is a reach limit rather than a grasp alignment problem. I’m raising and pitching the tool forward to see whether the fingertips can safely reach it from a less folded wrist pose."})
tool
executing move_to over 29 steps (2.9s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteWith the tool pitched forward, the yellow object now sits between the projected jaw tips and the right arm reached x≈0.52. I’m lowering just a little so the jaws can contact the object’s sides rather than closing over its top.
move_to
right_x0.5300right_y0.1600right_z0.0250right_pitch0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0473, 0.8555, -0.8024, -0.2207, -0.0425, 0.9977, 0.4397, 2.2589, 0.9768, 1.0649, 0.4759, -0.0608, 0.9974] state[eef_state]: left_x=0.2754 left_y=0.0009 left_z=0.1497 left_yaw=0.0601 left_pitch=-0.3946 left_roll=0.1837 left_gripper=0.9977 right_x=0.5188 right_y=0.1585 right_z=0.0494 right_yaw=0.0451 right_pitch=0.3829 right_roll=-0.1681 right_gripper=0.9974 state[joint_eff]: [-0.0479, -2.7966, 6.8308, 1.3309, -0.1441, -0.0708, -0.0122, 0.4171, -9.4291, 4.4239, 2.3126, 0.1832, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.16,"right_z":0.025,"right_pitch":0.45},"note":"With the tool pitched forward, the yellow object now sits between the projected jaw tips and the right arm reached x≈0.52. I’m lowering just a little so the jaws can contact the object’s sides rather than closing over its top."})
tool
executing move_to over 3 steps (0.3s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe yellow object now extends down between the open right jaws at near-table height. I’m closing carefully and will check the settled jaw spacing before transporting it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8093, -0.2207, -0.0422, 0.9977, 0.4347, 2.3707, 1.0206, 1.206, 0.4747, -0.0792, 0.9974] state[eef_state]: left_x=0.2741 left_y=0.0011 left_z=0.1483 left_yaw=0.0606 left_pitch=-0.4032 left_roll=0.1859 left_gripper=0.9977 right_x=0.5283 right_y=0.1602 right_z=0.0377 right_yaw=0.0397 right_pitch=0.4488 right_roll=-0.1567 right_gripper=0.9974 state[joint_eff]: [-0.1846, -2.7009, 6.7214, 1.3651, -0.1392, -0.0513, -0.0122, -0.212, -9.3607, 5.2171, 1.79, -0.0073, -0.1685, -0.0122] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow object now extends down between the open right jaws at near-table height. I’m closing carefully and will check the settled jaw spacing before transporting it."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe yellow object slipped forward out of the closing jaws and is now farther from the right arm, so I’m not repeating that contact at the reach limit. I’m returning to the brown toy with the jaws rotated, aiming to clasp its body from a different direction.
move_to
right_x0.3300right_y0.2200right_z0.1500right_pitch0.0000right_yaw1.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8162, -0.2207, -0.0422, 0.9977, 0.429, 2.4035, 1.0241, 1.2293, 0.474, -0.0902, 0.0088] state[eef_state]: left_x=0.2727 left_y=0.0013 left_z=0.1474 left_yaw=0.0613 left_pitch=-0.41 left_roll=0.1875 left_gripper=0.9977 right_x=0.5284 right_y=0.1569 right_z=0.0268 right_yaw=0.0424 right_pitch=0.4422 right_roll=-0.1713 right_gripper=0.0088 state[joint_eff]: [0.0068, -2.6735, 6.5709, 1.2674, -0.1832, -0.0317, -0.0122, 0.2256, -9.7983, 5.0667, 1.9707, 0.0562, 0.0073, 0.7253] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.33,"right_y":0.22,"right_z":0.15,"right_pitch":0,"right_yaw":1.3,"right_gripper":1},"note":"The yellow object slipped forward out of the closing jaws and is now farther from the right arm, so I’m not repeating that contact at the reach limit. I’m returning to the brown toy with the jaws rotated, aiming to clasp its body from a different direction."})
tool
executing move_to over 16 steps (1.6s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteRotating the right gripper revealed that the brown toy is actually behind the fingertip position, near the bottom of the wrist view. I’m backing toward the base and shifting left to place the open jaws directly above its body.
move_to
right_x0.2850right_y0.2600right_z0.1250right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0542, 0.8555, -0.8246, -0.2207, -0.0422, 0.9977, 0.2726, 1.5166, 0.8963, -0.1078, -0.664, -0.7166, 0.9961] state[eef_state]: left_x=0.2711 left_y=0.0015 left_z=0.1451 left_yaw=0.0625 left_pitch=-0.423 left_roll=0.1906 left_gripper=0.9977 right_x=0.3513 right_y=0.2149 right_z=0.143 right_yaw=1.1947 right_pitch=0.021 right_roll=-0.1807 right_gripper=0.9961 state[joint_eff]: [-0.1436, -2.8376, 6.5436, 1.3455, -0.1245, -0.0269, -0.0122, 0.2393, -8.335, 8.1846, 1.4676, -0.398, -0.0415, -0.1148] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.26,"right_z":0.125,"right_yaw":1.57},"note":"Rotating the right gripper revealed that the brown toy is actually behind the fingertip position, near the bottom of the wrist view. I’m backing toward the base and shifting left to place the open jaws directly above its body."})
tool
executing move_to over 6 steps (0.6s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe brown toy’s face is now visible low and left in the right wrist camera; the jaws still sit slightly to its right. I’m shifting left and a little back, then lowering toward its torso.
move_to
right_x0.2700right_y0.2950right_z0.0900right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8276, -0.2207, -0.0425, 0.9977, 0.3702, 1.5459, 0.8906, -0.231, -0.8021, -0.9318, 0.9973] state[eef_state]: left_x=0.2705 left_y=0.0016 left_z=0.1446 left_yaw=0.0631 left_pitch=-0.4263 left_roll=0.1911 left_gripper=0.9977 right_x=0.2942 right_y=0.2542 right_z=0.1249 right_yaw=1.5028 right_pitch=0.0043 right_roll=-0.1749 right_gripper=0.9973 state[joint_eff]: [-0.1573, -2.7282, 6.5573, 1.2137, -0.1441, -0.0757, -0.0122, 0.212, -5.6547, 6.8171, 1.326, -0.5299, -0.1197, 0.1148] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.27,"right_y":0.295,"right_z":0.09,"right_yaw":1.57},"note":"The brown toy’s face is now visible low and left in the right wrist camera; the jaws still sit slightly to its right. I’m shifting left and a little back, then lowering toward its torso."})
tool
executing move_to over 4 steps (0.4s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
assistant
agent noteThe brown toy is horizontally centered but still below the visible fingertip area in the rotated wrist view. Moving the arm backward made that worse, so I’m advancing about 6 cm while lowering to put the toy between the jaws.
move_to
right_x0.3200right_y0.2900right_z0.0550right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8284, -0.2207, -0.0422, 0.9977, 0.5053, 1.615, 0.8104, -0.0914, -0.765, -0.886, 0.9974] state[eef_state]: left_x=0.2704 left_y=0.0016 left_z=0.1445 left_yaw=0.0629 left_pitch=-0.4271 left_roll=0.1915 left_gripper=0.9977 right_x=0.2613 right_y=0.2884 right_z=0.0868 right_yaw=1.5897 right_pitch=-0.0219 right_roll=-0.1412 right_gripper=0.9974 state[joint_eff]: [-0.0068, -2.5641, 6.5709, 1.1795, -0.1783, -0.0708, -0.0122, -0.4855, -6.5162, 6.1744, 1.5458, -0.3297, 0.1294, 0.0024] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.29,"right_z":0.055,"right_yaw":1.57},"note":"The brown toy is horizontally centered but still below the visible fingertip area in the rotated wrist view. Moving the arm backward made that worse, so I’m advancing about 6 cm while lowering to put the toy between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 216
assistant
agent noteThe brown toy remains below the gripper in the wrist view, and that approach is not tracking forward cleanly. The overhead view now shows the white toy clearly left and behind where the left fingertips had been; I’m clearing the right arm and positioning the left gripper over the white toy’s actual table location.
move_to
right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000left_x0.3000left_y-0.1050left_z0.1300left_yaw0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1509, 1.055, 0.8555, -0.8391, -0.2207, -0.0422, 0.9977, 0.485, 1.6634, 0.8165, -0.0742, -0.7601, -0.8906, 0.9974] state[eef_state]: left_x=0.2682 left_y=0.002 left_z=0.1431 left_yaw=0.064 left_pitch=-0.4379 left_roll=0.1941 left_gripper=0.9977 right_x=0.2702 right_y=0.2841 right_z=0.0734 right_yaw=1.5695 right_pitch=-0.0374 right_roll=-0.1245 right_gripper=0.9974 state[joint_eff]: [-0.1026, -2.6462, 6.5436, 1.2674, -0.1929, -0.0366, -0.0122, 0.0479, -6.9812, 7.5145, 1.1941, -0.5201, -0.1587, -0.0122] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_yaw":0,"right_gripper":1,"left_x":0.3,"left_y":-0.105,"left_z":0.13,"left_yaw":0,"left_pitch":0},"note":"The brown toy remains below the gripper in the wrist view, and that approach is not tracking forward cleanly. The overhead view now shows the white toy clearly left and behind where the left fingertips had been; I’m clearing the right arm and positioning the left gripper over the white toy’s actual table location."})
tool
executing move_to over 24 steps (2.4s)
step 240
assistant
agent noteThe white toy now appears close to the left fingertip area, though slightly right of the jaw column. I’m shifting right about 1.5 cm and descending to its torso height for a newly measured grasp.
move_to
left_x0.3100left_y-0.1200left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6949, 1.1164, 0.5797, -0.2707, -0.635, -0.3199, 0.9977, 0.062, 0.8108, 0.606, -0.474, 0.0555, -0.1261, 0.999] state[eef_state]: left_x=0.2938 left_y=-0.1038 left_z=0.1223 left_yaw=-0.0184 left_pitch=-0.0564 left_roll=0.2049 left_gripper=0.9977 right_x=0.282 right_y=0.0113 right_z=0.1577 right_yaw=0.0807 right_pitch=-0.1007 right_roll=-0.1326 right_gripper=0.999 state[joint_eff]: [-0.335, -2.9607, 6.147, 1.7021, -0.4957, -0.0415, -0.0122, -0.335, -1.0462, 9.6479, 2.0635, 0.0806, 0.232, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.12,"left_z":0.055},"note":"The white toy now appears close to the left fingertip area, though slightly right of the jaw column. I’m shifting right about 1.5 cm and descending to its torso height for a newly measured grasp."})
tool
executing move_to over 5 steps (0.5s)
step 245
assistant
agent noteAt the new pose, the white toy’s torso is centered in the left wrist image and fills the fingertip area. I’m closing the left jaws and checking whether they stop on its body.
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]: [-0.7006, 1.3827, 0.4656, 0.0139, -0.6437, -0.3241, 0.9977, 0.0593, 0.8143, 0.6075, -0.5003, 0.0631, -0.1238, 0.999] state[eef_state]: left_x=0.2986 left_y=-0.1084 left_z=0.0475 left_yaw=-0.0101 left_pitch=-0.126 left_roll=0.2674 left_gripper=0.9977 right_x=0.2783 right_y=0.009 right_z=0.1525 right_yaw=0.0704 right_pitch=-0.1289 right_roll=-0.1353 right_gripper=0.999 state[joint_eff]: [-0.5402, -5.094, 5.4496, 1.5311, -0.2418, -0.0855, -0.0122, 0.0342, -1.4974, 6.7897, 1.8535, -0.1148, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At the new pose, the white toy’s torso is centered in the left wrist image and fills the fingertip area. I’m closing the left jaws and checking whether they stop on its body."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteThe white toy is still visible in its own wrist camera and the jaws closed empty, which means it remains in front of the actual grasp point despite the apparent image overlap. I’m reopening and advancing farther along the centered jaw column, lifting first to avoid dragging it.
move_to
left_x0.3700left_y-0.1050left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.701, 1.4006, 0.458, 0.0055, -0.6411, -0.3267, 0.0102, 0.0593, 0.8165, 0.6067, -0.5236, 0.0635, -0.1238, 0.999] state[eef_state]: left_x=0.2945 left_y=-0.1056 left_z=0.0388 left_yaw=-0.0079 left_pitch=-0.1531 left_roll=0.2856 left_gripper=0.0102 right_x=0.2744 right_y=0.0087 right_z=0.1473 right_yaw=0.0701 right_pitch=-0.1552 right_roll=-0.1352 right_gripper=0.999 state[joint_eff]: [-0.1709, -5.8051, 6.2154, 1.3553, -0.3785, 0.022, 0.8034, -0.0889, -0.9504, 6.9812, 1.7851, -0.0317, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.105,"left_z":0.1,"left_gripper":1},"note":"The white toy is still visible in its own wrist camera and the jaws closed empty, which means it remains in front of the actual grasp point despite the apparent image overlap. I’m reopening and advancing farther along the centered jaw column, lifting first to avoid dragging it."})
tool
executing move_to over 10 steps (1.0s)
step 265
assistant
agent noteAdvancing brought the white toy down to the bottom of the left wrist view while preserving horizontal alignment. I’m lowering the jaws close to table height so they straddle its lower torso rather than its head.
move_to
left_x0.3700left_y-0.1050left_z0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5262, 1.4757, 0.7593, -0.1566, -0.5419, -0.1883, 0.9952, 0.0593, 0.8173, 0.606, -0.5537, 0.0639, -0.1234, 0.9989] state[eef_state]: left_x=0.3601 left_y=-0.0997 left_z=0.0896 left_yaw=0.0156 left_pitch=-0.1679 left_roll=0.2877 left_gripper=0.9952 right_x=0.2693 right_y=0.0083 right_z=0.1413 right_yaw=0.0696 right_pitch=-0.1868 right_roll=-0.1349 right_gripper=0.9989 state[joint_eff]: [0.4034, -5.2171, 8.3761, 1.536, -0.1148, 0.1636, -0.1441, -0.1846, -1.2923, 6.9402, 1.8779, 0.0024, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.105,"left_z":0.005},"note":"Advancing brought the white toy down to the bottom of the left wrist view while preserving horizontal alignment. I’m lowering the jaws close to table height so they straddle its lower torso rather than its head."})
tool
executing move_to over 6 steps (0.6s)
step 271
assistant
agent noteAt table height the white toy’s head fills the wrist view while its torso runs below the frame, indicating the jaws are too low for this upright toy. I’m raising to head height and advancing slightly to grasp the upright part instead.
move_to
left_x0.3750left_y-0.1050left_z0.0770
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.524, 1.7317, 0.6521, 0.1726, -0.5468, -0.1959, 0.9963, 0.0593, 0.8207, 0.6056, -0.5766, 0.0635, -0.1234, 0.9989] state[eef_state]: left_x=0.3655 left_y=-0.1009 left_z=0.011 left_yaw=0.0289 left_pitch=-0.1936 left_roll=0.3034 left_gripper=0.9963 right_x=0.2654 right_y=0.0081 right_z=0.1363 right_yaw=0.07 right_pitch=-0.2135 right_roll=-0.1343 right_gripper=0.9989 state[joint_eff]: [-0.1026, -5.2308, 3.6991, 0.8571, -0.105, 0.0806, 0.1001, -0.1983, -1.1966, 6.8991, 1.7216, -0.0317, -0.0464, -0.0073] 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_x":0.375,"left_y":-0.105,"left_z":0.077},"note":"At table height the white toy’s head fills the wrist view while its torso runs below the frame, indicating the jaws are too low for this upright toy. I’m raising to head height and advancing slightly to grasp the upright part instead."})
tool
executing move_to over 5 steps (0.5s)
step 276
assistant
agent noteThe white toy’s upright head is now centered between the open left jaws at about 6 cm above the table. I’m closing at this height to test a head-level grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.522, 1.6108, 0.7776, -0.0834, -0.5457, -0.1989, 0.9964, 0.0593, 0.8227, 0.6056, -0.6106, 0.0635, -0.1234, 0.9989] state[eef_state]: left_x=0.372 left_y=-0.1041 left_z=0.0596 left_yaw=0.0326 left_pitch=-0.2017 left_roll=0.3055 left_gripper=0.9964 right_x=0.2593 right_y=0.0078 right_z=0.1301 right_yaw=0.0701 right_pitch=-0.2494 right_roll=-0.1339 right_gripper=0.9989 state[joint_eff]: [0.3897, -8.6496, 8.1162, 1.4969, -0.2955, 0.0464, 0.0024, -0.1983, -1.388, 6.8034, 1.7949, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white toy’s upright head is now centered between the open left jaws at about 6 cm above the table. I’m closing at this height to test a head-level grasp."})
tool
executing move_to over 10 steps (1.0s)
step 286
assistant
agent noteThe head-level close was empty too, with the toy still visible behind the converged fingertip silhouette. I’m backing the reopened jaws about 3 cm so the toy’s head projects closer to the actual closing line, while keeping the same sideways alignment.
move_to
left_x0.3380left_y-0.1050left_z0.0650left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5228, 1.6043, 0.7788, -0.1097, -0.5426, -0.2028, 0.0096, 0.0593, 0.823, 0.6056, -0.6323, 0.0639, -0.1234, 0.9989] state[eef_state]: left_x=0.3684 left_y=-0.1029 left_z=0.0585 left_yaw=0.0337 left_pitch=-0.2182 left_roll=0.3107 left_gripper=0.0096 right_x=0.2554 right_y=0.0075 right_z=0.1264 right_yaw=0.0698 right_pitch=-0.2715 right_roll=-0.134 right_gripper=0.9989 state[joint_eff]: [-0.0068, -6.3248, 5.9419, 1.5507, -0.315, -0.0171, 0.7546, -0.1162, -1.2103, 6.7761, 1.6386, 0.0073, -0.0513, -0.0122] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.338,"left_y":-0.105,"left_z":0.065,"left_gripper":1},"note":"The head-level close was empty too, with the toy still visible behind the converged fingertip silhouette. I’m backing the reopened jaws about 3 cm so the toy’s head projects closer to the actual closing line, while keeping the same sideways alignment."})
tool
executing move_to over 10 steps (1.0s)
step 296
assistant
agent noteBacking up placed the white toy’s head and upper body directly across the open jaws’ closing line in the left wrist view. I’m testing this corrected position with one close.
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]: [-0.5838, 1.5227, 0.7185, -0.1814, -0.5655, -0.2592, 0.9952, 0.0593, 0.823, 0.6056, -0.6571, 0.0635, -0.1234, 0.9989] state[eef_state]: left_x=0.3392 left_y=-0.1063 left_z=0.0583 left_yaw=0.0261 left_pitch=-0.2403 left_roll=0.3148 left_gripper=0.9952 right_x=0.2507 right_y=0.0073 right_z=0.1224 right_yaw=0.0703 right_pitch=-0.2963 right_roll=-0.1334 right_gripper=0.9989 state[joint_eff]: [-0.5538, -7.4872, 5.4906, 1.2918, -0.4811, 0.0024, -0.0952, -0.1026, -1.0051, 6.9675, 1.6435, 0.0024, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 296): [image omitted: streamed camera frame] camera 'left_cam' (step 296): [image omitted: streamed camera frame] camera 'right_cam' (step 296): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"Backing up placed the white toy’s head and upper body directly across the open jaws’ closing line in the left wrist view. I’m testing this corrected position with one close."})
tool
executing move_to over 10 steps (1.0s)
step 306
assistant
agent noteThe jaws again closed empty while the white toy’s face remained just to the right of the closing center. I’m making one final small sideways correction with the jaws open, targeting the upright head rather than repeating the same contact.
move_to
left_x0.3400left_y-0.1250left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.588, 1.5204, 0.7177, -0.1886, -0.5648, -0.2668, 0.0094, 0.0593, 0.823, 0.6056, -0.6765, 0.0635, -0.1234, 0.9989] state[eef_state]: left_x=0.3375 left_y=-0.1071 left_z=0.0578 left_yaw=0.0262 left_pitch=-0.244 left_roll=0.3123 left_gripper=0.0094 right_x=0.247 right_y=0.007 right_z=0.1194 right_yaw=0.0703 right_pitch=-0.3158 right_roll=-0.1332 right_gripper=0.9989 state[joint_eff]: [0.0889, -5.8735, 5.8872, 1.3065, -0.2857, 0.0464, 0.7839, -0.0889, -1.1419, 6.7214, 1.5653, -0.0171, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.125,"left_z":0.07,"left_gripper":1},"note":"The jaws again closed empty while the white toy’s face remained just to the right of the closing center. I’m making one final small sideways correction with the jaws open, targeting the upright head rather than repeating the same contact."})
tool
executing move_to over 10 steps (1.0s)
step 316
assistant
agent noteThe white toy’s head is now centered on the left wrist camera’s jaw column, with its neck at the fingertip line. I’m closing once at this corrected lateral position to see if it finally catches.
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]: [-0.6334, 1.536, 0.7696, -0.2775, -0.5735, -0.321, 0.9952, 0.0593, 0.823, 0.6056, -0.6804, 0.0635, -0.1234, 0.9989] state[eef_state]: left_x=0.3319 left_y=-0.1204 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.2727 left_roll=0.3129 left_gripper=0.9952 right_x=0.2463 right_y=0.007 right_z=0.1188 right_yaw=0.0703 right_pitch=-0.3196 right_roll=-0.1331 right_gripper=0.9989 state[joint_eff]: [-0.5538, -5.2308, 8.4991, 1.1453, -0.5348, 0.0415, -0.0855, -0.1162, -0.8684, 6.7214, 1.3993, -0.022, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_gripper":0},"note":"The white toy’s head is now centered on the left wrist camera’s jaw column, with its neck at the fingertip line. I’m closing once at this corrected lateral position to see if it finally catches."})
tool
executing move_to over 10 steps (1.0s)
step 326
assistant
agent noteThe last close also settled fully shut, so the white toy is not held; the brown and yellow toys remain outside the safe as well. I’m opening and parking both arms clear of the toys and the safe rather than risking another blind contact.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6346, 1.5372, 0.7723, -0.2928, -0.5724, -0.3264, 0.0091, 0.0593, 0.823, 0.6056, -0.6979, 0.0635, -0.1234, 0.9989] state[eef_state]: left_x=0.33 left_y=-0.1197 left_z=0.0592 left_yaw=0.0278 left_pitch=-0.2832 left_roll=0.3172 left_gripper=0.0091 right_x=0.2429 right_y=0.0068 right_z=0.1161 right_yaw=0.0704 right_pitch=-0.3371 right_roll=-0.1329 right_gripper=0.9989 state[joint_eff]: [-0.0068, -5.9966, 5.641, 1.243, -0.2955, 0.0708, 0.7497, -0.1299, -1.1145, 6.8718, 1.5702, -0.0073, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.29,"right_y":0,"right_z":0.18},"note":"The last close also settled fully shut, so the white toy is not held; the brown and yellow toys remain outside the safe as well. I’m opening and parking both arms clear of the toys and the safe rather than risking another blind contact."})
tool
executing move_to over 11 steps (1.1s)
step 337
assistant
agent noteI could not secure any of the three objects: repeated closes on the white and brown toys settled at an empty-gripper reading, and the yellow object slipped forward near the arm’s reach limit. All three remain outside the safe, so closing it would not satisfy the goal. Both arms are parked clear.
give_up
hindsightOn this setup, a toy can appear to overlap the closing jaws in a wrist image while a full close still reads ~0.01 (empty); confirm with settled jaw spacing, not apparent image overlap or effort. Pitching the right tool forward to ~0.45 rad allowed a grasp-point x of ~0.53 m at low height, whereas an unpitched low reach stalled near x=0.49 m. Closing on the small rounded yellow object at the far reach ejected it farther forward.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2337, 1.0435, 0.8433, -0.7197, -0.366, -0.0021, 0.9955, 0.0097, 1.0489, 0.9077, -0.8295, 0.0399, -0.1688, 0.9989] state[eef_state]: left_x=0.2894 left_y=-0.0002 left_z=0.1634 left_yaw=0.073 left_pitch=-0.2979 left_roll=0.3117 left_gripper=0.9955 right_x=0.2787 right_y=-0.0007 right_z=0.1624 right_yaw=0.0693 right_pitch=-0.395 right_roll=-0.1388 right_gripper=0.9989 state[joint_eff]: [0.0752, -3.1932, 9.4291, 1.5653, -0.1685, 0.1783, -0.0415, -0.4034, -2.5094, 8.9641, 1.619, -0.0952, -0.0024, -0.0122] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure any of the three objects: repeated closes on the white and brown toys settled at an empty-gripper reading, and the yellow object slipped forward near the arm’s reach limit. All three remain outside the safe, so closing it would not satisfy the goal. Both arms are parked clear.","hindsight":"On this setup, a toy can appear to overlap the closing jaws in a wrist image while a full close still reads ~0.01 (empty); confirm with settled jaw spacing, not apparent image overlap or effort. Pitching the right tool forward to ~0.45 rad allowed a grasp-point x of ~0.53 m at low height, whereas an unpitched low reach stalled near x=0.49 m. Closing on the small rounded yellow object at the far reach ejected it farther forward."})
tool
give_up: I could not secure any of the three objects: repeated closes on the white and brown toys settled at an empty-gripper reading, and the yellow object slipped forward near the arm’s reach limit. All three remain outside the safe, so closing it would not satisfy the goal. Both arms are parked clear.
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 · 7.302 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3916, -0.0193, -0.0299, 0.9993, -0.0212, 0.7933, 0.6075, -0.3965, -0.0204, -0.0154, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0003 left_pitch=-0.0008 left_roll=0.0002 left_gripper=0.9993 right_x=0.2929 right_y=0.001 right_z=0.1783 right_yaw=0.0002 right_pitch=0.0004 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.0872, 10.3179, 2.0195, -0.0855, 0.1538, -0.0855, -0.5675, -1.3333, 9.6889, 1.9219, -0.0562, 0.0611, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c882eed663a19dfe1d1a2989673a6a8567f64f2c4b680419b568cc710ea87f00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4916289b2acb61ea6c55e8fca8363db5b2ac49ffed48c64a4bceeb6c82cd4246",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f9eeaef93cb9a972a6e76130b9272362bbaf43deca56cf2ff17054e0ac65d4",
      "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 · 3.994 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_08087eaa651f8c1a016ab41e3bc3d087d09276f55a8cd4023e",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5Cm4orOdl08qktd7LmiFCsqsClcsn5OYLZ-D7INsxFqCff2km56cv7EpKsVsR8ixPXboOQtkMtvjC6XCcF9Dp-H2J-1gwvuiEQSbV9CkMXdAZZUJGDFTIrbReJBJfVpp5cRTUrkZdsAw1hClvBNCKkTqIS19VL3YW_QfH8vWl7VU8DveURaYLwiNiYhXfGN7e5IdL_CXJWRp3deAy_WmP6dMX22cLbfBwKYejYaW2_zht-WLiQiGBz85H2ClK933bd1YCmIoAAKqiATfvXHTi354_AjjQgEjqSHgXU6yG9lVDWslU2da9Hdgdst54rMxRqNwbJpeav51ZAy67_TzQb7Fdfm64j1VD6W6JiL8BjQpfItkxfRkAYqnIuX2anqm7pEXkx5HfSMJgQP3amu-LO9nm_780Gp4_Xe_tWbm6fEXGL3Pq7AIOr7WuGUgiH5KBgbAIx_QGJ4dBzRNPmSctMwiT-lvzP2GItHowh-IQK5IEZJDv1M86cGT_l7nNCMQxjbNnfP0DhTaYI3U7FNMmZzWqOU33e16zsB8_iuyVBHl2FAWzewduhqQ1I2_izOFsZUObn7SNMDBhR38zlfeWH0W-zDRCHv5rbGtsVnvS5pZKsyuIWIMSvBAYSo4u9hNZYDBQyUnfTxkyqmQm1OYbmYZCIHBeEqeyTDn3ZOeuIv2ytN3ldISF63M-gmuIHUKXzwtN2IcVTAJUB-toXZrXuuJhXgInlPh6y0ADcznqYJ3eyfF5juxZglydSalLxx9dJD1UEMsvNNpfTKEDFmiq1G969Br-5PyKqil0C5Jh5yk_1yD3NGrN68Aj4az0GcRwsyyhI8cIQi9LXEHy-o3r6kHNKLk1qLXhio7InwP7Jv10TS-ZNxdr8pJBi-SBEj7KRyx92sBaZns_HL2ISX9a3SRKB4Gg1h_1rT2LxiWvHs68jqd19DIyo6_ObZq39I4jJgxLQSYZKK62PCov1pobHJjQWZTweMISQ58HDJs35rXCGN58BrQmK52YOMpuigpINnbVS2LMDTnwiZ85fW-JJ9oMpaqmfQ8s9ig-a10RkOna3kC8CRKgTUkIf_VATszaxKYK7zFrlO8echEfs8t3dZhU-p_pVA1xjoP2ZsJ6wlIOtw-v-ycs9DkUF3BzXIJVh5yMGrhTkspOGGBfKMAkhZxignqYSOG5yWEqNXxfCvsE4WYO9hTJG0CUL1W7bvIPOIqlMGMfwxRMPQdGSZKgrZc5URU58DNreq8SFrQzLSA_2xjyrlubGatlbvSpNntPgFCvklMZLFskMNKabM1EnNXRB-BnuSHs6lbp6hOdJu_i0lV7VnI6DbU1DHc_-DunMeko7N0gVxKdhe1UKfF6jytE--DFvH9l4A5XkkhTECW_L15mZ7X7Vdf1W4D0djgiMtfl4bfRk-IcbKnoA9xItPH1QvvtGt5l8TwA91PL-ypStMlJl3OjaKsisjh9NN6vDgfLBLd6XHv2PmNVKjMavH9eRIexeV0caxsTm6vWedsUPxL211HYVE6Ieq90tkw6J",
  "id": "rs_08087eaa651f8c1a016ab41e408cac87d09c00c3c3e2df141f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.15},\"note\":\"The open red safe is near the back of the table, with a white toy on its left and brown and yellow toys to its right. I’m moving the left gripper above the white toy to line up a grasp.\"}",
  "call_id": "call_b92BWfBw5BV9jPNKInlM1ATW",
  "id": "fc_08087eaa651f8c1a016ab41e41665487d089b03702080ca853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b92BWfBw5BV9jPNKInlM1ATW",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.704, 1.3769, 0.7895, -0.1936, -0.5446, -0.4515, 0.9992, -0.0212, 0.7986, 0.6094, -0.432, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.1628 left_z=0.1296 left_yaw=-0.0234 left_pitch=-0.0676 left_roll=0.0322 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1706 right_yaw=0.002 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.7915, 9.0051, 1.7314, -0.5201, -0.022, -0.0171, -0.212, -1.6752, 6.9538, 2.0928, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7f58d6babdab7ba26e55969a367a9bdbb11f4d1501c17765b204b489fe02f04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fefa14f91f98f5fa69bbe2428cd736a3a20058950d488c3a37202ab42c4410d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2e4f9e9f2f71f7df22f93b3aede1bd66ba5cb66f576c0b07cb675f8e4eca70",
      "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 · 2.667 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3916, -0.0193, -0.0299, 0.9993, -0.0212, 0.7933, 0.6075, -0.3965, -0.0204, -0.0154, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0003 left_pitch=-0.0008 left_roll=0.0002 left_gripper=0.9993 right_x=0.2929 right_y=0.001 right_z=0.1783 right_yaw=0.0002 right_pitch=0.0004 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.0872, 10.3179, 2.0195, -0.0855, 0.1538, -0.0855, -0.5675, -1.3333, 9.6889, 1.9219, -0.0562, 0.0611, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.704, 1.3769, 0.7895, -0.1936, -0.5446, -0.4515, 0.9992, -0.0212, 0.7986, 0.6094, -0.432, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.1628 left_z=0.1296 left_yaw=-0.0234 left_pitch=-0.0676 left_roll=0.0322 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1706 right_yaw=0.002 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.7915, 9.0051, 1.7314, -0.5201, -0.022, -0.0171, -0.212, -1.6752, 6.9538, 2.0928, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7f58d6babdab7ba26e55969a367a9bdbb11f4d1501c17765b204b489fe02f04",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fefa14f91f98f5fa69bbe2428cd736a3a20058950d488c3a37202ab42c4410d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db2e4f9e9f2f71f7df22f93b3aede1bd66ba5cb66f576c0b07cb675f8e4eca70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5H2Z5InqvTJUR0pEE9gDu7dPAwWbB3hFu1wjB-QtcLOBEzwXXMy0SPGXR4-pIKbwxkZtEQqOVZ8VEP_N8XE3fKK72LYA4RuHogwswkuv1ac47V1ZNUIjYfJita4S8lUo5W00fPOIo3foWsKR52SlbsmBCoPqEw9xwVWHyzGaU-EG2oPsBBoDV0iZdUG2nYH5DnKAHXnOjDwytQq5YRtqPG4lls4OgbHqll94O4Ir8v626aGXsDQiP8KVyRcgZUoDKsIHxJZgCY9N6xUKATjbRhiXva3DYLudNw6sUxuPBMGXZIkj0CRkE76tzvMonm2CUX55kPAd81T6vFqXORC_H6PfBZU5Z69Aa7xyULPKxDH9QxZniB8_JiQoycQ_uPD4E92D_-YUMnjvbIlbassL-joqHdd9XqYyo3y-szSysmi34UCOinaNnYrmrdCNOiteLHi95Dn3dqBWFr1bfUrkDPSEYyhNKtKJPJS75xor9D-Ov8-Yn_oxn3HLbzk-Gf7reF1ISB8edIYpjmVsFm9ueXGXoeyjNLVbPjgXBIid8L3klzc5UWc4kCSlCBuyLMtXhh0SHsDzypeWLe5zZRo_M53gtFUIPLbkQPP7sO_iGleNJCNZ8sUI_fFO1ujR6WF04toghy0ZpwZQuIvk7xJWY5xLMHNa7216Ttdge6Y9pyTzCO7c_UQjh0Xz_jBznEo8dIDA97Ddbqyq3ftQwtycjqq0PypRNgU9FWxN4s7K5VQhpkWVbvikSsrLS31bcuSMmhxX0H-jAdgdotPuy2ucN9xNJlNdo81LaEFQ4s2kBZrRVyJxbnanS4cIzC77aq4tFHXl0Bd3DBawZNiBnT0pR0g-w05WzM2AFncz-lzUHECjIGURytF6HeZ4vBosLhFXXv6wXpGXht_Ui1YlEzfgkIiDT6iaKz_hWq8WWORe_Pe4XLaYAgwABmiMtBv2vFiVAOsyUmiFDf6-D4oJw43M-3-GuKCkUqTVBb8FpDvXNu2PqNaqE1jgNW-VL6h5wYK3hvXOT6vel_qwDn_blTZPGSVCYMj6X7VEYQ5HMjbw72hwRRK1UrHYV5C8bul9nsMk2VV7sp7CinMjVf17Xnd1MujBI4jHa-dgcB2N5QVyaqsDo5ZJ1YN5gYyILnUqpfjFJwboLWF8I7-HtUHmA1CGzJGViAipk9ENQLHyh43ctUwmfnXZDvaPtzbykhqjagaB3gcGMFd8xUMU2uwpWSoqOih12qHWUmW3agODKnkt7f1pTQSPAsD4Cac1RqNGp-s_sZAf4xy0SeoB9EMRti52hMendBLMsi8YX3w-1oZQC3KJH6r0QLXHZXWtrC9oRO3I1v1Ttl9jHs0aYEmDOrD7UvpdvLcySn2Q9ZEQK_-4V5qLp0DIJKNTzeizjF7DeqzEQmttnJUEeRa9W9rDeqM15dvGQe3O3AVOVaqjUSD2Uu2pgs9NbTT86JTU1jUDIPZ8oQIe04rxQYaS_xPWn48F8hxMKN22wA9pP3WzZ94_AeLIiC9DxB1zFjtQX_WFCxJJ_eCy0xwBFXg9oZlKqEB4cNO1LczLlpi7tBKeZCCZvReVhuRO5WB89jwEkXzUq10p5WnKpVeJ-oN0efUnvA5zo79xa1oVv8OGH7GtI_SMkFuAf_w0MC9BUGISU9kQp4zsl-UbTOmXNnLctq5lKZSQHJIRZL_GqWIQpSQLqASkMLdrQcvRYOI0ufIlfg9TLqGPdz8WgYCUrzrijv-QVJnqCI70S1wi_qZ_ZY0veQ-qkO7_pyasi1n_rITRCc1hhhn4YUXIH2JYzj7te_YbD1B99fN8_h7986Eggk09AXfJz6tu-chPlUokaNMR5JD0Cb9_9LXCWMcOdhskU4fDRa4xH8YAtAyKtUpRnJxtiHqe6ikny6xd9wyuAHnz-KmQqWTraxlOFxbli-7PYmQtFaiKtfF-NsJXv9FFXZPzXKur2OXPVpdZbX4oQw3C6hGfICl62YORrse_o4OhiWnbwGbeyLFqJ1AJyTGVpuMwMNm38-bVYYt5hkuZG9KGvyGy8qfaIL4hbWUR4W_T9QU7LgJLvEgjJDHRSKaLWzpfz75uVL4520GvXD89J4Dxom8DtfEZo_z0vvFpHiS1q1c6bNXPE7CglvxGCmWtVrv0vr9mqgEHFKfk-eEnm-maefHRnKfULIcmAkKzag4LEF7ZXWJ_5cNgdJCFG2AKdGbllmBP1pjZ9kp7Qg9JQA_Mcc8FHFMQj54kgUHpkhn0999Cjt5tYD0R0AX9G5dfcK9zM2MNGzRhs0ZtNOLMnv72akXo94bmhVQ4LEdqgT26AnQ4nZBSuvs1IKFhjFIUDEJ9K1WJ5N9Rg=",
  "id": "rs_08087eaa651f8c1a016ab41e448eb887d08ccd9e3dbfa3985a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.16,\"left_z\":0.055},\"note\":\"The white toy is centered on the left wrist camera’s jaw column, and the gripper is above its body. I’m lowering to a mid-body grasp height without shifting sideways.\"}",
  "call_id": "call_zsX818rVYg00huymuF3QqDj5",
  "id": "fc_08087eaa651f8c1a016ab41e46e34087d08631b76ce514d345",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zsX818rVYg00huymuF3QqDj5",
  "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]: [-0.6987, 1.5429, 0.6056, 0.0692, -0.5415, -0.45, 0.9992, -0.0212, 0.8017, 0.6029, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1521 left_z=0.0451 left_yaw=-0.0156 left_pitch=-0.1366 left_roll=0.0868 left_gripper=0.9992 right_x=0.2845 right_y=0.0011 right_z=0.1623 right_yaw=0.002 right_pitch=-0.0709 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2427, 5.8188, 1.7118, -0.1783, 0.0904, -0.0122, -0.0205, -1.4154, 7.4735, 1.873, -0.0855, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be13f1e79f092d8f924039c9d91f985e4180eb39c0d15f9a567a18f69642fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f12f65423ddcd6cdcaff07cf30199bb59d938eddc92968f203bd3db6a88e465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0b8a4eb485f6c44e0daa954846a37102b0401531b24cf464929da00fb98fb4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.42 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.704, 1.3769, 0.7895, -0.1936, -0.5446, -0.4515, 0.9992, -0.0212, 0.7986, 0.6094, -0.432, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.1628 left_z=0.1296 left_yaw=-0.0234 left_pitch=-0.0676 left_roll=0.0322 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1706 right_yaw=0.002 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.7915, 9.0051, 1.7314, -0.5201, -0.022, -0.0171, -0.212, -1.6752, 6.9538, 2.0928, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6987, 1.5429, 0.6056, 0.0692, -0.5415, -0.45, 0.9992, -0.0212, 0.8017, 0.6029, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1521 left_z=0.0451 left_yaw=-0.0156 left_pitch=-0.1366 left_roll=0.0868 left_gripper=0.9992 right_x=0.2845 right_y=0.0011 right_z=0.1623 right_yaw=0.002 right_pitch=-0.0709 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2427, 5.8188, 1.7118, -0.1783, 0.0904, -0.0122, -0.0205, -1.4154, 7.4735, 1.873, -0.0855, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be13f1e79f092d8f924039c9d91f985e4180eb39c0d15f9a567a18f69642fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f12f65423ddcd6cdcaff07cf30199bb59d938eddc92968f203bd3db6a88e465",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0b8a4eb485f6c44e0daa954846a37102b0401531b24cf464929da00fb98fb4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5Kx0h2u5lN45XtNHVz3W0slrWbOGmrKE7YX-_Bcu-FaAEEjRMcy-BfHzVH_UMLNzwdo9l0BTWPXJbnoYceyO1rKnRyZeo1wv0aCNy198e7_rAYeXnqBhHO49l2U4NFl_ZPnr0jASoZp0P-32JWiQYfrPvmBCGXj1wg5b9cWWW9H5hlDulO1KnkHnIAIPzfQzb3pWzd_eBxBkiy_UeON5JKjwAKyzKyb5tZTQ9P4lxnY0UA4wqTb44S0mUKTpVXBMhaU8FPYr1d5oXNuJfqHjiFo8SrT0SfUBv63aXJREUsldzkSlSqU3rig3OkvZcQJJWSp3wictBwcTpbOsxEvrhvz30B2oiOqhkAV9OOXWeWn6bmyG6zElYAhhkThCEEyAy2oF-lpizk2uNFehGVUtYxGloFb4hedYet68AQXN5CbhRJqkkiBfEWBUao0OFtSAWP7N-07nyIGyF8lu7ctvYVGUh3lxPoZ3o2HUj4n6gMOaNtumKbz6pgBft6hGmgsr6IFc1yf-3xWFOmyN28iEhGEEIHHQKWZ1WAh5kW1zf1-lvp3i3HEso3Rpa23dNyCZ2w4K7gXzy1qikSd772EeiWEE1tKcHLqn6UoP2RxiTiEzJ7I-5_oGDE1lXUlTn1KWeceAEwTKGqvrYDeePbmugFWMtFqgfrOiIDb2a-YnMyFD64Pb8zeeSgZAkNrQdkvz1A4xlB3ZgsGQ3DjBjSMmSc-7Bd7N-uUb80TogpdWWIbjNDNscCpUFfZ_y4MogMBrw5r1YEXdrxM4LbDJ2COzUEZrgN1zD_xsODKhp8rlX8oWGROEP803jtnH6RFm7SBpKzBK6xfdUyOZODsnjZprjv62dXM4UorrQsPMu_AvpPZ_QRbLd5srGjsIBW4F2jNQsx42wSQYu6-IRxFID1StwcHqHXxwdPy8s3HKy6RRpXOIqqj7acsX6nc8Aah-ukg7kPXsQC8siWu5fSwvbmdnH50FT1OyZj_sGMX54uu-YDzir8vaTAN4zwAWe9adTgvQ0pz_OCS9bps14oZhyp1tR69NgIqNVuX1OXZRZgVY8s-MZP-NMEHPaL93IpLAzkxQtVq5x0aScbURCnyPbKKI7Skm5IoPBA-w1bdKbBsPipYKxY24hVhye99YfKbcomtXFRIT9kk6-ZTO8K9MprpgyPM0dG-NSz--l7tRG3wAFEFrjTqGTU3yb9GVo3niks89YesxIid6ZGeyxa-NIXkbT0VajfoLFbCOIIuis5pA2dvBL5rMZh06FKqbPVvQIB08GK",
  "id": "rs_08087eaa651f8c1a016ab41e497ac487d080e290557ea435a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is down alongside the white toy’s lower body, with the toy still centered between the jaws in the wrist view. I’m closing the jaws to test the grasp.\"}",
  "call_id": "call_httiXNkS2WEv5nI8CbfXQUdJ",
  "id": "fc_08087eaa651f8c1a016ab41e49cf9887d0bcc50c1384f6fb1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_httiXNkS2WEv5nI8CbfXQUdJ",
  "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]: [-0.6991, 1.5558, 0.5953, 0.0654, -0.5392, -0.4545, 0.0104, -0.0212, 0.8017, 0.6018, -0.4778, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3242 left_y=-0.1494 left_z=0.0367 left_yaw=-0.0125 left_pitch=-0.1584 left_roll=0.0992 left_gripper=0.0104 right_x=0.2808 right_y=0.0011 right_z=0.1573 right_yaw=0.0018 right_pitch=-0.095 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.0222, 6.2427, 1.409, -0.2564, 0.0513, 0.8767, -0.0615, -1.2103, 7.0222, 1.8926, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489eb4205590df1e9755a584825500bac1d64ed575525a993af4ff7524553a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c666a9025170c732af4880a97a85b9f644a1725209611ed6cebfe568269bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da93db40962dc0df9baa88357b4669816d2a47841b22d2f58c9259a0ea9df725",
      "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 · 3.908 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3916, -0.0193, -0.0299, 0.9993, -0.0212, 0.7933, 0.6075, -0.3965, -0.0204, -0.0154, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1779 left_yaw=0.0003 left_pitch=-0.0008 left_roll=0.0002 left_gripper=0.9993 right_x=0.2929 right_y=0.001 right_z=0.1783 right_yaw=0.0002 right_pitch=0.0004 right_roll=-0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -1.0872, 10.3179, 2.0195, -0.0855, 0.1538, -0.0855, -0.5675, -1.3333, 9.6889, 1.9219, -0.0562, 0.0611, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6987, 1.5429, 0.6056, 0.0692, -0.5415, -0.45, 0.9992, -0.0212, 0.8017, 0.6029, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1521 left_z=0.0451 left_yaw=-0.0156 left_pitch=-0.1366 left_roll=0.0868 left_gripper=0.9992 right_x=0.2845 right_y=0.0011 right_z=0.1623 right_yaw=0.002 right_pitch=-0.0709 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2427, 5.8188, 1.7118, -0.1783, 0.0904, -0.0122, -0.0205, -1.4154, 7.4735, 1.873, -0.0855, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6991, 1.5558, 0.5953, 0.0654, -0.5392, -0.4545, 0.0104, -0.0212, 0.8017, 0.6018, -0.4778, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3242 left_y=-0.1494 left_z=0.0367 left_yaw=-0.0125 left_pitch=-0.1584 left_roll=0.0992 left_gripper=0.0104 right_x=0.2808 right_y=0.0011 right_z=0.1573 right_yaw=0.0018 right_pitch=-0.095 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.0222, 6.2427, 1.409, -0.2564, 0.0513, 0.8767, -0.0615, -1.2103, 7.0222, 1.8926, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:489eb4205590df1e9755a584825500bac1d64ed575525a993af4ff7524553a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c666a9025170c732af4880a97a85b9f644a1725209611ed6cebfe568269bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da93db40962dc0df9baa88357b4669816d2a47841b22d2f58c9259a0ea9df725",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5PzBdDyGFGLK_z72XOCN3lD4k-qx5AdWznnzkphM7PWSCGgolb8Z89q_N07LpzfEYXOqvxRJhHYZYIMSB5Wc0JzEFxIJJ2sqzUmgeBSlGQZjTJETs1W2FXIc1eK1iAqfrZGVQjV-DSUwOpNfwMX4pM961WOfSmFNbm-LfwXndoFl2AYSvL1En04Dr0LddRjsvGhcvU1444zd_El1v3Oyj13eT1-etCEhm-D_ss9JOqBecHh7dozcenjtgLVhk-7tq07SJ5kFGfVqssU3ypPl7UJqcKA3Z-AjoZogs9Ci_Dun26JQ0iXloN0vaZw9-jzTURlAUed7P_KIg2DC8Soi4Go2r6lovmOZubaBlr5QZmPiYARZPcJZhPAy-kzmoXP4PGjuJACeZLViIe9LOINl1_V8U_T7hFPjx7PLN0vPGNi3HZArpgZS-M3xxQxzjxEIrhLmYUFtDvpqn81D5uVuc5U0DgpRWbun8bdgLArKonBkQXKRviyrHbYjEVnwIxoWNhoWHDXEvhp5y3k11cBx59lBn9MZyNVLRz1aU5nf-IRKzp_5O4xR3VNPloyjO5eXzg-XWVrTNAh7N6BV-fWYcl1R4dmANXqzomD2iQhbN7meXIqdL33SUH8cDlESjJ5qmIu5sAM6E_V6A8tRnSa7JN0sz92ymuW-hYQE71mJ02LWSUSxdoKHUbK1JqYC7r13uUDxvbwQv-8dx-xtc6MVH8N-gvVQ22gKqB-OhkSjLGln8PP-laWpiu9JjbuBDbQs9VSjO91iOn15PGSf2kyi2VFEJ7QbZT8fvDpXpXZhtkPTSGx5joBFQosqBL2rzWRjfsc6fssomVN-QrrLPmiZOPq5QQN8-4JWRwluqQfkn_zT8Y15fxCmhU6SsIpS7L0ZQWnR5enu0lTSdf0QJ5UL6uHy653M7GNlYqZMMQ1XnwXAiS06OskBXWxWVf9kSSbInzba0vJ4jFhFLEg8s6klv2HsUBnwNgwHFYJQHo5Y1NqzOugslmzH13FGPBFKteHn6qOt_NwWLt1mfnYyTFkbUciejwuow2sJxTwez0t8rcr8ItW6N-fFiMKKznlZ1zazTvkDH6pq6Sk7KVhNC6Mo5jadi7ZsmMH-R0VtT8J-IY6FWGeNRsvw14MphrJqFAhnRn-qcV1eQMw4YyLfS75TlrUAxyBqK4BEJNsNpFoPjjlCDmkzbaRCXoCYJpM7hczFgHWqrOO5fOeNjh-rH29xXU7bqSD32khi-7VBw5EUl39IJgXxy1-HqQ9HKBMi3zxBZQS1Xrev0jLUulxxhd3bbdWGiNbdMnhcH4QgDDhYsgRMGSDKi9Goh58FsUOXGpZy7vz1fvwGGqrzZhpIWIPRJODhsoY-skDr0AJvu_r4-Xhp_nSXYKnPIYcWSSwEY1vYLzAWP4E8XAYGaMlb5oJHq9aRttJv1YZlLBJFYnk5PYStTkwOUHGo4G11Mzf5qvIeQQ03pZ4PCJ61rCWBISYhDwEKUVNnZe3_D-ctMrf3TvGTJt6ka3QdTbpFoM5xnAFbAz3iDpuvYOUjmG90Sk51X1-WWK9rCBAUc7cizHv1pCWMZyhfldCt2s9-pOpUUPuCKEp9WXTb5e6Emg_N12eVDYH6zYx89CsQ9oaus2XwdCbsHVx90u88KbpkIsU1LfCm-cK8w_oAnmvqc_lJ0XPoZ5bQOpI0iyH-d9MdXR13FE3OvPXXg2tnwgnv7n3a-wn9bDSQhItiZXKTLUMA2nIAqhto2QsCPt3tqyA5DZA7RdwcncTov6Vpn1wKUeEHB1R-7Z",
  "id": "rs_08087eaa651f8c1a016ab41e4cc31887d0b1cc94170f838f2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"The jaws closed almost completely and the white toy remains visible ahead of them, so the first grasp was empty. I’m reopening and advancing a few centimeters while lifting clear for a second, better-centered attempt.\"}",
  "call_id": "call_p6RqyS1l0I8SRHGJxv6DfIQI",
  "id": "fc_08087eaa651f8c1a016ab41e4e327087d08019d0cd47f52f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p6RqyS1l0I8SRHGJxv6DfIQI",
  "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]: [-0.6121, 1.5124, 0.8646, -0.2569, -0.4896, -0.3977, 0.995, -0.0212, 0.8024, 0.6018, -0.4999, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3574 left_y=-0.145 left_z=0.098 left_yaw=0.0077 left_pitch=-0.1931 left_roll=0.1159 left_gripper=0.995 right_x=0.2774 right_y=0.0012 right_z=0.1529 right_yaw=0.0018 right_pitch=-0.1178 right_roll=-0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.5812, -8.1299, 8.9778, 1.3797, -0.1587, 0.1538, -0.0464, -0.2256, -1.1419, 7.0906, 1.8339, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7079fe1f06b82127108621f06967a1fb02e6da85fc4d461b638bf22b77289760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf2b5a394f04472e85e8feca1e3256c5150a7a15477e8419450b12b903eda3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7134c0398c99037a581bbce6753a4d90db6e0c2a58d656f4f861a50d4783f780",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 2.591 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.704, 1.3769, 0.7895, -0.1936, -0.5446, -0.4515, 0.9992, -0.0212, 0.7986, 0.6094, -0.432, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3386 left_y=-0.1628 left_z=0.1296 left_yaw=-0.0234 left_pitch=-0.0676 left_roll=0.0322 left_gripper=0.9992 right_x=0.2885 right_y=0.001 right_z=0.1706 right_yaw=0.002 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.7915, 9.0051, 1.7314, -0.5201, -0.022, -0.0171, -0.212, -1.6752, 6.9538, 2.0928, -0.0562, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6991, 1.5558, 0.5953, 0.0654, -0.5392, -0.4545, 0.0104, -0.0212, 0.8017, 0.6018, -0.4778, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3242 left_y=-0.1494 left_z=0.0367 left_yaw=-0.0125 left_pitch=-0.1584 left_roll=0.0992 left_gripper=0.0104 right_x=0.2808 right_y=0.0011 right_z=0.1573 right_yaw=0.0018 right_pitch=-0.095 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.0222, 6.2427, 1.409, -0.2564, 0.0513, 0.8767, -0.0615, -1.2103, 7.0222, 1.8926, -0.0269, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6121, 1.5124, 0.8646, -0.2569, -0.4896, -0.3977, 0.995, -0.0212, 0.8024, 0.6018, -0.4999, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3574 left_y=-0.145 left_z=0.098 left_yaw=0.0077 left_pitch=-0.1931 left_roll=0.1159 left_gripper=0.995 right_x=0.2774 right_y=0.0012 right_z=0.1529 right_yaw=0.0018 right_pitch=-0.1178 right_roll=-0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.5812, -8.1299, 8.9778, 1.3797, -0.1587, 0.1538, -0.0464, -0.2256, -1.1419, 7.0906, 1.8339, -0.0366, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7079fe1f06b82127108621f06967a1fb02e6da85fc4d461b638bf22b77289760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf2b5a394f04472e85e8feca1e3256c5150a7a15477e8419450b12b903eda3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7134c0398c99037a581bbce6753a4d90db6e0c2a58d656f4f861a50d4783f780",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5TYVp124FCXikPTe-xhGrvkE_lJnQq_jx_pqdWosWyInOdZsyY-Oa5RywRSAyor2-E4mKVGHO_fXs2n3sB5OnytPaXSKaNtOS-q025mk4a57hG5x-hjxYu_JJcvsJJ6P0WY1JcL0QmlS9M2MimbzCNAUx6FuLIg9qfsZYsUILdgOkZvKcGdnPahNjk0HJUpol4CGJkxh_NeTaELNaDxUVyE6hGamL2YFfD9d4C32vf1X7jQTAn_hH9sst2Xrs21UJB8psaG42Ai8-vjao70kRd6NcGHS72LU17oJHTc7Di_ALv4J_I_0KvuPSIwSmEgaYtO4ueJv-NekmrGBBDX04iFmGpO5upiBTs6zf1f0gB2tXLElVFFRxDeLv5M4-BRnbtV_G-u0Z6Lr0vglOlpThDJL4gyFWgGLepacY9CBWRavfHPpcGwLQhiXVz0IK-8EV4uHT40xIpOLu8kKYvRG-Y3IAd0L0ZJWB8vCKOPaGRlJtm__0PbJB20SbM68absqQhPenTjsIJnutgcD1oJ-Ox9FlwuVX-eLJu4kF1GgJvgwo-jJdbho27_TaEKJCAZwI6d0nqqiOMpfUkL1voY4EHAQrIayNFASLBx7rGRddRTkE0XGuJM105PHBOINhLTu9PckLCigC65jRK3DM9gridhavrUKbdfDidyvYFLbVrbLBRVhxYDheTfx95efpKxRIRrgMEG53VYRb7Zm_vUDWh8_HTYGcds4gIY7b5f1f4NyL8fpWl4F_0gMEOd9ENHQWePV7wq-WIF5zY4yRoYUiUc-KqKjzGFddxuGd0MwkhJ3rTVD1T2xVJp3BHZMdFxf2bykQgiMGjaKyg8tT2yWJ9pes7y8I6LJao8RCorTyOQv0q1EBhUVbjpWUHNZ6nb0ZCpEsLB2lwp3aebPMqOrtrcjhElkLg8ouEXrqEW1dg9tXSqQPg-GqBZTz7vX_c45BIt1MeINp6UDLfzhg7szIDTSN7vJUPOL6PezO3yxG9x0G309PveH4OyqWOjmDrnW_mglkVBe2KUoOHvDN22vvE7bFgiL8TMVfc2m30qHDVkLRB-04m65qoZU4nULwLgLznYCkxgS_UVr2PXzoObb9garWYpPpFl-gu9py4iYIeQ1-Iljsi0-CFYjAqYrq5n-OaAlXnh4ieYF11AkfFJnVCV1aFWpKdOm4s1fgUrf5q92G5zVBBMLzjijzqiJg4uAiOR9Ot1QvYZqGeujPsLgGm5dPhjRCqbiNCMhQqp8w7oCTINhHq_y-zgzjGIry6ETMaj413lj5no1Z2_ad97ax0AVU1btQ5NPJ0Tqq8GZx3MyYjRSrF9XoI89Yv7G9H1A8-xTr6DIH3w8thgt3NV3t29p36TcLYeChZTzjBWA_VGSKtE9LkXIhIStmfav1XK71yAnj5EbKK4BrwSfHz3DcH_CHhT2EkS3DgMnMhOsnj8jl5dR0iQhtD4-QKOhxFtRtY6jePvlDgg8d1JZlu9N8O0CYNDWWt-24uUuUvE58ee7eGdg6RS8usES9RMHFbWPouU-lj_GZbEZb0rIucnRTUVENVQ2J589c9MjfgeHZw4EmzotRVNuxOuLyS-YlzlauGlIXD7IOLDpMN4noIpT5rYAbK-Ia6TmFLN0WwwuT0FdGqdkfQMRP6zr56p06kV2E7xKgafmCVT_wGus8kVohGOH3Ijt2lc1x2m7MnsfCStbaJABK32AKmnmJO_3noPyIxL3bq8T4_P1e0I2RDhRWbTeSSl4-NJ-_285Dhbc83bFDQfQ0GHkYvjoXwN4GulgX6wg_PlDoA7zNXMnvQ_DiZRY5iwLlIPnaeOS8UnRHvyiTD2Rk6E-g3JP1SpEujqiWx991F-YNqy6qNQ0Q1sz6dy7M4l-CNkxn6JzL__RshTH3eLVsfxx2Uq-j8E-7QGs711AOM4zg8Rbst-N9MhCtcMGpI9mnD2LGhA5mVOUzgsCwLSlz1AsV7e9sIRGddwNfRu4awctr3OGlLZI3m8Y1xPwj3SJ350s1VA5rkQ5TI7IZGPtXp4HWUQkggxYB_o5R_EX4CbSNaN-hLIQSjovPT8L0WkBuTpbzEOABodPTw7zinFjTfOnUPcwzMjwo4qYv8M3xhJEg5Mo1KnefKsp1xBQ==",
  "id": "rs_08087eaa651f8c1a016ab41e51537487d09f021c1224777aed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.04},\"note\":\"After advancing, the white toy’s torso now reaches the jaw area of the left wrist view. I’m lowering the open jaws around it before closing again.\"}",
  "call_id": "call_0KyFqkkXyaEtjYzqnJ0poTfr",
  "id": "fc_08087eaa651f8c1a016ab41e53091087d08dbb4155a95a4871",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0KyFqkkXyaEtjYzqnJ0poTfr",
  "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]: [-0.6201, 1.6512, 0.7574, -0.0971, -0.487, -0.4019, 0.9963, -0.0212, 0.8051, 0.6018, -0.5163, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=-0.1421 left_z=0.0327 left_yaw=0.0119 left_pitch=-0.2639 left_roll=0.1629 left_gripper=0.9963 right_x=0.2748 right_y=0.0013 right_z=0.1492 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -7.5145, 6.0786, 1.6532, -0.3004, -0.0464, 0.1245, -0.0342, -1.4017, 7.159, 1.8437, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f376f703da875a67dca7ddc4d07509e30dd71212af6f4f190ffca255ce654b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb2cdc6357307c3c9315c7540005b30650e90673c76bf01159e97bfa92c004e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0a52d9461d2ff3f2d417c06baa62961ff9748cd78a6bc6b475455a0b0a0189",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 5.206 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6987, 1.5429, 0.6056, 0.0692, -0.5415, -0.45, 0.9992, -0.0212, 0.8017, 0.6029, -0.4549, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1521 left_z=0.0451 left_yaw=-0.0156 left_pitch=-0.1366 left_roll=0.0868 left_gripper=0.9992 right_x=0.2845 right_y=0.0011 right_z=0.1623 right_yaw=0.002 right_pitch=-0.0709 right_roll=-0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.2427, 5.8188, 1.7118, -0.1783, 0.0904, -0.0122, -0.0205, -1.4154, 7.4735, 1.873, -0.0855, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6121, 1.5124, 0.8646, -0.2569, -0.4896, -0.3977, 0.995, -0.0212, 0.8024, 0.6018, -0.4999, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3574 left_y=-0.145 left_z=0.098 left_yaw=0.0077 left_pitch=-0.1931 left_roll=0.1159 left_gripper=0.995 right_x=0.2774 right_y=0.0012 right_z=0.1529 right_yaw=0.0018 right_pitch=-0.1178 right_roll=-0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.5812, -8.1299, 8.9778, 1.3797, -0.1587, 0.1538, -0.0464, -0.2256, -1.1419, 7.0906, 1.8339, -0.0366, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6201, 1.6512, 0.7574, -0.0971, -0.487, -0.4019, 0.9963, -0.0212, 0.8051, 0.6018, -0.5163, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=-0.1421 left_z=0.0327 left_yaw=0.0119 left_pitch=-0.2639 left_roll=0.1629 left_gripper=0.9963 right_x=0.2748 right_y=0.0013 right_z=0.1492 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -7.5145, 6.0786, 1.6532, -0.3004, -0.0464, 0.1245, -0.0342, -1.4017, 7.159, 1.8437, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f376f703da875a67dca7ddc4d07509e30dd71212af6f4f190ffca255ce654b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb2cdc6357307c3c9315c7540005b30650e90673c76bf01159e97bfa92c004e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0a52d9461d2ff3f2d417c06baa62961ff9748cd78a6bc6b475455a0b0a0189",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5W0tnx1VJs7_tj1RU2nPpQtbkvduZmYjLOhVDGJQYoJVncEHKK4cweQhO_pNlQIkKYCivu9hELXoppfvye7q1sZ3wwxxs6JRD59i7ABbuLihw2MsJpOtqqOa2PnXB8QeWn4dCuv_JmF5yApOJuiIeULK0hBKrZ6fafdtzFSyDrpMay9Mj86CSy8UGZB-p8abx-xiyWHp4lVXlf2ERE8ROwPPdguDzSClFA50J3JNH2OXbXHGLpx-pJRm7B-0MsX7PjSgkEex5Rr4RaF_9NDpAva2-M3jPjkfuZf2HBMdb6xBK9exV32fMrjabGnLwhroZcHEOONGcXBNs27t6tBZPhaX04recBs9O-jOaIVFMyr_jeOdsWu9MP5M2ej12V1Xbhy_zK4u4E7jSVYtkkOvPsYPvKjhYme8iB9CcYlWauS6D5vv1NktkcpPHO6-69gDfqbTcN6ajMV7Vtn-TI72jBa8k1tE96yFwn6527zZMFPuh9vQ6PDjFuexOR8mVyXHmtRpXLwZDcSriImB-CHcP0o6VBds-h58kpJ0qI0hKKBBnNp5k1gEyd9V08qEAP8LRM5FPGw31YnaKeASfiDRzi2XBdm10Fm0NaCsc_yd2MpJ27DeXhmyGaTF7_Fz6m3_nqoynfkmEhUubdHUkEAhVQ3PqQraJ63mrmmqqt6y6kOIitmoT4MigonWYRNLIeKeLt-6-7mX28oiTbK_GjNtfkYuW-2_VuBXcaBAilueDpbpWzFWd05NLgwSbRXUpp8r9UXEWGpVf9cTurlqPt_0hDUyzCCFuWkl-bwepIHx-DWctnM9XC7pDxjJXkdmIOLBtg-b06d0vUQOf6A3DTBcJsoTi6wfq4SpKLt1BNwFe8M92dFXitI6P0DOZ6OXkpKnDEjgMSCmYytV5_O5MXEuuZAtoxDzuS7ZCLwrgcx3Wyybzjxb4DtLlgxhe6wLpV1OV1GXoQOMXsyVje2x_C0sWggO7eIobjB67alMbV27OXJHTAYZcE2fflH0Mvw-yIFJtaAhLGaKFYnjlKXQoHvWLsh0WbzLpvogfF98RRD9IJ7VWkwKAnkxoFFDHLmbgiXPxyaxL4ih8Emvyqqoa5yIzsAuxGKKx-UYrusaxoE1tNe6WKENqiW-vyguSFxEmFwJzY-JYSPYK0DTqq6sG9cJ4pLbSjXcSjad5rw25Tro7QLZslWccXE15LjI0QF31xboXa8dXVcUblxkM6sg-T4aObD9n6PAPMvnPtEDWCNimiMkR780YLfQF1Iz8jGmtw5-XjqMzlQGxw5J6vR3bL5IO14eDLAUSg3WBjhno_sU-rLmrGDxjNTdGPtQKhV50mbYjKWK9DggU2ydY_jbGd0tM3gqZoPBzs2QbI6TOsBiSc2DCeV9UKMTgXRzOOem6AXe5ASZ0IJTjB6i0lQ2mjgjeOvqiyQaRMSBu-cBjuYGk1d8TYV8h4mxiodxD4CRtXSonD65Zl6YdJnk3-vx4e2EJuuw==",
  "id": "rs_08087eaa651f8c1a016ab41e559d0c87d098afdea23ba06aff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingertips are now low on either side of the white toy’s torso, with the toy aligned in the wrist view. I’m closing for the second grasp and will use the jaw reading to check whether it caught.\"}",
  "call_id": "call_zmdIVJ47gGYVyC2DXVHd6mxJ",
  "id": "fc_08087eaa651f8c1a016ab41e56382c87d09bd365c44f027511",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zmdIVJ47gGYVyC2DXVHd6mxJ",
  "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]: [-0.6205, 1.6699, 0.746, -0.094, -0.487, -0.4053, 0.0193, -0.0212, 0.8055, 0.6018, -0.5453, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1394 left_z=0.023 left_yaw=0.0179 left_pitch=-0.2854 left_roll=0.1773 left_gripper=0.0193 right_x=0.27 right_y=0.0014 right_z=0.1438 right_yaw=0.0023 right_pitch=-0.1663 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.4991, 6.3658, 1.2039, -0.2173, 0.0024, 0.9011, -0.1709, -1.1966, 6.8855, 1.8388, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6348d4bade33f8638a873f44accc737e56f5d9047c8515c0c200062d7f3a41ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f929ada0f217e504d40c816ab34836989f7ab625075071247480a96503323b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c2b799ebfa03866b997b46914a364e8fd1a66591259b5569003782b0531e5d",
      "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 · 4.986 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6991, 1.5558, 0.5953, 0.0654, -0.5392, -0.4545, 0.0104, -0.0212, 0.8017, 0.6018, -0.4778, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3242 left_y=-0.1494 left_z=0.0367 left_yaw=-0.0125 left_pitch=-0.1584 left_roll=0.0992 left_gripper=0.0104 right_x=0.2808 right_y=0.0011 right_z=0.1573 right_yaw=0.0018 right_pitch=-0.095 right_roll=-0.0017 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -7.0222, 6.2427, 1.409, -0.2564, 0.0513, 0.8767, -0.0615, -1.2103, 7.0222, 1.8926, -0.0269, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6201, 1.6512, 0.7574, -0.0971, -0.487, -0.4019, 0.9963, -0.0212, 0.8051, 0.6018, -0.5163, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=-0.1421 left_z=0.0327 left_yaw=0.0119 left_pitch=-0.2639 left_roll=0.1629 left_gripper=0.9963 right_x=0.2748 right_y=0.0013 right_z=0.1492 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -7.5145, 6.0786, 1.6532, -0.3004, -0.0464, 0.1245, -0.0342, -1.4017, 7.159, 1.8437, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6205, 1.6699, 0.746, -0.094, -0.487, -0.4053, 0.0193, -0.0212, 0.8055, 0.6018, -0.5453, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1394 left_z=0.023 left_yaw=0.0179 left_pitch=-0.2854 left_roll=0.1773 left_gripper=0.0193 right_x=0.27 right_y=0.0014 right_z=0.1438 right_yaw=0.0023 right_pitch=-0.1663 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.4991, 6.3658, 1.2039, -0.2173, 0.0024, 0.9011, -0.1709, -1.1966, 6.8855, 1.8388, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6348d4bade33f8638a873f44accc737e56f5d9047c8515c0c200062d7f3a41ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f929ada0f217e504d40c816ab34836989f7ab625075071247480a96503323b5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c2b799ebfa03866b997b46914a364e8fd1a66591259b5569003782b0531e5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5ceFoviQAISGt7sOHzUtb1KeJI7pxALfvvk1fRHIR5dKqIsXG4I_FBo0HQWxyDfP83f_5fo9CO5M_tsmtLnjA8_ITjLpzZYYP-kiyNSrRhaw57cajReLxE50KJRq2W_Fg9Ay-_TUDEoOLBhau_lRvQ4DaTLxucruZMIXBh78ee4n_ntJKqdzPF7j3452HQW_YvMWwxwxZX8N01IYwHBtFYPDuivDxpIig4TO5qPtinX-bNBLo9auUHwYoPhQfS6vbd7OOFYUqMlskbc6Omutk78XSRoWyfi2XsTe_FFlC_GcZE4A60aSfa2slJQxWE_mi0Iow8L4EfCgyBOncOZ6yOVAlhtB-x8sEGpODIeR6HUMG8ZphkgB3fPhEVkc8chQr8F2ciUTivo_KowjWdXYQuACiEOaLbSyF8FaV5Y2nJTpuj1lq9sV3g5D3jK0iswN-UpuobT55_1zGVQtVvB-BnUdeB18fUm8RLTV_qxpvdNUIOCpc20kJj5nLVuOKl9_srogAC3H4Gyt6-rYYugUFFsWMJEAgc-Tr8L5lCHwx6baQuPX9ufSEQgZaAB_NqGM5wJB8OdvDOiMjzDOZVY5K71rrKnc92diIKWXJLJ98rk6h9U36IATL8Xuudwoy3Ldo2rOT71Xt3Js3Xx2qUazVXdOjzEA58jGWFf-jmlzbP7y3PXx1xtVOgQHgPeJIz3qoiT3JRNSRaQEdIscFwg5vVFX_n36Jzqi1pB_NGuLK3C9xtmqZc92GnjX-9fo9jTOKz3lLSqfVrD4l0tXuZ13HuVaukgCY1vMDxPlBOWn8XADWpRhWxnZiKEzuQKAPp2Rw8sWT-kG8ToARcNUUCmJjN97sCX7FZ1AWhxoKodAs3visa-6kEtecKzvu5Vs2j9dbH4YtKP5r2LbV2YfJlVndpa-6eKsvJimdf7YrQtIhAdo75BqzWpzwSJc0yT7ODwglqeRfDM87POGSLY7FCeWQA7hWbs0AZ0MEHc5-biLXGLcfL1_eJNoJWTlo2y-vCV9U_2KdfiKv1Y7qCCidm1v0uf8h8fk4g4LHvHZKwLxLAfQbfZmv1LYUhga6U4bgwPpKdUMSCKcvLdJPOpcdqTfvvqXLqwC7t8tmCyYYdRhtg7y8Kldo17M5vt9Bmv2q2MhUu6Z1LYhKNAtIsBtabgktc0wwQdnzoyW54QxzK9sA_5d_Rd29TKvNh-Z-D1mmHcVpbapygVUmj4WsnMxe1oKzqrNgdy_eK7MP4edpbcVnhyVbSj82Fys1tUrUV-F05TUpv42YXHQCX5xLxlP0WnF3dH264cF5c9SGZ4lTNb6CnAgx3IO37hXFd8vZqT5c44i1QSs12myOCcTlVsuPhAAOj08dqLwmH52_TjUZ7JWuqrIYsQPFUqN_2J5MnahglvsVkiEYC7t7WHerhPT8O2mb_D0AY4HLfayg4rcCQ8SBHRQ15J04FPO-flIm4JWqrlYh-1A8zBvsi6SOMcOAijok8TWwTJvnAzpX3V7Ia7Oa45RgUuusvBlmEyE9eaCDC3tc7YVMub5o1ELdyDhjD8Uit58bd8JXR0YOiZy3XML55-Mo8HFUhsUWxPlML0seecIzWV2a-9RM9D6MhQGKjETq33oD-wqtrDTajp6_cBal1yzPPfWhX6PJWb2P-d3KzKmn1rHKriiEzjqE8n78sN6RlPQNQ7x5yCZ7_wU0bkZ7J4Deug73mNUnA-MGtewP9ZEy60ig890aJBBSp90HX4uvKK95qHp5ODxNq6oXOSEor2fh2FpjLfns0Kmn49R3Ut4f9TaGeNF_5pyOJqM03lgZA1fXezMn1R__U2TXaQL59lh4c3ll4H32wDapjklkceZA1x4RlcUgIEr9R9cm2aj54KxVwdOzCSMEAq8S80zo8oHpmjMqtf6ph0-EgE2-2pu0k13VxniQWZaMYw3NdLMuM_l57Duuew-tKBGE9pF07HkxFWWIdxu4XcPGN4Nbi_LR1tvjRJ5KRB5mpiwIc5KOpJTpRDY9_LyvKpngQowZ10s-ICYyCQgEQ4PaH-GTCOTGaYmjMX4-1lTg2Xh8qlT9lqr5NmpHKLHbAC4_wJ6wWxxvD3OGBXhDOgnEXHwf5pRikw3Fxfm0nTBRIitaBdWY9YdH1j8pxOnl7_DV1tg3LUQO-DaZhSyyR6V6SagS2IxHru_r0GzQWAEPSO2xyTdJby59aPFSwgMpQklZicYoFIBHZz552_7uXdnYNkaCRN0sVV3cY-BiMzCeUe6BicPO4jSydj5j0BEWunhjsm8EoHBMnE4GBYI8CNO9KT1i84k9CQHheIp9ARsBkI_vpsJfveiQn69prsS_K4oXBtZxO6LIUdD6WUPDI5x9M_pc9vsfG1w3K_isQe7pBXtuRfvvtqgB2zbSgWSG6gB3H3tXdUexi8kuVAK8JAEHW2nknBEx_DmJtz4f7Lw_AFrPpqtTOBhohZQsi5y997aXLCTGoh7baiIMqnzNf_W1ePOGo7hBJIraUhpBewk7DyHsmlgfBV7LyM4rLT8MbhltY5fzYhIMaDobXv9ck8QrKpyUiOTncnAdF_9hDEiZz0kDlY-WDart2_-KZxWq0fG2MImtWGGLJKv-CqFxQ52Hmrm94T2tQmXKizA4lS9ZrUrxOoMWLSPocIi5LcQFtYMNHpHstC9jPglksPLTqBvT1tsXNfwBd-w09Ur63OX-5N-mIbPJeZw==",
  "id": "rs_08087eaa651f8c1a016ab41e59236c87d0b029ed4823c9676d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.34,\"right_y\":0.17,\"right_z\":0.15},\"note\":\"The second left-hand close also read empty, so I’m stopping repeated attempts at the white toy and clearing that arm. I’m bringing the right gripper over the brown plush toy to try a better-supported grasp there.\"}",
  "call_id": "call_TsWs31PpKJ1msOn31yJzErzk",
  "id": "fc_08087eaa651f8c1a016ab41e5c16f487d09c24586f50c19d7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TsWs31PpKJ1msOn31yJzErzk",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.152, 1.034, 0.8513, -0.7223, -0.231, -0.0433, 0.9971, 0.6559, 1.393, 0.9314, -0.4728, 0.4294, 0.4412, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1631 left_yaw=0.0615 left_pitch=-0.3055 left_roll=0.1719 left_gripper=0.9971 right_x=0.3252 right_y=0.162 right_z=0.131 right_yaw=0.0359 right_pitch=-0.2384 right_roll=-0.0501 right_gripper=0.9996\nstate[joint_eff]: [0.253, -3.3299, 9.4427, 1.5458, -0.0855, 0.1685, 0.022, 0.1709, -5.4632, 9.0188, 1.6386, 0.3834, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e032c9023deac983e6d5c7ded0d22f55c5c929c3aa0f9d64376ca8ad63b7ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253ba43eab22373b47cbe85b2f187e9cc838bd6f4a01ea4cfb3490ddec36c704",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405d1a41429c4f95d829bfea675113cefe330cd994624a544b28d88d0b97248a",
      "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 · 2.548 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6121, 1.5124, 0.8646, -0.2569, -0.4896, -0.3977, 0.995, -0.0212, 0.8024, 0.6018, -0.4999, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3574 left_y=-0.145 left_z=0.098 left_yaw=0.0077 left_pitch=-0.1931 left_roll=0.1159 left_gripper=0.995 right_x=0.2774 right_y=0.0012 right_z=0.1529 right_yaw=0.0018 right_pitch=-0.1178 right_roll=-0.0012 right_gripper=0.9996\nstate[joint_eff]: [0.5812, -8.1299, 8.9778, 1.3797, -0.1587, 0.1538, -0.0464, -0.2256, -1.1419, 7.0906, 1.8339, -0.0366, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6205, 1.6699, 0.746, -0.094, -0.487, -0.4053, 0.0193, -0.0212, 0.8055, 0.6018, -0.5453, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1394 left_z=0.023 left_yaw=0.0179 left_pitch=-0.2854 left_roll=0.1773 left_gripper=0.0193 right_x=0.27 right_y=0.0014 right_z=0.1438 right_yaw=0.0023 right_pitch=-0.1663 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.4991, 6.3658, 1.2039, -0.2173, 0.0024, 0.9011, -0.1709, -1.1966, 6.8855, 1.8388, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.152, 1.034, 0.8513, -0.7223, -0.231, -0.0433, 0.9971, 0.6559, 1.393, 0.9314, -0.4728, 0.4294, 0.4412, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1631 left_yaw=0.0615 left_pitch=-0.3055 left_roll=0.1719 left_gripper=0.9971 right_x=0.3252 right_y=0.162 right_z=0.131 right_yaw=0.0359 right_pitch=-0.2384 right_roll=-0.0501 right_gripper=0.9996\nstate[joint_eff]: [0.253, -3.3299, 9.4427, 1.5458, -0.0855, 0.1685, 0.022, 0.1709, -5.4632, 9.0188, 1.6386, 0.3834, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e032c9023deac983e6d5c7ded0d22f55c5c929c3aa0f9d64376ca8ad63b7ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253ba43eab22373b47cbe85b2f187e9cc838bd6f4a01ea4cfb3490ddec36c704",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:405d1a41429c4f95d829bfea675113cefe330cd994624a544b28d88d0b97248a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5j3csvgruhpSFMEscZ1SL-rMUhLSn95do3yLRKpi1WVEnGchbqe_671hmyNeZuJxaEqdSbJDmew4NnJZPmrv7sETbM19UQd5Z9nEW-P8lo6sKRJS9Jk0VN92N2yAqN1cmWleM27W58TW6ygAYkCFno3gzcp14-P3Yafn2p5dRMjvmYv112uQDjXXTJTwc7TbJEcKLa-2Ww74yyUxq0DMMeeZiqqf1ok2F5o5poxp_FLAOF9J5J5AV4BwOvwfW7EUuz5ihbSxw0uz7bEcVT2Kob5KC8dcjcqtEIrVt0Qx7nwgan2LfQPZfO_X0kp-AcgffSOja8nEem-Ct6HKv6H2QucKdmlsEMy21F5W8C4kQm5HS20AVIDjazmbS05DjkzQD1E6D4GnTPQdqnr-y-VlAoNQSykgSgkTzwNPJFqNO9-bmDO6Ma9h19EUQ9b8UtoUDFfMJ5wGgUxFVuaOUHTmu-5wlhU-BXBRGd_rVMh-Ab-VhLvt9hZaTnqpA8gzVdgpEeLEB3Z83hB8VPZihEhvAgSvo1uI_xU7GgyViSJcET8r-hNO2F6X2SCKMQsTgqI4lOKQvwD5eb6S4_B6tkKueq6bL_OM5f9haDNVtRxo71OrHqF7fLKBt92sLXEPstyx6Xs1V6oVMxjeI6YyztuDFua_SR40KLgBODR6VEOh86TtvgFYcLQZ5oMfu8G_HvjHknkaXe6o5xtF8i4Kc4ZagJudJJ7rVDRbg-E383BxCIYIOn6HXKKfubZYgsi-Vpmcl-0r21m57u-fkIoZ4Wwcf4hLLPmKsn5OOVYE0ZyRCY1z4tHJ9g4fqaiHK-IYdCC203H2Gw8KaAtkQL41VNzSfakHtOFO3Pg27U9blxHApOkFxu89Q-qg26y0RSY9CjCKtfHCuikdnRnui1gGwODLMaqOjU7Ml7PMh9kQtBC5kpEtVBxRb6lkKvsX15HMIwxKrYIrd7W-PZdUG3yzFFr1IemsZm30j6koz7nbuwV9pOo8cCmwH5Hfww1w48A_mey9oQC1xos8kbY5XUTfnAkPfyZdmW0_oaz02qXI56Fuu19a3Oqg6pK_kxNzdrCTqvRJ_fHY_oDeoFVrA0PkZQV_Fy0tsWQixtdY1GPdwJJWZGLoZTdr-i2_A2UpUrr-tWnhAYzrV6hb1cpMHXob5TMLZJ_4jtJVGg6LVYNiYPC2CHu1_RUisEdcAAdTKZt5dWF2CuT5-Wr_6nywfiMlmLq-XMXvPCQXi5jHeNcoM90p-TLTU40mfbfm8GUIY-PplrnbjOY2YD6tydjq4v2pF9RqzWd47s8LKFQigtAAcTTUCH1LeGbe0jA0VOrsJlmppGig60Ebr2mYUxqpAbX-B_bz-fN_AIQY3VB1VhErwgUknME4ZGSjO6lg2OMhbMKe-fNQ8ul4nLl5UtOJta58IqrRantB_GHy8CT8XR8VkrF1oTBFX9e-GgvYbEQIKgsicJS4RwJe8IMCKjpEc3Mn6OOngfjqja3rKPZc-DoXGJuiP8TQbZjr62mMe98b0js_mWcsOPG0Ce5_xkcorjwnu6mFISR3sAafli8QvXPKgQ3oip9qABPjLzUW0CWhdXFib_pIEJ9BltuM7I31m2K2Ic61h4wavgAdUPMM9criMm0MrH9FZRTaOLiJBLpHo84D8cLu6Y6cvHSdrldkSXvOj_rZ7xypg66XtO-DV89D2_z9erHHQYo0KKa5xvkCIgMBz17626h6LRpmYSCRH_XPPKILDd8DpL7CLwecjmfMXZdAFZV5RW9BXIQ3zbv5zxYvgCmFCieX7Yk8snoXPScJH7JcHiimW-4WLaewYNMeE9gixH15Go9zVc1u_eBsKmUq7xuVNwxovWjmzuPzek_M3YKhkK7vIHm9kKtliYrbicdmbGgxb80UuS2ensdxfzMHviystQTWG8VQpPP07csOnP7KYV-qW0idHZbR9Lu2q3l2PDVzPcP9DxvMVJ9gLTy4RNiS_Ne1h3JPv1ntQThu2KZjAXFbUuJ7vVAPMFAzPcW3jcl_yPuqKynATcFjcqMHn32dk1qtJtjuuyYjDxelSR8xTcHjmG0_Hj_HctarwiMSTqECIVrUDcLMRI4MaZ5Btj6P2XLZ-_AnCNwUuanmPHmFRMKkkA2e4Z-uhIqXkUoL7J-Z4__DTM-t1NpqkiWt4Dy8p1rdo0LmuHXZFZtxUViA5YZufdfHcrm8Gr0Ebs04Z57F97theCRzUBr1ucnupu0NrhRoUiHCKwCCeLuIwsEc_diAsslIrKD-Ks7LPpAyxWTZu32XD4X6Xzvk-M1cSyh1G0hkybAuBJo2FNG0eB9FEC_Yob5qANwOnTRSyIC1j75p-knUj56ss0CCXi3dvOO8ACgmsLJVVBJ7Y3CVhKrcZ52lAEu_Ndfk3heqIgCNPF8sdSbDHJTcd0litWbElSPPn0OR7QJbjehOMiL5gxTy6ZpV_T_vDDMX11ezUWzJXRaxb_6vaqg3gSuZDVGnq7VqGVPnmnvUQtG2j05NQb2ALONCeINDfj3RuFiRm5b2ZYY9QaDi55vNgrxTHvo94bL1ZNgrjdXMza4uZeeU7ZBwonXrQF2K7zCumvhy1XNWq8CV6DSHOujxvti5Lm6WtVyrSco7lkr7aNAnF_82CuBPADhiO_v5xoJzMPQTUjgpLsVZxDqEXqj3gSVTacPmBqVgw1",
  "id": "rs_08087eaa651f8c1a016ab41e5f7e6087d0b88e21706a3a7918",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.215,\"right_z\":0.095},\"note\":\"The brown plush is just left of the right gripper’s jaw column, while its torso is close enough in depth to grasp. I’m shifting the right gripper left a few centimeters and descending partway to align with its body.\"}",
  "call_id": "call_zLOB03tVVZgNGk9bfiz8I7nr",
  "id": "fc_08087eaa651f8c1a016ab41e62a87c87d0b48dea43a1f4f411",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zLOB03tVVZgNGk9bfiz8I7nr",
  "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]: [-0.1509, 1.0348, 0.8555, -0.7567, -0.2192, -0.0391, 0.9977, 0.7574, 1.6077, 0.96, -0.4149, 0.4603, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0007 left_z=0.1592 left_yaw=0.0522 left_pitch=-0.3381 left_roll=0.1717 left_gripper=0.9977 right_x=0.322 right_y=0.2015 right_z=0.0765 right_yaw=0.0547 right_pitch=-0.321 right_roll=-0.1091 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.6872, 6.3111, 1.663, -0.2418, -0.1099, 0.0415, 0.1983, -7.2137, 9.2923, 1.5165, 0.4811, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf6edd4637549049ab0f564f4fd7e6b54de2e8e39800fc5d5c7d5b2fca9ca7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02db170a3fd9017524e39dca290eba1884e7d5383624896b50ff63cfa590c2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9f10adb83560c2210df4148bdea013a40870d709ad25ef8ba0d6bab7d34267",
      "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 · 2.755 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6201, 1.6512, 0.7574, -0.0971, -0.487, -0.4019, 0.9963, -0.0212, 0.8051, 0.6018, -0.5163, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3475 left_y=-0.1421 left_z=0.0327 left_yaw=0.0119 left_pitch=-0.2639 left_roll=0.1629 left_gripper=0.9963 right_x=0.2748 right_y=0.0013 right_z=0.1492 right_yaw=0.0022 right_pitch=-0.1369 right_roll=-0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -7.5145, 6.0786, 1.6532, -0.3004, -0.0464, 0.1245, -0.0342, -1.4017, 7.159, 1.8437, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.152, 1.034, 0.8513, -0.7223, -0.231, -0.0433, 0.9971, 0.6559, 1.393, 0.9314, -0.4728, 0.4294, 0.4412, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1631 left_yaw=0.0615 left_pitch=-0.3055 left_roll=0.1719 left_gripper=0.9971 right_x=0.3252 right_y=0.162 right_z=0.131 right_yaw=0.0359 right_pitch=-0.2384 right_roll=-0.0501 right_gripper=0.9996\nstate[joint_eff]: [0.253, -3.3299, 9.4427, 1.5458, -0.0855, 0.1685, 0.022, 0.1709, -5.4632, 9.0188, 1.6386, 0.3834, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0348, 0.8555, -0.7567, -0.2192, -0.0391, 0.9977, 0.7574, 1.6077, 0.96, -0.4149, 0.4603, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0007 left_z=0.1592 left_yaw=0.0522 left_pitch=-0.3381 left_roll=0.1717 left_gripper=0.9977 right_x=0.322 right_y=0.2015 right_z=0.0765 right_yaw=0.0547 right_pitch=-0.321 right_roll=-0.1091 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.6872, 6.3111, 1.663, -0.2418, -0.1099, 0.0415, 0.1983, -7.2137, 9.2923, 1.5165, 0.4811, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf6edd4637549049ab0f564f4fd7e6b54de2e8e39800fc5d5c7d5b2fca9ca7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02db170a3fd9017524e39dca290eba1884e7d5383624896b50ff63cfa590c2d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d9f10adb83560c2210df4148bdea013a40870d709ad25ef8ba0d6bab7d34267",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5mg6kihQUlI3jVfSxZgJy0Tl8BFotW3JtGLe5-S8qRGDQIBKmOf1pVkVBk5tS3_c5jckHuC_Z7LmbOjXdKOx5kj2KdTEg1Cd6agpRSmDJ0cu2kGyTzBwsI-dWlaV8tqHx8WTpJ0A0c3wJw2iEg7DF7MvIe8SM1wWnRzEdB0OerMGBMBukSN4jACOAAdcWt5HZ3uWyaWawkhh4qlausiQFxipkvUJH7N_5KZoHkBzOkt5TawIdO2xAlO5tqLTTud5KGPvn8W2xgamJ1PLe7SzGVdXstxdDnfvajMDBewhd-Fwhz6XbHqRRJVrbF5TWsr9m7kDU905mFsEaKMKKjjIHNYbh939r2B3ZEzXGQbqEW5SPhpT61CZtxBs4snqqHyfidqw1IK5T265c8pFcK0C-D-HTwUSA0XyT1n3_G37H7EALnZTYvvZJh02HImER167Jag8naj1FSr4pnY_KkQ0blMHxN3i8EcNkDRGx1cTu_ZvxhSAh2XGL2jBDQ2ZI89wG1_mfktOtGsoME8KvUnsShmzWR2Mq9YlznJstDet8zHARTynGVt--EAmXKz69etOD6pQMbvfA3oJagHPlyeNFWgOn0sKz1s-iwanG47XkC-1iUDyt0pNhoEPtFZVXqNXhxFEItTkc1XIn97vYMGZGyodvMsTien1qeaLiBCY75toMY5ozq9DrZLfBCdDD8xniE-zFgNnY10T6WBlCf9AthIHrxN--U-z8ASmAmOiwHfgQq0Hl8K86uy4s5Fb2-mu54hnMcaA-R__tumCI8oBskx6fgYJYNlr5hdnDG-InnSGBO3eSUv4CXPlazqL7XK_Tv70b7P2quxpdURRgvkH3o2cda0ymzTwfTSV1JZsiUxZkoUEnvMAlHYxsrkNwfM-043H8KSkSg7OdmCYyX0s4TQ7shItw_6Dmb1BwoGfCIOrY_w0MGurorAhAoZiklxsVwldKtll6W748vrMZe1X6AFP8ro2no-4eMD5nplYHAt4Ph5CQbUG2AmvjvQxy29N6XE1LUvowqXR1IMAcKn96nTpVMBiPZXEqTXeTimmC11DFlTdUCOPimHP9pMqQGEemC6Z8Kdl7ufkNGUhsdiNxh6V9MuQnfARReAnKbJBn1TmZ_lbwt8UFJzmu7ZiAa9eh0YlsbgA7r_IAkSWcsXE0Je8lSDLG6YJp5fhAUIukS44IPy4QAf312DuBdw2V7Co-pqsUIzHr3qUDKsBVixDcN7PHdOnL44XwQSiu7PFJeQvp7ODKsHmB37umnfwbUlr2xjPTsd-QTBK9CEJI0UB2UcIOLEyUzD9dBo2xs37xDWbfJuvmtXR37voj1kkXThMImq8atXg19t9_Ya6d3zAjT4MuGSVY8kvO1ykdO663-4vGl9r1MyqpQHzRX2viBOo87oBOMtEcmr9TbFBjA4VQLJ-It2-tFzxizlYwlbEtmHcIjtjTHHBfodKljO7k0pJiT9RBShcUy6Dd4Ni4hYXkT7P2_A51MMmttdLrFSxZ9B5Q=",
  "id": "rs_08087eaa651f8c1a016ab41e64ff9087d0b90a0545f6fc2167",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.325,\"right_y\":0.205,\"right_z\":0.035},\"note\":\"The brown toy is now centered across the right wrist view, with its fur filling the space between the open jaws. I’m lowering to a firm torso-grasp height before closing.\"}",
  "call_id": "call_LMR6qum5gcoOQbB4WFxwkYB5",
  "id": "fc_08087eaa651f8c1a016ab41e65afd887d0be2292164a8bf52b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LMR6qum5gcoOQbB4WFxwkYB5",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.765, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9771, -0.3923, 0.4747, 0.5247, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1579 left_yaw=0.0559 left_pitch=-0.3462 left_roll=0.1729 left_gripper=0.9977 right_x=0.3282 right_y=0.2079 right_z=0.079 right_yaw=0.0455 right_pitch=-0.2965 right_roll=-0.0932 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.6735, 6.6667, 1.3748, -0.1343, -0.0464, -0.0024, -0.3487, -7.6513, 8.2256, 1.5018, 0.3199, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecda3bd18da393b77683347b3e00a9ad32203d9255f982909623944bd0f16476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31ef4c359116f99b580ba7bdcd230fbe7a2114ee6399c969a3e2805c1edbc8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:027eacdcbd8a59c415597f63c06c29a5522dad4bcecd85668b1206cf043711ac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.685 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6205, 1.6699, 0.746, -0.094, -0.487, -0.4053, 0.0193, -0.0212, 0.8055, 0.6018, -0.5453, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.3434 left_y=-0.1394 left_z=0.023 left_yaw=0.0179 left_pitch=-0.2854 left_roll=0.1773 left_gripper=0.0193 right_x=0.27 right_y=0.0014 right_z=0.1438 right_yaw=0.0023 right_pitch=-0.1663 right_roll=0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -8.4991, 6.3658, 1.2039, -0.2173, 0.0024, 0.9011, -0.1709, -1.1966, 6.8855, 1.8388, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0348, 0.8555, -0.7567, -0.2192, -0.0391, 0.9977, 0.7574, 1.6077, 0.96, -0.4149, 0.4603, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0007 left_z=0.1592 left_yaw=0.0522 left_pitch=-0.3381 left_roll=0.1717 left_gripper=0.9977 right_x=0.322 right_y=0.2015 right_z=0.0765 right_yaw=0.0547 right_pitch=-0.321 right_roll=-0.1091 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.6872, 6.3111, 1.663, -0.2418, -0.1099, 0.0415, 0.1983, -7.2137, 9.2923, 1.5165, 0.4811, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.765, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9771, -0.3923, 0.4747, 0.5247, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1579 left_yaw=0.0559 left_pitch=-0.3462 left_roll=0.1729 left_gripper=0.9977 right_x=0.3282 right_y=0.2079 right_z=0.079 right_yaw=0.0455 right_pitch=-0.2965 right_roll=-0.0932 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.6735, 6.6667, 1.3748, -0.1343, -0.0464, -0.0024, -0.3487, -7.6513, 8.2256, 1.5018, 0.3199, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecda3bd18da393b77683347b3e00a9ad32203d9255f982909623944bd0f16476",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31ef4c359116f99b580ba7bdcd230fbe7a2114ee6399c969a3e2805c1edbc8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:027eacdcbd8a59c415597f63c06c29a5522dad4bcecd85668b1206cf043711ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5psR6k65sJDOfJ9XJVybx-V86aOkRrdSirnLqFwuGB4d4sr9asAyJr1ijWo8w1drKnkfCqP0zys7diVfG8HH1HwRM2U_s9yLlB68TTfYR2d5i7rU6HI3LNSvA3StOctxADUmTcL272SLkKyV-1j8JWryGmaGEM8rKK1oXkgGRfI0QEu_dwBGRv_UJf4kqZzIgt9Q0iH8YhnLQX3ljyFtd0Z-0-ogvHCEAh3TcAyR5kMk4Tek002YTP9lZjh5NsrrB2ztd6jCf4Y-yUaje0n0-P-zgpkxq0PkTtfziwT3ctw9ZDscLWQ46Ugrd6FkZ1w5lwpqFnzs_7EWBOAkn7vsD8KB8xALHQkkNx1uSjsN0UclZ1r4r88zVpaAP2qRpWJi9LaO1bnELlLYp2xUIfBSSyT_wRS5BfN-nq1_VOkK2JY3jrrWHdrDhwpdPxxBW5nNlaHKgVDh3bLxRp_1K8iaxSfnD6zDsad4PwO7DraTxgs2INks_A_XwlshyHaEbt_LH9GIMUuOoHAm6tg-gq3TJSBnsAk3tB5OoVQm5EnOAYM4jauSANAdpwWaDYGu1briB2r-Oxgg9sRbwZa0pfo9lSNQUs8j8n72olBmyQp5vrg7YGSrnrd3n1cCyfGOzMErtWf2UOX5Za__7kjCZFZrdI1UGrqfbEml_9sljjeY2D1d__9oRf2c-WjrJrz2q2IeM74oJ7X53SREoUc2m0Yg2rw7a1jnX2Gc1GjPS3A1DyQZwf_-NnSjrsdVUoLtXwb6SFc9kaH3UTRX3iHvnyrYn1hf3UvEK1COmBJ-M-9g1x5ba56S7i_SNjGIVZenFfB_-nUaQEl1bBsUSn7Gd2IQNR5X6mxwPpkaPjzSvucEMhx290xQ8ewZLaS1LOSqWDHjLI6m74IvW4JXo8J9utKYwpFlQ137oTK-MtGrXp0_sAEIMb23nVGBw71oO4BDwVLVkNf1u5wdJbP43XwwdsRfOZc1iPNGNbhV7YgYcy60swCvoOMc3OI91NIY_RPqQuv7rPm956_OerWNUHTDBoiIEaRFV-HT2LH3DQb4mHiJ811auGEIIdA37aqDYOaWHNskCBJDDp7vUgZ7rOnSgZapfdfpkZ8C_BYdBfIWYz7VMY0LlYK42ro3M9ZEM45lP5ZbBJonDbPtblA0Y4IgxrdsoK-qG1v0GZLEusI10YmaPIIintMI4lKmwBngH-0QsV6vJnwzcrs2zcPw2lwhTHPFd9VTOd7SmHFxx7L8bhdCmuiYosQssSCQ5aBfHNpdqQJ1Pdquz2DpqpoNBMCB2qNCKg629x54HnM2R6dyh-6mhboEARyrslfbeHsxEkD6zd3wuYXoPCfPT0BGfiWdr9NFo-ONzTIP_pPxdtqIUy96C3cJ2NIMeej0Zh2DRibRWZ-UDaWGxCOywLeyKu3Nvb8qT4qluejpSGyibgWRVMp4m3P8XrpqMi1V_RFGrmvLqlCgq6",
  "id": "rs_08087eaa651f8c1a016ab41e67e9fc87d0b2961421d21b0f4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right gripper stopped descending with the brown toy directly between its fingertips, suggesting it has met the toy rather than empty table. I’m closing the jaws now and checking whether they remain separated by the toy.\"}",
  "call_id": "call_Lhe8jGvz3cyWr1G0JFOaRtSb",
  "id": "fc_08087eaa651f8c1a016ab41e689cf087d09a86ece62178f7ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lhe8jGvz3cyWr1G0JFOaRtSb",
  "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]: [-0.1509, 1.0351, 0.8555, -0.7681, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9764, -0.3943, 0.4709, 0.524, 0.009]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1575 left_yaw=0.0561 left_pitch=-0.3491 left_roll=0.1736 left_gripper=0.9977 right_x=0.3274 right_y=0.208 right_z=0.0783 right_yaw=0.048 right_pitch=-0.3007 right_roll=-0.093 right_gripper=0.009\nstate[joint_eff]: [-0.1709, -2.5504, 6.7077, 1.3162, -0.1441, -0.0366, -0.0122, -0.2393, -7.3504, 6.2154, 1.16, 0.2173, -0.0073, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072c124d25de2756178241933357442b7572331569fd01de8982c979a6d6ec2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c216953e1409b1df0960f8db87e93a761b3555f57b4005dd9b0794023a7738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1451caa29505cb805ac141e7e0b159ffc7514a3214e947148428a1fe422db4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.972 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.152, 1.034, 0.8513, -0.7223, -0.231, -0.0433, 0.9971, 0.6559, 1.393, 0.9314, -0.4728, 0.4294, 0.4412, 0.9996]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1631 left_yaw=0.0615 left_pitch=-0.3055 left_roll=0.1719 left_gripper=0.9971 right_x=0.3252 right_y=0.162 right_z=0.131 right_yaw=0.0359 right_pitch=-0.2384 right_roll=-0.0501 right_gripper=0.9996\nstate[joint_eff]: [0.253, -3.3299, 9.4427, 1.5458, -0.0855, 0.1685, 0.022, 0.1709, -5.4632, 9.0188, 1.6386, 0.3834, 0.2564, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.765, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9771, -0.3923, 0.4747, 0.5247, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1579 left_yaw=0.0559 left_pitch=-0.3462 left_roll=0.1729 left_gripper=0.9977 right_x=0.3282 right_y=0.2079 right_z=0.079 right_yaw=0.0455 right_pitch=-0.2965 right_roll=-0.0932 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.6735, 6.6667, 1.3748, -0.1343, -0.0464, -0.0024, -0.3487, -7.6513, 8.2256, 1.5018, 0.3199, 0.0952, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.7681, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9764, -0.3943, 0.4709, 0.524, 0.009]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1575 left_yaw=0.0561 left_pitch=-0.3491 left_roll=0.1736 left_gripper=0.9977 right_x=0.3274 right_y=0.208 right_z=0.0783 right_yaw=0.048 right_pitch=-0.3007 right_roll=-0.093 right_gripper=0.009\nstate[joint_eff]: [-0.1709, -2.5504, 6.7077, 1.3162, -0.1441, -0.0366, -0.0122, -0.2393, -7.3504, 6.2154, 1.16, 0.2173, -0.0073, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072c124d25de2756178241933357442b7572331569fd01de8982c979a6d6ec2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c216953e1409b1df0960f8db87e93a761b3555f57b4005dd9b0794023a7738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1451caa29505cb805ac141e7e0b159ffc7514a3214e947148428a1fe422db4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB5uZA-V7AZI7OQ3xa6FzuYVZ_8ppY7VMcdBX-7Pg4Y1HMK3-3KV0LxF5jL94b5SM40GLgtcANb0bWo1XyUAq_mK6Goj-Wp5r8I74l7bkzk303wUbRmXnWjfofrRp56JaLRFYxPADGB5bHlYKZEzCg2Q6iMnsM0nXl6jXeppnZ6iJDpSx_X0W4SCu6qXA2aIkZ3RtVLmXWGBzGUZPgYn6DKOPQAWW9bIUGHtsyat8UzW_xw-vdwV08ejBFwzYBowgKrl9on3ZTp7mHGVDZ_wXpMNNB_CAsF_ZTWPY-KlGtSVmSaGvBRGZMcMKS_PA5xBQGsu0FuPrZVDE0GVvJNN_YisN2yTxhioyj-CK66cczUDChJGwQSbdif4IwMSTBlwcRJcruI9h0JqnIwj1tY8y-33N20SH-KNLGrymkjBIgES_QW8i6ZMEakm2v67uHmBYLGxTZ01jHF20bE55habbziZ7ASgu3laTfgccj1osEo80u58Dw1aF1Q1aJuAMrPGYR6QQrvJ6wHQSk1rUmosF2DQGt98nEsKAiLyjnaZh8frmGbL6zycEYU4TX1qv8JjkmolpUDb-EpJ__cyS40yn2-kXSlELoduCdmOm-4u7j4aC_JRD3SeiNtpFl_O2ETSQbhNPN62xchKUGlb4JOmZvT0nQ80dg_mI8VYhyrC7th1wOHNUrkQeLBrX1JbOdZq54M7cVnv-Hzb2iMSuHtRVnwYWlC9XzOWmdmBHYNNxzJFreiAtXXXviBkOx6DfeOs4UrDdZZhBq5IPcebLBZI3AqzNx4JliPS3B4CoTZlyHmi1sPcPgA_OCHoEFTCNLBTO0JgaE0Jpx1gCT0TvP-E1BvOhrDCV94SyHfY5gIGBhlr1rAu-az2Eg-SkIKK3bzxhzhpFUGZf1WYr9SQlJXlXiSUOBTj38Xp8E11ipQf42wx-ZqwxUVLyC6J1SssimHLjriyxI5GKBlPtPlaf4R_MdDWqSzinkzpl5TmaobHDlZMJzIVbv67QZC2RHv4eIerMVEScV48BNqIW3oBwU8pv2Tmt-SzQh5ItlOLu2Zqk1sF8_-zIGP6lg8z5rnrBWbhpJ-by5eAqeB28Dd-tFopMiqJ_PbAYabm-osvDmzNGZQ4ddoLhDfjHkm2DKR3T9snQyox-RD0EAxBvXvRXIJrF6mIsoClmfZvkBN65Oe3E_niqbE5K5xuC6a17sGKPtWZt76dLK73QaE5W-zArul0DfUfeKd3d9rfdmQvesIH00cmZIw8anOTJIqOwL8cOP3fegkUdY-W8GGqiwvryeM39wUwwqbolZdkN_8povKA9ucZwLcLEp5eEiEPz2Z6iBBNFBEu3ngwGy6It2PCjTBDgIJOItFIewzD9kal32dyK2QtHDeYLUxvOm286tzKA2WX2LrYLClrHD8O1kdwpQ7madBSUWPl2AJ8KJKJcG2Uo6ZNtSUsjvSAEnuC-oMt_HYVvAFLggADj5A31FyjHnzzBYsdymizHLHYLamQRPEa1HtXelbv_ya8bNmO520FdVBRs_YQPLkQNXR77IEKKzpsONjNBpYJ2Vb7IyRUf0uel1p45BbjwevXpwpBrWnmMgZHhfA5SoiIQgWFhq5wFwl1nIrdjVbFXM8H9vvaG8_C1ohXDET_h9lkQR-O2dNVK6dq64IomeuMZmyDrBO7VtxJoFJCaJI-S9bUJ_kAVm-32tn2CPEaP3zRuGfrzAywAOJYpPK3BE5o87Wi-uKpJEYcN307fdVIPq0SWxroHVA-o8pYmHJXglAESN_f2LusMtGYn-VluaTzQnMleraK65wbM-NFvU9Ayu2eWT7N0UXGMnMUJSgw2JfeT5tcZIWhSHMHbDJ1kOM4QOOdi8p_sOyzRa2psVCIb44hRUXhpo_45R5r1UjXaliTRndv2kKJtMtObJ3JrRwIR2noqnZNTXW-VLLcRTJNmqf0ZcbBJcF4qvgvomHhQ8e8vd4eHr-Rq96ACGPMBwofHL74fFz7Y2LrsNmJVHwCAEVbRd1nMiPGdSlBIrqh5VQOWUdNbzRiHEHA6_K77m_mwnUPo7Dgwdbsf5rWLzgfdBaZ-uBNwytdi6MkGAf-gzjozr04xi3clodZtHONUrjBKTK6D_bGnz-7WL3ZKlKX0bGT5QahtH9NjZ7VyYOT9KMUarre7bA6XstcXSkw-3lRo8rQmV-q0XU47fLug6eSdxkiJ6aeyO80JGjnyawtuEvFHx8MNTF1dpqXjVKFcTB3Zoju53egv52NMx6aElJLcwzvrRtVXtwS9Nw3AUALSX21lADd4_E1CGozA5kTM3SEcB_F2caH29j9ELdrz2kXN93yjrC_Wpfx-Hyf0ctKFmtkGECaDLVDnwWz69htPsZ5FTShGchp4c3zsjUE9tmLcEHkVt_VRxXRtFolwTPm57UwOQBGR4xp6txWFnKvhfCmww8vqovwgV9xccv2eC_Wudu2DAWepSFv-tz6f8nQI7q3FpDQv1Og8PpLtelocIT0hVCEqbNNd_QffhezFAATG_DHqPZAHJTdD_5xdgxpXL5rwF6LukQTO7RJVyk5e8WvSzOi03hFNmqLe92JhABqjZ-zwsCPeVVNzbl1j-b5O8q267pPz9z6yDg0bXtEZUcGvCRLLSmykqu2Os1h5tpXioa_CWpgkDuKYlyqSCg=",
  "id": "rs_08087eaa651f8c1a016ab41e6b63e887d09a4fb3c2e03401a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.215,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The right jaws also closed empty, and the brown toy is still ahead of the fingertip area in the wrist image. I’m lifting, reopening, and advancing about 3 cm for one adjusted grasp.\"}",
  "call_id": "call_3LY0nz1ZeU0SwTLBW3XczoJR",
  "id": "fc_08087eaa651f8c1a016ab41e6e1acc87d08cadb139db0eeb45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3LY0nz1ZeU0SwTLBW3XczoJR",
  "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]: [-0.1509, 1.037, 0.8555, -0.7715, -0.2211, -0.0422, 0.9977, 0.7166, 1.6592, 1.1957, -0.5972, 0.4442, 0.4709, 0.9945]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1565 left_yaw=0.0568 left_pitch=-0.3543 left_roll=0.175 left_gripper=0.9977 right_x=0.3502 right_y=0.2091 right_z=0.1189 right_yaw=0.0463 right_pitch=-0.3305 right_roll=-0.1195 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.7556, 6.6393, 1.4042, -0.1783, -0.0708, -0.0122, -0.6496, -6.6667, 8.7179, 1.4237, 0.1929, -0.022, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a789dbd5618bbb61dcf46805f9b258602f0d4918d49bc604e951e70b8669357c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ac1859fc5f8be1e95ab7f0823f096db61b47c397b41abee25e2bd2011f32e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c978d2d990e0ecec43321572b4b46be7d643848e88d398f7776ae26b341725c9",
      "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 · 2.137 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0348, 0.8555, -0.7567, -0.2192, -0.0391, 0.9977, 0.7574, 1.6077, 0.96, -0.4149, 0.4603, 0.5064, 0.9996]\nstate[eef_state]: left_x=0.2839 left_y=-0.0007 left_z=0.1592 left_yaw=0.0522 left_pitch=-0.3381 left_roll=0.1717 left_gripper=0.9977 right_x=0.322 right_y=0.2015 right_z=0.0765 right_yaw=0.0547 right_pitch=-0.321 right_roll=-0.1091 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.6872, 6.3111, 1.663, -0.2418, -0.1099, 0.0415, 0.1983, -7.2137, 9.2923, 1.5165, 0.4811, 0.232, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.7681, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9764, -0.3943, 0.4709, 0.524, 0.009]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1575 left_yaw=0.0561 left_pitch=-0.3491 left_roll=0.1736 left_gripper=0.9977 right_x=0.3274 right_y=0.208 right_z=0.0783 right_yaw=0.048 right_pitch=-0.3007 right_roll=-0.093 right_gripper=0.009\nstate[joint_eff]: [-0.1709, -2.5504, 6.7077, 1.3162, -0.1441, -0.0366, -0.0122, -0.2393, -7.3504, 6.2154, 1.16, 0.2173, -0.0073, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.037, 0.8555, -0.7715, -0.2211, -0.0422, 0.9977, 0.7166, 1.6592, 1.1957, -0.5972, 0.4442, 0.4709, 0.9945]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1565 left_yaw=0.0568 left_pitch=-0.3543 left_roll=0.175 left_gripper=0.9977 right_x=0.3502 right_y=0.2091 right_z=0.1189 right_yaw=0.0463 right_pitch=-0.3305 right_roll=-0.1195 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.7556, 6.6393, 1.4042, -0.1783, -0.0708, -0.0122, -0.6496, -6.6667, 8.7179, 1.4237, 0.1929, -0.022, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a789dbd5618bbb61dcf46805f9b258602f0d4918d49bc604e951e70b8669357c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ac1859fc5f8be1e95ab7f0823f096db61b47c397b41abee25e2bd2011f32e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c978d2d990e0ecec43321572b4b46be7d643848e88d398f7776ae26b341725c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB5yzemUJCQfIpgmqw-w8i1_xkcH_FzOThzKXLrd9hwG3TpUSyOTCSRnI1O-99sQRpz7iJ7lxNw0p2-aB_AOP_e68qwZefSTrCtl6sXR_atKOMoxOnH1DqJ2ZD3kgRkrIP-CEeccELeK9cl6hwCMzBwRixafMKJkEn2EuTIOFYoCUDNMsZrX-ZMP1WoHhQOF-0nw_hiJtnV8XXwoyTzanvaA_EFfI9VyjmoLHm3GTq4VLeA54epSY-q6smEoGOUOTarPLYMIsdSQ_BJs3WAViOgheNfV975jttajWwv5sXnQVwTJiBAiqqdi5VpXTvo4tN088tVKiUvOekBLP37incfwXvkl6AP9h_t3O-yx7Lgft6Ob2WN-aAuZh71MwPDQVD3UOUQQnnsX8NWdyZpZqu5Sz0OH8emYSkwS6MRKuig4CUloetVF6iWew4lg0oKJdo-6x_PH7dT3HsGW_1UHirBgIB0txQdbll1KmUTYBA8NRJQ4jbaVRA6MHRxAIgVrJ2APgbiTFymPLV2We73FTd_DETJbgnR5VkdJ5D0CJjxnGgKRRnQsT_jazWfyjaOohDtELSSjv6zXW9jjU5JJ7ESnPNluP3CFnzSr8yWCSL20ZZfk34xiQPAYddYd4A9kdgo1uIzc67i3wCudj7wB9q8ZFpAfpGPWZBIJHMer-2TveSoTpn46I2an9svqV9DvSw9yBYXW7LUL-rLeHSy_qlXTERYvZLjFIYmy-t-uXxcEtB4leUN4VzGNLiqhxeC62A7a0Z7kqflVpW7W6tGLJKiaO92zW7IRo5ps_Ilrx4yCWq-yIycuobogPgWnVm7pqxCaFvW5UmTDi_D3WfpyipopwICCq24OaR-_-gnJhWVqhkOxNPUvaST7KvjYBM_vdYe2koFXFDvy7N2bBKEmd74w-XkwEbOGz2vcyXQXgcdBJLuDfVHwB6lE8bgcTecWY1eV97GO5n8i6IKSzEJ3iAA9fOlRHzX1cNUaDH-GFESrwzkaKirB12Fdw6EkhjuzD-nLkh3EVi2zo9fazLgEwMq5Qn2KdxmB-9Zear5YGypy2txJiZUsUjqdzsXftz2HLnBbI71fWsLsWfBw-gnPlcE4MYKOlvc8PF1xf60mchmmsv26XDJk3YpR49tKULYMiKT_IuYj74c3DKj83IHDdyziiN9Eh_2_cddi2yTqPMsoOTOyIsbuB4p4R8VaIF-BQ7YQg-NzSmaSDubsWDxKY-BXA22uDTUGKzaVV6kcHacOdUU4bJAuDC5ZiYGapOKqOPgex5KUhbIIwuNPkt-Hyt-2b2PYV4OCGwPkyB9qoX1yQKH0Hn_XVqcivareT71c_A7HfIn7pfYNixPwgIUHSgy4SBbYVc2c5tYDqr6VrcKVGrBaHFxCTUNf7XrJ1ZwKrwp6eF7rvTBUAWywHSCuJ1H1Jw==",
  "id": "rs_08087eaa651f8c1a016ab41e71589887d0a7bce43beeb6c235",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.21,\"right_z\":0.005},\"note\":\"The adjusted right gripper is now further over the brown toy; its torso runs beneath the jaw column. I’m lowering gently toward table level so the fingertips surround the plush rather than closing above it.\"}",
  "call_id": "call_0qkiw1X8QDOXRJcizdqBseYp",
  "id": "fc_08087eaa651f8c1a016ab41e71e4bc87d0b328436d061bb6d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0qkiw1X8QDOXRJcizdqBseYp",
  "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]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6945, 1.8606, 0.9928, -0.2119, 0.4274, 0.4519, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3584 right_y=0.2079 right_z=0.0134 right_yaw=0.0432 right_pitch=-0.3559 right_roll=-0.1318 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.7145, 6.8171, 1.2821, -0.1441, -0.022, -0.0122, -0.4581, -7.0222, 4.7248, 1.2234, 0.232, -0.1392, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398eda15decbeb1decc63a388114bab10129f287199f095603de4623929ee36c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8855bb95649b19290cf57080c08ff8b50c55f440fb2cf364ccfd2ffb14e3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3548821ab5c40f9ca7d9895bbaf57fbb72cccb23909a10758df3e81184fc39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.332 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.765, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9771, -0.3923, 0.4747, 0.5247, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=-0.0002 left_z=0.1579 left_yaw=0.0559 left_pitch=-0.3462 left_roll=0.1729 left_gripper=0.9977 right_x=0.3282 right_y=0.2079 right_z=0.079 right_yaw=0.0455 right_pitch=-0.2965 right_roll=-0.0932 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.6735, 6.6667, 1.3748, -0.1343, -0.0464, -0.0024, -0.3487, -7.6513, 8.2256, 1.5018, 0.3199, 0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.037, 0.8555, -0.7715, -0.2211, -0.0422, 0.9977, 0.7166, 1.6592, 1.1957, -0.5972, 0.4442, 0.4709, 0.9945]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1565 left_yaw=0.0568 left_pitch=-0.3543 left_roll=0.175 left_gripper=0.9977 right_x=0.3502 right_y=0.2091 right_z=0.1189 right_yaw=0.0463 right_pitch=-0.3305 right_roll=-0.1195 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.7556, 6.6393, 1.4042, -0.1783, -0.0708, -0.0122, -0.6496, -6.6667, 8.7179, 1.4237, 0.1929, -0.022, 0.0024]\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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6945, 1.8606, 0.9928, -0.2119, 0.4274, 0.4519, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3584 right_y=0.2079 right_z=0.0134 right_yaw=0.0432 right_pitch=-0.3559 right_roll=-0.1318 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.7145, 6.8171, 1.2821, -0.1441, -0.022, -0.0122, -0.4581, -7.0222, 4.7248, 1.2234, 0.232, -0.1392, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398eda15decbeb1decc63a388114bab10129f287199f095603de4623929ee36c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a8855bb95649b19290cf57080c08ff8b50c55f440fb2cf364ccfd2ffb14e3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae3548821ab5c40f9ca7d9895bbaf57fbb72cccb23909a10758df3e81184fc39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB51cJHIgOL_kMz8dSJLYIItajIGT-di3U1XDhzJTASgNwoxuaDFCv7Qp_qj-bm6qGxqzfh1T4IW6i2_XzutlS8umdyV4NVHHh42BWel9TMLfaWtdVqqFFmGDsMX5lCh7oh5beo2S69_K31DU20pxAptCyXP3_OyyQ6F6qvvXc6UWkmJzp3FBYgCqkLa0y81BuuGH2WnQUy24QxCAsU5QPt28vwPVX63UbZpxXRE4rCHdwMyoZARbX9uNWHYhZN3aBpOmCl1Y69TPSxzvegQjirmIeJ_jIuTSLOQvuSdU0F9tqrvOriTzI-CTEK9ZeCf-KWI51xabUX5nJTgLY9ljze6gicJjU9qNcAvE15zwX4sSENV-n1Tnun7yef3i1BIxsrySUiSySFI_OF26PhcbUsOWCK_IEaL6N2tW2CIc1GjFq1SMMDfpi7Gk7TP3QfwP71exuCCqebdCasJ-Nj7tqZCu0PN483OpbSKsQCjtt0Cu0I9BWdp16NKxTgIukBQ-Yb7Fq8UKXPSEdN5zYZINS9ELZzAF_vba4ikrTXdnlwy-B0ANyrfCe-4Ya06j2k2mLyX-2x06ClhlmlPbEnkH_O9w8Zym2XAnJmHP6Rpvx01y9-ms1Y6RVAE_xTeWZRi0IaoWCs30Ly64wRHrbmHujNHjdIq-vQ5rbiP8qfh2aQfJfY5wpiBebrcvLuc8mE2BfzDvp0_94WnDlzaLQ1ly046VB_sgj6-bONEd2Ksd17MAT7hcdqAGHRnJGwTeOitRpXQ4fuRg51JALQa_zRt318jUSAVdv6qpfkHZ2QuN-8F4lhX12RRHnavZPBGhqy4jCv8P0Sa8CVm33Cz3tPFROZZpE8gJvelw_b0DFwY-2wvSunVBNyZJ2jvy60THCI_C5gB3x3TlXJwLrxpNjzsKy3_j4GsAIR-IIpUUV4NkUlzvMq8Vzs8xJyFeXwxCOdt0DTFt7W4R_Ln9k_FOXnIBDEhnnnNFQx0Nqe05d0yGjOoMp1_ov19zuKMTvXzgAeM4VnPiViF13JfJUCy3eIxNKNpI3FbTtk2cSRYId7lZKuBopdBg40QeMCUuTW88W_SWZdArxzVIhrO2SI82ddFzxUo-q5MLl27MfmyyGgs6gR2plKZ71qqaK7Wni747tZwZ3Ql6F8d-qQ8CBtXZiY0z9GRfzL-dDBPVOvUDa7oYyXfCt17TwIWIEkm2_GXRtUm2tN7bQJ7MJ2O0DnRziqS475pxPx3cFuqYgpVyTt1pHG0dsj6e4MOYzHk_VkwkoNJT84P",
  "id": "rs_08087eaa651f8c1a016ab41e74ae7487d08989f535fcb1a8c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips have reached near-table height around the brown toy’s fur. I’m closing for the revised grasp and will lift only if the settled opening shows something between the jaws.\"}",
  "call_id": "call_QZSUo0XCbDOLLSVm4HJ7lpsZ",
  "id": "fc_08087eaa651f8c1a016ab41e74f59487d0a126e61fd40a9804",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QZSUo0XCbDOLLSVm4HJ7lpsZ",
  "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]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6941, 1.8702, 0.9874, -0.2039, 0.4255, 0.445, 0.0233]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3574 right_y=0.2072 right_z=0.0088 right_yaw=0.0467 right_pitch=-0.3629 right_roll=-0.1391 right_gripper=0.0233\nstate[joint_eff]: [-0.1162, -2.6598, 6.8034, 1.2772, -0.1783, -0.0562, -0.0122, -0.2256, -9.6479, 5.8735, 1.0085, 0.188, 0.022, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115f054556992b3a2001a6ce514882fb1eb52282499e38d5d4d7de0fdd103b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e084ec6ef83666a5fbd9db11863d3d1eb24dd4d629985693395ba3419b06f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b11edb9aa4b30300a9f76790f7e24209592d4a874831101d96fb52461b05f3b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.832 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0351, 0.8555, -0.7681, -0.2207, -0.0422, 0.9977, 0.7647, 1.6272, 0.9764, -0.3943, 0.4709, 0.524, 0.009]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1575 left_yaw=0.0561 left_pitch=-0.3491 left_roll=0.1736 left_gripper=0.9977 right_x=0.3274 right_y=0.208 right_z=0.0783 right_yaw=0.048 right_pitch=-0.3007 right_roll=-0.093 right_gripper=0.009\nstate[joint_eff]: [-0.1709, -2.5504, 6.7077, 1.3162, -0.1441, -0.0366, -0.0122, -0.2393, -7.3504, 6.2154, 1.16, 0.2173, -0.0073, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6945, 1.8606, 0.9928, -0.2119, 0.4274, 0.4519, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3584 right_y=0.2079 right_z=0.0134 right_yaw=0.0432 right_pitch=-0.3559 right_roll=-0.1318 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.7145, 6.8171, 1.2821, -0.1441, -0.022, -0.0122, -0.4581, -7.0222, 4.7248, 1.2234, 0.232, -0.1392, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6941, 1.8702, 0.9874, -0.2039, 0.4255, 0.445, 0.0233]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3574 right_y=0.2072 right_z=0.0088 right_yaw=0.0467 right_pitch=-0.3629 right_roll=-0.1391 right_gripper=0.0233\nstate[joint_eff]: [-0.1162, -2.6598, 6.8034, 1.2772, -0.1783, -0.0562, -0.0122, -0.2256, -9.6479, 5.8735, 1.0085, 0.188, 0.022, 0.906]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115f054556992b3a2001a6ce514882fb1eb52282499e38d5d4d7de0fdd103b88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21e084ec6ef83666a5fbd9db11863d3d1eb24dd4d629985693395ba3419b06f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b11edb9aa4b30300a9f76790f7e24209592d4a874831101d96fb52461b05f3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB56KdwcGrfSHGPVai4N0RG8QsK0tiOXWtD6z5Xri7RYv880I46OgWnGSrBoS1akQqC1elBc0FVOU_fHnhOoMS9h1l3DSJbwWz1l0IPLXHBDSEGG2l062g2fI-0c24ul1CMrM8_MY6py6PuyR2-Pw0KbxLdEeczzAt-eTT18A9CE06lz_-4NxRNl3LgWR_3mQLQzMYahyG_pQJ79wS9_stiXEZ240YE3R6NFmvrDod6OSzONnL_USXHIuc3R1bYdGUsZe2705ofsoDzbPyXqfrcD66mpio0smkTeD1HUi6uw43YyOnmF1zxoPhKt9Z_x4Qf5AMyQmV0P8C_H1_V79fgrXuRtLCa9LJyv6e8BwtLZb6IV1M9RJEFaBgK31xIc1efCa7S2mG2RaU-_dLaV6f8EWkvNeekS5ctSFuaYIJw-5yIERXtskDENUUVQ1I9hR8mxHC43u_4CFW6qsdfdrsUUA3ziS1IQkxpEVMP7b-B3CkNTjaN0qURFtVnd6-TDIntluAwUa7vQNsPJsaN4k13gRcghXr2shSfeODfgljEjoXpsTATkCqym4PmVBlWnM2VZVXA9TCTQXn1qghxL3Po_Vx7-iQHbMfswVjy1-EIRN4CWfnkc3gafoTUcILXQ0eERN4S_dvGfozE1ptayYuEvsAlUD3OUceb4ekZwZrD9MRqkGlVA7fs7bChmljZ19XCI1pkNj-esFZ9CsGjZ5d3sjRRQgIyjbz2kP7Zt4898Tnn_p3VBD_9uslo7lo6bkdlt1ItKI0lKRKW-gydwPljiK7o86ONnxPoiNL0KsrlAcpYW8ymOg1HLZ3ZgjoXpi8CSJJaup0zFZH5bQ6Gd7caVpzDkt3lihwRdhqNBhVCIllMPux9VX8Pv9o2hIZytSpiO1TiQUQo8_o-fLeR8j6e5434_t8uOYvc8mppRI9dvEf_jobxTdBuT_luUl-0M7WRR5u2j2Xnt3a9W_1G-BeKy21b9VdqLrdAofXVAjVRTJue2pgrEnBtqXDmQgDz3ck4tJzQy6wE-ycUfqngCxdEHlqCjJ6zCVXysonFzE5no0Jbe78JYhPAYhxpijH6ooKx0qo-JfdYK5VdszyHbN_pZSPeo7tsN-yLXes84wAcSOjnwOeMNKwG0kBzx3I52MYRxxLp5c0YeoTntVDlkfJ3fKXJRz6z2KCuirO9rWSoZVImTGXBm6z2Da6do7ZEpcwDMHXtGNH9TNu6_INKDAFEgQcy7-3ASlvflspttTFcNOroEv12K_zc61ritqFhM47FyNMLfqlCVsrIG8sJ0FzIVTA5DV9P2ji3N354vmKY45G7jTg5jCCWUl7c5477akrJEsqco5QecKx2fJyFvSiRlrCybB-HH5gfyafnvGUUNsDZlitmRkFV2MSI2-fjsPJrulhvQcEB6pW_iMV9b3C2WWvMr1qrMCwBrQ0l-6jEutR-B5IZ8gIhfrdscaFkRtTKsBQtE6LcgFgv_3p2ibLszXNMRYtX3Dctv8svxXeWwbn3mN2jMVmk0TvIiLbk0V1toNck4UPHjkNLYwPYL3NLxTzKol5M_-CM6p9tz2XBq6heltvBX85kMAGJJZ353EcEKvP0C6rRt2Ov9RmC2JtGXdAnoneAjmcf4IMDL1bBk4oWEqaADfZnBTARRiiBCc0El962vh1HHcF9ccloeySCaI3gfAvqQr-faoU9Z7JISfLgYgy_TwirqQx44cMcoZrJgdYwW2LZKPAf2JS2LuAN6L5SlLJ4kaPbdjueklxOGKVgu8TwD4hFTKfiMwYMJ8fLeXXvgpwiR4pbKKk_MCzDeTMdEdUkmsI2eIiUcoe5tggMMkpj2xcpuxa0Af6lzEZ46oyZvWN8zGqFp6apibRWn1TS5f27BiKbUai54CzBlzYmEGNdRnoWglgtGus2HtvH09QZoz3Vr9FemChni72ULoy5EoELhJccW_xnyz1x-om5TUAtiOL3TC7lmpPT3r9u2WemeHpZ-8khDxKPT1ZAbgbhujS33dRvFAFYd20jFh7kuGH9b7I-aiRJdPxTjFwPRxFdw4O-4ZzC-kr-BaDMyY98pm4mmbjcQFOCzWyLOB8knSDh07qNsEG3iLqZ3af1yoUnzBBUv64MD4cwNybwxhao-cPMhRmLNIPvP0fn3J5ssTF5uhdT-lMccxRvQ0-JP3v72sk1H2gM89vfWfw08N7Cxr14NzhUOSzrFvpD02SqM5ThD3g1QwyCPVc6LzOIQIvgJ2UHc7pwSFA8rQP544CIfmXEbjHlqlOfW3OgawJEUI2FaypQA2FJ7PYaWxJOgH_Celr_efENUVQV5HTmq-3IrEvaRhXzJb44tgWQuirDamfTk-yXtjQwJmFlYERmb6ZJSD5NXhb8LYsHCpyotgjpHa49opCrvphsOjegnLiSJERc8GxGCfPl-sZ28d20Ig1ENv9vnRvHHvVG-0ZsZgYmt7B1zOVw2vE1O48hnwWOx254x-UVMEtofsygUr62xUFuynhpUStPEMWi5dzL_bVVXZ2pnO6e8bxeDppQOHW2aLluE0SkP7GiwhYsl_2svpE0DJQzeOBYpenCNUwmII-U7AQewwDclk-DY3quEPrA1Z-wtDRE89lZ9t4nf2-I-qIB5QN7eU7FGv7we_ZzRMTA7u0a-IaKaN59iOVa68Ic=",
  "id": "rs_08087eaa651f8c1a016ab41e77a7c087d088c0a50d7332e7c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.165,\"right_z\":0.18,\"right_gripper\":1},\"note\":\"The second brown-toy close also settled nearly shut, so it did not make a secure grasp. I’m leaving that toy for a different approach and moving the reopened right gripper above the yellow object beside the safe.\"}",
  "call_id": "call_ffJ0ArpIuXgAfOSGt8TlwQmR",
  "id": "fc_08087eaa651f8c1a016ab41e7a246c87d0ace3babb3428fc69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ffJ0ArpIuXgAfOSGt8TlwQmR",
  "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]: [-0.1509, 1.0416, 0.8555, -0.7868, -0.2211, -0.0422, 0.9977, 0.4641, 1.8542, 1.6512, -0.7975, 0.3115, 0.2344, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1533 left_yaw=0.0584 left_pitch=-0.3737 left_roll=0.1794 left_gripper=0.9977 right_x=0.4469 right_y=0.1672 right_z=0.1745 right_yaw=0.0453 right_pitch=-0.354 right_roll=-0.1344 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -2.9607, 6.8171, 1.4432, -0.188, -0.0171, -0.0122, -0.335, -8.6496, 7.706, 1.0427, 0.0952, -0.0952, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733adc2c4e8b51bd6889fd1617199403e7b9ffa7b62927bede47f5ce70ddc669",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4ef9354038629c64d2e59627b44cce416cb76f8016411c1922f873d2f77867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dab0f8d1ecdf5c2bb5e80cf80893b8794333dfc742b6404e93f3a4021ac3d91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 4.507 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.037, 0.8555, -0.7715, -0.2211, -0.0422, 0.9977, 0.7166, 1.6592, 1.1957, -0.5972, 0.4442, 0.4709, 0.9945]\nstate[eef_state]: left_x=0.2811 left_y=0.0001 left_z=0.1565 left_yaw=0.0568 left_pitch=-0.3543 left_roll=0.175 left_gripper=0.9977 right_x=0.3502 right_y=0.2091 right_z=0.1189 right_yaw=0.0463 right_pitch=-0.3305 right_roll=-0.1195 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.7556, 6.6393, 1.4042, -0.1783, -0.0708, -0.0122, -0.6496, -6.6667, 8.7179, 1.4237, 0.1929, -0.022, 0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6941, 1.8702, 0.9874, -0.2039, 0.4255, 0.445, 0.0233]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3574 right_y=0.2072 right_z=0.0088 right_yaw=0.0467 right_pitch=-0.3629 right_roll=-0.1391 right_gripper=0.0233\nstate[joint_eff]: [-0.1162, -2.6598, 6.8034, 1.2772, -0.1783, -0.0562, -0.0122, -0.2256, -9.6479, 5.8735, 1.0085, 0.188, 0.022, 0.906]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7868, -0.2211, -0.0422, 0.9977, 0.4641, 1.8542, 1.6512, -0.7975, 0.3115, 0.2344, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1533 left_yaw=0.0584 left_pitch=-0.3737 left_roll=0.1794 left_gripper=0.9977 right_x=0.4469 right_y=0.1672 right_z=0.1745 right_yaw=0.0453 right_pitch=-0.354 right_roll=-0.1344 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -2.9607, 6.8171, 1.4432, -0.188, -0.0171, -0.0122, -0.335, -8.6496, 7.706, 1.0427, 0.0952, -0.0952, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:733adc2c4e8b51bd6889fd1617199403e7b9ffa7b62927bede47f5ce70ddc669",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a4ef9354038629c64d2e59627b44cce416cb76f8016411c1922f873d2f77867",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dab0f8d1ecdf5c2bb5e80cf80893b8794333dfc742b6404e93f3a4021ac3d91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6A5u80v9mOQLZYyisy5PmL37V5fw33V2_iblSTIKMrEje6dWoSLr7lYXYAgPDEgK7Tm8VIpNyLGDoR9kezxvMyobWZ-p043_7rYM4pGZGIi4LArVx1rQCq3gNZgmHTInxkvkDkArKtFiS7AJTZXgEllrMckRoSmWKrUgCD_mX515QOcpA1L0jd37vbHbC7hPEmaX78-LhyD3hVSud6a1B4t__09Go94SodpvaM1l3PUs7zl9bIrEZnsjOcp7iyBoP340q7_cAVzkXq9R-I3SaBvZd1hnYH87k2o73lDAfi3RqiRycTQV9vJjzhMfbjKOTr66OgvELcxSOd1vyfhGhSVlhNoSAo8K8pY-CDTR0UXEhTd35k_pb4Y4A1m0TE6-mS1phjsJS5cLpi-p9yqdGaxrnL-GvnlGYrIueqiBCqaj82-AweKpxpTVgPQxoeqv9AvBFb7OVZnzxhBNT9bzddwVU2AJD1N7pp4jzyxH1AngHF7us39F4Nv-NycHGUYq4vCtCwL9RBo2kVVWq8AVoWpYTxlpAp9k8tiblnX_OmzJ9dz0sHvKjLMymFIKMIZtgzPax6ghUj9cUl8MHi8koL0zFhJWQC45tR4lyomi0WfyiIsbLLitbdoTGA0t_VpnC36ts4hZ3iQXtmOR5WiOwBs5ZgRA7qvzSfdXcB3JJ7JlGs4wkA8FHIWVke4Z37GXoYFdQe3hmatBUSNtiNMMysZHdGUBMRcRVuIZP6CCcdN-7Z0DHf_GNJ2hK3ncWN1vXnG7JCYDIYN89bdzg025xCeIazMlIOYjwGTemVzo3hOOBJneWB_GG-g3QdDkzS3HRPe6VnfWrnsV6Q5smSjVP2x0DFPdfk-CG5Dla4EQCFkx_RT8It1SnNdGeN2hiP2PELgp5SQS2jIvGIHOENBdbGmDPfq_sQIAlDxODuuNDe8M3mw1XVllkI8ekkQTf9PDk0EwoDJmM6JI6dR0JM69E_2m1gciTrjXE4b-Vz63h5lgyaUMulDqlkPvdGcKi_WNRD7Pv62AzhpcGPaZjDM1i-NnwvQUyUlgCr89YWibgP1Pw-3tOnHmR_br-3HT3s35E6s0awJ1XLxtg3zkbAGWuYUsfDlxTEfQaHR_2Z5zt9uha395-AB7oGZ_FonByjcjPvGoSbf0dM5DYFaZ42CG4cig81NRFQxXBwf4VNwpD2Vx-goAeXY8aNBQZA38hG3wop8Y23gPxMvaoZ-y2zP-rJjhUfko3iaG6ZltXTr3jQ39rm4bTA66usJrkJHFEhBlZqxcWwCy_vDrMu-aMa6PRiaNpvZ0ybck5I9fVRkgt60R5VCkmMkEeVdH7m77QK-H-5c4QrvwJuGFermpsI6f73OOkJY2-bk163rORvXsN70efoSr6hw6hpgEetMsyGvmIqsvYtUWk48nbaKlNVUgGHEAyVd1Wx4yE9uOXMPmRw8uau_DXipIZcNeUSriCfVJ8DwOzEG1tJd5C4qlRBPN8J6IMOI3sYNUTzsxgyflum2oqxiWs9fglMVThk6KccqdsC3FUtjUuiZdC4i55DDY5zkZAkCwBY9sYg8G02H3SvqQA2mMyLO-insqFg6iNQEDKSfzaeLJZ-qc30K-JEYoL2V5VBIeLund0uzLeZFQ5Xk64kuU7myO6I4PQKNLDIBotNyNB_9Ec7N6DJ1knBk-wrkAJsiTBOwfCAbW2VNtjoBuXgs6oyVdWIuIDyQCtOMUY5LQXPDB8RYM_zRPIQ_95cIW6iptWxQfZafZIWVPgKbwtOyMmH1HbuU_2wW_FPH18AlR3y_6boff2S9xYNXTMEZEgpPE9ly8cJEHw0bh1pYAHV-7etbc6m8RoxA8BHRqKj86J3JTUNbhSz6QUujAVbeLr5VRvfW4zulMCkBQzMe-z5s2Zcx7-nRhBh7Hbmh1BIc15WrNy4cV9VFpBF9RG51VB3tc7OR0SV34xG-Voh9dzPJ-gGT_F50dTOa1WJI6GeHpxt1A6SBbzhv78Oj_z7C3rVggkpwtASFm4LhXk4MJLFqVy3LFfj5OwA3Q0A_lCKQCLK0Sweg1oodkDrT7bO9z8e4cULIVLAv7H4bfwzRRZmsi-TX49bC8sWbRFGasaeyaPe6eyf3_y-8nRolPw9EBrZ9mZPK0M-ZLosBJEA4xIiduOLj4Y1-JSUjXRrh1xnKht5gcUNfZrYJyU9iaa0NerbJam_iBoaujPLV_Mx4jiiIf7MWSD55fh0xPPvBEl048HQFbK3BpfDTTXDMZMm7AjP5fuhFejixtS_vgEZlqSTYZ4FRJFFe3qegtbaHizHJQ2FGQ0XvCoA66uSHfsPNigNvQXLFcYiMA0YPYL6-xSX9F6sYyVOabPMLm3dfHFtR6ONkaZiKMwXg4AYt07tVGiVPJGhyKdGd6JHLXUaAzbCQNhz_2Byast_ND8nl4TVVbfKYhJr3hLZe9flxNmwDJhAwihgMXwGXRz9K22CgT8=",
  "id": "rs_08087eaa651f8c1a016ab41e7d1f8487d0ad601d1715122ec3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.165,\"right_z\":0.075},\"note\":\"The yellow object is centered in the right wrist camera next to the safe’s open rim, but appears forward of the fingertips. I’m moving slightly forward and down to bring the open jaws around it without contacting the safe.\"}",
  "call_id": "call_sX95LnH28wVICImO1za0vVdC",
  "id": "fc_08087eaa651f8c1a016ab41e80485487d0b9e2d40363b301a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sX95LnH28wVICImO1za0vVdC",
  "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]: [-0.1509, 1.0416, 0.8555, -0.7937, -0.2211, -0.0422, 0.9977, 0.4435, 1.9461, 1.4101, -0.5186, 0.2958, 0.2123, 0.9973]\nstate[eef_state]: left_x=0.2769 left_y=0.0007 left_z=0.1523 left_yaw=0.059 left_pitch=-0.3804 left_roll=0.181 left_gripper=0.9977 right_x=0.4505 right_y=0.161 right_z=0.0763 right_yaw=0.0421 right_pitch=-0.4107 right_roll=-0.158 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -2.6598, 6.6256, 1.3748, -0.1832, -0.0366, -0.0122, -0.6632, -9.3744, 6.694, 1.5067, 0.1197, -0.0024, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a70551cfcbdd2147750f9fe2c973fd73ccaa3e753609aec071aec11a1a22266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7b11951cc6c53e57445e04bf9d822fdfbc12a40c2f03ccd20672b42e12ccc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf6478479d154a63ff4d74da39f56f8567aa68acf4c258383849ff4d9ffb581",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.159 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6945, 1.8606, 0.9928, -0.2119, 0.4274, 0.4519, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3584 right_y=0.2079 right_z=0.0134 right_yaw=0.0432 right_pitch=-0.3559 right_roll=-0.1318 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.7145, 6.8171, 1.2821, -0.1441, -0.022, -0.0122, -0.4581, -7.0222, 4.7248, 1.2234, 0.232, -0.1392, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7868, -0.2211, -0.0422, 0.9977, 0.4641, 1.8542, 1.6512, -0.7975, 0.3115, 0.2344, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1533 left_yaw=0.0584 left_pitch=-0.3737 left_roll=0.1794 left_gripper=0.9977 right_x=0.4469 right_y=0.1672 right_z=0.1745 right_yaw=0.0453 right_pitch=-0.354 right_roll=-0.1344 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -2.9607, 6.8171, 1.4432, -0.188, -0.0171, -0.0122, -0.335, -8.6496, 7.706, 1.0427, 0.0952, -0.0952, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7937, -0.2211, -0.0422, 0.9977, 0.4435, 1.9461, 1.4101, -0.5186, 0.2958, 0.2123, 0.9973]\nstate[eef_state]: left_x=0.2769 left_y=0.0007 left_z=0.1523 left_yaw=0.059 left_pitch=-0.3804 left_roll=0.181 left_gripper=0.9977 right_x=0.4505 right_y=0.161 right_z=0.0763 right_yaw=0.0421 right_pitch=-0.4107 right_roll=-0.158 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -2.6598, 6.6256, 1.3748, -0.1832, -0.0366, -0.0122, -0.6632, -9.3744, 6.694, 1.5067, 0.1197, -0.0024, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a70551cfcbdd2147750f9fe2c973fd73ccaa3e753609aec071aec11a1a22266",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7b11951cc6c53e57445e04bf9d822fdfbc12a40c2f03ccd20672b42e12ccc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf6478479d154a63ff4d74da39f56f8567aa68acf4c258383849ff4d9ffb581",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6FoBfZLl760vvfvopjI3cgOBRRz9OarSF4bIPaCDBmCkZKpik5bri_0rbjMndjdmybcN7HFjkm0DU8L38U8DCaiwCGL-8gkDryN3-tPCdxQCvO9UugnBCh0fb8k8vYgJH5dWfDwJp1VrEeN_FucBmMT_vnIuzARJhpD6DExI3oLgF3zjS5SZwq7YySzlnUcsrOLyO8VVYLiJa3kJ2fQASWxWcHIRiEKZ8SKB-baEP8pcJOd1ML0WyPWBXanbmOL5XnrUs-eCq6r0fJ3v-jM4UC1cuFEN6oDb5MmZDmXebDcuAEapCgQZphQn4XlIa3S8DMoymjKwu8a4p5sIveOqQ47yPqFX5JcKgFUKxUJPzTlLDIgEAEWHiziF6R-VazCasZ1PFjnMBGofwM8IK6UJxiNahH9c1e0l_KKGMNh9as6ZKiQ2Qr6NpROqkXen8SxfijlW-QyLv0JS7e7Z9XLDNfyK1vEWyJoMvhLZ-DQVHdhhYQMkrfxRS8CSr_smortd5Mwgb9HeT6k797iYs3q4aa4eyRM58-QNJQXeNT7RzSfeDcYht8Qep3y5VJ2BHNKDUP1AWlv6n5fp6AUoGxnu6uEQyu6z6Sg8av34lKB557vuudh1obPpMn5S49g74QcfZbp4eowTEqTQ_fTkk_nkV7SQKKwNwkvBCr5bj6F992zZl3fvWg13O6mIupvTOAvIbybATxk_abu2KrLR_Uh5cvqxwQmR48M7kWT5CSikfY5KhONIYc8SyMPyUy9yEL0PjIlHjVJBg4qu1xRJ-1mX95LjPZUtQNFutHbj-eR_DpdD_R2QFeYpos9UnYEPfkdhVkKA1N6i8Y3w0fLEoNUsKviPIr1gyQ0Wm9XNInomln-yavky2K0_xFkJm6bDjWsfgFynd8uvD-ffMza5g1rz5BCJOoo6VMVRw-WizFXBGTmsSQbJCZsy7ihH89ndo4H5DzIhgupsWwuz2ZRjqjCx1KB2ibJoS5aO7YQ2dF68xAdS9braX2JBrIP1Tjmi9T2vZYDHLk0jMRCtdQyvptvA4fwI8VuqFksCfUnYmQLN3XtigFGd7p5LrKEISCGw37wh7YZ8tZ4Enl7ivrINhL9YGi0mM5GA3xmxy891IqTxGeKFz2enUniuSQea005CeqJJ1c0mQql1wOrvopLztAlR3w6WyquXUuN6prFpBWjNA6P1g-hlpnDdXuwgnJrd3LsnERHCFTLoeVSCITna1QQONXSTBlUhnCQ3f8MI-amCQNh6kd4v3dHK1VAtGwqWjgnHl3RStyp-T2RTU2ihBegaqnk3kQSBe5MGjZmyZOIWVVA8kzdxr0wXHA-n7z3BuwHxbRaN-PZeqR2EbMms0a2Eh9u4UU0fXUwK27bDKsZXuBZWJa4W0uUgtovkJuKy1-XH-_c0fE-AnKRA_W0SOERuxynSEQ3Ky5LhrpHdpsx1UWjxhDWN3K7ceupnc9GtW-2cJ8-uN-JwfyoKaI6J8ldPaX8inNSFpMhH5Y3LBE-IZqmCNgiJVUwTAw2e5lwwO0IAP6aw2Ps7xWvjiX6PnxyjkLj4gSgOPucVr2xNUfgOk6cOXhhzJnNBWn7YEJ_LP9v8ey-ZIPcHi0WAivHQRazQDtiJCzySN-xwCCi1C9FXOMeepMjq5TNxcxoCNcvQgVbUqkPI5TZZddR4dXS_05XY-w99I1MIqNoIxq77SSmE2ePC7MMWOISs0lVM77KJn18WgdZuFFUbFF9Ne7fqLXg8-P7xDQCTYbl66nF-BxiBnUKd7GNnKwAei1o1UGKfNXkuyfwvO_A5MAyTtl7Cq48yTAjIqq5lS-0ob9FjZP4e13Cz1tGQ54olPLVRwC0Z4IAYSqzVRzmDq59FzO-qglSEbkDq9EcDFbNW_cxWn-W8lA-cnNLg8jdSgqyBXQlGB88-zbkMULj-VusojXlmoSmsRnxkcnXWNs7GRxQmqsfcAcqJbeR6viPlI9K2Mn74YID1Nwd1denzKndz4sL7ruIfPFZSR4WjYI0hnxvjovT6JPPI9cKKDU-cTimJWTy3EnKQ-G_lwYmnqjvl3qHBIidoI5PkuB4fHLnTCF9h3sCenvu-TIbfoZhUfPXGqj9OpY1JJwUa4I6wpYnm5-WItRNjh-Q5sxXQLhBMYs4vU3aD_fHiackkKd4yETjNHgJ78FJry5Y_fjoZWwERfpGKJM94WVlLrDyyUOqgITBZGr27iYDSGYD7asSiQ5M0VIk4LlrxafUvNJZhh4PpT9w0EEhjoo5l_2VZ21P_aFUsYsWeqg2G2EE_kEbR1oAlyJS8UKZkya",
  "id": "rs_08087eaa651f8c1a016ab41e82f92c87d089fb3ad74912b91a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.165,\"right_z\":0.005},\"note\":\"The yellow object remains well ahead of the jaws as the right gripper descends, while the safe rim is immediately to its left. I’m advancing toward it at low height, within the arm’s table-level reach, to line up the fingertip gap.\"}",
  "call_id": "call_lbWOYKlaV3YtXJcvV2lLKL5u",
  "id": "fc_08087eaa651f8c1a016ab41e85096487d09d279c9b743415cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lbWOYKlaV3YtXJcvV2lLKL5u",
  "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]: [-0.1509, 1.0451, 0.8555, -0.7952, -0.2211, -0.0422, 0.9977, 0.4171, 2.1048, 1.4666, -0.347, 0.2867, 0.1925, 0.9974]\nstate[eef_state]: left_x=0.2768 left_y=0.0007 left_z=0.1513 left_yaw=0.0594 left_pitch=-0.3853 left_roll=0.1821 left_gripper=0.9977 right_x=0.4935 right_y=0.168 right_z=0.042 right_yaw=0.0456 right_pitch=-0.3509 right_roll=-0.1343 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.9197, 6.7214, 1.2723, -0.1734, -0.0366, -0.0122, -0.6769, -6.6393, 5.4085, 0.5836, 0.0269, -0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb6596cb0f0f6e9cbe46193b78d18ea8af1d25ff3995488404e92e3916e27b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437cd9bd245d906455c4e020ee2fb158f562754a30b7aa0cf0d1a1303f0370d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d460ac9e99294d79d458c9a346c80355944ca1e044745df2cf6c736a45f6d3cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.5 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0378, 0.8555, -0.7723, -0.2207, -0.0422, 0.9977, 0.6941, 1.8702, 0.9874, -0.2039, 0.4255, 0.445, 0.0233]\nstate[eef_state]: left_x=0.281 left_y=0.0 left_z=0.1562 left_yaw=0.0566 left_pitch=-0.3559 left_roll=0.1751 left_gripper=0.9977 right_x=0.3574 right_y=0.2072 right_z=0.0088 right_yaw=0.0467 right_pitch=-0.3629 right_roll=-0.1391 right_gripper=0.0233\nstate[joint_eff]: [-0.1162, -2.6598, 6.8034, 1.2772, -0.1783, -0.0562, -0.0122, -0.2256, -9.6479, 5.8735, 1.0085, 0.188, 0.022, 0.906]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7937, -0.2211, -0.0422, 0.9977, 0.4435, 1.9461, 1.4101, -0.5186, 0.2958, 0.2123, 0.9973]\nstate[eef_state]: left_x=0.2769 left_y=0.0007 left_z=0.1523 left_yaw=0.059 left_pitch=-0.3804 left_roll=0.181 left_gripper=0.9977 right_x=0.4505 right_y=0.161 right_z=0.0763 right_yaw=0.0421 right_pitch=-0.4107 right_roll=-0.158 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -2.6598, 6.6256, 1.3748, -0.1832, -0.0366, -0.0122, -0.6632, -9.3744, 6.694, 1.5067, 0.1197, -0.0024, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0451, 0.8555, -0.7952, -0.2211, -0.0422, 0.9977, 0.4171, 2.1048, 1.4666, -0.347, 0.2867, 0.1925, 0.9974]\nstate[eef_state]: left_x=0.2768 left_y=0.0007 left_z=0.1513 left_yaw=0.0594 left_pitch=-0.3853 left_roll=0.1821 left_gripper=0.9977 right_x=0.4935 right_y=0.168 right_z=0.042 right_yaw=0.0456 right_pitch=-0.3509 right_roll=-0.1343 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.9197, 6.7214, 1.2723, -0.1734, -0.0366, -0.0122, -0.6769, -6.6393, 5.4085, 0.5836, 0.0269, -0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb6596cb0f0f6e9cbe46193b78d18ea8af1d25ff3995488404e92e3916e27b23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437cd9bd245d906455c4e020ee2fb158f562754a30b7aa0cf0d1a1303f0370d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d460ac9e99294d79d458c9a346c80355944ca1e044745df2cf6c736a45f6d3cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6JoQLm4OSeM0F75XslsvwwV5WbUBxZEd6cAnCy9gVSVOwbvO0QDQA2Q-Ymyt_kZ5nwRGBkNa6uDFxFw29PjRCQciyD7r10jxtCD5onUCseLezEf6CDs-3OflXjO3Lq_4LO35eyRLHdfNefHCNGwhz-NzUwYRyNE80zgCVJAWFmkFPdhXrm0QFkvNGvQ_kng2bAR2vHApK1-nYPUD-dd6qSlQIl-qN0izqk9E5r2g50w6_NRHvL7BSzEdLXlc1v7WPdrLQIbzM0jC0CU1Qmcfymdg6GfKvwwoRAyUFyX71mRVtRH3VJOwWPSQKc1rsyIGRKRpt9ArNGqxeExSpfLJ2QWRsI-atrFcRlXiZ3c09XLrkUrOzrKr3HpZAQtGwG00gCXuwr50cvUr9XZYDf_4xw3BFJgmXFtSQn8tz2oBC9pV2EjS3qHrE7Mw8mBtlb_ILQBCPpxVrorqWWHbDYYnmIInURQYUTB5ww-ByHiNI5A4frj-Dc00TFM6k5aSK0ndDkQ_nbWDQCvx4FlhRZocJgGbNfYQ09RxIMXsLBptoyGmtPFB46AiKSEBAc-AYXxIp5bVoOJyDWUs2u6POIAeOSZ80JkIpDUMZR46XxPtpnlzXX5tuUHU1wwrb2XISwvxg00nqW__8rG8lHVsD_B9s4L4-KrbSP_1Lhz2Kd66nMPCoOweS8AL31L5z_t0HPwo7FZrZntXkpX0kTtEXczAq0RJB7Bq5wZ0U7kHrb1zTIHLh7OvZYr9gzyOx7WNShQcOQq6R2cmt37cVDCdFqCQPoR4hxoYBEb6EKPRYETMHViW5sCN8gBxnSS6wFLbGzQKXSdj_zDDvqkpzN8oeL_06WPObfSyEAEpz7_-hZ2C_Tl_9S6tlhU86eynnHDgbJ4AdIWFw1Ygv-yCceNCgpEmHoJQYZiUipB3EYzMnbz6PTvD4GMHJW7Hnzs020rD9AH8Hd7bwKt4-NYgd5y5bZcdfoFy1gOrmTC1iKmpdldMziUvHe84usRE9ViHywnvJcNbivsFo4vKY7D-c43kyyiUiZfGhgQI9EzT_gc89VUMaz0nEAA6k6ZHcQ_Fv4glffHXzcgl-XsA98ej5blUqUkVf1THb5CbPAdSax6WXSey7UWrctKgdMLC9HlNIz5GTAeEWASIUSGTKRcYJ8Ie9SEHr1vG2SGxT0Yy2scPU06GSSI_jF9iSTgwY5sXLtplHWxYlLwfBQiAdnNl5HuGZ5zHMBbIlplIdyOeQvvTgPDtcz5F-C0BBl7yQgiJvGXKbPtH1ka9roNHmQFzEDT7ZlKBkudPVZ0IAs6_SIz1yCcJWJRK_7ND7Bdl_WjDOInOzO_1GOo_JFwr3_oKdFT7kgu-4RJyInBR8wJBwUc6BMi95ZmOtEsGzNeZeHbcVkCyiQ8JSO1tZzVc5QB29ugjENbe7SnoIyK14FYKcZaUvIDHOa5PXB2achli1o1datNQzVSBIUy2ZqH7HEzl0QRc4Q0sb3JIJ73C2d-HntMfStuvEgMeg4l7GvfMkGA6T44IfbGg9GWttGDBblMJaH_07U0y-Fj0OYlvlYpghg4oI14YwfCI9Kekqopk_mP9EX-WT2F7a7-GVt46mfIcu3zvYv4Awq85g3PVuDA8xs8Fy6xcxt9GqDJYBMQE8D02A9oRXLFvgveNtGzJgc0U_bmQBB9pve9IBZX8arqTeDEEljs1_PPEkJSiwp-W28loM0CEt3lfAku4Qu26m8dh1EF76mGIaNqijSGP6Ql3hnL9N03KgJOrlHwu19cTuZyHyh8SlNLcl5e4_SR7c76iFjKtIUe1FRgb4G6wpCS_3ViYP2IFg4Ny34aFhO-pvp-jJee39yzGaX12RjyNHdUubagUH16EFzZwR0WKOTxDFTPKqWbslTwoSJmCdYnKKPtz9Xcn_yAMpIRU7DsUhAFmaWGOAujWH-9bdLehyIh3W_q0RoFyatYuP5mV-A7qO5qgJEPZnuMlm_Ob_4eXg0hNb0jd-G5H8L-Q==",
  "id": "rs_08087eaa651f8c1a016ab41e87772487d08708484bea208d82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.16,\"right_z\":0.03},\"note\":\"The yellow object is still clearly visible ahead of the fingertip convergence, even at the present low pose. I’m extending a few centimeters more while keeping the jaws clear of the safe’s metal edge.\"}",
  "call_id": "call_YkyzC492PmVdZZFaj6MBOos1",
  "id": "fc_08087eaa651f8c1a016ab41e88f25887d0a2e25c29d6ef3ece",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YkyzC492PmVdZZFaj6MBOos1",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0454, 0.8555, -0.7944, -0.2207, -0.0418, 0.9977, 0.4072, 2.1696, 1.4647, -0.3225, 0.2867, 0.1829, 0.9974]\nstate[eef_state]: left_x=0.2769 left_y=0.0006 left_z=0.1512 left_yaw=0.0588 left_pitch=-0.385 left_roll=0.1819 left_gripper=0.9977 right_x=0.4941 right_y=0.1626 right_z=0.0121 right_yaw=0.0352 right_pitch=-0.391 right_roll=-0.1568 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.5778, 6.6667, 1.2821, -0.1587, 0.0122, -0.0122, 0.294, -11.0154, 5.8325, 1.1209, 0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bf9c852c7af11da848b0509b55df533c42b4b517e9f6d1f1871194e50ce20e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320d20558cb60fa57433076856ba71f8fbb72452ea178fd48cbe46035dedf1dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba94930eb29131a032d1a9f38bc37b442ca0849f6bbd8227b7bc37c371ae860",
      "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 · 4.717 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7868, -0.2211, -0.0422, 0.9977, 0.4641, 1.8542, 1.6512, -0.7975, 0.3115, 0.2344, 0.996]\nstate[eef_state]: left_x=0.2783 left_y=0.0005 left_z=0.1533 left_yaw=0.0584 left_pitch=-0.3737 left_roll=0.1794 left_gripper=0.9977 right_x=0.4469 right_y=0.1672 right_z=0.1745 right_yaw=0.0453 right_pitch=-0.354 right_roll=-0.1344 right_gripper=0.996\nstate[joint_eff]: [-0.1162, -2.9607, 6.8171, 1.4432, -0.188, -0.0171, -0.0122, -0.335, -8.6496, 7.706, 1.0427, 0.0952, -0.0952, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0451, 0.8555, -0.7952, -0.2211, -0.0422, 0.9977, 0.4171, 2.1048, 1.4666, -0.347, 0.2867, 0.1925, 0.9974]\nstate[eef_state]: left_x=0.2768 left_y=0.0007 left_z=0.1513 left_yaw=0.0594 left_pitch=-0.3853 left_roll=0.1821 left_gripper=0.9977 right_x=0.4935 right_y=0.168 right_z=0.042 right_yaw=0.0456 right_pitch=-0.3509 right_roll=-0.1343 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.9197, 6.7214, 1.2723, -0.1734, -0.0366, -0.0122, -0.6769, -6.6393, 5.4085, 0.5836, 0.0269, -0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0454, 0.8555, -0.7944, -0.2207, -0.0418, 0.9977, 0.4072, 2.1696, 1.4647, -0.3225, 0.2867, 0.1829, 0.9974]\nstate[eef_state]: left_x=0.2769 left_y=0.0006 left_z=0.1512 left_yaw=0.0588 left_pitch=-0.385 left_roll=0.1819 left_gripper=0.9977 right_x=0.4941 right_y=0.1626 right_z=0.0121 right_yaw=0.0352 right_pitch=-0.391 right_roll=-0.1568 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.5778, 6.6667, 1.2821, -0.1587, 0.0122, -0.0122, 0.294, -11.0154, 5.8325, 1.1209, 0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bf9c852c7af11da848b0509b55df533c42b4b517e9f6d1f1871194e50ce20e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320d20558cb60fa57433076856ba71f8fbb72452ea178fd48cbe46035dedf1dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aba94930eb29131a032d1a9f38bc37b442ca0849f6bbd8227b7bc37c371ae860",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6P9cmpJ2MKmI8bZ3TCPOivHMA6C9fiXDqQao_YGvl1yVaNb0npTjvU189zY4QeLhnnSKpz7fZTj8lBCOFbmetoVYC34SR7mX-MgZPbqiiQrIT8Qetz2LYAG00iJsEhMJAVTQ9zeNYtgrKmHmG7liLhornvTzp-piyahF2rAdzZ-EZet66fpHvsFkm_FwZMZyinqcozI9wobhtSMHgLdVX6FWxAvzKDg6w17uYAz172DMgNIDCAXy3palyQZzGVTCiKJjnTlWOw7ZucBC8-Ak9Zc2uCNGq_mn_xS0Cu1caflD1d1_ce4HOxeWiNH6mZkks9pdQdD6zc07_qsgf9aFplLxOscE41qIEOpYazlKFUnFK8HACu9v3rGnLt9ylsJSe5U9IhWoIREPppVJtKM8aNAD1YsyevaCeW6YzzMoyMcFiOQvWUJc-UWwMWunaGTVAzk3i0t-UEQffRSVpaklerA-EKFGJnAd93_jbL_0bC01RmOupkM5vcIVZwah7v4CWWxb_RU3r54EkyNEO2gXgLIlrFW2aXfgIrEiAlpOvf3LsdF__RPkhXpLxzwsQs2gS5xOb_QDcVKj9fzbvvoKWsngzHndC1NS1cj6gS29Uf3q7GHN7DYQAxeSwRx370E5G5bM_p2OhC0HXKpjolnjfeFvbSUP0xBh_86iHmXdXQaC9hE_8VkUSTiphFWR4ow3ux0MXt7y3xdt1xe1IBI484PTzyLcWzCmo9KYpZ9RazyWY8-ME3a3_5wDtgOFwbDtelwwI5CwY9gQrM1pwxmESmSOpqo5_xzv2LeHjCv7_OELxlMsYcjwhyfjtCw4QmvPSsA0f0lQG4IHd8_EafNUaeIR0csSKOBcGsyTmPM1AoFtYNpjCVQUX7gIr91ep7M5JnKYRJsjyn_dYqSTZZLtdu_GobYts8I0NODJMAWlocGCtySvoDpWn1BnffCCrypmoQrD33ZZcb79-yaq84n-9q4R6DF8mQswoilPlY8mxmiaKrbfPXiifhylH6UI2UDDLXlz3DAPFmqyfeBdt3K9WvW4hlvBro5Cjd_sniE9mTHY8w2Je_-2J1f1OZlxZ01g2_QnVg3M2IHvrX8PeR9zNlQO_gV93QGs0LUGSKEhw336_90IW3gut1ZuOQ49z0-B6H5bdLxTNx1nh2sgfZyuEtFdHLr474Z97bcUCeT7_4u63W2HxhZeDM8CDCQhycICu23P5wlzAAFByrRbjGz6c1kaSI2RtC0tYSRM_xsSu8_3dWK-fjaXa9dnW2SKafCKE4Eq_zar-O1rqsYRpk8b3DUhH70jRXaxYK2w24YCwh-4mJPSono6CfkQFXt-V5e29whabNxBkNAQuo_wFygptBbqecjOLIheu2sdb08NnygWG5crECG6yXxFu_Qr5MGC8Y2R5KSv6FnVylG9orCnOfp_MWk7R8aEwWKmh2F6EpedHHnZrt3ViYFT0XAPZM3tDAaY9BU9owOp-uee0jpilCqMQxILNXceUCiL8ZvqXr1cblZl4BTcTpo2MEZrdMWh1VrubehHWRSkX1b_vC_-yrwJDhCMSR1W1E9VrHC2tH-7gNQsx6i4X4VnBuuQVTDAO7k3KsjSgwmyZN01YHCDmqxKabU5EuWnCr4VniyeacJJiC-ILXeArN87Luvkikr4XnBQX6tGelaD-YF-zyDJFRjv2RltJg3fUglQ-u8mPQYkJNgT7xjrBqnEjfQXFPTZNtBL7mc87yuC4V8VFJ2VnqEsJV5BdFBAWsp9kgffR6y74qDC6q6BTEHNtpvnVhIcRpmOpvyoITzfxxLHeu3f8V-4v-vLXKCVAgiZ5bqKNPxCiCxZdJQ20AIU9pMBljPY0EGEoBPvU7kJv8tPXc6pGG_lso3BJfBDx98svUEJoNAjbtMC7oJi7f81Mn6hNij3wk9bIjU54pgJ1ycD9T3GrMDnTlnW3TSo4dOyG4XLNaAW-jtUB00eWo8hbMUF_CTLqlzxpPF19OliBpSgN5B1Oe7nqjiqrQjEM2QCDgxFnDrsbMMpVVDaa96n_fzbFkK74XhPrAhxDfkfau5ZicyApNBxOiTFkKQpY57IVtFCGF8YXX94E4yI4UuHndMWdg5Zk8aw-WdMziNKUSz-B5UyTcLoxEQyDOSYt2xaMhvfjeE5QSLw4oFReL0fyFaZrkMCPZIQ8LZeRcWocqsttATeqBWQr3ztDE9xWQwkxKFbX51OOtIWnbvnxg4AS1FTOqG8NGsp4ekN3acGQLBnx5OEIyoS7kyLEQHaCHYuIo-QV1G_a55Ag5i3_lR8TDSIrH3babopOTitqmXJII5fQafmW00dGbTphKzg8k4NOMJ44KHk7aSu4WHeaHnNMALPotvjiZ9SwzXWXkL9Bg-b0H3xwCImZ7L4NpzLMX4onhvQhevygfer2mIqmjOXtzQbZrPly5qUxcjdc00C9dg5lIUiCCC2FYEIArT9fFslTvg-_QrZxzY8IxmS_RzmCpatZJ5hUBb4Z_Mfw289cVKY7xYBL8TffwMCuTIOV2uELUZ-OF28LyI-PxnPLxedCfN-rgDMNnXVFpm7z7-uWu0_Z4yOCgEuDVnuoekOuJKH0gDk5fRzxgWX92N9j-fclbKpsdsC9cFnAWYqKKDOcaMTG4H7AWQ2eLO5oJr9k89weo7TXVlir62IKpF0qyabpTm7Vd4sbUa4JnaYSdotXuIG_ZDKQWha9OTwA9f--FQyy_eKApkQNIdbcqyvtTDPAOK3j7yqllnk-s-PVDSB4UZe7zlrsTdakJsY8ZgVYKXC-7P6NAabwZVnN9wzrD0KVMYXKaShPMmZ4FQx61WSp9D8ySZUpm-XRD2QMvWEyFbp0OqsrnQPy1r7iLck1iq7BqsP2e_vS4_cfXzfOO4IpmAxfIuLiorUr8eImeBJzpjMgX5u4Wie9bHfpYLcdlkA8uiBiW_Sv60osVvSTvkkdYZXyrjpBGagDZCPsnIbxiyTouUHUzbB5sS-vUNRf8jIHMVIB0ZPL6XHwg9mM08izNTvKzzELgs5fLN9UKZHcF7iRl7sv-yDuijt9Z21crUuC8X8vbW8yerZg9WUPM5ihv3bLVr-7WCdty49G6DF661EZ_A4JavZERGsTjY1MJAum1wHA_urob_U6VP6nJhhpkcG62HAtQO35SUMpKHfUl4up6tKyyIW14f1_0AQzw63qmWoTN7D3QHo4jdkkOVu93WUi615t3-wZvFJvjiIxx1jr_YhRFXzc=",
  "id": "rs_08087eaa651f8c1a016ab41e8afcf487d084f05c22ad047d15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.16,\"right_z\":0.06,\"right_pitch\":0.45},\"note\":\"The gripper’s readback stopped near x=0.49 instead of reaching the yellow object, so this is a reach limit rather than a grasp alignment problem. I’m raising and pitching the tool forward to see whether the fingertips can safely reach it from a less folded wrist pose.\"}",
  "call_id": "call_EUMBHnofwoo0VxQQx1c0SsTx",
  "id": "fc_08087eaa651f8c1a016ab41e8e674887d0a4e2d2cd47aa1088",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EUMBHnofwoo0VxQQx1c0SsTx",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.1509, 1.0473, 0.8555, -0.8024, -0.2207, -0.0425, 0.9977, 0.4397, 2.2589, 0.9768, 1.0649, 0.4759, -0.0608, 0.9974]\nstate[eef_state]: left_x=0.2754 left_y=0.0009 left_z=0.1497 left_yaw=0.0601 left_pitch=-0.3946 left_roll=0.1837 left_gripper=0.9977 right_x=0.5188 right_y=0.1585 right_z=0.0494 right_yaw=0.0451 right_pitch=0.3829 right_roll=-0.1681 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -2.7966, 6.8308, 1.3309, -0.1441, -0.0708, -0.0122, 0.4171, -9.4291, 4.4239, 2.3126, 0.1832, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f62255d6717e99d244fe77fdd12c40c6e3b0004cede9814dda1811771a6397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8fd7c37e644edb520d505452bb9eeeb1cba130dd6675d918bfe0ab15b59e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7348e96fd89c82b0bbdbd890d428e02f92e1c443e31004718a00734ef0eefc62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 1.864 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0416, 0.8555, -0.7937, -0.2211, -0.0422, 0.9977, 0.4435, 1.9461, 1.4101, -0.5186, 0.2958, 0.2123, 0.9973]\nstate[eef_state]: left_x=0.2769 left_y=0.0007 left_z=0.1523 left_yaw=0.059 left_pitch=-0.3804 left_roll=0.181 left_gripper=0.9977 right_x=0.4505 right_y=0.161 right_z=0.0763 right_yaw=0.0421 right_pitch=-0.4107 right_roll=-0.158 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -2.6598, 6.6256, 1.3748, -0.1832, -0.0366, -0.0122, -0.6632, -9.3744, 6.694, 1.5067, 0.1197, -0.0024, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0454, 0.8555, -0.7944, -0.2207, -0.0418, 0.9977, 0.4072, 2.1696, 1.4647, -0.3225, 0.2867, 0.1829, 0.9974]\nstate[eef_state]: left_x=0.2769 left_y=0.0006 left_z=0.1512 left_yaw=0.0588 left_pitch=-0.385 left_roll=0.1819 left_gripper=0.9977 right_x=0.4941 right_y=0.1626 right_z=0.0121 right_yaw=0.0352 right_pitch=-0.391 right_roll=-0.1568 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.5778, 6.6667, 1.2821, -0.1587, 0.0122, -0.0122, 0.294, -11.0154, 5.8325, 1.1209, 0.0513, -0.0562, -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 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0473, 0.8555, -0.8024, -0.2207, -0.0425, 0.9977, 0.4397, 2.2589, 0.9768, 1.0649, 0.4759, -0.0608, 0.9974]\nstate[eef_state]: left_x=0.2754 left_y=0.0009 left_z=0.1497 left_yaw=0.0601 left_pitch=-0.3946 left_roll=0.1837 left_gripper=0.9977 right_x=0.5188 right_y=0.1585 right_z=0.0494 right_yaw=0.0451 right_pitch=0.3829 right_roll=-0.1681 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -2.7966, 6.8308, 1.3309, -0.1441, -0.0708, -0.0122, 0.4171, -9.4291, 4.4239, 2.3126, 0.1832, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79f62255d6717e99d244fe77fdd12c40c6e3b0004cede9814dda1811771a6397",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8fd7c37e644edb520d505452bb9eeeb1cba130dd6675d918bfe0ab15b59e02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7348e96fd89c82b0bbdbd890d428e02f92e1c443e31004718a00734ef0eefc62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6Wg1ZQImk0Ua-2Thy350henF700VN4tE801od_ClD6o3F1rJwZbc-nWB6KH5bNw8mz6OgRj95pIP5MonTcast4WgRVpIypIT3B3V4Ssld-63Agf7rjo_UOLIwuVhyBZL-fO4VfaucYvxfO122H8HDCPo-KH3Trq3L4eQY7QFenGE-cpvw2jZdn76EAGqg1JGCeAeLBNWqlRkxvpmVKctrqgI5D_meLcFj0xVkjzpoFdgZO99ttSnQb6mbu6RKh3Q3crSK4KvO0Ke6di6FKt7lBW9ZMZP4XDxuD6K7grUp4rM7gmfraII34aITvMtnCh9yjVNHUaDqDtQEmutmDnhzotfQD8-DKnfz-w1jzEwT4UG92ghVYEGTe-ya7i5fNESfyN7P9BXqAQ8s1Sh6cLUvgfI4xcfSzfmuv5tsKClldxMakb3hliRy50HB4gwrOwxGYSk3JnCDYXO7ciMNTGDXDVtvLSpjn_EBx0magXAKkRKfuOIhK7ozz8hm0uW5xOhe5dsK3Hfq6mH5x8GN37URJK_3caLDl5su5e_42v8TEzhiOLReNVF-0m7UusAmnD76F8w_S0tuQKf24jTHHuMjexsfqwKN4Cezr6pATL0OIofkCEOhM2SY7zV0GgY3bOCGFBK2hX-zRNfhrOPi_rqg32PfW2xCq5pfF-JYaC75DWYqTYHq7ObM1OQZrHl9Y2FXUPCynBg4sQAx9W7R8qkylTwXkgWHWjdb6QaNCeVp-njY-yFaozK8qPZa9sNJuUy_iTJeN-XbDBoR0sykkz0pUAmDkNvhvCTPqtePdH8I1L6dJ5NeRAzKGwDaSWtglUBlJAUhFN1o2e8nkZTve1rAFzuH103L3ZsZiSevO6st0egXD9oEz7uWS1n5212DYql4BWUVkpsReO_7JFenBqwC5XXUGqxDZsGadGF6aoBkF8M99Q-f1q4DenQo3zEkyk2Pzh1jVKpQs9R8R0nLOtWrNupO1EkANWn4oNDg-ZcLOXA0bo9fANR44p3t810Exi2DL8QDG4K-8oFxdNIuKR63iYds27f2HhRecyupFjWR4Z-qqiAcoVj1_xrFoNhpi7BGSjaow-Tvzqgt1jCwIUcKBUtlC35gZ4jxuZZs7eGjrkLoLrF5yXcC4R7l6kQV83_D7YbaO0z3lwnaCRtn7sl-0blvycDUlLk_tfy84MRtk3OvAV4hKzy7VeX1_oNuJVvTvkk0vqm453wDqtZkOq6GdRROyHxYWKzeOQH-nmnVZ0O541y0nJQe2JDtA7KonFR7zIXr_5kQKMlW6hJ-UGUs9dgOf8U0JHWEDlKMofGZ2rXR2JIuK6Rn5FSJKNLHyA9zBaFYb3vgexW7lkmRIxEqPOA4OfEhwPE7gEpchRzRaUephAkOLhW_Z5Rvy4WO-FYyLqTbnW_PFWfik6viZULs9qjBnl2p6U7gqT_gXv2KE05Vf09pROufFUVMMWEU6teYSgd3zOriwwsavtikaJIfbJ4qCN-envDe3XMTFqiVBlVsP4FxOc4wBe25C2LP9cjxRomalJancdThShG2iWKhcoYRPBFVkP-ISEmjluyOa3MvFSBQi_8qq5Cu263PV87n7FHL11dHOxI-GxBkUALsbaZ2XaIZCa1J8FsgzBQtCx3iQn5UVDDbQcTC9shAE8_8JMWNqDvlIF8nqS3ECuy3CIRFGrDX-ZWo71ptcRa7eg8RS4861vvscAwaTnH4pVCxDkR82G5U0Es6t-zf9tqw3wo4jSC7GBvPwEcB8qPXkU-whmG3gLWbEBRYsr2TaRVtPGskbaxI47B5_CyrDnpBCvqsXFN60AdOAyhMj00LP_o6kBQEVaVTxfIIAzVXF_PLAvRiO9Yy3MfmVlBG37jb70JIDgCrCSUkTZD-5d2vvLnRl1z1iQI-h4viA4NrADqb36hDEJMR7-VgwOC2K2FIxvTLLk_PQjS6rXQaRiJbRgoyfOYjn6ci9wJvS7pBqs9DHKfEv5jc9bplxlVC2YOloXvVZlU6RLS_iL5xLQZt13mj5BAdYdcCMridWxeF5qSG_DXJx_hHFmTdIHbvYTMV3AAcO8Cnt7aPxbvaC7m42sED_eDFJMr7C1F-w-Ox5OQ2CbDIhwMB1BS3aj1rr0SNuM0t4t8Zv78YYNrSDqpkUMTNJJLQlXbf7shhSwtQII9mxzUhDOh-nxtKJOZwyHJ74TxjjN7D6-DXd-oWBSQKMRi1jpk8IXYqbehM94IFvkkNzwWGLetxKUwhDoVf5ag1hbD3Ehj3SrdGtBBln6NnbkqzjVr8ZQmBfXtF4FMhJN2pQBmMhgn_OPXndD-jpET1XSbs7G6pxhzjMEw9-Id29shBd--CC7PSRQKLYvpm1nsGvLq07O69wLY6DHjeKn00-TVpjVhrKfyF76oKWDCTj50c=",
  "id": "rs_08087eaa651f8c1a016ab41e93acc487d090afc674b79f0dee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.16,\"right_z\":0.025,\"right_pitch\":0.45},\"note\":\"With the tool pitched forward, the yellow object now sits between the projected jaw tips and the right arm reached x≈0.52. I’m lowering just a little so the jaws can contact the object’s sides rather than closing over its top.\"}",
  "call_id": "call_M1pBkMD4l0hNLmcM7P7kr8wo",
  "id": "fc_08087eaa651f8c1a016ab41e960bc087d0b774ebd542e933fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M1pBkMD4l0hNLmcM7P7kr8wo",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8093, -0.2207, -0.0422, 0.9977, 0.4347, 2.3707, 1.0206, 1.206, 0.4747, -0.0792, 0.9974]\nstate[eef_state]: left_x=0.2741 left_y=0.0011 left_z=0.1483 left_yaw=0.0606 left_pitch=-0.4032 left_roll=0.1859 left_gripper=0.9977 right_x=0.5283 right_y=0.1602 right_z=0.0377 right_yaw=0.0397 right_pitch=0.4488 right_roll=-0.1567 right_gripper=0.9974\nstate[joint_eff]: [-0.1846, -2.7009, 6.7214, 1.3651, -0.1392, -0.0513, -0.0122, -0.212, -9.3607, 5.2171, 1.79, -0.0073, -0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5991ad52f802e3c1f650abd8ae6dfc87e9ec2f452f7adce9fd57010dfe00c39f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd8b74f51992df1056e7af86b5335e036e251fa08f9f87aef3f3ff3d74ce9fa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423922d53ef1a7f054f23654e48bb95c7351df0cfeb939fe5b29fcacc5a8f76b",
      "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 · 6.558 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0451, 0.8555, -0.7952, -0.2211, -0.0422, 0.9977, 0.4171, 2.1048, 1.4666, -0.347, 0.2867, 0.1925, 0.9974]\nstate[eef_state]: left_x=0.2768 left_y=0.0007 left_z=0.1513 left_yaw=0.0594 left_pitch=-0.3853 left_roll=0.1821 left_gripper=0.9977 right_x=0.4935 right_y=0.168 right_z=0.042 right_yaw=0.0456 right_pitch=-0.3509 right_roll=-0.1343 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.9197, 6.7214, 1.2723, -0.1734, -0.0366, -0.0122, -0.6769, -6.6393, 5.4085, 0.5836, 0.0269, -0.1245, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0473, 0.8555, -0.8024, -0.2207, -0.0425, 0.9977, 0.4397, 2.2589, 0.9768, 1.0649, 0.4759, -0.0608, 0.9974]\nstate[eef_state]: left_x=0.2754 left_y=0.0009 left_z=0.1497 left_yaw=0.0601 left_pitch=-0.3946 left_roll=0.1837 left_gripper=0.9977 right_x=0.5188 right_y=0.1585 right_z=0.0494 right_yaw=0.0451 right_pitch=0.3829 right_roll=-0.1681 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -2.7966, 6.8308, 1.3309, -0.1441, -0.0708, -0.0122, 0.4171, -9.4291, 4.4239, 2.3126, 0.1832, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8093, -0.2207, -0.0422, 0.9977, 0.4347, 2.3707, 1.0206, 1.206, 0.4747, -0.0792, 0.9974]\nstate[eef_state]: left_x=0.2741 left_y=0.0011 left_z=0.1483 left_yaw=0.0606 left_pitch=-0.4032 left_roll=0.1859 left_gripper=0.9977 right_x=0.5283 right_y=0.1602 right_z=0.0377 right_yaw=0.0397 right_pitch=0.4488 right_roll=-0.1567 right_gripper=0.9974\nstate[joint_eff]: [-0.1846, -2.7009, 6.7214, 1.3651, -0.1392, -0.0513, -0.0122, -0.212, -9.3607, 5.2171, 1.79, -0.0073, -0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5991ad52f802e3c1f650abd8ae6dfc87e9ec2f452f7adce9fd57010dfe00c39f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd8b74f51992df1056e7af86b5335e036e251fa08f9f87aef3f3ff3d74ce9fa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423922d53ef1a7f054f23654e48bb95c7351df0cfeb939fe5b29fcacc5a8f76b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6ZPEKBLlO8t4AhNqpUZtnxm9BKY8VF-X9YAPgiggDyyubV2tcQpsQecGBb4WSq-uPG_xkixxnZy5R3iTqqw1ayImhd0XAbO7HWNA4-VIrIlRPudR6XPJoZdeS_sDNBdg5V_g5UzD7iyXoAPjp7E0PEmUFFbHiDq-DHI0umTA30kwAFOdGgSF21VJbMtAplMEyMk3JvFasFpDE3psll96BCxzMUYj915iyz7rAUQqh2Vhi9UpClQqF5R1F38vbqHACf8M7K6zyKR1HuK35uCWWqVbMJ4KYMaReeyM4fSVHYmLjWBzCYETNfRi-JwCT_skiSd5_xnKKVm4MwV6Sl2xWo96IfCeirVRSD1awHHWCvL4LxbcGEWuZMKs_sQuZ1nbtfytuUWJLFrFcrOVASKeuLngDfBShb-Py5M_q0bmIh60W4j28GDefaeytJPhp8VcLrwYJkaRnH5w5W-xUn1vbQ88YRdjf491CPj9GAcVgPFnyCPXhlrJP8Nz7BpGZq_ZvOj-ifK79mqlbq0A9RtZ3Ta2R3q-Nu_nc47LaDzNk9ODdq5YbPfnchT8-mZ5VqGYrPwGbe4C1STleQ1XtDvs4bpoFbvjL5BKqzuV4lhmTUAmN-OOzR6Z8fYBLJEXOloMR_hUuaAeimQjRZv68TtXkkpOp7F_EjFgbN_GN6QJz3saaKbxM4tf_JyuUxB7yb5sHin1vym7Uh_SJ6AVhBJeKKgdlew3Cdfqcnvyo20jYsW6JTAAudpcvlsdwVQwQ6Yxf1bhvh2nry4y4NAvyRfyXJ02GYtMCONXRxdOkIKVQdwvbZJwAtPIXw9EH7tUGJ5oelBODN9TEHItGHgyJrfEBRtzp3O01dNqTBPqiV-llFzESqo0-ItrZFCJqzHtDNkBDgymFbCWDqmxBkkDXjjyb-A4J_Zm_A1wDlrcMJyzxLOLvND9wcYJwA7dp7UeQ1uFsy0DTTw5rV3aPfQwPbZlrtoHJuzt28sTKSI99QE0xajpYOsjNc4lk6tbfPBS5_WR4m7tk3WIv5LnfQ9Kz3wwZkKireUTb52vwj1i1GGxSIgmMGzDaGXGF-9jk8IaHF0a85Rk4jFLfXXYpK5Zj4n_Bm31X59rWNJGPmhFUdUuNHVFhVx4az8hnUfcvk2sM7ZNpn1zmQ3U2bVJmRLzK2OrJf5zVlYhc0MQ4OGRmxuvXO-kdHH02ryrs-vR_H6FePNZCo3ySarXxJy4t0mg8O1rtdFFNZIw87vEwn6AuXp6SdzPHA1JFOwao70p8UwQKMPARm",
  "id": "rs_08087eaa651f8c1a016ab41e9831ec87d0bd0516b0b8ec486b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object now extends down between the open right jaws at near-table height. I’m closing carefully and will check the settled jaw spacing before transporting it.\"}",
  "call_id": "call_y4EQ6MLBipB2ViA16ze6UPDS",
  "id": "fc_08087eaa651f8c1a016ab41e98776487d08b4ff9df2ade6549",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y4EQ6MLBipB2ViA16ze6UPDS",
  "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]: [-0.1509, 1.0492, 0.8555, -0.8162, -0.2207, -0.0422, 0.9977, 0.429, 2.4035, 1.0241, 1.2293, 0.474, -0.0902, 0.0088]\nstate[eef_state]: left_x=0.2727 left_y=0.0013 left_z=0.1474 left_yaw=0.0613 left_pitch=-0.41 left_roll=0.1875 left_gripper=0.9977 right_x=0.5284 right_y=0.1569 right_z=0.0268 right_yaw=0.0424 right_pitch=0.4422 right_roll=-0.1713 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -2.6735, 6.5709, 1.2674, -0.1832, -0.0317, -0.0122, 0.2256, -9.7983, 5.0667, 1.9707, 0.0562, 0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46b5ee6341be9a0f971244e30786c2faacfa6c5df0aa508b83010697d38720d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b796ae7e3e745188f6c5f06db2b70299f13cdd41c4af077daff67837dc4fd34d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0a87164f14909fa7373c6ba6f92d706441990acafa01baf9ae652f8e780272",
      "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 · 5.166 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0454, 0.8555, -0.7944, -0.2207, -0.0418, 0.9977, 0.4072, 2.1696, 1.4647, -0.3225, 0.2867, 0.1829, 0.9974]\nstate[eef_state]: left_x=0.2769 left_y=0.0006 left_z=0.1512 left_yaw=0.0588 left_pitch=-0.385 left_roll=0.1819 left_gripper=0.9977 right_x=0.4941 right_y=0.1626 right_z=0.0121 right_yaw=0.0352 right_pitch=-0.391 right_roll=-0.1568 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.5778, 6.6667, 1.2821, -0.1587, 0.0122, -0.0122, 0.294, -11.0154, 5.8325, 1.1209, 0.0513, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8093, -0.2207, -0.0422, 0.9977, 0.4347, 2.3707, 1.0206, 1.206, 0.4747, -0.0792, 0.9974]\nstate[eef_state]: left_x=0.2741 left_y=0.0011 left_z=0.1483 left_yaw=0.0606 left_pitch=-0.4032 left_roll=0.1859 left_gripper=0.9977 right_x=0.5283 right_y=0.1602 right_z=0.0377 right_yaw=0.0397 right_pitch=0.4488 right_roll=-0.1567 right_gripper=0.9974\nstate[joint_eff]: [-0.1846, -2.7009, 6.7214, 1.3651, -0.1392, -0.0513, -0.0122, -0.212, -9.3607, 5.2171, 1.79, -0.0073, -0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8162, -0.2207, -0.0422, 0.9977, 0.429, 2.4035, 1.0241, 1.2293, 0.474, -0.0902, 0.0088]\nstate[eef_state]: left_x=0.2727 left_y=0.0013 left_z=0.1474 left_yaw=0.0613 left_pitch=-0.41 left_roll=0.1875 left_gripper=0.9977 right_x=0.5284 right_y=0.1569 right_z=0.0268 right_yaw=0.0424 right_pitch=0.4422 right_roll=-0.1713 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -2.6735, 6.5709, 1.2674, -0.1832, -0.0317, -0.0122, 0.2256, -9.7983, 5.0667, 1.9707, 0.0562, 0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46b5ee6341be9a0f971244e30786c2faacfa6c5df0aa508b83010697d38720d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b796ae7e3e745188f6c5f06db2b70299f13cdd41c4af077daff67837dc4fd34d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0a87164f14909fa7373c6ba6f92d706441990acafa01baf9ae652f8e780272",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6g8bzV57UQO-dDnm9zHOz1j-3Z08bDuG7J9BQavcNlgINqsLx9JMshUZMS3BfHTsmgxBDKkPLCD5dY_rnEBjRAOBGqbCyvB-gOHeneWRlP4J1G7099v6c__Ehce-e0rxP3Rl6cXfS1Fmr320Tz2wLqD_bnLBo8qAjaz69adcmjAhRLD2VqpFh75NJ9gsIaCpf79i9HvhG3f8RtDuYLLgBCT9q3NXBR8MLDstkCxCs0XsqZtuI0as0C6g4PDGPR3-cUP1vJgpB2_gCe-YZ7SLA8Y0vDxfGqYYogW48b21j2cgZFFglOS1JWde9zalvpez8-nF5_-BfE05sEWF_k9RA40wNSJ_ttPtdru5WBF5FqafrXJuGSqAOaI3TRrT3Yf-NZgUsfzdqAH6ge6PKnyHvieY8FmhRNO7qEerUa2B-6AwBUDtUezoyt0qRMeTnYkbfDxYmWZ3OtNgKi-7XEq4YpDV_lc5UQ1RXGLQ5kXrzyn44bICml64D3RqxWnvd5d6KJ6tDkeG-TLCAqSBbZdILUDCcicySV2ktL6-wV-sk4_MPrVH_Lftm0wO-dPqPz72BQIAdCcGkIjeAPXfnJsHOlRtCOiZNcXaaMYh_CFrTKJM_-VzMnV7Uz2rRf8SqVtEnde9Vs7GUdVlrc7HUNtKEJkQaijcVw0d-YcBhloCV-ax2YJTJcQnod2uJQdZJfkJtJZm6me7AQOs3LTeaC5GzapblGrAfRJUWg8CV8h-dk5MOgKO3RrCGwho5XeEe449K1ZHsMjph_fV0K5kraBV2BsK-0cUpS7NrHl65ePin4FbKUphRanno4u0nL7fKn0S3IJfEhkJ-yd93SHq7Nx8mqu5KU-7sfdyxMb8FGCu7R5QrN2BhiRGvQCpRmVX0TvYJoWW4IF7StSCTqFjBXizPQTVAuH830ml8gZQXiaKlmldlIGi53wNX9stTEfQx9mFicbvxvwfu7AnJzGzAUZOFG54-NtLHTQTTYKYm7Y0RlHT1dRg4lEXkf4pNqCO_A6l4LOyi6IjbJhjgHkRlIjeWj0GjlZDVyd4Jy3QEOa7zjQmuJni3zpiXAFIWmoLXPhjuShLVdmQqwgUMl_9HSkYS5PXo9q7b2XuQpKWv9tR1B333PlZFEjjvOYfXR6Ca4BY6f24vPi3NBi0kkWfiK6jcyMHTBvM-Mk2Ii-jwpl16XWas-I0xkHUv7fs27YbhpmYYJvP3TWMEX9kBr3Mjd2NECHMFicJRhIBa4__KmKE0cGQzskMOPNo5QgT4Qoufi5_SFafYFFqeI7oDRtxRxunvhe5wKxUW_8-2ch2ochXyxzuQWrBu_uHaLYknMke4taNFipr9K74_rMFC0h5jEZrN6RYGTV9YWD9J4501MFbjKTnZwpoyJrpM_yhDLDs24k3qR-CcglNAkjxBcWZyHa2gIYWe_Ci-yRtKiN1WBHqoiAhoKLOjuIU7dkYJ-oyHqZQppYAcG15OJJDCpkVSco45bk-FDpphN2BZquqm5uBov3ljbyTHtKZSAG-SOvZfIC-7XEjMalFmIBRWPHJp0fBu6KOy2YGpPnOK446iGvt2v_woHZk-uciT3Lhy_Dc2obve6pLvQ8fQeboLVSm-2DxUJmFqOfqofW23JG5Pz2OtuHl9V9ElbXfpoLuum8eE56UmannMk21AFmrOXv2d9VLSN0VPSKmL5JYRY65g1BxTFkEeNUNU9NVwHV1Kno1rTNanA3NHNky8nztn5QtGpYaKuM8kB0mL0BHHS6VgQeGLKvwUM4n2Qw_nnxb_vVFmCcJGuj_lGbtbMNkbxMmTptz-xHQdJLZVnXcuqUy0KeL4JpH8H85NdjS65UOOQxJkRx5C_eRxv4JiJhpx9YUClUGLV2kykwgsfxwIVLQhn6zLdDoH7I8c01r9Z8lOp6o_k65o0oD3IPIV8xpVx1PYR_ZGgSWmQAD7Cc2nZRgg9jcpJkAKw8H4_wYQ4joANWa7-JDlzXMoCMYmB4HBzUhF364Cj-dPJUjNKLcA2ezW7i_O7jGBAg2r_WysQkCizntSM33CrlF21ynA9zvEfxYII9kPoM1aOk1lTNBeig1f-9UUUSIg9pRD2tCG6DYyXR67fM2Ie2rFCzuOLoSOenFIaNruJa7nPpKMLImJeL2yJ8q92qZUWwp6CshE01PYFz1JD77vEAF0iJ4H9m6bnDA77-CNgXfCAiHLuQ9NKv2XXVgSRt2HEdSlGEVoPpjjpeCcKEtDHTrrr50I0fHqtbHi9YpmnQAuTKRP_-md2JORBr8PoPkNbGZf2a_AWrh9eW3mKkAz5XCSR1aLZWxr_z9iSA5Y80U4JZVyxAKXyY13dCitkGMKWhKjvsN0O9ameVp4grtwAegUp-8pZHIyy-W0nLs0qqzd3-r4q-e-Oj5xctvtRvoKbckfuDHeOflAPz4SFDHlgCDROgQvaCnt1zmny5gispZ6sP25ESZ8HEi6F6PVtL6koLqWDLjUMhN-7S2SYGG_M5w7E-YROqyls9FtfcLG3lRAWVeaYFZPD0-KYT2F12DahZYs8neTNaM46Im-NcqNME_CH1kWutekSFdZQH-atw4zcjtDfwIcAHjGEntxH84W_0oJZJ8P-coxHC4-5-nEbhwkDEpcNYlv_ft5EWhxqq6M9XPfDsULks8LwNoOaOgVe3KIOMJgCu_6a_Pb09CiIZdnBPTUu6GVWVHXWp6B9nCBHvJWySzzUyFgLkdPch0C2b68Z3q7NXtzHAlpvoPWi0820ByUd-kLp7EiBkq8sX3Uq8Lsbq_r1AUkm8R3V2dlgmFwN-XB5dX4T9IJhGaIFU2edtxWB05S6vXsl60nJQM2bLdARXHpcuMJaZmvLsu-g81TbtFyt_ojuJIHoRvPrsKssdREM6aMCG4z2AGMzNWWx-MxXSRZ4hC4ATXMNTZPJkEtGgG_s7JIUis1F5vK3oYVjRSDmSmrf9ygTrTM3Wn2ZP-NaAaYGSfGH3LwhznY=",
  "id": "rs_08087eaa651f8c1a016ab41e9b495c87d090173f017ef52ce1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.22,\"right_z\":0.15,\"right_pitch\":0,\"right_yaw\":1.3,\"right_gripper\":1},\"note\":\"The yellow object slipped forward out of the closing jaws and is now farther from the right arm, so I’m not repeating that contact at the reach limit. I’m returning to the brown toy with the jaws rotated, aiming to clasp its body from a different direction.\"}",
  "call_id": "call_NByl3EnyhBGPqF6tbd7lLIlA",
  "id": "fc_08087eaa651f8c1a016ab41e9ee17087d0a0be52818bc877ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NByl3EnyhBGPqF6tbd7lLIlA",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0542, 0.8555, -0.8246, -0.2207, -0.0422, 0.9977, 0.2726, 1.5166, 0.8963, -0.1078, -0.664, -0.7166, 0.9961]\nstate[eef_state]: left_x=0.2711 left_y=0.0015 left_z=0.1451 left_yaw=0.0625 left_pitch=-0.423 left_roll=0.1906 left_gripper=0.9977 right_x=0.3513 right_y=0.2149 right_z=0.143 right_yaw=1.1947 right_pitch=0.021 right_roll=-0.1807 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8376, 6.5436, 1.3455, -0.1245, -0.0269, -0.0122, 0.2393, -8.335, 8.1846, 1.4676, -0.398, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f7ab6db1684b909edb840a1042a03903d055e6ab12a7f7dffad242ef71d078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b29032cf3d1fd570c04a19fc487d227360d96a512c57c1cff3e44f2c70317a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ee600e5993ed05e3f226390b34da4a38d09442427d9a8f19c3392d4241c420",
      "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 · 3.762 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0473, 0.8555, -0.8024, -0.2207, -0.0425, 0.9977, 0.4397, 2.2589, 0.9768, 1.0649, 0.4759, -0.0608, 0.9974]\nstate[eef_state]: left_x=0.2754 left_y=0.0009 left_z=0.1497 left_yaw=0.0601 left_pitch=-0.3946 left_roll=0.1837 left_gripper=0.9977 right_x=0.5188 right_y=0.1585 right_z=0.0494 right_yaw=0.0451 right_pitch=0.3829 right_roll=-0.1681 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -2.7966, 6.8308, 1.3309, -0.1441, -0.0708, -0.0122, 0.4171, -9.4291, 4.4239, 2.3126, 0.1832, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8162, -0.2207, -0.0422, 0.9977, 0.429, 2.4035, 1.0241, 1.2293, 0.474, -0.0902, 0.0088]\nstate[eef_state]: left_x=0.2727 left_y=0.0013 left_z=0.1474 left_yaw=0.0613 left_pitch=-0.41 left_roll=0.1875 left_gripper=0.9977 right_x=0.5284 right_y=0.1569 right_z=0.0268 right_yaw=0.0424 right_pitch=0.4422 right_roll=-0.1713 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -2.6735, 6.5709, 1.2674, -0.1832, -0.0317, -0.0122, 0.2256, -9.7983, 5.0667, 1.9707, 0.0562, 0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0542, 0.8555, -0.8246, -0.2207, -0.0422, 0.9977, 0.2726, 1.5166, 0.8963, -0.1078, -0.664, -0.7166, 0.9961]\nstate[eef_state]: left_x=0.2711 left_y=0.0015 left_z=0.1451 left_yaw=0.0625 left_pitch=-0.423 left_roll=0.1906 left_gripper=0.9977 right_x=0.3513 right_y=0.2149 right_z=0.143 right_yaw=1.1947 right_pitch=0.021 right_roll=-0.1807 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8376, 6.5436, 1.3455, -0.1245, -0.0269, -0.0122, 0.2393, -8.335, 8.1846, 1.4676, -0.398, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76f7ab6db1684b909edb840a1042a03903d055e6ab12a7f7dffad242ef71d078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b29032cf3d1fd570c04a19fc487d227360d96a512c57c1cff3e44f2c70317a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ee600e5993ed05e3f226390b34da4a38d09442427d9a8f19c3392d4241c420",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6nR5ljd5-Idx87iiqPHQOwKAgjMn58beo6S9i36uZEM2-GtcgF4f683BiVuxmOISu4lOXbcEzm_94CtxRvDd77uyb8W8T-bMifC8w-c0ivTr-uTjAPEKN1zp9pPFxgM1iZ3E0e27cCyCT-thC8x3uHs-vgM4Qxnx3ume1dm99apocKLHr_kiUHmpYXaPmUrz7EkHN4ZzDtaqY_8hRMRqGnNSMdflfXE-P3o4GCqIeJXHVimZ1cD3eCdmnRunsVJO0EgXAk7oYD74YNjJ-VyVR-IwT6TUh8-wTJIOA_LU1l8ddA-6UJySse6Zj6frUbc8YmzpwupD1pRYwuAt1Sor4Vnz7UjEbFfJGVb5rreK6dZFUacz40rSpSk7AzakahFc-HLAN_xTMNxm_nMYmyIIPsZ19huu2PcBhpMZTef5QeIvv7yJioxVm0IOgmwzU5CydoJh36HksQFp_NGUYM-wf4cg4uBQAm4i37bQPcVX-qioyeNLS7R_dNdCETP7HlGFRbpv0zs5sJm8MA-yOHf1-Vdg2a6YMimGhjTpkPAQHrGsP8AFxa2Q2BNbKrl1oU-uxnGEJEIYregzhk8xqCObXkaWVRXJGM-0zIYF4Sz9ufo__65-MbgSmFwSAsPaZqwCOKTxEekywBFOELXAQ8O9YJCfDmblMHsP74K_IkLzmCwaTf0A6Qui38ZyS5vANEQI9V7Dkp2KwiSy_Njj4kjklnDGrhsOroU6M56-HphzJxXtN61FTM-zb8Zs5JqG--AyZuK0CLsM6gW4PkB0CGF0T0ekbLu2LU80I7oKJsc9XXLz4b0nuTmV7wX3D29t8kWp32vHvvh8omyIBznIBXN-p21kfBYUpZg21aj1fsxdOn9JFwTDtxH1HDk7OCdinzIDwNk33OtlsKXrzBhzfI0p5Atx002oEoD1J6wxcJoj9DW-6tgD-OYjH1Ozsde343akrviCkK4t1oygsb8iV_ThmV849-MzQu7z4OCfVcqDP2wBDdzZgm3MDfVZYrEust3ZDkyaocRk3iyy60FCpdEXFgwhiCXjm2KmztaaeJnJhT-frT6F2PT5-b3vM8m4uk59fkwmKL7gObo017nyhRBMpH7jIpn76SMzcXIujcU85Sy5PYew-AVvZXQFPFKnpbVUph5JCBpCcYHHPFEuiFWQ-RXQb0agMsCeUcEaR-2-OcluATJlEdMc9FOlXn5wDUIGU89GZSp01RCr4HpNKWnNIKtgo2G5GP2MjJk-POGZN5Rl3fDM1YNB4EnABhtABr2OTo7mHJnmkK-KxpYbCT3eUxAjsIJLrRcWwQVetqjaTx5vloTtQRb7AenmMPb1zcLEdTh5wNUMgUCdJwcy-KdZpZvhxxYQpzzag25JhaT3IDBnbf2zhPHVEF6gD1wj8jkE9fzCX9SMPHsxDuudpew3uzcYpk1vDiic-K63gony0dEkZDezpVyF1_4_7hePRbzTfWPWxFEZGmNBYmRDGnjOr-q98_3uuerkXt61d7Rd9UBustehPv7K_wr4iQvr6mQTViT88BHscGTJ8xI_S3_fHs62tmhHtb-OTq34r2daknOc1LlQoF2aK-t8sQOCHrTahV0B1WMcuCUQPZP584eu0ysJi90Wjq4BUdwUXPGt8tJrGpu9ijD_ZLVWP0mje7n5ExKRCEy3xIbcL1oa29iHlA20QlxQSQf6sRDlQDuuptdbJgX82DqEhYj3ukQT7gzN0oKlYQgqpnkuQ1mgS9fks88XeOQZUaTX2eF-hFCcSYq44GcuKoPLVIQnPTt5gUUMkGak4JllZ7oUbfd27lZAZOcw1eqYVA-ee7wFRcEbIKPz062pnbQYwo9EyL_ovIT8m9EXLXcvmWl2OdaXttYzHtepRpnI3yKqy-xdRHM-fv7FRicQVAzlYsG6LjKQeHrHsofCugW6EXO0dQjAURCbU5mlTMbeQYe1ca2CBPZvLE4g1dxe0biCic5HpVqukM_JJdJvUnyYSR3EnfAcYg0zy28OJqwZHjBKvkI_wwoqm6rb24_ZrlHzB1MDJx0TP7780jvTQMmbFUkE6LCeG_9BCgajUMPTcpdsvkQXYhIZZy-UEmcbTtq5Se0-edQSji_JCO5dHc0bxds1p_TKN8gwfp3IYa0pIWRbb9_YWcrXdFTn01ESYOPlew8eGZVaottn8zrZiffnEvN2U9WZpBAqE5dSNVPJ_1DnYngmZt7o_bdlkITA-Y9xVz4yDXAqDufY6R7_9UdIF47qiIsh6CZ2QvtnFfvofXnG821o0UD22JYETbHGUm_Bhen88KW1o88jiq",
  "id": "rs_08087eaa651f8c1a016ab41ea3e46887d0bcc0bd432bc54c63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.26,\"right_z\":0.125,\"right_yaw\":1.57},\"note\":\"Rotating the right gripper revealed that the brown toy is actually behind the fingertip position, near the bottom of the wrist view. I’m backing toward the base and shifting left to place the open jaws directly above its body.\"}",
  "call_id": "call_x31pSaWLpaTpx3KAi2Jk2FaH",
  "id": "fc_08087eaa651f8c1a016ab41ea6139487d084a9e083a5bdf4c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x31pSaWLpaTpx3KAi2Jk2FaH",
  "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]: [-0.1509, 1.0546, 0.8555, -0.8276, -0.2207, -0.0425, 0.9977, 0.3702, 1.5459, 0.8906, -0.231, -0.8021, -0.9318, 0.9973]\nstate[eef_state]: left_x=0.2705 left_y=0.0016 left_z=0.1446 left_yaw=0.0631 left_pitch=-0.4263 left_roll=0.1911 left_gripper=0.9977 right_x=0.2942 right_y=0.2542 right_z=0.1249 right_yaw=1.5028 right_pitch=0.0043 right_roll=-0.1749 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -2.7282, 6.5573, 1.2137, -0.1441, -0.0757, -0.0122, 0.212, -5.6547, 6.8171, 1.326, -0.5299, -0.1197, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4416d46fdda05d8b4f380a03c08d60aa74f22d413bdb596b906372e54e57675f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0596edf3331f08e0827bf2829a00a1dfb3b65c17c85b6bcc570dea06b6d785",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14297b0421632bf9d4fb8e10620a4000fb8c08ff541c0c4a6714715e6768b2f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.173 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8093, -0.2207, -0.0422, 0.9977, 0.4347, 2.3707, 1.0206, 1.206, 0.4747, -0.0792, 0.9974]\nstate[eef_state]: left_x=0.2741 left_y=0.0011 left_z=0.1483 left_yaw=0.0606 left_pitch=-0.4032 left_roll=0.1859 left_gripper=0.9977 right_x=0.5283 right_y=0.1602 right_z=0.0377 right_yaw=0.0397 right_pitch=0.4488 right_roll=-0.1567 right_gripper=0.9974\nstate[joint_eff]: [-0.1846, -2.7009, 6.7214, 1.3651, -0.1392, -0.0513, -0.0122, -0.212, -9.3607, 5.2171, 1.79, -0.0073, -0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0542, 0.8555, -0.8246, -0.2207, -0.0422, 0.9977, 0.2726, 1.5166, 0.8963, -0.1078, -0.664, -0.7166, 0.9961]\nstate[eef_state]: left_x=0.2711 left_y=0.0015 left_z=0.1451 left_yaw=0.0625 left_pitch=-0.423 left_roll=0.1906 left_gripper=0.9977 right_x=0.3513 right_y=0.2149 right_z=0.143 right_yaw=1.1947 right_pitch=0.021 right_roll=-0.1807 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8376, 6.5436, 1.3455, -0.1245, -0.0269, -0.0122, 0.2393, -8.335, 8.1846, 1.4676, -0.398, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8276, -0.2207, -0.0425, 0.9977, 0.3702, 1.5459, 0.8906, -0.231, -0.8021, -0.9318, 0.9973]\nstate[eef_state]: left_x=0.2705 left_y=0.0016 left_z=0.1446 left_yaw=0.0631 left_pitch=-0.4263 left_roll=0.1911 left_gripper=0.9977 right_x=0.2942 right_y=0.2542 right_z=0.1249 right_yaw=1.5028 right_pitch=0.0043 right_roll=-0.1749 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -2.7282, 6.5573, 1.2137, -0.1441, -0.0757, -0.0122, 0.212, -5.6547, 6.8171, 1.326, -0.5299, -0.1197, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4416d46fdda05d8b4f380a03c08d60aa74f22d413bdb596b906372e54e57675f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf0596edf3331f08e0827bf2829a00a1dfb3b65c17c85b6bcc570dea06b6d785",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a14297b0421632bf9d4fb8e10620a4000fb8c08ff541c0c4a6714715e6768b2f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB6rl33mF2G8w4BZhHlgkn6N9GKENha98O6dwYBgFMnMKRR0EnbWatCmAh9cPSlVik5MGgaobC7SUBbR64Uwnt_Ca8-PcBl-FlZN-0JeTTA5rUb_3Cl7ds5tc2zO0lPP5lvyGsMI6XDvDeC5cX-jRky0nG5YO5zVSufkClQtScyhqKuErY8wCSsQnjd06aexfbMd-xUxHHRViqRMWS8J__zjQusXblnJ-NLM5Aieta6c4FNwJ3HgY_H3oZWkSwTBtAJUFYkTFFRml1kt7yTc6TVoarqHnNUYUy4nyiS3sjSkH4ff8prxLpm3wk84UxAU6IM0f4D0OTfpDwDDqnL7ISSiNlVQ38SjI0ESuHxS_rJAavNHSGgXkFdFgv01xokHxer-mSuaoD2sGBpq1Cyunq9P2DaXa6__krb3aao4phgmLBa6VdesQy9rIi2P157fmJsKxMRbI2hjqFzUI082zS9NU6FAfpzRvD5k427DnsdISk3MDTT0bX2moSMvwH-K8uq9FqKte25jjaQrPYnvJYB5lQTN6m2JLprBTtsCgRn5fSWWfYnfFU6qVO4KwL0rRpyZQ6RChzn8jQsoNKAex-UW3BiXEuZC12PLpYnzfNDmN_mvk9eRT_QhoFZDHQ8tvFqY4LE30_hcVqf1Uk9Yyf9Cww-gH31roaKbdjAcR5QmdFDN_9FL_EFtUXsIAd7b0SX6D9DwLIzMsZzq389y_2-PRsN59v8jGlHKzh6MDVMHHvGQ9EeI55iOcfPTcR05kFx4VQGeHfoeoieOPhIW7xD1vMRLK4Rh0c7GwdRQBOY_VmNXdarEVdyIhfeylxbZjZPuWntaaoKzius6CPmWjq2WKx_EqLb9930sM-AjY9SA3l2kYQcOYQIL2epPsyVNa_G_-ZxNDfzWMDvbDqlZxVtCcIP_TllbM8E89btqer0IKhYSzkUgiOBGfxUIDwzSSlKbrFbCc9mOArspoPjvo9IgB8Rync28ftnyauw-zKVJpGDQhBrKEn4G5t1Haub3Qw7wNPe7OvpN8HiA3QQxKK_fhytKWK6oMMcC-rwLYJTjanDvRx_d8OwJWOZD81nd8QzFz_JGgVcX3R9nbv1i0-zoyxcYzh_Ayh_myT8I5vcdf3sT6XpvQLHspkYy5YCLnRA76z7mF6XYFqaTuVIR2GvfRICDgJMgmYSXKMkdyJ9lxUXmmKVSzoyiFChF1nyiWIjk2X0JRfqOdqc8uxHry_kqVWzX4Yu811iYBsEEK_qZG2e6eoKbyoO-IxRQgAxZ9cMSRXRPsp-kqh9Nqf4mo6-imoKwVR6Qhoq-g9A035j6eJsUghW7n4R1YIjn0gWl6xa9XUq7QvZGD_2jlaif0Iz2FJ3aeoeuyL9FpCrU8jnvr3QbFWFnPd3CeRZeKJfV4E4S2AYCJZ7rb_jGzc24DFs4c9mnQ9Cs2PVKmVHxQ5_ibSeAhlk4WlEZVtgejM2ye0s-0zWThUWsWbM4hG52XgBZ_SrkVat9s2DGJ4k-Jgwr_lN67C9_2kEVpEexNjPwZxcUrJJ4vMdJGb29wW-5EeTQotje-mhGkBE5L8K7Zh-PF5TtgWTqk7RsOVFfc1KiToip6j6f9BppZUp7n7vMVgJXHwQwG1bDw4QyodAFXaLsdMsd_-4WO5MUxDBueEk0FlUcwOcuyK7JcurWloSBL81qvViWxCigprQvL0MSZqmu8MZlW8dBcGoD6dekhBQ316SlJp_XSxDyo32FgDlAHeHOupC_MwW8SCdOPH-kBrXoHfF5Dh6iLtX3td5ssZqRP1ijx_37P5HDHOPtM_VIUiW8pHORQBEcuav685xPB-i4TzbSpBsLaK19ykbd3fS6qr9we4a5WGmxfe2RQC6bZX6XKPWSk1C67nxo4u6QOiGR_6Ah-ThSHme3V8JYyPt1QQ6hQLF8AKT1UzEbL3XkNO6teBhqaHNJyWiRlRlh1rk4EMCFsEAoLtf972uj9fVY548cGBswdny6tofY_SGqqRWSZJwBtq1L1E_EK0sEaqqa7wY-be36bUCM6a6Aei1jAXkrcoWDRQagtqoxfBoasO9nzDvw3UQqFgp5Tu3DluPypuFKP71_sgoG4Ijb_mQKoVDj",
  "id": "rs_08087eaa651f8c1a016ab41ea92aec87d0b6f4f5ac6b684361",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0.295,\"right_z\":0.09,\"right_yaw\":1.57},\"note\":\"The brown toy’s face is now visible low and left in the right wrist camera; the jaws still sit slightly to its right. I’m shifting left and a little back, then lowering toward its torso.\"}",
  "call_id": "call_3djfNKRkkwaojdMWtCSPQk3L",
  "id": "fc_08087eaa651f8c1a016ab41eaaa12c87d0b3a87b6d6826e016",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3djfNKRkkwaojdMWtCSPQk3L",
  "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]: [-0.1509, 1.0546, 0.8555, -0.8284, -0.2207, -0.0422, 0.9977, 0.5053, 1.615, 0.8104, -0.0914, -0.765, -0.886, 0.9974]\nstate[eef_state]: left_x=0.2704 left_y=0.0016 left_z=0.1445 left_yaw=0.0629 left_pitch=-0.4271 left_roll=0.1915 left_gripper=0.9977 right_x=0.2613 right_y=0.2884 right_z=0.0868 right_yaw=1.5897 right_pitch=-0.0219 right_roll=-0.1412 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -2.5641, 6.5709, 1.1795, -0.1783, -0.0708, -0.0122, -0.4855, -6.5162, 6.1744, 1.5458, -0.3297, 0.1294, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe0e14030e30d571c4ef2cd0217b846423a816b64c4e01e6d8286349e27b578",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d1a136050660952ea8783792dbc65334ca86a3f068dfca9b5cc808c4659c032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c7d9e6e3c38406de1e13754347c8981539152acf6ea6191c4d935ef0e1de3e",
      "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 24 attempt 0 · /responses · status 200 · 9.03 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0492, 0.8555, -0.8162, -0.2207, -0.0422, 0.9977, 0.429, 2.4035, 1.0241, 1.2293, 0.474, -0.0902, 0.0088]\nstate[eef_state]: left_x=0.2727 left_y=0.0013 left_z=0.1474 left_yaw=0.0613 left_pitch=-0.41 left_roll=0.1875 left_gripper=0.9977 right_x=0.5284 right_y=0.1569 right_z=0.0268 right_yaw=0.0424 right_pitch=0.4422 right_roll=-0.1713 right_gripper=0.0088\nstate[joint_eff]: [0.0068, -2.6735, 6.5709, 1.2674, -0.1832, -0.0317, -0.0122, 0.2256, -9.7983, 5.0667, 1.9707, 0.0562, 0.0073, 0.7253]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8276, -0.2207, -0.0425, 0.9977, 0.3702, 1.5459, 0.8906, -0.231, -0.8021, -0.9318, 0.9973]\nstate[eef_state]: left_x=0.2705 left_y=0.0016 left_z=0.1446 left_yaw=0.0631 left_pitch=-0.4263 left_roll=0.1911 left_gripper=0.9977 right_x=0.2942 right_y=0.2542 right_z=0.1249 right_yaw=1.5028 right_pitch=0.0043 right_roll=-0.1749 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -2.7282, 6.5573, 1.2137, -0.1441, -0.0757, -0.0122, 0.212, -5.6547, 6.8171, 1.326, -0.5299, -0.1197, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8284, -0.2207, -0.0422, 0.9977, 0.5053, 1.615, 0.8104, -0.0914, -0.765, -0.886, 0.9974]\nstate[eef_state]: left_x=0.2704 left_y=0.0016 left_z=0.1445 left_yaw=0.0629 left_pitch=-0.4271 left_roll=0.1915 left_gripper=0.9977 right_x=0.2613 right_y=0.2884 right_z=0.0868 right_yaw=1.5897 right_pitch=-0.0219 right_roll=-0.1412 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -2.5641, 6.5709, 1.1795, -0.1783, -0.0708, -0.0122, -0.4855, -6.5162, 6.1744, 1.5458, -0.3297, 0.1294, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbe0e14030e30d571c4ef2cd0217b846423a816b64c4e01e6d8286349e27b578",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d1a136050660952ea8783792dbc65334ca86a3f068dfca9b5cc808c4659c032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c7d9e6e3c38406de1e13754347c8981539152acf6ea6191c4d935ef0e1de3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB6wm3MnPdjA413kLZg_H8CS9FUu1O0IOBkDbqvguwKD6F0V76QUvX1nok3e4w1OItn0mfPjT9yh88KLSiTnVIWemuPKWLFN3zpmGaq6n1liocUzVk4CcLwDtXKVIM0Cenfw1GJcyxt2aj-MKYzI44cflx5HAQ5c1Eot5QYYxCGXIN83H_c1MuVtxdrR1jwLLa-HlfIoogOUaI_4P6pszYS3QYnYCcwcFvPwIYPH0Aq-MUAcybgB5KOSZeOhMkb5BZ6bZX4brqcSvVBhH25SHwun_vZa8wwOsxcF7WJBFC9GjA--uND81WFcFCWDfIsY24jw5Dg6R2yo_xgtxAU0QxPv5XmdOcTNHrZAw44otRoFIEclXeondfytbyfeOfsOCTNL3Fa16rPTuc-iqE73XPZrlo4BvNRL1a2yagy6mjY0uLT3yYGwOS2wfonuEaay2CPgInKODvpiwO3o79xt9GNmxUUN45qNLGfNqx7EvkazWthNCKzl3YrG_BLVGDLiZaoQyF9VQAA0t4VPIjy6CL_SVNep1qf4aI_cqNinCHt3abOnnJ8HiplkT_T2LoyxlI2oFrmSVH4UrNtTC8sRd9gkPGTgX_YdI_VDuLBrpKHRHA4S0pUaKap2NhrVaOAl-mPVhMLdNLoSeN0lVSqIyWTKNUXC9I5wCYN-k_kqTQyFlHaFhRNncSLH_HQYgnzZrd0yjTha4phxBjTE6T-YmgqHNQzreruadU9YObQQB9Ghxk1FXvSzSmgI7szWJJlR2cEyOdo1nWe67s52MtLRQPwbvGUWZUuHzhvfaAHYrkM8zhBdqDgRzhpJl5keLxpEEzGH0AS8h2ZBca5lzt4dX82uZJhQZWwBI2isUJXKRFCdoC8fC2O3IPN333u4ORJSAsJh_PS5qhI4yetRN3FJ6bYWhJcqbAKmc71koD7h7F5aLOzH3RRxA-4hUARz301FeIIe3z-_Bizlqgh0Jovi_E0v367TfQqhcUZr_PV-Hw0gfEO6C-cwuxSJQpe8qqxgQhbG1MtpGyI1Lu7DM4I1fDC1oopB6r4ExtUkkvwvit0cVy2pjLqXgyQarlol5L_Loeo6dg8nCSeq0Tb7X5stLEG61mLtwqSjAqXRAunsN6mOyUgba5oKQN7kuZD9nOk_U1z5Ygw6PNkNoM1_OCbduhMdkX88V8AgtX7QfwcR8AFJaXqwFgN-UUJMKrIcuS8W89jHOfRViJJFyqjY5W1_-DjxbKPFcSGvDBDkk2ub2wzrGbsrBZk2-FG7NAr4NOEwMrrGqU5hmDGlvMc0OX_1bCeJ0l9liY01boRDRs784Cf_yPHdV1gw8Cy3VD_AeQAbFSv0UPafOCfhWIy_CvVrtBIku22wzMaNpGad5illR6BvLBDFv-df-hLlk1vWGUCdpiIzN0iCkQd2TQso-BnmkPbn1xiTShkCWqdjWIJFVaGkAHhoCJXAmPbmDG1RPXeHmUw--52HlIsyNi1GAxoZoazC9v6idOe_UBN1NP3otJS8Rn1kzGyCoMTywVmWClrFCW3e0XiI742q2AzVulBROpfzSh0WHgm3aiB1wzzxPCGlI_EO35p8evqJhwwYch37qWCHlj6eiWD8fXYkZ2IWk-ueB-JqofvM6Y58hm6E3PxHmke2ngAPo12P85Wh2QSRLO6FqAGpJJeC8R6xbOOpGtDixCLk5FY8TAzmCAUIR2KzZqc_iz_F0liE692YfyxJzFXR4fHTBEA9fJ4z5CHUdvivgwsD5V_2TwfFIVhdWGFnOwbG8bPeDTCqoQBm9-e3maOK0qtCyfQq44L2i1qqTs1YK7wCScOFmdAbAdFAG9ACjog2o8NbOL3An-fs1czoOKEQYGwJzSzjGpk6rNoMk8RxZkwSIOo21L0G_8DjhSOq9dTvqlbdpJUYVCfE-NXTg1oF46RuXD4g_WqeAHw9A4vtEUHA4bUJ9ZUADZ7Qsv216VhswmfqAfxHC5TqJLtMbKZ6V5KHbzOTp5jQlrHxkIuxdsI8bcmFlFj7pWxLEfgI9XDNf68DZZHXipLDruKpPs9Q7mQeRb6CAA7kcFi3fQywwy-KRF6BrGTckX3O10J_yWqqhwLSm5_RB7nPnhJOnFFRJicqo1FyYTifwMESndsFGEN3Z-kVR5GyS9Uz5YQjOYzUijQuMfKjP9D3yrZGd9ST8hsPErDeDdFSWd0lHdKqMVESyDh1edB7n8vNd1ZU4XatxoA0VUvRt1qDY7Emzwdo_OFk2Hh5kMhSCvwWwwDr-c1jYPCNXYESjQqMbY9qvitfrcqA1IXTUcWS4KjB1AoDcr6KpdWlqDuIOjiBo8Te3A==",
  "id": "rs_08087eaa651f8c1a016ab41eace13887d08326fce872e55aec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.29,\"right_z\":0.055,\"right_yaw\":1.57},\"note\":\"The brown toy is horizontally centered but still below the visible fingertip area in the rotated wrist view. Moving the arm backward made that worse, so I’m advancing about 6 cm while lowering to put the toy between the jaws.\"}",
  "call_id": "call_TCjq1iMrWutcwL0AEubuZmJn",
  "id": "fc_08087eaa651f8c1a016ab41eaf101087d0b4c596f9281402a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TCjq1iMrWutcwL0AEubuZmJn",
  "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]: [-0.1509, 1.055, 0.8555, -0.8391, -0.2207, -0.0422, 0.9977, 0.485, 1.6634, 0.8165, -0.0742, -0.7601, -0.8906, 0.9974]\nstate[eef_state]: left_x=0.2682 left_y=0.002 left_z=0.1431 left_yaw=0.064 left_pitch=-0.4379 left_roll=0.1941 left_gripper=0.9977 right_x=0.2702 right_y=0.2841 right_z=0.0734 right_yaw=1.5695 right_pitch=-0.0374 right_roll=-0.1245 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6462, 6.5436, 1.2674, -0.1929, -0.0366, -0.0122, 0.0479, -6.9812, 7.5145, 1.1941, -0.5201, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ea4f5351a2599c13359b7260e2d6e3c6b53557aedf5a066b707bb35124444a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1559169561dc4ecc616ae00f68d79bddffd42d4171678b106a3f25d7e82267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cf48c521a144077a158ab07ac632bac926920fd00acc2b61e8bbffe621b814",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.532 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0542, 0.8555, -0.8246, -0.2207, -0.0422, 0.9977, 0.2726, 1.5166, 0.8963, -0.1078, -0.664, -0.7166, 0.9961]\nstate[eef_state]: left_x=0.2711 left_y=0.0015 left_z=0.1451 left_yaw=0.0625 left_pitch=-0.423 left_roll=0.1906 left_gripper=0.9977 right_x=0.3513 right_y=0.2149 right_z=0.143 right_yaw=1.1947 right_pitch=0.021 right_roll=-0.1807 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.8376, 6.5436, 1.3455, -0.1245, -0.0269, -0.0122, 0.2393, -8.335, 8.1846, 1.4676, -0.398, -0.0415, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8284, -0.2207, -0.0422, 0.9977, 0.5053, 1.615, 0.8104, -0.0914, -0.765, -0.886, 0.9974]\nstate[eef_state]: left_x=0.2704 left_y=0.0016 left_z=0.1445 left_yaw=0.0629 left_pitch=-0.4271 left_roll=0.1915 left_gripper=0.9977 right_x=0.2613 right_y=0.2884 right_z=0.0868 right_yaw=1.5897 right_pitch=-0.0219 right_roll=-0.1412 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -2.5641, 6.5709, 1.1795, -0.1783, -0.0708, -0.0122, -0.4855, -6.5162, 6.1744, 1.5458, -0.3297, 0.1294, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.055, 0.8555, -0.8391, -0.2207, -0.0422, 0.9977, 0.485, 1.6634, 0.8165, -0.0742, -0.7601, -0.8906, 0.9974]\nstate[eef_state]: left_x=0.2682 left_y=0.002 left_z=0.1431 left_yaw=0.064 left_pitch=-0.4379 left_roll=0.1941 left_gripper=0.9977 right_x=0.2702 right_y=0.2841 right_z=0.0734 right_yaw=1.5695 right_pitch=-0.0374 right_roll=-0.1245 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6462, 6.5436, 1.2674, -0.1929, -0.0366, -0.0122, 0.0479, -6.9812, 7.5145, 1.1941, -0.5201, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ea4f5351a2599c13359b7260e2d6e3c6b53557aedf5a066b707bb35124444a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d1559169561dc4ecc616ae00f68d79bddffd42d4171678b106a3f25d7e82267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cf48c521a144077a158ab07ac632bac926920fd00acc2b61e8bbffe621b814",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_08087eaa651f8c1a016ab41eb3a9f487d08f235a8032ef6639",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.3,\"left_y\":-0.105,\"left_z\":0.13,\"left_yaw\":0,\"left_pitch\":0},\"note\":\"The brown toy remains below the gripper in the wrist view, and that approach is not tracking forward cleanly. The overhead view now shows the white toy clearly left and behind where the left fingertips had been; I’m clearing the right arm and positioning the left gripper over the white toy’s actual table location.\"}",
  "call_id": "call_IXnQWmKrNx1iARzt5pDSyAgt",
  "id": "fc_08087eaa651f8c1a016ab41eb81b3887d0bbf875f69ebddec0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IXnQWmKrNx1iARzt5pDSyAgt",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.6949, 1.1164, 0.5797, -0.2707, -0.635, -0.3199, 0.9977, 0.062, 0.8108, 0.606, -0.474, 0.0555, -0.1261, 0.999]\nstate[eef_state]: left_x=0.2938 left_y=-0.1038 left_z=0.1223 left_yaw=-0.0184 left_pitch=-0.0564 left_roll=0.2049 left_gripper=0.9977 right_x=0.282 right_y=0.0113 right_z=0.1577 right_yaw=0.0807 right_pitch=-0.1007 right_roll=-0.1326 right_gripper=0.999\nstate[joint_eff]: [-0.335, -2.9607, 6.147, 1.7021, -0.4957, -0.0415, -0.0122, -0.335, -1.0462, 9.6479, 2.0635, 0.0806, 0.232, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465ee2c85b9341c372b76bb72c56b82a400eb8c13dcf3e7d3a0da69be1f81a15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0439f692b2ee75bc65cf0ffcbd0f45d5bffe649ea760b02ba2bb4e86178b19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2279f8bdbe12e9fd1170f321d39f34e8198680d1751e8ddbdad5d1a2a4ab385",
      "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 · 3.247 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8276, -0.2207, -0.0425, 0.9977, 0.3702, 1.5459, 0.8906, -0.231, -0.8021, -0.9318, 0.9973]\nstate[eef_state]: left_x=0.2705 left_y=0.0016 left_z=0.1446 left_yaw=0.0631 left_pitch=-0.4263 left_roll=0.1911 left_gripper=0.9977 right_x=0.2942 right_y=0.2542 right_z=0.1249 right_yaw=1.5028 right_pitch=0.0043 right_roll=-0.1749 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -2.7282, 6.5573, 1.2137, -0.1441, -0.0757, -0.0122, 0.212, -5.6547, 6.8171, 1.326, -0.5299, -0.1197, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.055, 0.8555, -0.8391, -0.2207, -0.0422, 0.9977, 0.485, 1.6634, 0.8165, -0.0742, -0.7601, -0.8906, 0.9974]\nstate[eef_state]: left_x=0.2682 left_y=0.002 left_z=0.1431 left_yaw=0.064 left_pitch=-0.4379 left_roll=0.1941 left_gripper=0.9977 right_x=0.2702 right_y=0.2841 right_z=0.0734 right_yaw=1.5695 right_pitch=-0.0374 right_roll=-0.1245 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6462, 6.5436, 1.2674, -0.1929, -0.0366, -0.0122, 0.0479, -6.9812, 7.5145, 1.1941, -0.5201, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6949, 1.1164, 0.5797, -0.2707, -0.635, -0.3199, 0.9977, 0.062, 0.8108, 0.606, -0.474, 0.0555, -0.1261, 0.999]\nstate[eef_state]: left_x=0.2938 left_y=-0.1038 left_z=0.1223 left_yaw=-0.0184 left_pitch=-0.0564 left_roll=0.2049 left_gripper=0.9977 right_x=0.282 right_y=0.0113 right_z=0.1577 right_yaw=0.0807 right_pitch=-0.1007 right_roll=-0.1326 right_gripper=0.999\nstate[joint_eff]: [-0.335, -2.9607, 6.147, 1.7021, -0.4957, -0.0415, -0.0122, -0.335, -1.0462, 9.6479, 2.0635, 0.0806, 0.232, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465ee2c85b9341c372b76bb72c56b82a400eb8c13dcf3e7d3a0da69be1f81a15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0439f692b2ee75bc65cf0ffcbd0f45d5bffe649ea760b02ba2bb4e86178b19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2279f8bdbe12e9fd1170f321d39f34e8198680d1751e8ddbdad5d1a2a4ab385",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB7B6dU20b_INyITEuWJFM2ymbVG9953ndMF8T5b6U2HUX3ZrZDRA3ihmHqaVgMcNLTyS77NPbUlZxFPHI0Y-SrIM3DtUvfF30UXazml5eLNHVdTwFDKFhSY6ZFler7X6UDCKEU8Hwg9e3UD04uD6Mrm0l6AP1nbTvZgqNX7ZY0hTRZ-RGGbLxD8GD2ONqgimWi2HmQmZPTPHSkTQDYBsNBjCzzV6Exgizg6xDdPntXbCQBm-eh5pV0RZ0M5RDRy8GimVLNNZia_twmNF2d-cnhCIJQodu4Xh-IqAcHoJThBYsGWAcfDqPjuUtvuENrp2pm3jFYr1vxcdwckL6Cl7XnN656FWr0TG_e4vxtmYKG4-5gEAZT_krDsvM_9skgbD7RnG3BNxT8fJDFUlnzB0rYazAznMLjYMAssZSTL9VHvfUBmZzD3FiEGfgjLT5Bs8sDf07exUsao9kZkK4ICH8ZGc_zzBoAjVJwMsP7A82i3uvuX3YhwunRxua4Jf6uiFHJBbaUjHMdDT4w62wIHu35I_ypY7EuA_vmdN5ouEsYt-l511nWiq8D4kznfiv6I1_Qu3OpK9yk_T5KeZrjbX9MXlIOKHagt039bFvtQkU6dm7VPiUd096s46or7dq1hxfEhUN12igs5NoB1cNE24-sEfI7wDBD4ae9V77LKRg4rzRMG-qBMYN1TimLhfpwZfl5EPDbyHgJ-L2DB5SNe4hycAWXudxsujvNod1zpF1bifiUNfQQyzl1OsOABwqIfFlyS4HhmvEDdc7sM6_sPA4kxcj0IDm7bVvZkJYWuZG9UE6W5bKpSN4K8NZSHu3XwFIfAtFUqz1vfQlWsweRxINJx5HKuakt_MQAuJMTjb192OLkOQ5m03gdQIr4jc_OPj5jOhZtwNlbsjQZONkmGW1H1FaTy36VPKF2KkKtJswwbuXtqqIyoJ7Ac5B5V5kopjSqE8XxPdTzdFd5eGCQESRWa6cNO92bbrRQEYstRc-QM-ibiALvECoaVSfovV4dF6VDDSXL7z1iBiOjSFAaMzr1Zz2Afubro_F9olGmAaQWhySL17S4fXFEhxUqCulSPUGpThUv79lv_MkTElnx1baOdY_UW7EbwGPGYqRzFKl-Vfkbrl2zLZR7xhvftp9t3Cf69wU3VsRdVhLZ5JowpeoF2MZe2QlfyttNgqI05t8Hwnr2ZyDMU4tQqDx-GSIGbVzULsFXY7FNPRRQsCpD_sOMpSJFOg8-Hf7e6uNcUQodj5rUHaklGSW8rRGr46g5sz1AJiNeY2K4vnnjjg1Iyqxp0YP2OZocOn1fJJ1FsMOuaVoaUbEufd9z6LmAOm4VN0gVZG59KZxjFZrIH6mEZJ1ghNfm2hB0FpT49y5zaPSsClRbirabRIojOH5Z3FhICsl6orfSR16jgEapVSE-4itrP_T-OUt7GFg7KBiGIlIFqz3PI8MBSeHWQ8pX14Agyw_4Xf5FatItsVJ1oA2UUKL_gLEnQ6XhZo_f5BvJWodsF93hc3JuBYLhz4lzyzbJepY3MwxrDhV8LvVGqKAVKhCoOZiw0HJ70UVazroHN16eKKquhDonMau7pPmAybVTfnjIk8QmzKZac6glg4YAARXikgjiKheb_TExsjE5Hfeq5IMRFAKjEHoz1Tvh14FdYAnNa8o2sTFmnnzJKh6mufyy42mx1uX-G1aHLvIqJqWoqAY7lap7QyZ4QTfeOhZ-4zzzQT1wzDkhT7j8fhw0CwQoAfsWD-3U6QLFwtXYsrtu96zS_hB2ZW98e8melbd52NP5l71QKtF4yuBb6ohNRlufX8A4VF4ptm9u0_FG5b88ArdkeY4_xcxpM8F7ARd10liJY8nRplONWG3KZNXRIToXPPeUtqq0QiKV5rxHdk_lFZkCTpz9bc5BWvWaGGeATISeWsciZQFvxi2WdTluKS2ny2sAziy3IVuZXCbtlMh5rlZqMCE0oygbzl3eN-lEXTYLenLF6C_ud_biHORsXoMVxrlrLpZWlyOzY_eoFh2jHm2IeTePr-5EOLqyx6nrOxgzxaXl596gnrP9dHCJG5uoEeetu0dTgC10iWfGPPIV0If1gOlAaALnEBNP44rkOqdyjnYIJXusgJiOvA3AMA-pMU7CzXvmaI21Pzwqi7x6u2gczgpmYWKpH1XeoJU6gl326W_uhBa7WAn4GmOMqcpe9JAa_dpwj50eqDm4XWSCzeJUh9RH2h07GgV3Bv-Q1JCz6rbuO7UJ3ybrV_2_W5TQQ2jzPkFsfIcwuiCoYKKDsnu-_fGibc5Npozo4G0eqOuuw2RcQQF_MwIPL0_NxN12ZKNHEXg6AmBO8yIAmsuq-f3ID27czUJl1zjUxSk5Vgfx_lfR4ONUJzoBdwPNSipEhHGhGHS4q8zw6QpUWyhLtFT7oBsttbZX9xOVI_J1UVZgp_0C3B-INkrult4C2NWpr9yun95JbvQUauH-W5415KF981oOPCMhNwTejYj8C1If4greHdxOBm4jq7A0pkVmNa3FNy7OVzNoznzaRq_fZGB6_dCQuAS2KM6dEoy5Pq4mHwq7ltefc1VjIjEif-rhQ9lQnP6DExVBA7tLCvPZ30yhpqegupaEkBJyBCOhDxvcJ8qebWP2nZ5KYdnBLkeGG_wI-mmbelvIWXJKW9w6N0qc=",
  "id": "rs_08087eaa651f8c1a016ab41ebd3a3c87d09998b61f03cc74e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.12,\"left_z\":0.055},\"note\":\"The white toy now appears close to the left fingertip area, though slightly right of the jaw column. I’m shifting right about 1.5 cm and descending to its torso height for a newly measured grasp.\"}",
  "call_id": "call_GNJSxqAlxCG8uMuosdEplP7d",
  "id": "fc_08087eaa651f8c1a016ab41ec009f087d0af391d7c13092d86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GNJSxqAlxCG8uMuosdEplP7d",
  "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]: [-0.7006, 1.3827, 0.4656, 0.0139, -0.6437, -0.3241, 0.9977, 0.0593, 0.8143, 0.6075, -0.5003, 0.0631, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2986 left_y=-0.1084 left_z=0.0475 left_yaw=-0.0101 left_pitch=-0.126 left_roll=0.2674 left_gripper=0.9977 right_x=0.2783 right_y=0.009 right_z=0.1525 right_yaw=0.0704 right_pitch=-0.1289 right_roll=-0.1353 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.094, 5.4496, 1.5311, -0.2418, -0.0855, -0.0122, 0.0342, -1.4974, 6.7897, 1.8535, -0.1148, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ba36918ad4ae222c88cd43a3ccd8288ea76e6672eb3301496c863840cf6555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10bdd2ce78ae55c1168c55fc5f5a375e8d9dbcbff473244cc138f68e0d22a81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17201c5828098dded8e7014d089d9c839ca659db939bed4e03b2b346b83d5ae3",
      "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 · 8.611 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.0546, 0.8555, -0.8284, -0.2207, -0.0422, 0.9977, 0.5053, 1.615, 0.8104, -0.0914, -0.765, -0.886, 0.9974]\nstate[eef_state]: left_x=0.2704 left_y=0.0016 left_z=0.1445 left_yaw=0.0629 left_pitch=-0.4271 left_roll=0.1915 left_gripper=0.9977 right_x=0.2613 right_y=0.2884 right_z=0.0868 right_yaw=1.5897 right_pitch=-0.0219 right_roll=-0.1412 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -2.5641, 6.5709, 1.1795, -0.1783, -0.0708, -0.0122, -0.4855, -6.5162, 6.1744, 1.5458, -0.3297, 0.1294, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6949, 1.1164, 0.5797, -0.2707, -0.635, -0.3199, 0.9977, 0.062, 0.8108, 0.606, -0.474, 0.0555, -0.1261, 0.999]\nstate[eef_state]: left_x=0.2938 left_y=-0.1038 left_z=0.1223 left_yaw=-0.0184 left_pitch=-0.0564 left_roll=0.2049 left_gripper=0.9977 right_x=0.282 right_y=0.0113 right_z=0.1577 right_yaw=0.0807 right_pitch=-0.1007 right_roll=-0.1326 right_gripper=0.999\nstate[joint_eff]: [-0.335, -2.9607, 6.147, 1.7021, -0.4957, -0.0415, -0.0122, -0.335, -1.0462, 9.6479, 2.0635, 0.0806, 0.232, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.3827, 0.4656, 0.0139, -0.6437, -0.3241, 0.9977, 0.0593, 0.8143, 0.6075, -0.5003, 0.0631, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2986 left_y=-0.1084 left_z=0.0475 left_yaw=-0.0101 left_pitch=-0.126 left_roll=0.2674 left_gripper=0.9977 right_x=0.2783 right_y=0.009 right_z=0.1525 right_yaw=0.0704 right_pitch=-0.1289 right_roll=-0.1353 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.094, 5.4496, 1.5311, -0.2418, -0.0855, -0.0122, 0.0342, -1.4974, 6.7897, 1.8535, -0.1148, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ba36918ad4ae222c88cd43a3ccd8288ea76e6672eb3301496c863840cf6555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10bdd2ce78ae55c1168c55fc5f5a375e8d9dbcbff473244cc138f68e0d22a81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17201c5828098dded8e7014d089d9c839ca659db939bed4e03b2b346b83d5ae3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7EF-7fVSu7gSOd0l956q-JwMgw18qxJgewWNzoUcoRFLz6KcrM8fEGcdj4m_T5Fr2GiOaCS8xKFnCnFI2R8fwifcG5NYTsAObfin93C0GK7XQi2jnV07GqZzx8M8e7FzOPQgb-kYC5STpMMharSlhCuZcH8DS7tosWlEekFUH9joBVGIBtF1BtDdReRLFLAkvnD1DCLd0hFEHNNXJ-ut3x7q6bVeGS_FkHorqBPI1E6JZHeXNAqIFae_9LVRvcccsAepeCw89cSiqgLF3XrXamLxFSOG36y6DbJI71yxu3g6-FxY9-Er6Qim33gh_FOnoWtDhpAteNbYELxdyK_KX17fb_RERjzyN8DRcaqlo7g31MEa2v2XNTJijuFKsciQKBgsq0MXKL7ACjeEn6IvElkHsPe99Dcd77JTHR26SaBbb6OJh1gSB-c-n5MrTTciDYZupLzcnmzB73myoFkdaJHa89EC4G2Hudez8BI1mPyMQpHA8K_AbB1Lwjv2QBcgALMCVY6clXsCC_RleQvMIh6FBx8DfE4A3EPF69dWnCAiWQgpwf_OxCCG0Tne2c192T0PzNYu6XLmCx-qe7dMEeMaq-IkYYM3eyIuCRuz7u_FWV7Q8GbHcuYiCJvMsZQnuYknk7IYMu1MQPmMcgEVmeaAltBqs0u7qV5h26IZM5x6qT-xCYKTazQXLupj1T7PerhVxZOxiM6Wbxk85uICiKYbF11b3C1Z7ayDViMJ7E2tFnjSCxODoHXQkVgtuG_1wF_JQUj52t5WAT3-Z1mhtqOLC2Xycl43bE36jPHJqSKgiVPxfKElnMRjQH0QuK1BPsQBGUPxfge_RGV3MXvg24qb57XcRDVj3D30jwC_3XII6kon9_PsMKM4S6VM__i7kVTc1ZUrkOW8PlLJSlwITMrQsp5dGRVk42AML2FXJ3_ZhwP4FKLF5z-6cHK9IE4THKNxqDb8DQhz8LD3bj6aePTkMX9nPJ0a7CX8GWG3DfKI8XHZgoBntVB16Ky6z1vEgm0Hx9hlS_PjIstcwRiXM8QBCXZb2h-DM9jmm9Q2y2SzkhEz1PQeRZwwkSevbY19PuG6e7DZN57409USoE2qilFo2-04c8yC84JPTuKjwjxnKPF1QTn-V1zsklKyy9GhiByNbuYCpL9hIEVAe6NZqSFb1v2WkeGCeQeF0xhqvLORlCorEhYCmccZhBLjHopYeGkHz7CoAeJBW1nBuyzYYwPg6F820zWsO-DeaEQWtO53YTVUM3kn7xb9DyXD5AFX3R3LRjd1zlnty3dLc5SbwP70IYP8E-WpB5Hb9pBBA6rsb4MKuJXKZCOuKcpwbx8ifLbQphTfugoV6Si4XwTn1vbPn0ZRWkqcfM9Kw5COD2jSOlhUwWJ1BuTykUo6VjLFeKNkh19RwAfWwk_OQYPBpxUyahN_250fr9IOAfbAo0GxQ=",
  "id": "rs_08087eaa651f8c1a016ab41ec35ac087d0b4cf2801d3566cc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the new pose, the white toy’s torso is centered in the left wrist image and fills the fingertip area. I’m closing the left jaws and checking whether they stop on its body.\"}",
  "call_id": "call_498qLMB2Q4QwDW1InVYmpEWl",
  "id": "fc_08087eaa651f8c1a016ab41ec4229887d0b6b70c473b2c3e7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_498qLMB2Q4QwDW1InVYmpEWl",
  "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]: [-0.701, 1.4006, 0.458, 0.0055, -0.6411, -0.3267, 0.0102, 0.0593, 0.8165, 0.6067, -0.5236, 0.0635, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=-0.1056 left_z=0.0388 left_yaw=-0.0079 left_pitch=-0.1531 left_roll=0.2856 left_gripper=0.0102 right_x=0.2744 right_y=0.0087 right_z=0.1473 right_yaw=0.0701 right_pitch=-0.1552 right_roll=-0.1352 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.8051, 6.2154, 1.3553, -0.3785, 0.022, 0.8034, -0.0889, -0.9504, 6.9812, 1.7851, -0.0317, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2f59cb762f949daa5ae1276c09e2716bc665b0d078770ff1dd4bee68a27dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b5731d0df6d3c182c1394836c156fadaf3d253de27b4619fde060076540167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc00120b5dd71c50f1b7f423ca66ed8a3e3d24a9ac3df04513814eb8eccfc5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.536 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1509, 1.055, 0.8555, -0.8391, -0.2207, -0.0422, 0.9977, 0.485, 1.6634, 0.8165, -0.0742, -0.7601, -0.8906, 0.9974]\nstate[eef_state]: left_x=0.2682 left_y=0.002 left_z=0.1431 left_yaw=0.064 left_pitch=-0.4379 left_roll=0.1941 left_gripper=0.9977 right_x=0.2702 right_y=0.2841 right_z=0.0734 right_yaw=1.5695 right_pitch=-0.0374 right_roll=-0.1245 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6462, 6.5436, 1.2674, -0.1929, -0.0366, -0.0122, 0.0479, -6.9812, 7.5145, 1.1941, -0.5201, -0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.3827, 0.4656, 0.0139, -0.6437, -0.3241, 0.9977, 0.0593, 0.8143, 0.6075, -0.5003, 0.0631, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2986 left_y=-0.1084 left_z=0.0475 left_yaw=-0.0101 left_pitch=-0.126 left_roll=0.2674 left_gripper=0.9977 right_x=0.2783 right_y=0.009 right_z=0.1525 right_yaw=0.0704 right_pitch=-0.1289 right_roll=-0.1353 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.094, 5.4496, 1.5311, -0.2418, -0.0855, -0.0122, 0.0342, -1.4974, 6.7897, 1.8535, -0.1148, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.701, 1.4006, 0.458, 0.0055, -0.6411, -0.3267, 0.0102, 0.0593, 0.8165, 0.6067, -0.5236, 0.0635, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=-0.1056 left_z=0.0388 left_yaw=-0.0079 left_pitch=-0.1531 left_roll=0.2856 left_gripper=0.0102 right_x=0.2744 right_y=0.0087 right_z=0.1473 right_yaw=0.0701 right_pitch=-0.1552 right_roll=-0.1352 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.8051, 6.2154, 1.3553, -0.3785, 0.022, 0.8034, -0.0889, -0.9504, 6.9812, 1.7851, -0.0317, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2f59cb762f949daa5ae1276c09e2716bc665b0d078770ff1dd4bee68a27dd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b5731d0df6d3c182c1394836c156fadaf3d253de27b4619fde060076540167",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc00120b5dd71c50f1b7f423ca66ed8a3e3d24a9ac3df04513814eb8eccfc5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7O-Ipjnpoa3m97pfI8F9OD1idbFfS1_lcFtka-fu408X9P9WL6NmuWYSLxeVQQa3mz07viCNVK8NQl8aJkE2toFvcmWkDt4IkSnhxxwNpLeogWEvnp7Y4SPwOhXFPMbTYd7VRCK5_Cs_khRi-EdGoHQ9VAOlO1-DPKO8rEMuUsfmwMWHq3hTBxi-6qkrSS6XycnmCh5FxkmVVnhIO37_8kd20yAqCKMwehJmE7u8ChOjGVnTwG9Skecn6L91w1gzfUXuswnFpvXYYP26h_Uzzo4M0r6DRxp6bUxQRrbpY-hJ0p_OJC04NSk8jQLeCC1WRaoccwqABv3Fs2XMEw3QfMA6uHqB6vn64vWgCkBO8H3oGk7DEj3EViE22P2gNmijtRhxmO5BgCpv-hhGfxDsQz0HFtlw6dKForvgbh4-aX-ptVqdieZNGdCfPWwsjQAnfZH85tbXPko9hvoLof5n96ZkuemTOpFgKK0CHvRC-78pU-AOVYFKDBn5QkE_sdZNypKcWDEnFAsaMl5O_wdH0wUze-_Jw4oWTlDCX-mjzaWZVkCrCAUcSn9kvvrxnSxgeq4iXdGYDQT-K9I2Rz_HCztLGV24PzyvI6RB2up9pubvCMwAtg0IPIu61pwqO3WXQ6QmnfkR4nG1ra-NJCuuBv8_tQ9To4q-Oi-g4aY4qh15slbyRYKwGh2xYIz3frWfRVSBvDoeRE49K4uTcm_crYHDtSEc0KmolCf3SyuY8_mPRbqDtfth1C3IBHpVSoB0k3EAkIZfOjlIoWWpBAKGnaCZl6Cn7NPhRYpN5bUzJWMuZayWr-SXGkrqPc6h0KuNEmpMdeXV4zW_mCgj87tPsG-UAg4rO2e32h0InXtKDDWHndN9Auyis1c313LD0cWWAmK-mA3XqnlLQHQxG4A-isxaF7vuVdNk6Dd2k27a2Sq7c3UNXDSj8K7t5qrUw5IQRpAGanXZZTuxyZmUkUsGoVVVUtWAxPaU6r5hPMVltBWQ7RU6nNa8rnwIBJMNxHmT_NWfMLmzqTP5XlKNcAWn52NonGuk0i30mJJoyXupV-0y4dxqUvnZaG2Y0Ivfjv7JtulGQsHUJ1CW9RrfNGhosq3vssSp0zlffTeQ7phj67J22gkh3tPBWyddK7frgX21EHLHI_RP-Za-UHDRxcjzndLAk284_xWnnt-Tq2M27HBVNu5gjch5IT0q7L1-wPyyMCIAg38a9bfqPoGzD6LL58xirp1UtfDbgMLZBV4vMotVYKHnRFkg_3SeANsG8yBEwD7sRMWGgILg_un4Ld7JuiX5L36exQpodEZVe3f8xYPlfZabI6NrwhFLWLJBxHon2iVqoUH1bokyAdwyVB6kb09eGo9e4w2eXljusqPV_TwcolMgqX_Fl7pQHZNKom5hRMIuA5eWywXl5ODKKvb6U3XyGhkwu8_wJy8C3MgG3rcxj1aFqMtECxz2Cg661MY1DG8ihFrxac4Wgquq3H5Tm7knUCO4Btcbf46-ZVMbDimONT55B_DJsI6FEtWre2fDurPdJH_mh4VPV6m1TglPkWgW0x_q5J4RfYDssONRG5Rrf5KXcxTlWBFkLnQfI7bWc7KLbsiPqeCW73P5Kniw3cvtfNPvDkBExwGuYiYPxsXnj6-dBuxPOWJHxSg-2l8bxDwgqwaIvDFuq3-dF4IZNXKfWZUVFEaSVn4A_JlbfvmRhd1WPmTtKLsxJTQvSTyC_fwtGC-RhcJAvZL3f88sFhWronp92gINpxhFI7Sn5xbh8hRNjYQsGyfZz_KEbk0MlesIk87xIrjGdbk1RzoxcBz0luCVGwlKw04G59sWDPcnvAUPVI8f2A94ssVOTyc2nzYCoTjy6FGA4sa37oMNY8YZ1Lcih9OHB1x4GEOkYXZQeselSA2SBlc5gaglycA4B87oKa0zECjn7-sE35S8Y0Ri8-PZUYC7nOTZK_pxVgyk6pADnCl59HzBMhvjQj9DT2uUK-aXQO0J9I72fEQejIqoTchv_vB9_HWrJNrpw1pN9kGg2pPF-ql95ZWwlCfVpoQ0epnnQmFNeG4jelXwc0ria7TiBvlIzMPcM2_1hO8_D_prEmFz3Qh2Wc2DaDdWy1HDMCLHdHEIfQEfQlBs9fEx7VI_5JiONiba6rx7L__iTTAYi3e60GNULQ5k2RJ9oxGv8BffjN4mo5rpZ56_Ch2dVeXdM9-hPNHIlOogMdtk1N_kVgLZf-KeLynfaezseuHkeKvak47nqD9J1ker1iqV1Hl2d79QbTkNTTzauHa5OW0ni12uFeO7SCIIPPcb9Qq2U6_6tIIl76lr0i8uHo6PIBdrrFuCZCnclh9OShVv34ikU_AtjLPsJOKzUDGounLnm9zlx0ReUY1CGj4A51oiixokLmkmPcpHQK7hhvdDSpa6dvNcXTG1jvH1D7DMAgQ5CWQvQOvf1vE_h32ZiAZ87jOqXG3QpG-Ij6rCzulUPUDHZrFs6GplMX2wTzz5uNCYlyfxVj_qODtnbdUqi-Z2k20S4Xg2-0JGwS33RKia7XecRvIeyFBBgrKQhmSVPTX7atvLh4xvCE-zX8O63RVOtoMM8mbxNLR3mAMsjgMGIAFT9zfc1U9roX_3NOK4u0P_Ay6_cpLdRFyHW5ePDBQnJUJo2CtfB9ygEdq0sLXhwFU7DoawqgD3tLWqv9TKYKvaww7nLFSXyMNGvRqwiOrTZVFWPNwjbvI4ktpH0HAs3oC-3bNc-jiY21mpreRSrxW3Cdv3YsFY8sD_WFznzl8WyY-kjOuI-oCjiRXoIpYHeijlNQ2iE7ukQMMwGZWAetskDMbRo-hxeWD9xYr-BtpxZdUf6Eb9zWqIBjzDcVdT49zD-Cs3dpX6nz7rI4d3zJzFOvBMwyqtBnIK1ulcf9e_dPKhP9voXCwoObETIN-xOxyBn23YMkcFQDPGzW2m24WrwNxD0JmYhoAxPHeqlgsm3dgYTcGB3fK2CFE1rjybpKZ7WZpL2HEcl7ngiO_6HkE3br7qE4tWjAp1nCJbxznT-Sly1DenjzJ7UmXa5xhRtf-xbrALEmjEAIZj6LQr_aCYE_Bkmy-gqSEYRGXhKcYIKojHkCJjkxeu9nqSQ7cQUHwy02N2exx5MDz0gMRZVWWzOiScV8fS82re1YKEDvGGW7g1QqHC_G4hXHDVbfTE94BtnKSLwnsJL1trgX3JAiXxq6m7IYk80mMNwKbEZDbKtTDaZgl0wsggR6_gciA9hsfMNgh9XS4qrVhQYjUqaV5eCir1P4QZJRMI0ZP7Ub4CvGX0JqFPD5nEieQAkPtuwdIAatiby8lsnpGBvQWYIE34QMbwIUL0wYf9pUr-e898-O-vXz8BRcHDwxG0gnHmVmYuiXQJpHHXXLps-8c-AaWpLFKkMZbnhrLdXLTGAI9HzA9KD2S6vYvKgQu2W55ZY8jkUONLCBtXg0CaqEwUmdZeWfEfU0bJR3Y-KEEcb5Ei_GImYvObxkzG9Us2Gx5aaHFb78CEPwjkt7vHEtVAFv2xKdTc_QP7UJizivWn8CHALxbFrCxNiY316CyLwLPY9Ql3ydhcZXlfkHYzce-HYUygsGRAiLnk1QUXR_rGPxVxPKjmpcZ04Ipc342ZiONAR17dB0SGG4gjx0K5B2Pr-ZvKSFHSBgCtna2_fSLx9BVBie2KrmaHTL5nBMBOCVZ9oQz2uNTQAoEySQW1eI0pLG63Y8yylUYu8wtARCGGZKxujDcadGTZhFCGqmwe4WuZSp-ZtWssttydQbJ134XnMjVuj_IgyCIMu7wCp6nVOHopBzNFM9FOXq44JVyj3HC38j7Y_BCObx9OK65B3uVebFmGjgKvLQP36qmXxjIbBZWm5CV0Wd9XQclGnvCbuD_m9ytuu3LAiGdCyZ4MfBiDt1TxE__tQLKHEZOjp1pOljgKbP2S8o5FJ5EsOYarYz87izQPqxYKDQbPXdlInAy01wl2HEUtZCVYZ6PyWu5YEzLIreHtE-o1KeiOTit2jwBrio2Dh_BHe29w4lcLqPRB1M",
  "id": "rs_08087eaa651f8c1a016ab41ec77ebc87d0868115f81e515547",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7OpsL-EEbovXUETxgfV9yxOtQmNDfgLkp-0Y9xEU9SptuV2YnzEXDdzoMsSbTEUzsHbvAIdu6ACaLLpkqw6o9G_ld8_lvBozp4plzQ216PA4rGxL5iJCRvJn7ZiDSE-1nDTa_r84Bq3KW6gQB8yo_KoOJflYgBKvLrKtA62XLwSPF5VAq8vP2clqMmPq-TAuVYZp9fui2URCrDEGi_CiqhsKXxoQB4_aGD9anR-Do8_pP-RvZH7E4mbdqhmDdRqHfyzer1Fe0KRhGIYCVHM-dkHZDUXwBjlekZ3FAN70imCJm4zRe5tjdewLZ8Zl0GTj_Ndrvfi9jAMOmDqe9iS06gb8YdoTeIIFt4ahT4AULBzcndOBlRffNx7v0RBID-FA80U94GJThSTmySuToETK2CPP-PI2zLz6oQr0Vq9cpjhYB0h_IJV3yabOhTBlAF3R63Hc01z4weHDD2PaIds3rIGJkLUTxEmH38Jupf1ze31Ru5gZdJx3qRSyMjPXfGoF_KvVlzH8wNj5jBdbWzvaeJOwnYvvKCKaZqegtkATBbl8mRStN9Dvg337Tc0ZHO8YVA-05URlpcbcCuswsxDXAv6LPs__ccmnfRSER7iQ-RqN0f41g-85r62_jbesG73vFlRPnUYXDC-DRTogCO-WGQqXWS1GZzvvVjHqUYPDBCiAaxhy0J9tuBSfgkydt3TtRA8hF-UTUdnmeIYEHPmdkIqgbBGbXwa13Xpnct0aCCokfyTPTFkOVA_WuMR41BPQIWydxmZgsO93F5aMaVJeF9DBc6B8Um4uv2L8bKc6dKsVvEiLyqddClhEl_BeIqRiHvCJFqMazZgR4m6xLNozReeMX72FoJSl02txcL_2iFbuhMqJHROhevEKNvIlDtboyBn1Juq4Z2Z5cmmVSyoXb1NoP6JmMbUs9widin5HiUDiNZHEAswYjy320Fce5V8Ty63-2edBIuQHuRgkTe8PI3ifB_K57SbX0E-MRDPMooEK29k4KvBcEZQOlpQWmfU57LbJzpoy8aqUdd_ikLUvfHsHgNcy6JaekLvliw2AKZ-wXbcwJUe0Im1olZXNor9XXI0-cr0OXXw_5XZF964ITHbXwUQBBMCqQjIYRmaEsBo0ZQsGuINm_-dAZww8_QXxYfcFhI1c4nUYCJ_8ai7dTNKaNMV-bImTtnMK5xn902MLJzcRx39jZZ_zUcrWB_w8LXrHrS0gfzvnQ7x4sfJxewLvGf9Ep8rmRnxpOltEK_jjnkDr0vNw3-3DEf5SqyR0zMeblGaPiyilQKSoNG2CN7kw==",
  "id": "rs_08087eaa651f8c1a016ab41ecc8e5087d097308579329759d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.105,\"left_z\":0.1,\"left_gripper\":1},\"note\":\"The white toy is still visible in its own wrist camera and the jaws closed empty, which means it remains in front of the actual grasp point despite the apparent image overlap. I’m reopening and advancing farther along the centered jaw column, lifting first to avoid dragging it.\"}",
  "call_id": "call_2RgdhZcfjRPj5QAWEt9ayc8w",
  "id": "fc_08087eaa651f8c1a016ab41ecd11e087d096ec83f884edc1a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2RgdhZcfjRPj5QAWEt9ayc8w",
  "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]: [-0.5262, 1.4757, 0.7593, -0.1566, -0.5419, -0.1883, 0.9952, 0.0593, 0.8173, 0.606, -0.5537, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3601 left_y=-0.0997 left_z=0.0896 left_yaw=0.0156 left_pitch=-0.1679 left_roll=0.2877 left_gripper=0.9952 right_x=0.2693 right_y=0.0083 right_z=0.1413 right_yaw=0.0696 right_pitch=-0.1868 right_roll=-0.1349 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -5.2171, 8.3761, 1.536, -0.1148, 0.1636, -0.1441, -0.1846, -1.2923, 6.9402, 1.8779, 0.0024, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32aaacc16ed7c50b4589a8c89aeceb1d2ab9bc0de54c1cc65d8f686eac19f69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc40336293743ee31d332d0f3a431aac5f123f6758e08e6ea3ca8511e50d904",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9eb1e6548f1daf631d1bd7aa2ca371d7f34196d723cc2bf0404f88adedae48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 5.509 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 116 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6949, 1.1164, 0.5797, -0.2707, -0.635, -0.3199, 0.9977, 0.062, 0.8108, 0.606, -0.474, 0.0555, -0.1261, 0.999]\nstate[eef_state]: left_x=0.2938 left_y=-0.1038 left_z=0.1223 left_yaw=-0.0184 left_pitch=-0.0564 left_roll=0.2049 left_gripper=0.9977 right_x=0.282 right_y=0.0113 right_z=0.1577 right_yaw=0.0807 right_pitch=-0.1007 right_roll=-0.1326 right_gripper=0.999\nstate[joint_eff]: [-0.335, -2.9607, 6.147, 1.7021, -0.4957, -0.0415, -0.0122, -0.335, -1.0462, 9.6479, 2.0635, 0.0806, 0.232, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.701, 1.4006, 0.458, 0.0055, -0.6411, -0.3267, 0.0102, 0.0593, 0.8165, 0.6067, -0.5236, 0.0635, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=-0.1056 left_z=0.0388 left_yaw=-0.0079 left_pitch=-0.1531 left_roll=0.2856 left_gripper=0.0102 right_x=0.2744 right_y=0.0087 right_z=0.1473 right_yaw=0.0701 right_pitch=-0.1552 right_roll=-0.1352 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.8051, 6.2154, 1.3553, -0.3785, 0.022, 0.8034, -0.0889, -0.9504, 6.9812, 1.7851, -0.0317, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5262, 1.4757, 0.7593, -0.1566, -0.5419, -0.1883, 0.9952, 0.0593, 0.8173, 0.606, -0.5537, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3601 left_y=-0.0997 left_z=0.0896 left_yaw=0.0156 left_pitch=-0.1679 left_roll=0.2877 left_gripper=0.9952 right_x=0.2693 right_y=0.0083 right_z=0.1413 right_yaw=0.0696 right_pitch=-0.1868 right_roll=-0.1349 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -5.2171, 8.3761, 1.536, -0.1148, 0.1636, -0.1441, -0.1846, -1.2923, 6.9402, 1.8779, 0.0024, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32aaacc16ed7c50b4589a8c89aeceb1d2ab9bc0de54c1cc65d8f686eac19f69f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fc40336293743ee31d332d0f3a431aac5f123f6758e08e6ea3ca8511e50d904",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d9eb1e6548f1daf631d1bd7aa2ca371d7f34196d723cc2bf0404f88adedae48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB7TtcBWLsFHPgNUQhCs9jSyWOS88b2e_HrC6KFurytXbcL__t9go5Dh5h6IrQOKBLkniP1iPs-O_2PgR16K8S51pNgwPL_ReAzd7czj1zaQWs62zAHAior75ARK-obStun_J3xi_bZ63hwgRbvlCnAiUsJATsBdJpK-Ay2nhGB3xkJezUNUyjp1Je_PIUQlU1ZDDiLrAyC4y1gfSfuQWMQgJ3Su12xN4SWlmoekD4d09qXnppy8Y2FnpIbFEYCG--yv48NAm7gjb_F4ky4GXusHQTTZJYoGbIEXAIK2AICh2sr5N8MefL2cBDXWBCIedaGoEWOin6T9JISU87wYHBtkoIcd4AtQNTX8ustVl2mHzRYrh3OwZBBnosyjeMmNaXM8f0_QmSX1XaFR6yUrafu374PhLpeWuW74SgmbEWvI5imy5Xb_DLklWIgKSXLeAcq8Z85EjDlilq2TfS7uSRZvwCHfYPXk9d7ZpW4W00eE_W8jvGXk8InV8Qk7LvYOqfveZDdM9fIT_5WY6BqnloMwfKf4HKpqxUYL9ounyp4aAG0qsEsleHFxrxeKl3VlfxV6BVUKstj6riXbfepZS7gHsJf8_iaqBaxnno1VGCgc8KTy04UP-xq2ziQs0CXHZhBX7yaFAq_1gwQp6RfhOyrgD8rzVuQaBsLFrD3JWKRmsNuHvyFWc_uIEAK5OgVYJeLqq3wd-iSQ1_qbOatO1GPHtgya0Fz8NOBb3mwVP98vTwNWzo-CXreJr2JUvEn0CKF9PnZzAYgJaGZAj6aAgtK0aDHsJEgIquAHWKdEI5zzpWgTk46wKWH-z0PLU2uvx-YrHKL6EaeiCNNQKwUFwZzvvMAaGwv0gz6hqSBerGdWfmeOvh7z2j9RcB09725fHnHPmo1qV7w0Hmm3IWF-XgCBe7kY8UCAzlKosUuqWsajwUAAjYVopbPcTLkYm0ZTULnTV_lDQ1qcSzEUE6Waub3c6QsEDjh3Ctwqjtb57a0gF5DYQIarBgmn3EYDQfod471QE9_v_EzuI_unYrdxZSZEv49_4EPE576p3AYzl8T83hxXLrzTm7A-PZC7jZ3yjAS3qdHKShpfLaagZimLLvc5MDf-rpNPChOY2I2V-CUkzB1PMY9fbsm-owlerAUaxflKYp-Y0MlUyAGpX5M6MIhA76YjseiB8XJTEzlwB6WIfV5k4dIgrQo1RQYeqDRjkbgsrZiGxBNsXxvQvPjtzP7eDocmn32wINSJL3ZL3z1Sfmm6TEvhupTgbMLLEkBhXdXn0Dj0_cm_Kh36SvW0sm4b5zpPxxRRxCyKVoVrmc35xUkN4Bi937RnYc4jMg_ZYcAPG0fDst-zDI01A3mQIvXs6VrHHHjMKoUaR3yhQVBHxOUhy-Wla4vfh8GAK-wTynyhWBQzgc-1MxKfCKz9Ukl8oIhwlr77oLspmopK9R2sgwOHjrI3LUKeS9GA76M0TIn2t0DT-tepRZV4D2jPUWNA3WZvddwej_C5j2HB0SR_aQ5wZ0OrI3_FfrTo8aIuGo3Cwl4ZzyKNofCObSdlCN1Yc764fuOzBdXF5xqlPqI04z1H98rq3YwbZqzuWCX3klnaky4Rt47ob7Qt8AtoTDW8uRtLPv5nzMsp-A4GqoigXMKw2KGaRbI6BVI1yJxDvj0bWUAZYHucMYGObbIVkG4ZiXf2UANWZxv3GoIXuPGwgLeN8tmSOvMHNxaluGomtsGQTwnicBNN3OxPsn2JWIF3BoDG7GX87U8qwpnXsVMG_M4G9EGJdICu2fmW6k6gaa0ge7z1GFTKFxPrIUw5vuewwg==",
  "id": "rs_08087eaa651f8c1a016ab41ed0f35087d087a1be08f17a5431",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.105,\"left_z\":0.005},\"note\":\"Advancing brought the white toy down to the bottom of the left wrist view while preserving horizontal alignment. I’m lowering the jaws close to table height so they straddle its lower torso rather than its head.\"}",
  "call_id": "call_3YnxhjnLTkQ5RcVn0ebad1ce",
  "id": "fc_08087eaa651f8c1a016ab41ed2370c87d0a3a578a238df5606",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3YnxhjnLTkQ5RcVn0ebad1ce",
  "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]: [-0.524, 1.7317, 0.6521, 0.1726, -0.5468, -0.1959, 0.9963, 0.0593, 0.8207, 0.6056, -0.5766, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3655 left_y=-0.1009 left_z=0.011 left_yaw=0.0289 left_pitch=-0.1936 left_roll=0.3034 left_gripper=0.9963 right_x=0.2654 right_y=0.0081 right_z=0.1363 right_yaw=0.07 right_pitch=-0.2135 right_roll=-0.1343 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -5.2308, 3.6991, 0.8571, -0.105, 0.0806, 0.1001, -0.1983, -1.1966, 6.8991, 1.7216, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bbb185d665aaee36a9e6af1bfa54a58301c7b0bdf1e76cae53dee3ab78dbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e29b90c7de4ac402a09664d552546a115a7390dd7160205db56fdd79b6842e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ed5261790ca124b0ebaa0ed4aed9721d6a89d7ea2699addcd877e1c1d74e3d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 2.884 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 116 changed as sent

message 120 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.3827, 0.4656, 0.0139, -0.6437, -0.3241, 0.9977, 0.0593, 0.8143, 0.6075, -0.5003, 0.0631, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2986 left_y=-0.1084 left_z=0.0475 left_yaw=-0.0101 left_pitch=-0.126 left_roll=0.2674 left_gripper=0.9977 right_x=0.2783 right_y=0.009 right_z=0.1525 right_yaw=0.0704 right_pitch=-0.1289 right_roll=-0.1353 right_gripper=0.999\nstate[joint_eff]: [-0.5402, -5.094, 5.4496, 1.5311, -0.2418, -0.0855, -0.0122, 0.0342, -1.4974, 6.7897, 1.8535, -0.1148, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5262, 1.4757, 0.7593, -0.1566, -0.5419, -0.1883, 0.9952, 0.0593, 0.8173, 0.606, -0.5537, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3601 left_y=-0.0997 left_z=0.0896 left_yaw=0.0156 left_pitch=-0.1679 left_roll=0.2877 left_gripper=0.9952 right_x=0.2693 right_y=0.0083 right_z=0.1413 right_yaw=0.0696 right_pitch=-0.1868 right_roll=-0.1349 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -5.2171, 8.3761, 1.536, -0.1148, 0.1636, -0.1441, -0.1846, -1.2923, 6.9402, 1.8779, 0.0024, -0.0269, -0.0171]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.524, 1.7317, 0.6521, 0.1726, -0.5468, -0.1959, 0.9963, 0.0593, 0.8207, 0.6056, -0.5766, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3655 left_y=-0.1009 left_z=0.011 left_yaw=0.0289 left_pitch=-0.1936 left_roll=0.3034 left_gripper=0.9963 right_x=0.2654 right_y=0.0081 right_z=0.1363 right_yaw=0.07 right_pitch=-0.2135 right_roll=-0.1343 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -5.2308, 3.6991, 0.8571, -0.105, 0.0806, 0.1001, -0.1983, -1.1966, 6.8991, 1.7216, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8bbb185d665aaee36a9e6af1bfa54a58301c7b0bdf1e76cae53dee3ab78dbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9e29b90c7de4ac402a09664d552546a115a7390dd7160205db56fdd79b6842e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ed5261790ca124b0ebaa0ed4aed9721d6a89d7ea2699addcd877e1c1d74e3d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7ZXyhPm7PCrWTWG4uYFClbMuwvzq699cH7XjcgQFUft3pmE-eWdVhD3WzR7BNP2D8tZhf2LJ8xc7cqZwHHpqbESFk-_UW8JXr7lE-MCQRu58Kk5ho-5ISelwUtFVdWxv4c5t-jmJe5Sc_ltlDORdCa4IAEg0WfCrbXP6eFzGJmdaizeMbtJrE5qANGAkXrewjFiAkbSvGQzGH-CFV19xrodpg9Qv3U1K_WUh4MyEujJAsIjB19A8mAr3gv6Q3sHRNqqtVawFZCOjRAUB12JWRi4qqV1YLdK1zohwAgwyUOY5T5PqNPdsbV2Z9fhXtetcToAYnKum14z0x06zkEKYO0A_7Igf07AzXJNHtOjlEh4g2dR1FoQ1KHEiLxgI1M8n6wxgthDTwtLqPeVihj-3oclAt9X8tPvBugMLbwcXB9ns_yXAG0ZWJCAu-DCQQB0-_6jdB7FC_BfwoMstWNn5Jbzxow2Qw1m6GJ4i2kwg0Gp9Xyld6SX9Mp5mwrfRkDLcdFXVTsUe6PYJrrU6eitEz3Y87wVRqrpJynk_yRHV6HkwVym-QWIUsM0k31VIKOIDT3-OySUkg5sq7bhgEvzYdmIKskYNS4VWjQ1TYOU2ffwhqKUbPtPEm_5V9cv5rtJzuy9yAl5I662N64u4RmjSTsYyciVJW8h1NC_BucuFj4Bep2GZSi9VuI1T8T76qasWcVf3nyVkK91vINg2WUUVV_F4qIN15VbcExu-20fZeTgH-CM7gCTwhmIzqTK_x0kD1fzLdRWRz2sb0ZtjLZ__2RcUX4mi098ApiMj1NMnCV-30Ek86mbvC1JbJxpOpFufACEUo9SHNH3fiBKbkdXh7uddpFlBVnHETaypNixwkiNNrmVEVrKKR0X6NAhjmy3-xql2CfDE8f9FFfmUpOWjAt7fL3e3dqjOkdvyEQxH81gu5SMmD4VHTGHBpyKCTZjG9Vaw5Y8ox7HTHx3ghjy1f3IwVvwuzIU8U7R1v6shuNa-DtIOqQuKeR3I9XzusWz94t2kDzF4pbbdIBMPJj7QXzibwivD4OBnrKn9nLDXkIaKXRrWax1fvlfb32KWXXIQfL2Tw_VCvqDw0e0NkNUgzFkE7xjNl6XQevSTch8ugoQ10CvnLKnbpgW5yUyzmt7WeKVBrVFsBsUPmftZUqqHPd-r-geFSjyLqJQd6rIoJ_qoAwBkF7oOBXAiYKzJfbNrUJlUmPeRvmJcC-5aMAULWA1e5zqi18AdmiiEc2zOqRgnsxPw2UDLTjICpqVGV9xLC_-hGIxZcmrtg1YBOvVDbUJA4YtPg_QqRzaslQ3XKsKC_VcWoNvdThgXFCGjNnKc6-NXXcpe6oPdbfmCmjAmDatJJJIWqSI0_CV12Ey7e3Ovopj9QZ3uT9UWj8I3gKfrcEAGhZnCC7IGfjuW2xSqOUARokfdUdKorPLu52pm1vXjH_e2QPq5Ib7uUWlmCSBUbYIPo1E5oJ9G3gZglDYC2N5b0MI1n4fW3GRpz1wQjz4Y6v_exOlM8ZT5DU-Lsm50Tt7xnTD2DMEQ95iK84j6QuLuLfJmYNKQEw603kgOwmnrxZ070iK_K5p9yoXJnQXvRuFJ2HRwBGQAuipVTSUW87M8man0IoC0DOWRqor1WOs2me4l8UkZgpcQNZLOlrBU3UkqFhvzgPi5FKAygWapWVGwB0ctyS8SdOrMrl1lnMFTqkpvLtTeryo17iNDCtdYDQ2jc7eA2GfJ_muyznO3-9l0V6fgbPhCBF6Fw83QVIpVAJZGB_eFLN0l4AQwxH44HJ_ahRkVnCGB3JDBMdZyYSVKyQ_0MAnepU6nOGbd1wORjBvPy8HDAOCgRSKqgqbWUpoK5ZeO8g1CmH-Lv2lUip0z5S5ybf5GnnHJ8fryX0KuHX5dcBGu5oSQ9ZRIu6l2V93298wVYlSfagppTdES9xdQcbgEzeyCTL7FizRsO-H_6QwZpw16w_3nrDpyuYpPy6DmiGE0m1766hyZgv3BsVUoS17tepijtILcWmlvY_sjtJTZmsM7RCtRORbaA8SJ9lOCIoOC7B0uIWS4deQ-30iJNtk2oJcG2zBQfl_xmwKEexwo-A1n2ieh1rZ45KXK6-ec8Ha9zikyyZf8ZqrJ-acsrjuk1nnO29QQs_iGfia2mi0W3iuo-lyJGC69WRAeK-fabRBNkvdhubuhjnvoRhtAmkYW6P8cIhFV7Q-YFJpLVAc2-JV6mwkzGmm7G3Hyi8czVm8gCseNjAa5VX9RpW2W9EDH6AeukOSW03KGIq05XAhGKFcMCyAuc2NCSUoV_0HevhvsK54gvlvfKVs-Haj7E2rAyyuQYXQB9vytFm59EMriSaO-zuqJ770jlM5m6R9GZcksUJmAuAXW3lxhVBrLYdM4nlBqS9_FV4lUR8xZAwu4U5bMa42uuIBRGsmBVzeuvx-A9j3s_6R2carzIY_iLVH-B7eAbsmn-EABU2i4CAV33Mxp6g5JHyGznT2UAHN_Ob3SAZf9p9NCcWUKWAOeRr0bkE1HpeBbh5M92FmyB1edrAKP743F37TUOLQKigBsI-B7aBBknpc9BRBo4LbvDtpt0Z0YFhAY4lNwgKxmkH6zAgJvJBJlTksC2i2G6aStmoyidMA-rjSIjcfL4TjmzswKxexRjT9l5zHoauh60P68I0ASTcds-TcRp0VtAJhEnJHGw7eq4P3tD_jnoEWuTkb3Nl13FvSqIHL36j9MQ4IBpnQDXMECKNG7s1TrTLnhfv83PE_0gs_0aA300EhJbkVJfKMBMJgrurSx_8eZLMTFm-fLwzGM_6cj170iwg0w-WoEMSwCSZkn80B5CIcA==",
  "id": "rs_08087eaa651f8c1a016ab41ed50fe887d09d73cfc950fea2b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.105,\"left_z\":0.077},\"note\":\"At table height the white toy’s head fills the wrist view while its torso runs below the frame, indicating the jaws are too low for this upright toy. I’m raising to head height and advancing slightly to grasp the upright part instead.\"}",
  "call_id": "call_nrRPZa7sjii9U5F3xeqsRZzX",
  "id": "fc_08087eaa651f8c1a016ab41ed83df487d0afa80d32c7396d39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nrRPZa7sjii9U5F3xeqsRZzX",
  "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]: [-0.522, 1.6108, 0.7776, -0.0834, -0.5457, -0.1989, 0.9964, 0.0593, 0.8227, 0.6056, -0.6106, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.372 left_y=-0.1041 left_z=0.0596 left_yaw=0.0326 left_pitch=-0.2017 left_roll=0.3055 left_gripper=0.9964 right_x=0.2593 right_y=0.0078 right_z=0.1301 right_yaw=0.0701 right_pitch=-0.2494 right_roll=-0.1339 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -8.6496, 8.1162, 1.4969, -0.2955, 0.0464, 0.0024, -0.1983, -1.388, 6.8034, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b96bd12b9baf57277d549fa5cacea32aea80f184a4b11d7a9c6f149f038a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2837b7119578e95a25cec4128140108403eb0e83d6bee143383950b57e46e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166226f74f6f312e4502a68c8f72aa7d08de2b6bc07a12a35f0598672fb582e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 5.774 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 120 changed as sent

message 124 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.701, 1.4006, 0.458, 0.0055, -0.6411, -0.3267, 0.0102, 0.0593, 0.8165, 0.6067, -0.5236, 0.0635, -0.1238, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=-0.1056 left_z=0.0388 left_yaw=-0.0079 left_pitch=-0.1531 left_roll=0.2856 left_gripper=0.0102 right_x=0.2744 right_y=0.0087 right_z=0.1473 right_yaw=0.0701 right_pitch=-0.1552 right_roll=-0.1352 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -5.8051, 6.2154, 1.3553, -0.3785, 0.022, 0.8034, -0.0889, -0.9504, 6.9812, 1.7851, -0.0317, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.524, 1.7317, 0.6521, 0.1726, -0.5468, -0.1959, 0.9963, 0.0593, 0.8207, 0.6056, -0.5766, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3655 left_y=-0.1009 left_z=0.011 left_yaw=0.0289 left_pitch=-0.1936 left_roll=0.3034 left_gripper=0.9963 right_x=0.2654 right_y=0.0081 right_z=0.1363 right_yaw=0.07 right_pitch=-0.2135 right_roll=-0.1343 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -5.2308, 3.6991, 0.8571, -0.105, 0.0806, 0.1001, -0.1983, -1.1966, 6.8991, 1.7216, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.522, 1.6108, 0.7776, -0.0834, -0.5457, -0.1989, 0.9964, 0.0593, 0.8227, 0.6056, -0.6106, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.372 left_y=-0.1041 left_z=0.0596 left_yaw=0.0326 left_pitch=-0.2017 left_roll=0.3055 left_gripper=0.9964 right_x=0.2593 right_y=0.0078 right_z=0.1301 right_yaw=0.0701 right_pitch=-0.2494 right_roll=-0.1339 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -8.6496, 8.1162, 1.4969, -0.2955, 0.0464, 0.0024, -0.1983, -1.388, 6.8034, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b96bd12b9baf57277d549fa5cacea32aea80f184a4b11d7a9c6f149f038a6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f2837b7119578e95a25cec4128140108403eb0e83d6bee143383950b57e46e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:166226f74f6f312e4502a68c8f72aa7d08de2b6bc07a12a35f0598672fb582e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7cIuN32b3rdWBxc6YJ3UmbGAeCBWnKSzJs5S3_WwLH6BGDm23ge8-D-D4u32y1l9e7V1Xsx7je-kU-NEeHRCJIQUWauz4-4pjT1lTktovN0xndBoOLaUi0r0XT163xQiYX-85mJbWYobyV35rpIkwDHkTYsOaYoxdoG_gSU8_YLbXSwsTln_T_lUksqSJywSBSDfzt-KYTbd4SEKIl7VQlBMv4M8tKJmZ_qTufhGHAuATlsZOuhTbLXgQgeeZjzjor26l3XRqcy5j9Gyv-Ci-aWpmMtC8DUlmsPKiL-VAPGlR42zDjlTyEXEGMpQXuFp_zvZ_nELMGysJkzXOCFJJyTU5pvF5WFgSUhJs07fQ4ZBSvf80K65DcJr4iZuV2GnYdVpugwI_hRC18fp-q_RKXUEpH06m8T_11CCk3ruSP-PM-q6fApxUVyAy2mDAg0rdsWbxsuWMKhYXFnp4F1NA4edYA6vSnc_VjnaRkLpTHIRvBFh9RXnGcakrzCowdHlNn_I-bTknljwmJbXbeJ7mtEvEopXUdEvSAdYCXLpPY6Xj8hFCPN7yt436A27KhGp9gIlRxxouYyb4Q7tji9aPf7xdeM1gWdXmXwqDQmjjhaFzMeGLQEriN_QAp5uD-tcgGWb3-3LUGZpCC9SYu0x8VgAcrSB9QM6q6nf4jH0JnbH-gk0c0L3kixq-lnPFzxmmwJ796WSC4gROYaeqqPxksMrQfYeQEHxtQV-tFyUJi0kk9hXT7JRHWfDHCjaIOJYIW7kYKl1jU81ELB3Bv59H_X7BeA82A_qOV-OQFEkuKwPIpYPCvnRJuncZ5th_fvq7SesZRDhlf9n8rXea3QpTRDDry7mGXBO3TsIxYAP8NQM_YBTy71r0dMvxU-c-65SujLLbG6NaDUd_n-x2AxYdXLtfqlK7O8-vIzMQxaYQ4CHuSjSBiWnQmY_5xvwBD_NCpuRoNPDPY3KOIt6sCOfe5tlW0ndSPucs7f6FYUrJygco6S0lar69gE9mhdqu8XgxpiV0Z4HNKcwU2oL3e7MEO4GaA1JjzL8XqGI1_NTJ7v6_VMdRN2Mt5lNdKa48q1mEGIsL15KINDo2U6UjdAeE52xVnxUCHcsRhWBccRAt9JuQt-rxGz9FZqPtM5bv303MsiIyKAOkV6xkuV6AjpKA094aLX-VEgwaTPjStfJ73xwcqYJjp5qfmBL0F8A1z8vvL7Wflu0KmWXD-4QvSjq-nTlMaK7PW0EI5aUMsMbVjNuxge6KRf6W1pEL8yaoGB5yeas6XMqBO2N2eNBLCro8eIEEwi-h9UYFqVnXkz4jeCOL3DoUxvOh6OmqDGjR1htCGOqaY39SsDiYAFgdKteOFencOcCoJRC37CdjiZwC8b916syeg9SvyLTcWGC5jpphZTmDqzpDdvdRbw6FRFlsRD0vrEcIhGtic-seEEU_kHxxVKMINhd2gj_38WXU_NIPnkxjfr1ZPceF7paZi8ngt5_twXL-QFI-Hl5tNvEr9W7M=",
  "id": "rs_08087eaa651f8c1a016ab41edaaf0487d0a18e96762fb95d26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy’s upright head is now centered between the open left jaws at about 6 cm above the table. I’m closing at this height to test a head-level grasp.\"}",
  "call_id": "call_lT6YAaFewvoVFFGIBobag8Ak",
  "id": "fc_08087eaa651f8c1a016ab41edb88b087d0b74b8c348da6c839",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lT6YAaFewvoVFFGIBobag8Ak",
  "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]: [-0.5228, 1.6043, 0.7788, -0.1097, -0.5426, -0.2028, 0.0096, 0.0593, 0.823, 0.6056, -0.6323, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.1029 left_z=0.0585 left_yaw=0.0337 left_pitch=-0.2182 left_roll=0.3107 left_gripper=0.0096 right_x=0.2554 right_y=0.0075 right_z=0.1264 right_yaw=0.0698 right_pitch=-0.2715 right_roll=-0.134 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.3248, 5.9419, 1.5507, -0.315, -0.0171, 0.7546, -0.1162, -1.2103, 6.7761, 1.6386, 0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2e9c6734775cdde0fc1958adc9602d9c5862acf914d6b8cb01f751e9f19593",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c3a6ffd1618d1e0177592c099722f28fa454632fba03d08d209ad24b6357e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:144a96caf918d3b1d9cdd15210b61bd65c3c84235b92d0eff7110d5cee159c70",
      "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 · 2.256 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5262, 1.4757, 0.7593, -0.1566, -0.5419, -0.1883, 0.9952, 0.0593, 0.8173, 0.606, -0.5537, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3601 left_y=-0.0997 left_z=0.0896 left_yaw=0.0156 left_pitch=-0.1679 left_roll=0.2877 left_gripper=0.9952 right_x=0.2693 right_y=0.0083 right_z=0.1413 right_yaw=0.0696 right_pitch=-0.1868 right_roll=-0.1349 right_gripper=0.9989\nstate[joint_eff]: [0.4034, -5.2171, 8.3761, 1.536, -0.1148, 0.1636, -0.1441, -0.1846, -1.2923, 6.9402, 1.8779, 0.0024, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.522, 1.6108, 0.7776, -0.0834, -0.5457, -0.1989, 0.9964, 0.0593, 0.8227, 0.6056, -0.6106, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.372 left_y=-0.1041 left_z=0.0596 left_yaw=0.0326 left_pitch=-0.2017 left_roll=0.3055 left_gripper=0.9964 right_x=0.2593 right_y=0.0078 right_z=0.1301 right_yaw=0.0701 right_pitch=-0.2494 right_roll=-0.1339 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -8.6496, 8.1162, 1.4969, -0.2955, 0.0464, 0.0024, -0.1983, -1.388, 6.8034, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.6043, 0.7788, -0.1097, -0.5426, -0.2028, 0.0096, 0.0593, 0.823, 0.6056, -0.6323, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.1029 left_z=0.0585 left_yaw=0.0337 left_pitch=-0.2182 left_roll=0.3107 left_gripper=0.0096 right_x=0.2554 right_y=0.0075 right_z=0.1264 right_yaw=0.0698 right_pitch=-0.2715 right_roll=-0.134 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.3248, 5.9419, 1.5507, -0.315, -0.0171, 0.7546, -0.1162, -1.2103, 6.7761, 1.6386, 0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2e9c6734775cdde0fc1958adc9602d9c5862acf914d6b8cb01f751e9f19593",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91c3a6ffd1618d1e0177592c099722f28fa454632fba03d08d209ad24b6357e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:144a96caf918d3b1d9cdd15210b61bd65c3c84235b92d0eff7110d5cee159c70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB7jS_D6LIk6kxFiGmZOgd8g9ZGGuo8ncUN2x2TrdCUJF1h9MqNBF7W8Gj_Mdy_P7IXp5_wA2QD3rnVR0eB3RW-IjfsthNQJRafZg1L6lq9cRY6GoDxSENO9H-K52ncVvIpq6WrYRRTdzNn9wptfDZuI_EBtP54o39JmQpTPVn1F5NHBIoUeudh13R_2SbJFzSBUa_BQ4v0qNofmVmNLOJMnHUZaCMPXthkxkxLSudYF0md2-2aWDPcQZ2DInGmpUHCbcz7FMkbjrXEKsswCKyCDK4HAmo9HL5wHZnO8ZdwvfslcdoLHy2X6lQyQygxd8kFhMIen1bj-z_17TS6F5E4RzQIRwE67oFRUTKhPnGH1IkIS4pMbpnLSZCabdlw6VaXYCCRHrakm283Fz58XQTlfGySJjv1a9_j_TGhMqDBOdla4qPUp__nrtDdsLx-WCyVENgmGiA10aOGYyrNaCyF_B2NtYN8Qs65RljDpdt53pzLdPkTvxYWNxkmBfBQIzDyKWOuuWm8yK49Ebyl1BTfTev2yzV1DZ5nn_pglsB51EH0OqFx86qWz-6-ikKVI40kQK2uBWS5FauqtE6WCF7Juai-428Gtz5s-EPD1aA8KKYb9BdBVPcm3Id0gdw1FImQ-0r0a5bs6Y0oHbM9Di4i44D1WxoIWASCvOurWSN-P4u-z-cL-dSvMQ9vsljN5_69mQGdKzvqleJdFYXEndNTmlLKN6ZX0GzsTLLmuYF1uJHUHwX5IxJbj8-0-h5EwyQJK7Jr-nSw3t1sTILJWcDdqVl2elZH4PENTGN3CS47ByPE91dCaIClI0GcX6vjbOt6DcN8W_FywBK9pLzBZDRrhCQm6OGQ6jR-1L4LzAMlNoH60QbjzEMQnN8VusD3GK_PNdhO8o_DtsnasbBb2BT0WN_GmTpKWqDZ641aRcrPJghwuaV3nEOCSC6a1dyfcpkpWIhOkeK1-SjLdqFjzAByJzn8aahF0YOlx34arh2flw0rzQ8P2LvNK-Pr0rbzVWmloF62deQEHp_TJnpUHw4zCIHNPReCShNWYIBEHNYYhFZTaTGn7l6d8v-Nm_g6fg8PLA92PLOlHjla8HGMy8zdzJs1Lch9AW1zTmYt0IqCRaSBnHI2X7gh8lS3WbBb5tMbOgq5_fwcguR9clDK87r-FyxHrK0m8iYJICAmd20zH67_NTvXGT1Al8mAfY9lFJqgDepodCLfddKq-GWl_EdbgDFct8ZdBO6j17kyPSS-PGtzZiITXonVRMMUIy8mm8yqQEQGc3LpxHRD73xe4eVEMn76EL26qIUgkXk8K1vnW7OZOIf8iOf8q7ahbW3pzYJLUOYIARAg5AbfR23CoQYWl9cHx9IcDIlIaeKjVrhWsElxbFgCw6Ug8zUCR72fkVgCUgJZBflWVfEYYntJlB9X3--gAWv0KvKWfOpdnPCGKr7-33ydrFRTpe8f7LrIN0oPMuIpr2C10IIDC11dS91DoWxjToOWE1tjgQKSRC2A2FFV1WC_TcIn71Mqw1AhnqpUhW1VoeleafGKvXzi1FBPEcwgSaZ_ZKZcb6PppipOe0w1DFGFrIwQHip8_JxxDq9t_JC4QNYJ7uBaZGCho213sgr9qosY8Ikr1xi0wdFver6MewTzYCkgvzsbUuUBAoYhsfhDE1YHE_5G_9ilTOv_-piObTmo7uFb35F7WHAsEL3vFP8dp9e_zE_i0xoDwFEvcVcgOpvsBbEFF6oFKmEQBpJ3-v3PX9OykFyDK_dkx2qrM90ENQiZm-S55US9HmqaZLORno0DgWpa_o_Nou5G9FKQtJywXqmMtjuLxaqBSxwXBLq0RQOgw0v8jmszYz-JT18obWHO5Y9cvFQSIgEv92yeZuZyqvjq1rr1KKOJnU_quXZd8x5rXcBxoWyQixnWFeB_3VP6qwJRgwwRlokT9ySrJK1kwK9T6F6773Dmoirf08hUxtExjR9311oWjjrtvGz23GMy2qC2GtvnIC2ympobUoA6q_S1z6LR5pLgNhYW4TUaA57OtkiLW_w55qdv3B3PO9hkXSWNr4aE0XhSs295Vkq5OvvGUy6DdhsziEFFhyp95AjvgDyhr2Z8zHb7w1Bm5ShZVLMNDF-v9MUVM00n9brgwazOtODag4qQEt47yNsrhObUELey2R4oPdeyBMDvHp_Xbzx7vIbKtSmVmww-Krtj1Bpjpr1fG2sKoXaApNSWkIGWl0rbNtedD3QKzD1OlzQzNTeMDgkMSVYy3HB-nOQVrwcxqRd2_Veu_waNp95lIjaftmAKuyh0bWGNJph5AF-FRMlRDJKFyyx3cPlKaryxqlb52Pdd-MWWNKnaDFqwV_It4RV2ERIqgF1EqTn5a197k97FFIKs8MdsdI0UJeL1Dq-LTy3yY4H--JCE6Kjq_q8XbU65OiffA0NLSlEA0jpgN2Gw0mUYbpeZVdQ==",
  "id": "rs_08087eaa651f8c1a016ab41edeab4c87d09f21554b22edf6e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.338,\"left_y\":-0.105,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The head-level close was empty too, with the toy still visible behind the converged fingertip silhouette. I’m backing the reopened jaws about 3 cm so the toy’s head projects closer to the actual closing line, while keeping the same sideways alignment.\"}",
  "call_id": "call_3GBIga37PiQivNaRAAOmAcO7",
  "id": "fc_08087eaa651f8c1a016ab41ee16d2487d096e83d1e4ac7e438",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3GBIga37PiQivNaRAAOmAcO7",
  "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]: [-0.5838, 1.5227, 0.7185, -0.1814, -0.5655, -0.2592, 0.9952, 0.0593, 0.823, 0.6056, -0.6571, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3392 left_y=-0.1063 left_z=0.0583 left_yaw=0.0261 left_pitch=-0.2403 left_roll=0.3148 left_gripper=0.9952 right_x=0.2507 right_y=0.0073 right_z=0.1224 right_yaw=0.0703 right_pitch=-0.2963 right_roll=-0.1334 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -7.4872, 5.4906, 1.2918, -0.4811, 0.0024, -0.0952, -0.1026, -1.0051, 6.9675, 1.6435, 0.0024, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d527c22bad21f372e0e6cbf5fa3b417b626d2600f744c573ad4792816d1030",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5137a509c189bca48bb6e72a9286985be6a9455c735f4d0ee0fc831af6dade8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5631ad6709d0d607813f57ca406feb9a07597d91ebc7a356b610049694a17508",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 8.424 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.524, 1.7317, 0.6521, 0.1726, -0.5468, -0.1959, 0.9963, 0.0593, 0.8207, 0.6056, -0.5766, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3655 left_y=-0.1009 left_z=0.011 left_yaw=0.0289 left_pitch=-0.1936 left_roll=0.3034 left_gripper=0.9963 right_x=0.2654 right_y=0.0081 right_z=0.1363 right_yaw=0.07 right_pitch=-0.2135 right_roll=-0.1343 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -5.2308, 3.6991, 0.8571, -0.105, 0.0806, 0.1001, -0.1983, -1.1966, 6.8991, 1.7216, -0.0317, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.6043, 0.7788, -0.1097, -0.5426, -0.2028, 0.0096, 0.0593, 0.823, 0.6056, -0.6323, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.1029 left_z=0.0585 left_yaw=0.0337 left_pitch=-0.2182 left_roll=0.3107 left_gripper=0.0096 right_x=0.2554 right_y=0.0075 right_z=0.1264 right_yaw=0.0698 right_pitch=-0.2715 right_roll=-0.134 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.3248, 5.9419, 1.5507, -0.315, -0.0171, 0.7546, -0.1162, -1.2103, 6.7761, 1.6386, 0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5838, 1.5227, 0.7185, -0.1814, -0.5655, -0.2592, 0.9952, 0.0593, 0.823, 0.6056, -0.6571, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3392 left_y=-0.1063 left_z=0.0583 left_yaw=0.0261 left_pitch=-0.2403 left_roll=0.3148 left_gripper=0.9952 right_x=0.2507 right_y=0.0073 right_z=0.1224 right_yaw=0.0703 right_pitch=-0.2963 right_roll=-0.1334 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -7.4872, 5.4906, 1.2918, -0.4811, 0.0024, -0.0952, -0.1026, -1.0051, 6.9675, 1.6435, 0.0024, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d527c22bad21f372e0e6cbf5fa3b417b626d2600f744c573ad4792816d1030",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5137a509c189bca48bb6e72a9286985be6a9455c735f4d0ee0fc831af6dade8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 296):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5631ad6709d0d607813f57ca406feb9a07597d91ebc7a356b610049694a17508",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7mq8aXRgZp9fLjlUkO6PfyrBopQ4DXXITtMP5tbEP0fhV4n0Tf7dzzrQ7F7zUZ6OHuZeT-73ad4FYrRIRE7c-xULo5sibwugIxCRQL8jYgEs3HiTtGnYzHeRpU1D4vhTl8ViEadT_k-gb5ZemIunTrYoopC6mt66G4IdKGdpr21pY0tTFgK8ssXk9ZMswP9oIOaVzQz6cuiRrL0UQUok_8kwZsuRTgvfQyW1cGKf0TxBZ6ZO429yiZewRs5VtzZnjgD89EjA7ebGJq4CF-w1une1G_HBbJL2zWjH2QT-2o2bWVIOx96zRHHETH89B9xUGeJ-pbSDYGWNI0wnCklwSSytiqGNt_9HWsCiMT2_UavYWeaQDusJ_ll24J5yKFun62xpqxE1cOwhrnZWi3WlVLMJlQ9HKe8uVOtLJOl7kOrYTVDdoOoyq7cjH5Ld2dEDSELLAZX-sYTi-9HzET5xYbjiOU3AfKj3_Nyhw9Lx13qms7meuvzAmprjZWdIa0uahQx2Y6eVWtVLjy3U_NrUEYSXX65igfIjIozJ-s3tfXPhYMF8-ngQJgkvsvNes_3ty7otIww_Mho1tvQcw7aUaN92LLQQrn99yPM5UHSu4ZXk3UscQyROioUi3HO3v7ipBcgfPny0RD1vuVMp6RZB3RXxZC2dmYOCmcXnNid5DWLUA-eXVzXXH1wZZj-i41F6nIyr2UzLw0gNNkfzqUtnsjeloM-yxyxDmaaQ-a8YPqTsC-pa969N81fcwpSnhDWn1gzaQbn8nmg7RW6noJX2AqhsAFUtyLAL9SuOW_8OcYy7Av4_N0AAQFaFOWseAH3QuuaeVQaQd8mXyPv4QvCMgBbEVjnzuEMvYIE3a_pzY-QIO8lNIlbJ-mAuRJL6H1Gy_iTb6MDa17rbMz7UAJu1HE1saOYPSlSyFp6uEWIUnimUxJsGyJikx-tvrJT2Z7HvtxRrqxYwey-vz2RBuFwBmC7ZciVs4eVlboBXmnIaZIgHnRkLpAPh4FFZz35SHD1zNoPZysoDaNAv7DfUrZ_70SbSFJxyU5rFmMl_ZdsbB291hw1vJPM_FjLra7fZXbpmuTmquFbuwFNdvxvR_xuSxf74aQ_wDTpRAOrXiF078UCoQfHHwb2zlSo2ppEEQRS2HkuAg01YxLLqf88Apd-2ig1Cgyvz5sK1DwK8dq_2_pJ-oY5ieHNvA02-kPmUP3Lg9wjGMuolV7PzL6Hog0fmz674aB3-1Qc0DQwgoBqFENZ4S7Qi0mkS1qmWT23IATjqjRebi5DnaElqs_sIq1KAi0CGuEBwQRJEYbRDhMntXyzu410b9JIrhaFV3vD0LvHPEbQK7vqhV5EzYoU-cWcskkz5sUN3lmCMrcInI3w0zq7Q8=",
  "id": "rs_08087eaa651f8c1a016ab41ee5042087d0b91b12878dc45924",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"Backing up placed the white toy’s head and upper body directly across the open jaws’ closing line in the left wrist view. I’m testing this corrected position with one close.\"}",
  "call_id": "call_1JSz7BE7R6KsZEGHhZdFj3BZ",
  "id": "fc_08087eaa651f8c1a016ab41ee56aa887d0b6dce0314f6bf591",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1JSz7BE7R6KsZEGHhZdFj3BZ",
  "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]: [-0.588, 1.5204, 0.7177, -0.1886, -0.5648, -0.2668, 0.0094, 0.0593, 0.823, 0.6056, -0.6765, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3375 left_y=-0.1071 left_z=0.0578 left_yaw=0.0262 left_pitch=-0.244 left_roll=0.3123 left_gripper=0.0094 right_x=0.247 right_y=0.007 right_z=0.1194 right_yaw=0.0703 right_pitch=-0.3158 right_roll=-0.1332 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -5.8735, 5.8872, 1.3065, -0.2857, 0.0464, 0.7839, -0.0889, -1.1419, 6.7214, 1.5653, -0.0171, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272856cf9831757a21c02376f0b9371984396957f37ac69d2c3248cf3cf07ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8dbc5e398677a0ae5ba7cb303d28e77096ad3ad18ced8357caab7fc5efd6ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c322ed086dd2917720e910bf661eaf0a82031dcee89b2f511d0b41002fb2c7f",
      "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 · 2.609 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.522, 1.6108, 0.7776, -0.0834, -0.5457, -0.1989, 0.9964, 0.0593, 0.8227, 0.6056, -0.6106, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.372 left_y=-0.1041 left_z=0.0596 left_yaw=0.0326 left_pitch=-0.2017 left_roll=0.3055 left_gripper=0.9964 right_x=0.2593 right_y=0.0078 right_z=0.1301 right_yaw=0.0701 right_pitch=-0.2494 right_roll=-0.1339 right_gripper=0.9989\nstate[joint_eff]: [0.3897, -8.6496, 8.1162, 1.4969, -0.2955, 0.0464, 0.0024, -0.1983, -1.388, 6.8034, 1.7949, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5838, 1.5227, 0.7185, -0.1814, -0.5655, -0.2592, 0.9952, 0.0593, 0.823, 0.6056, -0.6571, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3392 left_y=-0.1063 left_z=0.0583 left_yaw=0.0261 left_pitch=-0.2403 left_roll=0.3148 left_gripper=0.9952 right_x=0.2507 right_y=0.0073 right_z=0.1224 right_yaw=0.0703 right_pitch=-0.2963 right_roll=-0.1334 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -7.4872, 5.4906, 1.2918, -0.4811, 0.0024, -0.0952, -0.1026, -1.0051, 6.9675, 1.6435, 0.0024, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.588, 1.5204, 0.7177, -0.1886, -0.5648, -0.2668, 0.0094, 0.0593, 0.823, 0.6056, -0.6765, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3375 left_y=-0.1071 left_z=0.0578 left_yaw=0.0262 left_pitch=-0.244 left_roll=0.3123 left_gripper=0.0094 right_x=0.247 right_y=0.007 right_z=0.1194 right_yaw=0.0703 right_pitch=-0.3158 right_roll=-0.1332 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -5.8735, 5.8872, 1.3065, -0.2857, 0.0464, 0.7839, -0.0889, -1.1419, 6.7214, 1.5653, -0.0171, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272856cf9831757a21c02376f0b9371984396957f37ac69d2c3248cf3cf07ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f8dbc5e398677a0ae5ba7cb303d28e77096ad3ad18ced8357caab7fc5efd6ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c322ed086dd2917720e910bf661eaf0a82031dcee89b2f511d0b41002fb2c7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtB7vDSI5sCLdAx_ZD4akj_F9MDErisUPbJi1FGzS0onQtzWvhaNkEJ76cMnh2Vo4MfmQOWWcvkp367QUNW-FIITRxiNn1XRzWo3TQb02Nw68p_wrDfdb8CmgQ4j1C_ONLybuQohgAWqooug6JacaCVsG39-8jUJ016R0Lt_nH2t4TcUtuiMRLv__mHEKlt-6Uz3Wz-O3EoPZQH8fhT0bs5wOUqeSh1jsXwLXEBq1joEpGivuJ54xv0BT2WncMP0d_0t-uFVjUCXEWADq30JusL2ypEG2mzhjRE9fQ6T4Hwb1vlORJBrXIneLU2RY6DWCtizfg3wWrBSZbNoABjt2HDjnBFzkCPwRdE3zGb1D464FvwyTWnTyhMXiczCGPMOnWa98Gr9kje60kabf21w-aI6uVevCFE4AXkuj7AweQ9gVQGLF-E5E9vBjIkOe5adr_WiPdJmZOYuhevFh23sKAzIsOblfIfj8nZfyw7p-_q2G8EZ2AmI3NZ3g-LHH_FvYmkfal7iNN6u3vBfdN7EFByVKWxel3cJqiu27kChtv-10NZA99Q2bEwfq-1UQnNG4xCasm3wBSvsaGvSdMlQq8ZjfHcEG_FfVRyHHIzxvb7E2L6qSkOWIZ71XBQ6yDCIzs4jXYDm1BKpCmT3Hu422wAX6c-9rQLU-ReNNEmlksQCXgIj77TziPLx8Cfw2Au7OuRhn5TmcAzZ6uCmBHDSzujMdiYkXdKm5Btx5cvVsRVPn8XIWxuSXZrLzXoJHLWQJRp4ImBNd00As9RIYY5T7a-R11vWgevB2oWwFRhVn6KN6-zrzX6gqgN_2OdDms4e3wpDem5nk3KVAnOK8JUs-0XyduD97_1-T8cDWJYyHroE700jzBUbrgFpOISlShZFAU9lW0Ug5MnBwv9Exkec-tlM0cZ7sjn5n8tmRpNQjkZhyo580vlpeEAZ_zKJUYV6cP9PwZnmTXH32HPYD-O2Hhi2mrTjv8DTeooa0zuR7RYkPqTHPs6ViV_l9AUw5JKtLuKZemIqYURymPEb6XcpiWYoWkz4uKjxLk4p6z5MkcP8H6pMWeN0_CSKmALi36kAS4tBfznhO81_MfKmDyLwUh28hYdpgYt5dXNS-PSNJbg6oJC2S177X5RSK1cQbuk7xsEqaK6DVBils3UnSbAOOT0GBDCmuZyxBM3GezlW4vrtGGtHyAgObmyioTn5cJXhfSqI8TKs2O9N_MF_yjxtHKapan0XH-QLqnJvmiQXJma6ZOrjc8r1nOgTjOKzMkUhLMAWMMvrR1stGiuwBCnIt-ngJfb8T1McKChOmtU_mJqxEHWeIJMlH4vrrq6kAWeQrPEZLk2xYg7QkvEWPDm12faNXPrC_hydqYMesvbk9iQxHD0AcJiOciDFUlCcCa2t00ErQf0COPl-V4cB385aTIF1cPD2ABOt11EUA9rxly4CZLuV1LN35RjQmc6F9XgxXLD092lsCcNQcFyHcHdu8UqIcr1cvP9cufM6lz6RJNY8ek49_MiM8R8fvDi8rvikIpWkWszMuqR-CEqJ-04Qu4_ZVb8N5Mx-x6-92z6Nvg0SVn5qM0qYck4KU8uG4icZwgOvZarPxCa_Ir5iUXLeZyLneEr1VeaDJTSa5SRqZaOrHAMf0m1LDRl7QGzAR3MXq4IrL0d-Pi5XJa-wKvytievJKE5rbsOccz0slDLk2VzWqgK9DZJwHCUtyYVYEioMvTOr-ULIrWe1l3h03Rqu8D7IszT1tFjZCTng0pepzTYJcrj0Sc2TSDox_4g_PU-Zu1cmjJjdo-J_Vyc05kNs5OBcj2evARBWOEgX6kKvM2oqfQ31O93dvKfcNdDOvaiWiWTcDXcbOMUpceQN-UApWsv1OMzgDUwr6VPGeNaF1F5qsdb41dt76XFowB0GPSWBNZSRXGblSiD2A_bhpnVHR2jmoNv1Qk_NP8R_l93Twh13mtgGS8C-CFwoerNJASxcLAjhvUrbhPjFScamUCGt1Wla9a2L_JKSTJkrHIJLvMFhhNdQDBLloy8yjljXw5C_DGLwtjuyhh8oMHWizOqfHfgIfgYJwczfiIs1MamvK9f3yWDoYF-xRTsJnOlxS8HW1cL0GW170pkJzqfRfGSc2D1WUvXLjxMfRY0t2ItSfklXjdNdhes_zhTHUT9bWV4zf-WBAHioKDS4hucLGYFVCf3kPuuQVLl_bA7x2GWmM1RVGUkKNa3ZUoDffPgZur_Pnj9yS3CvzsaiWXGcrrmIY9Wh-0MPdIXpOKA2Dsom2MwaybTQsenqlJj2mEONPuye7oLiBOlySt9u2EabZMHVKnj3JMao_meGUYhGrTaSUPOnq-hm69txGHixZ4UDojPmHe5pLgHhVyYgtUwlQcQsCh9cNo5Y3OruUFTgQBSWw8zJI4wZlvmdrBARCHuO7MLewJPzTcAgGF4SzELmw5IClR8Q6Hd4h27f1lHDDk_RAN1ebyPKCaZjC0mOO7m2UItqF_sTzQ5lUncfjNdNkRAwxiKyCCWILXRJWrZd8O5qkUtNOjZaCXEyZEsnPVGwJKMJ0wgWtiYdChUJL3snLkCLDLQvR2XHliEWGg2K70l6p9xTTPJxRgZrKD7fcQ4UXHxujbCEcyjXjHTBsW3BYL4_QOJKMEyCgmspLGdRfgLmY4BbWWZsXm8ezkeCPy6xbkRZPAUxtLeQpr_8jRCGPmPEy85ITKNW85sQciFYEXsRuHx9DizHR23ZE7pJ4qrQB9nAnfeXaZ57nLKmYxYUF6S48EKv9ES5Xu1cGtZkRVcch7cTrCOykhU4EqsRbJxYA9b9NuMKAQQQu2V4awTx4624ez4YUzlP2wxSIUTxMbvw0DEvwrsCzCIBkICx_plglVPQbnGcfja6apyX3Tz8k5JWqGmpqLIsSrFmObN07P_KBV__6AXsPeDm97DuhhKdCiVcp0tgkrmrKftVwHha_bPoJ-8iQ3Ldj3Zz4WTfQ-V01dYw4fkUXjxjKM2o83yY8OaUyrXLhYoBKJy2qHEf1DTrHowfNvmSNtl5RuFVudCfaNhuxEz5ncwtAHm3o4CUDCiAbYnEDYM7_bnNZjP1tWDolbdqn46k5b4eNghkcro-3012q-185y5V7zcYAZvtKWDOLWfjtfvwQq9IIA4b3NI8b8fs8JB06B-a7bGUubPYiu3AY7xxF6GSXerduDteVBzyzOxK0LLAvwn9NWBvX_a9jBb2g8nLMrt-cnpz8lai28L_iN_P1Defk9Uu9gDuGTKhLe8L_ulrPe0RGB45wboFEGW_opIo7A7j-UnjeMUS1TviC7-rVV0FKIzouBBVZsiV9CX8eZQy6kmfVAzqrloDBIjD13g==",
  "id": "rs_08087eaa651f8c1a016ab41ee8dde487d0bc515239358cea49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.125,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The jaws again closed empty while the white toy’s face remained just to the right of the closing center. I’m making one final small sideways correction with the jaws open, targeting the upright head rather than repeating the same contact.\"}",
  "call_id": "call_9VCJlAFLV6u8WRMKl28bxwuY",
  "id": "fc_08087eaa651f8c1a016ab41eedd71887d0969564c32eb2e3ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9VCJlAFLV6u8WRMKl28bxwuY",
  "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]: [-0.6334, 1.536, 0.7696, -0.2775, -0.5735, -0.321, 0.9952, 0.0593, 0.823, 0.6056, -0.6804, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3319 left_y=-0.1204 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.2727 left_roll=0.3129 left_gripper=0.9952 right_x=0.2463 right_y=0.007 right_z=0.1188 right_yaw=0.0703 right_pitch=-0.3196 right_roll=-0.1331 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -5.2308, 8.4991, 1.1453, -0.5348, 0.0415, -0.0855, -0.1162, -0.8684, 6.7214, 1.3993, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aaa56904baaf3cc87ab71e977d7dc81d11e593cc5d6b585c659e4f1e7ea59a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2644bda1c6a8926d80be3b9946a764a02ca75c2980019687129443fb0cd536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb5e53a018ffa0fd3ad4a2671b69df83571dd0b3e7c86936380a61bf0c960ab",
      "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 · 5.553 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5228, 1.6043, 0.7788, -0.1097, -0.5426, -0.2028, 0.0096, 0.0593, 0.823, 0.6056, -0.6323, 0.0639, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3684 left_y=-0.1029 left_z=0.0585 left_yaw=0.0337 left_pitch=-0.2182 left_roll=0.3107 left_gripper=0.0096 right_x=0.2554 right_y=0.0075 right_z=0.1264 right_yaw=0.0698 right_pitch=-0.2715 right_roll=-0.134 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.3248, 5.9419, 1.5507, -0.315, -0.0171, 0.7546, -0.1162, -1.2103, 6.7761, 1.6386, 0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.588, 1.5204, 0.7177, -0.1886, -0.5648, -0.2668, 0.0094, 0.0593, 0.823, 0.6056, -0.6765, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3375 left_y=-0.1071 left_z=0.0578 left_yaw=0.0262 left_pitch=-0.244 left_roll=0.3123 left_gripper=0.0094 right_x=0.247 right_y=0.007 right_z=0.1194 right_yaw=0.0703 right_pitch=-0.3158 right_roll=-0.1332 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -5.8735, 5.8872, 1.3065, -0.2857, 0.0464, 0.7839, -0.0889, -1.1419, 6.7214, 1.5653, -0.0171, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6334, 1.536, 0.7696, -0.2775, -0.5735, -0.321, 0.9952, 0.0593, 0.823, 0.6056, -0.6804, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3319 left_y=-0.1204 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.2727 left_roll=0.3129 left_gripper=0.9952 right_x=0.2463 right_y=0.007 right_z=0.1188 right_yaw=0.0703 right_pitch=-0.3196 right_roll=-0.1331 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -5.2308, 8.4991, 1.1453, -0.5348, 0.0415, -0.0855, -0.1162, -0.8684, 6.7214, 1.3993, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7aaa56904baaf3cc87ab71e977d7dc81d11e593cc5d6b585c659e4f1e7ea59a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2644bda1c6a8926d80be3b9946a764a02ca75c2980019687129443fb0cd536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb5e53a018ffa0fd3ad4a2671b69df83571dd0b3e7c86936380a61bf0c960ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB7z5oNVR66vNuuPtZKR3cCf5LG9W7NNpp9_FtFNO0vFnekxFASSvMLYppWLDyt_eAa86pV4nYlWyWaIYUFO0UoQ1G5TQicoLZtV4kjzlLRVsKDXIJPNRFdnSY-XzYDLvT6vrfSEkVFOW8VOG44FPyLmkre0t-0MJmZOiy0HKEHFuFAK7Gl_1AJR5IAQ4jX5SoG8PvJfls17KEXwPtuAI7bSsBsJ4ZHU1N09_Nej7p7icETAsFz7r19AD4dJGeW9LnIlQCGohZCmJnP6Wazc6Kbmhhz1H7DEMeVIO8idcBg-QI1jVn8phRcMn3PVP1j6uEN4RK5Lb_zLIvPqrcuhbF65p5NdrwU-v7J8ChQ_LZ7UXXcrbYLvQgD4h0y_jDCDIK8LMFr3nb7UxestweVwCWwiqFAqsFKWWzbz0GGvVx0rnJn-y8UkPdc7ZjLJgY9wIP-SkUrxDwpYLuy_AeblmuB6SanxEcOfFdfrhpP2dE1XLoCF_x_zjdsX3lsdDkfG-gEZkjQpkMUThSXUdT0yleQd7SR8FhpREBcfaUySmc7k1HH47LqoP34sDD5syrFeYAcm-2mXuIT_FiiXspuflG3ZfAu21yYl5Ann2r5Jm2Wuuszq9xJTeJTd7NLJFpBAAOzfYvn4JA6W-CWSnkHaSVlMbHvNbS-t-_OzKafRKeVhHirluSMj1Rq-HQcpQRgGc2QDHOdn6G1dBkzANla4ynPQLLEhxyIqQSxRXM_LNKkehY5cC2yAAkCCeSgPs5PVpLkil-c8jY95MycUryt-IPUBHbeHHUvRFNI4n3xGzYMWqLCJ1d6F2IP7dPhTKtmsJ0Kz9jum83nKZbymrApiWPeq6UBDgHIn65oEyTorO9uy2ej-GDDpTo5S1GC1pbmKKCL2vaVtwmkJ0q-NhWtxgXBOztkhcfWOoK_ZNwe4f67RiL3K0-Wp7BMTjR_PlOk_2K9upN2kB4ZBmNDF-ga5Wrn-JVoI61bo2TyQy3GJsAu73FHDF4F00Mmyc0jZfkY00UM-6Q4ph1eEri38dNlyL-DormHqFiXU-qg2TP8oo3tqZC6GCW9oe4kkrbxzbJ7ItsVURFEBQBTaAWi8nDTDy--EeLIwUMqA0Tq5gUS-HlvdAkbzIa41uS46Qdz9rLyUUORBq9oFmGKep2HFhf40xLH8P4r6v0KUbibvoB_LCvtTUCgNV6vhxgDtJsfvgJZ77sDiYSjIWnyvnlOqyWK3UHUS-MLt-vKOun-I4iJPjIteUhDJfbKANsBK27Zezbo_2MzBOSpcrRP94opxwNhBCmiTAAQsRjj2ZeUtwF2rTsACe2G3qBc3rkYUCmU0yM_-xpPtfQBdspd4b1pSPeMrywaDe-UmfBJxs_Ygcf9iRjTtsr4=",
  "id": "rs_08087eaa651f8c1a016ab41ef1b3e487d0b637569766d56421",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy’s head is now centered on the left wrist camera’s jaw column, with its neck at the fingertip line. I’m closing once at this corrected lateral position to see if it finally catches.\"}",
  "call_id": "call_Cu08LZOp87Tx3IhRUBB3vuFS",
  "id": "fc_08087eaa651f8c1a016ab41ef239ec87d0b2c520ab21fa191a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cu08LZOp87Tx3IhRUBB3vuFS",
  "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]: [-0.6346, 1.5372, 0.7723, -0.2928, -0.5724, -0.3264, 0.0091, 0.0593, 0.823, 0.6056, -0.6979, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.33 left_y=-0.1197 left_z=0.0592 left_yaw=0.0278 left_pitch=-0.2832 left_roll=0.3172 left_gripper=0.0091 right_x=0.2429 right_y=0.0068 right_z=0.1161 right_yaw=0.0704 right_pitch=-0.3371 right_roll=-0.1329 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -5.9966, 5.641, 1.243, -0.2955, 0.0708, 0.7497, -0.1299, -1.1145, 6.8718, 1.5702, -0.0073, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547a17bbccc12060d113dfca99d6cee38e6fd34e9d559eebd0bb4e10b8c92bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e1da13dc20f54bb4152006457bfdf63d17dcfc7bc3aae21c8351e23a7df1cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba838c397fd9edf5c5f18c05dfa37b368e56253f907328283605235df8e0f2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 4.369 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5838, 1.5227, 0.7185, -0.1814, -0.5655, -0.2592, 0.9952, 0.0593, 0.823, 0.6056, -0.6571, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3392 left_y=-0.1063 left_z=0.0583 left_yaw=0.0261 left_pitch=-0.2403 left_roll=0.3148 left_gripper=0.9952 right_x=0.2507 right_y=0.0073 right_z=0.1224 right_yaw=0.0703 right_pitch=-0.2963 right_roll=-0.1334 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -7.4872, 5.4906, 1.2918, -0.4811, 0.0024, -0.0952, -0.1026, -1.0051, 6.9675, 1.6435, 0.0024, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6334, 1.536, 0.7696, -0.2775, -0.5735, -0.321, 0.9952, 0.0593, 0.823, 0.6056, -0.6804, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.3319 left_y=-0.1204 left_z=0.0605 left_yaw=0.0244 left_pitch=-0.2727 left_roll=0.3129 left_gripper=0.9952 right_x=0.2463 right_y=0.007 right_z=0.1188 right_yaw=0.0703 right_pitch=-0.3196 right_roll=-0.1331 right_gripper=0.9989\nstate[joint_eff]: [-0.5538, -5.2308, 8.4991, 1.1453, -0.5348, 0.0415, -0.0855, -0.1162, -0.8684, 6.7214, 1.3993, -0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6346, 1.5372, 0.7723, -0.2928, -0.5724, -0.3264, 0.0091, 0.0593, 0.823, 0.6056, -0.6979, 0.0635, -0.1234, 0.9989]\nstate[eef_state]: left_x=0.33 left_y=-0.1197 left_z=0.0592 left_yaw=0.0278 left_pitch=-0.2832 left_roll=0.3172 left_gripper=0.0091 right_x=0.2429 right_y=0.0068 right_z=0.1161 right_yaw=0.0704 right_pitch=-0.3371 right_roll=-0.1329 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -5.9966, 5.641, 1.243, -0.2955, 0.0708, 0.7497, -0.1299, -1.1145, 6.8718, 1.5702, -0.0073, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547a17bbccc12060d113dfca99d6cee38e6fd34e9d559eebd0bb4e10b8c92bf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e1da13dc20f54bb4152006457bfdf63d17dcfc7bc3aae21c8351e23a7df1cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba838c397fd9edf5c5f18c05dfa37b368e56253f907328283605235df8e0f2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB759BiKj9U1hCd-Be5-K9W9SkJvDVb6OrNsT81ve3ZXNLEaUyzNSMu050UucuGdr8ajgEkJWOaGPrTHVQFCe7Cv5qJtTbE_O6Vh6jZwlHXl4knb1gFwNAgomXLp3-t4V721wWmq_2IlmMb8jGsn0nzXY26nXDO-WdYp99-iDw6WUK4X61omTyafPjUjE1TjrrHPRZrJSqvSG_bAgJ4w1j5DrMWmmnEO1OaHRgxatoncNldVlEJC8y9WIBqVKjFI1xWo-gtRcqQEA3e9XmQzWeUdIqSPIXdQ-ZVt_xhD-tzo0pfhttxl71FIEQtJjPl8D9T3L4s48riofkI27aH6CiPO65B7LiN1e40gMZwe39LuCg8srqIVBJXBhUKna4TyHjjb5l2Xs0LB1u5SP2gO5_gffAJhHz4Gupzvla_U5kXWfLwR3aEnIbgB9jOu78tj5cZoeNSmUMSeS4TFBQClOD_q6SEhj0bWSFji8zlz47V9KQvVTtFr5P8V-wXNcF6rRuhEsOl0jcXnrL9GxVC82oax2tlaO-twrpBIOkaM1_8A-TxZqOeadZLf9BeMNYhGntCUjRbHk123Knnhmk30S85HtIWh1_bOxz9QZH4NdpTSAK5fOyEXyATNQCiZ1rcBNIzkITgPpA8LToOf-aJWXTvxZabdXuol9Q_tUTbSOYhuhz7CUCRJ-ufQanVi-HWpRsDpkVHBNO_LaCiwSf5f0vL7-CizqHAXjhiLXiloibmbHKkCO6hg9YqczhVzO2L7IreRohyiw3nzO9shOAIuHgfZiMTL0YLkyoLyA1rSaqmWTJQCwgqwJ7FtkTa1mz2AgGhle17wYxYl0prXLM7CuYq-oEBiLMOgJ0cCsDzEMssabUN4TUUwG-3yG2DeZKhijxKVuseq7OK-ufInEj75hz7NODxY1fozUMIS8ydj3R_ey9XpZKXTh_sSkW2kW3pyQkcdrsGIp5Sewf5TifIyuAdx_n0Fw4P3BjqTyp98k0ZfoDe8KaLhgn79GLpIgHS57Wfqumkd_AMYt4pl4QpqDix5XDZuH73HxnLgFSACxY7WoyLFGvTPYovgsJmZQEuOhZOfoMmfA2UKlLrMTi6exzck5Dm1tWAvy8nOjP_gNxcgn0quXZUwu7pkapfnSV4NVbj1zSDItlysD0ShFUlCU-w7XhCc8G7pyLF8JQPJpV-Qnb9UFZggvuZ7SrWaYeyUFg_GU1gLbCJjBUoakSTT6c_3cqTX5Gl-2RlBPUC6mQCqrwzja5mLaR9hqBK9jvjWvhb0DSLv0e5VC0Vz-YA1oODLBkrV3r2lZ1UGl3JjfLOnh5U7nXpRQf_zZhaqf2zhxEz4Yf9pOY6TaopicqxOjURyuWVuKMREIxGLBwB0CMqF0SzXiBqoNy6C_voje6Zi9ed9l5oeNwHCfRoWxjPSIOsL29yKQQ6woP9bfRXEbhBNYNqPfkNlo2_okAZqXptNT3vt_aa55B2Ecz8M3Hz_IZB6rvOsXs715vQdf72LPnaEh_pSTPLzyZdg4IVyctdd4r9q_2xPjUdOekeqo6WNEV-uYjCIA9atNEQoA6ABDPJl0INXjnKTaeaX232FSpbswIcLc44yGRy0VNYKX3_2GCVZn5pOIGYGVuEWWbDJ_h9DfNb2Oj2vu0ISY4rRMOf7gqIG2QHNDypm-nheyNkuHe_EvmeHqC7F7N4EKDBbmKafPxfQGiRCs90XmjTjBHwCYL_y0CvhSy3VyqmXKQNbFNQr_gfYwF-NJnTNWPGgxCL4fIQwlGP7f4CHFx3DHBXJEFIS52ErlNrmXQbtjAB6Zt10R_FJ6XYjDYGHQHvRenaqk6CUr3xVK_1Cdo18dsAhfun-XQJZn1FtuBB0ipzYpf_j3Xs39fanPL4W3aiUtaFT8xudZMt14i5bSz2obQTElEJJRiQZuZMW_i1snPQzbw1eIgkLDS1Xd1AO5cVq4wD88Cq_ZJ9scp9g2RNapjy78h4GKyFKt2uMKvdHzgIfUE9zkPDwTkjhHboKSlA0AkwgGMFFNjg1jjdIfD0k7QX48S1PNPIVepwQHYp1izSjuJybg88DVGoLm50ds1otUJDTuM1QnASl-YQ30jkOXJe3A2ygg-RnYZ65Xem64xN_y9e_mn5BBnWhgitwpxAEcD9Rf_bzmId-qDLvooBuKUYK60h_-ceCNh5OhoYvPVXxDiJYlSS2SZMbdX_HXtIwCSKGI747ozBRoTSiOvf3lXufCwTde3eEmLo0dq3mZ0uxY47lhp4OItpOgmx27U5kQ7_cAWtMi6qjrEe0O_yLsgD6OX5JQZC0deY_7DmyL6TusIrk5pkkNkRQjUSewnrhx7mRfperdngdwZTUp2nn5i_bjFAxP1ZgOt6OjPEhuXXjLeoO30SxZGAplwws4enYaWquAlBOwhnrUXXDOPXd1wPaiegI9BCxHgZY1aYyuoqayx_LGqW_Ft93tvMSxilmgZJUqwT2R1zXj2kq1EGes-HgWJKeIMau9k994rNIR8FY2VdIz9PFAygDOGpWNGQnzvKvZ38xwlqtVpi4R4wZvqwlspJ06PaId1k0sYW1W3l4lQJKDjsjyiEicyICJ2K2SJaIw3eT1KLD5w0nRkCW5J4u-fTNAo5aeRrnjS0e0LPKRyw_ZqYxzjpfR4hbpIoIEHAUHT40KneoolXPBCum76JJ_qyf4ywHTlVcPQ8q0IM3Gj_CCas2kxjfdHYP9XvUfWWVglzofi-PUw_YkrLmA_clcUGBzgq11ejTQk9EypBnhc5nMjdzUgnl-SQEEeablwc7nNaUISsWt8nNo7-sjlNzjbqR9LPqvEcUZ_i5nFHtvWff4NumrtFJ8021hgJO0QzqIOLzP4wmvGXkE0BGUQawmRfObxGV4BpeolzyDNOJFy-jt13tg4J8DyIb42EU-9eB2MIN-xZiqgHtbp7f167xJASC9mRf7q-W5OUnsuKuuhT3lfzG6LQdinZl09OAZ4FlCkn_Tahxav4qJ38-cLWay6IrKiSdT6D49vKm0CQCDAAK0w==",
  "id": "rs_08087eaa651f8c1a016ab41ef5563087d090290683944959fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18},\"note\":\"The last close also settled fully shut, so the white toy is not held; the brown and yellow toys remain outside the safe as well. I’m opening and parking both arms clear of the toys and the safe rather than risking another blind contact.\"}",
  "call_id": "call_Aqn8j72zkIQiEa6ysZVilNu7",
  "id": "fc_08087eaa651f8c1a016ab41ef87c2c87d09ca043744ede6d81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Aqn8j72zkIQiEa6ysZVilNu7",
  "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]: [-0.2337, 1.0435, 0.8433, -0.7197, -0.366, -0.0021, 0.9955, 0.0097, 1.0489, 0.9077, -0.8295, 0.0399, -0.1688, 0.9989]\nstate[eef_state]: left_x=0.2894 left_y=-0.0002 left_z=0.1634 left_yaw=0.073 left_pitch=-0.2979 left_roll=0.3117 left_gripper=0.9955 right_x=0.2787 right_y=-0.0007 right_z=0.1624 right_yaw=0.0693 right_pitch=-0.395 right_roll=-0.1388 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -3.1932, 9.4291, 1.5653, -0.1685, 0.1783, -0.0415, -0.4034, -2.5094, 8.9641, 1.619, -0.0952, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c270ab55dcdd76d019490f6cec822f5c89d4df17f137cf0cac555b88d6463d9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7d86215307a9e9f995d285ba46d37b5394c01d022009b10f51cdd1d0fcc940f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281ff1c25a98f2be5500ce647908e4bd9ae15de1f2b50d47962d183e0ad36674",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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