adhoc

completed
2026-09-23T19:24:16.978695+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
189.8 s
total steps
358
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open near the back-left, with a yellow item beside it and white and brown items in front. I’ll bring the right gripper above the yellow item first, keeping clear of the safe.
move_to
right_x0.4000right_y0.2600right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.02, 0.7933, 0.6071, -0.4019, -0.0196, -0.033, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0012 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.388, 10.2359, 2.0147, -0.0611, 0.1685, -0.0904, -0.3624, -1.4291, 9.5932, 2.0733, -0.0611, 0.1538, -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":{"right_x":0.4,"right_y":0.26,"right_z":0.15},"note":"The safe is open near the back-left, with a yellow item beside it and white and brown items in front. I’ll bring the right gripper above the yellow item first, keeping clear of the safe."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe yellow item is just ahead and slightly right of the right gripper; the safe’s rim is immediately beside it. I’ll center the jaws on the yellow item and lower to its middle before closing.
move_to
right_x0.4220right_y0.2250right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7845, 1.7489, 1.1828, -0.2245, 0.5964, 0.4557, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3916 right_y=0.2558 right_z=0.1375 right_yaw=0.0358 right_pitch=-0.041 right_roll=-0.0331 right_gripper=0.9996 state[joint_eff]: [-0.1573, -1.5385, 6.8034, 1.8388, -0.0611, 0.0024, -0.0171, 0.0342, -8.7179, 8.3624, 1.6337, 0.4908, 0.1538, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.422,"right_y":0.225,"right_z":0.075},"note":"The yellow item is just ahead and slightly right of the right gripper; the safe’s rim is immediately beside it. I’ll center the jaws on the yellow item and lower to its middle before closing."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe yellow item now sits close to the jaw column but remains slightly ahead of the fingertips. I’ll advance a little and lower the gripper to take it from the sides without hitting the safe rim.
move_to
right_x0.4360right_y0.2050right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4103, -0.0193, -0.0383, 0.9992, 0.6682, 1.8446, 1.037, -0.0204, 0.5259, 0.3805, 0.9996] state[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4098 right_y=0.215 right_z=0.0666 right_yaw=0.011 right_pitch=-0.1046 right_roll=-0.0777 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0269, -0.0122, -0.1846, -8.5538, 6.2974, 1.9219, 0.1978, -0.0659, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.436,"right_y":0.205,"right_z":0.035},"note":"The yellow item now sits close to the jaw column but remains slightly ahead of the fingertips. I’ll advance a little and lower the gripper to take it from the sides without hitting the safe rim."})
tool
executing move_to over 3 steps (0.3s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe yellow item is still visibly ahead of the fingertips in the overhead view, so a close here would miss it. I’ll move the jaws farther forward at the same height to get around its middle.
move_to
right_x0.4650right_y0.2050right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.6163, 1.9339, 1.0351, 0.0914, 0.4828, 0.342, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4288 right_y=0.2076 right_z=0.0409 right_yaw=0.0141 right_pitch=-0.108 right_roll=-0.0697 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.347, 6.9949, 1.8779, -0.0415, -0.0269, -0.0122, -0.2803, -8.4444, 6.5573, 1.0085, 0.3248, -0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.205,"right_z":0.035},"note":"The yellow item is still visibly ahead of the fingertips in the overhead view, so a close here would miss it. I’ll move the jaws farther forward at the same height to get around its middle."})
tool
executing move_to over 3 steps (0.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe gripper stopped short of the forward target, likely because it is too low beside the safe wall. I’ll lift above the rim and shift slightly to the yellow item’s right before approaching again.
move_to
right_x0.4660right_y0.1940right_z0.0950
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4297, -0.0193, -0.0383, 0.9992, 0.6025, 1.948, 1.0386, 0.1154, 0.474, 0.3393, 0.9996] state[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1696 left_yaw=0.0027 left_pitch=-0.0427 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0093 right_pitch=-0.1006 right_roll=-0.059 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.0051, 7.241, 1.7118, -0.0611, -0.0366, -0.0122, -0.253, -8.5812, 6.3248, 1.4383, 0.2173, -0.1832, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.466,"right_y":0.194,"right_z":0.095},"note":"The gripper stopped short of the forward target, likely because it is too low beside the safe wall. I’ll lift above the rim and shift slightly to the yellow item’s right before approaching again."})
tool
executing move_to over 4 steps (0.4s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe right arm has not moved from its low pose beside the safe, so I won’t force it forward. I’ll pull it back and up first to clear the obstruction.
move_to
right_x0.3500right_y0.2550right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6025, 1.948, 1.0386, 0.115, 0.474, 0.3393, 0.9996] state[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0029 left_pitch=-0.0484 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0092 right_pitch=-0.1009 right_roll=-0.0592 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.1009, 7.0222, 1.7167, -0.0611, -0.0659, -0.0122, -0.3761, -8.4718, 6.3111, 1.4921, 0.2271, -0.188, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.255,"right_z":0.17},"note":"The right arm has not moved from its low pose beside the safe, so I won’t force it forward. I’ll pull it back and up first to clear the obstruction."})
tool
executing move_to over 9 steps (0.9s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe right arm is clear again; the yellow item remains outside the safe next to its right rim. I’ll approach it from above with the gripper open, then descend only after checking the alignment.
move_to
right_x0.4600right_y0.1950right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.453, -0.0193, -0.0387, 0.9992, 0.857, 1.676, 1.2411, -0.432, 0.6125, 0.5293, 0.9996] state[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1642 left_yaw=0.0029 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3583 right_y=0.264 right_z=0.1623 right_yaw=0.0526 right_pitch=-0.086 right_roll=-0.0364 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.4838, 7.0496, 1.8681, -0.0611, -0.0415, -0.0122, 0.6632, -9.5111, 8.9504, 1.4286, 0.3443, 0.1441, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.195,"right_z":0.15},"note":"The right arm is clear again; the yellow item remains outside the safe next to its right rim. I’ll approach it from above with the gripper open, then descend only after checking the alignment."})
tool
executing move_to over 8 steps (0.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteFrom the wrist view the yellow item is nearly centered between the jaws, with its base still ahead of the fingertips. I’ll advance about two centimeters and descend to bring the jaws beside its body.
move_to
right_x0.4650right_y0.1880right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5415, 1.779, 1.2564, -0.3088, 0.4046, 0.2882, 0.9996] state[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0027 left_pitch=-0.0759 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4398 right_y=0.1876 right_z=0.1284 right_yaw=0.0276 right_pitch=-0.1606 right_roll=-0.0744 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.6777, -0.0562, -0.0073, -0.0122, -0.1573, -8.6906, 9.8667, 1.8779, 0.1343, -0.0122, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.188,"right_z":0.085},"note":"From the wrist view the yellow item is nearly centered between the jaws, with its base still ahead of the fingertips. I’ll advance about two centimeters and descend to bring the jaws beside its body."})
tool
executing move_to over 3 steps (0.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe yellow item is centered in the right wrist camera, but still stands just in front of the gripper opening. I’ll lower and move slightly forward to catch its lower half.
move_to
right_x0.4810right_y0.1870right_z0.0520
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.5171, 1.8797, 1.2564, -0.2165, 0.3771, 0.2615, 0.9996] state[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0793 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4569 right_y=0.1892 right_z=0.0949 right_yaw=0.039 right_pitch=-0.1787 right_roll=-0.08 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.2786, 7.1726, 1.6825, -0.0659, -0.0708, -0.0073, -0.5675, -9.5795, 5.9282, 1.7021, 0.2271, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.481,"right_y":0.187,"right_z":0.052},"note":"The yellow item is centered in the right wrist camera, but still stands just in front of the gripper opening. I’ll lower and move slightly forward to catch its lower half."})
tool
executing move_to over 3 steps (0.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe yellow item fills the space between the right fingertips near their tips. I’ll close the gripper now and check whether it is actually held before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.4927, 1.9839, 1.2381, -0.1341, 0.3573, 0.2398, 0.9996] state[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1595 left_yaw=0.003 left_pitch=-0.0919 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4653 right_y=0.1837 right_z=0.0502 right_yaw=0.0388 right_pitch=-0.2223 right_roll=-0.1003 right_gripper=0.9996 state[joint_eff]: [0.0205, -1.2103, 7.1453, 1.7705, -0.0659, -0.0513, -0.0122, -0.5812, -9.5385, 8.5949, 1.7607, 0.0806, 0.0317, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow item fills the space between the right fingertips near their tips. I’ll close the gripper now and check whether it is actually held before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe right gripper closed almost completely, so the yellow item was missed; it is still just beyond the fingertips. I’ll reopen and advance about two centimeters for one corrected grasp.
move_to
right_gripper1.0000right_x0.4920right_y0.1850right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.4854, 2.0167, 1.2427, -0.0799, 0.3393, 0.226, 0.0082] state[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1574 left_yaw=0.0028 left_pitch=-0.1018 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4738 right_y=0.1875 right_z=0.0436 right_yaw=0.056 right_pitch=-0.2053 right_roll=-0.0861 right_gripper=0.0082 state[joint_eff]: [-0.212, -1.4701, 7.0906, 1.7021, -0.0611, -0.0073, -0.0122, -0.4991, -10.6462, 7.9111, 1.4628, 0.2613, 0.0757, 0.6374] 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_gripper":1,"right_x":0.492,"right_y":0.185,"right_z":0.045},"note":"The right gripper closed almost completely, so the yellow item was missed; it is still just beyond the fingertips. I’ll reopen and advance about two centimeters for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe open jaws now straddle the yellow item, though it sits a little right of center and low in their opening. I’ll shift slightly right and descend to grip it closer to the table.
move_to
right_x0.4870right_y0.1680right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4992, -0.0189, -0.0387, 0.9992, 0.4667, 2.0426, 1.2877, -0.1177, 0.3164, 0.1989, 0.9946] state[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1534 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4808 right_y=0.1847 right_z=0.0408 right_yaw=0.0694 right_pitch=-0.2307 right_roll=-0.0967 right_gripper=0.9946 state[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.8584, -0.0562, -0.022, -0.0122, -0.9368, -9.4564, 8.8957, 1.5897, 0.1441, 0.0464, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.487,"right_y":0.168,"right_z":0.015},"note":"The open jaws now straddle the yellow item, though it sits a little right of center and low in their opening. I’ll shift slightly right and descend to grip it closer to the table."})
tool
executing move_to over 2 steps (0.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe yellow item now reaches the fingertips and is between the open jaws at table level. I’ll close once more and judge the grasp from the settled gripper opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5045, -0.0193, -0.0383, 0.9992, 0.4492, 2.0518, 1.2617, -0.0696, 0.2977, 0.1825, 0.9964] state[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1524 left_yaw=0.0029 left_pitch=-0.1278 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4832 right_y=0.1794 right_z=0.0333 right_yaw=0.0775 right_pitch=-0.2249 right_roll=-0.0897 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.7509, -0.0611, -0.022, -0.0122, -1.4564, -8.253, 5.2718, 1.5702, 0.2027, -0.1587, 0.1392] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The yellow item now reaches the fingertips and is between the open jaws at table level. I’ll close once more and judge the grasp from the settled gripper opening."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe gripper settled about 2.2 cm open, consistent with holding the yellow item. I’ll lift it clear of the table and safe rim, then verify it moved with the jaws.
move_to
right_x0.4480right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9992, 0.4503, 2.0571, 1.2453, -0.0875, 0.2497, 0.1944, 0.233] state[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1411 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4727 right_y=0.184 right_z=0.0202 right_yaw=0.1078 right_pitch=-0.2745 right_roll=-0.06 right_gripper=0.233 state[joint_eff]: [-0.0752, -0.9915, 6.9128, 1.6972, -0.0806, -0.0415, -0.0122, -0.212, -11.4393, 7.2274, 1.5409, 0.5641, -0.1734, 1.0232] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.448,"right_z":0.17},"note":"The gripper settled about 2.2 cm open, consistent with holding the yellow item. I’ll lift it clear of the table and safe rim, then verify it moved with the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe yellow item is still visible in the right wrist camera after lifting, so it was not carried into the safe; I’ll leave it for a better approach. I’m parking the right arm and moving the left gripper above the white plush in front of the safe.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.2650left_y-0.1500left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4767, 1.8446, 1.486, -0.5922, 0.2501, 0.1989, 0.2318] state[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1485 left_yaw=0.0028 left_pitch=-0.1487 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4467 right_y=0.1855 right_z=0.1402 right_yaw=0.1258 right_pitch=-0.3227 right_roll=-0.0756 right_gripper=0.2318 state[joint_eff]: [-0.0205, -1.2376, 6.9128, 1.6435, -0.0171, -0.0513, -0.0122, 0.1709, -12.3966, 9.0051, 1.5604, 0.2662, 0.1587, -0.1343] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.18,"right_gripper":1,"left_x":0.265,"left_y":-0.15,"left_z":0.13},"note":"The yellow item is still visible in the right wrist camera after lifting, so it was not carried into the safe; I’ll leave it for a better approach. I’m parking the right arm and moving the left gripper above the white plush in front of the safe."})
tool
executing move_to over 16 steps (1.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe white plush is nearly centered in the left wrist view, just beyond the open fingertips. I’ll advance slightly and lower the left jaws to the plush’s body height.
move_to
left_x0.2800left_y-0.1580left_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8528, 1.145, 0.6807, -0.5312, -0.5663, -0.6544, 0.9992, -0.0357, 1.0752, 0.9455, -0.7891, -0.0284, -0.1753, 0.9975] state[eef_state]: left_x=0.2557 left_y=-0.1432 left_z=0.1126 left_yaw=-0.0263 left_pitch=-0.208 left_roll=0.0413 left_gripper=0.9992 right_x=0.295 right_y=-0.0019 right_z=0.1761 right_yaw=0.0766 right_pitch=-0.3326 right_roll=-0.0771 right_gripper=0.9975 state[joint_eff]: [-0.1846, -3.6718, 9.2513, 1.4676, -0.525, -0.022, -0.0122, -0.1436, -3.2615, 6.5983, 1.7118, -0.2027, -0.0171, -0.0415] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.158,"left_z":0.045},"note":"The white plush is nearly centered in the left wrist view, just beyond the open fingertips. I’ll advance slightly and lower the left jaws to the plush’s body height."})
tool
executing move_to over 5 steps (0.5s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe plush is still ahead of the left fingertips, especially its torso, despite being centered laterally. I’ll move the jaws forward about three centimeters and a little lower before closing.
move_to
left_x0.3020left_y-0.1480left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8227, 1.388, 0.5648, -0.242, -0.5499, -0.6342, 0.9992, -0.0357, 1.079, 0.9432, -0.8215, -0.0383, -0.1944, 0.9988] state[eef_state]: left_x=0.2672 left_y=-0.1469 left_z=0.0398 left_yaw=-0.0059 left_pitch=-0.2667 left_roll=0.0982 left_gripper=0.9992 right_x=0.2884 right_y=0.0001 right_z=0.1695 right_yaw=0.0984 right_pitch=-0.3706 right_roll=-0.0756 right_gripper=0.9988 state[joint_eff]: [0.5949, -5.2991, 5.4085, 1.3602, -0.2759, 0.1245, -0.0122, -0.0752, -3.2342, 7.159, 1.6142, 0.0415, 0.105, 0.1245] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.302,"left_y":-0.148,"left_z":0.025},"note":"The plush is still ahead of the left fingertips, especially its torso, despite being centered laterally. I’ll move the jaws forward about three centimeters and a little lower before closing."})
tool
executing move_to over 3 steps (0.3s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe plush’s lower body is now between the left fingertips and the jaws are at table level. I’ll close on its body and check the resulting jaw opening.
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]: [-0.733, 1.5177, 0.5789, -0.1326, -0.5159, -0.5785, 0.9992, -0.0357, 1.0809, 0.9432, -0.8368, -0.0391, -0.1925, 0.9989] state[eef_state]: left_x=0.2883 left_y=-0.1375 left_z=0.0171 left_yaw=0.031 left_pitch=-0.2956 left_roll=0.1188 left_gripper=0.9992 right_x=0.2854 right_y=0.0003 right_z=0.1669 right_yaw=0.0988 right_pitch=-0.3874 right_roll=-0.0712 right_gripper=0.9989 state[joint_eff]: [-0.1846, -6.1744, 7.9932, 1.3407, -0.2369, 0.1538, -0.0122, -0.0205, -2.8786, 6.5709, 1.5653, -0.0806, -0.0855, -0.0073] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush’s lower body is now between the left fingertips and the jaws are at table level. I’ll close on its body and check the resulting jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe left gripper closed empty, and the plush remains visible just beyond the fingertips. I’ll reopen and move forward another two centimeters for a corrected grasp.
move_to
left_gripper1.0000left_x0.3130left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7193, 1.5383, 0.5835, -0.1089, -0.5011, -0.5354, 0.0112, -0.0357, 1.0809, 0.9432, -0.8528, -0.0391, -0.1947, 0.9989] state[eef_state]: left_x=0.2924 left_y=-0.1385 left_z=0.014 left_yaw=0.0085 left_pitch=-0.3019 left_roll=0.1322 left_gripper=0.0112 right_x=0.2821 right_y=0.0004 right_z=0.1647 right_yaw=0.1011 right_pitch=-0.4034 right_roll=-0.0703 right_gripper=0.9989 state[joint_eff]: [-0.2667, -5.8462, 7.2684, 1.3358, -0.2662, 0.0122, 0.8718, -0.2393, -2.9333, 6.5573, 1.3993, -0.0904, -0.0269, -0.0122] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.313,"left_z":0.02},"note":"The left gripper closed empty, and the plush remains visible just beyond the fingertips. I’ll reopen and move forward another two centimeters for a corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe plush’s legs now extend into the open left gripper, much farther than on the first attempt. I’ll close and check whether the jaws stop on the plush rather than meeting empty.
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]: [-0.6708, 1.5719, 0.622, -0.1204, -0.4824, -0.5014, 0.9951, -0.0357, 1.0847, 0.9428, -0.8673, -0.0391, -0.1951, 0.9989] state[eef_state]: left_x=0.3041 left_y=-0.1321 left_z=0.013 left_yaw=0.026 left_pitch=-0.3202 left_roll=0.1462 left_gripper=0.9951 right_x=0.2792 right_y=0.0005 right_z=0.1616 right_yaw=0.1025 right_pitch=-0.4219 right_roll=-0.0677 right_gripper=0.9989 state[joint_eff]: [0.4444, -4.9709, 7.6923, 1.2234, -0.188, 0.1148, -0.1294, -0.1162, -3.2479, 6.7624, 1.3846, -0.0562, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush’s legs now extend into the open left gripper, much farther than on the first attempt. I’ll close and check whether the jaws stop on the plush rather than meeting empty."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe second close was empty too: the left wrist camera still shows the plush above the jaws. I’ll change the approach rather than repeat the low grasp, raising to the torso and shifting toward the plush’s center.
move_to
left_gripper1.0000left_x0.3200left_y-0.1550left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6678, 1.5719, 0.622, -0.12, -0.4828, -0.5049, 0.0163, -0.0357, 1.0847, 0.9428, -0.8822, -0.0391, -0.1951, 0.9989] state[eef_state]: left_x=0.3046 left_y=-0.1312 left_z=0.0131 left_yaw=0.0312 left_pitch=-0.3194 left_roll=0.1439 left_gripper=0.0163 right_x=0.2761 right_y=0.0006 right_z=0.1597 right_yaw=0.1034 right_pitch=-0.4366 right_roll=-0.0654 right_gripper=0.9989 state[joint_eff]: [-0.2803, -5.9829, 5.3402, 1.0965, -0.2759, 0.0366, 0.6129, 0.0205, -2.7556, 6.5299, 1.3407, -0.0659, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.32,"left_y":-0.155,"left_z":0.07},"note":"The second close was empty too: the left wrist camera still shows the plush above the jaws. I’ll change the approach rather than repeat the low grasp, raising to the torso and shifting toward the plush’s center."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe white plush’s torso is clearly in view at the left gripper’s height, but still forward of the jaw tips. I’ll move forward a few centimeters at torso height before closing.
move_to
left_x0.3400left_y-0.1570left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6983, 1.5604, 0.8211, -0.3916, -0.4843, -0.5465, 0.995, -0.0357, 1.0847, 0.9428, -0.9009, -0.0387, -0.1951, 0.9989] state[eef_state]: left_x=0.3118 left_y=-0.1497 left_z=0.0505 left_yaw=0.0399 left_pitch=-0.3609 left_roll=0.1608 left_gripper=0.995 right_x=0.2721 right_y=0.0007 right_z=0.1573 right_yaw=0.1043 right_pitch=-0.4552 right_roll=-0.0629 right_gripper=0.9989 state[joint_eff]: [-0.4855, -8.2803, 8.5402, 1.1355, -0.442, 0.0904, -0.0904, -0.0068, -2.7009, 6.5026, 1.3895, -0.0317, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.157,"left_z":0.07},"note":"The white plush’s torso is clearly in view at the left gripper’s height, but still forward of the jaw tips. I’ll move forward a few centimeters at torso height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe left jaws are alongside the plush’s lower torso but not yet centered on its broad chest. I’ll advance another small step at the same elevated height to bring the chest between the fingers.
move_to
left_x0.3610left_y-0.1550left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6624, 1.6165, 0.9169, -0.4614, -0.4713, -0.5316, 0.9963, -0.0357, 1.0904, 0.9421, -0.9077, -0.0391, -0.1989, 0.9989] state[eef_state]: left_x=0.3265 left_y=-0.1484 left_z=0.0554 left_yaw=0.0662 left_pitch=-0.3927 left_roll=0.1823 left_gripper=0.9963 right_x=0.2708 right_y=0.0008 right_z=0.1547 right_yaw=0.1079 right_pitch=-0.4685 right_roll=-0.0626 right_gripper=0.9989 state[joint_eff]: [0.1709, -7.0085, 8.6222, 1.0623, -0.2711, 0.1587, 0.1197, 0.0068, -3.3573, 6.5709, 1.2479, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.361,"left_y":-0.155,"left_z":0.075},"note":"The left jaws are alongside the plush’s lower torso but not yet centered on its broad chest. I’ll advance another small step at the same elevated height to bring the chest between the fingers."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe plush’s broad torso now lies across the left jaw opening at grasp height. I’ll close on the torso rather than its thin feet.
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]: [-0.622, 1.6882, 1.034, -0.5251, -0.4553, -0.5117, 0.9964, -0.0357, 1.0912, 0.9421, -0.9142, -0.0391, -0.1993, 0.9989] state[eef_state]: left_x=0.3473 left_y=-0.149 left_z=0.0614 left_yaw=0.0893 left_pitch=-0.4183 left_roll=0.1954 left_gripper=0.9964 right_x=0.2694 right_y=0.0009 right_z=0.1538 right_yaw=0.1087 right_pitch=-0.4757 right_roll=-0.0616 right_gripper=0.9989 state[joint_eff]: [0.2393, -7.8564, 8.6085, 0.8913, -0.188, 0.1929, 0.0024, -0.1026, -2.6872, 6.4752, 1.2821, -0.0464, -0.0611, -0.0122] 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":{"left_gripper":0},"note":"The plush’s broad torso now lies across the left jaw opening at grasp height. I’ll close on the torso rather than its thin feet."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
assistant
agent noteThe elevated close was still empty; the plush remains in front of the closed fingertips in the wrist image. I’ll reopen and reach farther forward over its chest, keeping above the safe’s low edge.
move_to
left_gripper1.0000left_x0.4020left_y-0.1480left_z0.0840
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6098, 1.6962, 1.0615, -0.54, -0.4511, -0.487, 0.0104, -0.0357, 1.0916, 0.9421, -0.9264, -0.0391, -0.2001, 0.9989] state[eef_state]: left_x=0.3529 left_y=-0.1482 left_z=0.0658 left_yaw=0.0827 left_pitch=-0.42 left_roll=0.2038 left_gripper=0.0104 right_x=0.2668 right_y=0.001 right_z=0.1522 right_yaw=0.1101 right_pitch=-0.4881 right_roll=-0.06 right_gripper=0.9989 state[joint_eff]: [-0.2256, -7.7333, 8.0752, 1.0818, -0.232, 0.0317, 0.8718, -0.1573, -2.4547, 6.5162, 1.2381, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.402,"left_y":-0.148,"left_z":0.084},"note":"The elevated close was still empty; the plush remains in front of the closed fingertips in the wrist image. I’ll reopen and reach farther forward over its chest, keeping above the safe’s low edge."})
tool
executing move_to over 10 steps (1.0s)
step 192
assistant
agent noteThe plush has shifted down into the left gripper opening in the wrist view, with the safe wall to its right. I’ll close here and verify a nonempty grip.
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]: [-0.5346, 1.8095, 1.2427, -0.614, -0.4221, -0.4335, 0.9952, -0.0357, 1.0924, 0.9421, -0.9371, -0.0391, -0.1997, 0.9989] state[eef_state]: left_x=0.3908 left_y=-0.1431 left_z=0.0738 left_yaw=0.1072 left_pitch=-0.4477 left_roll=0.2162 left_gripper=0.9952 right_x=0.2645 right_y=0.0011 right_z=0.1508 right_yaw=0.1108 right_pitch=-0.4995 right_roll=-0.0579 right_gripper=0.9989 state[joint_eff]: [0.5538, -8.6222, 8.6222, 1.0623, -0.1978, 0.1734, -0.1441, -0.0752, -2.8923, 6.4479, 1.2674, -0.0708, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush has shifted down into the left gripper opening in the wrist view, with the safe wall to its right. I’ll close here and verify a nonempty grip."})
tool
executing move_to over 10 steps (1.0s)
step 202
assistant
agent noteThe gripper is still closing empty despite being horizontally over the plush, so it may be passing above the soft body. I’ll keep the same forward alignment and lower the open jaws to its mid-height.
move_to
left_gripper1.0000left_x0.3950left_y-0.1500left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.535, 1.8141, 1.248, -0.63, -0.4221, -0.4389, 0.0103, -0.0357, 1.0943, 0.9421, -0.9493, -0.0391, -0.2024, 0.9989] state[eef_state]: left_x=0.3889 left_y=-0.1422 left_z=0.0724 left_yaw=0.1145 left_pitch=-0.4592 left_roll=0.2233 left_gripper=0.0103 right_x=0.2619 right_y=0.0012 right_z=0.1489 right_yaw=0.1136 right_pitch=-0.5135 right_roll=-0.0569 right_gripper=0.9989 state[joint_eff]: [-0.1026, -9.3744, 5.6547, 1.0574, -0.232, 0.0464, 0.8474, -0.1162, -3.0564, 6.4889, 1.199, -0.0806, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.395,"left_y":-0.15,"left_z":0.025},"note":"The gripper is still closing empty despite being horizontally over the plush, so it may be passing above the soft body. I’ll keep the same forward alignment and lower the open jaws to its mid-height."})
tool
executing move_to over 10 steps (1.0s)
step 212
assistant
agent noteAt the lower pose, the plush fills the left jaw opening rather than sitting below it. I’ll close once at this adjusted height and check the opening.
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]: [-0.5407, 1.9034, 1.1885, -0.5144, -0.4286, -0.4519, 0.9949, -0.0357, 1.0962, 0.9421, -0.9638, -0.0391, -0.2024, 0.9989] state[eef_state]: left_x=0.3892 left_y=-0.1439 left_z=0.029 left_yaw=0.1316 left_pitch=-0.48 left_roll=0.2442 left_gripper=0.9949 right_x=0.2587 right_y=0.0013 right_z=0.1469 right_yaw=0.1151 right_pitch=-0.5297 right_roll=-0.0541 right_gripper=0.9989 state[joint_eff]: [-0.294, -8.0205, 5.4222, 1.2625, -0.232, 0.022, 0.0562, -0.0615, -2.988, 6.4068, 1.2527, -0.0366, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At the lower pose, the plush fills the left jaw opening rather than sitting below it. I’ll close once at this adjusted height and check the opening."})
tool
executing move_to over 10 steps (1.0s)
step 222
assistant
agent noteThe close shows the plush behind the finger tips in the left wrist view, so I’ve overshot it rather than missed forward. I’ll reopen and back the jaws about four centimeters toward its torso at the same low height.
move_to
left_gripper1.0000left_x0.3470left_y-0.1500left_z0.0280
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5426, 1.9083, 1.1843, -0.5148, -0.4301, -0.4568, 0.0112, -0.0357, 1.0981, 0.9421, -0.9741, -0.0387, -0.2028, 0.9989] state[eef_state]: left_x=0.3874 left_y=-0.1434 left_z=0.0259 left_yaw=0.1368 left_pitch=-0.4858 left_roll=0.2494 left_gripper=0.0112 right_x=0.2565 right_y=0.0013 right_z=0.1454 right_yaw=0.116 right_pitch=-0.5418 right_roll=-0.0525 right_gripper=0.9989 state[joint_eff]: [-0.0342, -9.894, 6.2291, 0.8767, -0.2369, 0.0171, 0.9646, -0.0479, -2.4547, 6.3932, 1.2186, -0.0464, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.347,"left_y":-0.15,"left_z":0.028},"note":"The close shows the plush behind the finger tips in the left wrist view, so I’ve overshot it rather than missed forward. I’ll reopen and back the jaws about four centimeters toward its torso at the same low height."})
tool
executing move_to over 10 steps (1.0s)
step 232
assistant
agent noteAfter backing up, the plush’s broad upper body sits between the open left jaws instead of behind them. I’ll try closing at this centered position.
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]: [-0.6193, 1.8446, 1.0706, -0.5255, -0.4419, -0.5323, 0.9958, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989] state[eef_state]: left_x=0.3472 left_y=-0.1503 left_z=0.0166 left_yaw=0.1356 left_pitch=-0.5134 left_roll=0.2632 left_gripper=0.9958 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989 state[joint_eff]: [-0.3624, -11.3026, 5.2171, 0.7741, -0.4567, 0.0024, -0.149, -0.0342, -2.8513, 6.6393, 1.072, -0.0806, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After backing up, the plush’s broad upper body sits between the open left jaws instead of behind them. I’ll try closing at this centered position."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteThe gripper settled at the edge of the empty-grasp range, but the white fabric appears caught between the fingertips. I’ll lift gently to see whether the plush actually follows.
move_to
left_x0.3200left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6212, 1.8389, 1.0664, -0.5236, -0.4416, -0.5358, 0.0378, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989] state[eef_state]: left_x=0.3465 left_y=-0.1508 left_z=0.0175 left_yaw=0.1342 left_pitch=-0.5107 left_roll=0.2583 left_gripper=0.0378 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989 state[joint_eff]: [-0.0205, -8.2256, 5.8051, 0.7009, -0.2418, 0.0269, 1.0623, -0.0752, -2.8786, 6.3932, 1.0525, -0.0708, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_z":0.15},"note":"The gripper settled at the edge of the empty-grasp range, but the white fabric appears caught between the fingertips. I’ll lift gently to see whether the plush actually follows."})
tool
executing move_to over 9 steps (0.9s)
step 251
assistant
agent noteThe white plush remains at the safe entrance after the lift, so that grasp did not hold. I’ll clear the left arm and approach the brown plush with the right gripper, which has a more open path.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.2900right_y0.3100right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6674, 1.6665, 1.3247, -1.005, -0.4381, -0.5934, 0.0384, -0.0357, 1.0981, 0.9421, -0.9913, -0.0387, -0.2028, 0.9989] state[eef_state]: left_x=0.3213 left_y=-0.1532 left_z=0.1251 left_yaw=0.1418 left_pitch=-0.5407 left_roll=0.2664 left_gripper=0.0384 right_x=0.2526 right_y=0.0014 right_z=0.1436 right_yaw=0.1176 right_pitch=-0.5588 right_roll=-0.0495 right_gripper=0.9989 state[joint_eff]: [-0.4581, -9.8803, 8.6769, 0.6129, -0.442, -0.0171, 1.0281, -0.1436, -2.3179, 6.3795, 1.2527, -0.0317, -0.0024, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.18,"left_gripper":1,"right_x":0.29,"right_y":0.31,"right_z":0.11},"note":"The white plush remains at the safe entrance after the lift, so that grasp did not hold. I’ll clear the left arm and approach the brown plush with the right gripper, which has a more open path."})
tool
executing move_to over 26 steps (2.6s)
step 277
assistant
agent noteThe brown plush fills the right wrist camera, with its face left of center and torso ahead of the jaws. I’ll move slightly forward and toward its torso while lowering to a graspable height.
move_to
right_x0.3150right_y0.2820right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1974, 1.2892, 1.1759, -1.0801, -0.297, -0.141, 0.9977, 0.9375, 1.8801, 1.523, -0.9695, 0.3027, 0.683, 0.9989] state[eef_state]: left_x=0.2901 left_y=-0.0017 left_z=0.1755 left_yaw=0.1679 left_pitch=-0.5545 left_roll=0.2669 left_gripper=0.9977 right_x=0.2813 right_y=0.3002 right_z=0.1026 right_yaw=0.1362 right_pitch=-0.5998 right_roll=-0.0805 right_gripper=0.9989 state[joint_eff]: [0.2667, -5.3812, 6.0786, 1.1013, -0.1294, 0.105, -0.1197, 0.4171, -9.2923, 8.0615, 0.8278, 0.3785, 0.2662, -0.0122] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.315,"right_y":0.282,"right_z":0.055},"note":"The brown plush fills the right wrist camera, with its face left of center and torso ahead of the jaws. I’ll move slightly forward and toward its torso while lowering to a graspable height."})
tool
executing move_to over 4 steps (0.4s)
step 281
assistant
agent noteThe brown plush’s body is now spread across the right jaw opening at low height. I’ll close around its torso and check for a substantial remaining opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.289, -0.1394, 0.9978, 0.8371, 1.9224, 1.4078, -0.8402, 0.2794, 0.6102, 0.9989] state[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.162 left_pitch=-0.561 left_roll=0.2611 left_gripper=0.9978 right_x=0.3047 right_y=0.2706 right_z=0.0573 right_yaw=0.0881 right_pitch=-0.6395 right_roll=-0.1168 right_gripper=0.9989 state[joint_eff]: [-0.2803, -4.4513, 6.2291, 0.9988, -0.2955, -0.0611, 0.0024, 0.7726, -8.9641, 6.3795, 0.9402, 0.105, -0.0171, -0.0122] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush’s body is now spread across the right jaw opening at low height. I’ll close around its torso and check for a substantial remaining opening."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe right jaws closed empty with the plush still visible behind their tips; I had advanced too far into its silhouette. I’ll reopen and retreat about five centimeters to put the torso across the fingertips.
move_to
right_gripper1.0000right_x0.2580right_y0.2700right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.2886, -0.1429, 0.9978, 0.8364, 1.9343, 1.3998, -0.786, 0.2722, 0.5758, 0.0083] state[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.1638 left_pitch=-0.5606 left_roll=0.2589 left_gripper=0.9978 right_x=0.3105 right_y=0.2783 right_z=0.053 right_yaw=0.1329 right_pitch=-0.6205 right_roll=-0.0968 right_gripper=0.0083 state[joint_eff]: [-0.0752, -4.2872, 6.2427, 0.9841, -0.2271, -0.022, -0.0122, -0.0889, -9.8803, 6.2154, 0.9548, 0.1636, 0.0269, 0.735] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.258,"right_y":0.27,"right_z":0.05},"note":"The right jaws closed empty with the plush still visible behind their tips; I had advanced too far into its silhouette. I’ll reopen and retreat about five centimeters to put the torso across the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteWith the gripper backed up, the brown plush’s thick torso lies between the right fingers rather than behind their tips. I’ll close here and check whether the jaw gap remains open.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0855, -0.2886, -0.1429, 0.9978, 0.9367, 1.8263, 1.2026, -0.7456, 0.2993, 0.6594, 0.9945] state[eef_state]: left_x=0.2889 left_y=-0.0024 left_z=0.1744 left_yaw=0.1643 left_pitch=-0.5627 left_roll=0.2599 left_gripper=0.9978 right_x=0.2573 right_y=0.268 right_z=0.0392 right_yaw=0.1321 right_pitch=-0.6331 right_roll=-0.1258 right_gripper=0.9945 state[joint_eff]: [-0.3487, -4.2051, 6.2291, 1.0037, -0.232, -0.0562, -0.0171, 0.4308, -11.0017, 5.9145, 0.7399, 0.3053, 0.149, -0.0708] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"With the gripper backed up, the brown plush’s thick torso lies between the right fingers rather than behind their tips. I’ll close here and check whether the jaw gap remains open."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteThe brown plush is still on the table and both straight-on closes were empty. I’ll rotate the open gripper so its jaws cross the plush’s narrower front-to-back dimension, then try a grasp away from the safe.
move_to
right_gripper1.0000right_x0.2700right_y0.2700right_z0.0650right_yaw1.3500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0859, -0.2882, -0.1429, 0.9978, 0.9443, 1.8214, 1.1732, -0.7216, 0.3115, 0.6621, 0.0083] state[eef_state]: left_x=0.2888 left_y=-0.0025 left_z=0.1744 left_yaw=0.164 left_pitch=-0.5632 left_roll=0.2597 left_gripper=0.9978 right_x=0.2546 right_y=0.2656 right_z=0.0344 right_yaw=0.1292 right_pitch=-0.6245 right_roll=-0.1352 right_gripper=0.0083 state[joint_eff]: [-0.2393, -4.3692, 6.2974, 0.9988, -0.1929, -0.0611, -0.0122, 0.1846, -9.4154, 5.6821, 0.7643, 0.2662, 0.0366, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.27,"right_y":0.27,"right_z":0.065,"right_yaw":1.35,"right_pitch":0.0},"note":"The brown plush is still on the table and both straight-on closes were empty. I’ll rotate the open gripper so its jaws cross the plush’s narrower front-to-back dimension, then try a grasp away from the safe."})
tool
executing move_to over 21 steps (2.1s)
step 332
assistant
agent noteWith the jaws rotated, the brown plush is now left and slightly behind the right gripper in the overhead view. I’ll shift toward its center and lower the open jaws across its narrow side.
move_to
right_x0.2350right_y0.3150right_z0.0250right_yaw1.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0897, -0.2882, -0.1429, 0.9978, 0.5194, 1.5494, 0.5846, 0.1902, -0.5014, -0.5888, 0.9972] state[eef_state]: left_x=0.288 left_y=-0.0023 left_z=0.174 left_yaw=0.1649 left_pitch=-0.5668 left_roll=0.2613 left_gripper=0.9978 right_x=0.2721 right_y=0.2575 right_z=0.0515 right_yaw=1.2418 right_pitch=-0.0756 right_roll=-0.1025 right_gripper=0.9972 state[joint_eff]: [-0.3077, -4.4103, 6.2291, 0.9695, -0.2076, -0.0366, -0.0122, -0.212, -5.2718, 7.5692, 1.6581, -0.4127, -0.0757, 0.022] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.235,"right_y":0.315,"right_z":0.025,"right_yaw":1.35},"note":"With the jaws rotated, the brown plush is now left and slightly behind the right gripper in the overhead view. I’ll shift toward its center and lower the open jaws across its narrow side."})
tool
executing move_to over 5 steps (0.5s)
step 337
assistant
agent noteThe rotated jaws now overlap the brown plush’s back in the overhead view, with its head clear to the left. I’ll close on the back and check whether the fabric stops 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]: [-0.1959, 1.29, 1.1759, -1.0901, -0.2882, -0.1425, 0.9978, 0.7155, 1.6699, 0.5816, 0.3405, -0.4587, -0.5285, 0.9987] state[eef_state]: left_x=0.2879 left_y=-0.0023 left_z=0.174 left_yaw=0.1647 left_pitch=-0.5672 left_roll=0.2616 left_gripper=0.9978 right_x=0.2336 right_y=0.3114 right_z=0.0303 right_yaw=1.3707 right_pitch=-0.0706 right_roll=-0.0946 right_gripper=0.9987 state[joint_eff]: [-0.1983, -4.1915, 6.2291, 0.9499, -0.2076, -0.0366, -0.0122, 0.253, -5.1624, 5.2034, 1.4237, 0.1148, -0.0366, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The rotated jaws now overlap the brown plush’s back in the overhead view, with its head clear to the left. I’ll close on the back and check whether the fabric stops the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 347
assistant
agent noteThe rotated close was also empty; the gripper appears over the plush’s thin back, not its raised head. I’ll reopen, shift toward the head, and lower to table level for a final grasp attempt.
move_to
right_gripper1.0000right_x0.2120right_y0.3400right_z-0.0050right_yaw1.3700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0897, -0.2882, -0.1425, 0.9978, 0.7185, 1.6791, 0.5816, 0.3531, -0.4675, -0.5232, 0.0086] state[eef_state]: left_x=0.288 left_y=-0.0023 left_z=0.174 left_yaw=0.1646 left_pitch=-0.5669 left_roll=0.2614 left_gripper=0.9978 right_x=0.2322 right_y=0.3136 right_z=0.0296 right_yaw=1.3774 right_pitch=-0.064 right_roll=-0.0878 right_gripper=0.0086 state[joint_eff]: [-0.1299, -4.2462, 6.2291, 0.9451, -0.232, -0.0366, -0.0122, -0.3624, -7.4188, 5.053, 1.3944, -0.0708, -0.0562, 0.6032] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.212,"right_y":0.34,"right_z":-0.005,"right_yaw":1.37},"note":"The rotated close was also empty; the gripper appears over the plush’s thin back, not its raised head. I’ll reopen, shift toward the head, and lower to table level for a final grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 357
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1959, 1.2903, 1.1759, -1.0912, -0.2882, -0.1429, 0.9978, 0.8341, 1.8099, 0.5697, 0.6159, -0.4, -0.4259, 0.9946] state[eef_state]: left_x=0.2877 left_y=-0.0022 left_z=0.1738 left_yaw=0.1653 left_pitch=-0.5686 left_roll=0.2621 left_gripper=0.9978 right_x=0.2204 right_y=0.3507 right_z=0.0203 right_yaw=1.3842 right_pitch=0.0157 right_roll=-0.1115 right_gripper=0.9946 state[joint_eff]: [-0.253, -4.3009, 6.3658, 0.906, -0.2173, -0.0513, -0.0122, 0.5675, -4.7658, 2.9607, 1.0769, 0.149, -0.1636, -0.2466] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.697 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, 0.7929, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.02, 0.7933, 0.6071, -0.4019, -0.0196, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0012 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2359, 2.0147, -0.0611, 0.1685, -0.0904, -0.3624, -1.4291, 9.5932, 2.0733, -0.0611, 0.1538, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f25a9329fbee264c80dbfda4a07c50fa8e3fae63102a00237afbf86bce8781",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf63ba47d50f4e60255e41409cf68fdfedeff2291154c3b71a9f38b7b543727f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547bffc3338479cf93669aeac29e00ec5dde5dc4155b788b2191c42cb6520893",
      "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 · 3.537 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0df97137c542c7de016ab42769ffe487d0b1d16aa8680f270a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.26,\"right_z\":0.15},\"note\":\"The safe is open near the back-left, with a yellow item beside it and white and brown items in front. I’ll bring the right gripper above the yellow item first, keeping clear of the safe.\"}",
  "call_id": "call_FvLIzp0n267hvaRWxAmUWbVN",
  "id": "fc_0df97137c542c7de016ab4276e2ddc87d0accf8f9ed4cc8f93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FvLIzp0n267hvaRWxAmUWbVN",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "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]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7845, 1.7489, 1.1828, -0.2245, 0.5964, 0.4557, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3916 right_y=0.2558 right_z=0.1375 right_yaw=0.0358 right_pitch=-0.041 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5385, 6.8034, 1.8388, -0.0611, 0.0024, -0.0171, 0.0342, -8.7179, 8.3624, 1.6337, 0.4908, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046d96e0b38e536152425e85c90af785671d190fc489fc0010684173426c46a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96bdfa2bac932accb61d656fded1a0b7cde15958d5c78c8826631c111644d62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f64ac6e0fe655256cdbd5e930695e73e7d56ff1fc66b73235d679d610ae0fb",
      "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 · 2.719 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.02, 0.7933, 0.6071, -0.4019, -0.0196, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0012 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2359, 2.0147, -0.0611, 0.1685, -0.0904, -0.3624, -1.4291, 9.5932, 2.0733, -0.0611, 0.1538, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7845, 1.7489, 1.1828, -0.2245, 0.5964, 0.4557, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3916 right_y=0.2558 right_z=0.1375 right_yaw=0.0358 right_pitch=-0.041 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5385, 6.8034, 1.8388, -0.0611, 0.0024, -0.0171, 0.0342, -8.7179, 8.3624, 1.6337, 0.4908, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046d96e0b38e536152425e85c90af785671d190fc489fc0010684173426c46a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96bdfa2bac932accb61d656fded1a0b7cde15958d5c78c8826631c111644d62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3f64ac6e0fe655256cdbd5e930695e73e7d56ff1fc66b73235d679d610ae0fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCd1mFW9UG43TPCdcrJ8so4vd9YQ3nXZ2GMjebCMpgt4Bgj7AuR_O-GnOq37M4YgmJ484c5inz_1hL8kkr9iVODvTxd_mK6kIvkbFmz2gmTjcOKc4noDkT1538gVM2BkSy1nXzk9dJdm5mg-YzGQ9pzH6y66p63gXJ4uwtXO0FPvS9Eb22ybJoTEwZs8R0rDyEJiHh3NlIP97ibQ_0n_Zg7h5eROlJbVNRAmEVjT2Af4Dsmrkg4rI0_HwWinh-ZRMIpwrgqjdITDxoKsIblkzFhCh6Hr0AntogJj2gYtoliASB4ovSgaODxLmC-p_NDRZgUNmYSaNxmnIurZpsOvul5arV0fJC8lRIKhsA73enkzNdsdd7riBeAxexnTB5JWlcZdh_qTiSSBwLlpN_mp6vM6u9KpiPox1zdFU6_TO5pgR3EMQ8X9DZiE7cZoNiHA4cw9apP4EgXVhAbDz1BT_lfOE7G5efXo7KO56os0pg9ESof8eq2HGX82jlchwYYcnCHb5iaoRB3mc2q6GykwDh-OfdtR8jqTe1LdPQ5tPeZbi4EdmWIHGZR4JZYQPvD2EGgfjm6PbIHK6lGke3Qu2OquFSjlt77AA6KdjxRJgm529qOyTGZJh8BApl2bUiGTNmKpFPNGYmeYW4pzNw5I0GhithMM4uo1T0DVat_DS3BHjwYtIwkqRKmcXBiAgI-580_9XAFeyJ3SdhErOvaIMbc-vx6JWZrjsnFgsaiaRtIhVmkWjYSZe4VCHKK2d-rwzrCbDboYs0IwzgtcDVDdpLreAccbpOyhh1wE1VHnk0yGx9ArCz3gAJZ_o3DQsMIQvglHBw32zjgz4gNLkV5Eda-6h5ClPliDuPEpP5pqHVNAS-j-YO_FGflZesof8UgvPZfyJplbLwugntdSpWCE9NV5ZPnjuh_nj9bY2dqxSnEWRTcr-wVjmSk0XoTgRvdZPU-l5mRqQNI-o8-6V47AiDVHkcgUM4LSsiyxYV_bwSVWJtUwTFMHqs3mX8Zt68Wt2Dm4Mmscvy-2p3LqCIKneQKLqrf1nZHnOqaGtBkNZ6czbgiiqW117p8WSnwK9LMkoVW6vFoLZ7ygOTgnRFLrMm0a8eZ8GMuOuF_oME5yupJL3tVvtrTAQhxBBro58IQYMynYOw3pimI_ctmDL2qHRRretuuIJMbdGqhkX9jS1OfqpikTim5PdruLyxl2_cLyVyLGypOoFRNx268e_LuePYdqD9EeNL4N9zPzGE8flT3gxqxmoRBrIqgB4xV81c9UAayqWNWQEqux9Qa6Jg40L54YFovR6w_HC-wVQljqW_4Q0hkTX3yyo1djzNmbETngL_LZ-Hfg0vn3dePsu32KmR1ZwxQvm-brR6X1XYQUlbA9AICF_Q4P6dN4zhHyrKylB15UVzn_HhRWiuFOAFZ1tqT7i-QtRtb9jKpkkHSe4viH5L6YDkA2UVZqJ5hoexvU1ZZY74ctITq5a-zG-J4F0dt29TeUZ8PWXhuAS0MEkUMVEzizKJUdOeyeydPoWfpQopmV0Cp80E8A22e4KFqCWL53s3E7QgC3m6HuZA92lfTwYeL9TEGYSufYweKVo1OglIOC2SeZxLSnVbUBvHASbpOP6aib-s38bbUjErV-hB5UANSh3RypilY6xZERbn5qx8LZzrGWinIU_PiWihJvHQqQZo9rWAkeKKqeTF99yeSEMfKl45_IWJaEpXx6D0TOPVQmRPKaGaUc1f_k-J-au6IG_lMIn_r6EmyiV1zKDDJzVgZBj3-w8yEPZOLPidE4qQKH7AV30j2tn9V9Glz9AZ-Ez2RSvkEfH1B0QjkVpgr-BU1ZkorqwdQPuCVLGlZ_0PYi83ilb1gKKAvGmMvCBIQAA-FcOnI1MnrZpfdr6Kd3AWAmCoUhiHA_74mdPhnzvsyptLPzR11LblC4tHcdNwqgYEkESgBMpG9cq-5uRi8MyyTQFfzewi7SBk08amLhJdHg5sTOaqKFNtoADGgYxzb_iwfoc93adfJfmk6zOYH-2wykb5kxPdCnjPgPm_goWJy7lKInNrjuLJvo3WwAjSevcg==",
  "id": "rs_0df97137c542c7de016ab42772ceac87d0949718d689f37744",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.422,\"right_y\":0.225,\"right_z\":0.075},\"note\":\"The yellow item is just ahead and slightly right of the right gripper; the safe’s rim is immediately beside it. I’ll center the jaws on the yellow item and lower to its middle before closing.\"}",
  "call_id": "call_WqEOBCyHpTUwAha9f9TyBOig",
  "id": "fc_0df97137c542c7de016ab42774b06087d08fb04b7e152d798a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WqEOBCyHpTUwAha9f9TyBOig",
  "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]: [-0.0189, 0.7975, 0.6067, -0.4103, -0.0193, -0.0383, 0.9992, 0.6682, 1.8446, 1.037, -0.0204, 0.5259, 0.3805, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4098 right_y=0.215 right_z=0.0666 right_yaw=0.011 right_pitch=-0.1046 right_roll=-0.0777 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0269, -0.0122, -0.1846, -8.5538, 6.2974, 1.9219, 0.1978, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83554a3e81b7db5327aca50db7e69a23dbcb0b1e388cf68f04aa7b5931d6dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26c3d8413737cfe29f2a8f188dc6db0a96311009c74c70f3303f9b5a76a34ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbe5dd0834dd6110508b06204e00c5c4aeb985b2886c7c042d629bf3feb18b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.525 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7845, 1.7489, 1.1828, -0.2245, 0.5964, 0.4557, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3916 right_y=0.2558 right_z=0.1375 right_yaw=0.0358 right_pitch=-0.041 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5385, 6.8034, 1.8388, -0.0611, 0.0024, -0.0171, 0.0342, -8.7179, 8.3624, 1.6337, 0.4908, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4103, -0.0193, -0.0383, 0.9992, 0.6682, 1.8446, 1.037, -0.0204, 0.5259, 0.3805, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4098 right_y=0.215 right_z=0.0666 right_yaw=0.011 right_pitch=-0.1046 right_roll=-0.0777 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0269, -0.0122, -0.1846, -8.5538, 6.2974, 1.9219, 0.1978, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d83554a3e81b7db5327aca50db7e69a23dbcb0b1e388cf68f04aa7b5931d6dc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26c3d8413737cfe29f2a8f188dc6db0a96311009c74c70f3303f9b5a76a34ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbe5dd0834dd6110508b06204e00c5c4aeb985b2886c7c042d629bf3feb18b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCd4OBD7CQ4i54mxCkhkS-Qbrhpja6Fa6TnDBy4VnWURY64JM9UO6Qa--ErJQ0mSnRLBvosDC2c4xiEG_93qOahB4b3ibc9UuUezMwpKDlYOA009k8jbQVuSCP-d9iFFr82nqNeR4JFYddZ2GnIMAmwVZp0xJGmzin3JtNVExzouxN3pQF7h_rliJ464XkwRTfm0YMBkIRu89_eVNP2eMWb9LjEAgbRpsPeBAH19qZpRQTOBWUIukOfi9ISichCgqOOakegT2C6RAriymTpxATM7-7e_Ep_WmrgcNJhO3oZ_2sJ46na738Vz5W3SV8C5GBvOYe_MSxPL8m5wQ0gvONmPTEo0vgidLFDYvNB5ExzhJf4B6DD7T_rRcJ8HN9QxABUe9xsGkErOuPgm-Oy76tpFMryzLEmLnDh5ed2we8haeusjauDWlUMSsD-Vi4qF2DK2gUj1X94ST6tPZ0X6uUmPfEVwE8_B5827g_zasr19CaDM2-BSJ0Az3TMSwL4U6qLV66JLAgEVfh9cy80HjmAW_yqHS6yRY0SxNAuH6-Bh2aMMZKaA3PThgkP_Pc72uRGrVUN-u3GDsuapnwfC55zvNjAyVLWL6fYTUkYcGVfBCYunlERpuYorKDoA3B7CxURWT4XYitem43GiWlHLFGbk0X2gS3b4FQ2wYd8lr9bl0zz3MgQCBvogxPlBq4ZFw2lcbAl3tESaEspZOyUB6c1YRfUqc3-K3VSxSuyGd-R_Sf6umpoZ8bA0fvFdYigzDbGsp4AhwT-KKR7VsXCtfhce3C8eglM7pVD1Pn5sZ84w1taj6mzHl8pnOEt7xUVk96UhzM_g1HJ5O4-vK-Q9vET7IOte6-nv-X5mKnlJzNy9TInGkgYun2PRe4VwSd4Q83r-XG9c8pWoKuwHytYCMxEp5ZqfF8ZTlNqS44cIivY2Kc-PXzamorztCxgIIxuGpTULN53Ho4VvSjI8quLulipCxoom8LGKDDnmC-q8aLYARcP8aq7HiEiFiOrA5LVLGaOE3dPEWsJtMV-UKCqMIJZ9F8uAOD3Pxl4WC-eHa1sTjdkG5WU5kp-Wc2Hxz3taJWQQlNpnQFJrPBKtgjj6XEF5lOJDEL8lM2vBc6B-yvKND2TPhhRolU1roCUId-AFzv5rTM2zgr2YO_dsYbcLASmhjlqk4xjq4Z1uOBmoogepGr-k1lqLQPSjpC22S8rSTsbWpZ8eIeK1HwMRrVyXJegE7JNTtg4mQzalEsBy-7OaB5F4SjX9pbhd_xU4rARLm3wOEL93FX4UySkc-PAyf2ThuHY8rbpAQ-9M4hcLoUzsrLc_JwGlDYtvMkF5zmr5brhkJxUS27UQzUtZ9JkxL0hnQ1A5_--dTrzbO9vR1v3q8Svk-xAOMpMR5PkREExXhtKwiPtJ_9SfFktqnXMeionPjjfPBELSjr8TEtjKQ7_Xf4lQ41SwEivENhww_57IajBB2crqBCoCtH2MQIi6RhfDgTWCF9lLA3927nLvpFa_3A2Rq4ObETJIm_9M1KU8f38WjDITmSd4azKX3WKqPPZjc2EeEwRXjomQkf2h4NhgXz6-gpmPwa68n7dMF1ZT8WKrrF9x1vIQwKnCSxOT-rqBsGyLBwSw4QHw9eN-ZPFzp8u-Ht5i2afC9AfAvm5nKIwe",
  "id": "rs_0df97137c542c7de016ab42776aa4c87d0a28850a2fabedc57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.436,\"right_y\":0.205,\"right_z\":0.035},\"note\":\"The yellow item now sits close to the jaw column but remains slightly ahead of the fingertips. I’ll advance a little and lower the gripper to take it from the sides without hitting the safe rim.\"}",
  "call_id": "call_oV75o5LxS3rjfCBr2qgB0qtC",
  "id": "fc_0df97137c542c7de016ab42777b92087d082c3e61e8fbe54d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oV75o5LxS3rjfCBr2qgB0qtC",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.6163, 1.9339, 1.0351, 0.0914, 0.4828, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4288 right_y=0.2076 right_z=0.0409 right_yaw=0.0141 right_pitch=-0.108 right_roll=-0.0697 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.8779, -0.0415, -0.0269, -0.0122, -0.2803, -8.4444, 6.5573, 1.0085, 0.3248, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015a1db4da93aea996e61f24cade9be5645d0b9e3c7b7d6c502838943bb305a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b72d4276f376a47ff92d709107b1de0c19620cc67cbe3514a0a73842a0d99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01a43866e9433522c75f1bddf74eb86be1b8ca33790b5f0abe9386f5d90383e",
      "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 4 attempt 0 · /responses · status 200 · 2.883 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6041, -0.3908, -0.0193, -0.0341, 0.9993, -0.02, 0.7933, 0.6071, -0.4019, -0.0196, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2922 right_y=0.0012 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2359, 2.0147, -0.0611, 0.1685, -0.0904, -0.3624, -1.4291, 9.5932, 2.0733, -0.0611, 0.1538, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4103, -0.0193, -0.0383, 0.9992, 0.6682, 1.8446, 1.037, -0.0204, 0.5259, 0.3805, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4098 right_y=0.215 right_z=0.0666 right_yaw=0.011 right_pitch=-0.1046 right_roll=-0.0777 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0269, -0.0122, -0.1846, -8.5538, 6.2974, 1.9219, 0.1978, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.6163, 1.9339, 1.0351, 0.0914, 0.4828, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4288 right_y=0.2076 right_z=0.0409 right_yaw=0.0141 right_pitch=-0.108 right_roll=-0.0697 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.8779, -0.0415, -0.0269, -0.0122, -0.2803, -8.4444, 6.5573, 1.0085, 0.3248, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015a1db4da93aea996e61f24cade9be5645d0b9e3c7b7d6c502838943bb305a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701b72d4276f376a47ff92d709107b1de0c19620cc67cbe3514a0a73842a0d99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c01a43866e9433522c75f1bddf74eb86be1b8ca33790b5f0abe9386f5d90383e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCd7ECgQJV-8KjRU1DzqdfpastXbwUQGaM4b0s7wFlaQAW_2I-bsMIoF3w_c7a4vJA1Mie3xPFFgmUdBKUPPY9zMMGNy06KYI6bQLOaCMPdv5FNIuhN_n1N_p_7TlO-7zjao_pEm9PsGy-O87yk5s1jXUtMbZ3-nO3zGZP78my_dWHtMAiPltCAupMahVBeXsh9jD4UB0BpAueA0ZVEJh3bQt2aAB54v92QL4cQzMmJ46isgPGiKs7ct0sxUALw8lmvLDtBvgBntIIiFV7aFdMGX32bwJ76BIKp4pglBr4Zr2ZIdpdXDrqP-8PLWxQIkOoPZyqFHDChM5PFHJPDsijZY4Gt299Xfq0vjJx40rtO5N35XBirh-Jes6HqUV0SrdWmAGDnK6gtQxK_qREadrRd_UumLiL5Eaq1oOb9-g0eT3gn6sSQsBV-aYkEPaAGoVERBV-wloyxf6sbwWoG01P2En7FcQOws2m-1IYf-n5kikenuL1sRzjUUk9IhrWfOfbZSiR01V0xfgNa9LT1ACAZqyPtH5nLGb8FCQgKyogQejxdlqAbT2E_CMe3OqKnyedozQSgjtg8KUGD7QieEGD3cSf5ALjiknA3CDfzWMgytPOkOMKl8HXW3n0hdEDoYCv3JGkHucW5WWW2obqx0Xm7pwVsPKn9JGl088yjOKk1h0ZiCleC-whB32q7kAMyKFKGlSu7pGnCrdsBVyPNead0RBRzM9_VcGtUiQKRkiqYXZViFPJM2LLPOwWAqmzLkE5zsWmutvmATnOROZb1G8HE_XryHnx6g08gGnq4y8tNEC3PQQ9cqgRYVixS0CYA45Urz11-prnw6FoyZuDfOkRoVA4uoFsqP2GeHgJObOj0naZiPhurPsKyOOy1jbXzTStUgvbiqsl7-5aTP7RkDaUY32Cy5BlW8dr_tWsl3HQn43-JyaiKccDVtjCmRStFoMLS_p0yPdUru2NmnxjCDONr67xiXPmBB53E6bRiIhOppXjKkEu34rjvph2QIxuuU6Sn8zlZCxg8NAxuNMXqOH90nA8fMuptvo4pEzmUOtAS-fIMg6iEi7HSIbmKBB3gdODIKg3DDtP85l8YLECXJ9CIfu0DMA5lz1HSywHSeQDAWi5z7PSrmmln48XX3y8AroHGEjVpIbrwhDzQICVKqrycSpdOiAafRoUdaGa4wPhl_xKWT2lT8tVIJykN97MuJTuV4gCuKjLZHEeIfjo610k84l5M5vg3GFLdrXJJgBgSYwIk3nG2EXAmKi81ZPJLXOKXSSFNeaCmnZMHOMJdcjIC8YLEXwG8I7I66SbEDPDNaZI1m4HtO_QKeNjId3IJQXBuwNh07Oei2D8MtrzlZ9q89PhhiuqCYd9hQHrpE6D2LNvWL84yE27nFNzF2eXyk8xLWoFB2c9EVaOawlyYr7ny9aYJ3TvB3ZLTE0RHmuEWwbVod_Rr3gGHYXMt_VvZsCB7PTVuiP3KPBxRjelHRIf-AoRhyVrX78_FlSX2qM31UQ0-Oh4AzIrG_4eo3r1jre1mxup2xk57NxiFUDjzCPqSjBaKgaXqHqu4h8bOQSEEvwC0=",
  "id": "rs_0df97137c542c7de016ab427799c9487d098575f1be495e143",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.205,\"right_z\":0.035},\"note\":\"The yellow item is still visibly ahead of the fingertips in the overhead view, so a close here would miss it. I’ll move the jaws farther forward at the same height to get around its middle.\"}",
  "call_id": "call_JsiK1vZNyJMIytaCYPgn2E1R",
  "id": "fc_0df97137c542c7de016ab4277a816487d0ae17c94b46cca5fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JsiK1vZNyJMIytaCYPgn2E1R",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4297, -0.0193, -0.0383, 0.9992, 0.6025, 1.948, 1.0386, 0.1154, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1696 left_yaw=0.0027 left_pitch=-0.0427 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0093 right_pitch=-0.1006 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0051, 7.241, 1.7118, -0.0611, -0.0366, -0.0122, -0.253, -8.5812, 6.3248, 1.4383, 0.2173, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ace0e6aa9eb38732cb277777da7ebc968472e25bb005b8e36ace5ca06ebd1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd450bff10cd72f2bfec4a860004754b8124d9f38b5c2b5fb7934e6a966efea3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deca6614958bf65af149fc2a481aa4350fcc01a82e69149fbb531886870e2552",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 2.134 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.0383, 0.9992, 0.7845, 1.7489, 1.1828, -0.2245, 0.5964, 0.4557, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3916 right_y=0.2558 right_z=0.1375 right_yaw=0.0358 right_pitch=-0.041 right_roll=-0.0331 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -1.5385, 6.8034, 1.8388, -0.0611, 0.0024, -0.0171, 0.0342, -8.7179, 8.3624, 1.6337, 0.4908, 0.1538, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.6163, 1.9339, 1.0351, 0.0914, 0.4828, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4288 right_y=0.2076 right_z=0.0409 right_yaw=0.0141 right_pitch=-0.108 right_roll=-0.0697 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.8779, -0.0415, -0.0269, -0.0122, -0.2803, -8.4444, 6.5573, 1.0085, 0.3248, -0.0904, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4297, -0.0193, -0.0383, 0.9992, 0.6025, 1.948, 1.0386, 0.1154, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1696 left_yaw=0.0027 left_pitch=-0.0427 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0093 right_pitch=-0.1006 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0051, 7.241, 1.7118, -0.0611, -0.0366, -0.0122, -0.253, -8.5812, 6.3248, 1.4383, 0.2173, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ace0e6aa9eb38732cb277777da7ebc968472e25bb005b8e36ace5ca06ebd1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd450bff10cd72f2bfec4a860004754b8124d9f38b5c2b5fb7934e6a966efea3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deca6614958bf65af149fc2a481aa4350fcc01a82e69149fbb531886870e2552",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCd-5Sff_mbT3pyVXqU_klhcWq_ClZY5RvrEq14a6BDU6FBjluWumvdV5_n33quR4pUqKAoEpIxSN9OI093p-erAHxwLOXGWh29IhNhM8NXdauxBOzOnq665t1NgyrtDAHMth_V_eMOQH9vX85iOY5KH-WSZAEJN4bJchRVblpTCkhJA_FGITTQcmBls_9KbbvMqMj41UWr2KBruNnMuqvj5d6Oyb2tC33Cl8wenD8vWzo_pv3pLQX4nWJ5u45aZnqm6Kqus8f0znMWSWX6adFpsdcvGvyTxt3DaNUhTF1KSLKj2EcXMzDf26kjMtZ7n8oV0Q6tKQqgOqrn-A0cW_7skPiauPr90eRy7NL-QYtz1ebMosf-SlHdHdontazHDYANo3sQ0YGhhyXGaAqX0sTUiM1mqARwKMPs9shBtPApMrB1oD4S-_C_dEgNv3vl_L5IzcJ5yJjAI_XKHZ2sys8urQFRqdL1dXsHNhrz8hGcCxkt1Bra_-4o9kY40ioHCbKFJddrjSOyuIxSHpPJiUWjMyC3VymhcyO0kjA74f21xqc31y8oiOa-mhyhTxIuinS322C5jfqnvHMg9zc4zBIWB8mfWP5UWUn2ZfrIjN2J623-TkJHMK6qIkiTflwocmwkh6QHcBtlLDfHLRKeTq49syF4NFedjFGYYybq14OfWIXOnC-3ACL8pkTO23axYe-T1eDoXQRogv0X1cYoJu8RoFZYqHkXq95Tde2BYTA7Dm9lJLLPJiVfy66waRK3Jg66wJTvx-gq-W5xhyp7zcVhlUgevmXtH6dyA6T2-1rmaaJ45_q3S_NghTumOgHgiTRtpsndDmj0YiM5w19q09ljgn-44NqPVVxk0C472CtTKRfmmeCDc8jo-YWrDwJT8SA7aNEtn1Jc_dipO2b6zXbboiCd3pwXVcc31zq_2PfgOUAEzIprrMJGQhAbFsYVUjuyro4vvPOay9Ri6UnTmwZ02yMyrYdhQputk3rKbJK9uCTNZpREAshCGIQ-VmLBJha3LGhzF81B5_3goMdhXvN7tz8_Vqn13n7KJHaiT-sl_Ui2qNl1_eSmRIJ_ywSpr60K7LNWOEe5IJM5y-xrEKl8_H8fspm6Amei81csbuMaRcLCldudjhuHfqkGyx1MjPBUlEtaknUaB_pY9tkLAmzaA1kZgY659_MVku5i6_e1Z57KG-SMe6QS2WOzVzvVV8dTmrdveOxi0bakj7mAV_rTGgwCHfYko50W8f_7eG0jI6nBZJCbWriv2oS8lvpR-V7eQsgEJFraZ7YjOLl-ITpY36Ay-PAWgYndZnzh95vIdO_Lgni1R664NzJcet4sdI2_eXZGwnB8LGf_2fIP-6q9icF39EWq1kNrV21rhPFfBlBEVXCriMGdYkpBGzTw564KE2FeIcB589yXqkH_gQvKBH3YvB6kcOPslG8pa_Ix1ClsBSAPG9Qjsmy8A7r428RKqOnctxFDO303_yneAqzoSwwx45zhFFzb3Fq_-JQuJbUkRZPnglgPo0BlaaVq6463Y14_GLG4tF-D5wbFOrjMyv71KxwORaNmNtuyZEQeh03NGuck5VSp7kjMr4iKESrPet17VwFiDcWYMGN4WljXXutceXkyKDY9O6jh-njhgVEw=",
  "id": "rs_0df97137c542c7de016ab4277ccf7c87d08e486e8474b3894b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.466,\"right_y\":0.194,\"right_z\":0.095},\"note\":\"The gripper stopped short of the forward target, likely because it is too low beside the safe wall. I’ll lift above the rim and shift slightly to the yellow item’s right before approaching again.\"}",
  "call_id": "call_Xw05zIxLJA7JNUc7QNOdKnn5",
  "id": "fc_0df97137c542c7de016ab4277dadb087d0b79785f96ff92bbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xw05zIxLJA7JNUc7QNOdKnn5",
  "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]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6025, 1.948, 1.0386, 0.115, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0029 left_pitch=-0.0484 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0092 right_pitch=-0.1009 right_roll=-0.0592 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1009, 7.0222, 1.7167, -0.0611, -0.0659, -0.0122, -0.3761, -8.4718, 6.3111, 1.4921, 0.2271, -0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5d4fdd753e4aff34163e82c01019eba1cb7ebdf48019ad6a58bb6808ebfd4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127b45ceb8e7be98100dd70e46d5b03bfff51949380b1b1d5305ecda22702813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a7034f1c6dc5d747e208cafa104d38bca5e1adfc8083bdff854114ade5000e6",
      "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 6 attempt 0 · /responses · status 200 · 3.179 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4103, -0.0193, -0.0383, 0.9992, 0.6682, 1.8446, 1.037, -0.0204, 0.5259, 0.3805, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.174 left_yaw=0.0027 left_pitch=-0.0213 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4098 right_y=0.215 right_z=0.0666 right_yaw=0.011 right_pitch=-0.1046 right_roll=-0.0777 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0269, -0.0122, -0.1846, -8.5538, 6.2974, 1.9219, 0.1978, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4297, -0.0193, -0.0383, 0.9992, 0.6025, 1.948, 1.0386, 0.1154, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1696 left_yaw=0.0027 left_pitch=-0.0427 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0093 right_pitch=-0.1006 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0051, 7.241, 1.7118, -0.0611, -0.0366, -0.0122, -0.253, -8.5812, 6.3248, 1.4383, 0.2173, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6025, 1.948, 1.0386, 0.115, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0029 left_pitch=-0.0484 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0092 right_pitch=-0.1009 right_roll=-0.0592 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1009, 7.0222, 1.7167, -0.0611, -0.0659, -0.0122, -0.3761, -8.4718, 6.3111, 1.4921, 0.2271, -0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc5d4fdd753e4aff34163e82c01019eba1cb7ebdf48019ad6a58bb6808ebfd4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:127b45ceb8e7be98100dd70e46d5b03bfff51949380b1b1d5305ecda22702813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a7034f1c6dc5d747e208cafa104d38bca5e1adfc8083bdff854114ade5000e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeAAbzK2zgipcK8QyfSblJ0Q44Km_a9KEoGEQKwfPcjikqQPNgw90pI5pF2hzEDj6lbQFCUtq11wI6Ha9Nwbe3ud34I-bafni_-BBpY3sj1oxFBwVOKq05Ku6mXoeuPjzjDPDa814-Z6ze3YTWl0DS8j20VKMhaQz6mE3KWWlSBrHVFudYAkcYkOmafuuvzAz9A2u39IsJBQ-9leHKj6CxveMm2oywUFJfo0UBk0LzyMFfb-66yvntsxLN_ayyUpRAhLq6p4-6-D9RwTL1Uf0AmHB9s2Uk9R9Kak_qGIFFDHj7bZKtSR2J2GmslHh5_-WAzeP-91u8CS42kGhGrtl14llHnTVx--CXXjL2kFW9M-K5RraFDiLGwGEZZZSwKSgnotYeKT9NghzaJz4DvVu6EK69BrOo2BCSN580G8QhXBYle425qYSYLOs5CcCmfColgTozGQ7-8V4E5ykhuOUvuLA3XFLGL-azghIoWtZX4rAomaEBOBc8gICk1H9ql622-FOhogPhieUj116j8b7XOQ5ouf_QDnMGZD7WhTcQsBW342va5w7Ma_I7ySsXy40_Rv4k_t3tiPvQZKzu_giO8Z8bYWfoe1OLESn8AZbB2s9JyYYRnoUTr3kUR56J9ScdIPwhcz2onDNS1Olf8XzrsaB8lqpEjvpFilqBbAi1u-Gb_l3SQ1nVfoncnpxzHBhYACJWrmeTAtz68RmW8AWgP4PuiTJ84vlpS1pHUEeGojZlRjS7hVTDEzSf1LVSwdMrErWmxeByE-GRgH90aTVy7Pk4z8URBmIS-6lk5HJ60k2eTLHAyze6FrIcXk0n_8eBsKAX8gBxQe3UG5rdwzn8Z9l7ZHiwBLou1Uf_8tjBd4AsAfyluTwZpRbDGa7nYEOAcVhKyVsGmkIKNY9dOf7seuD6XbqBh2yElpMTSBzOL4NKtAanwDYj22raynQFTk1BsvTAsglDppK_lt9-dOEN0UnvoBD-2In4OLP6L8RWdfS1MBA1IVYmjsOG2V152B8OHf--wiN0jU4sh5-8r-I5f8sHYehLTVLsxNmCKPWtWdVNi9Y-P-61YQQ16reIwyu0_fBYzfC6N2qekr0KXJNoxHGm8xyJiSZ0535gAWWA6CvvWO_P7rqbQLKCWHspBnowRgoy7m5KMVx_rYIa5yVo49jF12WIfQn0P1So6Sgf0M8F9IHhotnvg3L9GQEwceqS5pBaiRUeCIKoofQVRoxgTOL9iKuSfunqwFR0s9H8-Qkh3xjSlhZvTWRRe8JOd4fEdDUSWaEnktAOt2FLPM0uGzNhrEZgDQ_G0K5udQWouzLIvLlQgusUy5EutU-LEEI0lz37f0In5X7AnKNjSsx0idyiFPikmaCmQtYXA7b-pfo8=",
  "id": "rs_0df97137c542c7de016ab4277fa26887d088ad00f6c041f834",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.255,\"right_z\":0.17},\"note\":\"The right arm has not moved from its low pose beside the safe, so I won’t force it forward. I’ll pull it back and up first to clear the obstruction.\"}",
  "call_id": "call_F52GTf1KBKDpvsA8jC1koxx3",
  "id": "fc_0df97137c542c7de016ab4278015fc87d0814b90caeed63a08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F52GTf1KBKDpvsA8jC1koxx3",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.453, -0.0193, -0.0387, 0.9992, 0.857, 1.676, 1.2411, -0.432, 0.6125, 0.5293, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1642 left_yaw=0.0029 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3583 right_y=0.264 right_z=0.1623 right_yaw=0.0526 right_pitch=-0.086 right_roll=-0.0364 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4838, 7.0496, 1.8681, -0.0611, -0.0415, -0.0122, 0.6632, -9.5111, 8.9504, 1.4286, 0.3443, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5434350ac974e90480b75e8bf45397f75d6c14fab97c1efc5f6de8615fa554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c01771caab0521be2e2866d9b535a606cf1f333c5ff10119850afb1d86a5793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef19687e6f93677cc30ea290283bc9c2a69f36dd6d9a655bbb2ce98659d09c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.8 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.6163, 1.9339, 1.0351, 0.0914, 0.4828, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0024 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4288 right_y=0.2076 right_z=0.0409 right_yaw=0.0141 right_pitch=-0.108 right_roll=-0.0697 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.347, 6.9949, 1.8779, -0.0415, -0.0269, -0.0122, -0.2803, -8.4444, 6.5573, 1.0085, 0.3248, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6025, 1.948, 1.0386, 0.115, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0029 left_pitch=-0.0484 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0092 right_pitch=-0.1009 right_roll=-0.0592 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1009, 7.0222, 1.7167, -0.0611, -0.0659, -0.0122, -0.3761, -8.4718, 6.3111, 1.4921, 0.2271, -0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.453, -0.0193, -0.0387, 0.9992, 0.857, 1.676, 1.2411, -0.432, 0.6125, 0.5293, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1642 left_yaw=0.0029 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3583 right_y=0.264 right_z=0.1623 right_yaw=0.0526 right_pitch=-0.086 right_roll=-0.0364 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4838, 7.0496, 1.8681, -0.0611, -0.0415, -0.0122, 0.6632, -9.5111, 8.9504, 1.4286, 0.3443, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5434350ac974e90480b75e8bf45397f75d6c14fab97c1efc5f6de8615fa554",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c01771caab0521be2e2866d9b535a606cf1f333c5ff10119850afb1d86a5793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef19687e6f93677cc30ea290283bc9c2a69f36dd6d9a655bbb2ce98659d09c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeE29S_QAzH7_qZya--7NmiHK7MpC_k8KzJ1Bo81BRIiV9I06-gmTryZU2HYVlUp94mn7QeobqHhjqk92qCddv_W1HDdxorKCV6O_XfFpeZ0cKZ6rp9OET6u2yvR4gPnc6uvI3LEJ0Z1ddjvif5vxtM2mS2gIjg5lQN8TFBozONxFMo_pUaj3rZfY9omCiOxbMHS34B5tv7aEbr_bnUL1zadWMi_ggAsuE9OTmVZFBFkWUm3D7dDVoKJfAleJauYnPC2p36zjHMp6XsxdZ01STmF6k6_NZCJjRUqAxcZu0q2pB52feEv7kVWwjPSznshx7v_UrFWLlM14CR6JSv1SlhhoKz22alVWVi4xVfrZwplvO-6drjpIf9w3WHm3sqE6XwXrTAwzxjazptVrZRs1W6__GwxuAcumL1LZoqRjOK97-Kvq6vS2jJXRJP9kTanqF7ahYy4j2IwYJ3_oBI7JaD8NxBpAGlEFHaavCvcbd_SXn_tF3EFFoLvsiyei2zUIReBAqtlDzal_3lnO96S-mg1FBudCbXM8nP5jNdEpUdSegluD2SuhcnfKkgP2xYzjPkRjIM4MjZ6ONHfJDMAh0Djzr2RphvamPSNTIxoTCcpEMFhyD0MgQyMQaZcdxgES_Cy6p5r3gZQuVJNw_snt682nd5gY-idSbn_LcKes2-o9UU4g6lugP2bS61FJt4do144svDC9jF6Aq_S1IHmyu2VB9-Z7YXR9Px_OOGQiMGeW5WotAcTSKl6bVAz5XapMRdZUns-2VC1OGxDpvMzHUxj0YJD431aPuNw9wN0BYaSA2OanFTU7RrZmWnd0xA6uhiJZIOdl2hrLt0wTaZ2dWf5wAcOymrzjK2S7P420Z2ea5XT6KmzJPV0MoKBUJddaOQYatRm65xjUIZ0clN5V_0GkNX2KO5P7_Seq38hqbd_RGAdEcWYVM7XkYcS95CgLDz3yDtgoJqSG7ICMXrc-QyL15wIum4wmEqNSHnjiFBVWk-JebOkSvB9FA6Ozk3I5P6A9HCYxxBrNjNDAslaTVfd_GE9SEVUVPuQVbxiiyV4hgr4KcuIfx961Qe3OvsxV-l8eHgST575zpwbWz8Tw16cNP8bItJoNWD-NMQfnunAkSYEwT65bc7gPo3ufTQHNYHL-_rJ6HQWBe_PrzjfzhZtDDy6Py8WJl5SrR4GufCkq9nywKNK0_aFP72J7fvF2tqPw4-I_mseSTUkEd--OOBa-dCsK4ssSIhD1CiD0jOaZX2MtyCka1kOzTA7Lprqcp6hfdjBdNxB07BNBqo9uRrtg07J8jVQYBrRoJSgeovvQQ6kl3si7Gi62L1kuWp_RZz",
  "id": "rs_0df97137c542c7de016ab42783adc887d090666f50b15cdbff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.195,\"right_z\":0.15},\"note\":\"The right arm is clear again; the yellow item remains outside the safe next to its right rim. I’ll approach it from above with the gripper open, then descend only after checking the alignment.\"}",
  "call_id": "call_ycS8fqVRLDwBxSML2DBLUS2G",
  "id": "fc_0df97137c542c7de016ab4278410a887d0ba74b8038dfe2400",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ycS8fqVRLDwBxSML2DBLUS2G",
  "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]: [-0.0189, 0.804, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5415, 1.779, 1.2564, -0.3088, 0.4046, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0027 left_pitch=-0.0759 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4398 right_y=0.1876 right_z=0.1284 right_yaw=0.0276 right_pitch=-0.1606 right_roll=-0.0744 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.6777, -0.0562, -0.0073, -0.0122, -0.1573, -8.6906, 9.8667, 1.8779, 0.1343, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429a67cf6ab70183a9c6bde0fbd1127f2f26fd5b7a244741d944e84e04fc163b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc17accfcd70790b69b6601cd88bf1b41bff62c5cf3c673a392b711afab6a5a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e74ba68989076d07646aa7233c95a55f345bcf6333281e9f3202fa425587cfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 2.308 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4297, -0.0193, -0.0383, 0.9992, 0.6025, 1.948, 1.0386, 0.1154, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1696 left_yaw=0.0027 left_pitch=-0.0427 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0093 right_pitch=-0.1006 right_roll=-0.059 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.0051, 7.241, 1.7118, -0.0611, -0.0366, -0.0122, -0.253, -8.5812, 6.3248, 1.4383, 0.2173, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.453, -0.0193, -0.0387, 0.9992, 0.857, 1.676, 1.2411, -0.432, 0.6125, 0.5293, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1642 left_yaw=0.0029 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3583 right_y=0.264 right_z=0.1623 right_yaw=0.0526 right_pitch=-0.086 right_roll=-0.0364 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4838, 7.0496, 1.8681, -0.0611, -0.0415, -0.0122, 0.6632, -9.5111, 8.9504, 1.4286, 0.3443, 0.1441, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5415, 1.779, 1.2564, -0.3088, 0.4046, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0027 left_pitch=-0.0759 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4398 right_y=0.1876 right_z=0.1284 right_yaw=0.0276 right_pitch=-0.1606 right_roll=-0.0744 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.6777, -0.0562, -0.0073, -0.0122, -0.1573, -8.6906, 9.8667, 1.8779, 0.1343, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:429a67cf6ab70183a9c6bde0fbd1127f2f26fd5b7a244741d944e84e04fc163b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc17accfcd70790b69b6601cd88bf1b41bff62c5cf3c673a392b711afab6a5a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e74ba68989076d07646aa7233c95a55f345bcf6333281e9f3202fa425587cfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeIZCj8bPj9JiCDIzL6as3aQIPc_u51YF2Gse7rK3el649_X9bLOn07vEXJBbFlHfRyvb5WqRt8h6uDrnccwdzVusHPqmskofH4z_RbGWOImfgLnpyHiiKdyqVG6sG_5CwZBswiWiGtIzfipVbBnxkS7eb8RhpFdQKga_oabBxbrP39q1x1wFxMEjMmrjpY2btW6FLD9bMb9Hl9AoHL1yHLRCdvipwMDFBLXGXcdz7hWgmd-bWXRJYqg1kfUu5IwsyWTsZ_bUWYnubox5nb_OfvuZo3WW-N1dB4lU6h5dJNy9sCmAg-JzgMOON-kOTRjfhJeFoSJYvaktDq6SUOSFawOx13dk4hM7iSjnXFvyPX769A1ez0VABcCST_O4VaSUZp2QD_RnMZmZxHc_7dT__dfuBqqbqrte8g63HurHeaPVr8M06FUJhm38vBO2Eh4ZQXMEa6pfpQY0k5wMCZQSWu0BwQT2giWM4ihwLyNfVROLDEWYi-OXBT1YANvjQm8LDbcnzK4iKQJwVGuot3IODufC5IaRQkKS8IIcW7YpjT-b1CuzIqswpyHcBI2JbNFVK3RzChgly5Wl1B5OnoU2c1LApCNY2ujqeeC9Pj2grhFKRUPIQHlme7vXunb0zog19flKmiISbJaLDwF5wOAFy0DgKO0xgekLlz4NRekIOnZx5gFvKjGFrcDjv-a4H3JuqhXNFQTqEJvC-DmRkxuf_qv4PR45lBbuWiHw6zraF32fUJXCKSf0WsJsZGhGHix2zBEncVMrVdFssAFzJwUW-voX6dIWeQWtds2NBwg7ZM2zLvnFlaJ1cEvSPDv2rYYxg0IV0DaU7F9C_K2X8rXnlszIcl7mR2CMiJlytZh_He6dc64lLW08Eo4MRUc3ctvs0MTZY8E8q0i7DQ9L-fBcuZDNdZ2S7R_FRucOZv118hkLrALAZjNBq2lKPYtsx3cc6AnGlAf1Qnb40gJPbXaHZvBnuIvOP-lG8vMwoJQCCEpE7JYgD3-kCzqZgtEyBL_Y9g4xGGX-hz087tRQcK6pMto3-x7inXc5c03570qJTb2a3qDtHnvKogvp7sC0yzPVURc89Rz-v4uI_m418r_vmRftYCeR-ambNU2yL2HXQ9pn35yzBssojGNowpi5MJyQBr8BgD1z5X3NyZjR1JbYigG6hy6K_1bg8TcJlrB18LmgIjBM9If6Og7kSZJuclYqq92Vbjx-k-ABCi6tHzTxo5hKO_ZHcqeWdwWl07G_leG_llIGao0D_AuIVq2oGg1TTJUULKxfjDx1UMIZdcgOnJlVrVfBo2qEV8puW4W7WDwwzB2XHZylblZFRY1cA28pLai_RwbfKu1ZgbC0YfQWUxXTiaEoHS9UDuYXYOF4CfBcVRUFGNy2P3qwEP3glg8rZSKf6zlwWBEGirrhinqQhK2u7JU3QT90EglEqwOEhEFQ8=",
  "id": "rs_0df97137c542c7de016ab42787085087d098e9a8ea1517c10d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.188,\"right_z\":0.085},\"note\":\"From the wrist view the yellow item is nearly centered between the jaws, with its base still ahead of the fingertips. I’ll advance about two centimeters and descend to bring the jaws beside its body.\"}",
  "call_id": "call_e7gUkEPASZsdjp6OJa0M9YHM",
  "id": "fc_0df97137c542c7de016ab42787a57087d0b5cf273077d1c9bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e7gUkEPASZsdjp6OJa0M9YHM",
  "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]: [-0.0189, 0.8051, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.5171, 1.8797, 1.2564, -0.2165, 0.3771, 0.2615, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0793 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4569 right_y=0.1892 right_z=0.0949 right_yaw=0.039 right_pitch=-0.1787 right_roll=-0.08 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2786, 7.1726, 1.6825, -0.0659, -0.0708, -0.0073, -0.5675, -9.5795, 5.9282, 1.7021, 0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfea2b1b7c6527e74b99d4a324a26748f7d13d19dd4095287841122959960bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36eb8ce2e4dbb7956bcb7831dcb1726a042a135472c8ddadb0f83780d4d5641",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ff77a79f90b9bb389469790159431011fd94081acd58d66bf26ace1e0361aa",
      "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 · 2.159 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.6025, 1.948, 1.0386, 0.115, 0.474, 0.3393, 0.9996]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0029 left_pitch=-0.0484 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4345 right_y=0.2054 right_z=0.039 right_yaw=0.0092 right_pitch=-0.1009 right_roll=-0.0592 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1009, 7.0222, 1.7167, -0.0611, -0.0659, -0.0122, -0.3761, -8.4718, 6.3111, 1.4921, 0.2271, -0.188, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5415, 1.779, 1.2564, -0.3088, 0.4046, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0027 left_pitch=-0.0759 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4398 right_y=0.1876 right_z=0.1284 right_yaw=0.0276 right_pitch=-0.1606 right_roll=-0.0744 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.6777, -0.0562, -0.0073, -0.0122, -0.1573, -8.6906, 9.8667, 1.8779, 0.1343, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.5171, 1.8797, 1.2564, -0.2165, 0.3771, 0.2615, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0793 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4569 right_y=0.1892 right_z=0.0949 right_yaw=0.039 right_pitch=-0.1787 right_roll=-0.08 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2786, 7.1726, 1.6825, -0.0659, -0.0708, -0.0073, -0.5675, -9.5795, 5.9282, 1.7021, 0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfea2b1b7c6527e74b99d4a324a26748f7d13d19dd4095287841122959960bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b36eb8ce2e4dbb7956bcb7831dcb1726a042a135472c8ddadb0f83780d4d5641",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ff77a79f90b9bb389469790159431011fd94081acd58d66bf26ace1e0361aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeKgrLYz-fEG8IIjWOyPThONAk-c8Ju-2-RqqdBHCf2RmGj4BK6H3gFvaEXUsJw5eeLSylV_oc3ARj7h2q9VdteC_LehO2WULUZr177zz1tFY5l3M6V_qB60jabFqac83rgy3v4qcZIkc_Qdnck_vp1C_M8ADRZNXkcC6TRV9AhKZ71CAxx5inZPUHhXqJ-NPPni1GcGaN5dU09u7p-ty6gOPfRtW-3gobqjjppne6vJ6Vr1HE3wWKTm2LffNG8dbQaqdygmNof7fa1tZ9QrvpLZYfp8nLEbA-5RBhPfKmotfzKsgoajmymFkUPs5CtlXFSxTC1wGtZKxfQixVBeLc1jOk_FvHKy24e57fXOOZAEaU7kCZXNxT8ZEeS-B47zsTZR7l6oh72gTAWVKscN78tdsBHXS7RMY-ebKk1urCo5qjh2hkJVw_Qb7OLZJ5bEsNn0xwpEM-FYkUmW5ytyNekAAQDl-XPPo81PJkVi-12B3PrWtg5r2PXyPy8GWrYzcWFlGyfsrgR-dYdJ0S5zEu4U-XcYwJCsUyL00EV9INI-uQKVj3TTFVL_qMD_sEVxI6qgBBe-j576igbX1SnD5zPLBNDAkwJDTPziCgr1dxK6_LxiH2k3Tm3GRHZfIjfx5onNVm-ovr2PanoOurMc93RnknXVby18KBsUoEiCr2eIBv6FNzhamK7F1q3rFnq1uKutLT8gkMnQwCaevrZ6mQQraAj10koesPtQZPhUq3gONGteF7DJIhGfaIav5wJC9qJYNgeERgtiNAGQwv4WhddgLwZaTxG5EhHI2gFY-scPrY_LRj04O4QuE68FbuHJxpho4zJH2L4Rekf3pEsCJ538_5DEaNqPnQn23NBOCfUe3sRS4WvN7u50JYyG9SbADGPSv0atj4ILbCPm6d1Cs9Q9Jz_2Gvfvw7ATHWU8CwpyS-Y1lB6GjJ0oEC90HSkPXg2Azhl4ZM-8zITH2lH3iEBROHJKtDtKXcz_BrkB8gZpUnDJtZqmJZJ4JZ5c33B8tav-Vn6A9yXgd9zFjiCIzZPw35tgd8X_3NyDMTQeBEt0xFTp2CIKOQQicCyG0vm_kPtUE4v31WyFyxUTg_W8DpDKdkKTNDnPt2Z-UO8Fr-eEGywqtJLthJd7JBDRThz5hlvusKNLp7UATAaa77baLUWihyWAZSXhrc4a2jKZoOgmPLnhaP0Ps7R7MIcgUC01Z3J9Oh_yOfqdRlH5s9TQN0Bn6pPBrP3drqzdtzoDVzdtYSisR-eT7xnVSZl0o9IaC5E_5-2JgiotDyE-Pkupa2-p0nIb1fBEAcrTrJFpodktVtCGs5ZNdu0sc8SzESwZk8-3hVC8x81Mkrm6ionHSHZsP0WAyUG_l_0FOKRNEWlgTht-6jtu5_-D8TZWjzGcWbNFD9MMncrRMdiqrUPP2Vifw==",
  "id": "rs_0df97137c542c7de016ab42789919887d08427ef8236f87541",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.481,\"right_y\":0.187,\"right_z\":0.052},\"note\":\"The yellow item is centered in the right wrist camera, but still stands just in front of the gripper opening. I’ll lower and move slightly forward to catch its lower half.\"}",
  "call_id": "call_DDnFfBtvj8hyypdBtSC5Q0f0",
  "id": "fc_0df97137c542c7de016ab4278a119887d08dcdb5779932f20e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DDnFfBtvj8hyypdBtSC5Q0f0",
  "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]: [-0.0189, 0.8051, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.4927, 1.9839, 1.2381, -0.1341, 0.3573, 0.2398, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1595 left_yaw=0.003 left_pitch=-0.0919 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4653 right_y=0.1837 right_z=0.0502 right_yaw=0.0388 right_pitch=-0.2223 right_roll=-0.1003 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -1.2103, 7.1453, 1.7705, -0.0659, -0.0513, -0.0122, -0.5812, -9.5385, 8.5949, 1.7607, 0.0806, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7b7c81eac537f8533275489d20c8d138561495beae1f53278fe697b0b310a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb8b362e2c3a5216a759ef0688f302ad83b3b9c23aacadc340ccd3039476670",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e720a50674fb679b34520a13c05a07f74e5a56ed920e7537f6eebec15ea16b2",
      "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 10 attempt 0 · /responses · status 200 · 3.593 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.453, -0.0193, -0.0387, 0.9992, 0.857, 1.676, 1.2411, -0.432, 0.6125, 0.5293, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1642 left_yaw=0.0029 left_pitch=-0.069 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3583 right_y=0.264 right_z=0.1623 right_yaw=0.0526 right_pitch=-0.086 right_roll=-0.0364 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4838, 7.0496, 1.8681, -0.0611, -0.0415, -0.0122, 0.6632, -9.5111, 8.9504, 1.4286, 0.3443, 0.1441, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.5171, 1.8797, 1.2564, -0.2165, 0.3771, 0.2615, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0793 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4569 right_y=0.1892 right_z=0.0949 right_yaw=0.039 right_pitch=-0.1787 right_roll=-0.08 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2786, 7.1726, 1.6825, -0.0659, -0.0708, -0.0073, -0.5675, -9.5795, 5.9282, 1.7021, 0.2271, -0.0073, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.4927, 1.9839, 1.2381, -0.1341, 0.3573, 0.2398, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1595 left_yaw=0.003 left_pitch=-0.0919 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4653 right_y=0.1837 right_z=0.0502 right_yaw=0.0388 right_pitch=-0.2223 right_roll=-0.1003 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -1.2103, 7.1453, 1.7705, -0.0659, -0.0513, -0.0122, -0.5812, -9.5385, 8.5949, 1.7607, 0.0806, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d7b7c81eac537f8533275489d20c8d138561495beae1f53278fe697b0b310a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb8b362e2c3a5216a759ef0688f302ad83b3b9c23aacadc340ccd3039476670",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e720a50674fb679b34520a13c05a07f74e5a56ed920e7537f6eebec15ea16b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeNm-FckBkghi6Ni0yIjWJRePJvDhIlH_5DEPPwMAQDTb2qXuYiguDynShQNW5DY9ict1XLuDNOx8DaE_J84IHkN-FdukeQje5352eBx0bd1GPMJtFV6aPbNu63gNZGPZ1zffNI4GOp16N6zEWvtMdkDtWm5ScTktlJFnvYB73hRjeR6wLht5-3vYAYR-3Q6jcYcU8Ixu6B6bYOJh-PyH3ESIfmSeSKvsnj_3bUHxYXIl2EZGDjBJhangipMfAJhN9D9sBFCle8lcn0e96ZKMypNG-L4v5DH_z-6MzaPGDYGMxuetNFiO-NwJ682XLUTGZD_LgCmfApLrkSl80FBkXRKQlMp2xIztKAPhJHfuRUYRPdzF_6Du1dnBcbYCJ4f3EHVxMPlt46ij2ERBhGrxND06V76dGxubf-H9aSk9toOwC-tobcgZXX9s24uHXOISswTtkXoVl4JG6cs6ksfOpKKA78t2J5c10FdqgPvJz1FXLmnNgOci-DA3cXp_MXUK9aGzS0psBSFd2QUdOAw1I3_NqGC0KGDxx9P0U37_sTJVdggaKT9tLKCQInPd1SWTgj5MBDH1aRSi1EcEKLuHi8o3ot-gD4SrbsqlsqOf8iqt5U5uXj17rzJsdZ5Nr9ylUKg9lQb04-ZewuSpzU56i1g-FAetDerx44Is10WlxNAuehwckGH7uFJM5ODYCorfp8IF-n51yFWvJQMyYogveoKpSbFDYIPx0UpVamSJ_tnCE1k0tvcAh56BsEMjCAUDtU3AVz2Xj8hVJQasQviwWphxpFnlVeK23KPVsN2OcvGZFxqjIgL4SgPC6jwQEK_ELHkf7GUYZ64dCu6RfjVT_Wo_9tZJdmNFk0VwIO_yrFfecULUl5IIU7kS7YzlkzEijjwaCGBE1UvcJga2HsaJgDyTTwOc3Nl6koBD6m0VA72aIDIJ1n867nt59zSByLsZOgEUgcy2JMBRdbSDN1YJz9vxEN1M4fHyZcPNBl0g_z2dqh4hNdUliaw2c23j8Dks1AgQZ6fVIKtM_Ur6J-YkYvXeKitPCUb26Tcp1br2W1H7gou_wTzeVPEAJV0Fvw2H5OqrQGzsy0G26UBGj5gz8ZaKrkkTo6QFv0-NFihjL2t5EUSB7WAvgsUvuw9MYumvTe1xEIKi0xYTDDe4rcMk0jwjaQs6Dj4gpAlKKHdJLYvQoLpCOdpy2-K0V2CUBTbygKMiw-hEeuOs9eesLLnGnSmPh_1MI6uwAXGAohBoYMhmVDGzI5NuDE8HIy04p5IGmtHOopHv-KM7HFm9AD3JHzt3fQP9L6u-nxPyjivzKssTOswkr0hklPElchJfaymIHw",
  "id": "rs_0df97137c542c7de016ab4278c239487d0bad9263047007541",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow item fills the space between the right fingertips near their tips. I’ll close the gripper now and check whether it is actually held before lifting.\"}",
  "call_id": "call_1h2tAaCakNdWvNiz8H5mueO4",
  "id": "fc_0df97137c542c7de016ab4278c8cc087d09344eb517e021fd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1h2tAaCakNdWvNiz8H5mueO4",
  "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]: [-0.0189, 0.8078, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.4854, 2.0167, 1.2427, -0.0799, 0.3393, 0.226, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1574 left_yaw=0.0028 left_pitch=-0.1018 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4738 right_y=0.1875 right_z=0.0436 right_yaw=0.056 right_pitch=-0.2053 right_roll=-0.0861 right_gripper=0.0082\nstate[joint_eff]: [-0.212, -1.4701, 7.0906, 1.7021, -0.0611, -0.0073, -0.0122, -0.4991, -10.6462, 7.9111, 1.4628, 0.2613, 0.0757, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da475cc6ed5d8851e22a481eb9d1d916f065c10b28249462ffcba746535757cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845bc13fe6c7cef472efb701ddf3ed0b0ae53cd158cabe45a9dc6d5317e7c04b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f9f97611800223246daae140b192c367c6cb2addbc35b0985031c74d59ee88",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.47 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4583, -0.0193, -0.0383, 0.9992, 0.5415, 1.779, 1.2564, -0.3088, 0.4046, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0027 left_pitch=-0.0759 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4398 right_y=0.1876 right_z=0.1284 right_yaw=0.0276 right_pitch=-0.1606 right_roll=-0.0744 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.6777, -0.0562, -0.0073, -0.0122, -0.1573, -8.6906, 9.8667, 1.8779, 0.1343, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.4927, 1.9839, 1.2381, -0.1341, 0.3573, 0.2398, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1595 left_yaw=0.003 left_pitch=-0.0919 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4653 right_y=0.1837 right_z=0.0502 right_yaw=0.0388 right_pitch=-0.2223 right_roll=-0.1003 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -1.2103, 7.1453, 1.7705, -0.0659, -0.0513, -0.0122, -0.5812, -9.5385, 8.5949, 1.7607, 0.0806, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.4854, 2.0167, 1.2427, -0.0799, 0.3393, 0.226, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1574 left_yaw=0.0028 left_pitch=-0.1018 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4738 right_y=0.1875 right_z=0.0436 right_yaw=0.056 right_pitch=-0.2053 right_roll=-0.0861 right_gripper=0.0082\nstate[joint_eff]: [-0.212, -1.4701, 7.0906, 1.7021, -0.0611, -0.0073, -0.0122, -0.4991, -10.6462, 7.9111, 1.4628, 0.2613, 0.0757, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da475cc6ed5d8851e22a481eb9d1d916f065c10b28249462ffcba746535757cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845bc13fe6c7cef472efb701ddf3ed0b0ae53cd158cabe45a9dc6d5317e7c04b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f9f97611800223246daae140b192c367c6cb2addbc35b0985031c74d59ee88",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCeRDOVXDnyCkigwcVyTU8RxHjThrTQ7DI_dkz7K0J5No6IhpyqqieEIrumfkGNIfTeBuMnU-BdVREtdrxx5ZNYuZ6KdpUvaoQU6HCNCo6I9LtQGWZPSh8zAEWnP3YouyBaf-psbnRjDenGoGTorTCcvNHxM8nR2TVwcvl4ywRZS9bLTdShE4cMq0oYz3teIkbAT5mMoN19e8uy9G2Fv9kArOlcIy-A8879Od2xQVzcS0FB2K41odJQeJpbdQdzSbpknd0HoVGUX--nguFolrOmYBOmaCsF12D4B2kNNv63FhyPLJP7VXleDAEJt4qQbTJzHpNz7uQCDdHSk5mxi1n8vTqohEDdCUb0LnosGPnc0q80Z9mOpRRTi7gKxNybhpHOfNqJ9b-yZPNxuyapt2NGpe-DkuZjO0_FJhmI7b2gMRgzEi5bVgsAU5Y9riQN7Fa7-kvZvGKEqGjccQuPDYxnN5tvbzw0Icbg8sIux_Rfq96bH2Oo0_lZVvWYZnEIslx7n6dOlj7-wWC-IDVkfkOPjO9vId3Svz7g9C49WQxQMQfvv0p0jApM3VfwZsMD0YEWMhog_My8cW32nwTqD4oMNJq9f4FM-1oXWEqus9Pjb6wqbiMnHH2cpkds9aIX7RbgbLTBku6bHReiZVlxZAjy2p4OiXdaKYhXuN4ixObh-ZL5J3Hv2JF3-6zoWmDlv8LLeqt8XgYqGMh339B_q6jslJqBrnOUY6abuk7Uzz3FvhxbdsgDfu367CPHdtYzIEs_TUb6Vw82YWFJXFLzzv9dVH1n99ght9BFz-pKKpoMSmVQ_URSUKlIaY16x79ps3mu35Xja5A2JCLTYnKSjwBJR1GCCWYVMFvQpzfxpDyd77bRlwuAbvj6F1p5po2303MWsw6Q0-WRwI8R9jUSFM-SBnSmW5EoFJfzTXtEEGDUIwiIr2la16F4j_FRJbKypMo-euvBTpKKp5DqiehbIshYxYdVNUTLCte5A-EF9bbM0CpmWfpJ5u5bsUoDW5h6fwm_vgPFJyML7j8d7NLz57aZVKOs5kGH2me_tWUR5Luq4ZvqqQC70qlZAFjiH_3Ch6ZtT0nz-8F9vsa9ezyqS0chUIoiT6ddHoQOl_wyDoafs1kCw7c5gWuyTqy2Lq8SoUnb_0ammlrLrfxHzASujG4GYVh0DYgKkm6QLiJMTYmviXQ0usNTEZEAaw3fG3-hkFz4ZYnbeTm8J60A-z_cKDF4rvJrLk9hUYFBykcCGrnhD1X18VRQD-mmWvoFHhHO1sZh4VN5KsU4tEwZxhzm_q5lL-DpUyqtWH0y6Oy6a3NpxKVZG2_hpVqQME-aWo3FEk3ptHy0BsTFZScoiMBYtOJG0bDU3yWKFE1_IoDUkNnDLtviOk8dI_OC8CEp_kadMJp0zoHNuZamq0B2PJaAZ4DVU-3W_yB706aKIpCtJIUyDkwUer8goNKnwpzDXkunQIwPu7BjUSWTEBqcTztC6uWHFrLMMHdizxWwOKUz9SD5uULOwFZI1ZlHfn1LWO60RX7LfrUk6LXGjtiBTNvunFIEyAwWJq84UW739-Dry4td-pIGQUf3J-uBIs8HXup1Nx6FkZki8uqGihdIdU2LE0bfqSdMj_bQlBB5LrPkl4J6ZWkIPJulB0VZb9_TBb0gVYOjkGD63uepcLP16c5VdAvcyBops3Wq4S3BxsdPtaw4kXfrF_xYBqb6XOYqWS4kLEP_d0EkxAHcOAG_6vmweOv_XlbEiPifsNjjGQxTjhjwrVhgJjqHZ-tO6PwbldAqVUfvnq2Uhko2y11Ro5nD6D23AyTy8vV-TUKJcP1hE07EAtVThPav5UmqQIde7pekK9FnA4bbIo1n_03GLLwEGpGTMKgN2-82LjYALVQ1xWb692M1b2QHS-T6dzAFZ42FqpKj3zzgnt7m9uM6dxAf66c_9wUArtkOzbnf8RZPlmBlD-bCivLnpGaR1ZYBPBGgn6iv4drAHAy5n-CLL6mfmVvubMg==",
  "id": "rs_0df97137c542c7de016ab4278f5cf087d08e32f366e8a0d13a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.492,\"right_y\":0.185,\"right_z\":0.045},\"note\":\"The right gripper closed almost completely, so the yellow item was missed; it is still just beyond the fingertips. I’ll reopen and advance about two centimeters for one corrected grasp.\"}",
  "call_id": "call_6PaVI7lkUzCGQt7FhrK77XVz",
  "id": "fc_0df97137c542c7de016ab42790d4c487d08d8f0388d0dfc870",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6PaVI7lkUzCGQt7FhrK77XVz",
  "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]: [-0.0189, 0.8097, 0.6067, -0.4992, -0.0189, -0.0387, 0.9992, 0.4667, 2.0426, 1.2877, -0.1177, 0.3164, 0.1989, 0.9946]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1534 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4808 right_y=0.1847 right_z=0.0408 right_yaw=0.0694 right_pitch=-0.2307 right_roll=-0.0967 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.8584, -0.0562, -0.022, -0.0122, -0.9368, -9.4564, 8.8957, 1.5897, 0.1441, 0.0464, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d219d170c26cb8cac85a82142f1385ca581b2795b069abdbe8891fbeb0406b71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed50b27773558ddc6498aa6304db5dfad8253e9a745fd8d5c5488ca2dc105b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4d0322a107ba72541d593af8d469c21d806eb2160bb7f87e9c065ec0ea23a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 2.829 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4606, -0.0193, -0.0387, 0.9992, 0.5171, 1.8797, 1.2564, -0.2165, 0.3771, 0.2615, 0.9996]\nstate[eef_state]: left_x=0.2843 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0793 left_roll=-0.0021 left_gripper=0.9992 right_x=0.4569 right_y=0.1892 right_z=0.0949 right_yaw=0.039 right_pitch=-0.1787 right_roll=-0.08 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2786, 7.1726, 1.6825, -0.0659, -0.0708, -0.0073, -0.5675, -9.5795, 5.9282, 1.7021, 0.2271, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.4854, 2.0167, 1.2427, -0.0799, 0.3393, 0.226, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1574 left_yaw=0.0028 left_pitch=-0.1018 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4738 right_y=0.1875 right_z=0.0436 right_yaw=0.056 right_pitch=-0.2053 right_roll=-0.0861 right_gripper=0.0082\nstate[joint_eff]: [-0.212, -1.4701, 7.0906, 1.7021, -0.0611, -0.0073, -0.0122, -0.4991, -10.6462, 7.9111, 1.4628, 0.2613, 0.0757, 0.6374]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4992, -0.0189, -0.0387, 0.9992, 0.4667, 2.0426, 1.2877, -0.1177, 0.3164, 0.1989, 0.9946]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1534 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4808 right_y=0.1847 right_z=0.0408 right_yaw=0.0694 right_pitch=-0.2307 right_roll=-0.0967 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.8584, -0.0562, -0.022, -0.0122, -0.9368, -9.4564, 8.8957, 1.5897, 0.1441, 0.0464, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d219d170c26cb8cac85a82142f1385ca581b2795b069abdbe8891fbeb0406b71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed50b27773558ddc6498aa6304db5dfad8253e9a745fd8d5c5488ca2dc105b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4d0322a107ba72541d593af8d469c21d806eb2160bb7f87e9c065ec0ea23a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeWjLZszfi2dSiLUTxymOtDR8vAkzKBrjGUfKpz5RSFeKaF5sHyptWmgnOkhCrKl6lfoTwnPFAdRqvqidxy-O-N2wJ4xVMG6amPaRg5QZI-AT4wHDXGbUUQwhboqvxClR5_XPjAdKFzTyh5zpsakS4di74ohT3XGXPFsRIfgiZZmNl6dsHv2IGwrarws99RmYSLtMcXvZc5gTFlmgKZuUwWPCwofXDCP1fl_3HiOfjCe1pdEHxNGPLmVlKDBfG9k7XDmNNgqWZlztp57fJAGTjb5Btnqnn7TKHgC9IqLuhSfgqI_GNXuZa02nB183MBSK_IcknHiNCCBZacf7LGAnDrE-XWVmDnLkZafN5Iv1wRasdEHkNUzKq3GYbQgZJeLM6yUNMVzA3pmBS4x1VgzSOa7QWJf65XwERJJTYhPOViRtx-4CaRWCKuiwYTEWpUDn_Guv-SXzNjUdhWGK_e2nOr7SZhJs4ie3xbNTFi6sPj31u-WkCdxdQwvetv2ZW4ewK3Qyg5t-4b4oP6fRfDikRKETlf8GTS57KdTKCRkw5SlDVXGcXSJqTFFRMXQra4-2jkHM8bEibKRppsIN3ZYVQs12Lpf-CLFzKW7MOML72J7PLFg5Fe1lacHfKFYETfaoYbLOpNwV2mffX95xQP8nmwfa4Vnn0_PR-K0KgSFXvVazJoPRKjjp6FQvBby9CGJIyF24FqKDrrGD-uohVWFAVBxyKp_I3naWrIhtw3MlIfubaPWjDzhT1t5U5d96tfrO9mjctIo1heeqawAm4f22kb5gSX4O5qiPyAPNAMmNFWG46vjBpLZzmYLtlpzEQ8uVu0dXt5BlikuRBCAqZvx38fDEMPcOGxJoc6cJYRezOlb0IgbDyX88KMJ2go29O3qgkT4qCJS23EGObzcd7ydhIiTISBZ6fs6oiC7s7yWkdjZMybQqD8whUgRLSzUPYjoul9BID4LrioNMaKCW_O8pwq_Mo2jA4Y3sNLJEG_TCaf8mbWy2X6F1VhQtLZTS_lacstlR1qPN1WR0ym8p29QJZnjEmRhHAOtKbSbpYnlUDMG5HHQm_dy_GBDpEaCLtT-YtcCXeActowCYL-780l6420kt9jFRUWlsLLSkDw7apzhzYU6BDUY6Fns41ZZ8VrWX9E6WtUCfSvxS3NrLi-M04Ue4QO3xgWX45l8LUQpOGyA2J81atM91Q3OjxqVYa0iNyMHGVhBk3cZoc0-Af9kbUAqT9ilboRvO4NYcCfqgT-UMmQgmz9WCp3HlGQJkvyd5_Nv4rKWyOLMkwumJyiMKt2uD1uhxnHr_e-DAJ3Uj83PYMYtzp8nFmN7-LHzEdd8PakyPxoipl2z_-br9Ix9ci9HPRg_G9W2PbUd-QHcVQDI2vMWei8XGkLIbS060khMn6_waTr81dhOzlyTNp33JcbeQcHbawUkSqpQYK81nKMBwLESXwVrxbX-aqHQo6km8ZiY864ccAxwdeGZL4FTohAgM_0bDjOiKlX6iyV2aLm3w5fC_2osCUolbLUPJhFaXUQpFT8Gu1uynZrCJjkuLsgxT-1kHn-ORsvgjgNNWDLxaAZ6aht6rFZtshQK8s2-AQjF-w37Q83gfYQxASZ0SSC1PfAvc4JCWnWDdur-5bDhahSQQaZdJHTd8PRQ8Gi_UlCD2I_-lFgnrIKF-C9MCjlIL2RibDDBoelxR4WngxvRVHfu4gJDNYPPTAo0xEIWgiZF22hyDyXayySot_5tDFQJeoiRTAet79MV4YgJ5u2wxvLhdfRHxJHNrCe-eZlrzbMHxo1RBp7NguNAEmzvib4R7MkhqTfWx7CHf1QSDrDOkGnN-105lJ0ecSYDXsJ5TpYjMUsdpvO2bIv8d507xj-Vi2YzcbYAbTbKb2EtNQxf2JtgeCknV-VZJPb8h3y6P8SLvy1OdcfF7i6zYXkjtYmtUxxzGkZ08qmmax6v69je9bHAfzbz__mfSgL8iGfOIbxdqCRKPC2Pq8VInp77rxSQu3KuAODZFmGNE8nHjrKjBlh6KFoesD4NLVLBOCVMTh8xLSlSZJajrJic9_McIC0GA==",
  "id": "rs_0df97137c542c7de016ab42793ee6c87d08b90ed998372f727",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.487,\"right_y\":0.168,\"right_z\":0.015},\"note\":\"The open jaws now straddle the yellow item, though it sits a little right of center and low in their opening. I’ll shift slightly right and descend to grip it closer to the table.\"}",
  "call_id": "call_A08u8sCZ1HwDPnkx2QaQKyWc",
  "id": "fc_0df97137c542c7de016ab427957cf887d097cbc3a008705388",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A08u8sCZ1HwDPnkx2QaQKyWc",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5045, -0.0193, -0.0383, 0.9992, 0.4492, 2.0518, 1.2617, -0.0696, 0.2977, 0.1825, 0.9964]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1524 left_yaw=0.0029 left_pitch=-0.1278 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4832 right_y=0.1794 right_z=0.0333 right_yaw=0.0775 right_pitch=-0.2249 right_roll=-0.0897 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.7509, -0.0611, -0.022, -0.0122, -1.4564, -8.253, 5.2718, 1.5702, 0.2027, -0.1587, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281744d1e8d48a44dd0b75d025358289b9492b950a36353e662c5321a71f14a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c34aa5588efad18a59fb2e5a63b541ee774f4482ea442539870fcf39dde85de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a01922882310cd2c2556cfd491f92df27da6cfec2d2f8ddb4dbbe2ebab83d99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.191 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.4732, -0.0193, -0.0387, 0.9992, 0.4927, 1.9839, 1.2381, -0.1341, 0.3573, 0.2398, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1595 left_yaw=0.003 left_pitch=-0.0919 left_roll=-0.0018 left_gripper=0.9992 right_x=0.4653 right_y=0.1837 right_z=0.0502 right_yaw=0.0388 right_pitch=-0.2223 right_roll=-0.1003 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -1.2103, 7.1453, 1.7705, -0.0659, -0.0513, -0.0122, -0.5812, -9.5385, 8.5949, 1.7607, 0.0806, 0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4992, -0.0189, -0.0387, 0.9992, 0.4667, 2.0426, 1.2877, -0.1177, 0.3164, 0.1989, 0.9946]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1534 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4808 right_y=0.1847 right_z=0.0408 right_yaw=0.0694 right_pitch=-0.2307 right_roll=-0.0967 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.8584, -0.0562, -0.022, -0.0122, -0.9368, -9.4564, 8.8957, 1.5897, 0.1441, 0.0464, -0.2173]\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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5045, -0.0193, -0.0383, 0.9992, 0.4492, 2.0518, 1.2617, -0.0696, 0.2977, 0.1825, 0.9964]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1524 left_yaw=0.0029 left_pitch=-0.1278 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4832 right_y=0.1794 right_z=0.0333 right_yaw=0.0775 right_pitch=-0.2249 right_roll=-0.0897 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.7509, -0.0611, -0.022, -0.0122, -1.4564, -8.253, 5.2718, 1.5702, 0.2027, -0.1587, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:281744d1e8d48a44dd0b75d025358289b9492b950a36353e662c5321a71f14a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c34aa5588efad18a59fb2e5a63b541ee774f4482ea442539870fcf39dde85de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a01922882310cd2c2556cfd491f92df27da6cfec2d2f8ddb4dbbe2ebab83d99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeZc6wewO4Bpy4zFgSvIs8VR2Zkx-yDMFxgdBQ1RMhvPMeW2nqVVevihM8Svhv5NxH9RxmbjViqYb1mgZ-h3D7RiIKKj0V941QBQ2N4zPWc36gpkTZKpro0LUsQAWUHy7IuXc2Wx_ZD5r48cKBEamG6xhD2V4DgMU2YRjwU7yoU73txY1QL_vNG-111pHoIQ2uOKRY9sMn9OOnYhzUXdhR9HadDy06mErVEuBLGg3dP1SbBUjB6U011XO8CL_yPpxoRC81K3ahvPCt_vA1lcnsBw-CKBWZQxSrzsFDTxfsw-TkcmBF9XJ9-x695VYC5QMcw0Yqah5r0sFQD-kqrOVdzzmbK2qNLsU96E2xXtD7foarHqS7LWnEPg-GeQDiDF0Xc4JBczPkJFw6yvyHfPHArSozlQPZ4nR0Ui8nVaeP4F_0mCNEloU0boGel69fRCkye1juqbreZT4huzDqEr4pRMozCNRLKHLr3iK43BtrCL25bBcYo3sydHj88KDLyAFy23ekBqdodqkdc94WNHdCBd-C_7qdQrVvUlhpFx4T29YKf-b2buZY9vtdJdbSk1UuBMXa4zcfYTmdtqEsRwtkN_0UR9TQ_f92NO1ZB4a7v2tr2bZooYJRQ9WXe07835zHO5j9NCW_4ZnQwmQkjygusQgfOi_mWxD9C6AqtRfRks9QOnWvaoS8myQteJGqKZr_FbJS9WXMPjPQGB6zv5LymiSGzvHExy7LCscRLZDK2PhMU_AEymyEDsatn4gMidQcFmKlwME6eaiuynEYksMP_0ZMZOmITMaVKQ1VjmGG3cUTcdL4Gj2r3HkLsh76Iz7uLZRkKd3Q4zflYBY9DpfePQfi2pkwg7SWP9LEKd3XehWLmc64VQvNVpzzP19rn4AQTPPJWUi0EXCyAzuEOVntnY4ih3XnvfpJyISw7_I-sWzM93kshdxjcye4Jclqnq4_5TVq39AgoOYGpo7g6R3zcS4iT3gn9cyg8KgS2m2pnYgNp1IML_XXeLXR1d0PrkWOsi8tfkhmdKNGjH_D8_KrMz3BbsZo0fYXYPLDNpBs_j03vgA2b-3k9evSZDyfLf7oOKcGvkC5AaA_FuvfpCepGuNN0QZzvVGVJgVIDfDW7TGWhPHPwbFXYH2FIzRVPD46ZoAIm6ehSQq_0wAo6KDB9VjXsztC-M3lDBf1K2kRZnPwDZ-H0QrospcnAVxzEvd9HYRNJoVnVxxGPJmoaQmSh8mzxNmq5Tr9HxVdNmgMUgZm9hs4qHaIxh7z4dlPyV2oLVucf02Hda0XylfPBhhHiKGkPYjARV1XBbggblZw4v474qESafKGOESzJaIa939JpO4UqfCRN08YgkpzUFrirf9krx3xH-9oeat87_hQ5gBb9tthQvwINunxXiV3X7ULn",
  "id": "rs_0df97137c542c7de016ab42797d79087d08d717cb804aab30d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow item now reaches the fingertips and is between the open jaws at table level. I’ll close once more and judge the grasp from the settled gripper opening.\"}",
  "call_id": "call_wWv0wSr0es2Bb6vT40uPzlzc",
  "id": "fc_0df97137c542c7de016ab427984bd887d097222a50fda3ce1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wWv0wSr0es2Bb6vT40uPzlzc",
  "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]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9992, 0.4503, 2.0571, 1.2453, -0.0875, 0.2497, 0.1944, 0.233]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1411 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4727 right_y=0.184 right_z=0.0202 right_yaw=0.1078 right_pitch=-0.2745 right_roll=-0.06 right_gripper=0.233\nstate[joint_eff]: [-0.0752, -0.9915, 6.9128, 1.6972, -0.0806, -0.0415, -0.0122, -0.212, -11.4393, 7.2274, 1.5409, 0.5641, -0.1734, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963697577348d1373b36bd08888d90c0f01b171760858a3e2b074aa0f9e46d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:062ddfe3c7e2bd1c618b3303e43c6ea41f078350c02d6857b637705dee1536e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7b0c07d5eabe3950e4a3870f92a1f1ef37513175676964b19ea9e82c9becca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 6.128 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4805, -0.0193, -0.0383, 0.9992, 0.4854, 2.0167, 1.2427, -0.0799, 0.3393, 0.226, 0.0082]\nstate[eef_state]: left_x=0.2814 left_y=0.0017 left_z=0.1574 left_yaw=0.0028 left_pitch=-0.1018 left_roll=-0.0013 left_gripper=0.9992 right_x=0.4738 right_y=0.1875 right_z=0.0436 right_yaw=0.056 right_pitch=-0.2053 right_roll=-0.0861 right_gripper=0.0082\nstate[joint_eff]: [-0.212, -1.4701, 7.0906, 1.7021, -0.0611, -0.0073, -0.0122, -0.4991, -10.6462, 7.9111, 1.4628, 0.2613, 0.0757, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5045, -0.0193, -0.0383, 0.9992, 0.4492, 2.0518, 1.2617, -0.0696, 0.2977, 0.1825, 0.9964]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1524 left_yaw=0.0029 left_pitch=-0.1278 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4832 right_y=0.1794 right_z=0.0333 right_yaw=0.0775 right_pitch=-0.2249 right_roll=-0.0897 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.7509, -0.0611, -0.022, -0.0122, -1.4564, -8.253, 5.2718, 1.5702, 0.2027, -0.1587, 0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9992, 0.4503, 2.0571, 1.2453, -0.0875, 0.2497, 0.1944, 0.233]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1411 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4727 right_y=0.184 right_z=0.0202 right_yaw=0.1078 right_pitch=-0.2745 right_roll=-0.06 right_gripper=0.233\nstate[joint_eff]: [-0.0752, -0.9915, 6.9128, 1.6972, -0.0806, -0.0415, -0.0122, -0.212, -11.4393, 7.2274, 1.5409, 0.5641, -0.1734, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963697577348d1373b36bd08888d90c0f01b171760858a3e2b074aa0f9e46d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:062ddfe3c7e2bd1c618b3303e43c6ea41f078350c02d6857b637705dee1536e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b7b0c07d5eabe3950e4a3870f92a1f1ef37513175676964b19ea9e82c9becca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCecbWfTC3yVCB-V2SbWo66HjYpfFKB5YZhphqfN5E7PmK8FaiOIeizRDEFkNWmBGJiLDjXpQg1osYr2JH4T5WlfGU2bf179WjEfVPyakT6KIk8AlRnz3vVBhIHONtXJsUyZUlM4wkUlV0wGSnnlSFJHhxXpR-13Imzzis-hiuhwMIV3-jZJ3syxeMwnPGjEZEzVC-P3_w7gelJySjI9KR_OnzU42Xx1bHj2_ToubFhTlqcxGAaIQJ0YuCw29eC_le3XXS_RPET-gyTz5mgVRiwz3hRO7VMyMEFwtAQgZIxFJ2s-cHv5p4O6EASrA2w8stB8alchy9DKEq2Dc1XPcQRteOS7jd0DacHZ_u1BbGW8Xo80Tbj8XbXD1VzbVe8Vy7QIz7vvcx0F69MJ3ATAhhzgGahlZD0MrcYir-iGMUf6blHKUSeP0dALn2SK9jf0MAZkV_xPffzMdSg4l07nJdCQ_98ao71eTW_dzkEGtJFekF5tNvir5PBH2JlhbuDjwytKAM2tuV3uRfbA2ZcVrj6iNoMIZpE9qZPARNzuainvWAuoefxOejnOOisVA2ANpOg_MP4zn9c16LoPp9O-7jG6gZbRizJcXruQFs3vvQAIkHEB3IHvX5LAaFxSyrT89aLMywng-I9cjyzyFLQ_EAHTg1fljEX641vLJ_Hx0h1k1WQmgjkcv9o0bMYGWqtD700886Vfk8RCmMA-qAur0NI_aSmALHJRFXrfOmMG21g8RfQXQ3PMyz7WcgJIIRGBI_WZajYEMwDzCRsoKldGre7QoOmCKrjQvolkUwTPgHDiuzQWMgv3EPOLkjdckdbINacyu3NCPV_xCTtY8t1iBOE92HkIU3fVorfmUlumfiE2KffznYMUXEVbr9Br0sY931-Tx_xp00WNCCLUd8TEA1OY0n8ZyaTLzmqQFWlNcmV13YXgK7n-VaDeRTKsdSZeUl298foZ2zPNsjumrfcc5Nu_LOkzi_w0acDN4MywTFPK3I_6MQILO4jKSVpvoV0HwwDZv3fRaotmduT-FhttMCTFxKhDiukWry5UFLdDm4qaCrrhIofWeIXiIsJOaxJCvvXJy0hjbwpHTjV2be6MsXkl8v3T31kQ6wtnl87_fbOmJykIYIkBl79LyqOnT0SWHRXwZgX_nRMvIGnQye0M6TUHIl5aoL1Nvo-7H-etkb3gxeXtdyIvRLA9XS_i6Nu5iPt7a0nzdJpocnD4Z3RG4hkVzKfSC0N_as-lOSYoJ8yIMSAPRzbdDcaAO98ceIYTVUpo",
  "id": "rs_0df97137c542c7de016ab4279b372087d08415a17b0b5fb39e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.448,\"right_z\":0.17},\"note\":\"The gripper settled about 2.2 cm open, consistent with holding the yellow item. I’ll lift it clear of the table and safe rim, then verify it moved with the jaws.\"}",
  "call_id": "call_wcPHdh1gbWfzLCthHbmoUT1F",
  "id": "fc_0df97137c542c7de016ab4279b77f487d09460526dcf699cc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wcPHdh1gbWfzLCthHbmoUT1F",
  "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]: [-0.0189, 0.8097, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4767, 1.8446, 1.486, -0.5922, 0.2501, 0.1989, 0.2318]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1485 left_yaw=0.0028 left_pitch=-0.1487 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4467 right_y=0.1855 right_z=0.1402 right_yaw=0.1258 right_pitch=-0.3227 right_roll=-0.0756 right_gripper=0.2318\nstate[joint_eff]: [-0.0205, -1.2376, 6.9128, 1.6435, -0.0171, -0.0513, -0.0122, 0.1709, -12.3966, 9.0051, 1.5604, 0.2662, 0.1587, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67cd54b99085203b0455cb0552545b7589caf01004763ade88e97ab7ca5d75f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d266e7cc8f540024baaf88d7c29737360cf9845876df42c44122aae948deb494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1412330f950a485b06d8b6467c767795d5ae54af9a7137e58fad1ac1f4ae82f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 3.995 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4992, -0.0189, -0.0387, 0.9992, 0.4667, 2.0426, 1.2877, -0.1177, 0.3164, 0.1989, 0.9946]\nstate[eef_state]: left_x=0.2785 left_y=0.0017 left_z=0.1534 left_yaw=0.0027 left_pitch=-0.1224 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4808 right_y=0.1847 right_z=0.0408 right_yaw=0.0694 right_pitch=-0.2307 right_roll=-0.0967 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4017, 6.9538, 1.8584, -0.0562, -0.022, -0.0122, -0.9368, -9.4564, 8.8957, 1.5897, 0.1441, 0.0464, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9992, 0.4503, 2.0571, 1.2453, -0.0875, 0.2497, 0.1944, 0.233]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1411 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4727 right_y=0.184 right_z=0.0202 right_yaw=0.1078 right_pitch=-0.2745 right_roll=-0.06 right_gripper=0.233\nstate[joint_eff]: [-0.0752, -0.9915, 6.9128, 1.6972, -0.0806, -0.0415, -0.0122, -0.212, -11.4393, 7.2274, 1.5409, 0.5641, -0.1734, 1.0232]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4767, 1.8446, 1.486, -0.5922, 0.2501, 0.1989, 0.2318]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1485 left_yaw=0.0028 left_pitch=-0.1487 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4467 right_y=0.1855 right_z=0.1402 right_yaw=0.1258 right_pitch=-0.3227 right_roll=-0.0756 right_gripper=0.2318\nstate[joint_eff]: [-0.0205, -1.2376, 6.9128, 1.6435, -0.0171, -0.0513, -0.0122, 0.1709, -12.3966, 9.0051, 1.5604, 0.2662, 0.1587, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67cd54b99085203b0455cb0552545b7589caf01004763ade88e97ab7ca5d75f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d266e7cc8f540024baaf88d7c29737360cf9845876df42c44122aae948deb494",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1412330f950a485b06d8b6467c767795d5ae54af9a7137e58fad1ac1f4ae82f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCejSp2NjoQ4oLT90Q0cpBl7VkUrTP5OAWdbCElxCty6wLevyiZ8pTYYhOqbf4BsYrkIJ1D0_PhgY8Q8TdL4_PKqfnLWKq4oddnIbTAeh3gPnGtfblEoQz-afyNR_kV517JZa-IZ7ZTJdGW3GwOvkSNzMVLUqTGO3xlN-49yZ8Fk9uHTuPGJaVRHx7M37H0_-PzbyaNkcH4GbIfbIceH70AsUGKi5tSbVHVEeiG2etVVSQ4AcI13T2p5xTfd5OhSLwJCwP0Hy9JXFdR34JyH_U4UdznYfDSp0fA6SRmhyiqhyXJdm73L2mCZbTM-HejBrszk-XveTBFql6O630clRcjY6hkbAbKyNqLBLhMpDFGaj7riRG4asr-ubg_AUiip8t2AJCX9LXutkOBOUWcqmdlkgzKO4S7hHhdLzmkJedktslnaT0xHDtdqLMVfWyaU3al_48VfQGMmzrWzroVV83fxFQ6_OQ-i4ATKGyINLmcGMQy7VOUqicJJ00FGzSJBLXi2VJWbvgrEFyeYGLvF_wRfNmVu7FqLeNS7MYfcCaFWJDbsTwTvF83CRiKL_5VO0DxvoSW94Ml_5IQFBlgQ2I1q_Z6odbYK6QZePz0hSkXfpIqvul-DZdd-giLTT8XzIsmz2j3uCJg4k1OCAOKScFb9E4SU1E6Ut5_4gDSpIZdAxk1w_5HsuZD2hylan8Z4Ml7PuBWebeXGTjaJm-OuZB-NlSYqaHQUSk_FcAqtrIgEFBDXMofwtTgf1G3os9SGEsszzk6LD_zafZQmlhzfL4ws7fVxjYmss2GZDDmt4P_DuuQbR_ZPCv0DRtTIk1M3_XY68vHrnO_krv7uw8DCfAQ9vDENuf0iaMU17JaZlSV14fz7V3e62Ib7Qy80japjkk_qvZeurd0Y0sni4r7ds6ewDMIMjQxLqNsy1sxGcQ9hDRl2QnHZEwHIm3PQN1DBNZRe5ag1khhqxiY2PUdPs0waI8sPU6wnulv-ZnjkStQm2vrSlGKs5sL0q9vswpZoT-ewpsxdC6_PF15cRH83uwxskPae9wSwi3ip4bIu-4tP4iqVAn-Hpqf_dvCcIlGGWRfM6siuNcNEnoSBfxlwKdBkKFxvsCxPyMHGCzA8XSniuR-BpCzjNDh_4h1HlkldGjeU4q4V0-N0xsS1sFIxOqugo5UgO65XZdWhDZRbFDo716-zUbcJHaPVF7d0mG-TFMd9YKr73bpnbobKrHyoPkHvcPTNCYpGrWKzdmJtK2Ae6uGwDmaqFR-7eXbYDRhSRehKG51rIqOVS8y-xqU1uUHezBn7CE8vfgF6fsA9gGstXVlXyo_3L6m2VJrFWXXR1zGM0JK97THuoEu8X5HsvRKZ9C9sPBgkkXznV5p_4_TDjXqvVTGwwL6GMCdLU7pWiykhYC2cRsPpINKLQvPDxFMa0mrJgxTvmDAngFhW_AN3JjSVsyuiir19Hfdhtc2yqa9DfeIeXAJc2iEw0YZ5qwejNAAe0UbAiw0NHwtZ1F2basWtCqlDS4pVnGCOC0ohssOPe0iSbgPmCUQ11Q3PisDaPW5EZzk8TPcf5ygi9E9035XAAWjK69LXU-uysLcnekpJF-25xtzmOZA-yVzV_1tS45DekCYMvUwncJDVb0q_LnVtgMReX447gUY4SAgpgsbpb0_YZ0IACluse9GfZ5kVemiqa2BoWI8fATu7mNBFes7cXTNK48VTbRRKeQJZIPBSpvsC9SRKGCSZKAIpVSmQvJgkBuycFX9uRFPFyI4jxsnRgRfVpiPAoDrO9663TbRDo3dVJJdDXQpqFw_KT0tNpeJQa1rXYf806tq-0CRRVrKRYTkOgeobE4zEDmg5hwvbVb15Kt3fk2a9ARM6JYdnzFlhdywHK7uT37faVrDYCofxAY4G3to2AYJAhzeXqJfTJ5BsSSuav7mseFkB6Ss55qUKvrg0iSrvxLJtXuO2YC59iKJNlYwdL6rhDXF1Py3bqAnTA3ClZPjr0iv5rJk12U1PztA7J9hMfrlk-zdIT-xvtOInyayDsJj1Cjl8GHrVgrRXs4KE-sJXWGOf33XosdIbPrGWu9FnA7bjjR6zU_urr8aOxZTLNaZJ_iR6MYQtqsz389g4i3ySPyTee310gSKpLR0G66XpxXdc16U0I_awHEfwoGjNbkfSSw6O7F3iLyB2JJyZ5KHElbewIPisa3W0qm7Ihy3y1H4VZ89M7k6T9y5V9_yOv86ZEfsS1TQJn_PJupclNkIyHEeDv81BWuD60IRmDqK6GcN7PQDEhFOMmfjyVIvTC2dtylCy5fNB_kJZZpqilwPs0z875Uuf81nmeHC-DpJ-rlvj9vSvLZJBa64QOFQjju0EsBHoPo8c_WPAatwzcz7t4AjvtDj-WfBj7GXjKlYRV9tg2owh7Jo2f8QzHSiPObBaVzDTJzQ4MIjlDidcdyCphhbqSfYQn4fGVbmj5jczGSxk57m9iosaF5rQ3mAeB3dabt88AH6tCcb0I4zxTP8nYyCeoCZuwQofoj7xWn2eAdYVOvCaN9JU8bDMXduE7LpyqXrxEkGxN0YhMXBi3JmcLnFFhZyWLqb-QkmxyfLSaTBWFcOhcW4956kMXZLrQXbRRh4UCUMSjagFg7JFcVFz7PnyZl8RX4j5Rh1ZInIpeD2uyalsDbpYN2F6bwMWYcGZ4ABHaVFQhdiX1DRGT9KB3CsxmhDt3MexAfiIPXRS8zaxrmXaGj8XmUepfSVh8DZTtkiOrjdJsppjhHBhwEov175xbZ27As8n8S-VdVZabLM0xmStA0TyO09CkpETrl08z6emBLkH7HwSxC_dS34OrT3xdXNi9qezX7pTdNje11HZQGis3v9S831e1-ZKmoIVOgScw_zipogAoTaKek2MJP4NZypZQpAL5-SP7c_Bp2ykxQK7F8tzpMN0ops_-sFSRN9QRXS93J7dpuosBtX6UZEvPHA4XIqBwDxTVH2OHr61KI0pqg_V4cjRxapozFag0OWsEMIO7ypQX_A5p5iRABP96Y7u4OGZfjMpfIkpNBzefC3b2pf6cyMuOYTQwgqLb93exyd3eTRUvQQnnAZ02B8VD2Lx0_hmX4PucHP4URzFYVvB8x8icJF5F9PMkUn9Uzq90LHY_AyHglAYpzMkc0HvizbShtBMnzcL8vmdpqYTJwuNKIXPePhcFRyMbTrxWRxo_d9rH2oJ5e8dx8qBDkVOihpM2kLTd00lfxdDaALhdqpkm9uSM4YVNscMBdb1K44n33XG",
  "id": "rs_0df97137c542c7de016ab4279eaf1487d0a778f59777eb91ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1,\"left_x\":0.265,\"left_y\":-0.15,\"left_z\":0.13},\"note\":\"The yellow item is still visible in the right wrist camera after lifting, so it was not carried into the safe; I’ll leave it for a better approach. I’m parking the right arm and moving the left gripper above the white plush in front of the safe.\"}",
  "call_id": "call_Xx10NLQwN8RIgIpO6Qqe1aen",
  "id": "fc_0df97137c542c7de016ab427a283bc87d091d9c562b1d3b724",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xx10NLQwN8RIgIpO6Qqe1aen",
  "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]: [-0.8528, 1.145, 0.6807, -0.5312, -0.5663, -0.6544, 0.9992, -0.0357, 1.0752, 0.9455, -0.7891, -0.0284, -0.1753, 0.9975]\nstate[eef_state]: left_x=0.2557 left_y=-0.1432 left_z=0.1126 left_yaw=-0.0263 left_pitch=-0.208 left_roll=0.0413 left_gripper=0.9992 right_x=0.295 right_y=-0.0019 right_z=0.1761 right_yaw=0.0766 right_pitch=-0.3326 right_roll=-0.0771 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -3.6718, 9.2513, 1.4676, -0.525, -0.022, -0.0122, -0.1436, -3.2615, 6.5983, 1.7118, -0.2027, -0.0171, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9d310fb41ec5632647ba2f5d0bad388899afd69b388766099ad8690add3563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b50dd852e2b0695d0ff6a2785af6338a1d30c616dbc0d97db362d24043655e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b184677449443f24ca74620f1569155a7bfc697cdeb18a11b05801fb9b8ff79",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 2.743 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5045, -0.0193, -0.0383, 0.9992, 0.4492, 2.0518, 1.2617, -0.0696, 0.2977, 0.1825, 0.9964]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1524 left_yaw=0.0029 left_pitch=-0.1278 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4832 right_y=0.1794 right_z=0.0333 right_yaw=0.0775 right_pitch=-0.2249 right_roll=-0.0897 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.7509, -0.0611, -0.022, -0.0122, -1.4564, -8.253, 5.2718, 1.5702, 0.2027, -0.1587, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4767, 1.8446, 1.486, -0.5922, 0.2501, 0.1989, 0.2318]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1485 left_yaw=0.0028 left_pitch=-0.1487 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4467 right_y=0.1855 right_z=0.1402 right_yaw=0.1258 right_pitch=-0.3227 right_roll=-0.0756 right_gripper=0.2318\nstate[joint_eff]: [-0.0205, -1.2376, 6.9128, 1.6435, -0.0171, -0.0513, -0.0122, 0.1709, -12.3966, 9.0051, 1.5604, 0.2662, 0.1587, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8528, 1.145, 0.6807, -0.5312, -0.5663, -0.6544, 0.9992, -0.0357, 1.0752, 0.9455, -0.7891, -0.0284, -0.1753, 0.9975]\nstate[eef_state]: left_x=0.2557 left_y=-0.1432 left_z=0.1126 left_yaw=-0.0263 left_pitch=-0.208 left_roll=0.0413 left_gripper=0.9992 right_x=0.295 right_y=-0.0019 right_z=0.1761 right_yaw=0.0766 right_pitch=-0.3326 right_roll=-0.0771 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -3.6718, 9.2513, 1.4676, -0.525, -0.022, -0.0122, -0.1436, -3.2615, 6.5983, 1.7118, -0.2027, -0.0171, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9d310fb41ec5632647ba2f5d0bad388899afd69b388766099ad8690add3563",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b50dd852e2b0695d0ff6a2785af6338a1d30c616dbc0d97db362d24043655e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b184677449443f24ca74620f1569155a7bfc697cdeb18a11b05801fb9b8ff79",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeo2z9c3gNMGMICqYR9Yl-p8g7XRVZsAtPUWzE3W9ZEjVk8KQhA7uAX44hdT4yYtMZ_aSVFp_aOT6sMX2fclihAxpHrsTokGmUkVxz1tFu3AxRE4Wykw68eyUKSW_YMeMCWZmvSDIKYat7aESqre4E7brRfKAcsPrJriji066ofuhz9T6u_K_FBy0PNRs4gGBogyImG1UL89pvust79CgN_uPm3fR76A2J21IDHpfJS9sciEz2WY_VqVYJolvAUS0mXRq6QCzkzODl2STgoaV3B2rXXpupPqSPaI5MzI__XU0K08tdvuhuQr1NXDGG9D9QqcRgG0om0nipV9z9Mq3dsbnYbehn884QEWAYTj_FYKI9X48_-qhHkXcKUpvOXG-53R-hlczYKr9Xj6UkXiIcFE4HS9phrqyLD6jx_HgpbzULu7mP_A_-F-uUsenqt35NREgFKT8qtodJfTUTrFM5svnwgGoDmjZzlSKB4J7RLN4osWqRdH1Fo8sPyT8yOgdJqer6QFJ3UM9Kd3CUwLKSyRsKOzpUmCZentTGA7wRb83J0mddshICfCKxf4zskivie_C9az98i054vRF1VTfnXZ8_hVrOad_yQj27ruzs9XUhaiQ0UqSrogOhFV2FumAEMYF67KLVwkeZPkOuNHgmYOzYmoMgnturFn1Ofl95qUGxiTA0LRXGxsss_Pbob_83Xk-wA_rZz8L6AG9PZ8e_0LB01x2srIEXnQAst46C-P3hItkGfkAsanIOgQ5eIyS7hVw3Hxco8o1xkL96QgmtAm7q1HRqh1OG7_d7NhjY5EMejUlwDailS_S6E_73rfIHd_tRMVJaYSPBuXakF5yCgJZtWAdPfhERycBXXeuQmFo9PlvJLA43lDncaiVuRaz9jct7a6tehhNHPeIPspKWzx08o0uO8hzjhzpLuITWzNAxl-vXQbpKHiffYCebQoaiTPJhxv8lNkDNHlgmjt90fWPGl8Jh99I9ltZKiB0XME2VU-2vKVfy8SToOtb_Fpbei1xD3Um_FgEfGDArr1f4YCrKmvhI6HsKk93I_v9kre4il8E1VHD0vrF3CAldL9d_vy3Tqs7eWidTRXzxXBYPHhAageI_4-6thxqm0LSb6_UBqNsL5l2lLZo5TlE_JxOZ3bZBWIg8NUOaawHBkRN9S8sRgqj9SEyVeUANN8I7693E5fpLeT7lHkXq0RIQyARfWGhLDP0amFE0xMkhb8rLmag-TZMLGRxdBve4-GqFOXtDA5EslJmRQRyIKWpMjjEEMJqBVoQDEJFKaVTH-NMMQTO65mGRLRMsy4mZMjjDxbRZloTq8SvBQs8Gw2KQXTZzJdtgrws_2YyjQPVEgQAi70EftB3aqSHhdEG1Ceqje5TksVLoSjDMc3fBI7EBh09Ok5SWfE6Dtqzb15YrjiSUOigetOsggkkGVsx-WVb6OlhWKIoPUFBtTuL5mgdnOneSmKrxN0FXfEAcpO9QpJUlQIUXoQTrq3Y9bpLpm6jtqj-BA5V5O_cYRi7SdJj6Vm916djqyWiuURse6iiUqAbDKHV-V1dH1K1y5Olq1Tg39DC7xA46c5qh0rBEQBmTl8hV7KTL4EnW5--il2DF3nVvPGHe1kLCYB4CZZdYFzVzLYMZ5Ko7NJagxfuEHezfcepqRSwj_cqC9hs3MJtxQmcy1p0I2_Gpeof9mkxqznHDQnQmuU6oZ7a8lOtHgeb-4eMBokmNjyH2pb0x7VhKuHqy6bqxcNafbYlvP34E7D2YFAOFpMDWqnD86nG6q5wqU7wuRkuSDI-F1G7uP8z2LcbFfxryXwZrtp86c9PsSyfVR_AZITRvsKPsr-Jq7_BvnS3YX5i_9LXO9BqQmQZ77vCvEuxGO-im38yc5iz4DCEWv3qKybhS9OKnM9D1nKMukLJv2e0X8Wk1yT2scPxZVs7eETBP0KxZYr1Tg8-shmENkgZO-t5j4AitjQzwVQfF4v65QqC2ELXxak30kIDvKTlCdcSXCWD7apEFCaIPjiF_HajE1aQyYEnUC0M_hBcnU3iKIlcwEQI7toA0MwcKwf3REIKsd4HVTEFpuCIpS3ZGBBGf4bzyJ0FLb4TWYc9bXt-SsJYgg_ziF0_EDX0BPjQsAMknHQatmxPV-tDckQNFQ3ps=",
  "id": "rs_0df97137c542c7de016ab427a60cb487d0a32e9a22f2d9a3bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.158,\"left_z\":0.045},\"note\":\"The white plush is nearly centered in the left wrist view, just beyond the open fingertips. I’ll advance slightly and lower the left jaws to the plush’s body height.\"}",
  "call_id": "call_h4JODWV7oSnHxHqDeqzNZGaS",
  "id": "fc_0df97137c542c7de016ab427a7c66c87d0a4d7e9741fc666a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h4JODWV7oSnHxHqDeqzNZGaS",
  "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]: [-0.8227, 1.388, 0.5648, -0.242, -0.5499, -0.6342, 0.9992, -0.0357, 1.079, 0.9432, -0.8215, -0.0383, -0.1944, 0.9988]\nstate[eef_state]: left_x=0.2672 left_y=-0.1469 left_z=0.0398 left_yaw=-0.0059 left_pitch=-0.2667 left_roll=0.0982 left_gripper=0.9992 right_x=0.2884 right_y=0.0001 right_z=0.1695 right_yaw=0.0984 right_pitch=-0.3706 right_roll=-0.0756 right_gripper=0.9988\nstate[joint_eff]: [0.5949, -5.2991, 5.4085, 1.3602, -0.2759, 0.1245, -0.0122, -0.0752, -3.2342, 7.159, 1.6142, 0.0415, 0.105, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c185c92b60b42e0369b54fc610df5b77208b8593f98553addafccf0d799750e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f6e10b38e643eca6bd6bc555f8930c949f46c0ad5a6e4dc122f3cfbc21c96b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1698eb1650f9f0cce2beb53aa1444cbfd95a827e87709f87db979429d39f442",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 1.766 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5179, -0.0193, -0.0387, 0.9992, 0.4503, 2.0571, 1.2453, -0.0875, 0.2497, 0.1944, 0.233]\nstate[eef_state]: left_x=0.2755 left_y=0.0018 left_z=0.1499 left_yaw=0.0031 left_pitch=-0.1411 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4727 right_y=0.184 right_z=0.0202 right_yaw=0.1078 right_pitch=-0.2745 right_roll=-0.06 right_gripper=0.233\nstate[joint_eff]: [-0.0752, -0.9915, 6.9128, 1.6972, -0.0806, -0.0415, -0.0122, -0.212, -11.4393, 7.2274, 1.5409, 0.5641, -0.1734, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8528, 1.145, 0.6807, -0.5312, -0.5663, -0.6544, 0.9992, -0.0357, 1.0752, 0.9455, -0.7891, -0.0284, -0.1753, 0.9975]\nstate[eef_state]: left_x=0.2557 left_y=-0.1432 left_z=0.1126 left_yaw=-0.0263 left_pitch=-0.208 left_roll=0.0413 left_gripper=0.9992 right_x=0.295 right_y=-0.0019 right_z=0.1761 right_yaw=0.0766 right_pitch=-0.3326 right_roll=-0.0771 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -3.6718, 9.2513, 1.4676, -0.525, -0.022, -0.0122, -0.1436, -3.2615, 6.5983, 1.7118, -0.2027, -0.0171, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8227, 1.388, 0.5648, -0.242, -0.5499, -0.6342, 0.9992, -0.0357, 1.079, 0.9432, -0.8215, -0.0383, -0.1944, 0.9988]\nstate[eef_state]: left_x=0.2672 left_y=-0.1469 left_z=0.0398 left_yaw=-0.0059 left_pitch=-0.2667 left_roll=0.0982 left_gripper=0.9992 right_x=0.2884 right_y=0.0001 right_z=0.1695 right_yaw=0.0984 right_pitch=-0.3706 right_roll=-0.0756 right_gripper=0.9988\nstate[joint_eff]: [0.5949, -5.2991, 5.4085, 1.3602, -0.2759, 0.1245, -0.0122, -0.0752, -3.2342, 7.159, 1.6142, 0.0415, 0.105, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c185c92b60b42e0369b54fc610df5b77208b8593f98553addafccf0d799750e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f6e10b38e643eca6bd6bc555f8930c949f46c0ad5a6e4dc122f3cfbc21c96b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1698eb1650f9f0cce2beb53aa1444cbfd95a827e87709f87db979429d39f442",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCesdSGPOR5WUKIDeGQNDjEUDPhzgLSaB12gMvmXsfmccduyVzHJ5zZSKVEr57--zTbUSuhbZY3uxhvrAlGVQXdyWsAYMBrAZyRUPGBnsQ98GCfkO6OHa6rL7f0JkAetcaENIFyGiUMeCdZg-IOJAD80GFKuUbNy9LSN72gxzW0qnxVS1FbebQiNc5W3eP6r5N_PSatin5BMrH6VixsRMzop394oRsbH-wwoEZJQ4VifF5ft2YgJiLwv58C12TNew9jbH-wOzq_3cP0IbFxb0kLPjCNiAzn-PUx-TbeEu6094a6pdKilSfHOSddB7G_BEbpsrg543hKdSx32H2itmDL-r1S9EytnzU8eSuRV_tISn_XeHrjdXUDIaLKtDkX-ycqvhnHOjWEtEALNJv9AP4J0zKRXwijHqWNPpmbiRIP3I8BKW9YE4sOnUrgRW_ea9fpLZWvsWEiV97DmFZkIZy5TGzCKYLq_3oFqKe88T8Iivl6C5v9SATkpzgVB3_aOnXJ-P4nJZa94kqvZDGIG3aumwwFICi8RhFRGmJbAmRmleKB7F20HGLDe00l-Ap6c9TTYMxbRDqW8sttFBiCAv775agrG-4SuaFlxODaQSve80EoSJj0Prw2ueiFoXYFr-gARLDq7rWbImRRCgg7Bbrf8iFNxSk3ZUOZhlNZG_bfUhEOfOsgYzfPnJucnSOLcdNh0SHLNDBmpfwqT3W-dd1gVs07Rhm5zZjzHo7tKiVTSTZP_aFmKiZT3ITowxEzdlLAgd0LikRRAcEN7AIce0cEKv5EZ1UmpAs2XTCjymP0YPgkwKxPJ8PCl5bIqtXtO-J1I7JazQUvpbEiPwFHUKeeo1cCnLBrpZUhVFPyUFySRbsBjCEm5pBoZqyUK-Xo3WDHtoC0_XPKxcm5OG5vKvKz9p2jklU2gNU5-o_HaOL2RExKYGu4w9T_chAVsbwvzM-by-h1eos1UYKkva4WJBPlyaa47WP7AfQeMbltLmatIX2adKtoy5tO0aDcvZiEnh4uTos8w4nxpQjwbnoGOUoXVCfmj4Z59tnO4coKQHDIxJdRvzryR62cnxjeweomrF8LodSw8_SlxB6aOhmAUv3f-hoTtM7kV0jBhbMD9oHTmuqo6nJutTKB5yHXPnRVIi71HiPuvk5FHf0fCyKWuamiFzBc_WeDXuhUkhjuQUwWfb3_SfxLKIQehNKJC0CPuU2ni1FBlMFvm2Hq7-FPNMYE4w9N3_hDqZFeOuXHfVFobUIq8V8mWQO9s0DtSUlcPXewCVDQ13YQp-u2nh8SsMkJYaXF_J7FK8B7jm63DqCq5FLyGfbjqFP-y6VG-7RnnnE1n-qPvUari7PyE155AI3LiJP17imSoVEo7RDL-zUWKSJNqff7tS1pasu3gGiD-65cw5TW6rW0SfIot2HfrPIqwY0CKrtpr_MFLrS9qVaFKyOkZ5q9Aj_wdQnVJx_j1ILYbiVFP-vSYU1i3127FwgMHmJ7QlYAKs8lMvHNolw_7V7opba18Rm0iMSkb89vDJn4LqrPj-wrZgZvFZrFD6xn_WLS9QPg--tw0LeJivU8QZdlnyQ67Z-lvU9yJsle6eWEN10vUbId0GUTVhbxbIjCqEqzbrLx3amUUNE14lgIxf4bRHUKZ_29Sq3G16UOhLu-T",
  "id": "rs_0df97137c542c7de016ab427aa701487d08498f66ef88988d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.302,\"left_y\":-0.148,\"left_z\":0.025},\"note\":\"The plush is still ahead of the left fingertips, especially its torso, despite being centered laterally. I’ll move the jaws forward about three centimeters and a little lower before closing.\"}",
  "call_id": "call_QQy9olo1CjbSf0sQXmk4uq96",
  "id": "fc_0df97137c542c7de016ab427ab839887d0aa6dba9576432601",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QQy9olo1CjbSf0sQXmk4uq96",
  "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]: [-0.733, 1.5177, 0.5789, -0.1326, -0.5159, -0.5785, 0.9992, -0.0357, 1.0809, 0.9432, -0.8368, -0.0391, -0.1925, 0.9989]\nstate[eef_state]: left_x=0.2883 left_y=-0.1375 left_z=0.0171 left_yaw=0.031 left_pitch=-0.2956 left_roll=0.1188 left_gripper=0.9992 right_x=0.2854 right_y=0.0003 right_z=0.1669 right_yaw=0.0988 right_pitch=-0.3874 right_roll=-0.0712 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -6.1744, 7.9932, 1.3407, -0.2369, 0.1538, -0.0122, -0.0205, -2.8786, 6.5709, 1.5653, -0.0806, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff0e369ed72833c490e6eb91ee513d85bdb0d65e5eac1cb8b3356aa461b8da1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fe2f53aba4ff3f239e46095b64d9fe00dec69263e909b668ffd0cce125decd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a641682a5b6fa9ae23a4477136bccae646c31e5e61f22960bfcc7fadac79510",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.507 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4767, 1.8446, 1.486, -0.5922, 0.2501, 0.1989, 0.2318]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1485 left_yaw=0.0028 left_pitch=-0.1487 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4467 right_y=0.1855 right_z=0.1402 right_yaw=0.1258 right_pitch=-0.3227 right_roll=-0.0756 right_gripper=0.2318\nstate[joint_eff]: [-0.0205, -1.2376, 6.9128, 1.6435, -0.0171, -0.0513, -0.0122, 0.1709, -12.3966, 9.0051, 1.5604, 0.2662, 0.1587, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8227, 1.388, 0.5648, -0.242, -0.5499, -0.6342, 0.9992, -0.0357, 1.079, 0.9432, -0.8215, -0.0383, -0.1944, 0.9988]\nstate[eef_state]: left_x=0.2672 left_y=-0.1469 left_z=0.0398 left_yaw=-0.0059 left_pitch=-0.2667 left_roll=0.0982 left_gripper=0.9992 right_x=0.2884 right_y=0.0001 right_z=0.1695 right_yaw=0.0984 right_pitch=-0.3706 right_roll=-0.0756 right_gripper=0.9988\nstate[joint_eff]: [0.5949, -5.2991, 5.4085, 1.3602, -0.2759, 0.1245, -0.0122, -0.0752, -3.2342, 7.159, 1.6142, 0.0415, 0.105, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.733, 1.5177, 0.5789, -0.1326, -0.5159, -0.5785, 0.9992, -0.0357, 1.0809, 0.9432, -0.8368, -0.0391, -0.1925, 0.9989]\nstate[eef_state]: left_x=0.2883 left_y=-0.1375 left_z=0.0171 left_yaw=0.031 left_pitch=-0.2956 left_roll=0.1188 left_gripper=0.9992 right_x=0.2854 right_y=0.0003 right_z=0.1669 right_yaw=0.0988 right_pitch=-0.3874 right_roll=-0.0712 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -6.1744, 7.9932, 1.3407, -0.2369, 0.1538, -0.0122, -0.0205, -2.8786, 6.5709, 1.5653, -0.0806, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff0e369ed72833c490e6eb91ee513d85bdb0d65e5eac1cb8b3356aa461b8da1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4fe2f53aba4ff3f239e46095b64d9fe00dec69263e909b668ffd0cce125decd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a641682a5b6fa9ae23a4477136bccae646c31e5e61f22960bfcc7fadac79510",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCeuhveLmmmA9WVFDJRqMRz56fMoYIpIATqxqCtK9Lu73spdPtHvfR6fuJt-uMRrB7cegyDI65RNs8WJh6u4DJt794pbikMfcOZzIBwv2f7_gvZp282_XMmPWm_q6R9wvXe3CoCCx7EsKCm8LhDE-gxH8hzAP6EnBRmLX2YRXl8PGyB_PAtG8v83pOcanNMM1TcpnjO0QtPjRfUBmwvf1VNiLCB94WYBUCYZJauH7DfgTanqLAVsimifiVQHELblCNOdkw24-IJfUcPf-aDKgWzMboVow0H85HD831zfZnQ_49Xf1kBvm_iBrfvLrQkiMpNzVoZMw2xJlcLuyMoOVEdJpJzVZoNk42xPt3eqdqi8ULkARYk8V8CaqVAC5IyenSsUNp7IoSAKOP0eDOk8nsyR2D3UKrMSf-NxL0UWI2tfkiNxCqkkyc6fTc2OS--4EseAkYu7XwuWBEO1f8x5YKK9mOAkWPHNU-QnJptH6pQa_aS_bRHddPLAyD6FXyKW9G59yFCwy5kxospDXVc9x0PF5G18zq3JzC7tGttfJbox6mJLulYG4LTrxwhyhP8d8WORaop2BXuyX1Okt3-MCyBgCsx3i6pHr1FM6rk2pJZ1g7XcTMvXBSQ5ztYSoNfpnzXIJHR-2eZwrUz48WyNctQWm6gaDFkVXoyu24uGuaSjyeiH-3_iwBNFi2dDkM1t_EGFiNo6qRkCDCrGdCO57jsLAFIjtNRS8j5u5o_fajF6l3JSkkAJg1lvOjv9FA8jT9aglyJLL3KU7BUhyebpbtulA9PmE0SdLjmxtAT0aFlHb_60xADjMIHsIQf4IACgFg7V3W8LsbSK9uuvgvjT49yXHP2F3ZsyB5AjWTl-_oAntC5LGArWFOjaBfgBHcw1qBjpjS0Rz5OwD-1XaIwIFgh-bnEOuGBfwFKaiU8G6bX4zL1HrdKI1TAvSoXYv7Vzs488Ke4N-y2kpcBOc2okZOL6usXUWfaA6SB9RayfDZop8kCfgE-bMCmAO_X0PfsKMXzwJkQ41h5W7TTekeOVe99va7MEnSCVE5OhVKVgjsFJQJW-ssU14pM-Fg0tez-ph1H9EcAmf01-oujhVXZqOhN3z_KM56j0k4oUL1yKn-AHOBuIAbvJlOTGF7FXSqTW6XmWRV36rPemuWc1xqcl-4tee9rQrDIVIyzJPylT1NyfHFFAAnlnYVdwSVdkOkcp4yd5Uk7IutVF3Zj0p26HERarZgN76xxtfWi4Avd9YSbsgW0=",
  "id": "rs_0df97137c542c7de016ab427ad3ca087d08cac63ccecd657e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s lower body is now between the left fingertips and the jaws are at table level. I’ll close on its body and check the resulting jaw opening.\"}",
  "call_id": "call_i5Bgmy2cLo0VHsHse0dSNXqT",
  "id": "fc_0df97137c542c7de016ab427ad791c87d094b35a011eed3798",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i5Bgmy2cLo0VHsHse0dSNXqT",
  "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]: [-0.7193, 1.5383, 0.5835, -0.1089, -0.5011, -0.5354, 0.0112, -0.0357, 1.0809, 0.9432, -0.8528, -0.0391, -0.1947, 0.9989]\nstate[eef_state]: left_x=0.2924 left_y=-0.1385 left_z=0.014 left_yaw=0.0085 left_pitch=-0.3019 left_roll=0.1322 left_gripper=0.0112 right_x=0.2821 right_y=0.0004 right_z=0.1647 right_yaw=0.1011 right_pitch=-0.4034 right_roll=-0.0703 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -5.8462, 7.2684, 1.3358, -0.2662, 0.0122, 0.8718, -0.2393, -2.9333, 6.5573, 1.3993, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ff69e97c369bacbde499466136feec255311937147f662f7e0bc2c44982bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0bbc3ef9f4f5ddfb6d2b8cab3d6a10b27a697f846ddb6746588e15faa10e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e80fcb7eac985ce7011038a747982318907906a2bbeca691d2f5a206e5d087",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.479 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8528, 1.145, 0.6807, -0.5312, -0.5663, -0.6544, 0.9992, -0.0357, 1.0752, 0.9455, -0.7891, -0.0284, -0.1753, 0.9975]\nstate[eef_state]: left_x=0.2557 left_y=-0.1432 left_z=0.1126 left_yaw=-0.0263 left_pitch=-0.208 left_roll=0.0413 left_gripper=0.9992 right_x=0.295 right_y=-0.0019 right_z=0.1761 right_yaw=0.0766 right_pitch=-0.3326 right_roll=-0.0771 right_gripper=0.9975\nstate[joint_eff]: [-0.1846, -3.6718, 9.2513, 1.4676, -0.525, -0.022, -0.0122, -0.1436, -3.2615, 6.5983, 1.7118, -0.2027, -0.0171, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.733, 1.5177, 0.5789, -0.1326, -0.5159, -0.5785, 0.9992, -0.0357, 1.0809, 0.9432, -0.8368, -0.0391, -0.1925, 0.9989]\nstate[eef_state]: left_x=0.2883 left_y=-0.1375 left_z=0.0171 left_yaw=0.031 left_pitch=-0.2956 left_roll=0.1188 left_gripper=0.9992 right_x=0.2854 right_y=0.0003 right_z=0.1669 right_yaw=0.0988 right_pitch=-0.3874 right_roll=-0.0712 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -6.1744, 7.9932, 1.3407, -0.2369, 0.1538, -0.0122, -0.0205, -2.8786, 6.5709, 1.5653, -0.0806, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7193, 1.5383, 0.5835, -0.1089, -0.5011, -0.5354, 0.0112, -0.0357, 1.0809, 0.9432, -0.8528, -0.0391, -0.1947, 0.9989]\nstate[eef_state]: left_x=0.2924 left_y=-0.1385 left_z=0.014 left_yaw=0.0085 left_pitch=-0.3019 left_roll=0.1322 left_gripper=0.0112 right_x=0.2821 right_y=0.0004 right_z=0.1647 right_yaw=0.1011 right_pitch=-0.4034 right_roll=-0.0703 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -5.8462, 7.2684, 1.3358, -0.2662, 0.0122, 0.8718, -0.2393, -2.9333, 6.5573, 1.3993, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ff69e97c369bacbde499466136feec255311937147f662f7e0bc2c44982bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe0bbc3ef9f4f5ddfb6d2b8cab3d6a10b27a697f846ddb6746588e15faa10e9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e80fcb7eac985ce7011038a747982318907906a2bbeca691d2f5a206e5d087",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCey2jT3tD1zeFM9CIerGCR2goMTtD7aXwjl47MqUErAxixetu5abMyRqTrniUaJtXAwduKdFb1Ef5qa35bX5PME5XDFjhiB_2T2_dlUfhd6mn97WYvwwcQswQA5FdrFaCaXq8zZ9-cIxmsZE8yLU6AeMG3ALmdmHt542uGWKAmTg8yNFnRpvtiwoRtNsl7Yer8h_cSJdhwrK2WoHfPVFOosfGKNYWpjMjuysGT-o7h1s28mUmzzL_vsefsx4MucSWJVViTCk8YPU2efHqKeyKVMWo3EWNOdcfsDMxJao7z862YOXU5VufcsoC4-k9vQ3b_-YvVXTZEXVR3nSB-wdBPYMuBXyGRSfFFCJU4N_pGUstqXxVWfuPPXONs7Sq3jDB3wmISiQ8imQkzdUgfV0VuAROfT75H1nOLVa0QSzyVx1TEvWt1ZkrM-LcKfdhBdpZk5bQXcAn54ffVUmIQCR9cWH9hnoYaTRiQl25C_S414K-TLBRz-slr6ZA-d2NMOObtZ40edqnTh959NeEcN0jSfP-lMecGMt21FB8JseFPq4WiZAuoNhnHNVqXtXeCGnljRpPk08zjWls6Fyph2Ngb4MCtNVLSW24YfYdHQDUMh5dkRjYtsmXxr4kiKkGqWlroLMeKjkDiC9befYU7EPS_vE_IceHPYTI1swy1h1DnyxAu6Rkvo2nZSNyErKMUZqh5rfk2Tr2Aem51pVYTTchrZUbRFUrvYGAqMSkOC5zT5ddRFDSs80ns4399wqtTvNoEkbPJDWX4Y8BrEOCD1NZNEcksUsB9s7pLRA-R-imPqVEzGlF2HyJv4TZ5I1mkqKN-e3HNYJO38Vjv36KuwOTl5tYFLW1GUY-R4vXkEsl0GDXmva5CmGn354nRQkFvkKzm7iAWGHRH7VGHlXQSfREQYxCLWOxkqdQi_iJzoIGDhjuGbpcokbDs5EiMRjmZB-Y_dHOn-oCTvZEpX3L75hXgN74sFda_stsJWTwy9v4BG4jkpMaNLHfanFR2y7hyc-5XojcqxVt7R8nntViUbRn7iJMMCfn3RtVvoLU1KnTeT4b-mOi5ybLdQ3g5zRsUNa2p1I9siVD-dUHA2111egGldGKoFZ-qEzYwDjpGbyiolBPMOvWpUAtaoAAZFVxDJQH4hbJhHnm1UXeGeke_gri6UmjNT25KXMEBf-nBZhKqKYrF1W0N3eUob_7tKVOy2LPxZwfExfeiL1wGhN-BISfF3nKyLmuULNX4bn9cjDOyE4W5dc5KWwZAey6Iomgrv17WJ42d7X5dI4ujwnrOW5uW7_olParKaYMEyjznxs63EmsDS-TWrfAShmqL72LvZQM0y",
  "id": "rs_0df97137c542c7de016ab427b0e31487d0a4b8f0975cd11de0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.313,\"left_z\":0.02},\"note\":\"The left gripper closed empty, and the plush remains visible just beyond the fingertips. I’ll reopen and move forward another two centimeters for a corrected grasp.\"}",
  "call_id": "call_JeYoohwPvHDqgYF7dzBX3gHN",
  "id": "fc_0df97137c542c7de016ab427b14ee887d0ae7e562fa9173104",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JeYoohwPvHDqgYF7dzBX3gHN",
  "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]: [-0.6708, 1.5719, 0.622, -0.1204, -0.4824, -0.5014, 0.9951, -0.0357, 1.0847, 0.9428, -0.8673, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3041 left_y=-0.1321 left_z=0.013 left_yaw=0.026 left_pitch=-0.3202 left_roll=0.1462 left_gripper=0.9951 right_x=0.2792 right_y=0.0005 right_z=0.1616 right_yaw=0.1025 right_pitch=-0.4219 right_roll=-0.0677 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -4.9709, 7.6923, 1.2234, -0.188, 0.1148, -0.1294, -0.1162, -3.2479, 6.7624, 1.3846, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8a7f0617cedb644f6b4dbb4ed7dde0833b58a54488d446656c24ad21d89243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0b7b53e956d96b0e5be5ccf59c54d1ec0e969b6f4bceaac555cc07f69f4e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb918e8e3e6b8dec09462787d2338b0b1c38ef43cd02460143d6c9719eb21cb9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 4.123 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8227, 1.388, 0.5648, -0.242, -0.5499, -0.6342, 0.9992, -0.0357, 1.079, 0.9432, -0.8215, -0.0383, -0.1944, 0.9988]\nstate[eef_state]: left_x=0.2672 left_y=-0.1469 left_z=0.0398 left_yaw=-0.0059 left_pitch=-0.2667 left_roll=0.0982 left_gripper=0.9992 right_x=0.2884 right_y=0.0001 right_z=0.1695 right_yaw=0.0984 right_pitch=-0.3706 right_roll=-0.0756 right_gripper=0.9988\nstate[joint_eff]: [0.5949, -5.2991, 5.4085, 1.3602, -0.2759, 0.1245, -0.0122, -0.0752, -3.2342, 7.159, 1.6142, 0.0415, 0.105, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7193, 1.5383, 0.5835, -0.1089, -0.5011, -0.5354, 0.0112, -0.0357, 1.0809, 0.9432, -0.8528, -0.0391, -0.1947, 0.9989]\nstate[eef_state]: left_x=0.2924 left_y=-0.1385 left_z=0.014 left_yaw=0.0085 left_pitch=-0.3019 left_roll=0.1322 left_gripper=0.0112 right_x=0.2821 right_y=0.0004 right_z=0.1647 right_yaw=0.1011 right_pitch=-0.4034 right_roll=-0.0703 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -5.8462, 7.2684, 1.3358, -0.2662, 0.0122, 0.8718, -0.2393, -2.9333, 6.5573, 1.3993, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6708, 1.5719, 0.622, -0.1204, -0.4824, -0.5014, 0.9951, -0.0357, 1.0847, 0.9428, -0.8673, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3041 left_y=-0.1321 left_z=0.013 left_yaw=0.026 left_pitch=-0.3202 left_roll=0.1462 left_gripper=0.9951 right_x=0.2792 right_y=0.0005 right_z=0.1616 right_yaw=0.1025 right_pitch=-0.4219 right_roll=-0.0677 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -4.9709, 7.6923, 1.2234, -0.188, 0.1148, -0.1294, -0.1162, -3.2479, 6.7624, 1.3846, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be8a7f0617cedb644f6b4dbb4ed7dde0833b58a54488d446656c24ad21d89243",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a0b7b53e956d96b0e5be5ccf59c54d1ec0e969b6f4bceaac555cc07f69f4e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb918e8e3e6b8dec09462787d2338b0b1c38ef43cd02460143d6c9719eb21cb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCe16NtUKUSRQKDFkv5y0gTmjFuyT7951rHg1zIlCARIJBab0yv2yUGbW6nyfc0oYLbEUV1H69CAR1iW9S3WTenrn3O5SukQyzOdKWLLMfncfsyQphI7NqpD6we7_Ink2oehar9XyboCkSzHy2u1pidiYCi99Q_SZKMMHUrqjP6aMIPhzSCXGa4G3iKlzMqRJPDVr9_-lsBrDQSFsB4P0meYSZTabx4RUZPsu5NogvRC-ldeP4FN27cg1KUQB7vabRaEV2DMt19cTBbGnGeid0wBDMXM3M900NbuvAYcDiEJwRP1IWW9zVSiJxRYESiFtb2SJykSGlHR6j_LCGcRYrajyVpgrIvMxStZX7KJZA1VV1DbBkQWcUeWqwxpv7LkNZeS-VNxym1bcaDSkxWvsja0xA-RQAh5GOzSOaPnjAuweXO8N8wKm7_WPnOoPJVmtNMT8pNRggWup7_-d-uKp6K-T__8chH_ubgh2l8g6xMCtLD8B5G7bK6iRxYL16Yf7nrvrdPEeW_p5-XDXHuIHkB9vnGXIk7WdJZ-Aox_stSwuCL-AtDmspjkQyGMkmu2qoYWp8uVj5IsmekFN3uIMCs_gzkitBqSAtchGaQnTfVc3c8hAGxW6uNR29p3joSzaf5H2kv4IeQJNpU4dyp-0JxcRPw_teiW6S3r2IrEeiNAkg2HpihEbsPkAxwBHjJ846dCCT59Wya58VmxJ63kpBJJ9FTDda006dugP44cv1pU16iBSgo0A5SQkV9aE44faYJTknWMBObjn1AiB0NwcCCEEJk_cut_vT13EY5vNd18xbLJTd_FraLLFalB8H-2MYapEAag0h0ctO8fCwwlFFGne-ncT-IxZqXgKlDg4mNf_2ndiwwP9NnS8TlSeeEpDBv7njC9oo3-k9GoIQMjV4l827-SZDU44bTJYqHGwFI_gFTER2wyFoRPLfBAi1TeOhUsfwCAZYTDwi29PmJ9ngNRO8kSAoP_W2BGOI-N6iaEwSLjIC_5h0kVKOe1d0ZIx_sJhNinBke7ElZe5xEwtEG0xSjrTVm-b7307KC3ggKP_tKc7xPm3WRFswEXibVVS5cbDzfdurya7StP-clT9elso5Y2KEN6PU-cCX3iHSEvsDMqdlav2D6EyGUq1cItWq3K2HR8bxYB_vG8pLx2ei3LC4SoX-P-7VOlnl0p8NiZqyutVWMLcIqfutfPEHQIGM67f9hfSX43-7xUu9yqoKpCFZJRMZigjQoMWrRhe0Xzr_a0tqQ2K1oivArSxiftxyFlISp3U0FsiJ-kWt9METQSem9fARA3gHj9EQYuueDqMEeB7Jr5Cs2PmpbIn5o0RDsjR_TgwZr_BoL6hl0BRTvvX-uj7FJSCJyeE74t6tlBEl2W7yJ--OM67cxAzklTkN8E2uoAOi5Yp9qj7ZXwtzWJIg==",
  "id": "rs_0df97137c542c7de016ab427b45e3c87d080e2a705811ab903",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s legs now extend into the open left gripper, much farther than on the first attempt. I’ll close and check whether the jaws stop on the plush rather than meeting empty.\"}",
  "call_id": "call_2f2FDrCZF0elIn0UEgWl2QUk",
  "id": "fc_0df97137c542c7de016ab427b513e887d08625939d77e274f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2f2FDrCZF0elIn0UEgWl2QUk",
  "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]: [-0.6678, 1.5719, 0.622, -0.12, -0.4828, -0.5049, 0.0163, -0.0357, 1.0847, 0.9428, -0.8822, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3046 left_y=-0.1312 left_z=0.0131 left_yaw=0.0312 left_pitch=-0.3194 left_roll=0.1439 left_gripper=0.0163 right_x=0.2761 right_y=0.0006 right_z=0.1597 right_yaw=0.1034 right_pitch=-0.4366 right_roll=-0.0654 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.9829, 5.3402, 1.0965, -0.2759, 0.0366, 0.6129, 0.0205, -2.7556, 6.5299, 1.3407, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a3ae158de9100cf307fc4eb02ebdc96532503d6d010706ff965350d4e7bdb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6621aef4914d069021b39ec10dd618e733a9e549e6da690a3b647b641ea76528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424a72fd40c4b28c501d297cb2f51f4971a36b68396b76f6bb62b581fe2e6476",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 8.135 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.733, 1.5177, 0.5789, -0.1326, -0.5159, -0.5785, 0.9992, -0.0357, 1.0809, 0.9432, -0.8368, -0.0391, -0.1925, 0.9989]\nstate[eef_state]: left_x=0.2883 left_y=-0.1375 left_z=0.0171 left_yaw=0.031 left_pitch=-0.2956 left_roll=0.1188 left_gripper=0.9992 right_x=0.2854 right_y=0.0003 right_z=0.1669 right_yaw=0.0988 right_pitch=-0.3874 right_roll=-0.0712 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -6.1744, 7.9932, 1.3407, -0.2369, 0.1538, -0.0122, -0.0205, -2.8786, 6.5709, 1.5653, -0.0806, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6708, 1.5719, 0.622, -0.1204, -0.4824, -0.5014, 0.9951, -0.0357, 1.0847, 0.9428, -0.8673, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3041 left_y=-0.1321 left_z=0.013 left_yaw=0.026 left_pitch=-0.3202 left_roll=0.1462 left_gripper=0.9951 right_x=0.2792 right_y=0.0005 right_z=0.1616 right_yaw=0.1025 right_pitch=-0.4219 right_roll=-0.0677 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -4.9709, 7.6923, 1.2234, -0.188, 0.1148, -0.1294, -0.1162, -3.2479, 6.7624, 1.3846, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6678, 1.5719, 0.622, -0.12, -0.4828, -0.5049, 0.0163, -0.0357, 1.0847, 0.9428, -0.8822, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3046 left_y=-0.1312 left_z=0.0131 left_yaw=0.0312 left_pitch=-0.3194 left_roll=0.1439 left_gripper=0.0163 right_x=0.2761 right_y=0.0006 right_z=0.1597 right_yaw=0.1034 right_pitch=-0.4366 right_roll=-0.0654 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.9829, 5.3402, 1.0965, -0.2759, 0.0366, 0.6129, 0.0205, -2.7556, 6.5299, 1.3407, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8a3ae158de9100cf307fc4eb02ebdc96532503d6d010706ff965350d4e7bdb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6621aef4914d069021b39ec10dd618e733a9e549e6da690a3b647b641ea76528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424a72fd40c4b28c501d297cb2f51f4971a36b68396b76f6bb62b581fe2e6476",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCe699u05VoA0VusVKU4btDJ2B-g286SZu9YSlEy2t9Uj_UvvuTlQy_FL5HkR-fC5s8rk-ftQKbAuWR7CCCMt9KicWX6-tWyMzSnaM3RDrQWFQyRfXGJmX92P5D4FcOn_jkbyWSag1OLd-nwzFS-jkbYV5Ejsz9fNzd70AsFUUcZ1reNmv1d3EKUpIR7d3sBrPLKL8_-e-xy3-MJobMFqJUS0LoMipx_1EQQ-m5SS0sM0AnhAYfHi7gwMGE-YaxWcE-Y8N4QInXYCoFuqYRlcrE8p4GR9aYwtD-ftT9S9Et600P7bLUL7rkt39PNGdQq7kP6vTUDJxlOggwjq2V9GYTw-vypqYVYF2Pi-4uFruT_NEF7hRH_BsDses0YyLdJw7GG-KB8p7KfogQj4I-msgQg_wPkNeLLWO5ceKeZQQUEZcimYNBrChV71OqMtgvc-8-SWm--cgKSAT3FRkHrbnB69cvBh483pz_q3qw-ygFmSshEsAo8sawu2-XLjdniEJ79Z1YeJqeK6pLB35D8ph2gr-68mU9LiOw47nz2dMzG3m9K3yeuXJy963wXvwQyxBR5NxaNTaeU2cVBYyjJMI8CF24NAWcMgX6LiurbkJjtkJc0dml8JYpYXvl0xt-Rrgw7tUGN23LI--ZAG8kmAXZUXiUGNEwEU1qNIvw1bekQR3tAjTDsJC_b_5mkHf0UABw9_v6ZD7gS3zeWESly1DX8BHlayTrLSUxtoq_HAEIxX2yGnHcUgDq3kjjq7NcxMLNpXx5DXKi5vvUOo7RECjVWEHnP20wyudYrf-9tjEujmz8tHQn16kPgJCPXUDytfi1DRNyrL26JY-SxAycMUSvGujneZKfrVMYc0Jc996ZjdxGGSzzftpvPyw3_-5-P2aiNfzj6IfGxj_xCVtBIZjqR0jU2vEfj67xj4_U6KZaat_0oLlU8GPROzBbr8wWTHgNz1zuEOnbb3u_dN_99BOm_6rhXlLCubtlIfG_CSg5ofUzuXLJFyrZMZUYnalrdS78bWNivfIv0XAj7Gn_ejTpgGUPWdriaROlXg6hFMwh0IOoOQg2K0uwmOC6jcgTyJ6zKLhiKohfbo7ep0G359o5uo8PVMqHl93nzqTLnlpyxQk7dIeGGTDyfAAwfxVcOf-fS1irqqPE6cqsN266k2wnEe6XLi8ztyVAMXY6lSriwW1IZAYlBC5KU6OY4Q-_PKfd5K9t1awga0NmMi7kyX8VFlB6Vm2HPh30EAHXUqipjiACAY4HN1BClt9fzVFa6xWIA41dEu7BIu1fSOq_bqB9p3hJcY8HqjcVdOhcwPfhSO3WX0IgtopChrYisUZYnYi-aQPRWDRu-ZmgKRq0s16FBK4CMpBKPaxHxqK4vkggAywc_vLKUIiU6S_KfQr8FiOnURG2sgEZ2nBSkhLoLSf4D5mKfgEr5Kq-ebKaA-vI59Krp7F0s-KxVrkvCaReZNpRHqEZPdNVRfzxxONtmIyqsydKDPgZK56sYlP1D-asrsXJPXxnTo8WFjRa9Jw57kPtva5uetVOaS-Ppd3mAHXfSNNLFs-ZvJtdQ6mNir3Dv7-6S7PKCekRCm7pwo7-V3LSpRGCI3lIlYPbijnGougewnjIb-mVbcAuaTp_XsezI7vl78qs-Z3EpUgMPrMhq4EwUGcmqaR3iW7aRZnVctKXDam_wCzLGjDuyFFiAPuyc1QP0HTFzKpnjh43JhhPz83Bm7hvKn4lkUJAowsuKANEKX_4Yw4l9mLlcnNg2xfE-ivzRLV17qjNA7GTuCuYoE0jWatKtdbVBfPjSuAm_HOGDh0e-1C_nQAoun6dOxYnsCr-mLGnAXM-ZdONeYUFE7M3OkZLy4qeU6vS5Bd7Jn75KnlUY8f2BD1gl600SXLOxXaGX99iAJsVpzA8BYu5R39yz4K4psOwWRQKidOFouAxsQYGgPIn-pgsyPlmh7JiCoQ9ONcKluQG-G4lISGQwI1DdXedLdax_kDqQBsiTDDW2owec7JExMzveO-ahLOqEF2rF_O1jDKGYKCNsp1nr0D0XH5HAMX_I127cbHjOM-SdqDvtAX2VKiWDOkQnpYR8c51LNwBQcDUNS9RledMaxIm-JQX7ONRTubdxv5nBIh8cQpM2s7u6tIczSPHOqFV0smZDjM34S3IAjTLfPTt2oXwIMPGFDiQubtRMLJTQUy81EQ==",
  "id": "rs_0df97137c542c7de016ab427b7ea2487d080b4593a92515bac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.32,\"left_y\":-0.155,\"left_z\":0.07},\"note\":\"The second close was empty too: the left wrist camera still shows the plush above the jaws. I’ll change the approach rather than repeat the low grasp, raising to the torso and shifting toward the plush’s center.\"}",
  "call_id": "call_QjCzlEkjcx7ETEIg0ovCZhKN",
  "id": "fc_0df97137c542c7de016ab427b9f58887d0ba3168c513e8bc13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QjCzlEkjcx7ETEIg0ovCZhKN",
  "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]: [-0.6983, 1.5604, 0.8211, -0.3916, -0.4843, -0.5465, 0.995, -0.0357, 1.0847, 0.9428, -0.9009, -0.0387, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3118 left_y=-0.1497 left_z=0.0505 left_yaw=0.0399 left_pitch=-0.3609 left_roll=0.1608 left_gripper=0.995 right_x=0.2721 right_y=0.0007 right_z=0.1573 right_yaw=0.1043 right_pitch=-0.4552 right_roll=-0.0629 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.2803, 8.5402, 1.1355, -0.442, 0.0904, -0.0904, -0.0068, -2.7009, 6.5026, 1.3895, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2368927441b0c5f84e18cc86019c4f998d9cbeb3acbc9485fd5a4bcc5150534d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9ba65b9e301a002cdfc05d98b1be210e8372d20d2ca03b170e35f1d2e41fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3cf997fac1b1a988f35a744f2a502c4057e420bf603e7322aae809db928c9f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 3.191 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7193, 1.5383, 0.5835, -0.1089, -0.5011, -0.5354, 0.0112, -0.0357, 1.0809, 0.9432, -0.8528, -0.0391, -0.1947, 0.9989]\nstate[eef_state]: left_x=0.2924 left_y=-0.1385 left_z=0.014 left_yaw=0.0085 left_pitch=-0.3019 left_roll=0.1322 left_gripper=0.0112 right_x=0.2821 right_y=0.0004 right_z=0.1647 right_yaw=0.1011 right_pitch=-0.4034 right_roll=-0.0703 right_gripper=0.9989\nstate[joint_eff]: [-0.2667, -5.8462, 7.2684, 1.3358, -0.2662, 0.0122, 0.8718, -0.2393, -2.9333, 6.5573, 1.3993, -0.0904, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6678, 1.5719, 0.622, -0.12, -0.4828, -0.5049, 0.0163, -0.0357, 1.0847, 0.9428, -0.8822, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3046 left_y=-0.1312 left_z=0.0131 left_yaw=0.0312 left_pitch=-0.3194 left_roll=0.1439 left_gripper=0.0163 right_x=0.2761 right_y=0.0006 right_z=0.1597 right_yaw=0.1034 right_pitch=-0.4366 right_roll=-0.0654 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.9829, 5.3402, 1.0965, -0.2759, 0.0366, 0.6129, 0.0205, -2.7556, 6.5299, 1.3407, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6983, 1.5604, 0.8211, -0.3916, -0.4843, -0.5465, 0.995, -0.0357, 1.0847, 0.9428, -0.9009, -0.0387, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3118 left_y=-0.1497 left_z=0.0505 left_yaw=0.0399 left_pitch=-0.3609 left_roll=0.1608 left_gripper=0.995 right_x=0.2721 right_y=0.0007 right_z=0.1573 right_yaw=0.1043 right_pitch=-0.4552 right_roll=-0.0629 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.2803, 8.5402, 1.1355, -0.442, 0.0904, -0.0904, -0.0068, -2.7009, 6.5026, 1.3895, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2368927441b0c5f84e18cc86019c4f998d9cbeb3acbc9485fd5a4bcc5150534d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9ba65b9e301a002cdfc05d98b1be210e8372d20d2ca03b170e35f1d2e41fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3cf997fac1b1a988f35a744f2a502c4057e420bf603e7322aae809db928c9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfDT2LXduwfI1vles2yESu26LmybyNB-agR3EPMgZRlVIyVk8_umq22d5A2o74SmKV_18hNI9mJ7irHQ0ZkMMQPNcXCi8FP1LfFqJC1eYKaR70SE6pqDPLClMM9KWY4Gha_kPbUH1SYrKnq165ZO28evWasdiGKzkfUtGZ9Otb6bns0In6tBCb2OCQluiGfYED5MNcfdE4JnrX1JPVO0wDieEHTAT9ovFi5qTCh4gKjROMjlGs9190B_APovDVvtn01Ao-9weMxao5_22wlgK8nO_-53pVlIUDQpQMmzHxd4OwvLnhnm7zJMiVF9ez4lpBTpQhgzKwDPM_F2iRVYIBDXeZoddLk6PskIe3aV-V8XHkWKGC-C77qxYF0tDsgnjbUG-8fn9XUH2kJR-VkrXgRrNj_RnVVSl5MTpjYWMErtJ6tQUWHXytZYN987K0QQxpHGigjd06lLcVob45dpw3_KCZ8-7lAFgLV0z8V5q1hX0qJjhbZcNea12r2QLODs9X6eeLVOuxnPhTuPOoDHINMG59m2xi9mrAV2b-Nw12s4gw_PrqgYUTdRuXZaGsHouvn6oCwNxTy-N7vRKTBIy6bgPRNj5gNrLI6vefvWUmjHLLmSgeVbk4gc1GUClDjNWo0wGbVqMgoBpyh16I6jCJlPonChtJHxa-ST4TNg8Md0dtbUiCidubl3QI_CCBJ9SZyqKDr5GkKCMagvurXG-u3GAAArdIBbso_ZxAnTDj8RArry-uY7abnRE1ZfTqkKqXeSjVIvxG7uyyrzsax8xy2yQx_HPrFuq6Phq8XBFWDO_p1KGU9o_zeGUmHKgpZzvduWMPWhiYzxLrreT_ReC37FicXML6VP0dkgThtD7FfJ-1uovWsePHfgJ46b_3rhF_j4U6HU8ccAPm2S06-9e_CjImE0NcbWbY3YZVZ1rCcJGnw9M0TXg-nyV8eZG8cRfSvPlq-HhIBj-R16Nl-_j_A1sFN2SIj_UTOXx0EtQuNGw6pqve8hPhUIcH-heVWCOv3sIDFzVQgHE6AHcPMrkmQO3y0r3Gz8CeVxszlSG0TPL1-X4vOB-LUr5UajFeEITFEDm3vgVmqqdW8TChLWj5SEENybdeC9B3bhp1PY5Y_RSF5pB-EMCiGQX1-Q4GjdJpJ0XMQdMAuh4b-U__LGim1mCyWpz0EgikDhDRxUCIkTTpE_wpPblDEJdDTdlRdaIlHWETnqNS1m1mCsZNdeF74LBnI29QU6f_I53P_ewE-RE6hTVkJgxS13cOitZ8Ebv3Fdd3CbhRnKguMpG3kqXYssGUXXKYXdYJTs66DHSGKJMJzJDTTs5U6h1GFFk8CT35yOOh3AAPx2qDpuIBFIg81V0p_SHBfnMP4x2pZS6ozdT3hKDvi8bScnNrgnaQq9OQhVFKqZKBpzSyL0gL0rxh_zz9pRAh8VvtxAb_ymZHDLjpx_lwSi_NuDteqbXSLkfn16a944MktJn23IWNkVqpaHwJIci-oGavg1lxsW6kymW75ymM5QfpzWJPdvWYWfSSh8E_RIVeQJVpEFGU3hvqvnTVkNhM0FWiqcTkx6y90CfpjGlK33lb1tFefO8-9YRoWhG8SA6PVOJ4dOxLu3GnCK31KneDT120PQOKYwGu8YdR5nWvYgOvDigMWrOaZP7qK7LzQEV5ua4AB_E3vyhZ5o1JHTxEGZYXltx5kp0hEHvnqsvtnAUo254V1BAUcnl1TlZ0AKeryLaYyATH55bI6I_qm26kphkU1AnAUCZvqyXOPoxlKvy1anFiZ-DQ32QZp",
  "id": "rs_0df97137c542c7de016ab427c18cd887d087a77d232ee7d6a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.157,\"left_z\":0.07},\"note\":\"The white plush’s torso is clearly in view at the left gripper’s height, but still forward of the jaw tips. I’ll move forward a few centimeters at torso height before closing.\"}",
  "call_id": "call_C2SSq6DytOJ921NnNPPoJ4LQ",
  "id": "fc_0df97137c542c7de016ab427c315fc87d0966b05a937ed5d11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C2SSq6DytOJ921NnNPPoJ4LQ",
  "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]: [-0.6624, 1.6165, 0.9169, -0.4614, -0.4713, -0.5316, 0.9963, -0.0357, 1.0904, 0.9421, -0.9077, -0.0391, -0.1989, 0.9989]\nstate[eef_state]: left_x=0.3265 left_y=-0.1484 left_z=0.0554 left_yaw=0.0662 left_pitch=-0.3927 left_roll=0.1823 left_gripper=0.9963 right_x=0.2708 right_y=0.0008 right_z=0.1547 right_yaw=0.1079 right_pitch=-0.4685 right_roll=-0.0626 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.0085, 8.6222, 1.0623, -0.2711, 0.1587, 0.1197, 0.0068, -3.3573, 6.5709, 1.2479, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0265a2fadb31befccf4f2a495fd5c12520c5da040b3065e1ed4c3f8fab701701",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c07bc2458b42591e910c5175448d339fb8ec098df12763cb7c7031a05d691d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db32df8acfb553a50824243551e6470819b592a1baae5dde5bcb505501aebab1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 3.2 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6708, 1.5719, 0.622, -0.1204, -0.4824, -0.5014, 0.9951, -0.0357, 1.0847, 0.9428, -0.8673, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3041 left_y=-0.1321 left_z=0.013 left_yaw=0.026 left_pitch=-0.3202 left_roll=0.1462 left_gripper=0.9951 right_x=0.2792 right_y=0.0005 right_z=0.1616 right_yaw=0.1025 right_pitch=-0.4219 right_roll=-0.0677 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -4.9709, 7.6923, 1.2234, -0.188, 0.1148, -0.1294, -0.1162, -3.2479, 6.7624, 1.3846, -0.0562, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6983, 1.5604, 0.8211, -0.3916, -0.4843, -0.5465, 0.995, -0.0357, 1.0847, 0.9428, -0.9009, -0.0387, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3118 left_y=-0.1497 left_z=0.0505 left_yaw=0.0399 left_pitch=-0.3609 left_roll=0.1608 left_gripper=0.995 right_x=0.2721 right_y=0.0007 right_z=0.1573 right_yaw=0.1043 right_pitch=-0.4552 right_roll=-0.0629 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.2803, 8.5402, 1.1355, -0.442, 0.0904, -0.0904, -0.0068, -2.7009, 6.5026, 1.3895, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6624, 1.6165, 0.9169, -0.4614, -0.4713, -0.5316, 0.9963, -0.0357, 1.0904, 0.9421, -0.9077, -0.0391, -0.1989, 0.9989]\nstate[eef_state]: left_x=0.3265 left_y=-0.1484 left_z=0.0554 left_yaw=0.0662 left_pitch=-0.3927 left_roll=0.1823 left_gripper=0.9963 right_x=0.2708 right_y=0.0008 right_z=0.1547 right_yaw=0.1079 right_pitch=-0.4685 right_roll=-0.0626 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.0085, 8.6222, 1.0623, -0.2711, 0.1587, 0.1197, 0.0068, -3.3573, 6.5709, 1.2479, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0265a2fadb31befccf4f2a495fd5c12520c5da040b3065e1ed4c3f8fab701701",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3c07bc2458b42591e910c5175448d339fb8ec098df12763cb7c7031a05d691d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db32df8acfb553a50824243551e6470819b592a1baae5dde5bcb505501aebab1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfHafzeter8MyZIyWcb9LNkC55lOUcwkyybaunExh0vMD0sx7-ysOy1jsk8oB3KDZVAD9U_JH-jdDHU3X_H72A_Nl1iuZTaRjngJY5rlld5hYyWEhriCcXaLiuoNh4NRBkF1XNKeu1DX_HUUC8j4EsdvCpefqjZ8MQ-Aude_bL1GIoATE1A4NUV19GHyfrUkrcUFavkCK3wOLwEsPiSH1ppCnORoKspcJKGzWf7E1m0Vk-WyyfruxgvntU-G_YaEiOPW-uTtLxJ1VVvu1Of6R0cyt4D3d75jLCkXs2bUIEMcEJTo6as_GzbEwmVVyur32XKbsZqs8YgyefbeSbtazcXLjOF1XFeQETcZH5-PRsWJIlVrRNlUMEkhF-GH1qFYY6WZxO1k_9m4qYUnXo3Qta8ed602cZSVF7_0kX5ZVUP4e86r9I982aU4mXQXVraeejpvqP6LFvYenvlpayt0l8F3rEiXKlqjjTPuJ15eomxeQ-IIMnlJUNilrBBg8e18nbG4uPVjNc0bPf5rNzL3Lx5_TpAijSgQLrhELNip6mrHNVMNW0hXS_ViboZb3HCW7GbP5hmdIXoW8ssDCx4tz_02yXPz7_fH7TlL1Dhfje-NzJE8XWTi0MqjoM4blSKCTWE-T_5rK7BCrhK5BZJD-LTjQdlcaaDkcqGZ4kK0eeKQkUx8lw8AmJ2-9keup1hG0OpX78gxiobd52rhPGWlC02YCyEJ6p3g8NEoOB8clnqhQVFbnPVeTunFuX9oV1O4z5xfoEiZYyG1hrPk0pBqkSLbtQtMN_LYpfYcp9RlI6XPDnEhpQ2z8bLJwkGHdTRZ44u6ggh78DnsycYbUuxfVCPaJ_65maAUlmvrSnggD_FX-cjU4ZWHOeGlgz_0AkF-W6qiAPD44iQ33UWjKZI0ju_IMvcS8VKlVVU3lVIb4j_AFgK6w_81OxrLayMWya90fsXfuw-RqONf7YlshUjKdanbUMzIFYZpcIkzkSLLn30qui87LKewQMYAJiZGEv7byMtoMjuYefpHkjEYUgbdmjfRdLNvkXJkugOzVnVNeIpYO1LqF3TG0i65mVJHcLrNKM9zoAENmzUL26kLxPg6TX8BhxkSto8DA7o4fyrxRdQawYMto1n2arKheGKHgE88qUNBIqEIblhfYiQgdO-OkJ33w5Bv3Ske7mSQhMTSNU3TOl1HzIkaT1AwUBFh142vK6IKsQ4HqTPR6yp1jWKWoX5xsAHMNrLcrozycV7y1kDx0BNNOnEn5ahQn9_ri42tnEyqpP8USuD0LCtGM7O_wUJWvIMtZpRzlSi7xKrvOkzN5OWzC1F1I0QhGmnzM0qiz9MtpZDEfegGfPBZQLF6z8J0HtBbo0usx5nxfgMlOy9J0cD7jNMY7DGauPup5GC15XHzcO1UYVbLuiMX_Ruk85ccPkPh-iEyJkaB3qxlrh3EXTBsUetzbW95xlWqUdKcAXM",
  "id": "rs_0df97137c542c7de016ab427c580e887d096ad3426158ee28f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.361,\"left_y\":-0.155,\"left_z\":0.075},\"note\":\"The left jaws are alongside the plush’s lower torso but not yet centered on its broad chest. I’ll advance another small step at the same elevated height to bring the chest between the fingers.\"}",
  "call_id": "call_jEGlaVigsKMLPh5aFFcx7Pzp",
  "id": "fc_0df97137c542c7de016ab427c637c087d09dc7a46eda842299",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jEGlaVigsKMLPh5aFFcx7Pzp",
  "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]: [-0.622, 1.6882, 1.034, -0.5251, -0.4553, -0.5117, 0.9964, -0.0357, 1.0912, 0.9421, -0.9142, -0.0391, -0.1993, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.149 left_z=0.0614 left_yaw=0.0893 left_pitch=-0.4183 left_roll=0.1954 left_gripper=0.9964 right_x=0.2694 right_y=0.0009 right_z=0.1538 right_yaw=0.1087 right_pitch=-0.4757 right_roll=-0.0616 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -7.8564, 8.6085, 0.8913, -0.188, 0.1929, 0.0024, -0.1026, -2.6872, 6.4752, 1.2821, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67872aa60867add3a363476bc868cc094f2038614c1be8f10f90b53adc88732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4227614e76767c865013c73910ca03104875232f47a7418f6b8f38bce47faaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ab45b5431afedcca48673f1940915e33272ddcc0f6346ff93ec3e133625220",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.311 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6678, 1.5719, 0.622, -0.12, -0.4828, -0.5049, 0.0163, -0.0357, 1.0847, 0.9428, -0.8822, -0.0391, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3046 left_y=-0.1312 left_z=0.0131 left_yaw=0.0312 left_pitch=-0.3194 left_roll=0.1439 left_gripper=0.0163 right_x=0.2761 right_y=0.0006 right_z=0.1597 right_yaw=0.1034 right_pitch=-0.4366 right_roll=-0.0654 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -5.9829, 5.3402, 1.0965, -0.2759, 0.0366, 0.6129, 0.0205, -2.7556, 6.5299, 1.3407, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6624, 1.6165, 0.9169, -0.4614, -0.4713, -0.5316, 0.9963, -0.0357, 1.0904, 0.9421, -0.9077, -0.0391, -0.1989, 0.9989]\nstate[eef_state]: left_x=0.3265 left_y=-0.1484 left_z=0.0554 left_yaw=0.0662 left_pitch=-0.3927 left_roll=0.1823 left_gripper=0.9963 right_x=0.2708 right_y=0.0008 right_z=0.1547 right_yaw=0.1079 right_pitch=-0.4685 right_roll=-0.0626 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.0085, 8.6222, 1.0623, -0.2711, 0.1587, 0.1197, 0.0068, -3.3573, 6.5709, 1.2479, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.622, 1.6882, 1.034, -0.5251, -0.4553, -0.5117, 0.9964, -0.0357, 1.0912, 0.9421, -0.9142, -0.0391, -0.1993, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.149 left_z=0.0614 left_yaw=0.0893 left_pitch=-0.4183 left_roll=0.1954 left_gripper=0.9964 right_x=0.2694 right_y=0.0009 right_z=0.1538 right_yaw=0.1087 right_pitch=-0.4757 right_roll=-0.0616 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -7.8564, 8.6085, 0.8913, -0.188, 0.1929, 0.0024, -0.1026, -2.6872, 6.4752, 1.2821, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b67872aa60867add3a363476bc868cc094f2038614c1be8f10f90b53adc88732",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4227614e76767c865013c73910ca03104875232f47a7418f6b8f38bce47faaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ab45b5431afedcca48673f1940915e33272ddcc0f6346ff93ec3e133625220",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfKg0s8qxy7FbUdq3dUV5GYmNFzPxhEnqDsp-yDLgJeOepWOBvCmF6fpI66wzgngfN42HFagAevCk6XI7kisFsl9rLddsmW0H-ONlNVIIGSK6BRsgNfXoeBi60FgL8PUUbxeTFC_YkQt42iXjEBnNM3hYYxkrmtPrKC4bNSDMUh39TL52DWC2tvtxJpaaOyUSMjnnLYmtJatVeaTcVxGe0IvMGCpDfSyAZH_OrN1vEYHVVkoDOVRxhI4VZH-ZsyvHfRPYHgFPCz_LldDQ9_UaoW0n1EHESyElQTtU5o_HgjI3LhMBQ3S9Me85rIH8D3Q5zAWvCKG9DWrOA5IYTK22JjVPldhLOHKe_lT5RQOToDGwi8UM01Garvoz-9h0hph8KBRRMs5h_65SgfB6GURGauVDqR-CxnUlqoSjjZSFJEIFc3EafA7LkzkL15Pk2ZcCUuOUU0YSzbUVfqsF3KiNcIFvXtnJASi-NnaKb55GsCPC3E3EMrd5PWurbyuZmNRylaSeUANpFWz9_arFsHzwCjb6De-0K5wjvHA0nTcOnmAqZxUs_BT2KdvjKuAc_rN5_o_dyqTEpN_JHFuDw4uP4QiSSiLeGPxmSMvHYWWNMBiaLSwM6gChAvipUjSYaDSZqc547rBHkZzPtUOOpi7bBEQgXKv9g2cLD8_JosDzcX9WluSgKyubT0O6WT6AFt6tAeToDgducSnVIDqvZGPzVtfnDiXxcUsNt6Bi0mfjwdvcGlF_ofVSB0bQqsb-cVZyiRTCBgzI2UeFPZf46hRyLtP2kvnnzEEIHQ-Cv9MhVR_IapbACih3Y6hiiPpqUzzqNqQ5Lk-tBOfv-vgdLniuy2JEczzw4ZSfvbOYSwmyF9YrnWK6mzjLacOBiSj8KtwOMyXHZiGWiyY4_2C8lM2jPggw6oVQmBw9xwY5yWB2_2PIWl6BuQ3AgjNKssGFpnWFO-bqmaO-uUykjWDLy03gWY_k3fbvd6hrZS-uKxHvH7iE0ulB2d5m_9ktPW6x5WOY2xpfQFfn8L_hgL-1SRJSY90HSkABLtIqiV9SnJoKBd6FOSTvnoXoWi7Hf_2RHmyq_CNpBgh40Mz3TEFoRG-d-JNDTLxUI4C7u9weA2GJJPynKfHGYARJQKzKByfKvtahUtSB9Zge54NjWGW2G_G_aPPmTm83FPeXQgAxYEIN43NtUpf_iJY99Y5N06pmlyfqZl6MtWxalRJQB8q_oz_2Wv35MNh6Na6TnG0V9_dsxsCkB6SFZZ2uWXE5KJpTextCUcexe7onPTgGdx1CLgO7dWZoJK-V9VZjWfIm5St6TKFRC9x33p0dKLXVzIzRWusCVcRKU9r_esSN2B-Xxx3-AQsSqoVnR2M2Hs_fc6kp1LWmg=",
  "id": "rs_0df97137c542c7de016ab427c8ffd487d09ffcf13bdc6c4a7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s broad torso now lies across the left jaw opening at grasp height. I’ll close on the torso rather than its thin feet.\"}",
  "call_id": "call_q3827frfmyv6mVqrNC0PsmmR",
  "id": "fc_0df97137c542c7de016ab427ca373887d0811f2d4ec36892f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q3827frfmyv6mVqrNC0PsmmR",
  "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]: [-0.6098, 1.6962, 1.0615, -0.54, -0.4511, -0.487, 0.0104, -0.0357, 1.0916, 0.9421, -0.9264, -0.0391, -0.2001, 0.9989]\nstate[eef_state]: left_x=0.3529 left_y=-0.1482 left_z=0.0658 left_yaw=0.0827 left_pitch=-0.42 left_roll=0.2038 left_gripper=0.0104 right_x=0.2668 right_y=0.001 right_z=0.1522 right_yaw=0.1101 right_pitch=-0.4881 right_roll=-0.06 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.7333, 8.0752, 1.0818, -0.232, 0.0317, 0.8718, -0.1573, -2.4547, 6.5162, 1.2381, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d4b6cd0ee4092c4492be74be4510ad9be433bd6ad72e50c64ecc470d421b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844a3457a249f3a00165d3bed95788e285d04822a31f9b3cc38b75bb0b4a0dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a368280df130385fa8dbd0c64559fd878e919df2a7a06f05a3e3ac11d9d08054",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.573 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6983, 1.5604, 0.8211, -0.3916, -0.4843, -0.5465, 0.995, -0.0357, 1.0847, 0.9428, -0.9009, -0.0387, -0.1951, 0.9989]\nstate[eef_state]: left_x=0.3118 left_y=-0.1497 left_z=0.0505 left_yaw=0.0399 left_pitch=-0.3609 left_roll=0.1608 left_gripper=0.995 right_x=0.2721 right_y=0.0007 right_z=0.1573 right_yaw=0.1043 right_pitch=-0.4552 right_roll=-0.0629 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -8.2803, 8.5402, 1.1355, -0.442, 0.0904, -0.0904, -0.0068, -2.7009, 6.5026, 1.3895, -0.0317, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.622, 1.6882, 1.034, -0.5251, -0.4553, -0.5117, 0.9964, -0.0357, 1.0912, 0.9421, -0.9142, -0.0391, -0.1993, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.149 left_z=0.0614 left_yaw=0.0893 left_pitch=-0.4183 left_roll=0.1954 left_gripper=0.9964 right_x=0.2694 right_y=0.0009 right_z=0.1538 right_yaw=0.1087 right_pitch=-0.4757 right_roll=-0.0616 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -7.8564, 8.6085, 0.8913, -0.188, 0.1929, 0.0024, -0.1026, -2.6872, 6.4752, 1.2821, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6098, 1.6962, 1.0615, -0.54, -0.4511, -0.487, 0.0104, -0.0357, 1.0916, 0.9421, -0.9264, -0.0391, -0.2001, 0.9989]\nstate[eef_state]: left_x=0.3529 left_y=-0.1482 left_z=0.0658 left_yaw=0.0827 left_pitch=-0.42 left_roll=0.2038 left_gripper=0.0104 right_x=0.2668 right_y=0.001 right_z=0.1522 right_yaw=0.1101 right_pitch=-0.4881 right_roll=-0.06 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.7333, 8.0752, 1.0818, -0.232, 0.0317, 0.8718, -0.1573, -2.4547, 6.5162, 1.2381, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d4b6cd0ee4092c4492be74be4510ad9be433bd6ad72e50c64ecc470d421b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844a3457a249f3a00165d3bed95788e285d04822a31f9b3cc38b75bb0b4a0dba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a368280df130385fa8dbd0c64559fd878e919df2a7a06f05a3e3ac11d9d08054",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfPOfIUCIbPjLN5aoX4yHVTLzlIBuIHydicudGOLWXoh8VxWTfvzel_o3xAOaBXX80f7OzWcVKWD8Z0GkM4jX2Xd_HmibQYPtfLg2cnUQtwp9luzkIbJno7hSeiif0TE9WDRFBqncohSuQcRzM9Ko2HfIvHrgchzNSyoAHCPLAoxG7pxLTdCO8zIc_af6kuaMR-uE0XqiPWqHyqIbW8Y_g2Pbj4T1JPTGATatLZiY_q6cCA6gL1sgSM2yYVfgrvrRC13DWvgxBLYtjwyieDtM3wCmqv1ADNxXvQBfOiAK4H8I24R9VrDE7XhkaQxTthd-134WUbyC6l6JbOph89GYHMu5OgtSqT09-NQe23DbjzViTRnI2H6Swrdh60Yp_lUXbBCmR60aHL1hhTEvoAYrJ4bIQi2n4FMc72Jei0XquVd8kJ-FlnzmfOrDbDpYLdvlDUxddgNNoJ_BHFLY_A6t1gjVWz0i9NeXGuLGAnvQEp98ZflZOnScoR1lAh7xTyK3RKJvsWc-obV_1z3tgPB_b7oAfFnRkLzNc_8hLOEpxU11E4Fy0gMS2w8WxJx308fnD09rBmzL2POxMUzBjfTm_I3iaTuZaZmZrYgXNCvMfUsjHGMxvKLvpbeA9bFhMUTa9dsjr-8v8hhGygI1ZN2yDWRnlIYLzkh1fZwXSEqAY4-xfjSbEzI4qQa98oNI-Zy_RDWLY9Z7O-TmYDCb-p6JSj6x9uaLz61IxBmMAXyjxpSuYDT8iWF-WG8fRj7CyRvppYl2j8jF8JuPD4HVOmXGa13Tt_6m7wWx1CknEDsrPYXXCMOxHtR-BcE98MmmSPO12wmLK7LFnilFaRRHHXcRBuocXleGKv77pNbVwLPovmNYMMBq3_8QuzMA593TLHF7hvdyQ7tUkiF0CTkPG0yl7XEl5nrk_ZhPNNqNXEKyXWH4DwFYzerwchMmFGoNx8mxIGjtFsLXbEOZD85tmMHy046LV5jOuQLkwcRcGKRvb2ACE9aWP0mI19efK75hOMx0RBVc5JePOgHNx-2owbPoRK2jSb52jBg6m73vnjOKK5oXJhuTG8YTokospxaCgZngYVLht3Ajf-ijDR5qfp0962PPbGdIxfZTtXHcQFgrMTx_q7nbiXPmZf92A3zTRTnrc6WprMuJOHUUcsA3Mo6MhVKS5CY_klhzKoCgdBg-Kbg86zhpZEAG5R3625ETe5OOHXr9oB2nCro5IeSIFJfgg6eXLbB8l1JXojOzY74FTN58eKF-H_TMWDr1ti7-BYicgV_yrAwvolI7S2Ai1tW2e41228ydS2n4yP7hJxmNQEtLIQDMD0JBzqa1NmPqoiscjbllDScwhGLUUMJ5EY5WVjWqP2AHqEsv9W0L5aWBvyhDcDARm_hCHO-qvhH4p57_YP1qiUoGTFkyXWkZx_6fgQWKuyLB9tioMDHZiyDDB-7LHoKM3wgoYRiovo07M222HJlynVZKP_z63EiEWCZJkmic5RlQSU5nCV_omud2pfnMROdzbUIPzDWlw85IsyghN0OfUukhHDfyWZ4BQo1zq3cb7JmOHo8w77AzaNqc7VPbAaJT4YybbkTjs8D9xedVG5EmdttYr1lA12qyBChubWDtQ_ZfUPyqEXJVwk1fpoMiKZk0end16h3S7qrLsZdPqvuSoZZieE-Gp7mSIS-HiFbntgIUZuMVq2qg47_fhBzsfoImPf3VynpedHKap75pPvr_pj7gnfpI7nYsUXeu7n4yHc8kyoZCYiJM-KQN82-fvN3tTinx8U2qM1h6lsXT2s5Fmi5g5dKDgi4YfOygeZvQTJkDGUJjpn-9V8gvDhLkxuuir0_s_-1QYD5iPBSstZJW7Srf5qsAmLGN_USzo6PQ==",
  "id": "rs_0df97137c542c7de016ab427cccc9c87d08b0c911918cfcab9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.402,\"left_y\":-0.148,\"left_z\":0.084},\"note\":\"The elevated close was still empty; the plush remains in front of the closed fingertips in the wrist image. I’ll reopen and reach farther forward over its chest, keeping above the safe’s low edge.\"}",
  "call_id": "call_tBstcVYBnAoNg8YDW2qOCMvc",
  "id": "fc_0df97137c542c7de016ab427ce1bec87d0bcc064f9955916b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tBstcVYBnAoNg8YDW2qOCMvc",
  "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]: [-0.5346, 1.8095, 1.2427, -0.614, -0.4221, -0.4335, 0.9952, -0.0357, 1.0924, 0.9421, -0.9371, -0.0391, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3908 left_y=-0.1431 left_z=0.0738 left_yaw=0.1072 left_pitch=-0.4477 left_roll=0.2162 left_gripper=0.9952 right_x=0.2645 right_y=0.0011 right_z=0.1508 right_yaw=0.1108 right_pitch=-0.4995 right_roll=-0.0579 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -8.6222, 8.6222, 1.0623, -0.1978, 0.1734, -0.1441, -0.0752, -2.8923, 6.4479, 1.2674, -0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369b9cf7aebe49afd643cbdad1df0c134377b66002b93c9cb10c71ea097c768b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee5cc0f3f788c7d275ed1514702f5054f1a10915ba16697674b7e305bfa3fdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422b41c9481163de3bb4006c79c8d5b741de1826262b04fc31b22c64aaef58aa",
      "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 · 3.881 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6624, 1.6165, 0.9169, -0.4614, -0.4713, -0.5316, 0.9963, -0.0357, 1.0904, 0.9421, -0.9077, -0.0391, -0.1989, 0.9989]\nstate[eef_state]: left_x=0.3265 left_y=-0.1484 left_z=0.0554 left_yaw=0.0662 left_pitch=-0.3927 left_roll=0.1823 left_gripper=0.9963 right_x=0.2708 right_y=0.0008 right_z=0.1547 right_yaw=0.1079 right_pitch=-0.4685 right_roll=-0.0626 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -7.0085, 8.6222, 1.0623, -0.2711, 0.1587, 0.1197, 0.0068, -3.3573, 6.5709, 1.2479, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6098, 1.6962, 1.0615, -0.54, -0.4511, -0.487, 0.0104, -0.0357, 1.0916, 0.9421, -0.9264, -0.0391, -0.2001, 0.9989]\nstate[eef_state]: left_x=0.3529 left_y=-0.1482 left_z=0.0658 left_yaw=0.0827 left_pitch=-0.42 left_roll=0.2038 left_gripper=0.0104 right_x=0.2668 right_y=0.001 right_z=0.1522 right_yaw=0.1101 right_pitch=-0.4881 right_roll=-0.06 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.7333, 8.0752, 1.0818, -0.232, 0.0317, 0.8718, -0.1573, -2.4547, 6.5162, 1.2381, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5346, 1.8095, 1.2427, -0.614, -0.4221, -0.4335, 0.9952, -0.0357, 1.0924, 0.9421, -0.9371, -0.0391, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3908 left_y=-0.1431 left_z=0.0738 left_yaw=0.1072 left_pitch=-0.4477 left_roll=0.2162 left_gripper=0.9952 right_x=0.2645 right_y=0.0011 right_z=0.1508 right_yaw=0.1108 right_pitch=-0.4995 right_roll=-0.0579 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -8.6222, 8.6222, 1.0623, -0.1978, 0.1734, -0.1441, -0.0752, -2.8923, 6.4479, 1.2674, -0.0708, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369b9cf7aebe49afd643cbdad1df0c134377b66002b93c9cb10c71ea097c768b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eee5cc0f3f788c7d275ed1514702f5054f1a10915ba16697674b7e305bfa3fdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422b41c9481163de3bb4006c79c8d5b741de1826262b04fc31b22c64aaef58aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfUAdpTLihT-zbvMTNBt9bejT4P9whdfDSlJ7fl5WTHBL6UuVUiYfHih8TGSmTfYXXYxP0A1fcuwswqRLKoRS2M_xtwKqE03djiFHIThE1xBGhCLt6GmDF8JsF1FPzhPUlja1UEKkewUU9yfeW0AMN5303znZvsTd-jUbak14ttkrqZ4D3zgnE0T3d21G4_SSHCyP9G02qEwKBt5juOCEfuicbScuXlduQRQlfHnLUN13gjtrFx8bbG5mA9VkQcWBJ9Dz9RCUOSDd79XkF-oMOUr8dlNU_KARhdrtmErA8wKdCiiXoXvS-esKZM_25nZIVo-M_x9WqEa-jl17VzVr1SvKsuS3Ej2eOk-wRqHMg2kinc85S7XxS61uj1y_zh3qJK_w8zkGjnpeqlaUu74anF5BDctVGAEkCosulMfc9WwCSZdqjimODRE7oBKol4IJWKCthYr-si-U_zugLZKOu5H05PyuqlHxD_ICsEC4EvtfNFzsII5_Im5PiscQ8ttarTTUwHbUNwnLz7z3nQ9dAjG8YcDm_JMGrjNrcihWHJ8Pc5wiFVFFKOaoyu8BaZgep3yBSp3MNogcWoAMF-kcn2fRMKvV1U5F3NNkRstklxvrMlfh2cO2FmUfEu_lTsFMruaPPaDa8vjbSQcyZJTaPSwwfuptNdDW1-s9cj28PwxOjJ9GFSzDE0PZikWdfPnvCw-V4kI-Fs5imv2xu6YdkBBPSTjbRbuLqnkosLtgor8RpcvNJGwzHWzMhY-PJoZ_P8Y6IN135c6zww1_l2Ros4SXIOAoYwUKOhEV0QrG68DfUhbFifghi5vlbQ-9tXKng4rI5CqRPBhXnpausxH3qao-U9D3w9Kl0l7eW6t1JyEFIWkgyDqDfSZ45Pu8VdT_YVMCcD_3ReIe4ZtGgBG6UhknVM8RHMoWFkb_4bFhFW4c8efLwAqUd4R57d7oouxG0VyPehs5Jd0GF3tY6RMiLHe3BKHmBbRofAstEAoBDKPLp4XF3Yu2gaL7DjquU896OKHboVHvwqz9hINv6TOB3Cj2jueNTguKhJ81HlNECeONRspXf1yuGIiVW1R6epJ3TcM4TUc6I9IW0-tKSd0bVH3LBcOTa7-h4MDZ-qdSZPK1QZQvLASQlF1pE2kwwwhNTGHokJyMsdgbCn0YLqvWxZVwoztQiyK5n6MlCCPXUZZF4L-4e7HI2S-RiHZY-CO9Wg8Wit09_EXVBZOFwkY0H8BNdDs0UrbVCn_q352B-YMRpvrhp-0staefKhnecEVK0DKw8ZNexUQoJy0LQ3W4EknoV60jgkcXb5DvqJEMr4XiRu1Kpg4r3V8NofEcFvwFd1EUHO2K0_k9CPrNbc11lXfFa3PbFo3duNcZO2PsitK_pdRpJ5iPq4yFhc5or76tQQaEe8h2l-2qyCb_EqKpz0XQyG2ac8mqH6uNYORdXzZP5DQ25cxKI_JYCinTjdazw4x8Wgfz5ij5x6AOxESiYQwQ==",
  "id": "rs_0df97137c542c7de016ab427d2f66487d0b1aa232ccae360ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush has shifted down into the left gripper opening in the wrist view, with the safe wall to its right. I’ll close here and verify a nonempty grip.\"}",
  "call_id": "call_yqo8jfKCCGDRpyDcyPpPNMSV",
  "id": "fc_0df97137c542c7de016ab427d39a7c87d0be21c9d50e608dfb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yqo8jfKCCGDRpyDcyPpPNMSV",
  "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]: [-0.535, 1.8141, 1.248, -0.63, -0.4221, -0.4389, 0.0103, -0.0357, 1.0943, 0.9421, -0.9493, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1422 left_z=0.0724 left_yaw=0.1145 left_pitch=-0.4592 left_roll=0.2233 left_gripper=0.0103 right_x=0.2619 right_y=0.0012 right_z=0.1489 right_yaw=0.1136 right_pitch=-0.5135 right_roll=-0.0569 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.3744, 5.6547, 1.0574, -0.232, 0.0464, 0.8474, -0.1162, -3.0564, 6.4889, 1.199, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d8625edc98b7770b038269e3141b6cf5ac9d71935cbaf631aa0ece5e636698",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2de834181973a7483318a4d6d1f5f83978fed57c19e9543ba916f8d82805120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ee49600849d92673b8865f0d3239839bc352657c58fe01d01f1fec62845094",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.233 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.622, 1.6882, 1.034, -0.5251, -0.4553, -0.5117, 0.9964, -0.0357, 1.0912, 0.9421, -0.9142, -0.0391, -0.1993, 0.9989]\nstate[eef_state]: left_x=0.3473 left_y=-0.149 left_z=0.0614 left_yaw=0.0893 left_pitch=-0.4183 left_roll=0.1954 left_gripper=0.9964 right_x=0.2694 right_y=0.0009 right_z=0.1538 right_yaw=0.1087 right_pitch=-0.4757 right_roll=-0.0616 right_gripper=0.9989\nstate[joint_eff]: [0.2393, -7.8564, 8.6085, 0.8913, -0.188, 0.1929, 0.0024, -0.1026, -2.6872, 6.4752, 1.2821, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5346, 1.8095, 1.2427, -0.614, -0.4221, -0.4335, 0.9952, -0.0357, 1.0924, 0.9421, -0.9371, -0.0391, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3908 left_y=-0.1431 left_z=0.0738 left_yaw=0.1072 left_pitch=-0.4477 left_roll=0.2162 left_gripper=0.9952 right_x=0.2645 right_y=0.0011 right_z=0.1508 right_yaw=0.1108 right_pitch=-0.4995 right_roll=-0.0579 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -8.6222, 8.6222, 1.0623, -0.1978, 0.1734, -0.1441, -0.0752, -2.8923, 6.4479, 1.2674, -0.0708, -0.0317, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.535, 1.8141, 1.248, -0.63, -0.4221, -0.4389, 0.0103, -0.0357, 1.0943, 0.9421, -0.9493, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1422 left_z=0.0724 left_yaw=0.1145 left_pitch=-0.4592 left_roll=0.2233 left_gripper=0.0103 right_x=0.2619 right_y=0.0012 right_z=0.1489 right_yaw=0.1136 right_pitch=-0.5135 right_roll=-0.0569 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.3744, 5.6547, 1.0574, -0.232, 0.0464, 0.8474, -0.1162, -3.0564, 6.4889, 1.199, -0.0806, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24d8625edc98b7770b038269e3141b6cf5ac9d71935cbaf631aa0ece5e636698",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2de834181973a7483318a4d6d1f5f83978fed57c19e9543ba916f8d82805120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ee49600849d92673b8865f0d3239839bc352657c58fe01d01f1fec62845094",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfZZg_PiZ9fZMbgOmMKZxddP_3NfP5AVwqOeXAmfbLnkBZawymSFmXw2rb0vr42OewKqCSCECKE1kFnQ_fDaMiDdIcnkh0kPWwRWQphJY-qzv_-DZMdl08xTaxddmmOR5Y9TW-dmXHG1zzVPn4o3qlRnZRdDITHcyzSqx5DImlgesHe9yAAJJqHhJ91KspZHg8mQgzMYgNeOcHZC6f7BuEfm9iXnmU3BLIcds7GZrYdTdb5v1kuTbMVxa0o98S7ZkQURUj8IyPVchRWv33OR3Ppl3Yt1EOqpdoDx5_zYJSGgdVgqaemFCAHlWQuPecR4yhqycWvtYXc7CyBPdUAGnEUfZPtBsWDWFK5x6AUhoa35zLPIL9I1N3WxbMBxknw1iw-B3jK1JD0CaDynns0E1vmAJWPVYSJn9xBLcZoeUGpHOGGCB2bRPSeVMUQPibExF9epF2FYePFD4zM8z7FRmKOtQke1NdIuZuV0lHGqXRXBjLnZxKgKWDea-YG1eZVU8MHZvxbOE6yV1wCvQcYCy01-kcuffOHG0rofmxatKHRH_ZuhW7lCZFdO1hOBVdw0EpXT76Gg88dyztvG4Y5Fj0CRdF809BXhlZxl2XLDyaqSEQoKKx7BtopNts3d0c4LHTpZmxTam9skRcXv3xXm_hDIhGu-ujfai1eYDJphgKOE83NaIeyiAAZywOP2vDawEO-YLbYz3NmFx-5G3Cc07Z2jTXWEH2auD0u2ssrFlZA4qozqXwr4ltzFzR59KGGkjKFKcy2ISd63vrZWeYde4NMRIJ4bolmgarJJMC3zWoFzcWXKSH4vR7QizF4gnlszpalCRf-U8UK527b3IIYOAX2J4kW3QFPya7A-WQktsd8LJuhzHtCiSsVM95-wnrVx-DEwpX1ypKTUNRQkSUkqpXoFP9VC4BjY11VPfpP0SfkjavMlb0R8Qqo33ag_qfpvw_XFjuZ3e34iVWOdp0KkNtCniZ38c-sRnabXzX9Q9bacEGuNp7sFUI94dyJtffV7dY0RGUUlRoWcIhHjPAu1ez3NnvLLJnYfzao3-jhqQP0pVM0Pxrb26eOLhy2l2Qi3CPXXRfQP6GXbBLW0DVK6a64TqAFn3HQIOI_l0FTw_lQtY9C3jKDc1avUmVxW3jOwlceJi2UV-zx-t5uCHOPqEPe_THPLi3_sX_Y5gIfNx8Z7S_svxaLHqg4t6ulkUJVd0QREi5TTzxV_yqNGt0YW-EL6tJXSB_jmEZAfpyLXglbw2A23ktS4I-OAf7i246haiS3OPHuqVOHpLQjEhoyiUjTwvleJF7nFg8T1ein6Ryr1JOIY_BkxLwarOvCWjDYuS7EAM0HEeVun1vicr9Guhz-Sj0c5UdcHVRTi_YhMDsq9R6dmhz_c8aTUr-LbuC2Go07G2uONUubNgdEw4pzy-Ksu9aDXQx3WokGjJG-913NaQDIjC9_xdz-0Z7nuNESwGgHr8HzzSehfpVJNbfWtWbOaCJAy9CCj-lzn8bB1or3rtQ5oFqWIB_Ix7V3eFzTDb4uWCYaMvcwyJ9OivOIp_0BdGakJtxR9iS5IeWghXb2ZXl-eHd4bKrUZPCZOm6QLWgmdjBj2VX_07ABEO85NNxrijZM2rFsR9cFz6mv0BAhpZ37GAWrHNauUWILvg6QSuYGCIDndGBOhZgx7qqsuLOFWi_6sTGBtIpjBgkh_xSLu_77WFf8qlD1ghPuAqKqwwCkiGoI4P3PimAVFHM3qJ6-g0apTUgFM9_vrdj24JEKX8I-8Ctlq9w85CEaPapTa3jAl2fGFP3ZRZ8M_rMQ8DxBn23edzgRgvCjMBzEH2mff3V_1aiJq5TZDVqLQnB1J9zwcJJDprGPxBKwzCmseDm4sZE30Y8JhxHN4iRI4NhNfiIYETpghwVuoJlJTqjFV97UjLdb9rXZP5229PAW1-lV0q1QdDtEqm3Xae1NNqtNTPP7UZgmItPALpthIs-btZ_2Z98HQUXUtC-0om3dUQJ6ZHKE8E8AmVciz9x8mgu7KXjvc2UVFqhgKlg5kzFfAhVK0CpvTAyn5Ly_2ZT0iSyR9himmKgvqeUfQNLjQaWwaYPGI7SBnysAGeHj-A1RAiAG0AAM0R_8IiUY7zdF2LsZ11qOk97JiQmUXkzIpfAdTikLPtA2a4BQOyx-t1P73gWs0RjCt665fnERq5QfrrqMkPrQmVJtkLiLlhNKVaDuhI68IEov3Tr26SKQ06ZsqDVRE45arSsvV77fHaHv-64RmkZvQPbNgOLRbglF-0pCwQhIEqCIDhfhAmrxYGBHhuFtCXg2Rp6xAE0s3F3AyGBU7CHfEQUv7CnkJYoxRpp670tG5TOXAi78m54FQucUODZrGmBS9lnVO1IXPqbvPIvcreGRjSzlamow5KCaRRvgPdSnh3NabzxWsozUOTqAJq-I",
  "id": "rs_0df97137c542c7de016ab427d68b5887d0915f68c0a8d5e11b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.395,\"left_y\":-0.15,\"left_z\":0.025},\"note\":\"The gripper is still closing empty despite being horizontally over the plush, so it may be passing above the soft body. I’ll keep the same forward alignment and lower the open jaws to its mid-height.\"}",
  "call_id": "call_dmm0GNv6T8FuwHFiw7xgEUpq",
  "id": "fc_0df97137c542c7de016ab427d885a887d08cf657d2b832ce9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dmm0GNv6T8FuwHFiw7xgEUpq",
  "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]: [-0.5407, 1.9034, 1.1885, -0.5144, -0.4286, -0.4519, 0.9949, -0.0357, 1.0962, 0.9421, -0.9638, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3892 left_y=-0.1439 left_z=0.029 left_yaw=0.1316 left_pitch=-0.48 left_roll=0.2442 left_gripper=0.9949 right_x=0.2587 right_y=0.0013 right_z=0.1469 right_yaw=0.1151 right_pitch=-0.5297 right_roll=-0.0541 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0205, 5.4222, 1.2625, -0.232, 0.022, 0.0562, -0.0615, -2.988, 6.4068, 1.2527, -0.0366, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef94c05c99747b5f310ce73f99225297bfb347c86f40ce3d0cf61d5fcfd67b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28cb810e037c6656423d611db7068f8d75af449882ff9223aa02826a4189cc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a3044d57383de4430342b25bdd426cc8219c41067a557129191422df4b4732",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.344 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6098, 1.6962, 1.0615, -0.54, -0.4511, -0.487, 0.0104, -0.0357, 1.0916, 0.9421, -0.9264, -0.0391, -0.2001, 0.9989]\nstate[eef_state]: left_x=0.3529 left_y=-0.1482 left_z=0.0658 left_yaw=0.0827 left_pitch=-0.42 left_roll=0.2038 left_gripper=0.0104 right_x=0.2668 right_y=0.001 right_z=0.1522 right_yaw=0.1101 right_pitch=-0.4881 right_roll=-0.06 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -7.7333, 8.0752, 1.0818, -0.232, 0.0317, 0.8718, -0.1573, -2.4547, 6.5162, 1.2381, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.535, 1.8141, 1.248, -0.63, -0.4221, -0.4389, 0.0103, -0.0357, 1.0943, 0.9421, -0.9493, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1422 left_z=0.0724 left_yaw=0.1145 left_pitch=-0.4592 left_roll=0.2233 left_gripper=0.0103 right_x=0.2619 right_y=0.0012 right_z=0.1489 right_yaw=0.1136 right_pitch=-0.5135 right_roll=-0.0569 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.3744, 5.6547, 1.0574, -0.232, 0.0464, 0.8474, -0.1162, -3.0564, 6.4889, 1.199, -0.0806, -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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5407, 1.9034, 1.1885, -0.5144, -0.4286, -0.4519, 0.9949, -0.0357, 1.0962, 0.9421, -0.9638, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3892 left_y=-0.1439 left_z=0.029 left_yaw=0.1316 left_pitch=-0.48 left_roll=0.2442 left_gripper=0.9949 right_x=0.2587 right_y=0.0013 right_z=0.1469 right_yaw=0.1151 right_pitch=-0.5297 right_roll=-0.0541 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0205, 5.4222, 1.2625, -0.232, 0.022, 0.0562, -0.0615, -2.988, 6.4068, 1.2527, -0.0366, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef94c05c99747b5f310ce73f99225297bfb347c86f40ce3d0cf61d5fcfd67b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28cb810e037c6656423d611db7068f8d75af449882ff9223aa02826a4189cc04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a3044d57383de4430342b25bdd426cc8219c41067a557129191422df4b4732",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfeVoDm_6dZnXxuZ4QBzgIRM3HdMQGcy4D61yuQH1rRkOM9I2FVntHQo6mn0oxzVu3D_TX40Fmj0e0EAFoEGEN6Nxdrk5lNOPZUnwE1EQ8lONRXpnE95sJlg1enJVtk8JPcE5-Cus5Mq6yAjm7VPI7-yu-x1LQ_Cu9qt7Jgl8tiUKQHxWyTIhNNE6WAP570gJg0jXZMX8AtRaUqpk10kSJlYit-kxSgUwH-cVh9oIi4c0TbkwZUuYR_ixdbTLlr4sVcpvlbXpYbwgzoLO1iljlA5yU8lAMVp1QdbDflltWIoTTx2VQJbo5AOdsHLVn5UrLYwuFnls1kx95_KaLh2U9JUqNa_d8n2SIsfGRa0wDKGRDcwLeb_6ZczRIwdZBMtYS69H9J-US6Oqok9bxHTycKkBrTC_Ja6ZZrOTuCNf_tyLTa5YKzGLu9iMjEqFJiqyPyMND-plvw_DQ5nDDRYQlUjOSb4WPXpJoI7Sn0aQZvGHhI4Jgb4O8WLpVs9Y0jzJZLdrUeBaQpdXy4KJ4Emt9KYdCmgx_tBNd0M3U2ar7Ebe6u5HQKdGuf48HCCwEVZOs8wgo4ElMpEK7W2LjS5YbyTIvKh6JDzPbhWAfBUxtk7V2G_2kSwZiLLk7K_klKvcCKZnkdY8tIKY78UkAFdtjSholTpb9lPfSuAkxkvjYmwXRxZWAvJfmf_0VvjfAgk32mRIj2aAFXTaDCtONwyazc608MFqs79Qdt4xm5mxREI0ZeBCaiuEV01NL9R3hdcE4sScrJ3sarow1n9pW7amjl6TIQeyExYPCAb9OeNO5fi8Gqif4UlUDrYIeMY5kMlxCMc0GinCaOXbVsmnc9wM3lTfgQ8MMXA76dM5bCkKNpJZQ-fdOESu4g0exT-NwRliRGw44TUWF4O-ihxbFmF2VnHHYOen3CTh7Foy_3oF3ZjUUNylk_9sHuj_hGw_hzs2y0D9gQ1eA9Rv10gEHJ2ZzNXWFfqrhMQrGO5kNe9Qcp2siMtm9JJpCFyIf05iTwJhc3f9B9IhDDNYlJfleCYO04tbEIqF6Ipz43GhD2MX993m53NtHfDqQOSpJkbVPpfYNlnmIyES7jIkU4urKvGhz_bhM4zW4URLkNcKmDuEMFWk46nHNpBTHCHE6gi_TzAbqUIug6RG5pEKMz3smYzoFpCo0RQe1yWorlTouwNeHL7q1Q63D50OaIf5vJeveRjh32j5E_BsrYJH3K3IKU1zCAjtIsWdY6esElD8qW99UkceYS8z6n4_CN_VUi_RHJfJeWIzHfbZfviMfaFxiYDBp3YtTB6rzc950JjZ3EZpcwcnOP7N4VdBt7JmQSw1hyTRa35_ZTrbvcuDK_9zRJkAkxnTAODRdM7SZ-1WfIBZOu2oocDtcI5yaCiTCohKppyBJqJAsXDwFXc7f0Af2XbdDF1g==",
  "id": "rs_0df97137c542c7de016ab427dbbe9887d09ad0a2d5aefc1a5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the lower pose, the plush fills the left jaw opening rather than sitting below it. I’ll close once at this adjusted height and check the opening.\"}",
  "call_id": "call_1GbSMnPPN66eXq1U4IulIHt1",
  "id": "fc_0df97137c542c7de016ab427dcd48c87d0af36cf8356b036b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1GbSMnPPN66eXq1U4IulIHt1",
  "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]: [-0.5426, 1.9083, 1.1843, -0.5148, -0.4301, -0.4568, 0.0112, -0.0357, 1.0981, 0.9421, -0.9741, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.1434 left_z=0.0259 left_yaw=0.1368 left_pitch=-0.4858 left_roll=0.2494 left_gripper=0.0112 right_x=0.2565 right_y=0.0013 right_z=0.1454 right_yaw=0.116 right_pitch=-0.5418 right_roll=-0.0525 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -9.894, 6.2291, 0.8767, -0.2369, 0.0171, 0.9646, -0.0479, -2.4547, 6.3932, 1.2186, -0.0464, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78fb939ff1fb39b1beaf398194eccfa4c2c36609b79a3fd8b56e96af8294eec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716190333f315f07d46a4c5bbb9b28684a73040caed9a94caf01fd4be71de940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490c01da08fb9898de2a70aa33abbefff04267e1391b6f17ed86e04c39f1ece2",
      "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 · 3.098 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5346, 1.8095, 1.2427, -0.614, -0.4221, -0.4335, 0.9952, -0.0357, 1.0924, 0.9421, -0.9371, -0.0391, -0.1997, 0.9989]\nstate[eef_state]: left_x=0.3908 left_y=-0.1431 left_z=0.0738 left_yaw=0.1072 left_pitch=-0.4477 left_roll=0.2162 left_gripper=0.9952 right_x=0.2645 right_y=0.0011 right_z=0.1508 right_yaw=0.1108 right_pitch=-0.4995 right_roll=-0.0579 right_gripper=0.9989\nstate[joint_eff]: [0.5538, -8.6222, 8.6222, 1.0623, -0.1978, 0.1734, -0.1441, -0.0752, -2.8923, 6.4479, 1.2674, -0.0708, -0.0317, -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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5407, 1.9034, 1.1885, -0.5144, -0.4286, -0.4519, 0.9949, -0.0357, 1.0962, 0.9421, -0.9638, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3892 left_y=-0.1439 left_z=0.029 left_yaw=0.1316 left_pitch=-0.48 left_roll=0.2442 left_gripper=0.9949 right_x=0.2587 right_y=0.0013 right_z=0.1469 right_yaw=0.1151 right_pitch=-0.5297 right_roll=-0.0541 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0205, 5.4222, 1.2625, -0.232, 0.022, 0.0562, -0.0615, -2.988, 6.4068, 1.2527, -0.0366, -0.0073, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.9083, 1.1843, -0.5148, -0.4301, -0.4568, 0.0112, -0.0357, 1.0981, 0.9421, -0.9741, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.1434 left_z=0.0259 left_yaw=0.1368 left_pitch=-0.4858 left_roll=0.2494 left_gripper=0.0112 right_x=0.2565 right_y=0.0013 right_z=0.1454 right_yaw=0.116 right_pitch=-0.5418 right_roll=-0.0525 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -9.894, 6.2291, 0.8767, -0.2369, 0.0171, 0.9646, -0.0479, -2.4547, 6.3932, 1.2186, -0.0464, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78fb939ff1fb39b1beaf398194eccfa4c2c36609b79a3fd8b56e96af8294eec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:716190333f315f07d46a4c5bbb9b28684a73040caed9a94caf01fd4be71de940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:490c01da08fb9898de2a70aa33abbefff04267e1391b6f17ed86e04c39f1ece2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfknwP12u0CAzL3xG7VFcIXkI1AI6nxq7TvWntYCCbHfaLgVJuKJ7rNILv3ZB0syrhiTXhS__ZQp8zpT9efiV23gAvH3x1MAeBAy97xrtwZDwlDs-va1bFWuBNTvVX2H-wfqpNlLXD_Loh9JPcq7gySkjF-HT06Zi4MHRzy4vf7PxIU3pAG1P5mwf6ZR0QrH1gHwyZhHi_hVJcAbYislCVBEQg1On1UwqRH37rbHvzsSp5Pmf5wZdYbpkaguPEaFpt5_V2W7WotLDNrppfX4nA_U1defyi9gLGCcmEmINInUgZlyWk7PGjILB-9ksrSDT2iUHKEPVvPL5btGu8iK-1V-SKEIlVGTX-AGzkqzMNmsNORM5Wb47TxDHXJbFz3q30get7tBv9uGULY-83RKKTCQwZg_L0uZfx-bIRtFxivym_U7Td4DjhIYCh_tl0J4nJVtgWWULcCbgxsOwNHEQQpKMzJzov2pD2J5s_SN2um9BkcPcWgHyFOvIw2QxwXGJcCQ9T0gK3AWwq86hDSBX3yWX164zMHPyG_7pJzALjGpQeELaKN7UMpMnajrk6_dx0HZy4AZvizBcm_A0tq-h2E8y3L_cz_6LNsA6G8cAQbBRQT20GXtjrCZSz776W4FK76bVHIlm5-iOqpFnjbAOha-gzH878I-vWGaFyBSqOLZBRi4HxCB-nbgHRYm4LE5lxAfPPxbSEpeLvpZXbOQ73viePxO7eqi3-Fnq5pAOFQPup9LPXM5iGgYhoVojpDNQKAs-jpEsHDk0Ijdx5Pt_SySopIv32yF03h2nMMEnoVn1eKtQ07-OqqqwYRFKg08ff7eznPPiHbMGH9YZY0dOYr2ZKRZM9Mrwy23vJ0Qk-epPgLcUVEuP159jmlIRpCpk_vwVu7xtSppDhE0LBsujOPLIEkJff3HtzAAXn8i4Xapbwan-23q3FLZ9PZW0VNMUSJ9QieUpR30bxnDaBGkqwveGEh-kukbil9lFpSCrvQ-zebhochfsmSC2ySY2aGPHCIo24HE39fCr-cbU_pcJkfYKgapdw6FF9en-2UiLo_wz_z2vYxrH_klPA0UOpSdajAqnZdMzuBfnylro_lh7nnljXCzSpET9QPtcO6w9jy5n500DbFMpBdq1cfdfV3ZXNGtqhbG4fWnKFPBRoQpSZAPXOtP89CyIHpo2Wsc4iY9uh3Zz13DSxFMSGTbm6gyx3EJAPZjLuPuxTbtjPskA_KAue0U-3Pd41ZQa7qjxKrtVwEoI5wza_Eg1_2HOX3lgQwNcLle-P5wWoohNNfa-kneyyQgP00fQk1_vTm2aUAaVObNgf1rLmPm4yrkwN4mbTCOkA2dZ3wBVgyhqRDpiaM9l5ncCw8bOxktlBCRxP3c5y3KjgtK5jOgp3YC8aYDmn2vMHWXP2QWnVmUqam4av8wdCFBrrVS6tWDcXGSH6WeJ56C7FZDRa9PuyJ4LYRA64RJ-H-oaHNCTPz-0MFd20bQyCuKr4hko5JWPQtv2jYdFYwxtzJ3hte0CM4ovGxYVqUAXEzPL1SZw5KG6d35jh3onXAYrAoZb2R7j0K_hfByPGL7kUkWAaKx_fJEdMxFXikouiVVwAKd-ENSqnnjsNORUhJOH8Zw0H6jgV2w1YP85fwtpPB3r-z6De0pE_cT7b0HZWTADC8m_gJRAd00f10l3qOKQiojhvyP8wcVI2Ee4QYOmDrBfdiPyM2u51EhCxhEKVjaSf4H6DYgAtcTEPNe6vHYNHQM86VHjenc3ZspnBSS4pEPphDHGiI1NoKE9YRggyZfPs_RFx1_dSpj1fnz_OhP3RSOMhg3HzN5drqvX0t0nb9DZe71zlx0XvXaVwNk_luQ5hRMGOeD8NScmFLkkF6TREFeWkoPauYAwj5utkyS6PODop6qM8IDWcmEA6MPOUEbYBk3Ae6HIuV7uKUkuyDPLM6Woga1IW0Sz4nUY_SKL_kzUQjQ3siQ80MUed0QZwUX4hl3QfL74TK9mEREaHRuwe0szVs6uZoAVmFwW7pVagavnro2xQg9y2DRIVBu_9-7JY2c9j7hLcDDrckTqjakOhZAqeAxP499VJyMp_IzQf8pZAAtSHs1SM6oemfUvhOrN9M3jHkb85ELqprMKovjugIk90V6URAlHXr_jLpIEBcBQyXI55lQu_rdoF8t0NX1c8n_5Qq-wi6Boy4-hvoBnG_RZsRoAh3j5F3t2zvt3CbZM1cwtL1N3KRVYYlYy72g7coPtjBPJKt98-nHHatF80fbNhQuVvGbQ5ES0Xr4ahclxVJQSEqhJVlqFt0ObBPFkhQcfPlvlekgIF2OFaWQ9m5oKPU-FBdVt2FE5ThNf2Mhm-bZ4y_CpTUMwLZkjBnC8XhJqAl_Vpjg0Xe3nKZvzBEPAq21U7LNaKNzoe66R-GQcNIW1ALIMr2ZkcoD1ixLI3dXZoB6WgWdLmMDg==",
  "id": "rs_0df97137c542c7de016ab427e1a6d087d0ace173420b34c454",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.347,\"left_y\":-0.15,\"left_z\":0.028},\"note\":\"The close shows the plush behind the finger tips in the left wrist view, so I’ve overshot it rather than missed forward. I’ll reopen and back the jaws about four centimeters toward its torso at the same low height.\"}",
  "call_id": "call_WXtZ8rRmeK0rmcXODkfrZahj",
  "id": "fc_0df97137c542c7de016ab427e3a95487d0810ce8cf7fbbd643",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WXtZ8rRmeK0rmcXODkfrZahj",
  "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]: [-0.6193, 1.8446, 1.0706, -0.5255, -0.4419, -0.5323, 0.9958, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3472 left_y=-0.1503 left_z=0.0166 left_yaw=0.1356 left_pitch=-0.5134 left_roll=0.2632 left_gripper=0.9958 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.3026, 5.2171, 0.7741, -0.4567, 0.0024, -0.149, -0.0342, -2.8513, 6.6393, 1.072, -0.0806, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06295c0f7702e86dbf474ce997f95f0667068709c320c6452dd712ae2aa8cab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e97996a4a4a0689663dca4452ee9f2e67ce06228aa2ec750da6ab061bb4a1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e09195455060bc479f289efde15e26a68d1453bbf0977b0b956e725db6253b9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 2.196 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.535, 1.8141, 1.248, -0.63, -0.4221, -0.4389, 0.0103, -0.0357, 1.0943, 0.9421, -0.9493, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3889 left_y=-0.1422 left_z=0.0724 left_yaw=0.1145 left_pitch=-0.4592 left_roll=0.2233 left_gripper=0.0103 right_x=0.2619 right_y=0.0012 right_z=0.1489 right_yaw=0.1136 right_pitch=-0.5135 right_roll=-0.0569 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -9.3744, 5.6547, 1.0574, -0.232, 0.0464, 0.8474, -0.1162, -3.0564, 6.4889, 1.199, -0.0806, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.9083, 1.1843, -0.5148, -0.4301, -0.4568, 0.0112, -0.0357, 1.0981, 0.9421, -0.9741, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.1434 left_z=0.0259 left_yaw=0.1368 left_pitch=-0.4858 left_roll=0.2494 left_gripper=0.0112 right_x=0.2565 right_y=0.0013 right_z=0.1454 right_yaw=0.116 right_pitch=-0.5418 right_roll=-0.0525 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -9.894, 6.2291, 0.8767, -0.2369, 0.0171, 0.9646, -0.0479, -2.4547, 6.3932, 1.2186, -0.0464, -0.0122, -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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6193, 1.8446, 1.0706, -0.5255, -0.4419, -0.5323, 0.9958, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3472 left_y=-0.1503 left_z=0.0166 left_yaw=0.1356 left_pitch=-0.5134 left_roll=0.2632 left_gripper=0.9958 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.3026, 5.2171, 0.7741, -0.4567, 0.0024, -0.149, -0.0342, -2.8513, 6.6393, 1.072, -0.0806, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06295c0f7702e86dbf474ce997f95f0667068709c320c6452dd712ae2aa8cab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e97996a4a4a0689663dca4452ee9f2e67ce06228aa2ec750da6ab061bb4a1a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e09195455060bc479f289efde15e26a68d1453bbf0977b0b956e725db6253b9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfoYVAUd1iMSKpngKoffh5nEevqBRh66EQ5fqnc0LW-5AiVwOB2G0s9SC5R2cZ6h4JnkkrSbopinuNpJcM3Dq87yI2HytLVFE2-7WHA3MVzZ8eY1vyrw60XcQUv8OgQEb9s_7SoXsbwi9WlbY7AR7OHo-B60DxPPHZSxrEL-dHg4J_Q8bDRd66f9_1BkKnJb4wW1ZPPzXD5VC1zanUdWKOymgbJkpdj-KDF7qmRfgOKY9k3Qjse4ZTLq2hFnddmTHb5wM0Z2T8kcu6YjraYFbs_hvQw5C1xx2SyJNqN8JUFIfZKf7yaiP1DhnPPYUoloe-jKKCtrKtMBuQjEjQcCVthO9BwIJ5JYGS2CgGHPnQOPVkmiFLqC0Saevij7EkRDy4dCxPK3rTe1JKqy0WTqx8MIVMDZak-xBCcPV7e-4cqWGTrYS8dX3WEvRKaBE4lbqtpw3RJXNkmN47UyogcPByTYDJYFUFrfKUKFDvC_7QoQ3sbV4MuPF-5K6Un7WVYjhaqinagWcrbqecSNB4fqKJtENhxp9knpzpd1A2mnadMWO5Q2YBoBUgdksr9_8SFiqjWNE1S5EIp0XEDBYJqeHXHAYKBR7_Hz7WmbNYzr7bioqtHAttywePDy_QXKSkGmvtt0c_vUQP2TSbPxXkMMRQ3XzbU7wG9F_QRAgo5gZt--3Lei35yrKaurcQBSqgpNHVbLyhBCWgKJLrdxqm4PCAUy_YNW4dPFnPG_OEMzmBlFAYnoYm6okvH3llWTo2vN4E410psZLrQ9utigeK56mtyk3_LI0tBeMnYxM6p4jeke_8CSUpTUkDiN35hDbPOuq40ZoCbhc1Fqc0oEwTzP_IVs8gGMZYJ9Gz_wkNSa4Jlmk3HRr8ieNa5eLuz4h1ArMltZPZZmdz49jtuVkXp9r-O1sWbCShGj8zAOiGAAmrYx72XzSQRAEFC431OXyrK-v0_81VpA89tglRdAyl6eRPPaM-VCG_YXavvlDKVu5zYOUdXw8WS1AHXHCFF9bdwtaOpecTH5PoZuLesgVXH9uE8-duLCV1RJYUThzMRSXt_GBpDdSuDJm2eK-_xMBYBtRRsEE1LxB9xLaGZBtu-_04cAHxihUEqVOgFfqunrajUMgDXJPBgsMHjgg-XgWTe3vT0SWBe9GfeOKKiqbAtSSsThpFK_j3zsiT0CxZ6HPcQ3RWaYNeLxQ0AVZbISbC9EkdZp0wBOzqTV9Adz9g71kRQJX0VX41VGiI8bafDQSrSkHSNHfRAzDj_h6T0OoUZ92em0ncCkeghYj_2Us_W66TMVYWDA1eL_SrdAJRG_LUJ-83obGwOJb6CaOT3MFSZXTWD2HzndzHkGDrB9SYzX9ugPHRemBg-DRzrSy6G0FkY1e7_XTt9DWWjqKsWm6KI7bIvRVuKVybnz79dwwpH8Tq97SqVpSfiV9Oun4VJnlpsON_wva4T2_rSoVvT3MFgKbazuQzm-hBcVrJoV8XM8b4COF40o6-LCHp10M5hkjns4zneXQ6Hesqrl1aUC0TmxPl0j4LSvU5hWoAtk9UDnfFqYQ==",
  "id": "rs_0df97137c542c7de016ab427e7228087d0808130fc567c8a93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After backing up, the plush’s broad upper body sits between the open left jaws instead of behind them. I’ll try closing at this centered position.\"}",
  "call_id": "call_vhEkYDbAQo5H9SXbapAfhHbz",
  "id": "fc_0df97137c542c7de016ab427e8064887d0b13c619d46e22459",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vhEkYDbAQo5H9SXbapAfhHbz",
  "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]: [-0.6212, 1.8389, 1.0664, -0.5236, -0.4416, -0.5358, 0.0378, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3465 left_y=-0.1508 left_z=0.0175 left_yaw=0.1342 left_pitch=-0.5107 left_roll=0.2583 left_gripper=0.0378 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -8.2256, 5.8051, 0.7009, -0.2418, 0.0269, 1.0623, -0.0752, -2.8786, 6.3932, 1.0525, -0.0708, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8e878df7894b424e7464d662cad3b8165a4a3ac6f463dcaafa27f61d9b77f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa31b4232352ea8d30376769a9800ea2fd70ab90687a379bbf6a386e5df3695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0374a3497d5e1e71f720735eaa17c5131ea144927df962c666672f9deb535585",
      "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 · 7.15 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5407, 1.9034, 1.1885, -0.5144, -0.4286, -0.4519, 0.9949, -0.0357, 1.0962, 0.9421, -0.9638, -0.0391, -0.2024, 0.9989]\nstate[eef_state]: left_x=0.3892 left_y=-0.1439 left_z=0.029 left_yaw=0.1316 left_pitch=-0.48 left_roll=0.2442 left_gripper=0.9949 right_x=0.2587 right_y=0.0013 right_z=0.1469 right_yaw=0.1151 right_pitch=-0.5297 right_roll=-0.0541 right_gripper=0.9989\nstate[joint_eff]: [-0.294, -8.0205, 5.4222, 1.2625, -0.232, 0.022, 0.0562, -0.0615, -2.988, 6.4068, 1.2527, -0.0366, -0.0073, -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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6193, 1.8446, 1.0706, -0.5255, -0.4419, -0.5323, 0.9958, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3472 left_y=-0.1503 left_z=0.0166 left_yaw=0.1356 left_pitch=-0.5134 left_roll=0.2632 left_gripper=0.9958 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.3026, 5.2171, 0.7741, -0.4567, 0.0024, -0.149, -0.0342, -2.8513, 6.6393, 1.072, -0.0806, -0.0366, -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 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6212, 1.8389, 1.0664, -0.5236, -0.4416, -0.5358, 0.0378, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3465 left_y=-0.1508 left_z=0.0175 left_yaw=0.1342 left_pitch=-0.5107 left_roll=0.2583 left_gripper=0.0378 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -8.2256, 5.8051, 0.7009, -0.2418, 0.0269, 1.0623, -0.0752, -2.8786, 6.3932, 1.0525, -0.0708, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8e878df7894b424e7464d662cad3b8165a4a3ac6f463dcaafa27f61d9b77f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa31b4232352ea8d30376769a9800ea2fd70ab90687a379bbf6a386e5df3695",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0374a3497d5e1e71f720735eaa17c5131ea144927df962c666672f9deb535585",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfrPD7kkZ83Kf5rcW0TKppkyKa1MCFIjrdezpZWgogS7z_V5eBfcIzzXAq7hUdXjlJndTFTasEBWbUzj3skuknKq9ILQECgnQIZLiiQn-88SX-2hbIHVDdamOzj_1WxsUEdTUNM6Q4e9CRUuoP7DjUo55_CKVVUvGYpG03Ce2jAXq1waA1CVMZRPBOPoPno35e2Wex7K9KRNxk_o-4z-p_8Tncc9zcLg3F8KrJdQ1xVR7IepVzU3PCxvY6cqEdh8xcJkdKhWW9g9-BGdwBT6GlyMsMo90xiiuoN8a2_Z6_H7lssbl9mpojECf4WHkJXuzgk3WtsgkxmbmCcJQVlk3HeILTa4rM5jRtwo1fMCCf35qY02PgsTlyg7T-zEf8fU5XSbN592JHUFkBxJWBIKYs8q_N6VntvxDnBUjyOyz2yXQGIqdhvAw3LY3IodcIVlUEBNharckYKyB--DAvKz2EYY6HxvPVl8DKCKIl3Uj27IM5C8phBk_69QrZLKt0DfBfOJMPnc8fOYvQXafvfn3jwRyGekGKGT2XRXfYyyLmcc7QinV0Juq3pnPiuy_m8oOxrQdhVLSVffsLYBF6KwVu5pN_0K8dB6N3fXkVWhIsDJjckpsWDm6sygxpwtLf_8r9hAgdnFrULpmn3uXVdp9nUmkpxrMdocHVxZXyLshQvdcQ4KuFA1-48zL_oq0KyuvOG6Ef1DiwOsN7rO2Ea9v0bCFaf2JmXOm2HGR1gYhjSq9jIIeTqXyo66QBvgEMRKXnj2RC2cu-IMGbcrtonJce7O2pvbdgZ-yTRxR1CX3mtPVo3Yx85bzUPqQfMQwnLuA0SkkcnB5bjYANlNB6WhihBaJYwzjxROw1XC0NmxD_Mf0a-0nhCg_ol-tfOpGp-QSRXXR7dzwUyZhNP7ubBPPnwI4r5NXpY1M7RcELffhVpoB3QJjgCwtKRjlpueobjjT1prCRikvTDSc2WDma_ppnjYexd-KtlKLQLugon756EVcbvGZCsFnPs8XklkwO8PHZHX_colADdWPBkYouqHUoI7JqpCrraCCBAPQ_a3v9yqY2J2bPw20a-i4oOBtgJJ2YKjdU79K4-q1LyAt7HeVYYMTq0-1zFImKVBVX32U1hY8llX5CBtNXAS4nZlQhU6A7GZFPJkw0iqfNSnZJP3blZ8DVjTcC697DPMZ2COVNMhpTJEtWNiU3jnfXGXbGiFYvgj9No8gbGHUE2BgvBP8d0hL-BAJYLecLLt7JMqJ8b7CGFy9oYkgtnBIZ7G0gaBabkA7aCjwEKtr_QDSIaI2HHcrbDsRwLyze6K3kj7_xBmshNVIYkiGwCWXe3eWc4MNAqfoNHVDwS5Vx5p9XBCoEaBJsqvavhlposg-um6Vpd0CRzwCeTRQYzbsMmlij7OCFGTC9S67YHXcen6GvBiWUgtQ==",
  "id": "rs_0df97137c542c7de016ab427eadf6087d099aecef8238e55e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.15},\"note\":\"The gripper settled at the edge of the empty-grasp range, but the white fabric appears caught between the fingertips. I’ll lift gently to see whether the plush actually follows.\"}",
  "call_id": "call_mO6kNaVsapI4TSB6LQKmbdnH",
  "id": "fc_0df97137c542c7de016ab427eb50ec87d083fd011aa61e11a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mO6kNaVsapI4TSB6LQKmbdnH",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6674, 1.6665, 1.3247, -1.005, -0.4381, -0.5934, 0.0384, -0.0357, 1.0981, 0.9421, -0.9913, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3213 left_y=-0.1532 left_z=0.1251 left_yaw=0.1418 left_pitch=-0.5407 left_roll=0.2664 left_gripper=0.0384 right_x=0.2526 right_y=0.0014 right_z=0.1436 right_yaw=0.1176 right_pitch=-0.5588 right_roll=-0.0495 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -9.8803, 8.6769, 0.6129, -0.442, -0.0171, 1.0281, -0.1436, -2.3179, 6.3795, 1.2527, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009d5f0efc498f35f19644cbecb47e6746cad2932b0a9051d72c14dd3e5612d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4251d923b264ca36a182c36d568f727c1917f49d12e58ffd2ffb23d4f3f9b128",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5559fcde24ba7ba546e7407a5c4eedfa0b723a6e3cfcde3922305f67230c110",
      "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 · 3.515 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5426, 1.9083, 1.1843, -0.5148, -0.4301, -0.4568, 0.0112, -0.0357, 1.0981, 0.9421, -0.9741, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3874 left_y=-0.1434 left_z=0.0259 left_yaw=0.1368 left_pitch=-0.4858 left_roll=0.2494 left_gripper=0.0112 right_x=0.2565 right_y=0.0013 right_z=0.1454 right_yaw=0.116 right_pitch=-0.5418 right_roll=-0.0525 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -9.894, 6.2291, 0.8767, -0.2369, 0.0171, 0.9646, -0.0479, -2.4547, 6.3932, 1.2186, -0.0464, -0.0122, -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 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6212, 1.8389, 1.0664, -0.5236, -0.4416, -0.5358, 0.0378, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3465 left_y=-0.1508 left_z=0.0175 left_yaw=0.1342 left_pitch=-0.5107 left_roll=0.2583 left_gripper=0.0378 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -8.2256, 5.8051, 0.7009, -0.2418, 0.0269, 1.0623, -0.0752, -2.8786, 6.3932, 1.0525, -0.0708, -0.022, -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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6674, 1.6665, 1.3247, -1.005, -0.4381, -0.5934, 0.0384, -0.0357, 1.0981, 0.9421, -0.9913, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3213 left_y=-0.1532 left_z=0.1251 left_yaw=0.1418 left_pitch=-0.5407 left_roll=0.2664 left_gripper=0.0384 right_x=0.2526 right_y=0.0014 right_z=0.1436 right_yaw=0.1176 right_pitch=-0.5588 right_roll=-0.0495 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -9.8803, 8.6769, 0.6129, -0.442, -0.0171, 1.0281, -0.1436, -2.3179, 6.3795, 1.2527, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:009d5f0efc498f35f19644cbecb47e6746cad2932b0a9051d72c14dd3e5612d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4251d923b264ca36a182c36d568f727c1917f49d12e58ffd2ffb23d4f3f9b128",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5559fcde24ba7ba546e7407a5c4eedfa0b723a6e3cfcde3922305f67230c110",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCfzOkbOHdTKO2w1aDzvhZZeuoMjwsWOxBXDlMqZIgb6QPh1lNyjpZKAmD0Ddkw6LWUyyFOUZc2DrujEbNUJ3YXp7GjBLSDMmTt5FsCokytW5HEtNl2Jw3w7-5_IDdlYviod9hVHTSkRUJWYmYawav9iTOnkoKQPcSiy6JWaFjYVrSlA8Sjo5xcV2bpOXny1FE1x4gPzILjXgdZtWpCEuMOBnYoqDpwjrKjNFWfXz0_VMU8u88gPSft-IcgD6V2UERc3qz6ivi8ohTPjCZVvLxQYpLu7fLD4a-PswVDuC-niGjSpoQr-_GX1pKiRoMuda6Ht6ZQAm4D7Aj0JpudgNH0Sp9iQA2SMgWiMAbbU4V1pDcoZFtYzn-hPu67bWMfnbr1YzWuUyFxJ5mEiVt24z-JGjN5lxKRnKwTJsl1ZDCOkMpaefPE7xvMYcNnpjkJ7ElCJkgYIbzDu9WKuBl042bUac4XoADDAsLkGQt7WEjBrT4wsirEyivgvtaNvairBrdlg3LnwPs2MD33YtSTSG9K_0blHWhXNCT5Nu3RM-NQDCx5pwAd-8Cl2iqkUg1YNrHU8sfIwgKZb6Mw52U73sopqYFuQvLBjaKkfHjquQcaRGxAV1oPw_ALGlKU7-GlzZ82_Mea05LnrryrHZIyET63j2azmGGRbvruu0Qxx1FyRBvYK4pnNs1Yq5RhB923Ew9INwoNb4v34VsEXyOMKiUfHWuewvD-yAwtJTXcb95zYdRUHG-bTNIoWmHTGxqZKXbJ3LRw1bUkir9vpW3RMCe_WLswcj1fOS0KLqBfQUIN90S2KNBECuMDuyk5FaBQXSL4UoNTWCphinB8z0UaUFw_NlM7IXOvezHFSBwK-GMPkIk8WP9KDDlscGexpAeBWYUQhEuaBNkvijSfB6m3aIrRYJb3xHBuFk6FnNBX6gnDpAG966KJbRwp3xSSGBgS-tu7g7FPxPho2kiHTeVN-Lba9fnz1hCuEOlyTZc-OjiAsiBFa1kkXG2QIQa7EvfGPJ50nIBJ9KyQ-40RS-RZXcVJZLripVnD375YTqphgZ7H5Bf9ZNVtfElq7hh2tGGyp_w27jvPp3L8KtVQaaBbrlirUs_QPgFW9QOBX5kmM4cRJH3BkadUAQehkv4anJKcMFHkvCmrxVtOqOwV2yvE6wtvJkxMIveylOYRbQFQoOSTDEwsPMsaXVhW0i5rW415tlIRvzVOJOjjbK4alaCvhY5GxbdNgPDI4BKNb2PolKq4ZnCesqtYv8Cg1BMkgmo8IYD27asH0390JA89Y7Q_ssDzj4ot5TbWmPrmzrcgTMqSrz4NN_YQ6D0PuMm3EmVMYQmMFe7ZjTjc2dY0TKU9PA4-cZII-j2ZELGhZknvhxqQ4aV1RBO7Vvz5NBek4mJCrLykEuTTPFZyR4Fm-FAP0D9qnbDLkdTu1WM_U28NPGumvumbygdegSzO81cra-U7cJnRVTAzAOGJYaRzHBUtmsRoiiiIxdSxAjnq_uVMP_3YSQwJVSiBymK5qNHRiIPawKttiLsRCnGhYtwshpdusWCtD4shk6aRmITCzT3O68K-CU_MeiLGrsRzLXRyHyL9GA1iVT-ulR5RwUYTaZx7Xzu6JWlup0GY2UZ3NHgjQHZIUB_CTCfbxTSIAMHCVEjdVSYIY7zHtH6I6GhkxQLAerIqjqPVxw11N9JpKSloVu2b1kYNr38uS2Lovz8e1x-1a1lpmD1P-krm6PxV0mUcxC7EGj4JU9I2kgY7474rve14ktlHg0lZDU6u9ht-OVUXvHPrmEaHT2MoYX6P195D9w4lnoXIhbsUf9jMO0Ibp1xStdDkOtpxwBD6-E0IEEvGLLoEFNnpTtIaB7Kmz7MU5D2Clt0oOEdAbpjsAIJCawFYF5812fL5k7z-MjvbsW4EjEjgHhdbXTMw3RsnxQitdmtyYd153tB1MHa6zlPs3zc3P7rlHvuTWrNM_ezPJnji64hKQVnHTAuKWf9lTczhhrenNWnU0e96Qa9JkSADDd0XwbL46a2xcMXvZZJsPhURIdXmGjO-JMAdK_BPPpb3jfDYBdi1YNG--lxcgJMn8GTgw2LTkyPWbcYaOQiJxZAjeyFhnOqkZWkP7r1ygyM8ZVxC5-wpd_Y-QEExdoe1ZHrBkfPm7_dtCsTM0rKsSZG6hG_wkchswm-PjF19muyEv9zQNlzkTNzdlIO6dzdQysyXVjBm1i7WmRAJDA42gkZ20nj9HaiZJ8vBMi1rmztdzszGKUD8CE_xrEs1FQ08zn_L8m2VDvMh4N_mMURHMTXV7vZH_bpHYcdLqxo8ewuQQ3mucGXrG0XF7n5SqpaNJWDVewjzyEAzfkxKeTJDL_7884uoUuVBOE1egGwqxn6AY2SByxKSyE9WV_bH3K2WZceIw139JfmyFTGN78wciipAAyEz1G-gFfKEUMID4RbQZo6sXUv-igOcyjcP9lNj2ki3tYUERBUZxOx6fPl0mNGnM-SlpavLWciUc6Yz3nMG72qNy5xmDxFhdoSoaf4FinmxMqNUsVIdzP6j9v6-cwFijrYRn83q8zUs32VnE_a_w8WCplat3DI8zCm1mDc3PgOtuP4SYSMW4uyqFrv2JgqDmMFGBLm8vDUo8ydDot9OXVMNFsRmj7DO-Qp15Qtv-hCH643kYDoyEBLz_yfyqcYxZZ4aXq847sQuKnhe9Ee8rmumO-u8XVYdLv_w5oB4z1Wlgs4ZVofpPbIAdgYgItZjpA81BD9sy5GQ8JdDeGSKJ7gsmcrnxhQnzUwuWDRp7jrAWTrjWL3hqsmWDXLFHBa2TNQShw8dsfpyVwYHG9SpvI1kIzikLNFavjWfyQ1_zX3ZHj1pPhD8Ixz0XS2lZXTI-RJCzDU5aLdyByJ-bKcE_zhUvbAEZIBncO9nLyA-ZO6fcVb0mheDFQbYHIhW8v9GvGgTpoyLldp-Nun4W9uD9hcAXoG_0uKsmQH-cawddlNACKojd25X8WkRX2W91XQLrZe3sbsrYbnMIGySQX6aMlbfOcdxxOkqUmuF7cXXuD6-MdzJysKGFR_HqVj2eUKoDakoaXg4QB3O7mCdzocd_GFaoUY_SMCQ-ySSik9RQ7SagUSmHQe2souhx1K4_NgystlJPvfFjO-zhWlV7drjEqf7TEMfePKi46Joj9wb9pw7jMa7_0ganXEqIQq3wJrpCM3hTrWztix1afw-55a1xwjyBnQzoOcOdbQhl2cXTadjrRdYR75yei66UYPd-bfk-zTo_-5F28IQOaWoRtmsL3BmnfFAXs7USF370IZR3w_YFttpwi1JeLzAmzaXOxSgo32yYX3Pl8KCuNoEdjUX0O1R2JbDxwa2QJacyqGrDcNkeZLmKqSF4PS7togOyVtbyfT6X",
  "id": "rs_0df97137c542c7de016ab427ee139087d0a57c4a79293f162f",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCfz-Kz2rElSjXWzzImmU3pQi_LQYqqax8-zWjnKqlbyzogeNTvrwCujJRIYtiHNbfPJ7X8mTqsur-fXVL9PsG5nFwhO9tiFXcFQQ6_phsT1NgPEbovHxpi5sZO-_z2yH2tqJ9J2MH_5bi-1XtqguMoqQ-KM6VDRLEPuTfhokoB1R64Qb7nxspqbJOraBmNfL1-h3dcmWaIwho6f3pZ59CUOCJi-0G4IGUnUsUcmGamPS_IaPFy9ZXtLCadm3Y5d5DjxQHC8MLT19TNuXLgXWEB5Ce_Kny1jIzdFTV1q-bEUtJpfcridZOYISnN40x6GD3hkaATEBVQh5JRu9F9DYZvpFriKou9uZsZz5F12pz5pw3KkBnPpZb5hTGNOOdVoHLbBSGNMGO2W79enzB3fQGw8ohc0ezTtZPO5dwTKHlKLsJ3sKKdO9tPRjVKaOJaZwR3nvA7HCJ_IYm7aGlLpe389zBtJG65PXp3t3RP-WWHnIq51jG5CoRDDdI9XUpGr7A_72tUH0__LUsXwkDqORj_INky0C1Oixm52RJIyPlhxdNxfMxurgYpv7Mg1CbDJCeNcNvxHfJqHhXgc6ds1e08OTB7L2543bTh4UOGEkQuk9jcvoxBxMstS3vHFJDmNwSAXM4tJBeH9hYlmNP9rEXmlV4B01j6Tbfd4slmv2hQx5Pxh0MVqIk-Qfyvh8do5crUIADBk9J14s85U3aGWhKWrMbboVjXGWfYsegM95FMU6snbiz1WIn-wslQQBLDCNQC88RDsTnuFCjuIXa1ZjbhKwur4Se0nkR11eTvDjKODCkajniEAojHWAwfFclfZqJiZy-SUjPD_iqFebTs35BAC2434p-JDhGecreIl62yjiJyzWTTy0Qwuf7cXREToy9VSREUvuBi_Zl7zrdQ6LKKE70BC8s0YfT_XNsFBl1dn4MmMxdVw7KGav9ZHwtejhVyPCNe6XzWvuuUyK01v9uEsC-kYpQoZ6HAGgH2n_KJuj1SvEqK11IcOYxU-rUBk7Qa1nG54UvNl83omvNvYbpC-g7oij12FOMavHixfD0xdfu7lVUglb1gzSd0cZ2LdkZiTC-171BF-23tc9g8KQpB5_aJrDnMbXjfGB7YU-UJGWLJH3-aF4t039I9M-5DNlF-sq3uUH79PM1C0HrALoR6FC4yNQL5adqEQ9P5EtVl5Su1GS5BX7QNjxPbDwMY3Y6I5d_vvcIQAaYF7NUjuSQJwzTHZaI6cXW8-cil2bLREdFiFIqFTjx5iIl0LSXxFO1V6UoJLHQ_fDvZCR7LazSfVxWuDr7_HxtBtIZul5hTZclgbs330TPOC4K2GXCAclxiWtgiru34OU21hRxIbLR3mqhN8NHHnWgJudtsoHlvXTRP8wD047s1R-UV6-c1zBYhrWquyPvtaP5dVDPbUpJeFSDGo-KZ_GwaeRYA3TKxXJ2DXsTrmnhVJTTQX7kav1UDuglHgPqhqm8O8xsIob-8zscZoetLUH5se0NAA38FKtww=",
  "id": "rs_0df97137c542c7de016ab427f217b887d096efa8b79cb54932",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.29,\"right_y\":0.31,\"right_z\":0.11},\"note\":\"The white plush remains at the safe entrance after the lift, so that grasp did not hold. I’ll clear the left arm and approach the brown plush with the right gripper, which has a more open path.\"}",
  "call_id": "call_LWnSu5BlDtYhvm7RFlCb3QCD",
  "id": "fc_0df97137c542c7de016ab427f2d89887d0b9e56c74482ed289",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LWnSu5BlDtYhvm7RFlCb3QCD",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1974, 1.2892, 1.1759, -1.0801, -0.297, -0.141, 0.9977, 0.9375, 1.8801, 1.523, -0.9695, 0.3027, 0.683, 0.9989]\nstate[eef_state]: left_x=0.2901 left_y=-0.0017 left_z=0.1755 left_yaw=0.1679 left_pitch=-0.5545 left_roll=0.2669 left_gripper=0.9977 right_x=0.2813 right_y=0.3002 right_z=0.1026 right_yaw=0.1362 right_pitch=-0.5998 right_roll=-0.0805 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.3812, 6.0786, 1.1013, -0.1294, 0.105, -0.1197, 0.4171, -9.2923, 8.0615, 0.8278, 0.3785, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb77dfe870cb458af29ccc2fa1e6b2134d0429b408c9b052dc4a015c184808b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf75fd16895c2b6dc5d0bf44db043b0a6b26842b06aa5520af98d4871f5af9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b50365a78451a589d39e75196b528f69662ae42ba453c728e28dbe3e48306e9",
      "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 · 2.532 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 131 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6193, 1.8446, 1.0706, -0.5255, -0.4419, -0.5323, 0.9958, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3472 left_y=-0.1503 left_z=0.0166 left_yaw=0.1356 left_pitch=-0.5134 left_roll=0.2632 left_gripper=0.9958 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -11.3026, 5.2171, 0.7741, -0.4567, 0.0024, -0.149, -0.0342, -2.8513, 6.6393, 1.072, -0.0806, -0.0366, -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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6674, 1.6665, 1.3247, -1.005, -0.4381, -0.5934, 0.0384, -0.0357, 1.0981, 0.9421, -0.9913, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3213 left_y=-0.1532 left_z=0.1251 left_yaw=0.1418 left_pitch=-0.5407 left_roll=0.2664 left_gripper=0.0384 right_x=0.2526 right_y=0.0014 right_z=0.1436 right_yaw=0.1176 right_pitch=-0.5588 right_roll=-0.0495 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -9.8803, 8.6769, 0.6129, -0.442, -0.0171, 1.0281, -0.1436, -2.3179, 6.3795, 1.2527, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1974, 1.2892, 1.1759, -1.0801, -0.297, -0.141, 0.9977, 0.9375, 1.8801, 1.523, -0.9695, 0.3027, 0.683, 0.9989]\nstate[eef_state]: left_x=0.2901 left_y=-0.0017 left_z=0.1755 left_yaw=0.1679 left_pitch=-0.5545 left_roll=0.2669 left_gripper=0.9977 right_x=0.2813 right_y=0.3002 right_z=0.1026 right_yaw=0.1362 right_pitch=-0.5998 right_roll=-0.0805 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.3812, 6.0786, 1.1013, -0.1294, 0.105, -0.1197, 0.4171, -9.2923, 8.0615, 0.8278, 0.3785, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb77dfe870cb458af29ccc2fa1e6b2134d0429b408c9b052dc4a015c184808b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf75fd16895c2b6dc5d0bf44db043b0a6b26842b06aa5520af98d4871f5af9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b50365a78451a589d39e75196b528f69662ae42ba453c728e28dbe3e48306e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCf5aF6D-gCTMepva7lAahKl0hk0ffGy-IBT3rVXQO1oSklcagtLbQmRSQfF_0_XXZNGc824tfr-k-J59-VxRXkZKo8guGnRS_jPfN48xYefKhGsINdqDEX4VUnUQLSp_wNoK4ar5rV2Gtk0F3DCcJBbIXpMD4BYsRxfEfw-CNPxJo9_QPOjOdIdxqgw985Pbpy377I2rWskjCiTjyA0nely4xIKjZmHZevBZz5fkuZ7nuVbXA43wMUX043e6TPQFMvH0MnTD6RJG7mbYHXuKMuhyaE6gJ9Q1goyQlIiDgPGtRM8jzbBMfmo2_Z3d5aagDh0HFEhydvyaZ1uwOPKS6d_Ic-QCWl7DALl1u1TqEKVf2a0kRAhquAwGW0wa444gwEbbsbvY7XsvAP6lhCVy94GdscKBFY2yhaQp3MGqFgqzaweKPU4Mxu8-6NFga9Bo75gm2MCou-GLIipa5xCuYfN74xhfBG2rsb0LHablolqJXAfErFe7pbbZhfCY4p4TIk6gp4rcHlfrXFEVX2M0pSYylVQ6UOdXwj6346U7GJHaidVS2OIPIFcTrCwrA37JBl5LxVBqY3NlzQmlIObd_uEMNRdX5So_WYEzoJ8mmeZmZxhbOe8_kOo-v9wUQypPHA3DwxCMQV0F9q-KdHhDSThd0CEkQYfVV4emVRtpm7sZSzq63tIv3uJOAA6GKZegxBHhoM-Oc7a4NgA4Rg6edkJlo8VXP4gKCamdwf3GbAS1yFTxcb_J7wMGT3Y5hcjVwJXGozAE5epRvLFZc87k1gXSMEu5dwtGQss7rGoiOgVEyUvR-FPFJAXTKhB4l5hPebFGvKH3OFFBh_F2K1gF2mL78OviYjgpue2iYtkAHEHRubNEtVyvGSlWMA2mvTEWhaduyaG7dpc2-VKIkDDXD0vUIlYiu6pJiEFXlbyBdzQRDnJdJY2-XQiMSebje_QfSKesrSBFuvjfILSwe8_YsihhXYSA7l_Ac-wiQNj2EOU5rJO_OANXZ8FSG00MZ08Rn53hrsQBZGLZiI-iqdD3v_6owr2nwxoxfJk5POOHMWbBO_L132TFfVES0A9vd_rNV_9UH7iRc6LiHkWpyqgMgRqe_7zr0y1_SqrRZqiaFAfo4rAS-wS1n7XHChkAJhqTwZOuv3U5WKlQJjJ4zXhQtcx130y2wCkhMI5sSGVuZqE03KP6I4RwPuCCQqlWZTooflD_mfnARx3h2bGXRfPexk0PBM02JzFH_ZT-MvQJu7pC6N_7Iq2tb-bh8N76gtKpw0bah1jPiQyGgSCL5gr4iQvlviu6TArxA-ayiinOiasLfMlkZqARGRS0xVLOUx4kUKl8gUEa06Z8TqlgrRzGYRri_QcjPVWHLByIYp7i-Kb3u_9o050HpfB98Nk_xHW5ndOIR_1FkhqE3eCql75EkPMXSP-dZcJEGijQHfRiD_iAWMKBaZgNLzd98x3npqLhmkoCnUsQKWtmY92FCfEPECL6uHQeUyr2NHtrnKesSvUhLAqlnvpOAtKPwmpuBIALK15OGkxLSOKIawNXqy5qtppE3vU-pwHTh34J8ptv-4eado9Bjdqtv9S6mU4F0vpLWPDLBtRbYqCtYjpk0A8Nvmx19aIRJ3ygi7xPttcV53vp_A=",
  "id": "rs_0df97137c542c7de016ab427f80d6887d0ae0011f2b5bce6ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.315,\"right_y\":0.282,\"right_z\":0.055},\"note\":\"The brown plush fills the right wrist camera, with its face left of center and torso ahead of the jaws. I’ll move slightly forward and toward its torso while lowering to a graspable height.\"}",
  "call_id": "call_b4eswm0PKAHhfff5eAxX7i32",
  "id": "fc_0df97137c542c7de016ab427f907e087d0b54f28f152411a7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b4eswm0PKAHhfff5eAxX7i32",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.289, -0.1394, 0.9978, 0.8371, 1.9224, 1.4078, -0.8402, 0.2794, 0.6102, 0.9989]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.162 left_pitch=-0.561 left_roll=0.2611 left_gripper=0.9978 right_x=0.3047 right_y=0.2706 right_z=0.0573 right_yaw=0.0881 right_pitch=-0.6395 right_roll=-0.1168 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -4.4513, 6.2291, 0.9988, -0.2955, -0.0611, 0.0024, 0.7726, -8.9641, 6.3795, 0.9402, 0.105, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5bb90aa65dad39046e4e00948d0a3d1566dc16cb10f8c81422073e5a621cf25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56358afab708d7f3cda3c7f0abc3973540cda8df8f932e33315b1240c262f654",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d94b5cf45c7471b1f8111e2b0fa04e6b05f8d37273adcc89e7cda2ed1a89782",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 3.28 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 131 changed as sent

message 135 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6212, 1.8389, 1.0664, -0.5236, -0.4416, -0.5358, 0.0378, -0.0357, 1.0981, 0.9421, -0.9791, -0.0391, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3465 left_y=-0.1508 left_z=0.0175 left_yaw=0.1342 left_pitch=-0.5107 left_roll=0.2583 left_gripper=0.0378 right_x=0.2554 right_y=0.0014 right_z=0.1448 right_yaw=0.1168 right_pitch=-0.5467 right_roll=-0.0512 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -8.2256, 5.8051, 0.7009, -0.2418, 0.0269, 1.0623, -0.0752, -2.8786, 6.3932, 1.0525, -0.0708, -0.022, -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 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1974, 1.2892, 1.1759, -1.0801, -0.297, -0.141, 0.9977, 0.9375, 1.8801, 1.523, -0.9695, 0.3027, 0.683, 0.9989]\nstate[eef_state]: left_x=0.2901 left_y=-0.0017 left_z=0.1755 left_yaw=0.1679 left_pitch=-0.5545 left_roll=0.2669 left_gripper=0.9977 right_x=0.2813 right_y=0.3002 right_z=0.1026 right_yaw=0.1362 right_pitch=-0.5998 right_roll=-0.0805 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.3812, 6.0786, 1.1013, -0.1294, 0.105, -0.1197, 0.4171, -9.2923, 8.0615, 0.8278, 0.3785, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.289, -0.1394, 0.9978, 0.8371, 1.9224, 1.4078, -0.8402, 0.2794, 0.6102, 0.9989]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.162 left_pitch=-0.561 left_roll=0.2611 left_gripper=0.9978 right_x=0.3047 right_y=0.2706 right_z=0.0573 right_yaw=0.0881 right_pitch=-0.6395 right_roll=-0.1168 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -4.4513, 6.2291, 0.9988, -0.2955, -0.0611, 0.0024, 0.7726, -8.9641, 6.3795, 0.9402, 0.105, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5bb90aa65dad39046e4e00948d0a3d1566dc16cb10f8c81422073e5a621cf25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56358afab708d7f3cda3c7f0abc3973540cda8df8f932e33315b1240c262f654",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d94b5cf45c7471b1f8111e2b0fa04e6b05f8d37273adcc89e7cda2ed1a89782",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCf8rhQ45s0zvBkJdIezlY3E7FGZ0JFMhCZ0nwIUTickE6D9ag5VmHCM3-cIA0xU0Yhi9ggLyKaPyjGvcSAH9MffO39pRQ2H9j-egDeBdiUKjRKxLGiHZE9LHARmfAReIWdM6-xSrV3gyqauoNGzaWGjkZidk49fxCoiJuTdxY8pFGFP0Cw21_ymJdVZGFB7_x-GLFVGGAkLdNDFP8fTCzqTD-ef4q24Hwk-vaNTsYjUvRdSsXLecBbKueX7WafMtAquQHLfA-2pqzb0Dsb8bQMkEd7z_6EkFf05gfSxgmzllN8ePaqEWHrKa3XAQiQVR5e8jzNi1C7E7eILqNS0tvl6wUsZnLrdV3tnuG16b5IEzlcmMiMYPvqfOQCUvUP5BEgl9a7ZHOQj-cNFRx4nYsElvQVyM12rGfxkuEKVzBw0XSagYoBGpABJyGm6_hWPDaV4Ly6UiTxMOpU-jkAzlYRjZkaDhPai8A2_K-wTFWSTDp3KmO2_kBxjRUP28MvsqktinA8Wl_M0-8VU4qYWpbjs39trpNU6In-78-zHDKdYjW12LpjhYIAC3ZaxXHUhZdz3o0vuE-TFXuMTsVZ7zoks7zzzg3k_tnq8bBOX-yrM4n8J3fAboMbWNEvKFRYo_oYWcxTZx3rzkBUGD7BjTJ2BCw83c7XxOOKjWCaYC9GQGHk5VPqfvAHVRBWupTki6hu79wdKbU7KOZmpOw8qpLZGbbCDvhtu0giYEEXOaarQ7kuRwfzFyEXl5XLuTUam6XMRVdI28rL5oJ0_RaO6Gnt-yphZgivglATryHQefb7eCo_MDjtz1b4od4dcKP3WyuNVmkWeURAv0M5B5qBxHkKOScJpP1xtCuiQiIfjEA4O9ZHXpx0E7JHoDZgCXQZ9XfM4cvkKcfIgiNy-iEQ_zBW8XZ4g2SG5cBWoL8Y79zfUybanbDRy23DJqw2hP4B76HfMT_TIKvKcNdVqXHMoHaX_x095EZao4x93GOOVDQipU8nSC9ENR5V3ta3U93fe5LJXvhzR--Q1O7kiC59JmnOkEqvGNUsRXdRGfzFfQJR21vRDfb34awf7nUMc7F2t3dXCLqDAh6SvFKe9em8Xpp0ITcJZHVVKSEjkEYTfWkqGdMOxd9BLjCZ7v2IOBHtAHPCScxExFNCdEWjMtlz0D0A9pRqVa3XqzlOkdWjW3Mc2WVnuzzGZ0mt5Ln4JJZLlYzijNN-tZOy-PXCa3_P_pEgGKeu5wrwrewlN7LVP3CWqk-q6YdPfHq5l4LqJeOUCQTfhlfGq6h6LBofNFLrHiCV_i305llB2lJM0jHvaSxCQY9KTVIef_CFZ6gZVGPaZjxsJMIqzv_OajTdcQqokMbprvejgtb23exrNYbFKxM32fcgB_FzfgT-Fj0wjK96TfC5s4bMdM6Vra3yLSQdrMq78UKRheKmSXVKS5-rnFGEjEqaaJX8_UU2yCSrbNOMtBVCslcvWWmEzGe94ri9pTPdVOg==",
  "id": "rs_0df97137c542c7de016ab427fb660487d0b0695dde66793318",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s body is now spread across the right jaw opening at low height. I’ll close around its torso and check for a substantial remaining opening.\"}",
  "call_id": "call_PFuXL3qlQIs2xRZsFP7XRRa9",
  "id": "fc_0df97137c542c7de016ab427fbf1d887d09a0fb45717572482",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PFuXL3qlQIs2xRZsFP7XRRa9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.2886, -0.1429, 0.9978, 0.8364, 1.9343, 1.3998, -0.786, 0.2722, 0.5758, 0.0083]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.1638 left_pitch=-0.5606 left_roll=0.2589 left_gripper=0.9978 right_x=0.3105 right_y=0.2783 right_z=0.053 right_yaw=0.1329 right_pitch=-0.6205 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.0752, -4.2872, 6.2427, 0.9841, -0.2271, -0.022, -0.0122, -0.0889, -9.8803, 6.2154, 0.9548, 0.1636, 0.0269, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9ab0f61aa8660ef445acd89450b4f699b65910021d46be895fb9fab202df07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174b4f5386bbe55904b6056897b8a9375121d946284c0f6e1f238fc3984a0c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0534e7e711e5549bd7c8064d38bc2fa8f0f41d619114fe637fcc8a6b6956a0f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 3.587 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 135 changed as sent

message 139 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6674, 1.6665, 1.3247, -1.005, -0.4381, -0.5934, 0.0384, -0.0357, 1.0981, 0.9421, -0.9913, -0.0387, -0.2028, 0.9989]\nstate[eef_state]: left_x=0.3213 left_y=-0.1532 left_z=0.1251 left_yaw=0.1418 left_pitch=-0.5407 left_roll=0.2664 left_gripper=0.0384 right_x=0.2526 right_y=0.0014 right_z=0.1436 right_yaw=0.1176 right_pitch=-0.5588 right_roll=-0.0495 right_gripper=0.9989\nstate[joint_eff]: [-0.4581, -9.8803, 8.6769, 0.6129, -0.442, -0.0171, 1.0281, -0.1436, -2.3179, 6.3795, 1.2527, -0.0317, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.289, -0.1394, 0.9978, 0.8371, 1.9224, 1.4078, -0.8402, 0.2794, 0.6102, 0.9989]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.162 left_pitch=-0.561 left_roll=0.2611 left_gripper=0.9978 right_x=0.3047 right_y=0.2706 right_z=0.0573 right_yaw=0.0881 right_pitch=-0.6395 right_roll=-0.1168 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -4.4513, 6.2291, 0.9988, -0.2955, -0.0611, 0.0024, 0.7726, -8.9641, 6.3795, 0.9402, 0.105, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.2886, -0.1429, 0.9978, 0.8364, 1.9343, 1.3998, -0.786, 0.2722, 0.5758, 0.0083]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.1638 left_pitch=-0.5606 left_roll=0.2589 left_gripper=0.9978 right_x=0.3105 right_y=0.2783 right_z=0.053 right_yaw=0.1329 right_pitch=-0.6205 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.0752, -4.2872, 6.2427, 0.9841, -0.2271, -0.022, -0.0122, -0.0889, -9.8803, 6.2154, 0.9548, 0.1636, 0.0269, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa9ab0f61aa8660ef445acd89450b4f699b65910021d46be895fb9fab202df07",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174b4f5386bbe55904b6056897b8a9375121d946284c0f6e1f238fc3984a0c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0534e7e711e5549bd7c8064d38bc2fa8f0f41d619114fe637fcc8a6b6956a0f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgB1PN6cFPvRPjF0Xmf3dCLIYzcuDm8dewMl2gJuWpDiL81iLE_JzZ6pK-hUkqHobp5psUBTDPDzUR9JBoYaPyozjQ0UmWCbdPhsACS1slKIJzIjhT4_8K2JoN5VySd0dTIBxUHtgwehgzy1iR1i1FMcAIdhWQsNKhWEluHRPi8QaMJ0MlSaySU3t4pWZZyILvD1geChAuwzfu79Yyp5AqLFdWCufd9akvj2odHc8gvupUW9GNzLhpOyfjpsAMcINrQV9qWdgkt6JdTxwytQhmkFL1sJMFXTBZyjv3RQ7bHKhCERZsmVy41H1IZHk9imAqUBlla4hbKnHQT3q6Lmf1jF-_OeIDWxFAC8BAjUZrKCr8RiuJ39lj01ulE3lWPbAkp0d8cPH3-UGMhenO_sxEzH3t0lqiQXheZsoAzJHTZeOgf8hiwouuvmaTexKYuE132XJR2Km-78KSQGQp3Y2qlbArcAxbThbUuAzsZtZKtoPobQjtaQkY3RccVZqZmhaYDlygSquE0Keci1wFRNk7NDUnXmbmHkNA-7-UsshspII3poMwqb842S1bqjCia9G2wFUPkcPrsxYmij2eDU3EKlWI2Az_FkCi-_NvmJTfoLzZxU-nWkiKCQ1QHZcyLIg_MbWdxzsMkLSJ-kvWAc9pNFWHfBfi3t--igIWbUZ2JhquIke3H1pXLyL3V_jyk6aVUnGx0ACjFH2rDTz9xAXk8zfCvhktln5VloebHbxsQJ56udTxtjBjrTBxN7qkkZpCwivUcSDne2dDW3ET7CzsZ9ifCQ6BAJfxAUX9NSQ7FEIYJFK0aWXIBP5C16x6VpBobTi9G9j4epMFHvrSrcWBIx2FQ-EgZI5ZLMVYCtfB809gVQSeMfjZDU4GKtocAZ1TSeHU_LhZzU6qs0EtdYWodjC62RtUDcgdkKgZuon9__a0wgA3ZilVoopFURQnD889w6BIBjVuLsHjYtSGRIJChagLcNgFUqm11pZNj7Z5v1MY0kOcNicvc3FfK-L9vuXPma_m0A2V_z7NrwGoqf8ObJLUHgfhUIJ5pG-WMjNoQhX_3wdqhs772xxdmU5IuQ9qJQxc_t3_VJItuLOYG9PL5TIqJz-D4XOT_35WKB7x8RSFrEuX17_0CcUn2_YwqiIhJtvOBdPoDmNDZTbqrhsGSb4C3aK3zSwud5tO5p3SoIazovI8sF0FbZEhOITnixn12TOeKg1dHnKuy0tEb-XrqwIaSdyTHwddZf6zmzMm8gGgsynRRqFylhT3DCrZ5c7Snn9fS2iXqVQ-azS2-NaL_f_QXjpchNv44zSkucoycdw6F_ymP9ODi7NdpBEDlwTbrd0Fw3CVwLFMmXU3YWbhiwXJLDnGiXDnux1bwcvKdkLMmkN4js7JAaXE0WtkZXews5jDnmDwbdx435CJPtH1rEg6n0BQ7-Rz-v3xLlJq04_HVQRwgMlUhpymDIeX5Bql0SGX4GSxEOvd5stzOwucjtDJkTCGvHMk96HgnNZC8BKpQOnNpmFJH0xKdLZsxDg_7qf9UQI3TC9-19z5xd2-ArGK1LFbyhLtc1TBhaMUdnwjzA_j_pfrQTeAHw0rPvwXNzR7JqUrYYcK-XXkV5prllFTW2PRzqRYWqxBV0basM_3W9TPv87zM2ClCltZS6l4W108oo44DRa7ox5x682Y4e7ZrR5y_jlLD-hUU2XeU4entokqC92FSKWfb_eLhdjID4EtUXDpxNDTLxUnRPoWYUZ75PHKfKzeWV8LgmJDYcmJE-jEpTKBmYuyDQGP20vXgtMzTJQwAB4zB7x3IipWX0Bnmqpt_ftx577Jsf5VSzTxbcqEPbNg76vLh6AGMN_m-sBpeIbxptWxxqb25vUIiPm9BmbLc83payuFE9BTD5Jg=",
  "id": "rs_0df97137c542c7de016ab427fed3b087d0aa5fdfa8d121a370",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.258,\"right_y\":0.27,\"right_z\":0.05},\"note\":\"The right jaws closed empty with the plush still visible behind their tips; I had advanced too far into its silhouette. I’ll reopen and retreat about five centimeters to put the torso across the fingertips.\"}",
  "call_id": "call_oWq1r80sav2Dflrna5pNWWct",
  "id": "fc_0df97137c542c7de016ab427ffff8087d0807acbf67a74b2f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oWq1r80sav2Dflrna5pNWWct",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0855, -0.2886, -0.1429, 0.9978, 0.9367, 1.8263, 1.2026, -0.7456, 0.2993, 0.6594, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=-0.0024 left_z=0.1744 left_yaw=0.1643 left_pitch=-0.5627 left_roll=0.2599 left_gripper=0.9978 right_x=0.2573 right_y=0.268 right_z=0.0392 right_yaw=0.1321 right_pitch=-0.6331 right_roll=-0.1258 right_gripper=0.9945\nstate[joint_eff]: [-0.3487, -4.2051, 6.2291, 1.0037, -0.232, -0.0562, -0.0171, 0.4308, -11.0017, 5.9145, 0.7399, 0.3053, 0.149, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99a8b44fa6b6c6201ea845f31fd6c5fe462b190832f5d244c247b7efe8841a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ede34303b965e6dd7c29a0799383946920f04bbe7fbd1f64d6ff43217290e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0caf4a1321260257e263cefa169ce40e4fc636bee7ce3a5eda713d6ff2f65c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 8.609 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1974, 1.2892, 1.1759, -1.0801, -0.297, -0.141, 0.9977, 0.9375, 1.8801, 1.523, -0.9695, 0.3027, 0.683, 0.9989]\nstate[eef_state]: left_x=0.2901 left_y=-0.0017 left_z=0.1755 left_yaw=0.1679 left_pitch=-0.5545 left_roll=0.2669 left_gripper=0.9977 right_x=0.2813 right_y=0.3002 right_z=0.1026 right_yaw=0.1362 right_pitch=-0.5998 right_roll=-0.0805 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.3812, 6.0786, 1.1013, -0.1294, 0.105, -0.1197, 0.4171, -9.2923, 8.0615, 0.8278, 0.3785, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.2886, -0.1429, 0.9978, 0.8364, 1.9343, 1.3998, -0.786, 0.2722, 0.5758, 0.0083]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.1638 left_pitch=-0.5606 left_roll=0.2589 left_gripper=0.9978 right_x=0.3105 right_y=0.2783 right_z=0.053 right_yaw=0.1329 right_pitch=-0.6205 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.0752, -4.2872, 6.2427, 0.9841, -0.2271, -0.022, -0.0122, -0.0889, -9.8803, 6.2154, 0.9548, 0.1636, 0.0269, 0.735]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0855, -0.2886, -0.1429, 0.9978, 0.9367, 1.8263, 1.2026, -0.7456, 0.2993, 0.6594, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=-0.0024 left_z=0.1744 left_yaw=0.1643 left_pitch=-0.5627 left_roll=0.2599 left_gripper=0.9978 right_x=0.2573 right_y=0.268 right_z=0.0392 right_yaw=0.1321 right_pitch=-0.6331 right_roll=-0.1258 right_gripper=0.9945\nstate[joint_eff]: [-0.3487, -4.2051, 6.2291, 1.0037, -0.232, -0.0562, -0.0171, 0.4308, -11.0017, 5.9145, 0.7399, 0.3053, 0.149, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99a8b44fa6b6c6201ea845f31fd6c5fe462b190832f5d244c247b7efe8841a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ede34303b965e6dd7c29a0799383946920f04bbe7fbd1f64d6ff43217290e2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0caf4a1321260257e263cefa169ce40e4fc636bee7ce3a5eda713d6ff2f65c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgFjivK5oIsGdGrGV-6l0coZ0FtPiADbW25CsYLaahDaknuEVi68AnRRDrWtm0jAY7IWKa3bxmwnB6WAD2jAgWXsSMQelLXb4tXqlBGle0ybqv1U2-ahy6P3RSi61TdrsU4G6XSpmLvHoFndW6_SJHb_NklHQbRj6K7UPFxLwFuKjjEFj7gCie30zPQWopHvosATwUKjjIac4eThZNsh9rRvYvjZ5AGfsByR-dFCCUS3J7xDXdQ5t8Lvx8nov567rb_XYTf8_brB8wRVq5A5gKQRxFicViBaKgAMwWYKvaGTejQuZ1sgIHJpWaeWQQFNZ3v7oEc7nUoMRY1TbHSrDUeCZR2P_IloLwiaA_hXOfL41se7g3KYdmM8iSiPAzCW7zLyEkx1IdWrc_VyjdxTqxKH1MtAIx5Z9UMADvvDKDUoX6NtIc4QaCT_O9hgjzDBbk-VuF31aKpK5DN5j_AY-OL86Bdx8knuuLmoq8CpTl_2SPo59JPYGvHmuUDroxI0MoGE-jEz270IH6Iv0cTzJc2S5GCENynn5pCuRorkz3yqnWmQ4--lTyM_VAQfio-jsRefUNQgUwUH38PWB4snFWsSjJuV81F3ZaFjz2w1U6XZGsrJLT3SUKzb7Ta4W0WhGySmzD_ljb_MiMcIcJAUBG_BUoN0jQOAd4-xSKPnFGoivq8M-SLQa_MpGn7XETeSwc17xsCGDkN4klyIwH_4TrADv6z7aUviTDaMXGiTubzw19ktuMPCbq4BrPrvc67iC-rba_CLwILXPEo2ZRT41ZQdyvvGhzdB6GL8ZJBjMWh6-HDdsnpgWqSAcAzQQR0x3SqgU6Gg-p18UikT_t5D4-BbQBNpIt-FTGaz_LXuftRkvAu4SE3mOBO9DBuhD5MVlWDN__k6d-S2IzJY9rN2kuLiczyaQuvVOZAjge5pgZU7c5L_EJZ7T_AUEc9qp8w9en1-gQnIhAOHSZf3YbbSNQTYZ2qnOP18EXBnJgi5f356VQN_GFVUZ7AJ3cz_w3HgXxlBd25-cOG3s8M6RwCoh_ARDOEkoAgwcptkTVwygXQaTzdfJhoXLszJc4HM548KW0dx1xlQB780Qn8X-fGYhZmeWpgnX3dWOsh4-0GEz3AzpS0mTQBULVi-2yzAtGlsSPnF8jyuap9m1bPmLnE-m9PffhW2phns7FJeGNkfS77h5IEdlr3FohqAaLgIMfDFFZgxqFdY2ffYNh-S7egXL1ezZihtPOfrLKAM7zn_KhnzEnHSMJK93osUS28nSFMdSNv4iT8NdB96jFOGClYVDV8ICgQDfg6pqYPziMaWY8NKpLArHVsPC489fGllDjIG_3nqv5NojKPXw3md3vY1fpHDdO74OGQ1pyXpIegUU3nPsQ=",
  "id": "rs_0df97137c542c7de016ab4280351d087d0b18f857eea2c8e71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"With the gripper backed up, the brown plush’s thick torso lies between the right fingers rather than behind their tips. I’ll close here and check whether the jaw gap remains open.\"}",
  "call_id": "call_QpfEYk7eBVXeHf51yvZLP7Ly",
  "id": "fc_0df97137c542c7de016ab42804ae7887d0941ad061b9171a18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QpfEYk7eBVXeHf51yvZLP7Ly",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0859, -0.2882, -0.1429, 0.9978, 0.9443, 1.8214, 1.1732, -0.7216, 0.3115, 0.6621, 0.0083]\nstate[eef_state]: left_x=0.2888 left_y=-0.0025 left_z=0.1744 left_yaw=0.164 left_pitch=-0.5632 left_roll=0.2597 left_gripper=0.9978 right_x=0.2546 right_y=0.2656 right_z=0.0344 right_yaw=0.1292 right_pitch=-0.6245 right_roll=-0.1352 right_gripper=0.0083\nstate[joint_eff]: [-0.2393, -4.3692, 6.2974, 0.9988, -0.1929, -0.0611, -0.0122, 0.1846, -9.4154, 5.6821, 0.7643, 0.2662, 0.0366, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849bd860dfd29a1aba0ddddf60ac7f13e3e0c3d94312a5ee61b2daf8ac398cbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f1628ef70fa4d1f1721d5db239ae50d5682287542088a6004b2f4cd0463819",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53aaa6032615fc6f74001c1390740328448b19825f573d1cb8a6a50ae15c00fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.302 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.289, -0.1394, 0.9978, 0.8371, 1.9224, 1.4078, -0.8402, 0.2794, 0.6102, 0.9989]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.162 left_pitch=-0.561 left_roll=0.2611 left_gripper=0.9978 right_x=0.3047 right_y=0.2706 right_z=0.0573 right_yaw=0.0881 right_pitch=-0.6395 right_roll=-0.1168 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -4.4513, 6.2291, 0.9988, -0.2955, -0.0611, 0.0024, 0.7726, -8.9641, 6.3795, 0.9402, 0.105, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0855, -0.2886, -0.1429, 0.9978, 0.9367, 1.8263, 1.2026, -0.7456, 0.2993, 0.6594, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=-0.0024 left_z=0.1744 left_yaw=0.1643 left_pitch=-0.5627 left_roll=0.2599 left_gripper=0.9978 right_x=0.2573 right_y=0.268 right_z=0.0392 right_yaw=0.1321 right_pitch=-0.6331 right_roll=-0.1258 right_gripper=0.9945\nstate[joint_eff]: [-0.3487, -4.2051, 6.2291, 1.0037, -0.232, -0.0562, -0.0171, 0.4308, -11.0017, 5.9145, 0.7399, 0.3053, 0.149, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0859, -0.2882, -0.1429, 0.9978, 0.9443, 1.8214, 1.1732, -0.7216, 0.3115, 0.6621, 0.0083]\nstate[eef_state]: left_x=0.2888 left_y=-0.0025 left_z=0.1744 left_yaw=0.164 left_pitch=-0.5632 left_roll=0.2597 left_gripper=0.9978 right_x=0.2546 right_y=0.2656 right_z=0.0344 right_yaw=0.1292 right_pitch=-0.6245 right_roll=-0.1352 right_gripper=0.0083\nstate[joint_eff]: [-0.2393, -4.3692, 6.2974, 0.9988, -0.1929, -0.0611, -0.0122, 0.1846, -9.4154, 5.6821, 0.7643, 0.2662, 0.0366, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849bd860dfd29a1aba0ddddf60ac7f13e3e0c3d94312a5ee61b2daf8ac398cbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f1628ef70fa4d1f1721d5db239ae50d5682287542088a6004b2f4cd0463819",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53aaa6032615fc6f74001c1390740328448b19825f573d1cb8a6a50ae15c00fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgPw8z66MKz_2ltw9Bl4N6I4-xJpjdLztEbqsn5e9TPRaZDzx0mYeOXb_JdZJ7efinvCDMfXyqjWyoAoEeMCkiyaUIPhGL4f86ixfEOVNKuDahdH4dNFuC4pi8XlmNiQ3zBoFRaGx83A-XDFB3xtIPN7WYOqXzvaZca7nPcoE5oI_BFiZw7yCmHKwLr8u-kDzDX48_NL6-ixNl-BNY-1Pb-UHD0_8ewlmViiPeTuDFCSjdkkh5WExN-133XKu_-mQFJ7T_0aj7pC4B6OZoMn-b76OE37H7hFQzYwV64WDrCLOtX0M_9JAZmmDvI4v7cujOR8aRI3LEkzsC7rqGYVh4x1FZQ7bTr59l4yRYFjA6hQgd7tpcuigen9Yd1iqBUB9PiRd-a-BwA87wNG4ursDR6ElrMbc7xrWpjBrKz12LlY4Ub38IqiO_jq6O-ZaFQWF-_ekFvkGFTx3eXCoVrsi7BB0OQRxGs6pjTwadsR-2b6dp19nFDJn9hvywMioqELW0gqMDXQgbLQ9OgYnPqCD3iouZicKPVAFDqBuUGy25CHxRRkZ4uTrcUSqPQN8_-KnPPLg3HCJ9FF0_OUJrz1w6Bpvw64LKyTlt0cZbf-qyF6jxGTeRpFAkwMIsEwHJUBQql69clA2UeDHxRl0EYu8iLNYtQLE1UZ65ndjZgw8I7sHHp6Z4Ub4nrrrlgLsweZyayApcT5Q8PIugSnl2h5VRWFVfiNLLn8Okv4y19v0HH49GoS4cZKgVI9Jk4SDfIn0jHopMmIAXDrigBvubDv73io7vOnva8F-H9AbEOOXL_YQJC7AISg4HRPgK0fBCOyFA2bd3NQ01vFfBbVthiI3W2AvtBBTKpRPvl2gb_3cy43w3BEFUOxY-Tvn6NQGVLB0GfAIVMK3m0--SM1mqrBNjyGdVeEbFX4XZxLqx6EImRBOpXhRxJQAi-AFVDiJPs5Sg_nNgPHBST-RKjWr9PpypC0o4JN5YtPmMua7g6zosFSLlyrXNnMTCYbWSZvguk3hS2CbEfhEplva4eBEJDIzvI8j0XtJkDRqXRIWrK9uBJAAneVbHzAQfUBvP72mtzhBHUxgaB5FNdCqdN86l1YtsGIPt62xVSfAdSJc1s_CSPc9KXRcnc74bNfiaifK3GYZg3kCDTUnjvZL2kjZnBxRwlbUUcdwqNMtNPsMnhfD3K7PsFR9X2Lprvty86BBQyFJeHrAEg_Az2vWzvPR-fB4672qRhhHYlJgUkdb31PSdYuEA6GlErNwS705jBRcRuSwgaxkZJV619sy5LM7Lo4d6YnoPZppFYeBM4eMXMaLxGKd1NP4rRz4ka8vssCmqU-tPwoGJAoGc1JwvxKZXacopJDz3zipSnW6hO8RELo7d-tqxow4BVV4_C9V6QOaNiCc_BgNxewlkKDGBdpkZN0b6YO1gHbCGgXHTmHRmzAhLlElV0LmAtiMxatr77pVWq1ZqcGUeyxKdtBPJN8J7Z5USahpB14oVECHUOEYpg06LRv-2WZKZezAvTPF-REIBaWKPOQH-QNs_T7oqADg4aaBEX5D0xTYKBlhUggyxO5ZkFsljRVaqIEEj3aWX5gCc4bSjOL2eAITkfaeESAlTxS62Ht_yDS_9BH5WASm5WF9GqQedZgCtG8W-clWIXcudBi-5FpgaA_LLwukm9XmuG3r2fvhvTzAzKR_DYYO1KU-A_6-7pBqlj4oRqNe7rNFPkmgPeADHsayRTvW9OYXkxW_085ZhDOlUNKhqXqApqX8-jTJDdBIZzvTG_e_skSG32y9CWMPEmpbdQwMDTWIsyqMzDtBbFKr76cuz0LgVH5SuE_0JrRUHKCsoh57ozQzJgXd83jZZrIK-FFOhJ_oFfP9qpJDQEOZ86iqeKbE56jG_L10u3j4Ae6qCEZ_sY-Vp-rvxBiyL3rUqk2G8cdSbW6hfei_voWNK6e7Pg7yXGll_7jUR-Qbh0P0fYAABwIXh2zkIOW7qMLe659_bPKAgDybYj2EmZryePOWuD6soiIoDjkoU1OV5FPR1uJmhFgmc7kv4fqtfxJJiUilJPiLkH82u0Gso_MUaqOgKomLqkTiA_AQUhD9eALOdVJKcXbMv_HhzRUKfdxa4bPuwFPDeDZwyy9XN0eDdXDmRXasifMeaRHop8CCdBc1C-8l9rZ0ybvJmf7Pa90tgz8i5Vlm6vARDQoOBzWGWUPWqfC1hlU_gqWV4_Wbih_eMiQJSyuAVfigrqSoCMil70B0m3cIPnJugQ44kKGdHEyCvHeuN3PmjdBa3kZhO19covrHMp-ttXkf6l37RhHeG6ds6TxAj9dc8d1Wwq4PpW2A991gRvCstyCwCL9S2Z00TgeLCrl_wPijgGA3Lrg3g8BpSuUfsNqnymGzruHM-Y40GNxP0JV72q1g4HEIvsTYxVU8CzGybMaS8Zer0fd6LzlIsv8JnF5owQrvlVALmS6AlszfzCNZscjzJ8HHM7GSKBTMhRguz_Idy6Ar7MXpbGXODkMhmK_zWdDydqtJdt-brohXW9sExnCw5WwxEATTY7uDwj39XNRuyYyItaRtKJ1bLjUwDf0LVyAERAh5VfvJhhuSQDdOPKd6daAQQS1IJH5JXdoHmRyyJfD4tJmxCdwwEVQ-21G6m5frj9-qJ_g3FjQbFpNpdGw0XpN8ADUe6RX4PN1OaQ6q7cuOz0G8Cyp3LjPPDI23zyjOsUraMXHc86svMF6ztaT-Sit94YwzNYaxfbGUEmRcPT0lr1xpnz4x84i0HBhAMTnlcfk3mFypqsynyOH2ZXVQVdM6XPOc3VEv-IMU_uVtY8jgdHZOv5JAdTWdcSriuYXWF1tMWvd1DqKc6T8rMP-poWVTNNC_vYKY2AIvzBJBCyeDEzCLbqck2yV_nsbUylqgl-jYwmV_1k9otVgDLqqZ9A9ALKr0OkjlX1Qybj_r23EagZIDQyoAdp1OvIT85KHnYFqSAfEQ5FAsKuVjInZBn0RQPSjMHGunDygdKh3vagh1FSjQUf4YAp6pHLopZXfPokYj0UaumT7AfmZYgMGXdZL4ky2DfqCsPmFwwV35NIJpKQMelAJgw671vSSH3NprJ22rntKHU3XwB8AihbohZ5ZL5mFSRblK5yX8uGJTU4TEDpwD-gmoppvLBgkxNI3km_GjAoy5F0T4tB46Uco-RjmI-pi-Z4B162xc1wQpSef9q1SwbCjEFjDumCupSLSM7p9yMx_--MIPuhhJ9ojEHbQU3UeWfv8XVCPXGqW4JPiDhnSLIoILwFbqxPE9r_SH0s_6qqg6GCVwVOPionUPw4II8f9DWeQ5D5pyKXY7yM8WqgpUNeeVdN10Zwu3RMqwulTH7Tb-pgqvzxfUp1XEbrNb4TPMCa6xz74BN9mIgfRfMksxfXBZmEcqPRrb1jLqnVQoWjQDomk1yX2MAopTtW1N5EokCilWyOrlHtRuLhZ9iJiwcjMF_vg2qRXyHsKrrggVtzPVlPJP13wDWkyeC4EUIYeCnzLPMnlajvpFZFMwwdmHsKkS5BM4ZRLqWcHYx57p8oUEf1znzgDCbHO5FKN_Hdrr-sam455eWyhN-E1GAcMZIfaGkPYdsRcGwr_-kfrTm-DwS7WOQg7AhtJlFBXjxE_V2ZTUzPj3aY_HRh3luxS2O3J_aoV1nGBhKG9IUfyeisbGUUUTuSsxD5mSRC_TBJqRcFWQPqEY7EC2uvgXBTBrabvg2gkdlKsvKgz7LCIr14nwMnvQr5_Zq4I65zXmVwR0k7qOqoMegnx5CXI4cSxcqs254LsDcx2XSb2BnZEo4bdwpTEKJcPY1UcgrI0LuDPz0Q_ilGs7DXkbIbbT0XT64tR7NqmkOYlq6V36AMci0Sch5nb6OXTVA_VnQFUT9teght96vvPNqTcW4J",
  "id": "rs_0df97137c542c7de016ab428081c0487d09fb0ecdd4ef16880",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCgPYLOenSoK6GFJJCJ2oiLdNOVCPvrtkURwvHxqjFifSq_OHnXCnaa2PhdyWXciJzEy4Zylr8gEfWGWRykMZLmi-f2b4_itBWLvIr-eof8VcsIW3HqhMxY38er8lmC5MzDlVARCAhHHqFhbyewbGaz-MX2Vf7fjcJArBIHmy_VAZNFIhKA_b-Z4EASxCcXxKPcyWVqvgWanX3XmdKL8fSbZVHWnVkQBBaf68Ht2SVwfknRsVAoMy0RtyptVK7I4S0VsDG2Epg4utyKmcMg5pFRBCBodHsZofSfKeMsXcYIpR3LtuaEH9L0PGs5Wr2PsyS--ntuVBXD9y7AtwzyXPyvhQhxF_A0TFkYkCOH4XzSoPP49qSlhFj0zu1F5ZNMovSr2Yf3xCviXmrHbsCmhvHERCTKItTxKYvaXY8ST59EURxp4zCVIyHPgAF2iisYkomOwI8yX1ILTrxB9WIYzLQwJca-iBcU0Aq9B6vj3_61cXl1hpTSMQGU-Q-Y5_U8zkU1uKfGu_PRIcNuPz_L-ug6bsh45JHgle6MIJnvz-hpyU_aoAq_bzcal4eOQhToHC3FsnxU-ZLwseBLwHzoGTjVPHNZ8k97SxJdpYCFsB7KWM9imKjg0wj1Xy6pw0FhmtH_P7vDVzoVU_sdO4PS2JnBodriYHFN_jktdZTRkKhzemy3XdW2fiI9vHxvsXy048OzPZaycxEPTpdy40Ja0iE_bHlbfh2NYtq2YOZ_x55TAysk-voc_QiEG75rjqVobddyjgWbK4rdpmcbh1aJNq9evF7UkLNSlkfbYnbMq86E3oAY9yVQZsEWdJJbVTFr5IOxyr6PDyb4STP7kkyWF52rqEqyJj_llMuXOJZmnkzxXabE-vcoijRf8jzHZ8q1u5NYyIkXp_Uave4q06c9AFDJ7S_YZGjTrTi2r30fUryj4jhn6tmd5-Z6m43IEtWycvyp0CE11HGBdfBY80vN9RlHjoCcPfZNomrcPbBe9fePZvlqGTMJjfOMMwl0AdduPSMJD3Bd9eSiB3_xno09jVDrxEQMWhZr-rzgMG1a5LQtxE0vEvG-AM0rMRxRiba-4iMcpZcwFf4xO7YE4_vd_vS8SpksxolTvkzSC--1A2X7mKaDD_G1g-C56THkgZJBaSv37gfOogXhx0GzpjOQ_P-Wb_O5AJDMo3NGYDrvsFn3Y7earju3UbUuTRlrmgpQEipoUS27-6O2isHko1Fmy4LeSXdn-erhsQCV9C9zF2LbUPoLwOFhhC5_-crXRPq_BRMjUqkNyvK0a1rDIZS2CTrKmn3Be96lrHGrp5ClO_fUer-DKhSe3vFLxZAtCJsKXHsIKO7q_HxtCu_Q9fbRRJ188WZLzFN3iL5A5Du8mqDzAqkBDHy4KA2cqadqDZcpCxwN1op-o0QKQOriDP8V8SOZPF7o-NWaasS0x_0SBSyfmXtce_EMsXkptC1NZdaju_8ZyFcE5mLm4_cH-sLMHYFVuJl-hY-oqOH_Sc_JnnZIbnCMxGWxJ122UH4XcSsYIUvtD0Ix3cR64ElDimBKb8WXgMDf4t3zGmZptS2I5zz-BqBskDw3jW3QoDmsGjuzjeI9OFljLWVMKcy1p6-EEcvcz4SHzxYdRjvAcfigShl1Z9154HNsiNt2SX-pBg1mIRGb8t1GST6F0JwHYWmX2dZgfOSbiLwmQQNe0hVzcDFt23AqiG68iJMyX9ongrFF08NGrarSc-x5dgXis59u4emmthKpikYOMklOD78XpBbq7TeAC3s-hV5qADJePmaJPIqpvbKcb4XB-rsJShUVi2RchNA==",
  "id": "rs_0df97137c542c7de016ab4280cbbb887d09c69c153c00431d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.27,\"right_y\":0.27,\"right_z\":0.065,\"right_yaw\":1.35,\"right_pitch\":0.0},\"note\":\"The brown plush is still on the table and both straight-on closes were empty. I’ll rotate the open gripper so its jaws cross the plush’s narrower front-to-back dimension, then try a grasp away from the safe.\"}",
  "call_id": "call_iDwpzDPOCkRg1PyB2jF84fuN",
  "id": "fc_0df97137c542c7de016ab4280de86487d0bec2519a89e2eccd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iDwpzDPOCkRg1PyB2jF84fuN",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0897, -0.2882, -0.1429, 0.9978, 0.5194, 1.5494, 0.5846, 0.1902, -0.5014, -0.5888, 0.9972]\nstate[eef_state]: left_x=0.288 left_y=-0.0023 left_z=0.174 left_yaw=0.1649 left_pitch=-0.5668 left_roll=0.2613 left_gripper=0.9978 right_x=0.2721 right_y=0.2575 right_z=0.0515 right_yaw=1.2418 right_pitch=-0.0756 right_roll=-0.1025 right_gripper=0.9972\nstate[joint_eff]: [-0.3077, -4.4103, 6.2291, 0.9695, -0.2076, -0.0366, -0.0122, -0.212, -5.2718, 7.5692, 1.6581, -0.4127, -0.0757, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b074e116e1022e30be258c58347306983dc53ddf9f7788e2c061d72437c3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c699d47e3f832ff3fd5eb448b590632eadffd295d61ace0bc473b3ea5191e539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f0a20515d1500e588bae8b64230544ee564f5d1b877fb9cb5c9e042360fb5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.214 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0832, -0.2886, -0.1429, 0.9978, 0.8364, 1.9343, 1.3998, -0.786, 0.2722, 0.5758, 0.0083]\nstate[eef_state]: left_x=0.2894 left_y=-0.0025 left_z=0.1746 left_yaw=0.1638 left_pitch=-0.5606 left_roll=0.2589 left_gripper=0.9978 right_x=0.3105 right_y=0.2783 right_z=0.053 right_yaw=0.1329 right_pitch=-0.6205 right_roll=-0.0968 right_gripper=0.0083\nstate[joint_eff]: [-0.0752, -4.2872, 6.2427, 0.9841, -0.2271, -0.022, -0.0122, -0.0889, -9.8803, 6.2154, 0.9548, 0.1636, 0.0269, 0.735]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0859, -0.2882, -0.1429, 0.9978, 0.9443, 1.8214, 1.1732, -0.7216, 0.3115, 0.6621, 0.0083]\nstate[eef_state]: left_x=0.2888 left_y=-0.0025 left_z=0.1744 left_yaw=0.164 left_pitch=-0.5632 left_roll=0.2597 left_gripper=0.9978 right_x=0.2546 right_y=0.2656 right_z=0.0344 right_yaw=0.1292 right_pitch=-0.6245 right_roll=-0.1352 right_gripper=0.0083\nstate[joint_eff]: [-0.2393, -4.3692, 6.2974, 0.9988, -0.1929, -0.0611, -0.0122, 0.1846, -9.4154, 5.6821, 0.7643, 0.2662, 0.0366, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0897, -0.2882, -0.1429, 0.9978, 0.5194, 1.5494, 0.5846, 0.1902, -0.5014, -0.5888, 0.9972]\nstate[eef_state]: left_x=0.288 left_y=-0.0023 left_z=0.174 left_yaw=0.1649 left_pitch=-0.5668 left_roll=0.2613 left_gripper=0.9978 right_x=0.2721 right_y=0.2575 right_z=0.0515 right_yaw=1.2418 right_pitch=-0.0756 right_roll=-0.1025 right_gripper=0.9972\nstate[joint_eff]: [-0.3077, -4.4103, 6.2291, 0.9695, -0.2076, -0.0366, -0.0122, -0.212, -5.2718, 7.5692, 1.6581, -0.4127, -0.0757, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6b074e116e1022e30be258c58347306983dc53ddf9f7788e2c061d72437c3ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c699d47e3f832ff3fd5eb448b590632eadffd295d61ace0bc473b3ea5191e539",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f0a20515d1500e588bae8b64230544ee564f5d1b877fb9cb5c9e042360fb5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgVU32pIWpHl8cpAn5W8OhMKwjod7jPh3affpIkNm-BBTVn2-9xT8q6KV7ORAHJ1fJB-udBnneqoFU4vDqxfQbZnQtA_6CLxLHkjAAIWtRYGAlgLaA6afLRy13kUqRhAF4sEgghTWZnFIzBkOjiVJu2aTiQbqYswVNI_PFuhwenIWZfmXuth8t50g3GIkiOsgmRSpkWon_SEh1p4A-lBsxgrqf2c-vL1t2C-gM6ICotfbyJirgzsqjcZXRuhrjsWDN9fV0aHM4nFlrWPFoN0exCZNcMw_bCoLQIzY_KRGYt6GOa2MNh3FIrwMXdMe5KLR-hZiag1w71P_mN5c3K0S2GkdACh42fM90mPyW6ciRxf1bAwxBPSiAGes9H2iU8B2OWUp4eQ-Qlb4CyWR7lL8NaT5NvbzY4F1cT4WtItsEnQwUIGvXaSdPuczokD8ZkH1M8tp0XX6efDPEWJ4P8QB6JdVbItT5MjNwSR1N4Motk0ncnBYKr1z0ctXFIgcN1wjUfnftEwTpifUcuvCPEU_DiqBzi1ewKRg5qrk1Mo861-NFi7reXCEUDam3M7ueoJUSs_MorOzCgP-ab1kBkfKWIUNeo6R3dwvCVskrVfwFO6JOetZHNpN_JYW3j7-5IJte6z5d2I26Cm_ClXpd7WvLje5i1arB0ho4LvvyePkPIshdtuPwF3Ynj9DeJ2APVGya6BCt5Qyav2C2Sao-6QyQ8KZiP4sNLgf-rkHN5H3p7Yx3i3--M5-tx5AvG0PFPnBwoF_Kb5c7Icok98WAZf8pQxkCN5KS8VvMyPq-67aqBnhccnXn8RY7e6YEdqFA9HVqmVOgaaLjRFYdnH3EspHJrrasd1fbww9TgEv-1VnxBLtpCdNQ85Fmqw3pRGLlVynyluWthqw-JL3IL4rIHLbweZ2EfxQCcleJctusXIkxZ5i_hQIl8v0EfiVMrBrT7iUjopU4a1SR6FosmdcXqCu580j2wYJHHL4PO2_67HGAkcNa3fZVUsp-F-pGN07Wc4T1XHZsVvYQh68oIRwJ5c486NUPnSdXmmPYhfQ2LMblF3x0ZHhCay59OPLyjJqXD7uAv1s6FVsUUzQXSSQ7V6o6Xh6gNolap6L6sefeeod21mAoADstLfXyFF_1BaQDMKbeoJ1gCWVvWEy-gW3x68yRZgOfiT64B1fa1Kyt0PzuxKHrd6Y0eDopVE3lvSSwGHVL31-GU2kW-GvY6OIkxDdaY6ajo9JuijZXN6WktJuwny3I80wEPIunhTGKS_9yCrpoqgO0s8YLEvq-45w9h3GxRAVSvkZwUS5oCbiDcpnUxrNiSI6ZFOgwolf4wAqxjiPR-uoRJwygzdYA9QYNDJentqTsajDFK9gY0dhfHjvmqiu4PvfC-V9yoih-4gnx5eWFEcSv2arCoBZSI0YBwzpsvHhpfdV87IFhafBrVwPNTUk3vZKHXLshl4lAdSxRRx7P4UMW_Ou5ighUxf08Mkvf2hzwguqXHcO4mh7U1LUAUI1wbxXZIchuHDEfp0mxAVukRuGLoZY0UwA_g5g6QIoKoCWOtrgfN99W-xz4WtYstVYe-_Rvdk2vIFQgCfIMYe2_EyfQkojyAvGQ08OVpg_Q6wsx5ySExRHwkCiqwttxBjp3pPzi6qb7gtSJNALNa5ZLyCDN3NWwSlCf3ppuT2guItpY8Ydip0cMOCX0DnpumpAo0lxGDPHSdxTjUMl_vGkmqLuHOc97Ljp7hlnjjzjl4FJbZF12InC-zyIDUEDGo52HIoZ7kEfmPF4bgHJPDrmwdSu6L7ZGA6R3dmX4DL5dUrGg-VTKkQzRPjB1kn6BynM2sVWXnNBjqojnxPadbzP-qgTq935wPOqOZi_sg1k3Py3qVjgFkB2mg52pO7dAIuqNQKg6J1kxvxWRiKm88k99wihMFX_s8WEMs24gR_FYr1_hDuWEUSOT8xpXx_oFIvbc=",
  "id": "rs_0df97137c542c7de016ab42812b89487d09356f5b07b464a9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.235,\"right_y\":0.315,\"right_z\":0.025,\"right_yaw\":1.35},\"note\":\"With the jaws rotated, the brown plush is now left and slightly behind the right gripper in the overhead view. I’ll shift toward its center and lower the open jaws across its narrow side.\"}",
  "call_id": "call_vV9hR7WoxkV6W0utcdDXAuja",
  "id": "fc_0df97137c542c7de016ab428146e0087d0909e3a521de539db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vV9hR7WoxkV6W0utcdDXAuja",
  "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]: [-0.1959, 1.29, 1.1759, -1.0901, -0.2882, -0.1425, 0.9978, 0.7155, 1.6699, 0.5816, 0.3405, -0.4587, -0.5285, 0.9987]\nstate[eef_state]: left_x=0.2879 left_y=-0.0023 left_z=0.174 left_yaw=0.1647 left_pitch=-0.5672 left_roll=0.2616 left_gripper=0.9978 right_x=0.2336 right_y=0.3114 right_z=0.0303 right_yaw=1.3707 right_pitch=-0.0706 right_roll=-0.0946 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -4.1915, 6.2291, 0.9499, -0.2076, -0.0366, -0.0122, 0.253, -5.1624, 5.2034, 1.4237, 0.1148, -0.0366, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaf16d932f374ca43d06f016a1af81f5bdcbbbd85499f3961d1d2bb9fd4b491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb58d8f7b7cb7759065169a2cca84098de7c47a02a2f5a7521b505775efe6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0085372d196e9e7edfdaf77cdf718b8aeb2efc2341d77c9fbdf00e3bc7171a",
      "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 39 attempt 0 · /responses · status 200 · 3.74 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 152 changed as sent

message 156 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0855, -0.2886, -0.1429, 0.9978, 0.9367, 1.8263, 1.2026, -0.7456, 0.2993, 0.6594, 0.9945]\nstate[eef_state]: left_x=0.2889 left_y=-0.0024 left_z=0.1744 left_yaw=0.1643 left_pitch=-0.5627 left_roll=0.2599 left_gripper=0.9978 right_x=0.2573 right_y=0.268 right_z=0.0392 right_yaw=0.1321 right_pitch=-0.6331 right_roll=-0.1258 right_gripper=0.9945\nstate[joint_eff]: [-0.3487, -4.2051, 6.2291, 1.0037, -0.232, -0.0562, -0.0171, 0.4308, -11.0017, 5.9145, 0.7399, 0.3053, 0.149, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0897, -0.2882, -0.1429, 0.9978, 0.5194, 1.5494, 0.5846, 0.1902, -0.5014, -0.5888, 0.9972]\nstate[eef_state]: left_x=0.288 left_y=-0.0023 left_z=0.174 left_yaw=0.1649 left_pitch=-0.5668 left_roll=0.2613 left_gripper=0.9978 right_x=0.2721 right_y=0.2575 right_z=0.0515 right_yaw=1.2418 right_pitch=-0.0756 right_roll=-0.1025 right_gripper=0.9972\nstate[joint_eff]: [-0.3077, -4.4103, 6.2291, 0.9695, -0.2076, -0.0366, -0.0122, -0.212, -5.2718, 7.5692, 1.6581, -0.4127, -0.0757, 0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0901, -0.2882, -0.1425, 0.9978, 0.7155, 1.6699, 0.5816, 0.3405, -0.4587, -0.5285, 0.9987]\nstate[eef_state]: left_x=0.2879 left_y=-0.0023 left_z=0.174 left_yaw=0.1647 left_pitch=-0.5672 left_roll=0.2616 left_gripper=0.9978 right_x=0.2336 right_y=0.3114 right_z=0.0303 right_yaw=1.3707 right_pitch=-0.0706 right_roll=-0.0946 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -4.1915, 6.2291, 0.9499, -0.2076, -0.0366, -0.0122, 0.253, -5.1624, 5.2034, 1.4237, 0.1148, -0.0366, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaf16d932f374ca43d06f016a1af81f5bdcbbbd85499f3961d1d2bb9fd4b491",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbb58d8f7b7cb7759065169a2cca84098de7c47a02a2f5a7521b505775efe6d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd0085372d196e9e7edfdaf77cdf718b8aeb2efc2341d77c9fbdf00e3bc7171a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCgYi1bPaMJCsEwYw-7efiZlWm8dukivSWq1lGc8bzT-78IH5M4ys4KywlEZjBf0PFWBbtsXuGcr8Iq7KZRi5uIxARaZUZYakJYN40wu5vZpsMBJSYvCxpZdn-fu1Q2Ha3qjoY0SAeXvXbU7TOB2wq1bOZWnw6kj1uCYOh2A69ZVUkIe8cf07WG8XSjhz1V7RtOetE1R9RSQY6JuvGNsOwOrR8YU9uwvL-72WETVwJvFIQyqbY26ZinVAbcFvY4p1bg4yCui5llF5hDGC72eHaLZjUFEliSOiLtlpsxKb_1ALRqTOI7hHTExvXKyTZNpBI5HpVq2ZCxlC_xpTh8gAtClimZhbva0PPoKj5ou5BI5XuksigXGEPDd95ABiYiPyLxqQvD3Dhs95-exKiLDAy47i7VJznQQDC0xZ_27ETeVId1v2AcQzXc3adSHRwP2uLD-9xI_-P_iibGN96C3RqHeUqYWNVepgnPc-5FQRzIYQCR5W7thHlJq1XJYlcG6MBoj7uNvPD82P6HW1E-jSrgqrpzSrfuD22n79B0qAZ2GSq2XWguBCubaY8DVJPQOUW0llFMpE-qqitxX8dfWij8pBF7AGykt5S3p7Ih6MN2iVeTFoZXoxs8mM32ZqrNcf_BYM6EgnJE3oqZ9EJXgvgHNXKy1ME99ulYWMvttZL_rCR8XTUxQ30gzgoiJFTDRu79FokrGpkoWq6lra1Bo0QTUfo-RJLLfxKsZNgcz8OACTYX_qRBp4WMxzSHxewjgsXlHiPJ-pNqHelONhBtWp2fK7OZu1o5yIwFDF6zES00p_XioM7zTxS7-ZMg1O3mbCLgdbr51Q-ebaW1P27jVksCAeOsQNqY-xEuF0YZ_YkQJyftNDastNELp7zmwHxxCIB8mVvOlhtzTJmZjSCUdu_BGWk5jTYBDECbbqsKybda-xlndTrzGL7V9NC2Cw2Tv7GMXNkdpC8bqFMZvlTgiNUQN3D0RT3p5NVTwRpQiuhLh1e6oj0TvOC6-Srq25oqslFZ7Ge16fh5XgdvEz4KhdcdhF0jQvOAmUykii7ju9h0VTCpaEiGWo7a3HLbxN-nlPZBjx0D7ZjPESDemgQMRfPxPvFX8MfA3QdK80ur_5tWxhiPwKTT8Jxru5xNjGXY58a8fcqDRh9NX7nfplKcgChJdj7vb3Qv8MRZztZFd_rH4jWUp7LGYXix1vVutSybfd2vv5Htg-TXDwFKC5UnWaOcdbgNainW7etLMICRI6KL4XYlWbyGAGIKB71Plikmz787QXlg5NEfV4J3UguM4Ihch4b707ihjDfSLjIBc7tJsco0CKm5MHkAXJukT6Opz3vSb0_7DRN4-OqzxRsy6LYEWFn9Ofg7LWxdOPcJgdAddXRzdpVydS_5J6-WylTS9p-H21YEiuhVam2Zba_7eG5eazotGqscrwVQ5xFpPXuB9rJrpejQqRTmywzfA5na6iFS6zEr0tswPs04sBSdwyUvj5zuhkLur-2ur1FtVKcr4d3c=",
  "id": "rs_0df97137c542c7de016ab4281781c087d0920f717d221cbcee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The rotated jaws now overlap the brown plush’s back in the overhead view, with its head clear to the left. I’ll close on the back and check whether the fabric stops the jaws.\"}",
  "call_id": "call_LvHdNjX5UYspvJ0GKPUIRW4c",
  "id": "fc_0df97137c542c7de016ab428182b7c87d0b67789e1db3aaee3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LvHdNjX5UYspvJ0GKPUIRW4c",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1959, 1.29, 1.1759, -1.0897, -0.2882, -0.1425, 0.9978, 0.7185, 1.6791, 0.5816, 0.3531, -0.4675, -0.5232, 0.0086]\nstate[eef_state]: left_x=0.288 left_y=-0.0023 left_z=0.174 left_yaw=0.1646 left_pitch=-0.5669 left_roll=0.2614 left_gripper=0.9978 right_x=0.2322 right_y=0.3136 right_z=0.0296 right_yaw=1.3774 right_pitch=-0.064 right_roll=-0.0878 right_gripper=0.0086\nstate[joint_eff]: [-0.1299, -4.2462, 6.2291, 0.9451, -0.232, -0.0366, -0.0122, -0.3624, -7.4188, 5.053, 1.3944, -0.0708, -0.0562, 0.6032]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1682faa6dcec2ebaf90b3feedfa13b5771f954ab5f9ab1e495a06d2f63d204",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3af5039852c90643c02eb59f6a2eb2eb2ab6d1cdd4c881acb5fdc8897c5e4fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056e8caeedb27a49de1c00a4edc6b5cab91d8e5fe844f68c5cb7b57f30b89247",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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