adhoc

completed
2026-09-23T18:39:01.272663+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
208.7 s
total steps
364
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 of the table, with a yellow object to its right and plush objects in front. I’ll position the right gripper above the yellow object for a careful pickup.
move_to
right_x0.4100right_y0.2000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3908, -0.0193, -0.0303, 0.9977, -0.0212, 0.7929, 0.6079, -0.4026, -0.0204, -0.0326, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1783 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9977 right_x=0.2921 right_y=0.001 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.3744, 10.2496, 1.9951, -0.0904, 0.1441, -0.2515, -0.2803, -1.3333, 9.6068, 2.0879, -0.0513, 0.1636, -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":0.41,"right_y":0.20,"right_z":0.15},"note":"The safe is open near the back-left of the table, with a yellow object to its right and plush objects in front. I’ll position the right gripper above the yellow object for a careful pickup."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe yellow object is centered in the right wrist view but still ahead of the fingertips. I’ll advance slightly and lower the open jaws toward its middle.
move_to
right_x0.4300right_y0.2000right_z0.0650
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, -0.4061, -0.0189, -0.0311, 0.9973, 0.6323, 1.6203, 1.0214, -0.1535, 0.4831, 0.3355, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9973 right_x=0.397 right_y=0.1936 right_z=0.1325 right_yaw=0.0368 right_pitch=-0.063 right_roll=-0.0446 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.5795, 6.8171, 1.8388, -0.0806, -0.0122, -0.0611, 0.2256, -7.5556, 8.7179, 1.8095, 0.4518, 0.2857, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.2,"right_z":0.065},"note":"The yellow object is centered in the right wrist view but still ahead of the fingertips. I’ll advance slightly and lower the open jaws toward its middle."})
tool
executing move_to over 5 steps (0.5s)
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 object is just beyond the open right jaws in the overhead view. I’ll move forward a few more centimeters and set the grasp point near the object’s center.
move_to
right_x0.4600right_y0.2000right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4095, -0.0189, -0.0311, 0.9972, 0.5934, 1.8374, 0.9916, 0.0257, 0.4553, 0.3107, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0001 left_pitch=-0.0229 left_roll=-0.0004 left_gripper=0.9972 right_x=0.417 right_y=0.1919 right_z=0.056 right_yaw=0.0293 right_pitch=-0.1311 right_roll=-0.0845 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.3744, 7.1179, 1.7314, -0.0269, -0.0708, -0.0269, -0.3214, -8.8957, 6.2564, 1.9316, 0.105, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.46,"right_y":0.2,"right_z":0.025},"note":"The yellow object is just beyond the open right jaws in the overhead view. I’ll move forward a few more centimeters and set the grasp point near the object’s center."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe yellow object is still slightly in front of the jaw tips, with the gripper nearly at table height. I’ll make one short forward adjustment before closing.
move_to
right_x0.4800right_y0.2000right_z0.0260
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4252, -0.0189, -0.0315, 0.9972, 0.5545, 2.0033, 1.108, 0.0978, 0.4255, 0.2882, 0.9996] state[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1699 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9972 right_x=0.4549 right_y=0.2001 right_z=0.0329 right_yaw=0.0274 right_pitch=-0.124 right_roll=-0.0713 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.4291, 7.1043, 1.8877, -0.0562, -0.0611, -0.0122, -0.4991, -8.8957, 6.6393, 1.2576, 0.1441, -0.1538, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.2,"right_z":0.026},"note":"The yellow object is still slightly in front of the jaw tips, with the gripper nearly at table height. I’ll make one short forward adjustment before closing."})
tool
executing move_to over 2 steps (0.2s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe right arm has reached its low, forward limit, with the yellow object between the open jaws in the overhead view. I’ll close gently now and check whether the gripper actually holds it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0189, -0.0315, 0.9972, 0.5522, 2.022, 1.1202, 0.1108, 0.4217, 0.2836, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0458 left_roll=-0.0003 left_gripper=0.9972 right_x=0.459 right_y=0.2021 right_z=0.0303 right_yaw=0.031 right_pitch=-0.1199 right_roll=-0.0692 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.306, 7.1863, 1.6923, -0.0513, -0.0562, -0.0122, -0.3897, -9.0872, 6.3385, 1.3993, 0.1148, -0.1294, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right arm has reached its low, forward limit, with the yellow object between the open jaws in the overhead view. I’ll close gently now and check whether the gripper actually holds it."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe right gripper closed empty, so the yellow object is farther forward than the low pose can reach. I’ll reopen, raise the arm, and tilt the tool forward to approach it from above without dragging it.
move_to
right_gripper1.0000right_z0.1200right_x0.4900right_y0.2100right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0315, 0.9972, 0.5488, 2.0174, 1.1221, 0.1413, 0.4545, 0.2733, 0.01] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9972 right_x=0.466 right_y=0.1982 right_z=0.0399 right_yaw=0.0097 right_pitch=-0.0768 right_roll=-0.0783 right_gripper=0.01 state[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7265, -0.0513, -0.0366, -0.0122, -0.0068, -10.1265, 5.6547, 1.2186, -0.0904, 0.1197, 0.7497] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.12,"right_x":0.49,"right_y":0.21,"right_pitch":0.3},"note":"The right gripper closed empty, so the yellow object is farther forward than the low pose can reach. I’ll reopen, raise the arm, and tilt the tool forward to approach it from above without dragging it."})
tool
executing move_to over 13 steps (1.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe yellow object is now between the jaws in the wrist view while the gripper is above it. I’ll descend with the forward tilt to grasp its upper half.
move_to
right_x0.5000right_y0.2100right_z0.0450right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4507, -0.0189, -0.0345, 0.9972, 0.5797, 2.0121, 1.0534, 0.4961, 0.5629, 0.1116, 0.9956] state[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1644 left_yaw=0.002 left_pitch=-0.0686 left_roll=-0.0023 left_gripper=0.9972 right_x=0.4841 right_y=0.2085 right_z=0.0869 right_yaw=0.0352 right_pitch=0.1966 right_roll=-0.1215 right_gripper=0.9956 state[joint_eff]: [-0.0068, -0.9641, 7.1726, 1.8877, -0.0659, -0.0513, -0.0122, 0.0068, -12.7385, 5.6821, 2.0635, 0.3004, 0.0269, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.21,"right_z":0.045,"right_pitch":0.3},"note":"The yellow object is now between the jaws in the wrist view while the gripper is above it. I’ll descend with the forward tilt to grasp its upper half."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe yellow object sits a little to the right of the wrist camera’s jaw center and close to the safe wall. I’ll shift the right gripper sideways about two centimeters to center the object before closing.
move_to
right_y0.1900right_x0.5000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8051, 0.6067, -0.458, -0.0189, -0.0357, 0.9972, 0.5701, 2.1986, 1.0374, 0.7387, 0.5621, 0.0727, 0.9968] state[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1625 left_yaw=0.0027 left_pitch=-0.0778 left_roll=-0.003 left_gripper=0.9972 right_x=0.4935 right_y=0.2088 right_z=0.035 right_yaw=0.0438 right_pitch=0.2282 right_roll=-0.1373 right_gripper=0.9968 state[joint_eff]: [-0.0615, -1.3744, 6.9812, 1.7314, -0.0659, -0.0513, -0.0122, -0.1983, -9.894, 5.2581, 1.3162, 0.2955, -0.1441, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.19,"right_x":0.5,"right_z":0.035},"note":"The yellow object sits a little to the right of the wrist camera’s jaw center and close to the safe wall. I’ll shift the right gripper sideways about two centimeters to center the object before closing."})
tool
executing move_to over 2 steps (0.2s)
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 arm did not complete the sideways adjustment, but the yellow object is immediately between the right fingertips at this height. I’ll try a close and judge success from the settled jaw opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4583, -0.0189, -0.038, 0.9972, 0.5701, 2.2082, 1.0374, 0.804, 0.564, 0.0513, 0.9968] state[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0039 left_pitch=-0.0789 left_roll=-0.0048 left_gripper=0.9972 right_x=0.4975 right_y=0.2111 right_z=0.0434 right_yaw=0.0471 right_pitch=0.2752 right_roll=-0.13 right_gripper=0.9968 state[joint_eff]: [-0.253, -1.3197, 6.9675, 1.6337, -0.0855, -0.0171, -0.0122, -0.4581, -9.9897, 5.2308, 2.127, 0.1685, -0.0708, -0.0024] 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_gripper":0},"note":"The arm did not complete the sideways adjustment, but the yellow object is immediately between the right fingertips at this height. I’ll try a close and judge success from the settled jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe yellow object remains outside the right gripper after two empty closes, so I’ll leave it for a different approach. I’ll park the right arm and bring the left gripper above the pale plush object beside the open safe.
move_to
right_x0.2900right_y0.0000right_z0.1800right_pitch0.0000right_gripper1.0000left_x0.3500left_y-0.2200left_z0.1400
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, -0.4736, -0.0189, -0.0383, 0.9972, 0.5701, 2.2082, 1.037, 0.8139, 0.5602, 0.0444, 0.0091] state[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1582 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9972 right_x=0.4981 right_y=0.2121 right_z=0.0452 right_yaw=0.0529 right_pitch=0.2824 right_roll=-0.1306 right_gripper=0.0091 state[joint_eff]: [-0.0479, -1.5795, 6.9538, 1.8144, -0.0708, -0.0024, -0.0171, 0.0615, -11.1932, 4.9436, 1.707, 0.1636, 0.0464, 0.7204] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_pitch":0,"right_gripper":1,"left_x":0.35,"left_y":-0.22,"left_z":0.14},"note":"The yellow object remains outside the right gripper after two empty closes, so I’ll leave it for a different approach. I’ll park the right arm and bring the left gripper above the pale plush object beside the open safe."})
tool
executing move_to over 20 steps (2.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe pale plush is visible below the safe’s front rim, slightly behind the left fingertips in the overhead view. I’ll pull the open jaws back a little and descend to its middle.
move_to
left_x0.3150left_y-0.2200left_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8078, 1.5547, 0.9932, -0.3588, -0.5747, -0.6083, 0.9971, 0.0296, 0.804, 0.5652, -0.3443, 0.0914, -0.1184, 0.9974] state[eef_state]: left_x=0.3397 left_y=-0.2111 left_z=0.1227 left_yaw=-0.0095 left_pitch=-0.1533 left_roll=0.0218 left_gripper=0.9971 right_x=0.2948 right_y=-0.0038 right_z=0.1672 right_yaw=0.0051 right_pitch=0.0017 right_roll=-0.1332 right_gripper=0.9974 state[joint_eff]: [-0.5128, -7.0496, 8.9915, 1.4432, -0.6374, 0.0562, -0.0171, -0.1709, -1.3333, 10.441, 1.9365, -0.0708, -0.022, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.22,"left_z":0.045},"note":"The pale plush is visible below the safe’s front rim, slightly behind the left fingertips in the overhead view. I’ll pull the open jaws back a little and descend to its middle."})
tool
executing move_to over 6 steps (0.6s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe left jaws now surround the pale plush at low height, with the safe rim immediately behind it. I’ll close and check the resulting jaw gap before lifting.
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]: [-0.8833, 1.6627, 0.7975, -0.1413, -0.6003, -0.6701, 0.9971, 0.0273, 0.8097, 0.5667, -0.4015, 0.0784, -0.1383, 0.9988] state[eef_state]: left_x=0.311 left_y=-0.2159 left_z=0.045 left_yaw=-0.0224 left_pitch=-0.1946 left_roll=0.0549 left_gripper=0.9971 right_x=0.2872 right_y=-0.0024 right_z=0.1547 right_yaw=0.0245 right_pitch=-0.0612 right_roll=-0.1428 right_gripper=0.9988 state[joint_eff]: [-0.4718, -6.6393, 5.1761, 1.3504, -0.5543, -0.1587, -0.0073, 0.1436, -1.7026, 6.8855, 2.254, 0.1245, 0.1197, 0.1294] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left jaws now surround the pale plush at low height, with the safe rim immediately behind it. I’ll close and check the resulting jaw gap before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe jaws closed empty; the pale plush is still visible to the left of the fingertips. I’ll reopen, lift slightly, and offset the left gripper toward the plush before retrying.
move_to
left_gripper1.0000left_x0.3300left_y-0.1650left_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8879, 1.6791, 0.7795, -0.1429, -0.6025, -0.6777, 0.0106, 0.0269, 0.8101, 0.5663, -0.4294, 0.078, -0.1394, 0.9989] state[eef_state]: left_x=0.3055 left_y=-0.2112 left_z=0.0339 left_yaw=-0.0156 left_pitch=-0.216 left_roll=0.0786 left_gripper=0.0106 right_x=0.283 right_y=-0.0026 right_z=0.149 right_yaw=0.0251 right_pitch=-0.0899 right_roll=-0.1435 right_gripper=0.9989 state[joint_eff]: [0.3214, -8.3624, 6.8718, 1.1844, -0.2515, 0.0659, 0.9011, -0.1436, -1.2103, 6.9812, 1.9219, 0.0122, -0.0659, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.33,"left_y":-0.165,"left_z":0.075},"note":"The jaws closed empty; the pale plush is still visible to the left of the fingertips. I’ll reopen, lift slightly, and offset the left gripper toward the plush before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe pale plush is now centered between the open jaws in the wrist view. I’ll advance slightly and lower the gripper so its tips straddle the plush rather than its fur from above.
move_to
left_x0.3450left_y-0.1650left_z0.0330
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7166, 1.5417, 0.7765, -0.2241, -0.5175, -0.5331, 0.9953, 0.0269, 0.8101, 0.5667, -0.4412, 0.0776, -0.1394, 0.9989] state[eef_state]: left_x=0.3262 left_y=-0.1635 left_z=0.0627 left_yaw=0.0095 left_pitch=-0.2381 left_roll=0.0907 left_gripper=0.9953 right_x=0.2812 right_y=-0.0026 right_z=0.1469 right_yaw=0.0254 right_pitch=-0.1014 right_roll=-0.1433 right_gripper=0.9989 state[joint_eff]: [0.4171, -8.3897, 6.5026, 1.3455, -0.1832, 0.1783, -0.0366, -0.0479, -1.1009, 7.159, 1.746, -0.0171, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.165,"left_z":0.033},"note":"The pale plush is now centered between the open jaws in the wrist view. I’ll advance slightly and lower the gripper so its tips straddle the plush rather than its fur from above."})
tool
executing move_to over 2 steps (0.2s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe plush body now fills the space between the left jaws at a useful grasp height. I’ll close the gripper and look for a nonzero settled jaw gap.
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]: [-0.6914, 1.6081, 0.7784, -0.1509, -0.5083, -0.5152, 0.9956, 0.0269, 0.8089, 0.5667, -0.4484, 0.078, -0.139, 0.9989] state[eef_state]: left_x=0.3378 left_y=-0.1634 left_z=0.0493 left_yaw=0.0168 left_pitch=-0.2375 left_roll=0.0915 left_gripper=0.9956 right_x=0.2801 right_y=-0.0026 right_z=0.1458 right_yaw=0.0249 right_pitch=-0.1074 right_roll=-0.1433 right_gripper=0.9989 state[joint_eff]: [0.5128, -6.2017, 5.4085, 1.0574, -0.3101, 0.1392, 0.0269, -0.1162, -1.1282, 6.9812, 1.7998, 0.0073, -0.0317, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush body now fills the space between the left jaws at a useful grasp height. I’ll close the gripper and look for a nonzero settled jaw gap."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe pale plush is still on the table after the second empty close; its soft shape is making that approach unreliable. I’ll park the left arm and position the right arm over the brown upright plush to secure an easier grasp first.
move_to
left_x0.2800left_y0.0000left_z0.1800left_gripper1.0000right_x0.3600right_y0.2700right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6792, 1.681, 0.7593, -0.083, -0.4976, -0.5014, 0.016, 0.0269, 0.8146, 0.5667, -0.4553, 0.0776, -0.1394, 0.9989] state[eef_state]: left_x=0.3398 left_y=-0.1614 left_z=0.0255 left_yaw=0.0177 left_pitch=-0.2624 left_roll=0.1101 left_gripper=0.016 right_x=0.2792 right_y=-0.0026 right_z=0.143 right_yaw=0.0254 right_pitch=-0.1201 right_roll=-0.1433 right_gripper=0.9989 state[joint_eff]: [0.1026, -7.747, 6.0239, 1.3846, -0.1734, 0.0562, 0.5885, -0.0752, -1.6889, 6.9402, 1.6972, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":0,"left_z":0.18,"left_gripper":1,"right_x":0.36,"right_y":0.27,"right_z":0.12},"note":"The pale plush is still on the table after the second empty close; its soft shape is making that approach unreliable. I’ll park the left arm and position the right arm over the brown upright plush to secure an easier grasp first."})
tool
executing move_to over 23 steps (2.3s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe brown plush is close to the right gripper, but its body is farther right and nearer the camera than the jaws. I’ll shift the open gripper away from the safe rim and lower it beside the plush’s torso.
move_to
right_x0.3200right_y0.2150right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1215, 0.9665, 0.8158, -0.7353, -0.1776, -0.0677, 0.9961, 0.878, 1.779, 1.2057, -0.4274, 0.6441, 0.5026, 0.9989] state[eef_state]: left_x=0.2778 left_y=0.0011 left_z=0.163 left_yaw=0.0578 left_pitch=-0.2939 left_roll=0.1087 left_gripper=0.9961 right_x=0.3516 right_y=0.2631 right_z=0.11 right_yaw=0.056 right_pitch=-0.1615 right_roll=-0.1731 right_gripper=0.9989 state[joint_eff]: [0.2803, -2.6735, 9.6342, 1.5702, -0.0366, 0.0904, -0.2711, 0.1846, -8.3761, 8.1983, 1.3162, 0.5495, 0.2662, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.215,"right_z":0.06},"note":"The brown plush is close to the right gripper, but its body is farther right and nearer the camera than the jaws. I’ll shift the open gripper away from the safe rim and lower it beside the plush’s torso."})
tool
executing move_to over 5 steps (0.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe brown plush fills the right gripper opening at torso height, clear of the safe’s metal rim. I’ll close on it and check whether the jaws stop on the object.
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]: [-0.12, 0.9668, 0.8227, -0.7628, -0.1661, -0.065, 0.9958, 0.8566, 1.6798, 0.8684, -0.2348, 0.6353, 0.4973, 0.9989] state[eef_state]: left_x=0.2737 left_y=0.0 left_z=0.1612 left_yaw=0.0491 left_pitch=-0.3163 left_roll=0.1051 left_gripper=0.9958 right_x=0.317 right_y=0.2112 right_z=0.0545 right_yaw=0.037 right_pitch=-0.1985 right_roll=-0.2056 right_gripper=0.9989 state[joint_eff]: [-0.1983, -1.6479, 6.3385, 1.7021, -0.2222, -0.0952, -0.0317, -0.2803, -7.706, 5.9692, 1.3358, 0.2808, -0.2125, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush fills the right gripper opening at torso height, clear of the safe’s metal rim. I’ll close on it and check whether the jaws stop on the object."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe right jaws also closed empty; overhead, they were just left of the brown plush’s head. I’ll reopen and reposition farther to the right, over its bulkier head and shoulder.
move_to
right_gripper1.0000right_x0.3400right_y0.1500right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.12, 0.9672, 0.8227, -0.7681, -0.1688, -0.0647, 0.9958, 0.8558, 1.6718, 0.8471, -0.2382, 0.6312, 0.4904, 0.009] state[eef_state]: left_x=0.2727 left_y=0.0006 left_z=0.1604 left_yaw=0.0515 left_pitch=-0.3216 left_roll=0.1086 left_gripper=0.9958 right_x=0.3123 right_y=0.2061 right_z=0.0497 right_yaw=0.0401 right_pitch=-0.2134 right_roll=-0.2205 right_gripper=0.009 state[joint_eff]: [-0.1983, -2.0718, 6.653, 1.3993, -0.0952, -0.0611, -0.022, -0.2667, -6.4615, 7.3231, 1.1844, 0.3101, 0.0562, 0.696] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.34,"right_y":0.15,"right_z":0.075},"note":"The right jaws also closed empty; overhead, they were just left of the brown plush’s head. I’ll reopen and reposition farther to the right, over its bulkier head and shoulder."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe brown plush shifted left when the gripper moved against it, so its head is now behind and left of the open jaws. I’ll come back above its new position rather than sweep it farther across the table.
move_to
right_x0.2900right_y0.2050right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.12, 0.9676, 0.8227, -0.7719, -0.1688, -0.0647, 0.9958, 0.6518, 1.5539, 0.7975, -0.2451, 0.522, 0.2947, 0.9946] state[eef_state]: left_x=0.272 left_y=0.0007 left_z=0.1597 left_yaw=0.0517 left_pitch=-0.3257 left_roll=0.1093 left_gripper=0.9958 right_x=0.3337 right_y=0.1483 right_z=0.0636 right_yaw=0.0272 right_pitch=-0.2536 right_roll=-0.2442 right_gripper=0.9946 state[joint_eff]: [-0.0615, -2.0718, 6.8171, 1.4286, -0.1245, -0.0659, -0.0122, -0.253, -8.0615, 5.7778, 1.4872, 0.2711, 0.0513, -0.0952] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.205,"right_z":0.09},"note":"The brown plush shifted left when the gripper moved against it, so its head is now behind and left of the open jaws. I’ll come back above its new position rather than sweep it farther across the table."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe plush’s head is exposed beside the safe, while the lower gripper is brushing its body. I’ll raise the gripper and move over the head so the next descent is vertical and does not shove the plush.
move_to
right_x0.3400right_y0.1500right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.12, 0.9688, 0.8227, -0.7723, -0.1688, -0.0647, 0.9958, 0.8902, 1.5581, 0.9161, -0.4751, 0.6025, 0.487, 0.9953] state[eef_state]: left_x=0.2719 left_y=0.0007 left_z=0.1593 left_yaw=0.0518 left_pitch=-0.3272 left_roll=0.1096 left_gripper=0.9958 right_x=0.291 right_y=0.206 right_z=0.0836 right_yaw=0.0842 right_pitch=-0.2695 right_roll=-0.2453 right_gripper=0.9953 state[joint_eff]: [0.0068, -2.2085, 6.735, 1.37, -0.1148, -0.0659, -0.0122, 0.1573, -5.3812, 7.788, 1.0379, 0.486, 0.188, 0.0611] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.15,"right_z":0.12},"note":"The plush’s head is exposed beside the safe, while the lower gripper is brushing its body. I’ll raise the gripper and move over the head so the next descent is vertical and does not shove the plush."})
tool
executing move_to over 5 steps (0.5s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteFrom above, the brown object is behind and left of the right fingertips; the wrist view shows it to the left of center too. I’ll shift back and left over its body, then lower for another centered grasp.
move_to
right_x0.2850right_y0.1950right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.12, 0.971, 0.8227, -0.7872, -0.1688, -0.0647, 0.9958, 0.643, 1.4899, 0.9291, -0.5152, 0.4931, 0.279, 0.9953] state[eef_state]: left_x=0.2692 left_y=0.0011 left_z=0.1566 left_yaw=0.0529 left_pitch=-0.3441 left_roll=0.1127 left_gripper=0.9958 right_x=0.3242 right_y=0.1429 right_z=0.0972 right_yaw=0.0351 right_pitch=-0.3309 right_roll=-0.2783 right_gripper=0.9953 state[joint_eff]: [-0.0205, -2.3316, 6.6393, 1.4725, -0.1538, -0.0366, -0.0122, -0.1846, -7.6786, 9.3607, 1.5702, 0.2222, -0.0073, -0.0073] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.195,"right_z":0.065},"note":"From above, the brown object is behind and left of the right fingertips; the wrist view shows it to the left of center too. I’ll shift back and left over its body, then lower for another centered grasp."})
tool
executing move_to over 5 steps (0.5s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe attempted low sideways move barely tracked, suggesting the gripper is snagged or the pose is awkward. I’ll lift clear and reset its wrist angle before trying another approach.
move_to
right_z0.2000right_x0.2900right_y0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.12, 0.9714, 0.8227, -0.794, -0.1688, -0.0643, 0.9958, 0.6205, 1.4883, 0.9352, -0.514, 0.4656, 0.2161, 0.9954] state[eef_state]: left_x=0.2678 left_y=0.0012 left_z=0.1555 left_yaw=0.0531 left_pitch=-0.3513 left_roll=0.1143 left_gripper=0.9958 right_x=0.3273 right_y=0.1408 right_z=0.098 right_yaw=0.0701 right_pitch=-0.3464 right_roll=-0.2924 right_gripper=0.9954 state[joint_eff]: [-0.1162, -2.1402, 6.6256, 1.4383, -0.1392, -0.0611, -0.0122, 0.0068, -7.7333, 8.8137, 1.5311, 0.188, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2,"right_x":0.29,"right_y":0.2,"right_pitch":0,"right_roll":0},"note":"The attempted low sideways move barely tracked, suggesting the gripper is snagged or the pose is awkward. I’ll lift clear and reset its wrist angle before trying another approach."})
tool
executing move_to over 12 steps (1.2s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe right arm lifted free, and the brown object is still on the table just behind the fingertips. I’ll descend nearly vertically over its broad body with the wrist straightened.
move_to
right_x0.2650right_y0.2250right_z0.0750right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.12, 0.9749, 0.8227, -0.8108, -0.1688, -0.0647, 0.9958, 0.8989, 1.2694, 0.9237, -0.5262, 0.6216, 0.4885, 0.9954] state[eef_state]: left_x=0.2646 left_y=0.0016 left_z=0.1523 left_yaw=0.0546 left_pitch=-0.3712 left_roll=0.1178 left_gripper=0.9958 right_x=0.2831 right_y=0.1965 right_z=0.1741 right_yaw=0.1113 right_pitch=-0.086 right_roll=-0.0776 right_gripper=0.9954 state[joint_eff]: [-0.1709, -2.4137, 6.612, 1.4188, -0.1001, -0.0269, -0.0171, 0.1299, -5.9829, 8.7043, 1.5849, 0.5055, 0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.225,"right_z":0.075,"right_pitch":0,"right_roll":0},"note":"The right arm lifted free, and the brown object is still on the table just behind the fingertips. I’ll descend nearly vertically over its broad body with the wrist straightened."})
tool
executing move_to over 7 steps (0.7s)
step 207
assistant
agent noteThe brown plush now sits between the open jaws in the wrist view, with its furry body spanning the grasp line. I’ll close and check for a persistent 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]: [-0.1184, 0.9787, 0.8227, -0.8173, -0.1688, -0.0647, 0.9958, 1.0294, 1.4387, 0.5915, -0.0792, 0.6899, 0.5854, 0.9954] state[eef_state]: left_x=0.2635 left_y=0.0021 left_z=0.1505 left_yaw=0.0569 left_pitch=-0.3813 left_roll=0.1197 left_gripper=0.9958 right_x=0.2563 right_y=0.215 right_z=0.065 right_yaw=0.1392 right_pitch=-0.0788 right_roll=-0.0779 right_gripper=0.9954 state[joint_eff]: [-0.1436, -2.4137, 6.694, 1.3553, -0.1343, -0.0659, -0.0171, 0.335, -5.3402, 6.4205, 1.5995, 0.6276, 0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush now sits between the open jaws in the wrist view, with its furry body spanning the grasp line. I’ll close and check for a persistent opening."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteThe jaws met below the brown plush rather than around it; the wrist view shows its body just ahead of the closed tips. I’ll reopen and advance about four centimeters at body height.
move_to
right_gripper1.0000right_x0.2900right_y0.2100right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1184, 0.9798, 0.8227, -0.82, -0.1688, -0.0643, 0.9958, 1.0328, 1.4563, 0.572, -0.0887, 0.6838, 0.58, 0.0091] state[eef_state]: left_x=0.263 left_y=0.0022 left_z=0.1498 left_yaw=0.0569 left_pitch=-0.3851 left_roll=0.1207 left_gripper=0.9958 right_x=0.2506 right_y=0.2092 right_z=0.0518 right_yaw=0.146 right_pitch=-0.1123 right_roll=-0.1152 right_gripper=0.0091 state[joint_eff]: [-0.1026, -2.2496, 6.7761, 1.2723, -0.1636, -0.0611, -0.0171, -0.4581, -6.6256, 7.1453, 1.2967, 0.3394, 0.0415, 0.7253] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.29,"right_y":0.21,"right_z":0.075},"note":"The jaws met below the brown plush rather than around it; the wrist view shows its body just ahead of the closed tips. I’ll reopen and advance about four centimeters at body height."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent noteThe brown plush now overlaps the right jaw opening all the way down to the fingertips. I’ll close again and verify whether the fingers stop on its body.
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]: [-0.1184, 0.9798, 0.8227, -0.8253, -0.1688, -0.0647, 0.9958, 0.907, 1.4712, 0.6483, -0.1181, 0.6052, 0.4587, 0.9948] state[eef_state]: left_x=0.2619 left_y=0.0023 left_z=0.1491 left_yaw=0.0575 left_pitch=-0.3903 left_roll=0.1214 left_gripper=0.9958 right_x=0.2804 right_y=0.2012 right_z=0.062 right_yaw=0.1414 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.9948 state[joint_eff]: [-0.0889, -2.0171, 6.5709, 1.3016, -0.1587, -0.0464, -0.0171, -0.5128, -4.8889, 8.8137, 1.3944, 0.2466, -0.0562, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush now overlaps the right jaw opening all the way down to the fingertips. I’ll close again and verify whether the fingers stop on its body."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteThe second close also missed; the overhead view shows the right fingertips still at the plush’s near edge. I’ll reopen, advance to its center, and keep the jaws slightly raised so they do not scrape it forward.
move_to
right_gripper1.0000right_x0.3300right_y0.2000right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1181, 0.9798, 0.8227, -0.8322, -0.1688, -0.0647, 0.9957, 0.9039, 1.4719, 0.6487, -0.1402, 0.601, 0.4484, 0.0088] state[eef_state]: left_x=0.2605 left_y=0.0026 left_z=0.1482 left_yaw=0.0584 left_pitch=-0.3971 left_roll=0.1227 left_gripper=0.9957 right_x=0.2783 right_y=0.1979 right_z=0.0588 right_yaw=0.1444 right_pitch=-0.1655 right_roll=-0.1608 right_gripper=0.0088 state[joint_eff]: [-0.0752, -2.1538, 6.5709, 1.3016, -0.1294, -0.0659, -0.0171, 0.1573, -5.641, 5.7504, 1.4628, 0.2759, 0.1148, 0.6862] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.33,"right_y":0.2,"right_z":0.08},"note":"The second close also missed; the overhead view shows the right fingertips still at the plush’s near edge. I’ll reopen, advance to its center, and keep the jaws slightly raised so they do not scrape it forward."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteThe brown plush’s thick torso is now directly between the right fingertips rather than beyond their tips. I’ll close at this higher point to try to capture the torso.
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]: [-0.1173, 0.9817, 0.8227, -0.8398, -0.1688, -0.0647, 0.9958, 0.7712, 1.5444, 0.7799, -0.1692, 0.5148, 0.3241, 0.9945] state[eef_state]: left_x=0.259 left_y=0.003 left_z=0.1467 left_yaw=0.0599 left_pitch=-0.4065 left_roll=0.1246 left_gripper=0.9958 right_x=0.3196 right_y=0.1943 right_z=0.0699 right_yaw=0.1446 right_pitch=-0.1987 right_roll=-0.1776 right_gripper=0.9945 state[joint_eff]: [-0.1846, -2.0444, 6.6256, 1.2967, -0.1587, -0.0317, -0.0073, -0.4718, -5.6547, 8.1846, 1.4725, 0.2808, 0.0122, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush’s thick torso is now directly between the right fingertips rather than beyond their tips. I’ll close at this higher point to try to capture the torso."})
tool
executing move_to over 10 steps (1.0s)
step 257
assistant
agent noteThe close still brought the jaws together without gripping; the wrist view shows the plush just beyond the actual jaw contact point. I’ll lift, open, and move forward over its shoulder for one last grasp attempt.
move_to
right_x0.3650right_y0.1900right_z0.1050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.9817, 0.8227, -0.8467, -0.1688, -0.0647, 0.9958, 0.767, 1.5494, 0.7799, -0.1871, 0.5068, 0.3172, 0.008] state[eef_state]: left_x=0.2576 left_y=0.0031 left_z=0.1458 left_yaw=0.0604 left_pitch=-0.4133 left_roll=0.1259 left_gripper=0.9958 right_x=0.3173 right_y=0.1917 right_z=0.0652 right_yaw=0.1472 right_pitch=-0.2218 right_roll=-0.1908 right_gripper=0.008 state[joint_eff]: [-0.0752, -2.1265, 6.735, 1.3162, -0.149, -0.0513, -0.0171, 0.1709, -6.8991, 5.9419, 1.4286, 0.2613, 0.0317, 0.6227] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.19,"right_z":0.105,"right_gripper":1},"note":"The close still brought the jaws together without gripping; the wrist view shows the plush just beyond the actual jaw contact point. I’ll lift, open, and move forward over its shoulder for one last grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 267
assistant
agent noteThe plush’s head is now ahead of the right jaws but slightly off to their right in the wrist view. I’ll make a small sideways alignment and descend onto its head and shoulders.
move_to
right_y0.1550right_z0.0650right_x0.3550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.9825, 0.8227, -0.8539, -0.1688, -0.0643, 0.9957, 0.6613, 1.5864, 0.9588, -0.3248, 0.4427, 0.2165, 0.9945] state[eef_state]: left_x=0.2562 left_y=0.0033 left_z=0.1447 left_yaw=0.0608 left_pitch=-0.4212 left_roll=0.1277 left_gripper=0.9957 right_x=0.3527 right_y=0.1831 right_z=0.0937 right_yaw=0.1462 right_pitch=-0.2573 right_roll=-0.2136 right_gripper=0.9945 state[joint_eff]: [-0.0615, -2.1812, 6.5846, 1.2918, -0.1294, -0.0171, -0.0171, -0.4444, -5.8872, 9.3607, 1.4432, 0.1441, 0.0855, -0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.155,"right_z":0.065,"right_x":0.355},"note":"The plush’s head is now ahead of the right jaws but slightly off to their right in the wrist view. I’ll make a small sideways alignment and descend onto its head and shoulders."})
tool
executing move_to over 3 steps (0.3s)
step 270
assistant
agent noteThe brown plush’s head and shoulders now span the right jaw opening at the fingertips. I’ll close and use the settled opening to decide whether this grasp succeeded.
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]: [-0.1173, 0.9829, 0.8227, -0.8543, -0.1688, -0.0643, 0.9957, 0.59, 1.5856, 0.833, -0.2375, 0.4026, 0.1703, 0.9953] state[eef_state]: left_x=0.2561 left_y=0.0033 left_z=0.1446 left_yaw=0.0609 left_pitch=-0.4219 left_roll=0.1278 left_gripper=0.9957 right_x=0.3451 right_y=0.152 right_z=0.0579 right_yaw=0.1269 right_pitch=-0.3117 right_roll=-0.2327 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.5385, 6.6803, 1.2234, -0.1392, -0.0269, -0.0073, -0.0342, -6.9949, 7.7333, 2.0, 0.1587, -0.0708, 0.0708] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brown plush’s head and shoulders now span the right jaw opening at the fingertips. I’ll close and use the settled opening to decide whether this grasp succeeded."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteThe jaws closed in a gap between the brown plush’s torso and paw; its torso is visibly left of the jaw center in the wrist camera. I’ll open and shift toward the solid torso rather than the gap.
move_to
right_gripper1.0000right_y0.1950right_x0.3350right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.9825, 0.8227, -0.8547, -0.1688, -0.0647, 0.9957, 0.5877, 1.586, 0.8078, -0.2531, 0.3878, 0.1604, 0.0088] state[eef_state]: left_x=0.256 left_y=0.0033 left_z=0.1446 left_yaw=0.0611 left_pitch=-0.4219 left_roll=0.1276 left_gripper=0.9957 right_x=0.3351 right_y=0.1473 right_z=0.0464 right_yaw=0.1358 right_pitch=-0.3555 right_roll=-0.2464 right_gripper=0.0088 state[joint_eff]: [-0.0615, -2.0991, 6.7077, 1.2772, -0.1636, -0.0708, -0.0073, -0.0752, -6.7487, 7.9248, 1.3602, 0.3248, 0.0611, 0.6764] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_y":0.195,"right_x":0.335,"right_z":0.08},"note":"The jaws closed in a gap between the brown plush’s torso and paw; its torso is visibly left of the jaw center in the wrist camera. I’ll open and shift toward the solid torso rather than the gap."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe plush’s thick torso and paw now occupy opposite sides of the open right jaws. I’ll close across that material and check if the jaw opening remains above the empty value.
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]: [-0.1162, 0.9836, 0.8227, -0.8642, -0.1688, -0.0647, 0.9958, 0.7151, 1.6363, 0.9905, -0.461, 0.4294, 0.2562, 0.995] state[eef_state]: left_x=0.2541 left_y=0.0038 left_z=0.1431 left_yaw=0.0631 left_pitch=-0.4324 left_roll=0.1297 left_gripper=0.9958 right_x=0.3269 right_y=0.1913 right_z=0.0697 right_yaw=0.1611 right_pitch=-0.3911 right_roll=-0.2603 right_gripper=0.995 state[joint_eff]: [0.0889, -2.1538, 6.5162, 1.3455, -0.1538, -0.0317, -0.0073, 0.1573, -6.8308, 8.2256, 1.1062, 0.4176, 0.2173, -0.2125] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The plush’s thick torso and paw now occupy opposite sides of the open right jaws. I’ll close across that material and check if the jaw opening remains above the empty value."})
tool
executing move_to over 10 steps (1.0s)
step 300
assistant
agent noteThe closed fingertips landed in the U-shaped space between the plush’s body and its front legs. I’ll shift the open jaws farther toward the solid body, away from that gap.
move_to
right_gripper1.0000right_y0.2550right_x0.3200right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.9871, 0.8227, -0.8696, -0.1688, -0.0647, 0.9958, 0.7189, 1.6375, 0.9928, -0.4812, 0.4248, 0.2508, 0.0083] state[eef_state]: left_x=0.2531 left_y=0.0037 left_z=0.1416 left_yaw=0.0627 left_pitch=-0.441 left_roll=0.1314 left_gripper=0.9958 right_x=0.3232 right_y=0.1908 right_z=0.0677 right_yaw=0.1673 right_pitch=-0.4103 right_roll=-0.2706 right_gripper=0.0083 state[joint_eff]: [0.0205, -2.4137, 6.5436, 1.2772, -0.149, -0.0513, -0.0171, -0.3214, -7.4462, 5.8872, 1.243, 0.2613, 0.0415, 0.6471] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_y":0.255,"right_x":0.32,"right_z":0.085},"note":"The closed fingertips landed in the U-shaped space between the plush’s body and its front legs. I’ll shift the open jaws farther toward the solid body, away from that gap."})
tool
executing move_to over 10 steps (1.0s)
step 310
assistant
agent noteThe right jaws now straddle the plush’s main body rather than the empty space between its legs. I’ll close on the body and inspect the settled 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]: [-0.1173, 0.9874, 0.8227, -0.8734, -0.1688, -0.0643, 0.9957, 0.8616, 1.776, 1.2156, -0.6556, 0.4595, 0.3683, 0.9947] state[eef_state]: left_x=0.2523 left_y=0.0038 left_z=0.1411 left_yaw=0.0628 left_pitch=-0.4452 left_roll=0.1324 left_gripper=0.9957 right_x=0.3123 right_y=0.2492 right_z=0.077 right_yaw=0.1917 right_pitch=-0.4481 right_roll=-0.2872 right_gripper=0.9947 state[joint_eff]: [-0.0068, -2.1538, 6.5162, 1.1941, -0.1538, -0.0171, -0.0171, 0.1162, -7.8154, 7.9658, 0.9939, 0.4811, 0.2515, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaws now straddle the plush’s main body rather than the empty space between its legs. I’ll close on the body and inspect the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 320
assistant
agent noteThe jaws still close empty despite surrounding the plush in the camera, so they may be passing above its thin body. I’ll reopen, straighten the wrist, and lower to table level at the center of the plush.
move_to
right_gripper1.0000right_x0.3500right_y0.1900right_z0.0050right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.989, 0.8227, -0.8768, -0.1688, -0.0647, 0.9957, 0.8627, 1.7824, 1.2182, -0.6758, 0.4519, 0.363, 0.0089] state[eef_state]: left_x=0.2516 left_y=0.0038 left_z=0.1403 left_yaw=0.0635 left_pitch=-0.45 left_roll=0.1332 left_gripper=0.9957 right_x=0.3088 right_y=0.2476 right_z=0.0734 right_yaw=0.194 right_pitch=-0.4723 right_roll=-0.3005 right_gripper=0.0089 state[joint_eff]: [-0.0479, -2.2769, 6.6256, 1.1941, -0.1587, -0.0708, -0.0073, -0.4308, -9.1829, 5.8188, 1.0574, 0.2857, 0.022, 0.6862] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.35,"right_y":0.19,"right_z":0.005,"right_pitch":0,"right_roll":0},"note":"The jaws still close empty despite surrounding the plush in the camera, so they may be passing above its thin body. I’ll reopen, straighten the wrist, and lower to table level at the center of the plush."})
tool
executing move_to over 16 steps (1.6s)
step 336
assistant
agent noteAt table height, the plush’s fur is clearly between the right fingertips instead of below them. I’ll close once more and see whether this lower grasp retains the body.
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]: [-0.1173, 0.989, 0.8227, -0.8772, -0.1688, -0.0643, 0.9958, 0.6636, 1.7851, 0.5262, 0.6189, 0.379, 0.2657, 0.9961] state[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1403 left_yaw=0.0633 left_pitch=-0.4504 left_roll=0.1335 left_gripper=0.9958 right_x=0.3503 right_y=0.1955 right_z=0.0155 right_yaw=0.1906 right_pitch=-0.0007 right_roll=0.0133 right_gripper=0.9961 state[joint_eff]: [-0.0615, -2.1402, 6.5436, 1.1551, -0.1587, 0.0122, -0.0122, -0.7453, -4.6701, 3.7675, 1.0574, 0.1929, -0.2076, -0.2076] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At table height, the plush’s fur is clearly between the right fingertips instead of below them. I’ll close once more and see whether this lower grasp retains the body."})
tool
executing move_to over 10 steps (1.0s)
step 346
assistant
agent noteThe right jaw opening is only marginally above an empty close, but fur appears trapped between the fingers. I’ll lift the gripper to verify whether the brown plush actually follows.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.9894, 0.8227, -0.8772, -0.1688, -0.0643, 0.9957, 0.6662, 1.7817, 0.519, 0.6685, 0.3691, 0.2619, 0.0363] state[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1402 left_yaw=0.0633 left_pitch=-0.4508 left_roll=0.1336 left_gripper=0.9957 right_x=0.3528 right_y=0.2008 right_z=0.0236 right_yaw=0.203 right_pitch=0.0377 right_roll=0.0358 right_gripper=0.0363 state[joint_eff]: [-0.212, -1.8393, 6.5162, 1.1551, -0.1343, -0.0366, -0.0171, -0.5675, -6.7624, 4.9983, 1.1893, 0.1832, 0.022, 0.9792] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The right jaw opening is only marginally above an empty close, but fur appears trapped between the fingers. I’ll lift the gripper to verify whether the brown plush actually follows."})
tool
executing move_to over 7 steps (0.7s)
step 353
assistant
agent noteThe brown plush shifted with the raised gripper in the overhead view, so it may be caught by a small tuft even though the jaw gap is narrow. I’ll carry it high over the open safe and check that it travels with the arm.
move_to
right_x0.4100right_y0.3100right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.9894, 0.8227, -0.8772, -0.1688, -0.0643, 0.9958, 0.6662, 1.4773, 0.6521, 0.1925, 0.3584, 0.2611, 0.0364] state[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1402 left_yaw=0.0633 left_pitch=-0.4508 left_roll=0.1336 left_gripper=0.9958 right_x=0.3472 right_y=0.1987 right_z=0.0965 right_yaw=0.2123 right_pitch=0.0004 right_roll=0.0237 right_gripper=0.0364 state[joint_eff]: [0.0205, -2.0034, 6.5026, 1.1697, -0.1636, -0.0317, -0.0073, -0.3761, -7.159, 9.0325, 1.9609, 0.2418, -0.0073, 1.0281] camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.31,"right_z":0.21},"note":"The brown plush shifted with the raised gripper in the overhead view, so it may be caught by a small tuft even though the jaw gap is narrow. I’ll carry it high over the open safe and check that it travels with the arm."})
tool
executing move_to over 10 steps (1.0s)
step 363
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1173, 0.9928, 0.8227, -0.8795, -0.1688, -0.0639, 0.9958, 0.7914, 1.7767, 1.4147, -0.3336, 0.4332, 0.3191, 0.0383] state[eef_state]: left_x=0.2511 left_y=0.0039 left_z=0.1391 left_yaw=0.0636 left_pitch=-0.4565 left_roll=0.1349 left_gripper=0.9958 right_x=0.4026 right_y=0.307 right_z=0.1923 right_yaw=0.2452 right_pitch=-0.0333 right_roll=0.0008 right_gripper=0.0383 state[joint_eff]: [-0.0615, -2.4274, 6.5162, 1.2039, -0.0952, -0.0269, -0.0171, 0.1299, -9.4564, 8.8684, 1.6484, 0.398, 0.2173, 1.0281] camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [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 · 4.569 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3908, -0.0193, -0.0303, 0.9977, -0.0212, 0.7929, 0.6079, -0.4026, -0.0204, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1783 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9977 right_x=0.2921 right_y=0.001 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.3744, 10.2496, 1.9951, -0.0904, 0.1441, -0.2515, -0.2803, -1.3333, 9.6068, 2.0879, -0.0513, 0.1636, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fda99e51e38774f6d4f9807914111954114e3ee4af14edfb3ea91f93d46aa2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b92c4466df889611927ee71098c0fdb31a69e77359769f5e70c211c44457540",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9ca594f659906ca24f7568b4be184411154de1cf8cef99ecc288fcf1142c77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 2.796 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzRv8Srwmin6T-Kzk50Ci6O5X0YQnHLLs-u_8oX-1zYI0THfgcSdnBk2Ho3lnaDOLd4G33RkJ6ouhETGusBahT3HD04_c8snnV34eQj5XoqfGvsNuX4gHGWpMWIJXms961UmTpN_JT2C6YObvdkJ1px1xFB6v9bisIUb73g4-NqoErAkYCy7uIykW-wzq-Btr-OapE1GTYkOBu5zqaFktFO_MPT_6QBTBtghOLfr_PSXx2_0WbjcgaAnkJAnfG3Flxn9fXe1dGa9GRmlWWHyCML-XPFuGpiuZPFREbrjns6SoVZo-bwFutzHdOATI1cfvIImt51yjLy3MxqqDAuuoWC8REjekdehQPt0PEwurRi5Doh2_L9ufF5orUiCMxUFprIG8M3SmF2mGXolIEa_BVUfAmGeOTj3Zx0V9LeXMg9i0zdv_IzCyY7CGP_eU5KZtkMHEO0eWjeQAp6A14pcW6WSsgVD2Imon_Umtkba-f-f3-W9rmI1nSDSngKr_INrk0p1RJwlbWp8owk_yhuVerDy5LXGEFIm7J0VDDmE7CBA5HedMb8OQjx2Pgq3d3n9LqjZ-cM47exgfemmIOXAxUQbJhjlGI8na063KVXgqrsqEeQxvytpUeSmCbpfQuCb0pSACcDQnoJUuIYVpVVkaWA58Nq-poPBY0ezYhC_TgEO1nRrAFzhy15z1-ncECjUqlDpq2vA7soA7rY9BRtYRHTAkjJlZwoGIUbbo6qQEkREOrPMd0nh-cGqjZZco7vp-2MzOchbnwi0IpUGawlpAvfN9C4rYnT9NWr83VFuXl3_OkIY7sjeRzl7nj7XBRS6jLt8V7ldrKWMjsgGeq9MFldnpEt8o767FcTVr5NvhEJogseUMWfN1BibNMYQJcWxYBLAicawNsVDDo0Tk4ieldmqx1l1jwJ9AVr5WYRqGkINiFlpbW4o1jZUS7mgNdVu8BJ5L-4IDGTlQwGLDoXvy3YiOeGEYIcQNRH1blGm8zfkHRcfQ2cmyGq-sKGg8WW_f7nDF2UARoV4tXS8TlfWiq-75y4X8qkq-lgIdv0BL8aAjpYyo-T9OXLpmQuguawoD9AyEes8ebF6fjlnUJukbJKeu-ArMFiCfoOBhn6IxUQ8_T51cVKc9654xdut5tO1MaFcu5rR4pO57kEaZY9pk0jhC3FaVmTa66LOcNdMcrKWw8bKKUZSqcuSY1WAYW5_w-GiIxs0oclNgthGOtNVQ4s5XdW-mszfuNbzrmfn1v3DUucfnDAhWO9xayHD_qFJhYL8yKeSolEWDbsEtZ0E4yKYR7S6b0cm-lqBZJehAr0prTNis4yNTajD7RYnBe2L75QxkiOOdGKZEHk4WAS0MMabFXRm8-vPwR1tp-wjGl_4YSCQfus5JE_OzFSZN3B4CagM1B8YUfebEtGEx7Srpk13NWhnnWE2YiXe08QgwWSrfwpe7BIlUvW9cnnRPeI3Z_hy2Lxjv5JiN39Caid-vtK-kTx6UOQcXptK1cu4cyn3xWBLcic9itedIo10mPrcFzYoS3zgtBdkD1jcFGA4rV_wpJGuwmxczlh0RpFWmShqCjtLuejQrvNDpO8PwBzxhCLDs76luvEEMEFV7tPfk-g80xxYN_ScFEZyfXBRqWPDHanF2trdUqJir4T4jPdL6mlNoViAeN5aeOclF1oxt2SZAP1nLYuIJgRVo8EKSMRGnKRRV9KINo2x1xoGriFkCOq5WJLBa6kexYLILFJSM9GpAJHSX7NM-Gs-fygB2BzVikq-9MjYdqBYXrf04mNQ0YYTjg2PI56tWxUVBIwjIpfxyK-taqCgKEzrWYNwv2nzp-W7I3X0wbjaUMpGFqjPuc7kaf_RkvxoH2ocCLrXPeqDNlFL0TTy25rQfbqTZ8PKzYb0aiVGJIX31ct4VW3pbRj9K_eYQofEoVWNAa7d60RWRs1zPApuXISK8zno4Qlw_T3HlJWWftT02XrJg96vFfHRw6eSVoMMG7YaKcfpdEAnGQFzuHgCkSHy2O7Xr9MqJpaiuzbTRXqr2O3U8FHZ1C6Qq-8twBqdh8qE9WMyNftDu0PqX121xzVqNXwoJ-pSq6WGm4kKwo4HjvehMSYTMGmpfYGsQyk_7Lpw8KfuCWsQ-nfHYnw5Du9kFMFqwG9YMA8St1Bb_O3fOuGi6Tu0rWdLgxAC253R9XxWUbWe6JIL0YjzUy1IzHipjX3dQrt-xEXNPUP2-mB_MUoZJxjVs6aJBqd2LGJhYRwKjLAvcRW4EVswP1F7qHAqwbBfMADh5_JhZ9Uk_EaVP0ZXWiqV-0djs5lcDbGFG2Tp8pmW6XB14JAKbFg-86H-KxESEKJN9KFheFWD8c4exV1NttulWJmsA_nkxykeDOEkD-sF8xAQdY5-J9OAmDxCRz7_-JSXnlr--YvRokFU-rb0TATLzzHUwj3aiSZBrxtjkf-pXrx9colozLTz8NsDfypj33sVq7lbaGmBOfmVUWsq2LVXP67zDBUlEnQ1OJRxgfFDr-cDIOT5Vyqn57qJK5pJa59GHtpIRJXxZ-BvQfEOovnBJjYYro13_mRTHnmeCuyHvqqJbV-jEad45eZ23RzkfXeKOc=",
  "id": "rs_07cb34427983476c016ab41cce460c87d0a9173f0d8c121dc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.20,\"right_z\":0.15},\"note\":\"The safe is open near the back-left of the table, with a yellow object to its right and plush objects in front. I’ll position the right gripper above the yellow object for a careful pickup.\"}",
  "call_id": "call_JTWmBZBsiaU5emlpDUyrPJ17",
  "id": "fc_07cb34427983476c016ab41cd10f6087d0beee91134564b2e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JTWmBZBsiaU5emlpDUyrPJ17",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4061, -0.0189, -0.0311, 0.9973, 0.6323, 1.6203, 1.0214, -0.1535, 0.4831, 0.3355, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9973 right_x=0.397 right_y=0.1936 right_z=0.1325 right_yaw=0.0368 right_pitch=-0.063 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5795, 6.8171, 1.8388, -0.0806, -0.0122, -0.0611, 0.2256, -7.5556, 8.7179, 1.8095, 0.4518, 0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e425b2c89f312da6bc030fc3c21b6dc734938150b8f8fe95a401e439d87788",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c3d79904beff357e5d5944fa0d03ee54ad71c0f4999ca29d7324f8f28edec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e72534bd4c1c1a20de1601f8c6df1273e1ff91b969f93f1e4a98ff53da3b0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.026 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3908, -0.0193, -0.0303, 0.9977, -0.0212, 0.7929, 0.6079, -0.4026, -0.0204, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1783 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9977 right_x=0.2921 right_y=0.001 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.3744, 10.2496, 1.9951, -0.0904, 0.1441, -0.2515, -0.2803, -1.3333, 9.6068, 2.0879, -0.0513, 0.1636, -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, -0.4061, -0.0189, -0.0311, 0.9973, 0.6323, 1.6203, 1.0214, -0.1535, 0.4831, 0.3355, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9973 right_x=0.397 right_y=0.1936 right_z=0.1325 right_yaw=0.0368 right_pitch=-0.063 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5795, 6.8171, 1.8388, -0.0806, -0.0122, -0.0611, 0.2256, -7.5556, 8.7179, 1.8095, 0.4518, 0.2857, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e425b2c89f312da6bc030fc3c21b6dc734938150b8f8fe95a401e439d87788",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c3d79904beff357e5d5944fa0d03ee54ad71c0f4999ca29d7324f8f28edec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e72534bd4c1c1a20de1601f8c6df1273e1ff91b969f93f1e4a98ff53da3b0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzWKKZsei9ssyYhELkIn5-UYKYKv62YJzNGI9ZYAOiozzDRjEUYxiwFP5VSF3CaWYloQ6hXtuh5xvsjQuGtSqcnabGfQ9h7TEu-_VhQWMnZu3-XLmP1Iw6pa7Vd3Wq7jPBfONmWB1NiMi3xURDjLda7r4KQeCiHEAjAHyhRRIazx07i79-FiEqJ-Rewm0zzwJ4hJg75YRFkCcdB3RX86hOjR8cfrQTOL1XZbt9Svv_Q7L-zWDJF4zT438td0om9LFKANdh1Zj8VUYY84KH2FsgbKcA8UmZWuX68TYxGkj3zoSzBgZB8KSdhroBBC-Kmz2rGJ1Fv7ZC8PyPTMeqA6jx9FDpotI0ibSgZtRG--pXkoDPO5nRsNrm5M_sIkmXeeLziWCgLajJ4HrwC5hOWfef504_i2g9SVhBjCow82bKtgk24N8RniK9EjMydXgoJ01RWWXgWKK4aaqQgSF9Qw-RdZTGxlxyj1cQwl_0Z6WH7FEyLnQ0kX6jcRqXMZezjj98yCct350HfoifnarbHIDWtzjuuX_rZnjjF5VntyUxucxErqyup4PoWQfIjL3SvN74Tx5TI0OcXn8vOI02-e5uI6dfOup0fTpkmwbdbFJinj4qqft3JhiTgBYC0Zv4j9vdIXqJyTA91_eoO9_lHJsIWLST6oVycrlib1Zdj91zsLjfI2saUrOr0-4FCRF-2hu_M9O1-v25kaQeFKlQq0pRuYCFwn5ZAjsSA7mKYHdMfJLZJfI35gu-6gcSR1p-sV-nHNQF63PX8g60Rrxp0rmpI2lN17Z98f9I7U1dqY_ULs4mrwMQqEa7jnMKoJiMv_yX4tiUmxICmDxUstSTcTqipEJfftbXEeED1yh7CQAETrwBoPSanJJQJTdVFx1jPCC_8Mn-f40mzITFH6Pq4xyCfAjxCyMwa8Pt_JlPBdUEGzl33C2V5JLkuCZQMibrLwagjjeqog5OcQXlD-XMPcmHJSqW4Sh3BKIiY6mH64E0DfFCMZ8vj0ooJByWFQ02exNfiCVPb7JdL8ja7lE6uik3hX4ACrQiorIVgk2iwdsd_UFXrvQ4hjqbO42Y_Xk0atPxNkYBCW7xed97ch45csYapFZ-PWKqFvbsfjQdqhNWlJpIqPHVs0b_Hk6IwoJWNTb57QAjdrB88q5y22qVJC2F8AFSv1HyQyNLAdq-tymQQSDhlGgKv2MC_Lf81tEZErUB31QhGS9W39Rlk7Npi3OT1AcDiUEU28QcacxS45cQX8Wv8e1ueBgSaU8latbVLsw0XgJs7LXnw04JRJLPSDP-sB7AhvYYNhKpEoBu0z93Pc-fhxs9AZeUdm2Gky-ymoNmXfCoTHbaQshV18y3YKNmUFjYe13--cdkdQkNSMjt31v6uenyZFfxN7HStmJ8qR-zoBXojufJ_eE_luZTMSkTHDqfGJTOBVMhX6sAz8CjIMEKkY5qnNNPxutb2dOX_U26al1EcH1Eqdf-h0eMnKF9UhtivrvEeOroKfojayiLsiP5hBVrd8hs_ls4kJ1OPz4BZJ3E4eCuxMYBv0Nd9ii6lrvaASE2xOUhrfBTC7eulOBX9qy2SfmeMl_OtXNhILPMCLqRjaACPBGQgVr05CZo5SiXuPaJBcl6i8I74A_Bn3m_tTcVjPHPaMSMEgXJOpsQw",
  "id": "rs_07cb34427983476c016ab41cd49c3487d08bae5dc1f14fb09a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.065},\"note\":\"The yellow object is centered in the right wrist view but still ahead of the fingertips. I’ll advance slightly and lower the open jaws toward its middle.\"}",
  "call_id": "call_eGMW4Z7TTrsPzMx5eBHF3x9O",
  "id": "fc_07cb34427983476c016ab41cd582a887d0a2a44890bd80d81b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eGMW4Z7TTrsPzMx5eBHF3x9O",
  "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, 0.7986, 0.6067, -0.4095, -0.0189, -0.0311, 0.9972, 0.5934, 1.8374, 0.9916, 0.0257, 0.4553, 0.3107, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0001 left_pitch=-0.0229 left_roll=-0.0004 left_gripper=0.9972 right_x=0.417 right_y=0.1919 right_z=0.056 right_yaw=0.0293 right_pitch=-0.1311 right_roll=-0.0845 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3744, 7.1179, 1.7314, -0.0269, -0.0708, -0.0269, -0.3214, -8.8957, 6.2564, 1.9316, 0.105, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e98ec8c7e9e70b74f33f74ba5be039d8dd04106e8a0eef72489a22c75ac4ff0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d21b0cd7a4d6b66fa9d53a2c671920823298f2ad8432fd21b64177879cb9be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd4db66d8ca2977bdde94aa2acd9a1c7467e6f5212b63de853ef1c689e8e9ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.805 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, -0.4061, -0.0189, -0.0311, 0.9973, 0.6323, 1.6203, 1.0214, -0.1535, 0.4831, 0.3355, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9973 right_x=0.397 right_y=0.1936 right_z=0.1325 right_yaw=0.0368 right_pitch=-0.063 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5795, 6.8171, 1.8388, -0.0806, -0.0122, -0.0611, 0.2256, -7.5556, 8.7179, 1.8095, 0.4518, 0.2857, -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, 0.7986, 0.6067, -0.4095, -0.0189, -0.0311, 0.9972, 0.5934, 1.8374, 0.9916, 0.0257, 0.4553, 0.3107, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0001 left_pitch=-0.0229 left_roll=-0.0004 left_gripper=0.9972 right_x=0.417 right_y=0.1919 right_z=0.056 right_yaw=0.0293 right_pitch=-0.1311 right_roll=-0.0845 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3744, 7.1179, 1.7314, -0.0269, -0.0708, -0.0269, -0.3214, -8.8957, 6.2564, 1.9316, 0.105, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e98ec8c7e9e70b74f33f74ba5be039d8dd04106e8a0eef72489a22c75ac4ff0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49d21b0cd7a4d6b66fa9d53a2c671920823298f2ad8432fd21b64177879cb9be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd4db66d8ca2977bdde94aa2acd9a1c7467e6f5212b63de853ef1c689e8e9ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzawaFxPWlIlLzaRxXuL0oSWju4MTb9MK6C-ptxyRL91cbPZYkB-olnDeR_RqYA9e_kvzDBcblrmGty_ncM4sBmVNDPHM-8shVlWD6ja5Oq83lIkVM9ocmAydjM76A_4C9TrIF_cx7lGAmnunxeiexZXY9-wwOG1V8EVuwRaDDcMbJWulTgDfo8WTnFasUdk_blTL2GJ7xn-TLDLPXLdSJ7y2slWqiEMGPh7SpqZwLljosWTgb88EvfdR10ApPJzMJGO5arm37LZa4Jyb5C0MhdDvVsLBJQINzpoLnlETHhUhqQnZ7UB8f8CEJXl0tlGOBoDpjj0voGcEHSZtZB0_y8kB5sbuUhQqx4WGiQjhUizuthZejUOWpiOOVs9BDHwyg8zuOWi8Inqu59nErY-LmAvgbiYc4iZ-vzmTD0LRagnouRBHPnPCVSoCCs1XWLkcnOPpK0QJTevmBefLGM_NeHA2v71T9836eJwnF9tUp1_SXpZe6LCtjyhfoMsHQJyfkrQ2pZF9kpYSPt72GFknbrxte2TpdXflFpPwHDBaSjfxkMrqvXGnCmYe33LziJUTO_l0gunIwP-XliDAGPfWRux1Fpy5f_amC4qExpLgK_KGl1kDsRKw5mrj1-rm2DX4jiYGc4p9_mO5UTG7SVim20mNqRcNDfjvfmghIFsUduvekmROHrMp5jtlUJ6KgtuauFp1AF7JXDxxAVwkKsHmDkPGYl9dff9TR_smjiL5hUOs2OPP655_Z9uOfIHmWToqYxAHa_eRddqRwq_zx1GaICYCkfNEfdo8r8qJgFnxYaGlXhlD-oFKFdHbwN2sm4ZbebVjmgN7WGW2RpHUFd5YXoq-qcvQnTliYKOi7RlG0VCTbE7sy55Otf88q7wriq9V2OXuAkn0PJlJQQP16lxkB7ef3k02wNVQwi9vgTv65Y4IxmqupMpQaShkv-_TvV_qPcwQow0gl95LeRDV0iE4qyKtSiGUoUuN9s6YRCEwO4rpqHNPNqqG46076IWgq_PQUpQpvocHhS4Tg_k3GSmHI46P3lG3VK17QDWwYDj85kz3tHGT0aG7B85kPmmDBT0Jimiyd_GqEKBFy21UepO86lj0qGL6QePP7YeQq5arY5ly9-ZYMOiJ9tbxBIJz921oF_R6zVLus5CfibhiyYMLX864spjf9Rozlr_YWf1QCZjHk3pRAB-W9Y6gp6hRSMfX-BlJzgdBSz6XMsSCJvvES-g0mfubq8hE8BO2lwinTSGHEAdGg_lhT238gsGUvdpcYMCzAOJReSk8DoQflPItvFxzfDHTFwpHAKhBttDejI4R2N2qTPC5d5qj6-u8r1t27eQmFRRGSQXJY6fWAPzRB4N_ChELlxkGcSlOiHO_iwtn-F8ofK5sG2b3_qk6jhqtdYVJB9XFD16lY_0xzhcYHLUzETgBccTacYNuai_rxOWcZdPnwZh0i9I-7CUDbd_vqj189mwi7AvYpVjIGcufAoMK7VmMHYQEKUrn3w3jkE5jqi_u0EP7-6FSqIQcLR_oi_pgrNrwpPwnXMpuQqKhCdIQNil2BTNqzJlwIGx4TAV-PvxcAjsqd6zH8K9dSfwmiLoCpEh6yOuxKByxdKFljVHjTomlW2rfjj219s4x9XGzFrkKe-Wr2iYri651ej8YiYJjZVqTjvJ9Ed_eXlLdHlP0MsQYBzMbGMQ7T2b0CrQJcNYfGR6zixJ_UKSPHvdM13wDwkQEh1BwRLDy6RvJ-2xe4w9_LDlde_TGT0Q2bI88GshexO70QZuuSQzukQTY0YVdYYDg88NqiuDkZtrasiKEJpX132waBBp8yRp8H9VP6q2DiqWfFhbA6vQrRmbIQa6mBwA9Bnq87qo5XimV6RzrrinxusKDwTNV_PkNtT5vCRR4rR94roF0snltsRGgGpqQc3c2M5r59pdb5XlG_3LsP1lZciqJFk-GUnq32d4b3Cdiz71RELep7NNXBI_3QnU2F2SSZhY3dZM1EnFmtkdn9zOGMVpwWZzluIvjtXyR5wLfPy00NUgeN86LgWHkwVBa-URiGu2_u9VPSCpLgO-bmEKrLdjpnQovns9J7izIeFS8FejgKeKp-hSW4OT0bSFTOECLAojzhq4GE8lStoKtdWDCmGgJ5zgmIWYzh46Rc=",
  "id": "rs_07cb34427983476c016ab41cd7e3c487d09f2f44e1c322468f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.2,\"right_z\":0.025},\"note\":\"The yellow object is just beyond the open right jaws in the overhead view. I’ll move forward a few more centimeters and set the grasp point near the object’s center.\"}",
  "call_id": "call_8vGS40NmszKqoWYbPhMHP9MA",
  "id": "fc_07cb34427983476c016ab41cd9ecc887d089113ffcc9806ad6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8vGS40NmszKqoWYbPhMHP9MA",
  "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, 0.8017, 0.6067, -0.4252, -0.0189, -0.0315, 0.9972, 0.5545, 2.0033, 1.108, 0.0978, 0.4255, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1699 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9972 right_x=0.4549 right_y=0.2001 right_z=0.0329 right_yaw=0.0274 right_pitch=-0.124 right_roll=-0.0713 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 7.1043, 1.8877, -0.0562, -0.0611, -0.0122, -0.4991, -8.8957, 6.6393, 1.2576, 0.1441, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d73ac3e0d8b623ed9fa200bd5aa540f9f95209f738e5a741a7052c80034c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041ef3ba751cbed936f7b44fcaef561396e058747dbf00b6ad3a11fde3b8b008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffe5fa9658c279bfae62a5a531ab5bcc8efb19fb2259d1dca7b3118300f83354",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.357 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6041, -0.3908, -0.0193, -0.0303, 0.9977, -0.0212, 0.7929, 0.6079, -0.4026, -0.0204, -0.0326, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1783 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9977 right_x=0.2921 right_y=0.001 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.3744, 10.2496, 1.9951, -0.0904, 0.1441, -0.2515, -0.2803, -1.3333, 9.6068, 2.0879, -0.0513, 0.1636, -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, 0.7986, 0.6067, -0.4095, -0.0189, -0.0311, 0.9972, 0.5934, 1.8374, 0.9916, 0.0257, 0.4553, 0.3107, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0001 left_pitch=-0.0229 left_roll=-0.0004 left_gripper=0.9972 right_x=0.417 right_y=0.1919 right_z=0.056 right_yaw=0.0293 right_pitch=-0.1311 right_roll=-0.0845 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3744, 7.1179, 1.7314, -0.0269, -0.0708, -0.0269, -0.3214, -8.8957, 6.2564, 1.9316, 0.105, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4252, -0.0189, -0.0315, 0.9972, 0.5545, 2.0033, 1.108, 0.0978, 0.4255, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1699 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9972 right_x=0.4549 right_y=0.2001 right_z=0.0329 right_yaw=0.0274 right_pitch=-0.124 right_roll=-0.0713 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 7.1043, 1.8877, -0.0562, -0.0611, -0.0122, -0.4991, -8.8957, 6.6393, 1.2576, 0.1441, -0.1538, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d73ac3e0d8b623ed9fa200bd5aa540f9f95209f738e5a741a7052c80034c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041ef3ba751cbed936f7b44fcaef561396e058747dbf00b6ad3a11fde3b8b008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffe5fa9658c279bfae62a5a531ab5bcc8efb19fb2259d1dca7b3118300f83354",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzev1zNh9K5HOVTr9icjk2SknKyb4sRB0mFPdyj-yLWsVPwFpyjaWjJV094EBAlLHmkTdSzp5haKBrabXadqOlA7TQJAc_YRS8QAQkCuEd3_J9vJXCFJtJDB2T8DzHEikmnm-1weGKLNTCmbxGTAoWzR4jZj1_zStbwOsmc-sI6G54uTvbG-ENeOXGZRMTiQ6fwT6lkfiiN0R1s4Zd9rj_tpIob9b8ndTaeI8bBURDyWlZYs-j9HX3_DGNl7a97BqXNkPYbpmd3KtQ35g_N1sdPxUDZRs4yulcHUz25pDZCDfae6cYutb_bG_H-PDsY4XwrMRnyL0HAVrwpZ1qfsMF4q5FrR6UIxHmW9X0-QMZPTYQWjTwltL4ga33m-EMVYT16R9mjl_tbUqSZkiUhOFQOJxXf072QygT2Td-ESL-esjR3PLCKEVJ9qxYi_nRd3gqW3htllodj8uu0QRy1lULBQiqKlKIr5u4FIVUcXb15j3ePpO9T1Aq0UWyeebqY7z_Vv-pQmMM0cwj5BvVTSNLvWAxxPJocaLHiat-ZLXb0O_ACzC9zWKMQaTCzPaaJtNT2-M5B4Mvc0OWt5VYx_xetJbhND514nxUidAC0kIkSDZ5TElVyBGEyIFwBbR5sdBnmmoR_3V1nr8MflUhlUToqWeHGuaCwMVLjliNIRt04zmuWDqtXBpcNta1kX20kJk9CVmyEeuRateGu-ieu1yLjzBolKpSsib6jVwMcdQ4nj9wIPr0aG7BxBIs0fpdhVaSqN0g7l_YZLgUu9RESPMV9UDUbwIdh-Fd8qkXM-2_HLIBXBJ059EWei4_7m83Z48qQi_kxzwdMmz7nSfbzMXIImCxPJWcq_Xy8a1clIBjztG_qOHghT7fo1lbtHz2ARqXv4l2iY0eENeB46nzqgmZ0IZ93C75UJ2Szy4yJ8zM8lONKNib8CZ3Og3khTSU44HK4-619fZaFx6WJ9cUpZOcg4cI_WWTrJjItbj6MHyfN_NVZ46dr-NqqMC4Ui-r1IszbUEP39WUdG5fOeLtHzUVuI0Lo1V6zCI7IeearKbwD4NKRx9CGOqBWmLWS0DILO8KfKVYbvmo4z5qTNN_K_Xno3FfP7eggrUPgdBjl5nidRA36zIsvGRWs7jJnK4efkZ1CyS2wHvWcQ8tzdWPDy2Qr_as_We5V0dUJZC8-vpz2DDb9tlw7pr7jYtPmCYt7t5tnU3dNuBHBvpA0ur3w2JU7EObNYKArqW4SlGaghcwB6TY9EsSWzG6RzsAIyK9eLzB2pwNqOH4xn0uBa-0LvC-Q0yZfoKAIHVusWgOXhKqe3Hn5P-Fn7hc86T5rlkS7fietN8cb-05es5of-EwzIbw_vSrAf4MqJB0Mnjz8uAIE5q4eGZzjPp2Gmn6FLMR3amkRLIOJ1gqzrPMiL8OPrp7ge3KpC42idDFIN7k9yG_Ve65Umf0-ewMU7CwMIq_7v9fM1o2NKtOgiUw2w6S5FcChwBWoE5kFnsSVsp4hTcOzR6l8gurG90MCJXyWvVGrvdKjIgY_mEGlPIhBM7-aXs-oQFO00vjYWXQQ7ubSwSW2Keb1iZP9vm9voj5j_NwgmWAVyYecpU5Mc1kr5tPseo-zzfQdOUCeBRZyuYhCjW7DkWq2h4EKK-1YnIYlilKj1mdWCwhQnEK2Dg9NIriVEkvAHZ_fJzqar-qzjVBSlk-KSpaPpD2r1okbm_i_5DIjRAhkz5SawhE7L7MUtlqJwo_SGfaXFs-vOJd_bIRK_-DoKF2txBiBLqaQRmu8AybJXEb9",
  "id": "rs_07cb34427983476c016ab41cdc0cf887d0918700b79e6d96da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.2,\"right_z\":0.026},\"note\":\"The yellow object is still slightly in front of the jaw tips, with the gripper nearly at table height. I’ll make one short forward adjustment before closing.\"}",
  "call_id": "call_zvUVdkom6uYSMjzYUyZe4uuP",
  "id": "fc_07cb34427983476c016ab41cddbfb487d0ab9186370cc65c5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zvUVdkom6uYSMjzYUyZe4uuP",
  "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, 0.8024, 0.6067, -0.4286, -0.0189, -0.0315, 0.9972, 0.5522, 2.022, 1.1202, 0.1108, 0.4217, 0.2836, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0458 left_roll=-0.0003 left_gripper=0.9972 right_x=0.459 right_y=0.2021 right_z=0.0303 right_yaw=0.031 right_pitch=-0.1199 right_roll=-0.0692 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.306, 7.1863, 1.6923, -0.0513, -0.0562, -0.0122, -0.3897, -9.0872, 6.3385, 1.3993, 0.1148, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7a52972ec032caf7f6a6b8751aa70ec4c30c6732736c3f571ea481852626d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f45227033b4d2ad38e6813ae22cde937ca1c2407ffefdf9aa822627a3d23ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376fa252f2d112c1d19d6bae5a98c4b2f5d5ca69a3913712ebca6eb3f08c9b19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.436 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, -0.4061, -0.0189, -0.0311, 0.9973, 0.6323, 1.6203, 1.0214, -0.1535, 0.4831, 0.3355, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1751 left_yaw=0.0001 left_pitch=-0.0175 left_roll=-0.0005 left_gripper=0.9973 right_x=0.397 right_y=0.1936 right_z=0.1325 right_yaw=0.0368 right_pitch=-0.063 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5795, 6.8171, 1.8388, -0.0806, -0.0122, -0.0611, 0.2256, -7.5556, 8.7179, 1.8095, 0.4518, 0.2857, -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, 0.8017, 0.6067, -0.4252, -0.0189, -0.0315, 0.9972, 0.5545, 2.0033, 1.108, 0.0978, 0.4255, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1699 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9972 right_x=0.4549 right_y=0.2001 right_z=0.0329 right_yaw=0.0274 right_pitch=-0.124 right_roll=-0.0713 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 7.1043, 1.8877, -0.0562, -0.0611, -0.0122, -0.4991, -8.8957, 6.6393, 1.2576, 0.1441, -0.1538, -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 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, 0.8024, 0.6067, -0.4286, -0.0189, -0.0315, 0.9972, 0.5522, 2.022, 1.1202, 0.1108, 0.4217, 0.2836, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0458 left_roll=-0.0003 left_gripper=0.9972 right_x=0.459 right_y=0.2021 right_z=0.0303 right_yaw=0.031 right_pitch=-0.1199 right_roll=-0.0692 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.306, 7.1863, 1.6923, -0.0513, -0.0562, -0.0122, -0.3897, -9.0872, 6.3385, 1.3993, 0.1148, -0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7a52972ec032caf7f6a6b8751aa70ec4c30c6732736c3f571ea481852626d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f45227033b4d2ad38e6813ae22cde937ca1c2407ffefdf9aa822627a3d23ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:376fa252f2d112c1d19d6bae5a98c4b2f5d5ca69a3913712ebca6eb3f08c9b19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzhBykXo61t4WNT3pvJCGfuexbFnADeWd0ExHNP8RXN2rr2f320nLg8Qenu9K3qhX5Yf0N1sqFGMQ7WZnVv_Ye0yIsuVbVlGz3UC2LXl_1uUgqSOxxfwmXCCbu6gdA7JomLPJTppPiKy7tUpSXwjeYJ6QDXhLS0T9uNABKRCmVwri2s8nQAtaiYYWBlSAvMiUzTrqFBXzr6J1I-UVkSNvPThZp2JsNHxwKKTbyayRR4aVhMAhD6LhM_S7uGtYrPUAWZBtY5UvASh63B5TjsDN-WaPCXRWCwHX39MZiNl9-lxV1sYctCIn51uKufpFPEmwSJgsHil7K9fgiA3fvFteuVEdhZ50Z3l7rCiMqfrpQJycyix7WWYKau0gA70PtiDDihzP2OXeiW0lfChTSRYwCCvD-uvqeMYx-ncoey8cARqQgzo6zGmYHuNYpeEtjTmwxd4XRxCY5NiaZX26KHEtCSbuCU9c_UBWdx8piysQUfvl9VNkbPX4liXqRkTWIUqsFhCY9usrD3N1pZCM9w3s0TmiAssgo2BOeS9VPtdBfWDYxn3dJkFCzEV2gqckLeSpUUXr0TFYH2IH-ru9cDyZ0TowvgpGLDf8DTCwfHhMkZkEnF5d3Ai1CHKAwAy8wZJevZwmp5ssPEO9nnSL7R9UpdLzAJk4r0aeYN9JAqpzBaZyItQNfCabje_8O46zAlh98myk7vXeBnQBbFl0FhuVJs_l1SEtNDYhJ0Ow9R8V7cDRinyiaGRP5OoVdt3J0l0yjZAueJ1axrAGw15nJndyuF4RcKt_q28RzXCRg-4qDAaxfkYh9xafeCucHFftjCzArJgxFcUUh-IAM99l2ktppcZKF3iLKdKnqZkELkibgVZt-H4iHlUiT_jLpqVxeJmeRNqXwy9x33sAuRU2zNpO_clYRgM4BxR6YuOuUMnUSW5JxFuwdbSRcEKS5gWaY1Tn6WCv5EIoJcNeRdH62HjQt-T4UmXMCE8Fv3VGKW9fkqJm2lM9fW7-oSrQGQSbAThEDqpFojCOFmXtKXpf9H2NzYMH8crphInIT3JhVOcX1tGU_oaak3PRo2kQRAXrOw_J1U0WvpFehvlwjfcom6jzQe20zyJyowKbXj25f2LNWwWMbj6ImhXaiD8uj2fbEVW2KAR_mYQ9OE7sh-b-wh24jjNOL0sVmmUPj4YK5JAPXKJ-BFtrTXZhmNXHmzsAWBVb72ON0_98idwooWzfhw1NEFogHIjdY6TeMLBa6fhPuTFINXJ9G6qbc1BtoSMtkG-akhMh64qTZbbqFQexo_GW_CQthqnWixTbZPdkMaf1qdRXBQZoICc6isbymYFIMnI35FdM5QAJ3YIRTwImX6Iq7CTAGIZhb_m1Si71cnymILTJk=",
  "id": "rs_07cb34427983476c016ab41ce0107487d082514a2bc9419024",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm has reached its low, forward limit, with the yellow object between the open jaws in the overhead view. I’ll close gently now and check whether the gripper actually holds it.\"}",
  "call_id": "call_kEVW4khvBWpyNWMrtrYtG6yv",
  "id": "fc_07cb34427983476c016ab41ce08db087d0929740a3fa602b91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kEVW4khvBWpyNWMrtrYtG6yv",
  "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, 0.8032, 0.6067, -0.4358, -0.0189, -0.0315, 0.9972, 0.5488, 2.0174, 1.1221, 0.1413, 0.4545, 0.2733, 0.01]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9972 right_x=0.466 right_y=0.1982 right_z=0.0399 right_yaw=0.0097 right_pitch=-0.0768 right_roll=-0.0783 right_gripper=0.01\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7265, -0.0513, -0.0366, -0.0122, -0.0068, -10.1265, 5.6547, 1.2186, -0.0904, 0.1197, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c611c62b9a1a3b60823042851c9d22167e735c22aff47cb9405bced305467c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095f0a7de30d07bb9de746389bfab370d10d54700da4956a2f6b92c0c6603092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27dfc223576b1a207306de42e46b98b6d7a415c950a5eb0facc85fe57e497aa3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 2.937 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, 0.7986, 0.6067, -0.4095, -0.0189, -0.0311, 0.9972, 0.5934, 1.8374, 0.9916, 0.0257, 0.4553, 0.3107, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1739 left_yaw=0.0001 left_pitch=-0.0229 left_roll=-0.0004 left_gripper=0.9972 right_x=0.417 right_y=0.1919 right_z=0.056 right_yaw=0.0293 right_pitch=-0.1311 right_roll=-0.0845 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3744, 7.1179, 1.7314, -0.0269, -0.0708, -0.0269, -0.3214, -8.8957, 6.2564, 1.9316, 0.105, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0189, -0.0315, 0.9972, 0.5522, 2.022, 1.1202, 0.1108, 0.4217, 0.2836, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0458 left_roll=-0.0003 left_gripper=0.9972 right_x=0.459 right_y=0.2021 right_z=0.0303 right_yaw=0.031 right_pitch=-0.1199 right_roll=-0.0692 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.306, 7.1863, 1.6923, -0.0513, -0.0562, -0.0122, -0.3897, -9.0872, 6.3385, 1.3993, 0.1148, -0.1294, -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, 0.8032, 0.6067, -0.4358, -0.0189, -0.0315, 0.9972, 0.5488, 2.0174, 1.1221, 0.1413, 0.4545, 0.2733, 0.01]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9972 right_x=0.466 right_y=0.1982 right_z=0.0399 right_yaw=0.0097 right_pitch=-0.0768 right_roll=-0.0783 right_gripper=0.01\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7265, -0.0513, -0.0366, -0.0122, -0.0068, -10.1265, 5.6547, 1.2186, -0.0904, 0.1197, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c611c62b9a1a3b60823042851c9d22167e735c22aff47cb9405bced305467c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095f0a7de30d07bb9de746389bfab370d10d54700da4956a2f6b92c0c6603092",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27dfc223576b1a207306de42e46b98b6d7a415c950a5eb0facc85fe57e497aa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzmsSnLDBBY7UwCEgrRADbkXTHDLKMNDssFlAgZrlmnHUZBNG-w-CVLRw_1I0KBa8deIvPrZRMPTWKnwhwP9fc5Na9ibr6_VFkWqXlXF7ms47U-DinquGC958lpVq05nB8XfaL0Cf9yGBFmaU5NwWV2FyujxMe4pKvJ4SK2cWgXmGYP_dSsruzEpH9zXPHioxQZfHD9dgWBCo4QvyKvyuDnx0UXPZhLIC9EHujggYBIkb5qc3CRff0iD2btSi4U3EC40wkgNM0Ce-oJULDYkWii436EZZe89Ti67MqJ9GpZiA8A7LRtb-UahJonfRAC1Nlb0eoy74YOM_1J-1QyYoaXIt8TMjOo3rzdifSWRmBKNJjlciQ-Stao_ckiUsqJZLfnzIeFNpNDe5T0dsZXXE-zmyLh6Xt5UFlKU61QcmFcynA2lae7FPxqvQCIWhF0z_7gXgl51n0SPR6NhVz9u9WlKLAQoD6AsOaCenfXcKIb2zcPjG_pEBA5gfAPWMXQ1adrNS0apQj2STQg8LNJpUH0329c4cGfQ35HvjnBKeJCV2il-otbr7w3nfA0FEkGCGYLIlqs119YJGuGaUSNlGMEsZAcYhCC6QBlIerfkLMwG4CktZifKm2rDhnbD6K_A6jLnWL_znRZ-ueLHwZNIkRpsKd2XOqH-Ru4468iUbQhZDj5eilpeUr4Gz9e-aVzxdS6v2bSD4COpZhR5dC3wPNShmfRyqBZJ203jMQiO4XJYe80NHRMMd6CsWjn2HJFI_L3KVs0-ovTZriEcFoHAT5cZCOD2jpqbFd-phVPEQdNF5fGwZTWeibu2rzKShFrjEaqo68NdPRsS64l5tn0JTk6izSdLpqLOzyoFas3DzaLVTfJ-puNLfYZpxqCeH2TIVvKHxf5WDp5x1kwNqzUi2TC3MC_j0TLaVPP2jvBL_P82An9jGWCidfMyoVVP_g3CMbtgUGPqcAg_EG0HsdmY8We9mPuwmCI0vn1Ztfz8fzwpMcdBi8_Q57GDOW1MP1JEMbR5WRKIvFoDZhuINBi9pD8lFB-lYj2cN3TiZCi4Fk0B8YlhKMlweKMz1gMJ0ONzX6oWUVfGQL0Kex3ruqVv0f36xxS2tXdunjVzPeIobO1cBLaNnERn7zNZRPObQ88o92V-X2Ak_cHDwk5TnxpJwDaV2ZOuyeA4k8eTOJDn3y0Om_M_0V9H4eNIAL1bCziKfFCt80FIcaQwcPkV79pwNQeE5ULJcX-1zU7RrhIKrUyFf7naNhC6JIvhXUoTiUpbTp0tikd3SfdOUOp9ERIHKWRyav7G4Uyr87cTZDSh3sdAWEL56XszbFtsQ4tzE6IC3UqqrqnzopjQ364U9fTzKTPnpm2sWsmE42dL9PEisMdD1ZEq3ymrloq6o75-9yMh6dqL6KUHluGUueQ3BmVNLjjH_Zm6WudfVoAbbg7CFbIfQ_H0jkqjnbHjM069zclodLSWleMbLMZEpjw7qXGNnKExv8Dme2jzt_VX75QFvYHM60xs9rEsKD5nieuyNZL59PNT955lnWhqaTeg8xBQeY0oYo-FDa2FSoq24mljSxtFMRoglJitUFs-jddIa0EgeOtzY4wtEGsl_UnmbZut7bt-0E_Z--jU2P0ORS7Rk7LEp83-tSgHAQngBVACdEiVOeIdU9Evm_2uKG6r4ced1c_INzveyvGX0SqaGb32qNThDPU-w89ejAvhZMX6xaScLDHR724n8yb4ZsG-48__gnk63fzttxVUp_jdimqW-B5WWWq0nGYT6OhAt9LVgkWYtwUy-1lwt0F3hJgI5Ad9LmgkFfFo-W3jIo8FBkpHpxTWpSr3QHK8SsLgFSHbi_ExKlbJG86rMNtAxZ5NgeQ5K27HOkdfT6c_TYjkFKZF1cmKPja_MbojCRqi2rZ6YksCj1R2-1O5MUzgRUP0As1-25_Q6xWJrON1XsFij982gjp2_TfyHgdn4GCuzjr8R16tL-P7EjRjIw_y-4QZcVmy1WycJuedZEIIclm8PWjHKJFzCRzcO-d9N1K-ELwkHW2RcYaGAWrbraVH7QEVWcRKPGVpMbz-rddkyEqic0DrBovkvMWUk5EyhaaFmnJ5ilWib9yeIGVJCCR1ofKSwgbTFGkUBomXzsXju_J0-QAoFft8CksgECS4QUSs0wiObom0G95lDLVzzTCLGgksRwYL1YWyeo2veyQoZMowOuytl7wJzGP5ziJpEL-ZTMYONzpiENTFpwn70SDDL-8TJiVTKvZf_ebXNT8kht_ZhlckEex7u542GSGjhTbfGzhI1t7pzS1DS6sbaotTYmDFYKmR2fQGqrH1OA4Ma2HdN9A11OzmvbeckbyxTlaw7WLiNtQzUqqDNB1jNgUDJMlpF849YR0Ww==",
  "id": "rs_07cb34427983476c016ab41ce359bc87d0a03381fd36d8abd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.12,\"right_x\":0.49,\"right_y\":0.21,\"right_pitch\":0.3},\"note\":\"The right gripper closed empty, so the yellow object is farther forward than the low pose can reach. I’ll reopen, raise the arm, and tilt the tool forward to approach it from above without dragging it.\"}",
  "call_id": "call_9tPLPDdXPKmnAIynqFIfQaUD",
  "id": "fc_07cb34427983476c016ab41ce5a60487d0a34044547ec6b70e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9tPLPDdXPKmnAIynqFIfQaUD",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4507, -0.0189, -0.0345, 0.9972, 0.5797, 2.0121, 1.0534, 0.4961, 0.5629, 0.1116, 0.9956]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1644 left_yaw=0.002 left_pitch=-0.0686 left_roll=-0.0023 left_gripper=0.9972 right_x=0.4841 right_y=0.2085 right_z=0.0869 right_yaw=0.0352 right_pitch=0.1966 right_roll=-0.1215 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -0.9641, 7.1726, 1.8877, -0.0659, -0.0513, -0.0122, 0.0068, -12.7385, 5.6821, 2.0635, 0.3004, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1428d43ef17bdbe3fdaaa52870505caac825644eb3316e4eec0196fae0b80d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fffa244c2bf8786dbe15c37672245c097ea6d1b24013667cc64d97adcb2e3bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f59e40c2ae44b482ee9bb19a2d5439876143ef9c6d063b29e1e2d4c9c1c55530",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.354 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, 0.8017, 0.6067, -0.4252, -0.0189, -0.0315, 0.9972, 0.5545, 2.0033, 1.108, 0.0978, 0.4255, 0.2882, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1699 left_yaw=0.0003 left_pitch=-0.0416 left_roll=-0.0004 left_gripper=0.9972 right_x=0.4549 right_y=0.2001 right_z=0.0329 right_yaw=0.0274 right_pitch=-0.124 right_roll=-0.0713 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 7.1043, 1.8877, -0.0562, -0.0611, -0.0122, -0.4991, -8.8957, 6.6393, 1.2576, 0.1441, -0.1538, -0.0122]\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, 0.8032, 0.6067, -0.4358, -0.0189, -0.0315, 0.9972, 0.5488, 2.0174, 1.1221, 0.1413, 0.4545, 0.2733, 0.01]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9972 right_x=0.466 right_y=0.1982 right_z=0.0399 right_yaw=0.0097 right_pitch=-0.0768 right_roll=-0.0783 right_gripper=0.01\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7265, -0.0513, -0.0366, -0.0122, -0.0068, -10.1265, 5.6547, 1.2186, -0.0904, 0.1197, 0.7497]",
      "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, 0.8032, 0.6067, -0.4507, -0.0189, -0.0345, 0.9972, 0.5797, 2.0121, 1.0534, 0.4961, 0.5629, 0.1116, 0.9956]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1644 left_yaw=0.002 left_pitch=-0.0686 left_roll=-0.0023 left_gripper=0.9972 right_x=0.4841 right_y=0.2085 right_z=0.0869 right_yaw=0.0352 right_pitch=0.1966 right_roll=-0.1215 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -0.9641, 7.1726, 1.8877, -0.0659, -0.0513, -0.0122, 0.0068, -12.7385, 5.6821, 2.0635, 0.3004, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1428d43ef17bdbe3fdaaa52870505caac825644eb3316e4eec0196fae0b80d4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fffa244c2bf8786dbe15c37672245c097ea6d1b24013667cc64d97adcb2e3bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f59e40c2ae44b482ee9bb19a2d5439876143ef9c6d063b29e1e2d4c9c1c55530",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzq32JBXO7olzOlZ9AVJ52Sy9inW9prFPi7KZss9NC8iEyNz90mT63Ygr4mK3hCOKY2GF6S2Y7V_BYCZuKXORSjU0Nl6HueOuYthuSoucNX8ow7Z6idkWGabmPX7yWPVKERBTfdwYBtAHjW7lh5AtT-VmRSQyoGg0TvwMUKrxcgxXn-NjuQQQSfpLbhTQttneQzu-h9pHk0kTqVOiexYf0htCimI9oJqrPDksathY75v6RfxKLTQqhEwSW8G1NlHxRjRVcmwEp4WXYjAksa96Uh9gAT1_gfkp_phFRGT35hFw6NmVe92gFSGjepUeuMbz8c7WtZXDK03WKiQkVCR87iNPQmmwgqIP-h8pZERLggcmr6vQVus4T0ZEWw0jgI3_Kv45dDDt83krnmPy8fkdscvOZr_P6PNSO5DLblGyrK_dfNPSzMne2s8T_oCYLSJyshqGvjGGSk3jv1YnFEopXi4bRzjLB6RKou0kjxxF1l3ArDBu_aZPrZLdpiWSwAIb5DUEY5XeY1KbXFDNSQThO59NArMKu_-SENwHsWv0ytWG356WFEdQAWG1xhKKCc8rFVCrZT2CaMrE3iKxiMbC8pjiF2HPfP9ZnD5hXaKS3IaOqR9hl1xPq1mN3y0Puq4QkUIVcjAkQFivWULZyIaGHx7QadYt7w7m75DXdIGa06k-ep_ldI-GOkhgLRjSXcR6_5o8CaA_qxQEZPOGQqmU7nHP6UWOCqDtUJ0w2ajvtsMbjwUtGqQnW2G858OqbRM3-xMTgBDMGT6FU9szfE1z4aUeTntT3hLX-_TThIizKL9VRghPIkRo9pM_z3G1_fbnzDCexBAcWSYS3k65N1YixA4DfJJo0DXoQObU5pbY-G499vDz1cGQErKKs5uewY6ZwkyobzWBbJiVz5DYc2BEz2Bpj5wiRYo2tfd3DGBXilUG2Xxv9e5bk_iNKnF3KzbCw8i5EG9IMXB7z3J8Wk18zoJcLGuBHlYjH6LnVDAZBwCjRDTylv01gJRFKagPIrtXMhhvVe9T8XbcaTzudNeUs5e9I_x7pSMpDqrusJt7ICPcCWhsAzN6ymCsXAHKgKUNg5Vczf06q7f2XQhfe-wfR5TcOF4b3KIRezhe-s5umhsGzLUnFO3m66mjSrFhaQwGsv-MXD3RW64aBI360jlYERVP9QJMzQPiLC3YRM1kGoUnsIz5uo_W-nS-Wyk-wOsW1oqsHNcRHZy3fC2yjpSCIIuVF5aDUMUHWlXzo0H_sg5U8OCP8hwVsmGbfz82Yyt7ag4eicZnSEWc2Zjabtyw5MbXc_ZPebyCSGuw8F-WRA0qkt0XQ4y2FBE-MUHYz5-4GfSXrRu2G2yrOWg0-fK0YrUWWi86W3zslayQTzPx5gViSKlzMEt718cGKv4lj1vJ65y-04jVhKhHUS5QyotgZvO7iBbw_pFDLoSUMsaEKDKS82LCUU-8F5Pm-nCETpUlXD6mpkEgHGusnr1pcMjS9EdQ==",
  "id": "rs_07cb34427983476c016ab41ce8e12c87d08800734bd6335ef1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.21,\"right_z\":0.045,\"right_pitch\":0.3},\"note\":\"The yellow object is now between the jaws in the wrist view while the gripper is above it. I’ll descend with the forward tilt to grasp its upper half.\"}",
  "call_id": "call_HeFuFP1uql80a7OntDkqO7Zx",
  "id": "fc_07cb34427983476c016ab41ce9ea1c87d08534c030a115f4eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HeFuFP1uql80a7OntDkqO7Zx",
  "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, 0.8051, 0.6067, -0.458, -0.0189, -0.0357, 0.9972, 0.5701, 2.1986, 1.0374, 0.7387, 0.5621, 0.0727, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1625 left_yaw=0.0027 left_pitch=-0.0778 left_roll=-0.003 left_gripper=0.9972 right_x=0.4935 right_y=0.2088 right_z=0.035 right_yaw=0.0438 right_pitch=0.2282 right_roll=-0.1373 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 6.9812, 1.7314, -0.0659, -0.0513, -0.0122, -0.1983, -9.894, 5.2581, 1.3162, 0.2955, -0.1441, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8677f81c95afb31fa78f3cd54cf55863d43760207ed7c70f7c1111ade17945d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3879d2ad0b132180c75ed5e5faf60732b7a1c03a1c366562fb77f05443018a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94d90ee79f519433371d5b032140782257ec69207508183360d03f8b367fd5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 2.37 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, 0.8024, 0.6067, -0.4286, -0.0189, -0.0315, 0.9972, 0.5522, 2.022, 1.1202, 0.1108, 0.4217, 0.2836, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0003 left_pitch=-0.0458 left_roll=-0.0003 left_gripper=0.9972 right_x=0.459 right_y=0.2021 right_z=0.0303 right_yaw=0.031 right_pitch=-0.1199 right_roll=-0.0692 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.306, 7.1863, 1.6923, -0.0513, -0.0562, -0.0122, -0.3897, -9.0872, 6.3385, 1.3993, 0.1148, -0.1294, -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, 0.8032, 0.6067, -0.4507, -0.0189, -0.0345, 0.9972, 0.5797, 2.0121, 1.0534, 0.4961, 0.5629, 0.1116, 0.9956]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1644 left_yaw=0.002 left_pitch=-0.0686 left_roll=-0.0023 left_gripper=0.9972 right_x=0.4841 right_y=0.2085 right_z=0.0869 right_yaw=0.0352 right_pitch=0.1966 right_roll=-0.1215 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -0.9641, 7.1726, 1.8877, -0.0659, -0.0513, -0.0122, 0.0068, -12.7385, 5.6821, 2.0635, 0.3004, 0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 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, 0.8051, 0.6067, -0.458, -0.0189, -0.0357, 0.9972, 0.5701, 2.1986, 1.0374, 0.7387, 0.5621, 0.0727, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1625 left_yaw=0.0027 left_pitch=-0.0778 left_roll=-0.003 left_gripper=0.9972 right_x=0.4935 right_y=0.2088 right_z=0.035 right_yaw=0.0438 right_pitch=0.2282 right_roll=-0.1373 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 6.9812, 1.7314, -0.0659, -0.0513, -0.0122, -0.1983, -9.894, 5.2581, 1.3162, 0.2955, -0.1441, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8677f81c95afb31fa78f3cd54cf55863d43760207ed7c70f7c1111ade17945d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3879d2ad0b132180c75ed5e5faf60732b7a1c03a1c366562fb77f05443018a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94d90ee79f519433371d5b032140782257ec69207508183360d03f8b367fd5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzvDCDThiNkW5PQkWOoOGjfgo5_J8E-D4FVNLFi7j2ZBc4OuJvp_cuPtl-9UoAXcl6eAO3nt--0SL_hp7FGhrJVNMi_QOCZxtIevWQLWuLocha9YrN-IQToe41YTw0Cs4ZlHdMjNcXJtNSSrB-DbTCQZHlffz8sTjz3tY8pfhp0nVzDEFn9jwPqFviInBdMJDmztjSTkJPRIkq3FZ4WWXlKg34MFxhLljrzIJAnHEK4-7DFYtTzatRTW-hVsnDfGCkzXESECkFg9Myta9mPvenNIQh22EgWcn-FeKvo_9ySRaR_9z4Hyaw2yayk-_a2Ru3wpgHUYAcO3JcaWGWtmn7szrWvpfKs9qHRTbxvkCYxI3dm29kOftQkz-AyptQDaUvcTZhw-eXJWeL0jWczv1q8pGmulmZvqaZQXcqr9RKCpa5TslztLY-D_nYwrf4d-7EmnLdOFEjEKuPof6xmWdJwo5VoBtYBHSamv_3kBf81JrOuTZHni20zRSj6F8srztrB2F4J0yiFqFNglX-3dFfcJgad2pu4Wz93BlhzJ2aENJlDUjNQ0_UOZVjdrUbJ8JjWZSITdR8Td6LXozTg69H-jKamyptjg6JIqBWet4ufPXbLTAbXBDEatAoXOVpF8nit7JBF9UjW9xwER42JCpNZWd8UKxo601uvZzv5_XeWyltJ5dSsUG0EumRuGS45syWvaP7VuBFFAF0KjN4-zd7kLkpYGE8n9HegQdrBl2VNnYAZz39ivKeep-NklCDFrWq8yM8J3nwxba1rpwTcOrwKfPOy5xXVHT1yuT_QK1ZcmntO0jk_Gxc2i9_LbvLiqYfYm65o1_R9crwE15FYq08EAxMehhlHsuqxvPAErbw3gzwH03R-L1SAiMZYOsh-ucrQ05GBAFmLyFehNVMeFXQxvb_zggwv7OTj2nY3IzVZp0YkNl9bDdhlEBtDMys6RErFUFqbaaHIOSwYvAuIOg49rrpZ5QuRAEVPljgc672iI0AL8Gxm0VVPfb0x2wjqBwZDkwLey__3N6XrF-Pw4QmxS0UBSYJxXN9P7EcLNCZEGTay3k1cwHEQo-zN-x1Zl3mrgRAE08r4QImiJJAxgrJ2xYVL3dfp4L2Wj4E1j9IxW67h4-kH6SdO1jSqNHAXkcMRXdHEPmkux5VQ9QLJ2I0fENfGdepZ637VpX7Lt8rAfMJehjaufz_EHNj4FD6wMcru1NfRDQ0X9CSc5lyfesAY2vgx3J5AMKxqoaJBlPRutGjPEt17AqrS6yCTNRCRnKGdLccBajsD58iO41-yIYIsI0XEjZA5uZhafaYh-Jnngnos_yKjGFI9ANMehciPFESaMOQSVPrEl6C1yXQE7GCcs5YJo-y3KMm0hv-MdGxNUfx5BZFXk11t8n1xv7Y76zrsfQUr73yJYTMuWBd3zszz6D9aSy00gnWoRytFerMsXuH_8xz2uxTtwgAl948QSTGE5RMGg0YNMYXtqSizrb-6zkfQw-uRLBoS_jyBaDW0PU7PqZkQ3gajXjCw90TQ55UbdTMZ8QuzqSuD1T9eLEYDGsC5YVmvXJtiOEDrk_kH8Qi8OCEKC0vDmhZXcRKocQPQh6cCtL-olLvGH8_GSSuhubW-8Blwv4v0VkuEm0HvlWKUeclgB3nu82CoW0TsoxFqOSREp-x7yyblAy7BrUizn-xvb6wHVwi7PVoOALtSUNPrTQS6qbqkPiDWUVpjRa-zmMh9lR39RQxQiTB5TB6QGSowQNBhfnLPUtJ4Ox2UQZkzeY8OzEaHjtKoJVuUb4d9xbI1XzSoiKcE99-SCnfjRjnh-Pf2s7bG1azu93QntX0ezcsEWOb8g04e0nbtramSaSbgSFC49aZ1nZG4GZ9S-MmmK247l1vnqhBbPKTEhFS3hibtyMRCdbfycHWvHtU8lEa4L3_WeiKYjTmhn7iHjhjIYQsi8zxhbvv_b8F8uzYpuhNjWdqxdLv4ij9sUrd9Mq9TRCaPg8WDJDsnkW8v7U7YZ9eY0zVjYuI1cdDYk7uLdn388fWn1hINH2zNKuRVYAODj_hd0jiYCtFPxKm6ca4d0izM_PLeChX0fOKHl_U=",
  "id": "rs_07cb34427983476c016ab41ced019087d0b6187d93df32ade5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.19,\"right_x\":0.5,\"right_z\":0.035},\"note\":\"The yellow object sits a little to the right of the wrist camera’s jaw center and close to the safe wall. I’ll shift the right gripper sideways about two centimeters to center the object before closing.\"}",
  "call_id": "call_1JQCcK7lR9LnS5BGlLIBmvUM",
  "id": "fc_07cb34427983476c016ab41ceea6d487d0954935f7c0d21b79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1JQCcK7lR9LnS5BGlLIBmvUM",
  "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, 0.8059, 0.6067, -0.4583, -0.0189, -0.038, 0.9972, 0.5701, 2.2082, 1.0374, 0.804, 0.564, 0.0513, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0039 left_pitch=-0.0789 left_roll=-0.0048 left_gripper=0.9972 right_x=0.4975 right_y=0.2111 right_z=0.0434 right_yaw=0.0471 right_pitch=0.2752 right_roll=-0.13 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.3197, 6.9675, 1.6337, -0.0855, -0.0171, -0.0122, -0.4581, -9.9897, 5.2308, 2.127, 0.1685, -0.0708, -0.0024]\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:0b69ae3c1844bf6c3fb2b8029893a6e6bf376a7b8b5faf58fd678c9095f3bcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9db534c2af8ac57ae3b3dd118b97f135e394019f4e716d3087921eb2a70bf05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c97fe11c3c149b04466f19fb1aabc6498461995a227592e1f1c963ee356091",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.241 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, 0.8032, 0.6067, -0.4358, -0.0189, -0.0315, 0.9972, 0.5488, 2.0174, 1.1221, 0.1413, 0.4545, 0.2733, 0.01]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9972 right_x=0.466 right_y=0.1982 right_z=0.0399 right_yaw=0.0097 right_pitch=-0.0768 right_roll=-0.0783 right_gripper=0.01\nstate[joint_eff]: [-0.1709, -1.306, 7.0222, 1.7265, -0.0513, -0.0366, -0.0122, -0.0068, -10.1265, 5.6547, 1.2186, -0.0904, 0.1197, 0.7497]",
      "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, 0.8051, 0.6067, -0.458, -0.0189, -0.0357, 0.9972, 0.5701, 2.1986, 1.0374, 0.7387, 0.5621, 0.0727, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1625 left_yaw=0.0027 left_pitch=-0.0778 left_roll=-0.003 left_gripper=0.9972 right_x=0.4935 right_y=0.2088 right_z=0.035 right_yaw=0.0438 right_pitch=0.2282 right_roll=-0.1373 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 6.9812, 1.7314, -0.0659, -0.0513, -0.0122, -0.1983, -9.894, 5.2581, 1.3162, 0.2955, -0.1441, 0.1001]\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 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, 0.8059, 0.6067, -0.4583, -0.0189, -0.038, 0.9972, 0.5701, 2.2082, 1.0374, 0.804, 0.564, 0.0513, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0039 left_pitch=-0.0789 left_roll=-0.0048 left_gripper=0.9972 right_x=0.4975 right_y=0.2111 right_z=0.0434 right_yaw=0.0471 right_pitch=0.2752 right_roll=-0.13 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.3197, 6.9675, 1.6337, -0.0855, -0.0171, -0.0122, -0.4581, -9.9897, 5.2308, 2.127, 0.1685, -0.0708, -0.0024]\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,$blob:0b69ae3c1844bf6c3fb2b8029893a6e6bf376a7b8b5faf58fd678c9095f3bcbd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9db534c2af8ac57ae3b3dd118b97f135e394019f4e716d3087921eb2a70bf05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19c97fe11c3c149b04466f19fb1aabc6498461995a227592e1f1c963ee356091",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBzyo56qHsjlZwrsAdJ0wqqM5_vFejEgCxCJ0jxTs9ctxSrIwi2bgjMzoaUCfiecTQJ7D3pmWFbMw8j_hON66_DrAmKG1U3BnAMV0-sXIAeKBAJwQmWCx5JLla2CnRVaoNcpejGt5Twa67pE71z6x96wIxOnWA7-CBtzJFAtYePMkdrGeXTW3_Hoc5PeNo71Te06QNtjU-C8-ZsSwucx4sXgz8dVhKouyxtg0xPYOVIHC9kYdgDEuZl8nN3hSNJnY4gEXCZhEKWCcs4l6G3-u8n-mfJwi0JzjPv6B_-fOjZbR7BPksU4s6Cn7n0ed1IpdlE41jHecLqxCHcPifxjiXj0ahwYuGC9ue03SB5iO3SO8--bEzoTUdUQhWsLg0yomEo61zgFMxmWdkeG8G1W10i-RiIGJxT5AERMbVHhR3n7CUV1h0RVNalWH6oL30QR5AU6a4uQpjBzrfGCIli6kQLrOJdDfRsS92-z3gMWAf_yiB0C4cqMjFJh84VPsKeLurzdHNOsMkpjnJERSyiFYzEOYP2LyJKXxUKSnNaizeXwUu1Hp6Xnx_sxUaYlqcCGMbyNerqTTt1gJztBdKZPgsGcnZeTXaqqEMID0kt8FOEZKl4p93uZyd94DP0es7FXNSGoQtuyDrUoSNLYoH_FYSLgz-AxBdJoILhf8_yzJRVJkVEWwbmf2u8m98BiaU585awPkSYHgSXyakd4QKhXZr1Mgu0w5pbRKC-5tmv7H4U0Xt3KVloBw-eDR04RYQgBtMqCuKIX3Lv9e2w14sP-Ki-cQQ5v-cB3ejprbRa7MjhV5Y7ULKpv62lUGGNIDVwWmNo24tXfU1oku7Aw3healf071amBFc2cKhEhaIzgGXVNWZMPvCZD1VdWyFFADqu7k-0OzfHaHinBUk_pe0B0OAOtlUj3Bz_G9i48VwHE_3CHWMOw59lIUGHu7dyWYz5vqkmKeQCPtOIId00z6g2NXjBVRVux8XBPsQtomI7HRVkCZRgT46Lg6MHgOH2By-L2da2b-5LDOeFk61_-OeeSCRene5WL1xDx-Ind8sic1JwCcRzE0GFUnGVCQRSmTDBJNwIDOrWsmfm46L-sTDfB1HyXmCyu-yjR3FGHEAVEq7r7HygJzVcgSKpLUmv9QMERYnGE9Yhk7JSDCrwFqWtUfEjcVHIS7bAcRSGTWpGyuPwD8uqqScJbEzBG4aj9ymL7VNJh3RbbsaTzjK03PLr6DomVWaFD4lj3Rhhb1qIm7yp0GxaM3EYJ-wgqcWj0ja6J144DeK9Pb9pSvqHrw9z5AhJh0qP5KEn3lx6Ek1u3cU8bzwpmNvr06aisetsfpnKV2kTKGg69JVeeTTvaDoYDg2kLJLkwB4ADgUn67ziFkprhgVUBArTX_h0st2gbCx4Bd70bs7VNsTFaFDBT2c5MG-NZ_fEs83IHirlWt3BZn_j39O5dqL3OEP6-QyufCEtKhEiNXRHfq4A0bIXW8bdOUjqzF9jLkXWBbiuBKn_XivsIYv5oj0Iifo5GU3_ileq0WU7VmMvMRH5I41oaNm9T1bi_oA==",
  "id": "rs_07cb34427983476c016ab41cf08f4487d0b7055dc26b77d13a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm did not complete the sideways adjustment, but the yellow object is immediately between the right fingertips at this height. I’ll try a close and judge success from the settled jaw opening.\"}",
  "call_id": "call_HYkz2evJBvwe1TtXpqUDm0Ye",
  "id": "fc_07cb34427983476c016ab41cf1329487d0a34aaac5e193828d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HYkz2evJBvwe1TtXpqUDm0Ye",
  "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, -0.4736, -0.0189, -0.0383, 0.9972, 0.5701, 2.2082, 1.037, 0.8139, 0.5602, 0.0444, 0.0091]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1582 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9972 right_x=0.4981 right_y=0.2121 right_z=0.0452 right_yaw=0.0529 right_pitch=0.2824 right_roll=-0.1306 right_gripper=0.0091\nstate[joint_eff]: [-0.0479, -1.5795, 6.9538, 1.8144, -0.0708, -0.0024, -0.0171, 0.0615, -11.1932, 4.9436, 1.707, 0.1636, 0.0464, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e530ace2c4ffa065d7976924b773e0fd1bb044408b8555ce9348cae3aeaa20a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2b4809a3cdb3ade12a126ede6edf83f2f0173f5821a961045d8662c7251a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9009b3b27fc4ef5c04f6c9a8be88b15bd8c483f0545a0b7ab3a53bdc028a42a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.278 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, 0.8032, 0.6067, -0.4507, -0.0189, -0.0345, 0.9972, 0.5797, 2.0121, 1.0534, 0.4961, 0.5629, 0.1116, 0.9956]\nstate[eef_state]: left_x=0.2857 left_y=0.0015 left_z=0.1644 left_yaw=0.002 left_pitch=-0.0686 left_roll=-0.0023 left_gripper=0.9972 right_x=0.4841 right_y=0.2085 right_z=0.0869 right_yaw=0.0352 right_pitch=0.1966 right_roll=-0.1215 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -0.9641, 7.1726, 1.8877, -0.0659, -0.0513, -0.0122, 0.0068, -12.7385, 5.6821, 2.0635, 0.3004, 0.0269, -0.1148]\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, 0.8059, 0.6067, -0.4583, -0.0189, -0.038, 0.9972, 0.5701, 2.2082, 1.0374, 0.804, 0.564, 0.0513, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0039 left_pitch=-0.0789 left_roll=-0.0048 left_gripper=0.9972 right_x=0.4975 right_y=0.2111 right_z=0.0434 right_yaw=0.0471 right_pitch=0.2752 right_roll=-0.13 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.3197, 6.9675, 1.6337, -0.0855, -0.0171, -0.0122, -0.4581, -9.9897, 5.2308, 2.127, 0.1685, -0.0708, -0.0024]\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, 0.8097, 0.6067, -0.4736, -0.0189, -0.0383, 0.9972, 0.5701, 2.2082, 1.037, 0.8139, 0.5602, 0.0444, 0.0091]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1582 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9972 right_x=0.4981 right_y=0.2121 right_z=0.0452 right_yaw=0.0529 right_pitch=0.2824 right_roll=-0.1306 right_gripper=0.0091\nstate[joint_eff]: [-0.0479, -1.5795, 6.9538, 1.8144, -0.0708, -0.0024, -0.0171, 0.0615, -11.1932, 4.9436, 1.707, 0.1636, 0.0464, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e530ace2c4ffa065d7976924b773e0fd1bb044408b8555ce9348cae3aeaa20a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2b4809a3cdb3ade12a126ede6edf83f2f0173f5821a961045d8662c7251a07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9009b3b27fc4ef5c04f6c9a8be88b15bd8c483f0545a0b7ab3a53bdc028a42a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBz47Ql2pPeWC5iAoUDFRyq5ksXs3-R1UccvLPN5me4XMNO1SpaW5cs4G0lhiMMyzipp73vX15n6GKeW31-zGfPFK3zwAdIIRXnLgkpUWgkTAMLHXemDZQOuGK1DJ3hwKsUE3taqCWfUqtEXDcubCY2aOQPAn4VaRcXlO2p3Ff76tEjKHZl3biDbBr0LjjogclPur2uc38pwNWROOkK3_iA_eqbNN36UmqOtNAaYfSRwzjYXqzbes39ElcBBGbhuASxjprTWXWhsehkS6btAQoiZZK6wEwBrQV1dhO-j-m5ehaXJPVGGQ1wyXTBrSe_r7UwVtXFCU-7B6mVfujmERqPiUx9E-xem9f0KRLqDyeWNnmrSzlnJn1PJd82ES7AekJ9DeHX1IQJDj1oSxStCgEXBFuT9BVCMo5sNYRVyJSqcpo9sLOJfUOWqoepdncKgNLDWluUBy7q7G9cvr5-icWQ5ccDDspNSsg-pziew9yhiLfVDEJBaiihdIh9Dcvw7izmDkGENyLRYwurMchvZgRTvWwH1bP7ZadVu2Nw2GOcA_1fDFyhlV0FnIvXWEDlEB__6S6PeO_KDXtySnCU_WA_TUORbjqJ4a7ZutSrENXbuNuUntqeXn_KP6q99TSaNMkmRldZupBxTlDEhL0dHe6Bc97B4R0Wvq0VykDF21chMpDRuluS_RMMV5qlyuRcI6xD_QifM9h5UbTWmVnoQKRQ8PBOToeCWbbdrMoZBQ7LnX9MohYFrj85V1lK1wL8-zJy9yhe-ZY_YCaFIViGhcsK4WjfYXMy0QRNtmomWrkpXM5I7onf7Sfe5j4KB7GAIwtZJuSQsSN7EdmqIUdDj4dS2LzMnOhcTVx7X_pjAirxcg6qQmiY-Tjai5jgl8pMcqp9GlHyz2-WaIlKj7extW3nfD_3KdkfULKHMEKHA8NfZAK8_qOQMy1DZ78dBZvHtseMYXFeUIuS4QHSU-1DwjHznkWf4XD9RBTrhSHr2e1sNBZM4Uzn3s_4uJIuL4HZg419Ar-LqtXCZoqwOw10aE0mw-1uz4a8LIf1O9sxSJ9rb5bDS_qLeBvcoH_yVVG-W-kp9ko7nBCInXQCM3VxDi8zfXhTbkxDjIDKDddQZeEr44Yswmf03HDRKlVYLMDUWzsVOMxX1_pviPLaSytoFiqQY0jFH45D9Ukp_WMhzW6I3ESqBXhgdSoBHIOm0cNe2VziklAf16Hp8oOitnDUnWUbgDtSN7zt3hLSq3zMXoNhGHyOvcxzzLn_oPfnTvXWJ1FLGQ97w_YZTqEQefCioLkbuT9vsUqsMkkJXQtxEAxaaxazLIxD_E2uZU-Ydhl5uKW0o1NFtB0yG3161WAMDc0h0OTiVhVzEvsZ2ap8NirJk3e3pMD-RJPAEkGFHhwk15bLosxjyq-DeUgnktS2dkcEMzJoqj9sTGR_eAtOSTK0ZckFYFCwdbFiBToFwN1DBSpxa7OsLj-A9H1iIi_-WcG-WJSjyz1xlVmecnf85ZcoDN3-uFfko1G01ZDpLUl4gRN38JPty768YReA9fmCmCzN8h8SllEoaDR4UonELn_1G3xjzxSdGYu4s2OwstoxlW4yPId4dFxQIH3v_ncsUaA1g3pI5gcQOLOYpiRAD1LPtl4EuXN3EZN8JaJzOxca8vsm7pzouO_Bazz9EB8e-o_wPLKojYtZltlUwOdyL7IzSPKcZt0i8-2tb9hVawo6Zn8U8gnXGyh8ax9h57Tmz0WSZrtXIa_wRSaiGe0imb-hJgvzKlME7SyzoB2ATFaJzDxGkO8zRZY_-uM0K5ClmGuudCOAnef64oNhpzhH5i441GT4UqWzTGUPZQ7w7E7rjj7VNy8Ht0A8SU4MGNnWJudnxu2fN2Zg1h6amh4xChG8fOHupuE-ijC9KTmm7jHizgvCZIDe2XdchqMLUNXs3RH9UWt3gsOPcjeXxUIC3kL1W9MhhaTCthyRab1BNJbyCSwibJG3VcG8dkP_Uvozb6DCoqsMB4iXg6P55NjmkJTNZF1lQ8Re5V0AUJcom__W4j9FVd3ap72-duXN86G9eWl9GYQ3-jnWpsK73CCRH58MNnCn2w85vEChdfMGAG7pYT0AzhcltiYS_zILUh6-yBTS88dekWEAiAuuRtUonGsR3B6IUS7eWSBywaUdjbQ_YT1ML93dnIDF12rTyYcXrGLFD706wcHDpSuIiuoj_4njn6eD60YwcZ8-A8I1WoyTu-t4GzyTGVztIb9L-iFiQv3_B5ud14wJXYNPU_eVFJsUnrYtJXh1iwboyxScBDz3pMR6ikiqiAz-YfdxgXKEUL7B4c2Zl-i1ogACDImx-ZZn2esGNnaLXKf-zd6ymQJ5SKPeyPwCzWK2jL8p6ei5RNOKIdF2ZhZ7uTJvMTEU7saJMlh9HB-7jt56l3IJHXcHfQM41zpGFcmsEIfi1tbjwD9IENCy3_C9fPPmpERwwNUA5nUYP27xKk1BE8tmhVSIRhYSUXfi9iQ_KY88-0uUDBnWySBXpXlo_tBSEgLGvB69N2jV8o4Br0D9NfRYg0mnscO-zLGfdyggyotKyDTGLmiWAwtrnkWscRf1AAAC0S4hCc5UzFu_dU605ZRi_8s31Nu4Sk9lGd0zACU2s2oy0bsJHzHOxoRxllhFhZH_o_r0QZ6lwDQsrPop7NqxTEFei1a9NMRaHkfYoO_Kd_PPnMMLWGtMxhDkapVBB2VdeBqzAvGUR2U6KzC8yKMr4mkwKnqxTiWnDSCfcrI8oJm9Jm54T2i4qjOW9EP8qungXoG1hc0jUqECKrty-gSu8icrDLLzalylPwwEhhphu7FiGnFCvB7MJn6ItmTNgpyXwBG5Acpmd3RDh5Uhqqtj99tLlA-sAlRvfb4iUulG0yRKBqc1f_EHZ5Nxps8t8EEKjKLMKvi5geSRN9mPy1VE_h0Ti1_zM5ZJgmwJxnBaFZJnU2nIpo4dvIAQN2L1qmmrOyFkY-zB26Ub6FMow4o1sMrHlIEhCRj2QIcaZ5raeWUVtxVLlI6U3pxVq2GK7BoxuIBCssEl65waMoWioJOGhub8NyGqIy0bCcYOAsiLYUsHH5sxDp2sfRVc9IRwT9_GkYXe7fLrPWaE_BYC4d7iUZjZ-Uah0GUvMQqv-txDzPAUs0xbAkeG23ApzeXZo3haxcTE3lbknrLHZ2juaiYQTesRkaTFv9nsdQFaWOV-FYLo-fXXH6hZhY90GIiCfnUhB-h_vong=",
  "id": "rs_07cb34427983476c016ab41cf4039887d08440623128999b18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.35,\"left_y\":-0.22,\"left_z\":0.14},\"note\":\"The yellow object remains outside the right gripper after two empty closes, so I’ll leave it for a different approach. I’ll park the right arm and bring the left gripper above the pale plush object beside the open safe.\"}",
  "call_id": "call_3hPfDVFc56O1pHZwtIwhdi82",
  "id": "fc_07cb34427983476c016ab41cf754fc87d094ab50d8f963ed8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hPfDVFc56O1pHZwtIwhdi82",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8078, 1.5547, 0.9932, -0.3588, -0.5747, -0.6083, 0.9971, 0.0296, 0.804, 0.5652, -0.3443, 0.0914, -0.1184, 0.9974]\nstate[eef_state]: left_x=0.3397 left_y=-0.2111 left_z=0.1227 left_yaw=-0.0095 left_pitch=-0.1533 left_roll=0.0218 left_gripper=0.9971 right_x=0.2948 right_y=-0.0038 right_z=0.1672 right_yaw=0.0051 right_pitch=0.0017 right_roll=-0.1332 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -7.0496, 8.9915, 1.4432, -0.6374, 0.0562, -0.0171, -0.1709, -1.3333, 10.441, 1.9365, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fb1906efabb31d2f145a30fc12edc0098caee7f8ff5d7efbc823278005029a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec97780c8cf589145727b15208a0ec273c183f6d5f9e52970818dabab5fb3e14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c08ec45705a2042c23fe043a051ab9c6459838fb877e1fe5d62ca94a485c4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.547 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, 0.8051, 0.6067, -0.458, -0.0189, -0.0357, 0.9972, 0.5701, 2.1986, 1.0374, 0.7387, 0.5621, 0.0727, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1625 left_yaw=0.0027 left_pitch=-0.0778 left_roll=-0.003 left_gripper=0.9972 right_x=0.4935 right_y=0.2088 right_z=0.035 right_yaw=0.0438 right_pitch=0.2282 right_roll=-0.1373 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.3744, 6.9812, 1.7314, -0.0659, -0.0513, -0.0122, -0.1983, -9.894, 5.2581, 1.3162, 0.2955, -0.1441, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8097, 0.6067, -0.4736, -0.0189, -0.0383, 0.9972, 0.5701, 2.2082, 1.037, 0.8139, 0.5602, 0.0444, 0.0091]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1582 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9972 right_x=0.4981 right_y=0.2121 right_z=0.0452 right_yaw=0.0529 right_pitch=0.2824 right_roll=-0.1306 right_gripper=0.0091\nstate[joint_eff]: [-0.0479, -1.5795, 6.9538, 1.8144, -0.0708, -0.0024, -0.0171, 0.0615, -11.1932, 4.9436, 1.707, 0.1636, 0.0464, 0.7204]",
      "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]: [-0.8078, 1.5547, 0.9932, -0.3588, -0.5747, -0.6083, 0.9971, 0.0296, 0.804, 0.5652, -0.3443, 0.0914, -0.1184, 0.9974]\nstate[eef_state]: left_x=0.3397 left_y=-0.2111 left_z=0.1227 left_yaw=-0.0095 left_pitch=-0.1533 left_roll=0.0218 left_gripper=0.9971 right_x=0.2948 right_y=-0.0038 right_z=0.1672 right_yaw=0.0051 right_pitch=0.0017 right_roll=-0.1332 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -7.0496, 8.9915, 1.4432, -0.6374, 0.0562, -0.0171, -0.1709, -1.3333, 10.441, 1.9365, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fb1906efabb31d2f145a30fc12edc0098caee7f8ff5d7efbc823278005029a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec97780c8cf589145727b15208a0ec273c183f6d5f9e52970818dabab5fb3e14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8c08ec45705a2042c23fe043a051ab9c6459838fb877e1fe5d62ca94a485c4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtBz_ktZrvsbpXV0xTwu_cQk5GAfMuG52105O4e-hTxYckYyKu9N4ocw0AYs6QgXN7epnanatQZOaObU0pxbUwevHqv-ZqTFcvGL7_qMy_WD4v13zQMRra52uaiXveSMJoUSOCUwmR3dbOU68tGz-FZ6zxHCq7RXcKnzrbc0h9WMg-Sqcm3KL4xSETbNFGtBIJJ_wo6Me9fAr7zVM0HJDU0-HceiLdDCv89IEFuhvR5M9TjvkzHfQWrkDCgZzvALR8gMr75yYmF5gzrVNTSV1JoSc_gl6X1X0DtI1568ReJDn0J0VNPNkbTgVS-CdaxcNpTSJu54O6fErCpdAp9sKRZdY1dG5nuQrbQsOVf2BAZaUhngYYt5aAPn0fkR0hK5EqEur2ayYwr28aormb11o6rHORS9sV5Jbdt-Feh68ukhyZtL6i-3SQF_Cs85URyYZATWBJJSgiLcnCXd57qZL6sGybNlvWLfpSNBpURsupaAAB7DisId4lrWOoDALV4auHKmmQM_bLrzh2W5pI_Rl7ZNQlAsgJ_5-W3xlFO1CTfN7DsulvxId0tk0ieFGoXT5D5jDPPSeTzs2enruQguExFFcEJfOgdpQPXYV6KHe7NCAf762o4f_YC_54TZA9KRzwTc7IVtnqpUD_HXYXJQZ4FYa1VpcqrI1uGIyrPKpxHorJNQfFGEfJiQfFitr3LQ0UIfa_hUQ3gFonxuAAyYG8I38_q-820ZLnBc0PhAevm7v7zWCPY6CGVXx1CoycpZdW0sopW9N7fR3wjvoKVt8OlUAIu30B5eQoR9KFeKfKJoncYU94H2fnxLew0tmoZgDo1CI_uumWAzudz1tUG-f4gbGe_kRFdOHow_5SJPg2D1rFoJXSlO0wuBoRLkjlBwivGx4NgKvJQTk_kHiVRT7IXVxvIg3lcLgsmhE4BYrECiAUt10s6NdxyV1mCNkI3lr211hlxG1YotiSlnNLJUjNwLw_EUv8G6l6N28oBYuL8YYVf_uLDVCEFubzYegz_wiId-GlyFmf8DtsrLBQryjCVyligOlZEAqDTHedxyG4Ikvkmsdr0dYJ-DHTzHtlW9qbbHxLWkTt1vdcbZN43dkdnn1R83Z_3p55sVXmVsBTSOrRZLZ9kyLggpImmKA1_oyjurX_gDYSuvvu1a97Gd3A98vdAJTlfQizSZqAGgrKmcBgdsyJC2RvRuZ0ahKrp2WqXdn21cBAphyMYz7pfvr-A2oF_4vkECIZ1-ZyijvE24Luq_63BwW2KfCsITd9TNVEXfHnT1u7TwUYgmiP2jk-2pjiSF_oOAd-V2WLfmTGTwDAizmyg5mZikh7DnC_rq50KLdcBzBEMa45fen5G_BzPY-ldC8eSsuFaxegW2GJNW0TTewYpUnoGEg3QQd4GGYKvP-b_gPuXmFxBGQJZ9JSB4ldi74YlvcFjH7cvaJEgyp5XcFsJiy3PuP8cA7c8fQ1nnT7YEAmokjhOW9tAXp4kYChDQCVnrT-z7WKaPNLsx3WXEyNmXhyL5YVTMcXfKHugDYhDj1s8cfdL0YYBgFwYV0T02FLUhlbNEy2aUiG-_HR6Po_gFiKh7fz43IYsn6_tclem7EqT-3F0C3eAEX1JdzuOXkZXXK-HQQfH9iUtg_sj8Q2F0Bw1JAepZMvkZIMgMbZfdxHfZzz3rahKqGTXZLL5T8MVfNjdBTSKK5BAU8Tv3SwUxKFPhaXtOxZ4zEaFIMprz5WCMyYfdaG1josymNbnOF0CRCtP1peJhSN5hxnqwECUs-DbQAKVLowje35oue0sody7WUnIQcLgsYqPYOzm65APcVaV2eEyPD60L5pv_vKPB6b9swWPqMBGhYu3pr-Gf3Th40m_xX7Dq3MoVt_7JZxPX81xK83cy10v1FXBCSoUVP9CS0aJWL7lZK0EeRGtWSCWMV_Ijpm_YjH8H4Cla8OXPUC7M1zieDRDFmFcRTRKDR4ZhIcVwsSoUF6SJBkW86v11wiystO1yZ9QIMypYMt9OxjCPDzL430sf3bfkvIkkT0lcQdz011rUXy-iTcZtZGb2HhUnGidbCJK4pguCHuJ0rohDT1nR4qGgwdoh4y90xh5b-9oujzdV533ql8tbAr-dm7Du6V_JYo5kXUe8jDvdlfd-hERriNUt5W0tzF9pPcBo2AmTCDJCL1lz5AgQXZcZFcZTNTFoCWjtRxPZyWlPU0Y0zXzUMOCWGQWVzzcuUjm1_faPY0GS0_VQB2V6xTSNZekqFdHpfE-6UxCNVDAnzOinVZ15Iu2PDTSe-BkIX6pXFLha9r2tdurPa8OKxAoKkBFXBwBOPfg1UMGYZgnjEbbRiguiqPz4YDnZmGxO7TcbeoHbvvlkTaO294hMXZvsXMDIHIPE8UfcsQrr9DsgVOmGKntS1SXObp0NJEvJneDQbiRibZJgzaB23Esth726YnLu8V2My5Isw03oeNBvOebNcxt14G4zjTNptnbGyVAVsdQBKq_9hx_fpyC1BumOWaL_nWewmpt_2WEE9Tru2DYtsEEvYjt617Tu0YiUkNGknrMvO-zqqwMHLTM-CKckh6-CmjWOMVkqBlXiDnHfe00Vzipj6HBwhYjbITR88YZUTnoRm9yOjW0BGTnC4S91Ya5W4KEU0mYTKTx2oFJlR4aPkuy_vmx7p0UXkB-bhZt0ROVATuvunpOt2mecTy7hsflfmDqo1LeCusWlLvJ271Ip6vhE-D3t6X4o=",
  "id": "rs_07cb34427983476c016ab41cfbfa9487d0a15003863a4d541c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.22,\"left_z\":0.045},\"note\":\"The pale plush is visible below the safe’s front rim, slightly behind the left fingertips in the overhead view. I’ll pull the open jaws back a little and descend to its middle.\"}",
  "call_id": "call_bMHiR3ovmDRYaDctf6YoeVHt",
  "id": "fc_07cb34427983476c016ab41cfe857887d0887cfd15e49dfa5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bMHiR3ovmDRYaDctf6YoeVHt",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 1.6627, 0.7975, -0.1413, -0.6003, -0.6701, 0.9971, 0.0273, 0.8097, 0.5667, -0.4015, 0.0784, -0.1383, 0.9988]\nstate[eef_state]: left_x=0.311 left_y=-0.2159 left_z=0.045 left_yaw=-0.0224 left_pitch=-0.1946 left_roll=0.0549 left_gripper=0.9971 right_x=0.2872 right_y=-0.0024 right_z=0.1547 right_yaw=0.0245 right_pitch=-0.0612 right_roll=-0.1428 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -6.6393, 5.1761, 1.3504, -0.5543, -0.1587, -0.0073, 0.1436, -1.7026, 6.8855, 2.254, 0.1245, 0.1197, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536dc971629d52d2496d04bdca1a917a3263e8df3ff42890609380dee764f12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9f020666ff6b10da131e405637fd367cf3ddedba8bed9010fb48c3cee408a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f8cd90bba22829410bf9bc3358adabb110e2fed584eb797f77ce5bc741ca2c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.73 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, 0.8059, 0.6067, -0.4583, -0.0189, -0.038, 0.9972, 0.5701, 2.2082, 1.0374, 0.804, 0.564, 0.0513, 0.9968]\nstate[eef_state]: left_x=0.2847 left_y=0.0015 left_z=0.1622 left_yaw=0.0039 left_pitch=-0.0789 left_roll=-0.0048 left_gripper=0.9972 right_x=0.4975 right_y=0.2111 right_z=0.0434 right_yaw=0.0471 right_pitch=0.2752 right_roll=-0.13 right_gripper=0.9968\nstate[joint_eff]: [-0.253, -1.3197, 6.9675, 1.6337, -0.0855, -0.0171, -0.0122, -0.4581, -9.9897, 5.2308, 2.127, 0.1685, -0.0708, -0.0024]\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]: [-0.8078, 1.5547, 0.9932, -0.3588, -0.5747, -0.6083, 0.9971, 0.0296, 0.804, 0.5652, -0.3443, 0.0914, -0.1184, 0.9974]\nstate[eef_state]: left_x=0.3397 left_y=-0.2111 left_z=0.1227 left_yaw=-0.0095 left_pitch=-0.1533 left_roll=0.0218 left_gripper=0.9971 right_x=0.2948 right_y=-0.0038 right_z=0.1672 right_yaw=0.0051 right_pitch=0.0017 right_roll=-0.1332 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -7.0496, 8.9915, 1.4432, -0.6374, 0.0562, -0.0171, -0.1709, -1.3333, 10.441, 1.9365, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8833, 1.6627, 0.7975, -0.1413, -0.6003, -0.6701, 0.9971, 0.0273, 0.8097, 0.5667, -0.4015, 0.0784, -0.1383, 0.9988]\nstate[eef_state]: left_x=0.311 left_y=-0.2159 left_z=0.045 left_yaw=-0.0224 left_pitch=-0.1946 left_roll=0.0549 left_gripper=0.9971 right_x=0.2872 right_y=-0.0024 right_z=0.1547 right_yaw=0.0245 right_pitch=-0.0612 right_roll=-0.1428 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -6.6393, 5.1761, 1.3504, -0.5543, -0.1587, -0.0073, 0.1436, -1.7026, 6.8855, 2.254, 0.1245, 0.1197, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536dc971629d52d2496d04bdca1a917a3263e8df3ff42890609380dee764f12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9f020666ff6b10da131e405637fd367cf3ddedba8bed9010fb48c3cee408a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3f8cd90bba22829410bf9bc3358adabb110e2fed584eb797f77ce5bc741ca2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0CijSb85ZZYFDNI6jbda2h9qoHpWtdTM8qAigW7wyL9ykJa0N2ctJikSdi-FNNHArEf2mHIoVRKnFGfC7vQcuCBASnxUCwGOInxum25blSV4ZdYRyAPpdzkvm5GCnptd18py6Rdx50pj2WCLesiK2x5gqwf915EUlavsrRIPmEXoIZNG_46LHxSP2Ar9qjuMblxdJpqtuT9Cz9E4oJukEnQQgIjusPxwUZ1Cj6bvd-n7Y2CTxnsvojOLU4VCjbg_nTQtKZVSOHDa0aqFs126jnoBZpPYYmGxNsu4Ke0y8nkApKOJoe0UPi8T-AvP1Pum-i_WbblL7rkc-ehqTU8kUq_gV6_xX38Aie8qNhALdE_PMjBD6kGCIXSHyZWvhEz4icnfyLKvf-HvvTAefpQJkoUjDnZWzIpwr2wglYSPVkiah_eYJnxbY6btTXLgmIO5ErkAg2M9M0MInRhjrX48DRO9uHLxShGouUn0N0yMEEkNLM0Em6E6-BMNVl40Bh-3fck6zCUMHK_e6DeVniskE0S-OVBuZzRfyo92okxvzX8a8g-Rv_xbKhDus8sVhudiMqkTIrsRvDEK84BTeB4Q2LoNcv-3fptop_C8qDmiJ8qO0LvyqStilVz55-E0onfPKYVpVfQrZJuq4gP6yNY0UTsQpvTlq-eIEiaFfMZ1Y_UxfAmaPFqJVX316TsrW2pbIn-dZYcjmBTeNjpMpLhmFWO5eJgrT7MI-08q1K60gbBALCepvF8vNdlLQGYCRckdRHd4DdpUWXdw8Asj49--1OOJ3yXE4Nlg2xyWjITisn57I-HOIGbU4jWdMzdvVktzs61KtV5xeMgMeS5_pPncVzZ5xtcR1qwcq_E2GG84C3HwgqwXVczQ7WMJEumm8V94ZRBQU9qLiSQoNkwcJR3bfk2fXVvGlYN1JaAcyoCxkR2FLXwbzmiVDs2fXHxOiN-Oanxl13T9TsTUQmvBKjQLTp3a-SMi0HDz9eIKf2DL65fjOMJnzd6THIUUUiKVXh6sPYa4KxhnnijUgZn9EQsUAGifqZXVWvje0XNUbZ-i66OARrWS_7JPZ-lkdIoSqK9qDookxClvMz-MNtYgJvQYY3xCUrsWGJcct17VrnPZjokNe0XLV6gaN0GtEo-JK-f4FN6qasFLkH216QSsJolDnKMpCV2peeBkTp0cgQxy0kZeX_p7VveK8F4H3IhPGC-wpgXZQRFwKhtw0IWEQdqsJYzxSJDVhmVXiOmBlFA2J-3-MXcQWj5tay1jWvMfdavgG9YuEYCghYF7VKvU7ejWfN3V2pejAGAwDQdskvhUSShOLzq8Op3O3eoGWuBW1nsSoxqVFxnH-XFw7J3zML534XcipK-vBB8UF8lluh3AdROgAK4UyklA2fikoVC8C4b4T54dmuaabt_SFliMmuYi84-g==",
  "id": "rs_07cb34427983476c016ab41d01516c87d0bfbad721816d8930",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left jaws now surround the pale plush at low height, with the safe rim immediately behind it. I’ll close and check the resulting jaw gap before lifting.\"}",
  "call_id": "call_FA9s0ehDMJbyM4DaldOHoR8J",
  "id": "fc_07cb34427983476c016ab41d01cfd487d08c9da2bd09cad580",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FA9s0ehDMJbyM4DaldOHoR8J",
  "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]: [-0.8879, 1.6791, 0.7795, -0.1429, -0.6025, -0.6777, 0.0106, 0.0269, 0.8101, 0.5663, -0.4294, 0.078, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3055 left_y=-0.2112 left_z=0.0339 left_yaw=-0.0156 left_pitch=-0.216 left_roll=0.0786 left_gripper=0.0106 right_x=0.283 right_y=-0.0026 right_z=0.149 right_yaw=0.0251 right_pitch=-0.0899 right_roll=-0.1435 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -8.3624, 6.8718, 1.1844, -0.2515, 0.0659, 0.9011, -0.1436, -1.2103, 6.9812, 1.9219, 0.0122, -0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9b972919b556b54552d2fb828f1998d6433a542d0243b7cbd876f1eeb1d1a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37971fffa280f96ebe238d15344db89ea51ac925615d492e117636b277381634",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5969ffe1828c4e5d88f5fe3cc46bbd6afee62d4c08d3bfc816dbdfa2a14320f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 2.832 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, 0.8097, 0.6067, -0.4736, -0.0189, -0.0383, 0.9972, 0.5701, 2.2082, 1.037, 0.8139, 0.5602, 0.0444, 0.0091]\nstate[eef_state]: left_x=0.2825 left_y=0.0016 left_z=0.1582 left_yaw=0.0042 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9972 right_x=0.4981 right_y=0.2121 right_z=0.0452 right_yaw=0.0529 right_pitch=0.2824 right_roll=-0.1306 right_gripper=0.0091\nstate[joint_eff]: [-0.0479, -1.5795, 6.9538, 1.8144, -0.0708, -0.0024, -0.0171, 0.0615, -11.1932, 4.9436, 1.707, 0.1636, 0.0464, 0.7204]",
      "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]: [-0.8833, 1.6627, 0.7975, -0.1413, -0.6003, -0.6701, 0.9971, 0.0273, 0.8097, 0.5667, -0.4015, 0.0784, -0.1383, 0.9988]\nstate[eef_state]: left_x=0.311 left_y=-0.2159 left_z=0.045 left_yaw=-0.0224 left_pitch=-0.1946 left_roll=0.0549 left_gripper=0.9971 right_x=0.2872 right_y=-0.0024 right_z=0.1547 right_yaw=0.0245 right_pitch=-0.0612 right_roll=-0.1428 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -6.6393, 5.1761, 1.3504, -0.5543, -0.1587, -0.0073, 0.1436, -1.7026, 6.8855, 2.254, 0.1245, 0.1197, 0.1294]",
      "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]: [-0.8879, 1.6791, 0.7795, -0.1429, -0.6025, -0.6777, 0.0106, 0.0269, 0.8101, 0.5663, -0.4294, 0.078, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3055 left_y=-0.2112 left_z=0.0339 left_yaw=-0.0156 left_pitch=-0.216 left_roll=0.0786 left_gripper=0.0106 right_x=0.283 right_y=-0.0026 right_z=0.149 right_yaw=0.0251 right_pitch=-0.0899 right_roll=-0.1435 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -8.3624, 6.8718, 1.1844, -0.2515, 0.0659, 0.9011, -0.1436, -1.2103, 6.9812, 1.9219, 0.0122, -0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9b972919b556b54552d2fb828f1998d6433a542d0243b7cbd876f1eeb1d1a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37971fffa280f96ebe238d15344db89ea51ac925615d492e117636b277381634",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5969ffe1828c4e5d88f5fe3cc46bbd6afee62d4c08d3bfc816dbdfa2a14320f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0IUJBFvIyOEF7TyoOfu6VNwbd3IAX6yO69HhVEhf5OTCb-b-MwRcoY6SfPzwbN1xn68GtJhHsMaCl2b06DJQoEuCoK_Z2qQPJbQrWF8I0DCtagxc-Vc4n9_A3fmsCXC9vYCb_p4YTbHsKqhBekClthFh0LkhF5xoXMBiX700GKeC_WYzgmVt3CbHyOrLIuhoiPVb6xS_NDbSV9CyRm_0ojKKmugO3R9dvyCzIvFJKF1P8A-dbIvhvxciL9sBgLVSeUTMomJ9H4pHFJYY2L0L9KPNVIi0iB8NA2KbbrLTriVkKjkx7YIfpwApeTBUwe1dL537KqhaF58dCslQUAo1fBO1B0x8ftlKXKvbqSGKMso_losXVEIxJYMngwGRgmRLoqetepE7wONmlXE94is7QHKf8MXx0lqpny2vzZsJ-aPwh9B3py7rHfuIW1zQWTZIRFC_erhT4Z1hDXd_M-0Qc7oLBFyXiA_E2AijKVhxxGjsZizBmzjYO89YfoHyAeYAT5dQeds4-PHaFZw4aIWfxGTum8fpjdntKKt86oX7unmasGjxQBcNBMqcd216b27rsW3D7DsKUKU1rcSaeWRrUPA481KmCiRHPS0jY6J4rnR8gVH6VZNd9NWYT2QnQuix7LtxEbaXsiNHt6sya6LxsFOWnC6bqtMtnNV4YPIHU0WNVhdiPrDKDs6DLa_NPhcVisRnVRnucgV4wsPJgzMFUYdwF5cB_MhX531Hz9ntsrMDQu4mOP_UdIK4kpawHztH9mls-r_PLirtoo7zpOUbtwocgO-JbgNonfW9BTtUWKa3EWiU7uptG-2qO8Gr_xpFjAPHBAKN_oaU2jvjH6SloCgD3FC7JpnWomZhRu7iRZXIqggDRq0Tx3d_huM-IgFZT-S74xBT_3S_1Xnp1eV3FkTJZERX19x32sgQx0GB1YVGKydhzSUA7TN4R8_BL5YZxW3LLOk6GGj9SiFrITSPuC2RbqbFWi1Jor6w7m-4r6w6CPb5pMY2JvIFqYNAr0vSZzDduh5cGX2xQHrvVpCR7yKMkeWUD3i2vLXtvmkyqOl3h6Vkt8PnSD3J2O5xF_QROhywgDTBx6q1SD7QEkUpMEBrikrchTm-pg527O2xL9qOnf8aZzXf58BdNxgfyuk888adjDsLLNu1VjTVvhhDraGnqKalwYmWho0P2WN_TjifVyrIKyMbj480afoLeStcOY7xG9RTTU1WXmA9csWQCofvnn9mM5Icrbd42T6aOBrBZDPOLXYe5ckqBARw-GLWJgUwNfFFrUFqF5_2lD0Yl89LYmR5yRIEs1k4N67ZsaxlwgbYOP9BcCESfx_kA-HJi3s6cFLuDvCF4KvvzPrpHMd2CB7F3zO-wBinkLFCFyugBQNfbrnb2f3IFPKRzxLFhQ1ybtVwsVHDDXSKiobhG3rhoU1rE21DqEyi2QB74d8lvPNrDjaowAOCZMXqsGPlaQOQWhZ1GsOZ1AK4VVlDjqXd_UqciAd0xOM77taJJFLgDTh2tHApE2OF98lgLVkc68v2CGVnFQb2SU4LTAd2kLDT_dGDdOQitARHdY-XF55Y0c9M9c3tGPlBlhzU_TCns2oiIOfJgd7c8mg1C_n8y79pCl2526jKjA0Iq1U35C_E_3WBXiOUIw3L1l_iyht9-vq5n25JGuvGRlL-TAeT8HjHVQSQsrc9Aar5RWztoCcPRmuFYwMOmNrQ8tp6-zB5Nz8gZVp7odTLahcsje1fY5Qf3opXTZIJxpm_uyd5b3LqTlmYeHz1PgIeMY6gSAp2T9_v5qKmWZjtU6f5-Lj3fGrHvp-qyW606OOK87L2JZJIlpUX14f-uvgmRLOBc08QFtqhD6PjYWnLdf4WzqgtvvB5EfOIO-e2gG_qYxNC4XhRJYx3FnQBGeHITTNJsvFKsm3BGG0pbvUGzQpQViV1yuWvfnEVlgsutRIp_8Y8M8n3bqCm7EPMiPbWGHqV33cBJTNy7WohfbEnABJDwa7BQtmqDPMv7fSVG7FnYkVzKY2W2m4mjU8aIG7zcjyjTV-bNyMVpnLxrksHRFw2qzEqgqxrm6ggNDjgwZ_oZ7pJeNTfckH9dg9eGHpJwCPVSeJMlEPITWLfsFcHGvr-Oc8kBGymwq3CIHREsjhMhuX0oI4nv_T3YTgn2BY6PnjxAj9luySJIx4kz7-_zdukW4Vi2h-qzLy1KP7nYtmmZP001a2Q0=",
  "id": "rs_07cb34427983476c016ab41d04854c87d0b6cc91c173058627",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.33,\"left_y\":-0.165,\"left_z\":0.075},\"note\":\"The jaws closed empty; the pale plush is still visible to the left of the fingertips. I’ll reopen, lift slightly, and offset the left gripper toward the plush before retrying.\"}",
  "call_id": "call_NperrxL0Y4N9pPPUFZJKc5PH",
  "id": "fc_07cb34427983476c016ab41d06d57887d09eabcd80f2b9f833",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NperrxL0Y4N9pPPUFZJKc5PH",
  "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]: [-0.7166, 1.5417, 0.7765, -0.2241, -0.5175, -0.5331, 0.9953, 0.0269, 0.8101, 0.5667, -0.4412, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3262 left_y=-0.1635 left_z=0.0627 left_yaw=0.0095 left_pitch=-0.2381 left_roll=0.0907 left_gripper=0.9953 right_x=0.2812 right_y=-0.0026 right_z=0.1469 right_yaw=0.0254 right_pitch=-0.1014 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -8.3897, 6.5026, 1.3455, -0.1832, 0.1783, -0.0366, -0.0479, -1.1009, 7.159, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45eb32a99210c9ed3affd823392ee1be3d25f68de3f9ce091aef1ec5dc51c1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f076f357228ed3b85641ed1dd137bd44e78f27be511eb2c689de4c34feff2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55aae8634c43152358b4363b1b5b91dfaa75e869baf403d89f6d2694a82566cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 12.67 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]: [-0.8078, 1.5547, 0.9932, -0.3588, -0.5747, -0.6083, 0.9971, 0.0296, 0.804, 0.5652, -0.3443, 0.0914, -0.1184, 0.9974]\nstate[eef_state]: left_x=0.3397 left_y=-0.2111 left_z=0.1227 left_yaw=-0.0095 left_pitch=-0.1533 left_roll=0.0218 left_gripper=0.9971 right_x=0.2948 right_y=-0.0038 right_z=0.1672 right_yaw=0.0051 right_pitch=0.0017 right_roll=-0.1332 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -7.0496, 8.9915, 1.4432, -0.6374, 0.0562, -0.0171, -0.1709, -1.3333, 10.441, 1.9365, -0.0708, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8879, 1.6791, 0.7795, -0.1429, -0.6025, -0.6777, 0.0106, 0.0269, 0.8101, 0.5663, -0.4294, 0.078, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3055 left_y=-0.2112 left_z=0.0339 left_yaw=-0.0156 left_pitch=-0.216 left_roll=0.0786 left_gripper=0.0106 right_x=0.283 right_y=-0.0026 right_z=0.149 right_yaw=0.0251 right_pitch=-0.0899 right_roll=-0.1435 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -8.3624, 6.8718, 1.1844, -0.2515, 0.0659, 0.9011, -0.1436, -1.2103, 6.9812, 1.9219, 0.0122, -0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7166, 1.5417, 0.7765, -0.2241, -0.5175, -0.5331, 0.9953, 0.0269, 0.8101, 0.5667, -0.4412, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3262 left_y=-0.1635 left_z=0.0627 left_yaw=0.0095 left_pitch=-0.2381 left_roll=0.0907 left_gripper=0.9953 right_x=0.2812 right_y=-0.0026 right_z=0.1469 right_yaw=0.0254 right_pitch=-0.1014 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -8.3897, 6.5026, 1.3455, -0.1832, 0.1783, -0.0366, -0.0479, -1.1009, 7.159, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45eb32a99210c9ed3affd823392ee1be3d25f68de3f9ce091aef1ec5dc51c1e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f076f357228ed3b85641ed1dd137bd44e78f27be511eb2c689de4c34feff2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55aae8634c43152358b4363b1b5b91dfaa75e869baf403d89f6d2694a82566cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0LS1X_1TUt3-Skh7bSQMHrDYTgQNil8rnbMUbmx-WpzS9uXeXEdHJL58ZnEVU7q5v5ko6q-5y4C6YCxc33Gx317Y1S88ZLPLofxj5rMO7nmqhPe5JWPsDhy18aUOqTX50BL_HzIQw_h3jeow60Ot0b6c6XKcdGkaTT8GqMThOCcIjCjqgGJ4KPBr25fptDwmdxczZ_R2LG9csOehW9X30xtXmKg1uOPs2i51KxGJMHzekxIdjHqWF9wtqKf7o2lhWZlxlwi6D2jlXaz-v7hlIaRuPLQv6svT_w9Uyd4duYX7tPqpSOqsfu6w1RuLdC0z1wbhZ1batqAtQgfYPONQ2kjZaQBYZYDMbMv4E-x75ypQ2F3qML-oZXMjt9OUc0jgzePCUnsxZfbnvaLsN2T6MeRChrPWTKLVw6uwIP3POk7Gps7TTRZ_MRzv3vB8OhiRPNKWBZQ8RaRRG9pplwoGQlq3-X9rIDfl9NNA5XEGQysknVosXtNEDA3alnvoodU4Tu-9_waRk0FpaVeX0gIV7I1Lx5lImKGcvNW6V-BnxLph3KYKxKpxhhDbEdd6KipkcHtf1nx2S_kTMIvzPM6aunO4EkSWkUR1yj-Ed5wXsNxxDE5kuBYdTlZZ2xUPyXVLcvSk7uxBqANlmKYNQ7FJHYyyeWhYWhYpSf1aDm7g2Ef63-DuN0ovD09bT0UvF8qzqvwKbc1gojlWoP5qCHz5n6QHJ_ZP1KJc2i45OIZLiRDu7F98UjAswTiblCX62NvTjX4y9xL-bN4kFLtbH3iyyTFEkVZ0UGBpiccEaci_vzDmG8LHkZTNhKlgZLRLvWuX2NmphnK7R3oCrlPJ5oUKH4EL37jbiNC_TuDbq26ZmRBT0bmYKQbjvzCOnbMIqgdO2f6WcEpmquuybsfe2lpGK6XrbRuJ01yn0tEnz3aBBtnM1ByNwtMOCZifGSYghjuY8ZFheCJfq-FkBz-bBdinb9xZKlO5PXaFaNQQbzRb4qFM76yL1ZxM4_IEYG5M1L_DSkcmbXpmVh_UXM3jGa9Zbage5CcDPYFE1ev0ruany5QjcgsxcL9bKNG6x-Pr5YWFBXgQDVQqXW8MSS01R0jJU66bCcNpY3tFxecFbQT5SeYg15Sl7qbNBJYHrzzBCP7_1trsd9qknI_ILEZInsz8BgnIuAfQnHoAykwE9-cvVcJ7Z0bydPeeaDdgCI1-Y713O4cCCFxoeG7VIkVerbdlomV5sclrKjK6toElI9vB4OiPlTORrLicFpjtZwajGmz_cwtUMkQ7Okb4RRmOdYnVGRAfP2Ztrt7ir-h6dbygEaAIkO1DIHe3Y7Lh9L00sbDYW-6fEV1YGpcbG_yaQjGaABkmPXPsLoGgod-4xvPUshnmE_p_JS8V7X7mEE1ZZVzbLhVYENg5mgu6A3Y_h0gS5R8dx7YFPvyzafNhIVpKE1_ctDKljxkJg0Un1QoNakyJXqGR27ddyLt__C3F9YaMuAvwe9Xq0PpTlfmwGuGg55yc6aib84Eea81wZ5A9jD7gZiD4wldSXs6rxGmKwqp46MDUNPogfJPvl_GguwNCtJiks=",
  "id": "rs_07cb34427983476c016ab41d0a230087d09b1a8ef39eeeed5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.165,\"left_z\":0.033},\"note\":\"The pale plush is now centered between the open jaws in the wrist view. I’ll advance slightly and lower the gripper so its tips straddle the plush rather than its fur from above.\"}",
  "call_id": "call_RFUsmKpqN5avLghtZ85wK6Oe",
  "id": "fc_07cb34427983476c016ab41d0b004487d089ba229a4ee05499",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RFUsmKpqN5avLghtZ85wK6Oe",
  "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]: [-0.6914, 1.6081, 0.7784, -0.1509, -0.5083, -0.5152, 0.9956, 0.0269, 0.8089, 0.5667, -0.4484, 0.078, -0.139, 0.9989]\nstate[eef_state]: left_x=0.3378 left_y=-0.1634 left_z=0.0493 left_yaw=0.0168 left_pitch=-0.2375 left_roll=0.0915 left_gripper=0.9956 right_x=0.2801 right_y=-0.0026 right_z=0.1458 right_yaw=0.0249 right_pitch=-0.1074 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -6.2017, 5.4085, 1.0574, -0.3101, 0.1392, 0.0269, -0.1162, -1.1282, 6.9812, 1.7998, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b239c2c26a7052bae6071ae4e4bda580635de5e2398fbfd525283a7cc9d1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9660c00ca8dc4eca82d84b690c615c50c18ff92b6ead74de6474c5451c4f68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e64db913868578388b2d4aecf5be3ef4089a5288136ec97c97e9baa250fb087",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.389 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]: [-0.8833, 1.6627, 0.7975, -0.1413, -0.6003, -0.6701, 0.9971, 0.0273, 0.8097, 0.5667, -0.4015, 0.0784, -0.1383, 0.9988]\nstate[eef_state]: left_x=0.311 left_y=-0.2159 left_z=0.045 left_yaw=-0.0224 left_pitch=-0.1946 left_roll=0.0549 left_gripper=0.9971 right_x=0.2872 right_y=-0.0024 right_z=0.1547 right_yaw=0.0245 right_pitch=-0.0612 right_roll=-0.1428 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -6.6393, 5.1761, 1.3504, -0.5543, -0.1587, -0.0073, 0.1436, -1.7026, 6.8855, 2.254, 0.1245, 0.1197, 0.1294]",
      "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]: [-0.7166, 1.5417, 0.7765, -0.2241, -0.5175, -0.5331, 0.9953, 0.0269, 0.8101, 0.5667, -0.4412, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3262 left_y=-0.1635 left_z=0.0627 left_yaw=0.0095 left_pitch=-0.2381 left_roll=0.0907 left_gripper=0.9953 right_x=0.2812 right_y=-0.0026 right_z=0.1469 right_yaw=0.0254 right_pitch=-0.1014 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -8.3897, 6.5026, 1.3455, -0.1832, 0.1783, -0.0366, -0.0479, -1.1009, 7.159, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6914, 1.6081, 0.7784, -0.1509, -0.5083, -0.5152, 0.9956, 0.0269, 0.8089, 0.5667, -0.4484, 0.078, -0.139, 0.9989]\nstate[eef_state]: left_x=0.3378 left_y=-0.1634 left_z=0.0493 left_yaw=0.0168 left_pitch=-0.2375 left_roll=0.0915 left_gripper=0.9956 right_x=0.2801 right_y=-0.0026 right_z=0.1458 right_yaw=0.0249 right_pitch=-0.1074 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -6.2017, 5.4085, 1.0574, -0.3101, 0.1392, 0.0269, -0.1162, -1.1282, 6.9812, 1.7998, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b239c2c26a7052bae6071ae4e4bda580635de5e2398fbfd525283a7cc9d1f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d9660c00ca8dc4eca82d84b690c615c50c18ff92b6ead74de6474c5451c4f68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e64db913868578388b2d4aecf5be3ef4089a5288136ec97c97e9baa250fb087",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0Y6-GA0gr1u6ItUm7r0-Q9VXBj0A5irDh55IgHbLrjZNEvHYoD8HlyjwX41USWaBdDdAO8cGGpKrOC2FcSVUl3H_08kYr4h3xMcg_C9CiU60K_a5E8GIl9-naEnedteqhG_02wle-tCj-PhMqswRBaKqWMrckPPiojFWksyXt-FP994iNlsybAE10Td-4D7Wmgx5Ykbl81VVPwXbeJP6iLOH_IYvVJIm5gifBXCWmcbGBjSWaR_HMdrfJ3neEYtXglSwh88wLyqsUqbjOaZBA0hvJwc__7Y-adXFz8-2HGG9caWcWEQdz9qbiKe0wKNKMpGlVs2-Y_SJft5rZ3_2Y-jkDV3AeW7sEMrpGUKiw1tKkqbYjWd8shciukk6HY5vth2r8ewClHXZUBeObIgLz2fNG_LhXjPUKKy_88-Mn0F_-F6OpRg-2vpUZAHkPHR6LBC29D8Ghr-bugGMCDSH03LOevSDjIVnm64lVeefoUgGvVRo_1I9ooWWtaqu_q2_-9SP0rnIn_yqwnvAdHOiuGl1RtOIsHLoj1FzQVFPo2VHV7DgzlQZBuH0_OvUsg-7j2y7gxYUpM9bvW_oHxZtdpaOAsRI6SLR-aN6mtqQzTQ4MVulvcPz0U1ypwkF6VgpriLT_o16PLsFM4BXRh9YpLEQ4tJFimpJCzlcenMlEb7j5h07O9n1_RAp_YaCKBVGKgpEkkSV6IhrzL4Qzxxbm-ew-Z97LEmSxoRnMRRXHgZ9_l9r4vfLNitS65IWG-O-nxJkZ-DR25hZNbkdGbGWJ3CG5-5wEig7yY_DysDFkYFUAuEWfZCd-XEhveoPZMjAZ4JbKJ4CCdCsGuTbGqnpobm9qQag-tPJ6W4lpkDiULTN8gaBHXweNO0cpZrzz2T9mMh0IBxcseco6_CnPihxDMvI4AAGwTIPp9GoAo0NQA2vbh8sb3CVbbHXq0kQL_5xa5LhODc0Zt4tBLCL1BSK9wVJF06V5r_zSUYLWrDRopnFaPUmSC_nBgphubk3zflpDo95xLZWwPihq10tyPsprMHCi3fhuTJu4DNZOeXAdjBcf_PC8MnLCb5Bvwtnvv_hr1ByrDPtFIfBG1TNN_gm_ZGB5c1aSMwjzqP_Tt8gQIfLmwewPdpIsXrKQmkgMvxGV89MVL78M93wYcZRzMmv00qQDkM3lupFviFC1aJ2yEsuSBGbAS-i-apBJpT5-dGhp4xKCn3QImU688D55UsmqaHxQeqk-KNQRl6RgGu4TfjhfpH7vTmlwBukju6AVXSgly03vfqBGzeN5cRWOmdvqgy7VkQjNu2KRro2Uqk7eDeFVVsfMHKTMN0Rv_LjUXH6BDsBb8KGP7XKzPW2PynvjA7t2U-BbCCHEwEKAhZL6uTxSWlNLd7hygwlUls3H8CuDLCBDlTmfQUhl75gk404IE7SsEDPmdZUY0f-4QKiUaSITfxjo2sxOHXVLmc9FvReN58O4l0EBVZ74E6lqlQPOxzaHNi2hTwOfE277bm5AGBzSPAQm3kQ5scYrAVSK7GXSC9h3OpM5vJ9D7aIHKc8ptwtrEV-6acNur7PLZqoR8AIRObgNFwTqI5Fiux12Pr34gcNoIwqHOvSmCJqHOH6SEGg40vSVt08isrUto0alHDd5mbh-CqBgJWVzv6W8LXCpeQeMQ13-zSFK_pQr7biP5gw==",
  "id": "rs_07cb34427983476c016ab41d0fe80087d09b8e1f5def4c824d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush body now fills the space between the left jaws at a useful grasp height. I’ll close the gripper and look for a nonzero settled jaw gap.\"}",
  "call_id": "call_UTlPw1ZsNCLinhuS2lDP8xTz",
  "id": "fc_07cb34427983476c016ab41d1597e887d09df50aa7af5cab45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UTlPw1ZsNCLinhuS2lDP8xTz",
  "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]: [-0.6792, 1.681, 0.7593, -0.083, -0.4976, -0.5014, 0.016, 0.0269, 0.8146, 0.5667, -0.4553, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1614 left_z=0.0255 left_yaw=0.0177 left_pitch=-0.2624 left_roll=0.1101 left_gripper=0.016 right_x=0.2792 right_y=-0.0026 right_z=0.143 right_yaw=0.0254 right_pitch=-0.1201 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.747, 6.0239, 1.3846, -0.1734, 0.0562, 0.5885, -0.0752, -1.6889, 6.9402, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beac8486ce19c9262e19218c5a7acb3e615c7ddca63c012aaec2623b25b29b12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9d2cfd81b41c04702529767a9143858238bb5e1e4097a7d06fe692b2c58876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e23e5d934e714db350e30b96755009322c8e3f1ad344346b4d7ba59b2093c6",
      "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 · 3.877 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]: [-0.8879, 1.6791, 0.7795, -0.1429, -0.6025, -0.6777, 0.0106, 0.0269, 0.8101, 0.5663, -0.4294, 0.078, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3055 left_y=-0.2112 left_z=0.0339 left_yaw=-0.0156 left_pitch=-0.216 left_roll=0.0786 left_gripper=0.0106 right_x=0.283 right_y=-0.0026 right_z=0.149 right_yaw=0.0251 right_pitch=-0.0899 right_roll=-0.1435 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -8.3624, 6.8718, 1.1844, -0.2515, 0.0659, 0.9011, -0.1436, -1.2103, 6.9812, 1.9219, 0.0122, -0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6914, 1.6081, 0.7784, -0.1509, -0.5083, -0.5152, 0.9956, 0.0269, 0.8089, 0.5667, -0.4484, 0.078, -0.139, 0.9989]\nstate[eef_state]: left_x=0.3378 left_y=-0.1634 left_z=0.0493 left_yaw=0.0168 left_pitch=-0.2375 left_roll=0.0915 left_gripper=0.9956 right_x=0.2801 right_y=-0.0026 right_z=0.1458 right_yaw=0.0249 right_pitch=-0.1074 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -6.2017, 5.4085, 1.0574, -0.3101, 0.1392, 0.0269, -0.1162, -1.1282, 6.9812, 1.7998, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6792, 1.681, 0.7593, -0.083, -0.4976, -0.5014, 0.016, 0.0269, 0.8146, 0.5667, -0.4553, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1614 left_z=0.0255 left_yaw=0.0177 left_pitch=-0.2624 left_roll=0.1101 left_gripper=0.016 right_x=0.2792 right_y=-0.0026 right_z=0.143 right_yaw=0.0254 right_pitch=-0.1201 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.747, 6.0239, 1.3846, -0.1734, 0.0562, 0.5885, -0.0752, -1.6889, 6.9402, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beac8486ce19c9262e19218c5a7acb3e615c7ddca63c012aaec2623b25b29b12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c9d2cfd81b41c04702529767a9143858238bb5e1e4097a7d06fe692b2c58876",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e23e5d934e714db350e30b96755009322c8e3f1ad344346b4d7ba59b2093c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0daLRU806aiW0d0Avocu7xpdaUaYeSPOu9FGfUJrKKKoUQgt0ttntuKXsXoiJ7c5HI13KUe_7Pzby0beL6bOF4j-lF29ZIws-DAV9RAxSioREzxf0CZ7oK-9wcs0THBNKgoGQqE_17aPPpAnlzaKmZKBPH-91zFOiqUD9elbaouwjBFfWLB3kUpoQYAHKI-fdRTD0N6iiMVgriBV2kzr40Wxn4ODPgA7oJi28hGUgKTXn2N_WnGZC6ZdMYmAtoCJa7GlHHOMwhlDAjgx25QAPqr4lx7NePuQIjspNMmHuHYS-QG7-VSbtIymWezLZC9Th9zQqO0xbXAUYThsFXeri58hRw96Age4CUWZDdwap3atx1L7A7oRe1SYF1-ymrieqrhH67DhdCgQturWAF4cawZRxKS9OaVo8tUkOglTk-uuGZp3aXeneM6xz5gTnAYxZ6d9m_y9o1Eq_W5eeU0vusDmlaMDPjK0GZZRxeW4Y-ySJimYtq29rPPCeAYTaInoj9yo1kigXUeDe7TYNGlsQBfdwL7BbYNcdMAbztv2X1gxBU8ykBxmI8B8HhyxJEJgRt9NXTgm-2m6V0KNnLMe3vLbs1fcZyWLmHDQJinblvyNpERYo9DE3sl2CM1-ooAjRN51JGdDPqX7WF3mlWunLR0kqocneQTvQpN6M5K_Z61Z55UE2FrxWOFdM5x2NLBcFZiZdYhTsiFBCJlp_MJbiDVxTcoGTsLYvnvJvjKYaXSwVGYWmMQPiaA0gUwst46WTzIPENA5yuOmqsOjsrMFZkY22krQBD4E6sUpXP6s6ZvMssLqwMJxyxylV-riQsFREenPFNdbKU37UzdpIf3Yj4duBzt721KAfkYSf0w7hYPA9CjjQDMyDmQMZIxOU6yUrF9RGpmp3-UkGDhXRakLYKp4FxCvuei_r1BRLX4yZmlZGWNs0V_SA9ZJ5nahtmbh70CevnRPbOzlp3tVl3oWxF3gP0zL3LsRWzTySITkIClfqEPAThGLtMJDR-sbuxPb0tVFnH5mbM7pgI0EHI2XwfZhEY7eoahBIlYyhWno2DZ_TXdLhRPjTTheL1kBSbh2WbyE6jQN7Q3FvK8kKcFwdqXIvs-mglXQxdo_GTgDGkw3yPjz4RsImT22qE4nsKgp2kPKjIF2jkxXe2UfTc_o6cj63WJCk0XfZLMa27YbhrDeoLaWdav06C8OE2LrO3HQ4RRjtPN9Psoro1SjbM3gSilAvNOu5OEqplhUrOuu31QtxsmVhv8H211TRLkF539mJbf1QYH4blhdExzbzARiFVvA07_SAFUTf7iWd3eluc7H2blCmTMXIa4G6CH9lIpl0B6Yw3Z-VEnijIttNGDlzIlLcN5UxgNeTeAAN2zPYQ_5QPQEgmmxKyYLCvVO3EJM3WYQNUtoqoJCXxDbev6Rc9NCfV7JAQZ8yiJLztQtv_cD4ZEWmFr0D-we0-5OpzwDkmK7Rbl3Sht3ASoz2cWB-2sdfm-ttPs_KwTYzrsVxgMghsLsIZ8HILIdK_8fPbK39p-F-rMowSvR1gWLQKq7wn6ZAZKDRZ4_o-gNCf61BSqZ0nnIF_xcMP27jOz2r8ysqQkQoNYlnseJokyKR0vMjf3r70fIwGNEao15d1xKLycR_KsUzCctVIGZw7Sq21i2yM-vFS9_xRTe-jUVYT3PtJPf9jlBujbyvRGYeuBrjAiXRwDPkHxN502UnMNqbXv-NVAJa93B1eFrMSg6uGuGAYeLiOu9pvz6hx3AIvT1o2GvJV-E1klURZmebepMmGuqTP-YCFxbnaP9bxaNDESU2IpLCa0huADEuwnBj1GzePXTSp-ShdKbVDVJi6dCZrO7A8SujbonkeTvWKfj14XXB1ioNld1GFGSUouzxxaiUCAqEiaGDcsP8tZF0NGWG7VUxa17DtQlPfOjQuqYGQd6SXaXXH6kl_Z-T8EVMw7d4AcIrcYTwrPNNuu4fTzDD1F4jIN-ickA00-kllq4phP8mLNBXs2MqMpgAzVP7h2zkSadi6VqcZeEkp5ddO8iD350VGiWHMK1cZNFajTcRwWgIK-YMDvQeI87lTrhcsmk7buCOnrf-G1GkwrsZEfOF8XvPe0eGvzeuV1uC4uYsOcmRcswfhggJlzBeUGdsLpQaoL4eWSuxYPrCNL8fDu7OIC77WFlodYhFPy_UMhfC-34ZgS54-TozNrSTvSUTF6isBCc2d6NzqHUboMRBZe8Q-MpvETvDHKATqA1zJ57L1PVS2GRBIHl-Tptry1Gw17W0TbJzVCCRDbx0nyFfJtB9_S1wpxA-ale4Zk_2Bjsn7NZOJnOfXhbcKCSgPc0pAs6lTLbeDKIYBrA386-4rpKs7NNojnZTRaH0lbN2slUlgvWUM3139AXZXN13ORJVnLrg94O4=",
  "id": "rs_07cb34427983476c016ab41d1adef887d0aca8fd0128be22fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":0,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.36,\"right_y\":0.27,\"right_z\":0.12},\"note\":\"The pale plush is still on the table after the second empty close; its soft shape is making that approach unreliable. I’ll park the left arm and position the right arm over the brown upright plush to secure an easier grasp first.\"}",
  "call_id": "call_DTOrLhvxD3g4R2EQLQIuUXIr",
  "id": "fc_07cb34427983476c016ab41d1cf34c87d09badc31ce41e7127",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DTOrLhvxD3g4R2EQLQIuUXIr",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.1215, 0.9665, 0.8158, -0.7353, -0.1776, -0.0677, 0.9961, 0.878, 1.779, 1.2057, -0.4274, 0.6441, 0.5026, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0011 left_z=0.163 left_yaw=0.0578 left_pitch=-0.2939 left_roll=0.1087 left_gripper=0.9961 right_x=0.3516 right_y=0.2631 right_z=0.11 right_yaw=0.056 right_pitch=-0.1615 right_roll=-0.1731 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -2.6735, 9.6342, 1.5702, -0.0366, 0.0904, -0.2711, 0.1846, -8.3761, 8.1983, 1.3162, 0.5495, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78814229f5e06e708db8d7c9ddb96a44e4551c66979045da0f73663ef377c063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1bbd994e1a27ea92d455bfad6483f6195ba8f43920fa6c41b377feaa43de6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b64eca0c9134a1cdecee5e96becc7f5e250c8b7b8f5f6be20710a3c9ed7cca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.677 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]: [-0.7166, 1.5417, 0.7765, -0.2241, -0.5175, -0.5331, 0.9953, 0.0269, 0.8101, 0.5667, -0.4412, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3262 left_y=-0.1635 left_z=0.0627 left_yaw=0.0095 left_pitch=-0.2381 left_roll=0.0907 left_gripper=0.9953 right_x=0.2812 right_y=-0.0026 right_z=0.1469 right_yaw=0.0254 right_pitch=-0.1014 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.4171, -8.3897, 6.5026, 1.3455, -0.1832, 0.1783, -0.0366, -0.0479, -1.1009, 7.159, 1.746, -0.0171, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6792, 1.681, 0.7593, -0.083, -0.4976, -0.5014, 0.016, 0.0269, 0.8146, 0.5667, -0.4553, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1614 left_z=0.0255 left_yaw=0.0177 left_pitch=-0.2624 left_roll=0.1101 left_gripper=0.016 right_x=0.2792 right_y=-0.0026 right_z=0.143 right_yaw=0.0254 right_pitch=-0.1201 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.747, 6.0239, 1.3846, -0.1734, 0.0562, 0.5885, -0.0752, -1.6889, 6.9402, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1215, 0.9665, 0.8158, -0.7353, -0.1776, -0.0677, 0.9961, 0.878, 1.779, 1.2057, -0.4274, 0.6441, 0.5026, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0011 left_z=0.163 left_yaw=0.0578 left_pitch=-0.2939 left_roll=0.1087 left_gripper=0.9961 right_x=0.3516 right_y=0.2631 right_z=0.11 right_yaw=0.056 right_pitch=-0.1615 right_roll=-0.1731 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -2.6735, 9.6342, 1.5702, -0.0366, 0.0904, -0.2711, 0.1846, -8.3761, 8.1983, 1.3162, 0.5495, 0.2662, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78814229f5e06e708db8d7c9ddb96a44e4551c66979045da0f73663ef377c063",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1bbd994e1a27ea92d455bfad6483f6195ba8f43920fa6c41b377feaa43de6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69b64eca0c9134a1cdecee5e96becc7f5e250c8b7b8f5f6be20710a3c9ed7cca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0kX3IRrgz81vdqXInfuBjpgnLEMdPXtPbcf5a7NrG-zzgqEcqitcVq6e0vO5OiystKS3zPeVoPil8e9hvvmzNoAal-w6LIuZMDNEbpq3MM8eHX7IDATwJG4AsCx8tJ2R-7xB9hPevnds5ekNVNKs-ecKFa5M_WctiSLJKYK8ySY7O0FPau0dHE0ZtUML1uQghdaXrlyDjy63QbEskpX3hIbh1zbx87vdY_fU2b6A0T2a16afB_rCx2YjVu9UqJQfn-FRrerhY_Y6ePA2uzayA5KGckDYE4ebh7r1dgUQuUKDOeEsYcbFrBii7oa-7NRu_qHV2vqcWOJ1q-X9DI1KAp-So7RsFfTcvydG_0uHYwbSgIMfs5WcPBSpBPNsiQ6UYIvXUl_CwOI49S0G2d9hGKSykxtrhEV6kizK7wyt_FekiiQbeHSTjOs67aULydq5YchRoNIiaQyUzP9K0L8xJ8_wrRbIhV5UrWiz16gEl3Ml3wBgVGB0kHlADuI5pur-fOuZE_uNxsqj5ebA1HKdFC_B30L6P2VJmNF4MyVImD5ggH-0lJbTqn4eF1pD0OFInQuEwuATaeBt91d_IyQwtPIlnWHe6LUffm6J746yE4TcIXov1PmYXJl9_9TRTRtdqa5DUI8c0map1st_7qDIMwmAGpJ3-mjeVrALrAgtLL8vT-_kRLGtD3xPtoS3sTVuipiUUkEzHKM-fBVGZIM60z42_SscraxcoUw1Zcv-wKPQAlRc_R8RDl59C7ZLSNTF1FvNIV31DCgPfWGjc7hqMhi1d9q7iNSh7UjOowta5mhd4KtcLpi-lbv_XGTokzUN8mqGbu4cRvU1NKpzEh44qyprw-uVlBQvKYnLCwnDJPs4RQ15A_RtajScoUPscl-nbMET-Nzt4Dazq2AeLgkZEN_UxeoA78iL7KMkzSL17an4eUIwjm7TsJYrPJl989MbPeDHc3etPyy3z_iujyq7hFd0ZNoKDKeMnx5GXzq4xx4xlUGKT5oKim_jGqslLWD0MUTawo__02cWwPHcRJKHojWg0g8nZQR0Xc8CwiTquQXsCmxqsspQxV5prjuA7Ny20odJeXDrxdCJ4KD4x_TCk1rvf2AamqE7gqkWwLjPQFw-zFftOQVfDK63nMPAbqojAuzwNQs5bgEfcBAGwm302I8e_APVqtFyDyyn9g1QYGOLi2afboZGI4SwvtBx3UwVLc2f1mSmE1rP1A5nUp_frGf3kepS6F3t2NaFvx4ikcmJCxdgfWkj6RnNi5fnkxxXpJ9jg3R8gEbsaiEHprsXj82wyJ1gFxX3kF1v9J9yE3zwrPEtxZMNz7AHpTC0wGSELC_DWu3aVxhRFF8W9I0aRNZAaMd-4otl_J84Ci2StEsyzZY63CC-afj-42EkODK2WQOfkEb_XtZLQPDSV3DEM-q3YZisu-_K7dlp23zzD8LnxrvJOhm6Wg8xItnI_e4lpima1vSd99NOua2vIl7fD6qhLNERZXLaY8iG3GBInbMT2dQjMBMdv-D3ykQmdq39MMzMywRP5wBoQbep8kjXPC4o0lVMHHVEXZVuYudQWDoPyHJAijXRe3T2Z5U7dz2OmfAMKeJSM1DjI9LK3eaSdhm2ua_-SV-wu95Ar_CSFnH4_PNIPJaTJyNyiKjfiaxr7pN2cTkitdYpCaCTqr0_7n3Fw5WLG9rTrJSziw2kWAy8s4MzZ2n5Ag3D2At3pJs_ZoonvMahVpZjKnAivaExq2rSHgrk-tVKukXVDtjUkyllI20RFr-W-JbwFcpaV0TrG4UrDdtvXrA83cLQfk46sbQNDfUaDfDibUhyeg9iYisPFdJez_qZiKC3LJuvFmK_0MQ7lBUVI_i-DMrFu0BFWTbPllKdhWh6NM5W3LyGRPzCr_zVKA1h9calo7_8SwDCshKujpq3FlOP7zI2EUXrLpjMMw9SgQ0BoKl5AaMXi_EpV6nS7B_rBYFm6US9mhl4nO1klDVxTcJzvfPejEx6SusMAfULzPbWyLvmlKk04kM1K3-n0Ba6htMoWN9Yv1GonFozjv70-kBv-V7sT93pPZL4-QZKwKSl9WERCqshwvxZCAAn9fRbYbG3Im7zPUGjfZzCWbMP5D1rYTum2uPEdyr8B2CSGF7ZW1LbZ70S-a774=",
  "id": "rs_07cb34427983476c016ab41d216ec487d080052188eb653f32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.215,\"right_z\":0.06},\"note\":\"The brown plush is close to the right gripper, but its body is farther right and nearer the camera than the jaws. I’ll shift the open gripper away from the safe rim and lower it beside the plush’s torso.\"}",
  "call_id": "call_AlroU7ZKsVfuppb3UmQ1D3ui",
  "id": "fc_07cb34427983476c016ab41d231f1087d09cce1740e2111293",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AlroU7ZKsVfuppb3UmQ1D3ui",
  "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]: [-0.12, 0.9668, 0.8227, -0.7628, -0.1661, -0.065, 0.9958, 0.8566, 1.6798, 0.8684, -0.2348, 0.6353, 0.4973, 0.9989]\nstate[eef_state]: left_x=0.2737 left_y=0.0 left_z=0.1612 left_yaw=0.0491 left_pitch=-0.3163 left_roll=0.1051 left_gripper=0.9958 right_x=0.317 right_y=0.2112 right_z=0.0545 right_yaw=0.037 right_pitch=-0.1985 right_roll=-0.2056 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.6479, 6.3385, 1.7021, -0.2222, -0.0952, -0.0317, -0.2803, -7.706, 5.9692, 1.3358, 0.2808, -0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a581151f6166822b7058f487c086064494a4e3d6851b7d5293a33a8b96dbf89a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccdde863f78e2c6cac2b7d757797e9726460f532c22312cdfd2e22269e2168c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f592fed4fa0783b890f8d2bbcd90133c48c4cacd97a738ddbdf132e1e19dac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.978 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]: [-0.6914, 1.6081, 0.7784, -0.1509, -0.5083, -0.5152, 0.9956, 0.0269, 0.8089, 0.5667, -0.4484, 0.078, -0.139, 0.9989]\nstate[eef_state]: left_x=0.3378 left_y=-0.1634 left_z=0.0493 left_yaw=0.0168 left_pitch=-0.2375 left_roll=0.0915 left_gripper=0.9956 right_x=0.2801 right_y=-0.0026 right_z=0.1458 right_yaw=0.0249 right_pitch=-0.1074 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -6.2017, 5.4085, 1.0574, -0.3101, 0.1392, 0.0269, -0.1162, -1.1282, 6.9812, 1.7998, 0.0073, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1215, 0.9665, 0.8158, -0.7353, -0.1776, -0.0677, 0.9961, 0.878, 1.779, 1.2057, -0.4274, 0.6441, 0.5026, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0011 left_z=0.163 left_yaw=0.0578 left_pitch=-0.2939 left_roll=0.1087 left_gripper=0.9961 right_x=0.3516 right_y=0.2631 right_z=0.11 right_yaw=0.056 right_pitch=-0.1615 right_roll=-0.1731 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -2.6735, 9.6342, 1.5702, -0.0366, 0.0904, -0.2711, 0.1846, -8.3761, 8.1983, 1.3162, 0.5495, 0.2662, -0.0122]",
      "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]: [-0.12, 0.9668, 0.8227, -0.7628, -0.1661, -0.065, 0.9958, 0.8566, 1.6798, 0.8684, -0.2348, 0.6353, 0.4973, 0.9989]\nstate[eef_state]: left_x=0.2737 left_y=0.0 left_z=0.1612 left_yaw=0.0491 left_pitch=-0.3163 left_roll=0.1051 left_gripper=0.9958 right_x=0.317 right_y=0.2112 right_z=0.0545 right_yaw=0.037 right_pitch=-0.1985 right_roll=-0.2056 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.6479, 6.3385, 1.7021, -0.2222, -0.0952, -0.0317, -0.2803, -7.706, 5.9692, 1.3358, 0.2808, -0.2125, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a581151f6166822b7058f487c086064494a4e3d6851b7d5293a33a8b96dbf89a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccdde863f78e2c6cac2b7d757797e9726460f532c22312cdfd2e22269e2168c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f592fed4fa0783b890f8d2bbcd90133c48c4cacd97a738ddbdf132e1e19dac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0n6eDvOrFdbysrtjkgVT4ONniYarKT7JmEvuIbmiyrDNhduT9iuCjthbsDOzzW2ciNKScxTH6W9qngivGhmnWcMfxG6hdO3LFiOlHcNpPh0HPJm4MmluPreUWTU58Av8ZHXe2ZkmRb7_jQiqIffjwghKNa6zcl7kFaPvjKhtDIWhsWaoyWCck_Uao9p4-NPIFARVuHdUSlZXbfBuOybP7wKflM4-Pxjp3Xe0qOGtVkeWrsI3isfdsywNvh2eaMMCzWdTllnyW2yvT7cJEekeZtcCofztthgQiUohYNQLdhywGsKc5h1j9jK0X__fylJjex3hMxO9EITOdGh838fBF10LybYd4pPQSbOKuV8FSqEZcZUPoLUqjdSJgd86z5w1nPB8UDw26HzPHDUUN_-ZM0F5Jr2coQ91hW8U5u0NDX_HUoEPYNSg3sF3-n47nqZ_b7BT81ux6Z8HdbEzAYQll1Jdj7HbBu6Pzt6vjKIhDnsgS3BEumh_O3rPMbiSe9WGABE6gUekhr7ukP_l4ZfJuT4tL3f0dPY6MLYjR3Uizdk0B-Cx_XFyVQ8-8nRwHKuFzHyYSatKI6GHdxj0TLS8Qyg_oKkMhwBsKcm5Qt8kJytvBAkBBYIOj9IecTwXdBpKldhBiE99SXaFZ9xocSJJLUoXEoAYfGGjRqsZ0BALCDlThoWYsyFxKxjMxvIcId1DQRxEd3LgVjss_sxXisW6LeFXLi-RT2zGrgwhQ5S35Ng9EiWGghGkZl6aKK6iDNYUkr6bsHs0J8hq2YLKnNH7EIVvUgwYDoeNzVNEK9FMttwr6CgF7cXdyMUz_AXelzvc56ILQHo3Lt5fBS3QzY7o7gnO2qr9wf1rCuYx_oWWapphCmhagX99iVjQq44DyimMi8MeYaTfzIttCSSITNch2IyPuTv5kXJy9sL9w0ox_3QUArsr3J1juy6FenMr_5HoDHjHQVHVOI1OPiL0eNJ9RALL9_vk3IzcKY2UYSauZSOdAKvY-TZjEsSITUhTfj2r9daYr2GakI52H_5W616ueeCW388DNZkAbxOpKP0Bti0pAo_FcOGfzErF6oo_bqL2JGXhAMDi641beg9ihv_dOPLfy3HjnXZLiJEAD8JyzvjfXqCEU1ORAHlK17QKOOfj3eQZSKTgZw-no_Y93mPe9CVIhVtvDXzAOVXXfdi6wP7kmv9tQnzDjWgSo7EMsbsJT83NUmtAylpiJXjfTRaqUsXXWZ1JJDBhofa1N6XucbrowKuXsZXkG1-rbPPKQbWtpUBHdqN9OcI512DKtaq_SuXoqgx6EMHqnAUIkE0lT0GlnDyWRWJgVmKnBz96e_vsyH2QTzi0oUYHcAh9-X-mTrz39KvirHpi0y3cXeQONWLhZEkwOssZ4uIcc-I6lWxLAn2U6wFn1W9Ybwvm75kZRYKtNMvUlZ3y0mTlfAGrMH5qs0OQAvMmxwIRqk2ITtN4leNQxBesJ7tf8mbgvEKOuSSOhHSTel8NA7tfG3z4qb1E6veD0zV158VpaBWzh9NwoLVsoayKdyeKtum5Pdfb-bfhvcttbHWUJYq_uB-V9Of4Abxb2vxM6YAAjPlYjT34lf",
  "id": "rs_07cb34427983476c016ab41d2587f887d08ae0b65f2edde6a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush fills the right gripper opening at torso height, clear of the safe’s metal rim. I’ll close on it and check whether the jaws stop on the object.\"}",
  "call_id": "call_QZ5rnUdNiEOFHCVIFnrNrmJq",
  "id": "fc_07cb34427983476c016ab41d2652f887d0a20ef2cfc032584d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QZ5rnUdNiEOFHCVIFnrNrmJq",
  "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]: [-0.12, 0.9672, 0.8227, -0.7681, -0.1688, -0.0647, 0.9958, 0.8558, 1.6718, 0.8471, -0.2382, 0.6312, 0.4904, 0.009]\nstate[eef_state]: left_x=0.2727 left_y=0.0006 left_z=0.1604 left_yaw=0.0515 left_pitch=-0.3216 left_roll=0.1086 left_gripper=0.9958 right_x=0.3123 right_y=0.2061 right_z=0.0497 right_yaw=0.0401 right_pitch=-0.2134 right_roll=-0.2205 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -2.0718, 6.653, 1.3993, -0.0952, -0.0611, -0.022, -0.2667, -6.4615, 7.3231, 1.1844, 0.3101, 0.0562, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4805afb800d66c43fca2ed3e330d8d0ad9302c350ab362af8fe373c9354524e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1673404005d5d34ccb12e85845510e6d746130d1821de69480df11b6cd6b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c7792b306d48da04021112584bd3ddf14cc03ce969c93a6b70d82f344acd2d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.862 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]: [-0.6792, 1.681, 0.7593, -0.083, -0.4976, -0.5014, 0.016, 0.0269, 0.8146, 0.5667, -0.4553, 0.0776, -0.1394, 0.9989]\nstate[eef_state]: left_x=0.3398 left_y=-0.1614 left_z=0.0255 left_yaw=0.0177 left_pitch=-0.2624 left_roll=0.1101 left_gripper=0.016 right_x=0.2792 right_y=-0.0026 right_z=0.143 right_yaw=0.0254 right_pitch=-0.1201 right_roll=-0.1433 right_gripper=0.9989\nstate[joint_eff]: [0.1026, -7.747, 6.0239, 1.3846, -0.1734, 0.0562, 0.5885, -0.0752, -1.6889, 6.9402, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.12, 0.9668, 0.8227, -0.7628, -0.1661, -0.065, 0.9958, 0.8566, 1.6798, 0.8684, -0.2348, 0.6353, 0.4973, 0.9989]\nstate[eef_state]: left_x=0.2737 left_y=0.0 left_z=0.1612 left_yaw=0.0491 left_pitch=-0.3163 left_roll=0.1051 left_gripper=0.9958 right_x=0.317 right_y=0.2112 right_z=0.0545 right_yaw=0.037 right_pitch=-0.1985 right_roll=-0.2056 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.6479, 6.3385, 1.7021, -0.2222, -0.0952, -0.0317, -0.2803, -7.706, 5.9692, 1.3358, 0.2808, -0.2125, -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]: [-0.12, 0.9672, 0.8227, -0.7681, -0.1688, -0.0647, 0.9958, 0.8558, 1.6718, 0.8471, -0.2382, 0.6312, 0.4904, 0.009]\nstate[eef_state]: left_x=0.2727 left_y=0.0006 left_z=0.1604 left_yaw=0.0515 left_pitch=-0.3216 left_roll=0.1086 left_gripper=0.9958 right_x=0.3123 right_y=0.2061 right_z=0.0497 right_yaw=0.0401 right_pitch=-0.2134 right_roll=-0.2205 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -2.0718, 6.653, 1.3993, -0.0952, -0.0611, -0.022, -0.2667, -6.4615, 7.3231, 1.1844, 0.3101, 0.0562, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4805afb800d66c43fca2ed3e330d8d0ad9302c350ab362af8fe373c9354524e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1673404005d5d34ccb12e85845510e6d746130d1821de69480df11b6cd6b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45c7792b306d48da04021112584bd3ddf14cc03ce969c93a6b70d82f344acd2d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0sFKBgw9FVt9LkuSAWevhRDbD8kfQ-Vnaq_ETFtpQMWihc8Gj69YaiW-1AVEW8RIUSX4NhnmXWdNyFwOwtgM_ZBILzY_0p4ZQNDMoN5oIU2wwk8DM6nDkKBlnoPxCX-cUuB9MnJNMhasAFeLCpedgNZKbG39cJ5wqgDT2DkKfgM04o7XxHiEIeGC98Qe1JuyA4vKXEwWu6GinzA-HJKECbuey9BqpIXVcgun_aw5GS5U0_m3tMHyKeoohPvFcy-uhTIatBBhj-Uv7SHshtU-rBl5ZbuWxPP2by3fovm1E2GetUmLO5p0TvdvVNlBQfspgkT5PEsWmS_yYSTSUeSeCsBn4_5oiZ7xiuL6TCnEKUo1ZM_as6kqqpTKIOb-ZAbiFNdeQftmqR9nyWf4L8hvgF_kMXpRlOaqv8sgdyRA_mQTjIFIbSGAdqWZiu6uKfOfJm9zmeSpQvn66tsTs5wDIsqgS_nXWZIXppVtnbEPVfLv0vkFMElMwuBPUVHY0t_G7nD3br0dJPU3lCknNE1GMHpwTJwN34RoUo8JYs3Coc06fxp1KBS0oZCiTFN_vVJWGjtyzSNHvwlZi02LBM04kmJP0qoXW80oIxvHAog6VC_PO29om7bXewfQXagRNCLXxzUk8WZRGo2hVqGEaifau7kvcW3YEZ6ZsNl6u75oS02W5ABOG9ovCAKaU6ywQISGLUAahKpOc0Q7ugmrBDvea1dunMqMK6jD1h1hZButm8dVK79kdgwhOkZLXXz2BKiBlDi09CZNIIp0engklU_z1kmdNgGsIVkOzAxBxXEhdBjt_2l5_2MftAWl0HHNEP-QJm1X_VJHnI9byx5r4pRJNIpfqRuc6rEL_eDrhGDEuSWSZRA4yn5iWLHSwaRP9bn-Xdj21f2xvgtfUyEM609kL1cS6Yv_XhL9HJKB5I-x2gSFbgurwN0q9XrdVWXAfaKnx-EzYaWAzI6dMkODTGaKOXWS4PU80FRBAikjlrOxMdOkJ8hX5u1LaiuyEIqJg1iq3sxGe1E_viQY02HZ5wGH1h0cNAXt6_6UOj_MXkHnUFZLrtbRdlhAps7R47ypwj6KiXOYYw8K9HgWVAGiRvMHb61dfxjMkLbgUaNZf2E4KC45DTq9xvEgkIHBr5j2_1z3faHooYwpKF5jnWipe_j8_eXn-d8_RCasg9XkiTgu1F9npuytc8iQmJoWr52cF-rwU-moVsN2bmq-_NXzNOlh6kPiN8fONnOIzNeA2R_6YIha7BdKnnkJ6KN5asjBsVq46gRFpnq_rG9NdQ24LO-dYcUcutYLSJ9Zf3hWp9dT_mno1mOrjoahPKDOS5gmoAbe3i92-AdZ4M91h87xvK9asGseb5rD_v4xFlOfrgXCIDeHlaC_Hx1mH0sZNCk-SIJ75aAop6sJKPyG4fIPXTJZ-7Odw7T17I_7xuJhTOqJ45wBCG-Fnmkps1s0R37vR5lBGbtjYP2UawEyMkyinPNogZzXUV9XjYXmbztOppl0HdIAg0CfDhV9FH19_nflHQcVb00W0uK_FLyxslcn7Oh3Y0Rt3EZXI_-mAaDVd5n26V5OwpAexWM4X06ewYWq1_Xw6xB3AiYZ1nBY8ZoJ1-QIB3MvRLjqO5URq4ZB_Ge9_zUZ0XOAUDvZW2C5LeauezcgQ7bTYmyUsteEb8s3ZPsEvRqG0lXnvrgyLcUsyRpYyBPqcZgDEelLfADQn6gzNwWZErBUU7VfNZjJscEOIB8c1IMzlx10r6skTZsQtbQ6M9mMpMn9KgU45ityoGnFfLwDpNCThSfeP9oIjsLADWBhGmsP7mromX4t78JzwRaH3xTnEactqvk0LYfPgb0Drjbow6LB9AcN66evI2yxJnHrO3vhY7r6uNKmIz3yziJ7APSMu3XaSYzT-ewhh0WHD0FJIkwYmNghyd_HCpK0OTgTGiTxVGHDCTEKyDKz9at6JeV_9pDTItDlzC-UCXWiU1nazkFiJoIpfJvvtlJrH_eVY2ZX16kt1-5joR7yNQsH9hBC10Vs0nWeoudOTgUDAtq6SQq_wboth9rI3W8yK3mzAThBpBSJidOdlHzf0XmXMIxy7PyRQa-xM0rkix5b7uWH81At7i0suZxSMNbESqpuAJEyFewAunH-FmLirLzRQsp9Q=",
  "id": "rs_07cb34427983476c016ab41d29923087d082c627ecdbb2dda3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.34,\"right_y\":0.15,\"right_z\":0.075},\"note\":\"The right jaws also closed empty; overhead, they were just left of the brown plush’s head. I’ll reopen and reposition farther to the right, over its bulkier head and shoulder.\"}",
  "call_id": "call_1yjoehqdJikW13b7HWmTGgB9",
  "id": "fc_07cb34427983476c016ab41d2b3d9887d089e653b0e3e9a4e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1yjoehqdJikW13b7HWmTGgB9",
  "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]: [-0.12, 0.9676, 0.8227, -0.7719, -0.1688, -0.0647, 0.9958, 0.6518, 1.5539, 0.7975, -0.2451, 0.522, 0.2947, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0007 left_z=0.1597 left_yaw=0.0517 left_pitch=-0.3257 left_roll=0.1093 left_gripper=0.9958 right_x=0.3337 right_y=0.1483 right_z=0.0636 right_yaw=0.0272 right_pitch=-0.2536 right_roll=-0.2442 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.0718, 6.8171, 1.4286, -0.1245, -0.0659, -0.0122, -0.253, -8.0615, 5.7778, 1.4872, 0.2711, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84696ab1c17d04a41d661f7bd10ef2a2551f64840d1a91df95f143890381aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a7281703689f65728062c4ba531dc3c4c1683dcd6404be4d1ed905ab329cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce45fe9a831b46105ff4a0b3fc6974f80aea6a63087e017dc0a5a343fd3d6d72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.665 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]: [-0.1215, 0.9665, 0.8158, -0.7353, -0.1776, -0.0677, 0.9961, 0.878, 1.779, 1.2057, -0.4274, 0.6441, 0.5026, 0.9989]\nstate[eef_state]: left_x=0.2778 left_y=0.0011 left_z=0.163 left_yaw=0.0578 left_pitch=-0.2939 left_roll=0.1087 left_gripper=0.9961 right_x=0.3516 right_y=0.2631 right_z=0.11 right_yaw=0.056 right_pitch=-0.1615 right_roll=-0.1731 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -2.6735, 9.6342, 1.5702, -0.0366, 0.0904, -0.2711, 0.1846, -8.3761, 8.1983, 1.3162, 0.5495, 0.2662, -0.0122]",
      "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]: [-0.12, 0.9672, 0.8227, -0.7681, -0.1688, -0.0647, 0.9958, 0.8558, 1.6718, 0.8471, -0.2382, 0.6312, 0.4904, 0.009]\nstate[eef_state]: left_x=0.2727 left_y=0.0006 left_z=0.1604 left_yaw=0.0515 left_pitch=-0.3216 left_roll=0.1086 left_gripper=0.9958 right_x=0.3123 right_y=0.2061 right_z=0.0497 right_yaw=0.0401 right_pitch=-0.2134 right_roll=-0.2205 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -2.0718, 6.653, 1.3993, -0.0952, -0.0611, -0.022, -0.2667, -6.4615, 7.3231, 1.1844, 0.3101, 0.0562, 0.696]",
      "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]: [-0.12, 0.9676, 0.8227, -0.7719, -0.1688, -0.0647, 0.9958, 0.6518, 1.5539, 0.7975, -0.2451, 0.522, 0.2947, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0007 left_z=0.1597 left_yaw=0.0517 left_pitch=-0.3257 left_roll=0.1093 left_gripper=0.9958 right_x=0.3337 right_y=0.1483 right_z=0.0636 right_yaw=0.0272 right_pitch=-0.2536 right_roll=-0.2442 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.0718, 6.8171, 1.4286, -0.1245, -0.0659, -0.0122, -0.253, -8.0615, 5.7778, 1.4872, 0.2711, 0.0513, -0.0952]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d84696ab1c17d04a41d661f7bd10ef2a2551f64840d1a91df95f143890381aa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0a7281703689f65728062c4ba531dc3c4c1683dcd6404be4d1ed905ab329cd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce45fe9a831b46105ff4a0b3fc6974f80aea6a63087e017dc0a5a343fd3d6d72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0wLVvoYa7teHmJgHeGiYS3jUwi4cNi040i_gSFxhapoatO7341pVBgvqPEMHrVRF6o7oRyfB5FBfBJqWkR4EhyGQLfC7HFGmOSpLUrGOz10KGD-5rMDN9DYIcw3I-WVV3N6sdFxrueBIeGmPdQtmg7fRzobvDc2DeTACSGqddiD1VEp9ajLwnzvfOpiN8wtL6vHchtUNVXlv66q9zwn3CLD_bm_noqjPyXbKuQcJSFCL00IPsFAL5qQWBZux3vpOkjp4hlZzE3Ij-9C86gebbFoQmRc3LUl9itU21yrwxT3hTYlDMvfnlHa_Skcgp8peGZqL3qLyVqZqU51BbprHZvh-IXn0YnO4EkHN8kh4mWcfPy66oOD1F_cP3BHB46KhCq8wTm9MZyhkhdITxzDrBi9RZNwzVMzp40muuXKCFjmJm62NLJ_9fxlV8c2vUdwlYxktt7ocmMgOYuRJQTb6UrvxTDIrgpK-Y34qGwhHSMbMm-jc13NMO_QwNE67kWJlFVm2fqjBlAqArs5-EQ2vwgYJbbl-YFuQ3sagDbqKPoRApsrXK0TGRRvNMWYEb2woGrkLKggJYdwt2yYjvxyNNMQnf3THnNKJvMleF-I7FIlvEvg0NZz7O3kEN4X9Xf7nIYNkuwlXUgwXBhgX8sMimCuQpiFejLOjXqb7Vg0Y9e1sdupkqghUj6kZjs5jw0AQMQ_IS9WhD11cDKhfmGRwY6tNszQFxhOzF1iI-VttTs01-klUoJRSVsbkAhT7Ll3RSEx2DgJUCsUeeq50iymYmW5fDU2iSAXkIcozBjyjaBXciPsQJtC9Ozcda2l1bKy_riP2pzMCRYe2GrAcTyRPsxvflwdZqWy0Qnq9XdkRPjCP6kR0xfpuXU9hP7yyyIWS8np4fF4q8zY0coz5IId9OTUSZpWh7Wb6u2qLz6_dyq22ysKIIO0Of0PwLR9kmLdAmK2HXBmaJMk3R4WncCnUWfNuJXFciir63JaceQwYQ1BIRGLjLg1asqaXEfaLQruTpF1OkJ1n7M4CvivuTgkHpvwU0iDbe64_Zc2wRdSlfguOZmX2CNkARg99mA7nUeMDHqUZ2Z5TmBZ5oQY5V3CIrwgc4QbFPZwIm8uWhunqhC2cPADGWEiAYfSOGXcz0FDLCEsXPttbmx1gx4m_2jaf5i2g4ngqBzbphmxkypWeuAmhDIJyc0Qw52t3LG7Q72zP_1BbCx6ACOPFPgufnA0be3F-_rNfoZnHYnv1KW0VpKyoAhcfaGNOue4u_iQaWBE5busXJu15pyFpORszWOMr5M2-1ex1I-1KUM6yR5k12tPymZbZ9EB0GII0ZvbvmDC4cExpF2fran7puaPjNlsZ98N2HCVNW1K9dGoHc5tDBetM8hL-71ASrKnpxksJ4BoYtq-KA2o48st0SQVzqfG0sWb9OWYaENUHmZCIK8b0cVQBf9Yf7RNf9XT7VSAlnaco4WgD0iQo1qxNlFJfNyYYAfVHYGlcRgmtaDSH1MJj97FRycpD9JuiAJUNrCbBGPeT_aLzjU9ZoyjQfVV01HuXmaaELdtUidhRoUG2iVO-z3gnohJ7_6Uu24qQdA7WrNekwJ6kFYHr7vkioGgf44zfjo_z-FOSdpIqFoelvFRz4w5npBJrYx-ryCd-_5rrTcRyWBrmADnA624JEtMVMDV_VLKQPnC6ZPQXy6xC1oPjrsM-8EELdcAqiBqAJa_qV46ME77CNWnnFT8CEGbJpd_D3QmQe1KLky6oiJnfWgxD-VVa5qiN5e5Bn_67ZrtiEo0Y89qFRAnsMVm5BCM6dTkvWR9msVukiCWqqHrK2BE7NdFIvn0XdPnrjCTjOEWJnnPOqHv9O4cSh-7gC9GyMzi4i5mrHEeiFJV88dMCFlVDIhMgFuV4X7P4eLV1vDLJ8esnRUXnLcef5--Eq3KWZDaCaQUTgWqcPzCPnhMyJm2s6oUege3GTfGfcMbs0TLZSKjNf1exXzilAYLaeAlkc81TFh_s9_ACDJU43d9BDsn-t2leC61I5kOG15LiC7TXjICPML8AvGT3YjRypBXNtAxhDYcsMip7JLmECXrlIU4Wxa60lJWwwzxrGgqP-vCAYbpNmqTV9O4AWBznKi8xqorgQQ4oexVCm6TvZpzeRP22ivvaKsQggN5ph1Xovq935JV17UaUNkF9412XLPw2MYisVZiTCST8PItVRqlkiBRsQpIEcJk-svfW-XaEeFSzVJaKZH",
  "id": "rs_07cb34427983476c016ab41d2e475887d0928be351e81afc1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.205,\"right_z\":0.09},\"note\":\"The brown plush shifted left when the gripper moved against it, so its head is now behind and left of the open jaws. I’ll come back above its new position rather than sweep it farther across the table.\"}",
  "call_id": "call_UJMJP79ZTa0hwfk5y9VuwOmk",
  "id": "fc_07cb34427983476c016ab41d30079087d09e08ddab6a2abbe4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UJMJP79ZTa0hwfk5y9VuwOmk",
  "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]: [-0.12, 0.9688, 0.8227, -0.7723, -0.1688, -0.0647, 0.9958, 0.8902, 1.5581, 0.9161, -0.4751, 0.6025, 0.487, 0.9953]\nstate[eef_state]: left_x=0.2719 left_y=0.0007 left_z=0.1593 left_yaw=0.0518 left_pitch=-0.3272 left_roll=0.1096 left_gripper=0.9958 right_x=0.291 right_y=0.206 right_z=0.0836 right_yaw=0.0842 right_pitch=-0.2695 right_roll=-0.2453 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -2.2085, 6.735, 1.37, -0.1148, -0.0659, -0.0122, 0.1573, -5.3812, 7.788, 1.0379, 0.486, 0.188, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61717d221021b51a2cfa7067c722d4695242760a8642d470250adffe0b32149b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6615373d164f624198b551f7f033d6fac47ed9eab52540cf996716d7f9608f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b088e403c5acab89674b6b200fd43715250ab7d84b056ccae326ab80f966e48d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.32 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]: [-0.12, 0.9668, 0.8227, -0.7628, -0.1661, -0.065, 0.9958, 0.8566, 1.6798, 0.8684, -0.2348, 0.6353, 0.4973, 0.9989]\nstate[eef_state]: left_x=0.2737 left_y=0.0 left_z=0.1612 left_yaw=0.0491 left_pitch=-0.3163 left_roll=0.1051 left_gripper=0.9958 right_x=0.317 right_y=0.2112 right_z=0.0545 right_yaw=0.037 right_pitch=-0.1985 right_roll=-0.2056 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.6479, 6.3385, 1.7021, -0.2222, -0.0952, -0.0317, -0.2803, -7.706, 5.9692, 1.3358, 0.2808, -0.2125, -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]: [-0.12, 0.9676, 0.8227, -0.7719, -0.1688, -0.0647, 0.9958, 0.6518, 1.5539, 0.7975, -0.2451, 0.522, 0.2947, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0007 left_z=0.1597 left_yaw=0.0517 left_pitch=-0.3257 left_roll=0.1093 left_gripper=0.9958 right_x=0.3337 right_y=0.1483 right_z=0.0636 right_yaw=0.0272 right_pitch=-0.2536 right_roll=-0.2442 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.0718, 6.8171, 1.4286, -0.1245, -0.0659, -0.0122, -0.253, -8.0615, 5.7778, 1.4872, 0.2711, 0.0513, -0.0952]\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]: [-0.12, 0.9688, 0.8227, -0.7723, -0.1688, -0.0647, 0.9958, 0.8902, 1.5581, 0.9161, -0.4751, 0.6025, 0.487, 0.9953]\nstate[eef_state]: left_x=0.2719 left_y=0.0007 left_z=0.1593 left_yaw=0.0518 left_pitch=-0.3272 left_roll=0.1096 left_gripper=0.9958 right_x=0.291 right_y=0.206 right_z=0.0836 right_yaw=0.0842 right_pitch=-0.2695 right_roll=-0.2453 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -2.2085, 6.735, 1.37, -0.1148, -0.0659, -0.0122, 0.1573, -5.3812, 7.788, 1.0379, 0.486, 0.188, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61717d221021b51a2cfa7067c722d4695242760a8642d470250adffe0b32149b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b6615373d164f624198b551f7f033d6fac47ed9eab52540cf996716d7f9608f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b088e403c5acab89674b6b200fd43715250ab7d84b056ccae326ab80f966e48d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB00lyrbfjGm93IaVz-6M7AONx4WKetMG_8rm5e1pfX83B7Q8t6bqSHIllLo-q2YlIP8mrLSYA3bwNynmsXMLxwogpZhN-cOqxe7Ucwl-1X2LzZqyxxc008f6Ttzl5v9iJN9pSH-JPq7cJF5jceEgS8XTktJr1c455PURpXvWx6upaGYcdeE6yZCOa8hrMUyF7dBOid8pJtJxlEdvh3ljJpqLaKbuOE8WsyABAiaMVX49UnTNHvuLZS8RvAuVLgEKLLm85td6HS4zI_Utgr_r6BZnIqotzfQmdowgydxFHHdAVbC_V9Pwx-JwRS08PwR_TjR_mGHoPUsD9qSpRMwLsi2ixfG9JMy_wkF6Bbk1PWho_1nk55bd_nGIiRoaeETze6hfPQxCjzu8ImzY5bmpQi901jSMKecdc92FwOGSvKtpEDFOXQ_bobJgTKpjFo02JEj8BDBkm_SA6y7y-OGTtsAN7Pxg3NtCQnjfJE7SCyB1yPZX1eTW43HvweoB5OW3LbsSophEAbYHasPM8KB-NPf8S8oU9VYtFTHu2xYfNkpTMpQXFpG9M2OS5RtVP0WQMjYaCJXJ7znZQVa9FdPlLi5WYGepMrzGDE0C3zhJSrtAxyQ2jKzALOI9VqQolJuW-AufOnwp1SK1vD9Otxob__RGLnPKAy8JLxdk7L0L0RiAq13jQsWraKquM0MeRPXspl1NC98mwmbgGGlFFxeU0q2w4ov1GT1ZiyqXPXMDjcTHs0umFy8VeRvRqjR3nP3Z90SPg6xwUKgH-b0OWSQ_BX3qeV8pe9swVG70ACafpXj_ErarlhD3gmc3EBa0fk4jYX722mAvrXXzP1cYZK6DeQQogB2fxjweMpfKDtVpjTeUtef6hred4dNjrhfphZQdAAk9aE8_M6JTGRFJqUOH8cCiao67Y5-pkwv6kAKvm9lcMsGEu0iHxHrCpFYYM-GXSBbpjDzc3q8vqUrX_AT8s09NRVRJ7yKxjZ6J7Du22J6mZthuyLtc16JviJO1bAv6kGXh8tMjPxc54CIswLtwfaqwg3ZSOs0aQNBqXNet6tuXqnHN9RHjp2TAvrcnjIraoJUI-ceLmRe_rG3IXloe7jJDwE-GwxEq26RLEO7gq2nXV-JxyOfakSrgpVnQkPSS41BzZQRI_m2rBXV2OCnzPoBmYTKZCzkd1QJFEBstYAB_2y_HchadwzHLMCd-mDCraH7LxpcCx4toKoBYFBiIqspYQCiIC64Ejb0oLSJ2dNLCx1w-Rj0nmlgLkiV3cscmEA1JZK6eXYrcwrp1bipdrh_IG1lxoMCQE44NuM2kfIvKp51tRaRwGb6lI_Gfv_Df0VOEF_xldnhc-kjm-2G9sFpFrhzUJYaoeSKVtf7empKh_vPDIWbDWLdisrxbTbkc68N1INgUpzzTQ2ItBEZHd2-Wp3JJBZAKAQcA8ZYxwnCwVL_LbNov3oOppw_JjsG2TaVxydZtM25jRkHxZq2ZABWhEKimqajMg2THwaRj5uQH-VY1KF8sTVcXsGlg0OuikccDfSDM8jmnK7-2gO15SO4Im06J_LvG-YdIIr6XgkCuiCvR4Re8DZEYFqxxElvktSWvl-g6xQXI-H-5vMgCZo1EV3geYnAbNvbZ2ttcjx6q4jSXVgqWsUB6BXjzVmZ6bNq9XqaGQ-JBDYO1WCKcY3pcnY1bcLthLEb86VRPNKC1CcChqR9A5u9zULzlLGnS7Ux1OfBmO9hIXbNbOHk36kvIzs7AaZPpHs1T03isinTpquZykIWDvdDokjoStJuXRUV",
  "id": "rs_07cb34427983476c016ab41d3263a487d0a8eaaa837775358d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.15,\"right_z\":0.12},\"note\":\"The plush’s head is exposed beside the safe, while the lower gripper is brushing its body. I’ll raise the gripper and move over the head so the next descent is vertical and does not shove the plush.\"}",
  "call_id": "call_tNxhGWFDBaLmvknWeCyJeSbl",
  "id": "fc_07cb34427983476c016ab41d34209c87d0bb5257cec8011305",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tNxhGWFDBaLmvknWeCyJeSbl",
  "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]: [-0.12, 0.971, 0.8227, -0.7872, -0.1688, -0.0647, 0.9958, 0.643, 1.4899, 0.9291, -0.5152, 0.4931, 0.279, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0011 left_z=0.1566 left_yaw=0.0529 left_pitch=-0.3441 left_roll=0.1127 left_gripper=0.9958 right_x=0.3242 right_y=0.1429 right_z=0.0972 right_yaw=0.0351 right_pitch=-0.3309 right_roll=-0.2783 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.3316, 6.6393, 1.4725, -0.1538, -0.0366, -0.0122, -0.1846, -7.6786, 9.3607, 1.5702, 0.2222, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e309f0d44e350821c814a6c1fc2a78b683c8a4fee217c07f89bc714a2ac792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a5b1802870a3d30a38719827fc64f6ebea502d8babe09c7461473b90ca09b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b134262f29af00a700ce3312a230b6b58e66e95ff0fb7b3fa7bdd261bf51f4e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.319 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]: [-0.12, 0.9672, 0.8227, -0.7681, -0.1688, -0.0647, 0.9958, 0.8558, 1.6718, 0.8471, -0.2382, 0.6312, 0.4904, 0.009]\nstate[eef_state]: left_x=0.2727 left_y=0.0006 left_z=0.1604 left_yaw=0.0515 left_pitch=-0.3216 left_roll=0.1086 left_gripper=0.9958 right_x=0.3123 right_y=0.2061 right_z=0.0497 right_yaw=0.0401 right_pitch=-0.2134 right_roll=-0.2205 right_gripper=0.009\nstate[joint_eff]: [-0.1983, -2.0718, 6.653, 1.3993, -0.0952, -0.0611, -0.022, -0.2667, -6.4615, 7.3231, 1.1844, 0.3101, 0.0562, 0.696]",
      "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]: [-0.12, 0.9688, 0.8227, -0.7723, -0.1688, -0.0647, 0.9958, 0.8902, 1.5581, 0.9161, -0.4751, 0.6025, 0.487, 0.9953]\nstate[eef_state]: left_x=0.2719 left_y=0.0007 left_z=0.1593 left_yaw=0.0518 left_pitch=-0.3272 left_roll=0.1096 left_gripper=0.9958 right_x=0.291 right_y=0.206 right_z=0.0836 right_yaw=0.0842 right_pitch=-0.2695 right_roll=-0.2453 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -2.2085, 6.735, 1.37, -0.1148, -0.0659, -0.0122, 0.1573, -5.3812, 7.788, 1.0379, 0.486, 0.188, 0.0611]",
      "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]: [-0.12, 0.971, 0.8227, -0.7872, -0.1688, -0.0647, 0.9958, 0.643, 1.4899, 0.9291, -0.5152, 0.4931, 0.279, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0011 left_z=0.1566 left_yaw=0.0529 left_pitch=-0.3441 left_roll=0.1127 left_gripper=0.9958 right_x=0.3242 right_y=0.1429 right_z=0.0972 right_yaw=0.0351 right_pitch=-0.3309 right_roll=-0.2783 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.3316, 6.6393, 1.4725, -0.1538, -0.0366, -0.0122, -0.1846, -7.6786, 9.3607, 1.5702, 0.2222, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e309f0d44e350821c814a6c1fc2a78b683c8a4fee217c07f89bc714a2ac792",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3a5b1802870a3d30a38719827fc64f6ebea502d8babe09c7461473b90ca09b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b134262f29af00a700ce3312a230b6b58e66e95ff0fb7b3fa7bdd261bf51f4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB063gU9JLmq76Rl4seyT7VRVzdJ617RI0ArKufbhxImEZy08xxRUydheqpXHFS_Qh5ug41xGbbefs4dzJMXxbaaiLOer4k7NKNNvhsBZv14OvLsR8Jdy64yhuJzfmC4BF6chTzqS27CHtnLQqOgOt-IoRvWXoHtqdQF8R1UY4WELxv0s8uXNZSgfy6pvXbmU4H_o-1T9b0w0wuAj0dMy3MwVbFesojztQiBQcZ6_CA6zflhECRK5Eck97XP8TgYIhRs3l14U_YNQabI7itl_-qG92X7LSPNsPu4Alk4e-61TeUzurJNumkJNtv6h0tkEAItG2oEN-IMC9obtMs_qR4pz95WkuHIxma4_H_VfrPq32q0g2x6o4Pw9PnOhxwq7PU9Z_2iaoL9qMlqEpKF1aV7QRlRjvTlPKtRid-H_2EdCiwbCmmF_OXOXjJ_SkBNMJ3fVP3kmtX09HGWhMt7-T7GY5ZFTqUBfyAv1jKln6ZlO7ybWbQFr-kAxXSK3mcoP-B0IL4sUAb7x-f8xDxVUospWLSOj6L-4tchOmdQZGYSD6fuFG-DJfxMBuwLyiYds8DcmL5ONu3lTcWXL97CG7_dgvOWPZO5F9xR--dWL1z_a8McFXofXoguNyckd4X2FIONIvrLOkPSfbkJShqS56CRL8XeOuvBGojcMOv-Ew3I5S8Bc1GXaHKrOyQecuUEb3lKbukI7455W1GRN_LdV8YcJh6rEw5mxBuSi0rK46sTt1A0N2aqvmeNhsNuK55pXbrbfzWAfYhsS1KK_6H2qMLaKi2YU6izboYeHoRls2-pVt5pDLdI091Fjg6X_tL0fuR4t11Fu72YZzbRnbSi_FTEFqERwoVeMd_sP3ijU0NHrhMliNeKheLoEMDje0g4303id8TiJ_I1YJdTpOUU-1XZnXdSHUixN38VkVPfQbIRWCkxBSsaGCFLSrdcvyd4PneIprhoI3gSNFqGeqEW1neWQO1h9-vqMhhMggdmxUD1jijznx67l3r19P7VE5Dne8wE3P7CaVzmzFqEl2ayJj-ftJmrWjcI-Ome5_MA-F2ewUV8x-SN5VfV4YMtfCFt91L7sjKXJ4JaXc5_z5U8UU9X1I7ju8hgbjaRn-AxIRnCBR10SCNiM4QFPX3E_jxXSbUZX09cXFAQkXInNCMwtYJhiC_sYawmyExwW0RMBa2xYLB3VWOq9MtRJsXLZOmZ_CNsaGIU-pIfnhl4_PfVmYu5VIQxID0PLZwNd_4CKVIVjautGx1raBpzh_ItmXr9DK3EDs4WsS-W4IgC2U4gbz3ec-WNpHowpYc_VezXmMXgq5u8VvT9J8165KKnCN6TsR5W1cW3sNPRk3pQVYVGGmNBgxswLbTVKvwk6--cjMQ91Hk9iMAAo7qYC0wF6xvSDwteeQZ1e12_WKptaroDssigkqMnm3Fo5CxoeQKtE6e6HHsEkIsFWugYD-m6RdBlgVU6vuiXp_wGafjOcyBKvqasbiPFYXKQLfXR7Jks_oY64I2NFvHRvsrh2dY4Odq8THwNU0XVSniGiQoV63IrJt5FkyFx3d-MIuh19M4FOB2A7p5wG8mntA7Sr7TlieGSFpTd9AnN0fLAsKXeMYRwwUKnLynGfyoK4fn4YXwG5jOtvALEkJYhrvD42zXTEzH5hlqEeHZMmiQqiaTbyDsOe6YN4LRpoRpUmTHQWKttBKXD_i2POd1016Thn9tKgiIvPM5D3AAefl03ovPtoGJ_bUH5DDdHmJQ-Urv53Y0ZAnXPy8BSUxMMDdpqs6QutMkkkgN9HyD7zCm01gHTo3amSKPepeIxlL87jUQpNR8fT40UL47NApzyyUdBviCYCMd-BKD7dAIym6odGSMVET4uemQAG-iyb9w22ZoCCewM4ehywRxGWn60WWk2kRV3k3iMKpxeihH0ojuGxn_8eBvTNu6RyfL0LE2en6tPRQqnZx2ENBjitsKyreDlbdwchFBerPJwCFXZ6KVuNVSkB29ZZ5NGmoJ7jitIlZyzQsgZxPeGikmTV2le-KyCBgK3Ry_IYa3Y3iBA8xG74gabp8sG2OE8p_ADicMWyBGaoX9L9Rscmke-stpcA3jg3uCcSegw6EZ9tSYlJIFCMANO56W6fMYSZw==",
  "id": "rs_07cb34427983476c016ab41d37a02887d09934fba569cca03b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.195,\"right_z\":0.065},\"note\":\"From above, the brown object is behind and left of the right fingertips; the wrist view shows it to the left of center too. I’ll shift back and left over its body, then lower for another centered grasp.\"}",
  "call_id": "call_R0y5gGGJ82UxgNaC5piRuZ6o",
  "id": "fc_07cb34427983476c016ab41d39b7c887d087470846e759b19d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R0y5gGGJ82UxgNaC5piRuZ6o",
  "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]: [-0.12, 0.9714, 0.8227, -0.794, -0.1688, -0.0643, 0.9958, 0.6205, 1.4883, 0.9352, -0.514, 0.4656, 0.2161, 0.9954]\nstate[eef_state]: left_x=0.2678 left_y=0.0012 left_z=0.1555 left_yaw=0.0531 left_pitch=-0.3513 left_roll=0.1143 left_gripper=0.9958 right_x=0.3273 right_y=0.1408 right_z=0.098 right_yaw=0.0701 right_pitch=-0.3464 right_roll=-0.2924 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -2.1402, 6.6256, 1.4383, -0.1392, -0.0611, -0.0122, 0.0068, -7.7333, 8.8137, 1.5311, 0.188, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7a561261c864b10cbef992e4ca9032f90a51c958b1e0d1811e024edb3488ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5759acc71147ca387d4cc03f84607ea74dcc7bbc9928130b1330c8679b0c48c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9b02b1967b8bc8b700487f2eda1f53cf2940401311cc6c161c0b02bdce908f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.041 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]: [-0.12, 0.9676, 0.8227, -0.7719, -0.1688, -0.0647, 0.9958, 0.6518, 1.5539, 0.7975, -0.2451, 0.522, 0.2947, 0.9946]\nstate[eef_state]: left_x=0.272 left_y=0.0007 left_z=0.1597 left_yaw=0.0517 left_pitch=-0.3257 left_roll=0.1093 left_gripper=0.9958 right_x=0.3337 right_y=0.1483 right_z=0.0636 right_yaw=0.0272 right_pitch=-0.2536 right_roll=-0.2442 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -2.0718, 6.8171, 1.4286, -0.1245, -0.0659, -0.0122, -0.253, -8.0615, 5.7778, 1.4872, 0.2711, 0.0513, -0.0952]\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]: [-0.12, 0.971, 0.8227, -0.7872, -0.1688, -0.0647, 0.9958, 0.643, 1.4899, 0.9291, -0.5152, 0.4931, 0.279, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0011 left_z=0.1566 left_yaw=0.0529 left_pitch=-0.3441 left_roll=0.1127 left_gripper=0.9958 right_x=0.3242 right_y=0.1429 right_z=0.0972 right_yaw=0.0351 right_pitch=-0.3309 right_roll=-0.2783 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.3316, 6.6393, 1.4725, -0.1538, -0.0366, -0.0122, -0.1846, -7.6786, 9.3607, 1.5702, 0.2222, -0.0073, -0.0073]",
      "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]: [-0.12, 0.9714, 0.8227, -0.794, -0.1688, -0.0643, 0.9958, 0.6205, 1.4883, 0.9352, -0.514, 0.4656, 0.2161, 0.9954]\nstate[eef_state]: left_x=0.2678 left_y=0.0012 left_z=0.1555 left_yaw=0.0531 left_pitch=-0.3513 left_roll=0.1143 left_gripper=0.9958 right_x=0.3273 right_y=0.1408 right_z=0.098 right_yaw=0.0701 right_pitch=-0.3464 right_roll=-0.2924 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -2.1402, 6.6256, 1.4383, -0.1392, -0.0611, -0.0122, 0.0068, -7.7333, 8.8137, 1.5311, 0.188, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7a561261c864b10cbef992e4ca9032f90a51c958b1e0d1811e024edb3488ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5759acc71147ca387d4cc03f84607ea74dcc7bbc9928130b1330c8679b0c48c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9b02b1967b8bc8b700487f2eda1f53cf2940401311cc6c161c0b02bdce908f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB0-nUdqFwApcGiHfKl0SJ0uym-4zLR4a_qlha4u4eIQyTIIsptg9M5k6iasNcWertGlPuNgmjNFb6LL2uXCzIoe59ERUHrYpzv1k7Hi7MNAEUrnd1pEif2xD7K2Vfm9gbWh2P-V82QX-1sovRxNXoflE57sNFOwXDRVQJBdFi85UHIKFXZDAY047iSH8gmTJgMaIPjz3mSg7XctvJZWXbnFkTsErAPySoT4wkc6oSI1dWUdKEny9Q0mfwdQKyuiaW6HVemSYyUerDKN9EKrr7Fp0s1wRwDzta_s8YavON87VRkp5MUxmZda_F10uk17kc3qTYP6xCs4ndzPgR0C3qz8LNvwELFEvIZGW4jFs95H7UGvu89wXeRDX-lhDh5hED4TrN4lyXTqBvvvSCqaXmvu4EoW0PDqRRGjB5aeEEgfhgdtlnacpNF1ZGI0Wehdyobberz3w1OHcMiEPACw5ENhDIn55GxQHo3YsQhFKTderzB_whmJezd-PoJBWyPUu4TiAEDDTf_vRFxqb9PpCEu0D9AWPSdICd4SSL9Fnw948rueiQaOtRqxdfpAelYqzi2ZC__veqKbrfA9Ao8Vs0gKXVXqx-C11Qf4T0dkbZOBvaGPd9NusL8ZPrm2vCUUwHT14n568Jlu6FryryhKUpNa7sQns3E0dFckho8OYF1yAj4tdoiERwRpVszY8436p9WfeJkxh-4s71nbAOZIEzwf_a7Wncpk1OwGPGLN4UCZQNgIaO_x_lQxIe5Cftdv1JZPfuvoSb0bkMxPlhoI-bevGw9ljbEDX6Ogn6dZMpZxmgICknOvs4MlZbo5iBhrzCsuvaTTJJjMB6Ij0Rez19vNPY9BF4BRGtyFfX5Yt80ZrvmM4C3-LeAhl5TKfbOItAGFzuoBelJef5M-2Ym0uRn7Yx_JBOu6QgV7DI-f9asnFneAhSfdsleTTCdqD-z1vsmnnUPvZnkcfPY21KIs-2dDfPx3Z-nXJKsQlBmiTsg0htDLlrosyMqK7w9i3_e32vZ8DMU1nYgCGzza7LWtUawHlQ_4ivQJd4tHw3Z32I9hvBM4RHUKTpgzUBbc0FJEB7VhU9II2ZJ___EOEMnkh8EZX6TtFc-Fw-BwtomYtflkrodOQLaD4TNJBGYXIN45-L6kY67dBF9J0euQ1-eiRj4_ZPbGleNNgZ53KcFfh37z23rNwDyzw60ZSlD2ixwcR9ZUWaMTPL8F-a3eW1XvWmPITDyRx95n1Ibcg8u8mwt3l1wcAs95qJJjPLIjonflcsvKfELkPgb1R_FqtGWzYeYFRf4Abv7bX4SjDhElFog_rhN04uCyaxh1Dcd0ue24Up9murbozz6LfPLMQ_-MbAkuiR4jVXsGkOFBkx4r6Po6b0Ab8v3ScBL5lPAqfNRTyFGe8gyJXvzJoLl-KQ8B35_cTaxjU2v64vSOs56iTM4N4do_qNyF3r4aLjPlnF4VXl9v_MkTefNL0ydiXPH8TiEs9Cq7rU0kDqPDPeLkQk9yRQ_TSAh9T5D26VQ9IeQdlfjUshULxXdX4xM_W0dll_CvjekRXlvv3oR_vjekQNOOoj0fU3SN22sU5b-LEvCqnj9Ul50GHm23-628WapAgboHa5_2HEF28Qt4hdayK9Ai7DcZQC4wWGC0PemW7Ix-2IHvZ2ASk1MBZsm6pVDCnZEpuG8QAty1JRzzFISWQ5Z-jTLxxRpTYJm6TnKv66B-qrK9w2lclN2jsVxY0wJO2bxN3_PwqNU-3ayBfghL9y-uHuboThdPAS5aa-DOXSjS3plalzlPdPEuZQSbMKr6ojCUlpn0mag9PPdBdWOeEPlF4nHQ8CXaBMAvk9VS-dHy65sq1q_e87svw_flbCE3g0SONYLa31LXvGv0Lhh2QuOhTVdZktmHC3oznZ83VEKgYdR2AR4W23ncSxgybtRRr9vW0g51g4h9ZiMlowzCm0hIe52hFuvlnCBbJWSJi21wZ1ExwsyZTtiRcUGSLVeYfnhx7vZuMfSmNnjnLYllZ4qhSPpvkjhBSLOldJ4TGtNjNAiAf0U78lw5Aibo_HVqehgMyA==",
  "id": "rs_07cb34427983476c016ab41d3c432887d09a0cbadbc70e4f9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_x\":0.29,\"right_y\":0.2,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The attempted low sideways move barely tracked, suggesting the gripper is snagged or the pose is awkward. I’ll lift clear and reset its wrist angle before trying another approach.\"}",
  "call_id": "call_TNbv9JxZ2UXE2cxIgdScoURt",
  "id": "fc_07cb34427983476c016ab41d3daea487d09ad12572703cd393",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TNbv9JxZ2UXE2cxIgdScoURt",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.12, 0.9749, 0.8227, -0.8108, -0.1688, -0.0647, 0.9958, 0.8989, 1.2694, 0.9237, -0.5262, 0.6216, 0.4885, 0.9954]\nstate[eef_state]: left_x=0.2646 left_y=0.0016 left_z=0.1523 left_yaw=0.0546 left_pitch=-0.3712 left_roll=0.1178 left_gripper=0.9958 right_x=0.2831 right_y=0.1965 right_z=0.1741 right_yaw=0.1113 right_pitch=-0.086 right_roll=-0.0776 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.4137, 6.612, 1.4188, -0.1001, -0.0269, -0.0171, 0.1299, -5.9829, 8.7043, 1.5849, 0.5055, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b195c05c1cb3da0d8604b6cb15da662fbaad721cdb55aeb9ee509ec0a4c306ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80c210e5beb611287b423555b35a83e30d71db5da367e09f19152785ca8124d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39bacd9751537d9c344167b8bca0008f4f740291e8a3f008bb020859832e564c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.052 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]: [-0.12, 0.9688, 0.8227, -0.7723, -0.1688, -0.0647, 0.9958, 0.8902, 1.5581, 0.9161, -0.4751, 0.6025, 0.487, 0.9953]\nstate[eef_state]: left_x=0.2719 left_y=0.0007 left_z=0.1593 left_yaw=0.0518 left_pitch=-0.3272 left_roll=0.1096 left_gripper=0.9958 right_x=0.291 right_y=0.206 right_z=0.0836 right_yaw=0.0842 right_pitch=-0.2695 right_roll=-0.2453 right_gripper=0.9953\nstate[joint_eff]: [0.0068, -2.2085, 6.735, 1.37, -0.1148, -0.0659, -0.0122, 0.1573, -5.3812, 7.788, 1.0379, 0.486, 0.188, 0.0611]",
      "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]: [-0.12, 0.9714, 0.8227, -0.794, -0.1688, -0.0643, 0.9958, 0.6205, 1.4883, 0.9352, -0.514, 0.4656, 0.2161, 0.9954]\nstate[eef_state]: left_x=0.2678 left_y=0.0012 left_z=0.1555 left_yaw=0.0531 left_pitch=-0.3513 left_roll=0.1143 left_gripper=0.9958 right_x=0.3273 right_y=0.1408 right_z=0.098 right_yaw=0.0701 right_pitch=-0.3464 right_roll=-0.2924 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -2.1402, 6.6256, 1.4383, -0.1392, -0.0611, -0.0122, 0.0068, -7.7333, 8.8137, 1.5311, 0.188, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.12, 0.9749, 0.8227, -0.8108, -0.1688, -0.0647, 0.9958, 0.8989, 1.2694, 0.9237, -0.5262, 0.6216, 0.4885, 0.9954]\nstate[eef_state]: left_x=0.2646 left_y=0.0016 left_z=0.1523 left_yaw=0.0546 left_pitch=-0.3712 left_roll=0.1178 left_gripper=0.9958 right_x=0.2831 right_y=0.1965 right_z=0.1741 right_yaw=0.1113 right_pitch=-0.086 right_roll=-0.0776 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.4137, 6.612, 1.4188, -0.1001, -0.0269, -0.0171, 0.1299, -5.9829, 8.7043, 1.5849, 0.5055, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b195c05c1cb3da0d8604b6cb15da662fbaad721cdb55aeb9ee509ec0a4c306ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80c210e5beb611287b423555b35a83e30d71db5da367e09f19152785ca8124d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39bacd9751537d9c344167b8bca0008f4f740291e8a3f008bb020859832e564c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1D8tkzj0snTBJSda30FROLAa4XjA6w6BbaRpyLizxgo43W1PydBkRpn8CyG1q18R4reON7huezpvqTBDeLsJpx-82O04zVg-fZPtVv6lpMNaotNjTmSjWA136dQ8yCctW9HndFrFVtACyHZNiugdROZzrVqoIg71nnxlhBmW0C_ljl7qnegrDdVhwBmFMr70r7tmUEo7reOpLDjI8o1u3_7vGnzTeDaS0GCQqJmaV5PR6zQ-VvEEE1jLbBuuXv1zd8nnG9-M47TmVT5ZVvN74-2o6N0Uwx6InD7dosksGdEZSDAsG9f5SGBnwEKZR4hhdws0kSv5f6-V386SHzHJxyLv1PFb2vi1eGnUFXgQAuAcDKXEr92sSwn2UUaGudwlgsw8Y7YrBHOgRg-lR9UJjN4q18BmNUIxY98a3UF41keL1vi9xbF1R2JUo3hRiKhH9xqB_tKmj5VPTT6Yq4Le33Gf5cPiviFYLC98zoRcIaeuncqrpNAxPcFDDtoNUnT_SrCZpt_MX6qCHw4KSd3hXSoMnUMP72VNl22RvzK1zX1rXaj2IzGx06MrZ2pwTQxwqpXnowAZClYEtt0EjMvM2ij9Q9kP2k1nxubwWy2QL_71W07bYP-qmeWbBJPHdjW51dBb7XxC4JEx2-b5Ysw12fJNQesPFO6rE1HQvA32cMRaGUvTZKgCm58CCKAUolz0nysllHhz_Jg5Udvlxo44A_KQ-PknYdJM600mSBOsK0HbyDPX-Lmi_dhf8y2XoYMt4WB6EHa1ZIkSFAF2gsFDVFlFzyk7gVkxK6pqjDJ95ZcEQxItN7xBPcKwx_C-iletdr8WahwxJc5ccwIAr28jWLB9r4jWksWPWdxXs2CRbEyorxG2nwSFrrZYMyi1EOAabH9cAExAxavyHkBaic1HnHZQyaunvY2nLGDtOYfW07LTqlbhEliJEWQHOnL08Ut2y4rDSDxyzSQqi2WsGWBA2BtDRWzxK34v2H4yoFUsolKZxMJ5PVgmkFAeWJbK52nOGEEYMei2w0XdZ2jf6kvbf19NQChUQLeduanCP9VAonuf6XiC1wrsE7a1e82sBov2r4b8RrulsDqkQj-aUbvRy8T7ar5rV2Pd-CogYMGP8nfkNU5f0JrDsDzr5GN20QIeXXmoHwrSPw4Bc1KRUgHOInbPuqUIP-e69J4p97ABr13O-HGcu1KZqyBJaqsT_TmwWe9VXuQbvPBbyutZXSDvAItJoEoiRl_dU05vnrRt57Ju2mur7kwRTtbBeupSKKU1OgTpZsynyO_cb-MR96CSd2z8v3_q_Qf4PJywUMawhKVMOeoRPtW5cddrCetKvyY5eA6RPEa8lLWlFeXEhafZ5z9xZUzUiTM59xDw1IEzXWEu5McGDTrcrqVWF9xVy6dM86z9OdnHVNcEbdQNjXfmPewgI_B1AQ5bvWcvpI9I98y-NbQtUBuXpFk-YdNC5H7hlDZM_hTilOG1y50bEB5Hn0jpOo4ugvfhmiHcH5fN_Jolp0aoCL4ZVlMQ1PMPbHRPSqF-BQ-hfo16GeL5sIcZHSJGNgNm30zt4lHOk-jkWxQNQB5qfbrscp5UhLXQxpD-dYPR_zlpTvCYMybkHJe_dzpPrVXC7iDpnWb_Wa2jHDzt4sAIa_J3016f68L8CCD4TPyRcai_TpKttF858PjVudyR-sGuTw4J-UYzlE2-OXVFc=",
  "id": "rs_07cb34427983476c016ab41d41615487d0aaabc82b1ff0fefe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.225,\"right_z\":0.075,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The right arm lifted free, and the brown object is still on the table just behind the fingertips. I’ll descend nearly vertically over its broad body with the wrist straightened.\"}",
  "call_id": "call_rGJzj7AhfMU6YAyqT7I9IFO8",
  "id": "fc_07cb34427983476c016ab41d4257f087d0b7b5cfa6dd6a6c46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rGJzj7AhfMU6YAyqT7I9IFO8",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.9787, 0.8227, -0.8173, -0.1688, -0.0647, 0.9958, 1.0294, 1.4387, 0.5915, -0.0792, 0.6899, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2635 left_y=0.0021 left_z=0.1505 left_yaw=0.0569 left_pitch=-0.3813 left_roll=0.1197 left_gripper=0.9958 right_x=0.2563 right_y=0.215 right_z=0.065 right_yaw=0.1392 right_pitch=-0.0788 right_roll=-0.0779 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -2.4137, 6.694, 1.3553, -0.1343, -0.0659, -0.0171, 0.335, -5.3402, 6.4205, 1.5995, 0.6276, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:635e13f113ddb54996dfdb02750cff71ccad069932c7b238e1e2ab7468021b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2adafe72878d5537512c3f94c654ee61759d71859d0b57c4ebc3ebf916173d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92eb2d447fcae3fcc97c868b4faad02ffce99bf5e32a369f1cddd567e816e4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.746 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]: [-0.12, 0.971, 0.8227, -0.7872, -0.1688, -0.0647, 0.9958, 0.643, 1.4899, 0.9291, -0.5152, 0.4931, 0.279, 0.9953]\nstate[eef_state]: left_x=0.2692 left_y=0.0011 left_z=0.1566 left_yaw=0.0529 left_pitch=-0.3441 left_roll=0.1127 left_gripper=0.9958 right_x=0.3242 right_y=0.1429 right_z=0.0972 right_yaw=0.0351 right_pitch=-0.3309 right_roll=-0.2783 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.3316, 6.6393, 1.4725, -0.1538, -0.0366, -0.0122, -0.1846, -7.6786, 9.3607, 1.5702, 0.2222, -0.0073, -0.0073]",
      "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]: [-0.12, 0.9749, 0.8227, -0.8108, -0.1688, -0.0647, 0.9958, 0.8989, 1.2694, 0.9237, -0.5262, 0.6216, 0.4885, 0.9954]\nstate[eef_state]: left_x=0.2646 left_y=0.0016 left_z=0.1523 left_yaw=0.0546 left_pitch=-0.3712 left_roll=0.1178 left_gripper=0.9958 right_x=0.2831 right_y=0.1965 right_z=0.1741 right_yaw=0.1113 right_pitch=-0.086 right_roll=-0.0776 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.4137, 6.612, 1.4188, -0.1001, -0.0269, -0.0171, 0.1299, -5.9829, 8.7043, 1.5849, 0.5055, 0.1294, -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 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.9787, 0.8227, -0.8173, -0.1688, -0.0647, 0.9958, 1.0294, 1.4387, 0.5915, -0.0792, 0.6899, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2635 left_y=0.0021 left_z=0.1505 left_yaw=0.0569 left_pitch=-0.3813 left_roll=0.1197 left_gripper=0.9958 right_x=0.2563 right_y=0.215 right_z=0.065 right_yaw=0.1392 right_pitch=-0.0788 right_roll=-0.0779 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -2.4137, 6.694, 1.3553, -0.1343, -0.0659, -0.0171, 0.335, -5.3402, 6.4205, 1.5995, 0.6276, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:635e13f113ddb54996dfdb02750cff71ccad069932c7b238e1e2ab7468021b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2adafe72878d5537512c3f94c654ee61759d71859d0b57c4ebc3ebf916173d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92eb2d447fcae3fcc97c868b4faad02ffce99bf5e32a369f1cddd567e816e4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1HPEws-oLLScCafTbyBfFYfWj9NrSstT-kRJ7eSV8u0UKeExHeAohWO9_i8sCS3NIPiBVKu1vlAN08x7fvdmFk1Jt884UX93w0KT1eGMN4SpZxpy2Ym7wRj-cfNIcvpN1pzPqvn34TgMm24GNt_wZgRdCY3ZrOXr-DWTVyKueipqjMrdb-KS0Ep9o6Y5r-a8l2izOrml-KsmLv2JLKSVY2U228eeEx7xYxHx-DNiuxfcdxxJ5Ztrcr5xGBG4W-TpAD773VTynN6GLM5A0A-kcniPsKxN2hGGO3XBUiSf5RFxY1TS5Rk5e1fyJpKmxGwiKMxbMuFjqyw5vWhtuE-v3WM0rCy1KIB8imBq1zq-WjhookkuNx-3eZU83MSGBTBS8k9SsuGufF_Vy-wal2TlKSSO0sraFcm7PbBiT_DBoUbHDZp2TK8qSyjzCLbXhDnItI7GEKfyth3GAHfdAMIQ_4JQy5y5bPpnj7flkET9Xg8fZVZ1HdXUzr-RSgsDu6iAu5Sh9DwWC8WTHPm2W9m4v1mpZKzFoEyrn8lyFH79sOWFQZJWWtA1h_aSOgubv0NQJZiqpcSNuvCiw9ZLhh46QvEhlz4rOgxW-kzwUvcvE48nmPMN6B1hliHZOWV-ox4StOU-QeBzwF00-JFX0A0GqJg4hJkLPURfLE27uNIMalQnOXfMIzUvhTlYCERbrYtfzcCPlohE1o1AAW1AOlmh5iyyS1Pp_xeDPDpUWUQnAgKggJk4C_iarFjAfIAEFsqx0_cfBU_NNkeewdLLEC2SNARIoeDoYzkomHbCWwmNRL3HMgl7yy3zzigiFiP5F9nwxe_teky7-0pNNKaINonCFlhz5BKC4n9HZC_9PsbOMLXeK0h_DY-02bfYaQOZI5JGU269FJrfRgf-_oXfhWgC4YM3p36KuvJtrYvec-krwwYTUpHOtMMMO5DjUX0bvdELsNAec2ufTIzDwvkK5b089ZzlBc3USdCHmO32sv71i1xOyas9Wr8HsaHJ_QWS9UcATrXzpU2CkgkUKf1AQ-4e5xdqT4GfZmwcKe8rrHG7-bfHlFmR_UJ-1Sroeg8jz2Y8OqXhSO8PWLI51v7xo4dBswBiYTdtZSQt6WJZnl-QyopCjT0sMCuXKZMcoXNcGqrNl8ovzc3ONfIxylgQGmvL5zTtj2RBvBqaC0DfnHGSPHMQ1UuElSFAfIpZKYHDn6NUlkGodVu8P50SpXOa51Qy6KjgOaaaOGgRSThMG_OKJwhbTQiBuH5qbeZUd-2oYJdh03T8xRdmc2OeaCql-g0nSpdFZK3GjehrvFb4Y9Sz_2Q1ukUO5Ntjeny_gB_JTGyEBx4NmHBmeQmRXBf0WcjlbaLqzpqnJ5wnhtITyellAW-tAL-iqtAZY-GTg0-BkRhYPq",
  "id": "rs_07cb34427983476c016ab41d461ab487d099fdbdc6bb55f05a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush now sits between the open jaws in the wrist view, with its furry body spanning the grasp line. I’ll close and check for a persistent opening.\"}",
  "call_id": "call_lS3G7Lh6ICdICdJEPfFdjowO",
  "id": "fc_07cb34427983476c016ab41d46a12887d0925315f8e5cd2905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lS3G7Lh6ICdICdJEPfFdjowO",
  "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]: [-0.1184, 0.9798, 0.8227, -0.82, -0.1688, -0.0643, 0.9958, 1.0328, 1.4563, 0.572, -0.0887, 0.6838, 0.58, 0.0091]\nstate[eef_state]: left_x=0.263 left_y=0.0022 left_z=0.1498 left_yaw=0.0569 left_pitch=-0.3851 left_roll=0.1207 left_gripper=0.9958 right_x=0.2506 right_y=0.2092 right_z=0.0518 right_yaw=0.146 right_pitch=-0.1123 right_roll=-0.1152 right_gripper=0.0091\nstate[joint_eff]: [-0.1026, -2.2496, 6.7761, 1.2723, -0.1636, -0.0611, -0.0171, -0.4581, -6.6256, 7.1453, 1.2967, 0.3394, 0.0415, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910e0862d3b1b0c28c535879c807655b68d3d67e1d7aec6fd26b012a067dc800",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c909600107294c0e4ecec5328e8a36c9a9afcb865bf083bc35ffc3eeb17ab7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b84d7bd77f7460885022265d918bdce7c4bfcad43c6d05153cf7fa5acddb74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 2.965 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]: [-0.12, 0.9714, 0.8227, -0.794, -0.1688, -0.0643, 0.9958, 0.6205, 1.4883, 0.9352, -0.514, 0.4656, 0.2161, 0.9954]\nstate[eef_state]: left_x=0.2678 left_y=0.0012 left_z=0.1555 left_yaw=0.0531 left_pitch=-0.3513 left_roll=0.1143 left_gripper=0.9958 right_x=0.3273 right_y=0.1408 right_z=0.098 right_yaw=0.0701 right_pitch=-0.3464 right_roll=-0.2924 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -2.1402, 6.6256, 1.4383, -0.1392, -0.0611, -0.0122, 0.0068, -7.7333, 8.8137, 1.5311, 0.188, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1184, 0.9787, 0.8227, -0.8173, -0.1688, -0.0647, 0.9958, 1.0294, 1.4387, 0.5915, -0.0792, 0.6899, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2635 left_y=0.0021 left_z=0.1505 left_yaw=0.0569 left_pitch=-0.3813 left_roll=0.1197 left_gripper=0.9958 right_x=0.2563 right_y=0.215 right_z=0.065 right_yaw=0.1392 right_pitch=-0.0788 right_roll=-0.0779 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -2.4137, 6.694, 1.3553, -0.1343, -0.0659, -0.0171, 0.335, -5.3402, 6.4205, 1.5995, 0.6276, 0.0806, -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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.9798, 0.8227, -0.82, -0.1688, -0.0643, 0.9958, 1.0328, 1.4563, 0.572, -0.0887, 0.6838, 0.58, 0.0091]\nstate[eef_state]: left_x=0.263 left_y=0.0022 left_z=0.1498 left_yaw=0.0569 left_pitch=-0.3851 left_roll=0.1207 left_gripper=0.9958 right_x=0.2506 right_y=0.2092 right_z=0.0518 right_yaw=0.146 right_pitch=-0.1123 right_roll=-0.1152 right_gripper=0.0091\nstate[joint_eff]: [-0.1026, -2.2496, 6.7761, 1.2723, -0.1636, -0.0611, -0.0171, -0.4581, -6.6256, 7.1453, 1.2967, 0.3394, 0.0415, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910e0862d3b1b0c28c535879c807655b68d3d67e1d7aec6fd26b012a067dc800",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c909600107294c0e4ecec5328e8a36c9a9afcb865bf083bc35ffc3eeb17ab7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b84d7bd77f7460885022265d918bdce7c4bfcad43c6d05153cf7fa5acddb74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1MKmB6zLJgTpsOTnvjTWiILzr_geDcbfjUViJaLZtSqTxNIvWoUly-Wbamj_HfPWvy4-Rvg9A5B0Y1Agas3pxiqFiJP2VAfmh_aUBkWK29BdkcEYNxSrWqesahZeUckRsrJqplTkMsVJgpa9XWidnPZ10h9TJAhhC3_9FaH3wZYvdxknLj4i0CtIDEDpgjAGoQ47Zb-PG7TPOatgUs_Yk1dYIPtsXvEbhoXpRNxYE7LM-pvdoIWQ-RSxqqlJqR2woCrv_itaE6jFMNKOT7QfRBSx-hGV9JT3NqC1GF33REAYZ1dukTY6QI-SjlbP29nKEJBKsZ3HJkOVPJ_bI9iNYvOcuW2eO7kNHh0qHJ8-x8p53oE4X0h5InCW0h4j_8kt2PfReDNpJMu0Hrg8wtAhLDl_2VAS6bSGk9f3FyBZLp4bvIaOIHSsHr2U6Q38nApA6nc40psbOotCDKBNNq5V8K-vn_ZTVCDLebQPysRGqYiD5zdRUwKaOhApWdkvZaBSLYd0fmivxaTGXmWRGImyGanALsWNKrCzuRQTBpfjQUNuQh_YEib7CoaSTOae1RrQlhLEh5-t3YYjKtFruYZuHQ1Mw8yiF4yYCRVwtS3PvxVXp4nV_jjPcE3XYn-pz2ZD6Lje7fS2FtoHhynPQx7GBwyG1-2W3U6K17NF5f1db730n_ossEN01MnnNsqwK3e0PFrsHCVlMNrrNH_nnYgSR7dHmsE0gJ2DuJ-6zGAvmtCfZE85ohmDSnPzkECcuMB8fdND7f8npZFIpqZftbdagk5QeU26hakS_V22e8EYcs-ewaSN0jkvQTS5lCRpP1QQlzu7QDAmW-qJad0AxNw5H4jY8i3nlT9Q_i74sZcN2epXbMT3PNhYIZrucBjbfcHPMSOwnaSevDU-Xn3GLgOj_77b8lWwUPJiNgilCIIAT0c7pFrk99sDCKwSDKh9C75dZntD3D61_5wOKZvTFenh3gGbq_dfQGocaAnciRDAfPpM7_7boUGH_grhoxFuFxnVw8w6l-I_NjZ284-eNtMAoQPcQH6HZS3D1fR8bY1D9o0Jkwdr71NhnqGMrW93axnGF5bpNnxvmKHCRFQikZZCRkBwYS5Gb_07mfxnm6NmdvttseHhZVl0dK2XrJknNGlrgLzc-Sh9uXQzcIYiMp_gq99-V4mjRbB0EAiHAmsdpVs98f9n_x-DRZJFhBK4xZZAuvpCJsaiPb_s-a2VK9UQoDd4JKSruw3O6aNgsmQL1K5d0lf1MNly90VB6AYG4ue2arzzVudxRDs_yyV64c-d1XnyPFZ9g-EG_U0heoCxbeD0xIF9W_hkeWddrBDcAHRfgeKcTsLn0RmbwzYnuKYwRPeUeMz8kOv8EWm2rTh9absyxtHNSajy1rMAcaEWWj65bilII5q5chiiaBBlxIm-CJ0Emn8BWluMahClMWWLhYG1z_Loh-bAlVQmf6sEzrsXm36ELQpiJrQV6KS-KOWlzaHa7g9mlK9Wt--lib6ixMPRZA5TOrJ75R4Y5PFD03j20vHw3A7Z_0-n_t4soy0B-5xUP862Jcymjx1OE55rBUlE2rEVd0r0DYhFW0EX91JlRuOBehU9x921lJ6c7UjNP1fQKu6TvlCze3gAhD5gfLnyiDImvF1q1s2IcXkHwBqhLa7YmG9K-gdP-ZnJz-NAQ-HyZxFfpKKHfGQanVCIINswvOtXNhOiO5KD9UI0-GCO3QYZTEwS3D6R41DCJDSQxzxBnplsIulVMC4FwcTuv1hkz-lCP4XoaX6cZt5rX-hcfKzTbnfSHy8vF1jKzuCSwFjjmXX29ZMv0VNS1k_TnHIF4aWaWhWSYwU5HG2vt0MTWz3kH1g96ksGNBvXXuWecYLhgFvWqiykuEo91is4-2zezRQGWbYnVV9S2Jsi6zG6aQHLqBzN8vHcVaMcZlNdcaRHOp26UNNesuqfqdQhWTtFf_6OsFNwe_M1rH3Xr8ZbAI7H16ZroI68F-66lR7dgKzK0z-1kHxQ77gOuJ-Ic__eA=",
  "id": "rs_07cb34427983476c016ab41d4983f887d080f474773ae0cba7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.29,\"right_y\":0.21,\"right_z\":0.075},\"note\":\"The jaws met below the brown plush rather than around it; the wrist view shows its body just ahead of the closed tips. I’ll reopen and advance about four centimeters at body height.\"}",
  "call_id": "call_jbDAkRNd53JowI6sxC6x7Lx3",
  "id": "fc_07cb34427983476c016ab41d4b541087d08c339673f00d3182",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jbDAkRNd53JowI6sxC6x7Lx3",
  "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]: [-0.1184, 0.9798, 0.8227, -0.8253, -0.1688, -0.0647, 0.9958, 0.907, 1.4712, 0.6483, -0.1181, 0.6052, 0.4587, 0.9948]\nstate[eef_state]: left_x=0.2619 left_y=0.0023 left_z=0.1491 left_yaw=0.0575 left_pitch=-0.3903 left_roll=0.1214 left_gripper=0.9958 right_x=0.2804 right_y=0.2012 right_z=0.062 right_yaw=0.1414 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.0171, 6.5709, 1.3016, -0.1587, -0.0464, -0.0171, -0.5128, -4.8889, 8.8137, 1.3944, 0.2466, -0.0562, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b0122b375264c582a98f98dc4bcaf93f7237d5f8e0432a46806d56b06baa88c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5582f6118a693603c270e9fbd701bd3689369bcc5f58c8f5192c4d8b2285bcd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0984c9879bbf99142e623a6c1073024be66e36822ecc95e5b385c552a4d63114",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 11.25 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]: [-0.12, 0.9749, 0.8227, -0.8108, -0.1688, -0.0647, 0.9958, 0.8989, 1.2694, 0.9237, -0.5262, 0.6216, 0.4885, 0.9954]\nstate[eef_state]: left_x=0.2646 left_y=0.0016 left_z=0.1523 left_yaw=0.0546 left_pitch=-0.3712 left_roll=0.1178 left_gripper=0.9958 right_x=0.2831 right_y=0.1965 right_z=0.1741 right_yaw=0.1113 right_pitch=-0.086 right_roll=-0.0776 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -2.4137, 6.612, 1.4188, -0.1001, -0.0269, -0.0171, 0.1299, -5.9829, 8.7043, 1.5849, 0.5055, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1184, 0.9798, 0.8227, -0.82, -0.1688, -0.0643, 0.9958, 1.0328, 1.4563, 0.572, -0.0887, 0.6838, 0.58, 0.0091]\nstate[eef_state]: left_x=0.263 left_y=0.0022 left_z=0.1498 left_yaw=0.0569 left_pitch=-0.3851 left_roll=0.1207 left_gripper=0.9958 right_x=0.2506 right_y=0.2092 right_z=0.0518 right_yaw=0.146 right_pitch=-0.1123 right_roll=-0.1152 right_gripper=0.0091\nstate[joint_eff]: [-0.1026, -2.2496, 6.7761, 1.2723, -0.1636, -0.0611, -0.0171, -0.4581, -6.6256, 7.1453, 1.2967, 0.3394, 0.0415, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1184, 0.9798, 0.8227, -0.8253, -0.1688, -0.0647, 0.9958, 0.907, 1.4712, 0.6483, -0.1181, 0.6052, 0.4587, 0.9948]\nstate[eef_state]: left_x=0.2619 left_y=0.0023 left_z=0.1491 left_yaw=0.0575 left_pitch=-0.3903 left_roll=0.1214 left_gripper=0.9958 right_x=0.2804 right_y=0.2012 right_z=0.062 right_yaw=0.1414 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.0171, 6.5709, 1.3016, -0.1587, -0.0464, -0.0171, -0.5128, -4.8889, 8.8137, 1.3944, 0.2466, -0.0562, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b0122b375264c582a98f98dc4bcaf93f7237d5f8e0432a46806d56b06baa88c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5582f6118a693603c270e9fbd701bd3689369bcc5f58c8f5192c4d8b2285bcd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0984c9879bbf99142e623a6c1073024be66e36822ecc95e5b385c552a4d63114",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1PNEZT-yO6tDbbAjZnZFzX1uJ8MERoOJLRmpg2GRnjJ7dNLsrP13HbnSgvRwzszYR5rV3VG1o3IcbuEdKxbdLhPbleHbfxNcQGDkyjMuL7OrgoMafkVpJelcoWQOM9bWsqGtszbNvh54jrPW0a0JDgepYDFIqrQuBfjmElESR432WlyliCjtC4DOe8IKC28c7ZfYtX2WNEfEjUrdluAHU0Ihc3h-PNq5xCL9mY5a9yCeo9ZsZW-L7Y010GQeMuAPDMERmi8huPJ-gCrF3dAo5u7XpsmG4Ghv31euCKKVC5RIkOuWSxsiX4rXvPec5o7qJwJpNA8lWETnCupqfsI_Sm9peEpRn0cB0NQoaZRO7U9_gV2LtWOTtI7rBYxNibal5MABawh3ZLTvG3CkMjXCgy67pPIvJPOHquc2s0minDxi9W6cn5lcDJV38aN8FzI5sO_UhunUToxBi779KDokBRQnd9AAuaRaFdSMg8iRMIH0BL_ki9CLrf7WPtUzxKAL5ZIKArv9RE8iGZNe0njcBlbUNCksc3U4XEdFXgXkZrj_BpRyGyxmM1pbc4rmhoOSOOvMHuMEdOsIAF6LDTrkFHp1JrF6H_sJZjupvtgum-l_C9_eiDK9IKVqFZtLjtI9Fi3IJ6qlWz_ddI5vPvYKDjJtnvteqZ8GlU_6kecfdgFsRmKYQeCLr7RUjSnQAZPiHHTPToiAu1BBBQcv0wWItpdl7IttNW1FFGNObssnDYfubdpcnfMZSWQfAir0yrGZtdVmXR2MWnLYxRTzpY7fjtGiM8Tvt5TFoBUqv064xbOfYh7gZU1An9XNhNq6pObeJrYlhcRL-4kSVjvX8mwSAhxbS86cjruiHb_mmawUMjsHc7w9ZkRvTIBL252MZi5I9F1DPhYbIy3mr6t_f9sTV1Ix7F8IAH2Oh7tYPsSpoY7d_5M_BH8j4kwefRq2WzaNp8QSmnQGlXXiTj40iVRJsgunSSFJvSJV1i4YUTyKkxCiRbUYQ8ewgLYNfsJCM80RLj2wzw7mg1jKcE3HUlgRToG70QHcpK1L1NjfMKG6KYJM1ubyS4K4bU45GKfGDXmu0hJ_P0yp-tz43f4rAagBYxJ3fxA3jrMgl7kv82BJkAvt9lGR1LY1U9qmkWZjYtM4V2yPyNhZ2SBVURpigI476UygvegMG697brx6bA0s3SzPnNTm2FNlyTNDLOd1-PK9mmYFNz67G78jx0ozKKxrhU5DNgSCR8U0yK381ZuJOTsiptXGIEQRzcI5Okn7kuJytePczsiVQBQz_O__tIPpLZxA==",
  "id": "rs_07cb34427983476c016ab41d4e60ec87d09a78d7d9201c4374",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush now overlaps the right jaw opening all the way down to the fingertips. I’ll close again and verify whether the fingers stop on its body.\"}",
  "call_id": "call_dq9THtIUtiwfP87L7P43ONn8",
  "id": "fc_07cb34427983476c016ab41d4f3c3c87d0b3b82deebd1e089e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dq9THtIUtiwfP87L7P43ONn8",
  "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]: [-0.1181, 0.9798, 0.8227, -0.8322, -0.1688, -0.0647, 0.9957, 0.9039, 1.4719, 0.6487, -0.1402, 0.601, 0.4484, 0.0088]\nstate[eef_state]: left_x=0.2605 left_y=0.0026 left_z=0.1482 left_yaw=0.0584 left_pitch=-0.3971 left_roll=0.1227 left_gripper=0.9957 right_x=0.2783 right_y=0.1979 right_z=0.0588 right_yaw=0.1444 right_pitch=-0.1655 right_roll=-0.1608 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.1538, 6.5709, 1.3016, -0.1294, -0.0659, -0.0171, 0.1573, -5.641, 5.7504, 1.4628, 0.2759, 0.1148, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d87242c4b31670c3e6b5b97dda9564f9b93b2386deeabc53ef4a360ab3a6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa1309a30787a535d1a24d54bbbe2dbf9a678019986303a0f86cbc3b7d5a7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed132ab7417f6f873722b21febfe7816f5d0cfe1fe631d47bb172202d1919edb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.14 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]: [-0.1184, 0.9787, 0.8227, -0.8173, -0.1688, -0.0647, 0.9958, 1.0294, 1.4387, 0.5915, -0.0792, 0.6899, 0.5854, 0.9954]\nstate[eef_state]: left_x=0.2635 left_y=0.0021 left_z=0.1505 left_yaw=0.0569 left_pitch=-0.3813 left_roll=0.1197 left_gripper=0.9958 right_x=0.2563 right_y=0.215 right_z=0.065 right_yaw=0.1392 right_pitch=-0.0788 right_roll=-0.0779 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -2.4137, 6.694, 1.3553, -0.1343, -0.0659, -0.0171, 0.335, -5.3402, 6.4205, 1.5995, 0.6276, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1184, 0.9798, 0.8227, -0.8253, -0.1688, -0.0647, 0.9958, 0.907, 1.4712, 0.6483, -0.1181, 0.6052, 0.4587, 0.9948]\nstate[eef_state]: left_x=0.2619 left_y=0.0023 left_z=0.1491 left_yaw=0.0575 left_pitch=-0.3903 left_roll=0.1214 left_gripper=0.9958 right_x=0.2804 right_y=0.2012 right_z=0.062 right_yaw=0.1414 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.0171, 6.5709, 1.3016, -0.1587, -0.0464, -0.0171, -0.5128, -4.8889, 8.8137, 1.3944, 0.2466, -0.0562, -0.188]\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]: [-0.1181, 0.9798, 0.8227, -0.8322, -0.1688, -0.0647, 0.9957, 0.9039, 1.4719, 0.6487, -0.1402, 0.601, 0.4484, 0.0088]\nstate[eef_state]: left_x=0.2605 left_y=0.0026 left_z=0.1482 left_yaw=0.0584 left_pitch=-0.3971 left_roll=0.1227 left_gripper=0.9957 right_x=0.2783 right_y=0.1979 right_z=0.0588 right_yaw=0.1444 right_pitch=-0.1655 right_roll=-0.1608 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.1538, 6.5709, 1.3016, -0.1294, -0.0659, -0.0171, 0.1573, -5.641, 5.7504, 1.4628, 0.2759, 0.1148, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d87242c4b31670c3e6b5b97dda9564f9b93b2386deeabc53ef4a360ab3a6ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa1309a30787a535d1a24d54bbbe2dbf9a678019986303a0f86cbc3b7d5a7e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed132ab7417f6f873722b21febfe7816f5d0cfe1fe631d47bb172202d1919edb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1c-ktUW5GxFJl3A6gcuLqXGwQZdKokU79441z-ynWMIGjifYLFS9AvBgznv2p_6EKnIIry_hIqiiGA_U2z6X3FCS8i5brVjl7av_a1Y4uY77U5Xhz_eaOAUIUyddb9d3ga_LbJz9Rmyo-DTUmGv7D73BWgD4oN_SFPuB78HaAV8Cdb3EzOVQDFn2GjlHiTyCZjQ6yvsirm8eRPtU6yTzMgwQmuhUMvxAZzzsMNYWe1gW2HxJnCtWh0ZHvSalbDg5v3CrqH2wQxOrWmJUvwrE29T2Xw48tN4ZTtW1XaHUlpONIF28Pw1AR1CF13f3qGtegyHoyiRcTdHVmA4SXHop9wINJ7TWNZAIuSJYEVmXII31Hz48iH-kRm8ODKTdvnWfOUME9V5IsDjvf_7oB9P7lWoMoODzN9hfhhE7aa97cgronaEUnz8gKISyy_zy4tGDca9J2WKLqq7vJt_sekowrscuMmTI5fcYjvIUOGTEqkldgaxJyV3CaJTe-mwLbr_NLjDjCnyVyB8D7_yrlznMZqy6Z_TMlDCyChq9z9swqBfYr-quJ9H_VyCw0V9edHdyOjk6qxKwmgLwo030WXZfdast85_0m6zaVyGTpx20y3AfWMHonaRdCPqLFWE9ubdEaexUWGufLUFYmZWIMCVx-lkYHRn8qkfzSKHmxwBWaZL7klCVvynVdJwS3Yxer7lkD1DPP2G1spnBPLeTNvY-jxgQkNg096QDqc7bC9M9emnonag7GfIutgCuqjSxDunfS8D6Cki0q2x03VzwMn5xsUnvdx8hFnv7OQAHJ7dIBcSEmcFc3To3aaGFeD-9JTGPsGqFBxOto1VSbUHyRKKWaGQlO7ZsgpX41bD0tozSFbtBw6jxqvAw_ZXWaemvxuth8SkOD6LxQ20-GSWJaqTFkPxcIuqIiVQNR0IL9LZAmJTjzXzpcZ-oMxl3OsJnp8PHHzNmLyD_-TmyYsm3bf4lpqPhPwhLpUvEjFAapBcNd_u2Ruk2FFFbUXQ6Twq-2JAOUjoD-xTB-z17xx40hEBpQ8ROY5hiX0Nb0LdANha_EUGZHkhmh7ApBERVINzKyq52-lBSoeuaAqy2d3XAicXHCmBePZx-lcg-Z-F86j_NKmVw6Sh3D8n1oelAXTGZ54sW3diAlFeYn-SnVH9Tt0OlJVsA-L5b2-0vmVvC3szqE-WeDwExhP9Hu6P9ZhymXV3XCbPc5RRYSPkP4XkjzlDa-ynA4WyN-yXwpQS1SGMXaFTeCOLyrSqw7AaxUTLr6qvr4_uFsLnH3GoUGpMv-EN7MIkt7f20wR7m3U2J-prO2PLqshxXlk3iHYJAFngBwuBW4oBVTJ8j_TfFvjH5zi7cLZbJbE6LynVAG0UCO447zwMMfCJStXlTjzQZYKPUBxSV-MF46FfjleD3nT8t6UkMAuatgasOufDkSTxQUYV9B4x7btavW-IkQS_l99eohf1Py2Rs3O5iwrUjwu9VdwwiAQEAvmR5lieESDQJh3YQUre1vDKjIxZHLPwG22CJcgad15kUjtFeZL-6aDfHSIQxEAq3duwDY2q7zq0Dz0DWfy2CtpJGzoncHlAbznwkHPyDi1SKNCWi49VdWDKEBJ8xdJC6qDP9YhIQcLU6MOtC1iX1JJuz5WVmB-mZpNUQjuIfIxGLjgbIBKLKq5nStO1buLEzCvCTMlWD4H08-IKfVQwXrTfb17-MeZNSlQMSN2gEtkGC6oy0Z3e3F5_XRwkKQ4NuB4HJJd1WoWGUgq_ujeZt9t3YOvqYv-hq7qLBxpKA20iCg3_ooEC07GS7BQfGgb3X4qdR5CzN4oQn9nJ9u--OxvNOOPZkBMc4pWh0iR8u-odP6kQGT4ALete8VjHJ6YAXcxYenOdZ5ce4HKLQZ18UJt1O9l3qhWD7BkN8HdqR98JUbjkpcxXyQXNq8eGZ_iNirB7aIwcFmbiKS822l-vVxjsfoRbufqx2xkjYQBDzk0W0M7S-lgWEuYLkKAANHvMzSK5Hp75mKVYOxsLn_avUhjxoWtHpqgyUap-kGsZGYgEhOZTb7fv2pR0k8KpjTiVNq7xBYmEuymhbO2xS1OhacfS4md1kSnx9gIh1t-dFVQvK5Ym0SuO5GIqeNsRPfWTuWpFpbiIV2caBJVwmJfR3lsu1YNfJvcc05h7_G3YIc1tPP7dwnPkno5-8zIO_J5FCBabzeecA1vvCiN7LA7FLAcw3QWPszPs_2lsP-7PsZZyeeT_Q27cwkGHbSV2r18gFhL5bbfWLlpjz92Wz7ySGkWLm8y4iGHDWWdtXKz25x6F6CgboPlnqFx82UOTuZQTkch5esEY8gVKWdPAGbiO8yTkqMwkNZV4aIbornQ6LnjQpM1FKNI99obCv1-6pEHMbK0d-4vdcluvtSQxa-NJvIGeSn2V29RFY2bZIAtp4F5MsB5RHvpYda0ekB6GwQmASGsMxbkaVKw0NOtaVTermQ1v64rGTgu4OIjnhdXhSI_4ccSivMjpRzTvAoD5f3KKZIZ99Ma3evdmOpDKMg_nISCItZLqqd-tmkcqyKkjV2XZEp_r1rbLcGh41bhCSMauJpCzyTjlElDMPZwcnEe9DJiY7QggbxDKcB3VqkAyIpYDl5Z6FOtw67WikT5OP_Ph1qDWP1QKbtzCarQTh4WofT_lKjCdoa9q0K7B7cusXLEbmDtvoqO5U50o4FC6FwgE3bRArJ7v-B0-GDM20ubYZWeT5TadPeauBATz6ZGawVL0UV6Nsa1kfsRjjnYgEHPtmu2u3CUUG32jvLlVBUhVkXXAd_uxsH3is_ZpTC-Zts78HSeKhI2gckT-rqVXmbwoIfWk51V_NHlwNN--xImhh4nUIh6tZmzQUJXWC_Dv2NuKXsAxS-1AEOYWiMYtzwuYSHU4a6DLthB0tJw91L_SgymvNVtbaaaxyRPa5vRPCZWNn8ip1PQNxmz0Iuwx1D0tBlnF9NVncRcnC1OtWJzh6FlifDALxtW1UYPZlgNxPtkGq9WUD-eu5P_BDdrO092CAz4fTDzk3aLPu_5xXrOdmxgmJRVW8z0pjJBAcLER5i2SegRUmp-7JXxbqgH45NDks9VdXOxMlHTGwqyUVv5YEodE0ROuPMHYSxvfgpMr11GpCz1UIqbgQoF1fyF0P68nssFcmnCeO1cKn08B0xTR7NtR-1a8M9h-zUlIrG_jpHpJP_UV2uSB1xhTc7OjMlfo-NNCjXA16gjZIyOeNo-nIx1DM1PREUxMGcS7VfEPIiTkxKLfbwC8T0p7zMzLKmpTtVZSIL337MUTy8ftn10dRjdif5k12ME_TlOl7DN-8NNQ3osIpb5NXpk6M9PqyIhJPRSTQk0TqEZkYiGIsYuNwpaRMgTTreIgorSU1mpdx6Fhl2vj8jNek0acUE6VxY9p8wnFoK0EJd91gLG10r-o-g8f-LUa4d6EgtqcP7w3TdiPFi3mXTBq89vjeTMM4XgMq_ycKHc5KRf6vh1afBygZVyvop4dbM8O0TAq9jsu-2mep7oEbQ0rOEAJbv_ALs6rQndfTRgN43xIdq8JPwzfFmKPI4wkixHJvHVJbnDp1uI5Z1frfDy_FN_6xdGbqAn3unM-Y_pUp8f9B94AnnkpHGweVFrBTPsXegeyPw6fK_53h6UQXQrDphSxomcMSnT39XXrCHAWkxjLl73LENQdcPORAzKNQ5u5nlkTVy_8fu64ktI-x1pb7JvHfrlBasQuG4obUJbwcVEUhiTxWq8DluuK_DaikCz-WERJxhAmNCP",
  "id": "rs_07cb34427983476c016ab41d537dcc87d08035dfd06e7daca3",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1c_W_3AWVOVXs8szRUTKbYRs-eQXRUzO2AYNs2p1JrfNTaGw7sCBnWqRmxqv34PLSewdxHK0fUokBEOFqfvu8qDlB6fatK9s5lVIrERqxdglGfVfPU2L-BI1imX30JRmCuOuqwTomUGWCTJTTY4y7e3VAsj4pflkPE1k18SdO6c8UiR-inojNcxFF85K7xuHZI9KpDzdpRkieT4Kk5yfUN9ws8_8RsFEee8U5LVRlP1AUTR8-6su03At1FjLij-24C7m8BmrRtdTfkZ7FISQzK3jRsGo0fq2jXIQ6tM6nsQB_Lb8ezaTz_ePzsU4v7UMStMwYP62cShpFRdl8cipNWEwNVonTV74HpOn95yK0J5uUffKEaKGpooASlcUhQvX4BWqTR_F2I4Ycag6EBKjgxvUhPUJQrH1fBQcgPC_wxEm8F_8m_SEAQBeM1UTBrbyxIWQcKYLoakyYLiVW-xQ9xUYK5HLrgI-QBHrPK7fUpP64s_zo6OW0kwgtZjfG4ngGnECpL9GfbvweXpM9dTGdezdd3U3-fXXpeOBgKjAqmn1lHfSBT9u_VcHPVHLjBtx1WESbAL0ZiQo_QIDzGeI3awjScNHQX3md5fiSsr3SdiZyxwR0jeUd_6chppvB8kzJXKkLZtPx5d05qlYjfBs_VFFdJKcjLXFdQy9rv6gW2wOsB0IMt3wq0FvjjAXgYxRx9EiC8cKRqv3HovHbmXetxOXV9RvqAPxOC80ezoxtsXDcntXCQy-7mPfeW1jzKrdwt2IGSNAr0xKyPp5-Lv68VSXGNaoAEXZ3LWWgq3MCWbSPw0cdOp6h1yQe3-J1Qpb6b18XSMyqvNYJSk4DA4T4_diFMWXEME2dbVVscXB5PXFlk1q0imK9GUOQcmcY9coJjtUfCkf_O8T6UjmmvF_GTGfHDHXYrAc6YfZp1z-AR5AEz94AAHImsTmVu1Ufg2OHKrrV0u_1HSgrxvYNZ82qmFt_MiFSE8xn5PxoaH434KLFQ9YSQB9PcPR4MAk06ArGR5swxl4xas2PnQuMii8VTRNbIKD8X7A1f3JqI7fSdGVLJW6Y2T7aRimq14_PhDecPR4H-AnQfwYQfkxbIPqy4PuhGwpfC0f7adudkIieKopL9GwgSWipYjDSCYJqbBIZn2Iapf_NXfM3GP-MmNkiw0wvPF3YHv6ahdbg_U1yOq7iHNohjaVuHaUjtKWbWIQfPD9gl4Jp-JB9tq3Eshscit75SEbhDNPrgY44kcQU2iKeWj8YJWDJNssRK8SFQUPC7ofFteRipMSrVMFD9t53mzBP9m9UQVxhWMJutyZdoW3eBHQw2SFtfu9bC5DpENQwuDkXRl132ML7-hC9FfLJmldQ04E6NlpZL6_HCyFOIPdcSK4FH5taeIL-szham6mPKLxDcAbS3oXq6xJQDBPhe0QdBEbw3OY2jUrVliS0fRMDD3gesC186sfE4Q44aPDehAciry3mZHhkkjUnYvZLvYOZYlr2s3eUP4oozKJQOu64jT956xTAyVOL8sx5LrvJnMkUUFxZ-t1FNj8Fu1mCc7w==",
  "id": "rs_07cb34427983476c016ab41d59a90087d081dea221bd801820",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.33,\"right_y\":0.2,\"right_z\":0.08},\"note\":\"The second close also missed; the overhead view shows the right fingertips still at the plush’s near edge. I’ll reopen, advance to its center, and keep the jaws slightly raised so they do not scrape it forward.\"}",
  "call_id": "call_j5SYZe9X4oFHNBm0VAAMY35s",
  "id": "fc_07cb34427983476c016ab41d5ac5a087d0bc1e28af15ec5a13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j5SYZe9X4oFHNBm0VAAMY35s",
  "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]: [-0.1173, 0.9817, 0.8227, -0.8398, -0.1688, -0.0647, 0.9958, 0.7712, 1.5444, 0.7799, -0.1692, 0.5148, 0.3241, 0.9945]\nstate[eef_state]: left_x=0.259 left_y=0.003 left_z=0.1467 left_yaw=0.0599 left_pitch=-0.4065 left_roll=0.1246 left_gripper=0.9958 right_x=0.3196 right_y=0.1943 right_z=0.0699 right_yaw=0.1446 right_pitch=-0.1987 right_roll=-0.1776 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -2.0444, 6.6256, 1.2967, -0.1587, -0.0317, -0.0073, -0.4718, -5.6547, 8.1846, 1.4725, 0.2808, 0.0122, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32616a9c6a29596e8e5ceea2d5f7da04bf3b24d6a70f5a851372f0762d416d27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bf7a3bde2f76335b28b76b43ac1d1579928ac9e8a44779317d9c25392d8725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c1b2cc1a5cf823c55f878b2bda1860d904ca4dd4dd4e33e4258818e2fbc5d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 5.098 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 115 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]: [-0.1184, 0.9798, 0.8227, -0.82, -0.1688, -0.0643, 0.9958, 1.0328, 1.4563, 0.572, -0.0887, 0.6838, 0.58, 0.0091]\nstate[eef_state]: left_x=0.263 left_y=0.0022 left_z=0.1498 left_yaw=0.0569 left_pitch=-0.3851 left_roll=0.1207 left_gripper=0.9958 right_x=0.2506 right_y=0.2092 right_z=0.0518 right_yaw=0.146 right_pitch=-0.1123 right_roll=-0.1152 right_gripper=0.0091\nstate[joint_eff]: [-0.1026, -2.2496, 6.7761, 1.2723, -0.1636, -0.0611, -0.0171, -0.4581, -6.6256, 7.1453, 1.2967, 0.3394, 0.0415, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1181, 0.9798, 0.8227, -0.8322, -0.1688, -0.0647, 0.9957, 0.9039, 1.4719, 0.6487, -0.1402, 0.601, 0.4484, 0.0088]\nstate[eef_state]: left_x=0.2605 left_y=0.0026 left_z=0.1482 left_yaw=0.0584 left_pitch=-0.3971 left_roll=0.1227 left_gripper=0.9957 right_x=0.2783 right_y=0.1979 right_z=0.0588 right_yaw=0.1444 right_pitch=-0.1655 right_roll=-0.1608 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.1538, 6.5709, 1.3016, -0.1294, -0.0659, -0.0171, 0.1573, -5.641, 5.7504, 1.4628, 0.2759, 0.1148, 0.6862]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9817, 0.8227, -0.8398, -0.1688, -0.0647, 0.9958, 0.7712, 1.5444, 0.7799, -0.1692, 0.5148, 0.3241, 0.9945]\nstate[eef_state]: left_x=0.259 left_y=0.003 left_z=0.1467 left_yaw=0.0599 left_pitch=-0.4065 left_roll=0.1246 left_gripper=0.9958 right_x=0.3196 right_y=0.1943 right_z=0.0699 right_yaw=0.1446 right_pitch=-0.1987 right_roll=-0.1776 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -2.0444, 6.6256, 1.2967, -0.1587, -0.0317, -0.0073, -0.4718, -5.6547, 8.1846, 1.4725, 0.2808, 0.0122, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32616a9c6a29596e8e5ceea2d5f7da04bf3b24d6a70f5a851372f0762d416d27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22bf7a3bde2f76335b28b76b43ac1d1579928ac9e8a44779317d9c25392d8725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2c1b2cc1a5cf823c55f878b2bda1860d904ca4dd4dd4e33e4258818e2fbc5d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1ge0m9mizExr1_eG-EFc14f66hCAzz653bCziVNRB_-Hn6fvS9Mlb3hmvcHhEYkWrOSbVvsvZBWnXfRSIuLku428fyE470dmuMGxO1OOW1UUps_TXw7pmEyqiaPtE2eGdzaVaXRdXTScAvH2v47gxIzttQqu7Umdpk7ThKPAsz2z-ysCqBzwFVDMYuSSJmym5ESIdmmbNO946nqTewv35adCQktGEtuzJhuKKyueftiMKr-Ymm0W6bKaBnSP2cypH3zERX-99N1mZJVUs6zIcJKIf_lJuZ746ffltMS690KFz3L9xyb7VZLLvpS3L8Uclsv-nsyxrPP6pN6HtOEQQT7HWXoPwQmjicTPpd9uGWYcyCbOCCyTtWzKnzdN8TPpOaT4j3Z0zZ-bcIhCDbd02ntGCqXKZolbHXhDJ_-6wyspgXHuNPTj1oVxQtoAd41e3Yjq6MBKFsCXMaBLfrxlAzkwZVafcPmRPiDSuqrcssJW_ZB56XhHRv7mQPWDeADpa34auVgMIzo9P0SQCYMIICy6CmzAuoOO_L3o4nvlW8rldH0yXI2_wULyRNcEMh46KgajGgMha3b-29tn-ULLU5WkHgsvm-INwHVlp5C3fnF-sYFNJVeLNAISgi6DwdfTGz3hRDB2rRu4SwjgG6lCYLhUl8JfckqU4YwoLzffs-FUOpjZ-LH8Cv0CxC2tDOmmEm72l_9BUsahi-FNoif8QfGwuJF9Bez4ynzstDzD1fOHMIM8sYxUyf4MqTgdPkF-xs124xlENCUtvNNoLXNYZlktwDGqlBa_mi8a-9rWfpjL6hbEVzS7CHddLl0Gs3BFXx_Drzuiy8a_FSXu4oa-Dqy0m7JCpyBFr5v-0vgK-BCNtmyfS9dbmDsyFmsGOu2Ko2bhIFkE648OsBBFjwKlpbK9sbN7U4J8U6r-uET5rHXj3xPRs9ks7sS3jjQVNYTWnpVjShhcJNgq9ivC5yE7ielkhWPAVwHqegXxHVWFZMtZ_zoapMZbZF9Lil6fxZkSJurjXcxvDCN2WhPvYhxa98rCcOrPpfZYUixhOXgQsFGGoKhqphHQUQPXozwsVCA4_uY_SNr8Upfbk4KRbbNlltqL9-tDZI8c7eIrdgW6S4--z3gRDiTMwOV_L7tSOLis4Ayfi3MXxcM2rVCeLuU1pPW8F5jgFpfGooCznTwmi6ZV__2WCuFUBw6TF_DDFewqTYoN4az7z75ie-wkXlEBua1-c3vby7cpY76wgpbdtAgMhynJ8WvSuklR4Hbd2xV63b3t4TBShMa98VQDw254zudB-P_SZJbjCX18KR-xBUHqfg2ii9AXLVeA-1NQWjs0I9MnhWFE6mJnLf2nYlVUcB6B5LR54jTABPrcuBAUGf2ew=",
  "id": "rs_07cb34427983476c016ab41d5edff487d09acd7ee04196d339",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s thick torso is now directly between the right fingertips rather than beyond their tips. I’ll close at this higher point to try to capture the torso.\"}",
  "call_id": "call_umXYhX8OpFiL9A9RnFsg9Gbg",
  "id": "fc_07cb34427983476c016ab41d5f62ac87d0981e46bcd538f5dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_umXYhX8OpFiL9A9RnFsg9Gbg",
  "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]: [-0.1173, 0.9817, 0.8227, -0.8467, -0.1688, -0.0647, 0.9958, 0.767, 1.5494, 0.7799, -0.1871, 0.5068, 0.3172, 0.008]\nstate[eef_state]: left_x=0.2576 left_y=0.0031 left_z=0.1458 left_yaw=0.0604 left_pitch=-0.4133 left_roll=0.1259 left_gripper=0.9958 right_x=0.3173 right_y=0.1917 right_z=0.0652 right_yaw=0.1472 right_pitch=-0.2218 right_roll=-0.1908 right_gripper=0.008\nstate[joint_eff]: [-0.0752, -2.1265, 6.735, 1.3162, -0.149, -0.0513, -0.0171, 0.1709, -6.8991, 5.9419, 1.4286, 0.2613, 0.0317, 0.6227]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd5926e5de105084c266e442d1d15a4bb48a17254128a6400f3dc721ef8882b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e47e33d35a71b34eec1bf0aa6a7ae8e2ac79788521643fa1261fc50823473f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da502d38750ed8e0ed73ff96499db78c1bc4c8906cdf360b392fc8ef33f62aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.943 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 115 changed as sent

message 119 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]: [-0.1184, 0.9798, 0.8227, -0.8253, -0.1688, -0.0647, 0.9958, 0.907, 1.4712, 0.6483, -0.1181, 0.6052, 0.4587, 0.9948]\nstate[eef_state]: left_x=0.2619 left_y=0.0023 left_z=0.1491 left_yaw=0.0575 left_pitch=-0.3903 left_roll=0.1214 left_gripper=0.9958 right_x=0.2804 right_y=0.2012 right_z=0.062 right_yaw=0.1414 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -2.0171, 6.5709, 1.3016, -0.1587, -0.0464, -0.0171, -0.5128, -4.8889, 8.8137, 1.3944, 0.2466, -0.0562, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9817, 0.8227, -0.8398, -0.1688, -0.0647, 0.9958, 0.7712, 1.5444, 0.7799, -0.1692, 0.5148, 0.3241, 0.9945]\nstate[eef_state]: left_x=0.259 left_y=0.003 left_z=0.1467 left_yaw=0.0599 left_pitch=-0.4065 left_roll=0.1246 left_gripper=0.9958 right_x=0.3196 right_y=0.1943 right_z=0.0699 right_yaw=0.1446 right_pitch=-0.1987 right_roll=-0.1776 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -2.0444, 6.6256, 1.2967, -0.1587, -0.0317, -0.0073, -0.4718, -5.6547, 8.1846, 1.4725, 0.2808, 0.0122, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9817, 0.8227, -0.8467, -0.1688, -0.0647, 0.9958, 0.767, 1.5494, 0.7799, -0.1871, 0.5068, 0.3172, 0.008]\nstate[eef_state]: left_x=0.2576 left_y=0.0031 left_z=0.1458 left_yaw=0.0604 left_pitch=-0.4133 left_roll=0.1259 left_gripper=0.9958 right_x=0.3173 right_y=0.1917 right_z=0.0652 right_yaw=0.1472 right_pitch=-0.2218 right_roll=-0.1908 right_gripper=0.008\nstate[joint_eff]: [-0.0752, -2.1265, 6.735, 1.3162, -0.149, -0.0513, -0.0171, 0.1709, -6.8991, 5.9419, 1.4286, 0.2613, 0.0317, 0.6227]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecd5926e5de105084c266e442d1d15a4bb48a17254128a6400f3dc721ef8882b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e47e33d35a71b34eec1bf0aa6a7ae8e2ac79788521643fa1261fc50823473f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0da502d38750ed8e0ed73ff96499db78c1bc4c8906cdf360b392fc8ef33f62aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1mGA7bzjfooURM3KveHeX2T9vYU9XzpQh59Fzi8kSq_EWajZ8hSJFJF7erUA4yczn0chie_c4EpKUPZdFL7TQdeExEl8fcDVbh6-I9EAE-aYxboif4OTozHIufi4Md8OCydkCJodyCg5rJVHO4B6MzFKCb1O0agN8da0cqAP4o4G_KH_OrwL9CZVQU3PZNlhGRW0XUAmrqUNHRdVHXv5TKm8_6qJA1AV6tIzlqCdNq1d4PkdOHnFXXWHrBaJ9f3Q5KLZUUonv8OKgoHukUrBLVnHGVlDN6xt93xLQPHZ8xp1ZM52119hMS_mR6sVWPkFwD7wyyXyn7f2HfU8c6LP2HRIS-tJxkmXccQDtlhNXiAuRxzPlDehnVjHm90iVpemf-HAYCt-ElmuDO958tyuD_vCo6ZJiLrcTTE_DX_LIYJAR134rOYZrgnWCl5uNXeI2HVSwBzA_vCWQXHGtGZdGFDAyEabShnpZxHRA--F8uGl4ANR414Dh2OruXgmPX79Mrm8ap0yA1oQQjxldysbGkV7oPs6w-pR6s52Trm7psXixfayCdUgBaY34pQNm2JaQopc7WFiH9b2Adpl-cA_ZRdPkla3H27wHxKpfMklNY6r5xk_7K8JVWKdtwsUyPJVbVvpFSvv9EL9CbYJAXd4nr1GqEkm4sQRClGQJfrVF0x9U98nyTjlsLv2FMfh9j04tNVtq0yXmUDqFSQslmaV3dCo-gD1U9-jY6orEA-IX59lsCsShKytt3vgxzR2617Jh_aBKWQO4La1YUCoLbl8H98DIrG-M1UKlKYJsumv-4t639u31s9SeFH7e4HNJ9iGReuztB9gxkYgO6Yr_Uw5zcc93g0hirAB8e2nE9V8nbTf-YDiZmIWBeldCSc7d9bBtc-GTiVfxSwqHD_-pREU6PwH016tv52SRrOMd5GcrOCVbvPLFqsIW59GQKzSnuXEKx3gYxcsdRkieQEvng_mWdiQ3CNYQANXSwjwrgRPbGmT-Yr0-fIqLeGw_3xhqwehnrIKn4aLU2PudmWJDd_J3qytv4qq1qWcxwqO3w5hUoT9tZLxiJ0keLEBO7MB5a66cwHR8bMjySaJ3-BiD27ordOW4Kb9o7wTmy3VtiJglrOGt0djVP5tKy2jxlyxgYccL-FYKWT08GgXjEsEnorLRojU_V5BVHAfkEcUF6-0ifaOD3eLuIXdd13wNM13et3YkZQryx5ge4zwz_XAOb6ugn8tDuDOrGlwM2DyE3nwwwxlULxDYJ-8ud-DRHGIhTHwOfpZOwi7SzKvQB7oB8Avb0lVGPPF56THb242wy3m5yXzNjFlpERRx5YUMJRRwboHBjQGZ3nmau0HEAZge-9dpUB0o0MzMS6N-xNiIJBy_2GWi2-29hJfF7pBn_-pW5sGoCR30cGy8QdVn9YCbSObWY2wfYkDPp4u5L1f9v-hCrQ_laDibqLnx9k0lN54UKos_pwxOXBpCetbUNi22a-rijPqplIl0OCtk7ehbpCm_nHdsRm2DKHgZs1NXtheodFQk7qtt7-0kDnE0WOXSg0TX6GSXRKuH1Ycx9zvlRa-oU1lFxzh6-8AV3bo0HZ6PnQ0UtR7iGDarWKHnlUoM3nxb6sbT2EcVzEi7IimyIqkKBGzZjeeUOjH5AwjcNaTPbs9FbMvsjfQZaO77z8dbiHiPehThSCL8mNkA4EKbi9NJuKDMNgy6aWhxLj-bHHH42iMG2fwwO5rKfQc6_vB2UA5RYyE87Ynj5UF3yj9eV1uvl4SdOlryTNpNNyuBauEd6RVe7kzstdWHbBrtT44sATrRLGA3ZntUf0ek0NjGXZ_EghEVaP75SIgc9M8DhxSXFX3h7XyJW4sNbn5bNuDNKWSFKgF32bBUlmLUmGHsRJ81qiGoncvGmQI-wSQVHsEbLwbR8s9lKTmwg05Qk8pn7jCWmiWCMUvH9Iz1kN6V4VfU9knobqfaZxIxD5OIpIuAgRFV0P8-CpNfZk_WRFu76whGB1VMGKGbffcGy5Rd1fGWd5_emqz5Bl0pH5VygpBo0tGVK3LS7gc2jWNI-GkpU6hUeFpGd-ELGuX734xjvDujdUsW9xJM3b9p-PbANxpOWVPkKZmtZ9SA3KHpd42pnnTY4hSMFC5WWo3h2KRr2enTvt-h8v4Qnf0KjseDibYalbmM8yraTdNcrSLaEE5q2P8MnvD8nlOIfPu4gbuW_hVuohKdjw2Zg5I6gOVrn1NwgynRwx6TdAjSk91eK3KbCI34STvkZv6ZQr2gL5XgZsMNzDdk22QMrG_bisBSNTpC_Dp3IISKtSkBTEKn-QPyWcGXmwUQt4DQmdxaABPIi4WvHDZ7xspR29N-tWGht9_KRlzz-TjvCeTv4OPaxuWud1lQauiWq8pHSN4OrjyeiqvDruLcPfuyEkoYwFo4dlygpoVOyF3zGt6_9m_-Fh6KtqG62CCK7iLYBcG_P-P8bUl8abS56DZ0Drt3WwjIJ3N9sEigf3QJ1jBftaAailPm42WYCtSEY6lxY9Hy9i9JK13GwWkTAcuevCmXyNUfU7zmDXrWC43t17ATRdB_kKWGlUnneb6Ovnb1INKthch2Z7LAzNqGX_UOUfexJYuzXTtKOp5Wzd-KBIK8natCqHPvVOpn3tBjIkUCUBM-HlzBp1Ievb3senTdtlwwmsQkX26U7WYMH_QNu0f-SK4ESD5-eb9nV771sT7qPlJL3s6Ue555nu9wBXT9OeZMb80MJugbxlsi6KRHvj5bmCkUq9AulXQjkQatXb0m4prKAQddmxOBUu1XP4IfrEax6u7TZRBl-Yhht9ca0VHtQRkA0QkObnHy11JN7lvt7522H_KJ4v-ltShI7gQJPSyjbzu2rtR4cJjJxZdxf9BeZSQYYIo00qU7z1xMc0Cqfp6NYhG25THsU1PY3EF8OMfm7X7C6ClAyX5zd",
  "id": "rs_07cb34427983476c016ab41d623ff487d09697ec4c5d205bc4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.19,\"right_z\":0.105,\"right_gripper\":1},\"note\":\"The close still brought the jaws together without gripping; the wrist view shows the plush just beyond the actual jaw contact point. I’ll lift, open, and move forward over its shoulder for one last grasp attempt.\"}",
  "call_id": "call_F2NZX0nwRMSiEmUsn3we5zlM",
  "id": "fc_07cb34427983476c016ab41d6552c087d08cd3e41e579da22e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F2NZX0nwRMSiEmUsn3we5zlM",
  "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]: [-0.1173, 0.9825, 0.8227, -0.8539, -0.1688, -0.0643, 0.9957, 0.6613, 1.5864, 0.9588, -0.3248, 0.4427, 0.2165, 0.9945]\nstate[eef_state]: left_x=0.2562 left_y=0.0033 left_z=0.1447 left_yaw=0.0608 left_pitch=-0.4212 left_roll=0.1277 left_gripper=0.9957 right_x=0.3527 right_y=0.1831 right_z=0.0937 right_yaw=0.1462 right_pitch=-0.2573 right_roll=-0.2136 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.1812, 6.5846, 1.2918, -0.1294, -0.0171, -0.0171, -0.4444, -5.8872, 9.3607, 1.4432, 0.1441, 0.0855, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55dd1a6bf90b9e7a74699c0407cbf4604f2b76dab6ae99788fd5bc9f529d0928",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3647648b6c5f6c4db8cff99df9022a5e87faf091975e4f7c75168482aa613be6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc3f5adad0ee7e26de010f2f8b8070404a9443cd05674cf5c14a56b070d9481",
      "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 · 2.209 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 119 changed as sent

message 123 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]: [-0.1181, 0.9798, 0.8227, -0.8322, -0.1688, -0.0647, 0.9957, 0.9039, 1.4719, 0.6487, -0.1402, 0.601, 0.4484, 0.0088]\nstate[eef_state]: left_x=0.2605 left_y=0.0026 left_z=0.1482 left_yaw=0.0584 left_pitch=-0.3971 left_roll=0.1227 left_gripper=0.9957 right_x=0.2783 right_y=0.1979 right_z=0.0588 right_yaw=0.1444 right_pitch=-0.1655 right_roll=-0.1608 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -2.1538, 6.5709, 1.3016, -0.1294, -0.0659, -0.0171, 0.1573, -5.641, 5.7504, 1.4628, 0.2759, 0.1148, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9817, 0.8227, -0.8467, -0.1688, -0.0647, 0.9958, 0.767, 1.5494, 0.7799, -0.1871, 0.5068, 0.3172, 0.008]\nstate[eef_state]: left_x=0.2576 left_y=0.0031 left_z=0.1458 left_yaw=0.0604 left_pitch=-0.4133 left_roll=0.1259 left_gripper=0.9958 right_x=0.3173 right_y=0.1917 right_z=0.0652 right_yaw=0.1472 right_pitch=-0.2218 right_roll=-0.1908 right_gripper=0.008\nstate[joint_eff]: [-0.0752, -2.1265, 6.735, 1.3162, -0.149, -0.0513, -0.0171, 0.1709, -6.8991, 5.9419, 1.4286, 0.2613, 0.0317, 0.6227]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9825, 0.8227, -0.8539, -0.1688, -0.0643, 0.9957, 0.6613, 1.5864, 0.9588, -0.3248, 0.4427, 0.2165, 0.9945]\nstate[eef_state]: left_x=0.2562 left_y=0.0033 left_z=0.1447 left_yaw=0.0608 left_pitch=-0.4212 left_roll=0.1277 left_gripper=0.9957 right_x=0.3527 right_y=0.1831 right_z=0.0937 right_yaw=0.1462 right_pitch=-0.2573 right_roll=-0.2136 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.1812, 6.5846, 1.2918, -0.1294, -0.0171, -0.0171, -0.4444, -5.8872, 9.3607, 1.4432, 0.1441, 0.0855, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55dd1a6bf90b9e7a74699c0407cbf4604f2b76dab6ae99788fd5bc9f529d0928",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3647648b6c5f6c4db8cff99df9022a5e87faf091975e4f7c75168482aa613be6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc3f5adad0ee7e26de010f2f8b8070404a9443cd05674cf5c14a56b070d9481",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1qAW57aBeB-O2EuAoFqupCDeIRt1anlxtE6irF0eO6-glgWRjufGP4uHm1NEb3AAXGjHR8sMF00zZvUd5XLNGD6rHLH9hl17G2VisIALdOC32V9MBnoV0m7qIiXWTHpGNL-4cQAolNk0DusAQ4uUJXucT7-HRtGWr6vCKx5I21qhDAQ6YfjfqYUt2dn92bJFwa056uIxwHQD6Wgc8e_rq58gEo3lxvOEnlFj_Y53nkKZDJ50UoaMwG6Btvu8XccGFC6EigxJFPqo4jg4jaam83LVjIF-fOV0naIbXfXwxuQ-Td0b7_MU_q58JzDJfm7sE8rpg3CfU5zTlu1KOzSDFHBkCWSoHSibSyPGr6OuB2AwR0FeIzqc-xoir1U6yUBG-dLcjrXxwb6NZ5vL68ZaZ8cv46bDF04HfxJsT9Vr9pSzAMdi5BpcHIfzRwaf_iVvN8p8d-snDb_pPRFHf4EbRtrz_nRSs35-4Goi5SJcaMMGOwJzleTFPrxe9K1k-XScjTfK398tG55BoPxgPKkFdyqiRLQSdhq4XG_h8MYeNEXyoBZ0GQbi_kbDilIXu5NpHlAC8Gks3x-7jFRx0OvyHlVatVYTaDSzO6zHDIlFYqEW153vhG9FwsV0190fTaeDspJAYBCBwfk3_eDqXQt-9fJ3p2s0qzDOzCJh8Jo8R3YGveIhc3wurzpOKUB70EJUFvwzzEUBmmL1muyI8nDR7RCxXfC4DYV3GT-ig34V9_HayRBRZg5zatwwZ3MqFT-kbT7nnfgaAVvsiukUcTNYiWD51FfcKZyu86I4ghiJVeovPwwgiq42qbXqqgfsyTLfIJ-t7SCXt91YtQMDgBnv0y2zYmz0I-G-pEmlA76qmF38y6K6HpUzDjYk4GdNbqfgCjcP_b3hxAUinUypxij9TTojjNz9mMfZJd6GPyJe1AxKtivBzwja7h8LDx3HZJwu0Mgpi7W4ZvbiJ2SkEy0428BpAokaLakwhD5pXWjBN9F7mHk-sLlKKhyjvOgV6oO9qa3PJc5aywh8onqaH33C51wOMW9Jg4XD2CefDu_4PvdP0jQSiDawbn54Wei5B6NrwPiMSeZxpMN1r9vk8ZkvT2EaBkCwlgckacGTTYGUUykC8xTGwvLZrLhj5FBb_y1-3hIiDyUR-h1wnUxLKVoMaSgpIr5_GHcqBYwsuV3nIjGD8qGcvOp8KyTs7dDU47kWty3EMLcB-DYCylRdTqgo8SI1bwy_gs-EC-IC6kqHdXB-EuuKIz0OF2nB-OukaNQfmoMbjyHhI6F5qZTLakevnPiXQocxCOneHwfT9nhAKp4sJtf8e4oYbjns9pYQwhW9NxAcBFDC_pkPvpg5fOFRRzApvZZ749MKBZKysICRKFjsOq5OrW47w49vEIjjKn0ePwyCDCba0IBW-YuRp6-WU-CEdhOAs3Jryw7SvOkn5zBfNhiQB3CjyJjb5_GVOjl95YKZhvTdDMWH6rA-3l-x0b9E42dzfoWlbzcxqXvohevS8qno2u7vJCUhsGX6EK75lPvlaCgQXIA9uLNInVw-LjunQzj19ms0T04slsyUKwXcm2v6_-QWyuh3XLSMkRdk5Xs6wYsXemxsv0F1QqL6kaz2D165KoHU1t76D2vhAFBgO7KtjI9iBYte1Tm-JVNMR0-ksQweTjUXRxg3ZnPgoBg7tOM5e4cVCyN8kAzDgmHsq8xkb6d9DJpgrHg88-GrzqCP1AWdzHiYkrxe3tiFcxwu6AxPeXO1JQbN_5xLlqNJo=",
  "id": "rs_07cb34427983476c016ab41d68c10487d0847bddc32bebd5e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.155,\"right_z\":0.065,\"right_x\":0.355},\"note\":\"The plush’s head is now ahead of the right jaws but slightly off to their right in the wrist view. I’ll make a small sideways alignment and descend onto its head and shoulders.\"}",
  "call_id": "call_kxEtEop7oVcGfJPGFOC6pn3e",
  "id": "fc_07cb34427983476c016ab41d69f4e887d0af56242ed290c797",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kxEtEop7oVcGfJPGFOC6pn3e",
  "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]: [-0.1173, 0.9829, 0.8227, -0.8543, -0.1688, -0.0643, 0.9957, 0.59, 1.5856, 0.833, -0.2375, 0.4026, 0.1703, 0.9953]\nstate[eef_state]: left_x=0.2561 left_y=0.0033 left_z=0.1446 left_yaw=0.0609 left_pitch=-0.4219 left_roll=0.1278 left_gripper=0.9957 right_x=0.3451 right_y=0.152 right_z=0.0579 right_yaw=0.1269 right_pitch=-0.3117 right_roll=-0.2327 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5385, 6.6803, 1.2234, -0.1392, -0.0269, -0.0073, -0.0342, -6.9949, 7.7333, 2.0, 0.1587, -0.0708, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c595b8c04e137d660df0336c25fdf39145ac02b94a0ac4870a6fc1cccbfc3fdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369c843e2a20c436fea671159c33701cf5943fa5df391043a0a8818595237c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b596dd8f585fc21cee0059933e74e98eb4dd178cb37a4f9c3f320247305c54c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 4.792 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9817, 0.8227, -0.8398, -0.1688, -0.0647, 0.9958, 0.7712, 1.5444, 0.7799, -0.1692, 0.5148, 0.3241, 0.9945]\nstate[eef_state]: left_x=0.259 left_y=0.003 left_z=0.1467 left_yaw=0.0599 left_pitch=-0.4065 left_roll=0.1246 left_gripper=0.9958 right_x=0.3196 right_y=0.1943 right_z=0.0699 right_yaw=0.1446 right_pitch=-0.1987 right_roll=-0.1776 right_gripper=0.9945\nstate[joint_eff]: [-0.1846, -2.0444, 6.6256, 1.2967, -0.1587, -0.0317, -0.0073, -0.4718, -5.6547, 8.1846, 1.4725, 0.2808, 0.0122, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9825, 0.8227, -0.8539, -0.1688, -0.0643, 0.9957, 0.6613, 1.5864, 0.9588, -0.3248, 0.4427, 0.2165, 0.9945]\nstate[eef_state]: left_x=0.2562 left_y=0.0033 left_z=0.1447 left_yaw=0.0608 left_pitch=-0.4212 left_roll=0.1277 left_gripper=0.9957 right_x=0.3527 right_y=0.1831 right_z=0.0937 right_yaw=0.1462 right_pitch=-0.2573 right_roll=-0.2136 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.1812, 6.5846, 1.2918, -0.1294, -0.0171, -0.0171, -0.4444, -5.8872, 9.3607, 1.4432, 0.1441, 0.0855, -0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9829, 0.8227, -0.8543, -0.1688, -0.0643, 0.9957, 0.59, 1.5856, 0.833, -0.2375, 0.4026, 0.1703, 0.9953]\nstate[eef_state]: left_x=0.2561 left_y=0.0033 left_z=0.1446 left_yaw=0.0609 left_pitch=-0.4219 left_roll=0.1278 left_gripper=0.9957 right_x=0.3451 right_y=0.152 right_z=0.0579 right_yaw=0.1269 right_pitch=-0.3117 right_roll=-0.2327 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5385, 6.6803, 1.2234, -0.1392, -0.0269, -0.0073, -0.0342, -6.9949, 7.7333, 2.0, 0.1587, -0.0708, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c595b8c04e137d660df0336c25fdf39145ac02b94a0ac4870a6fc1cccbfc3fdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:369c843e2a20c436fea671159c33701cf5943fa5df391043a0a8818595237c2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b596dd8f585fc21cee0059933e74e98eb4dd178cb37a4f9c3f320247305c54c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1tpsi0WfmqRXABbYmpS8siQ9SK0OEmeQr3QI_ttzj85K_njTR82s_xighMjIkLHsqahqhJy512Oxgo1Vm6__EJKJpVRQbech88W0eYQMjhcMQ1yY4fuhqw2pB6rbpe_hjDk3vRd2r1NLP3AfARg8ZjHGOhmMHRYaTYDaPQ3daIST-pcOPIiqe1M2E-oiZVPnuSCK7AJh-s0ubJyvwQHJ3t4rNhm_5gZ3qJ4hfxxx5jN2LI2arZhQa_Hncu3xFVMgFHXffTCYIAaZiGrAjechDzunFiTDydEsHwOY66wNKux_xA-EhqrgRu6kAxbplqkaTee6FUypcEv5bM8X1_eEeBvdOPZ0nEQu3oHHU7JvhrqG-hEQYIKh6UafvAjd0YFN0vHIjp0GBhh1wDAGY7zK7DiYQ5QI8E0QajDO3lvNs-A5jsDH3xrkCcR389na7wYiIOq8NdwZjd3OMXWoA5fnMXFK96f-Eui3pT-45aVBzRPt5ArgPBL6B4p_Za6Z6lhbmM3xScD9shIsil3MeOqUCsIAcSMXg1dzCkPWYyrJ6Yvd8URtc4I4N61egbUMWY06qc_c3GbUfpYpeukWhGqc7-CA9fxRzRfb5qPFOFsssFKlppwxWKmWQSz3X6QRgT3BVAcQQp0EOaUsgAUURKjOgUwGE1MIVWmrAUVbfcuf0ig5U4SVLmGFqd7adHKrsVWdas9Ng6JsnUOON2aU9RXjkkxoD5mahpDIke4Pj-D9-lKxRJJDOGt-cXFVUNswgh7ZCyppG6-0R-i78u3DlIbEoCD6gRSxNDn3lK52ml7NFWh-W_1NMOXz9WUzmlMGqwlX9WSAx5JZG4eee7iBjeIiyTZXaNkvs1qRjHcrJSKSBQFiAIpPNOpGM6uGqFQ-ExqCn08MxlhHQQYih4aRB-Va2jFrKLJsrEEldkSh7PBHjHBpimrcal5vNDE6KFmmqquWl36PlOVov6qrvtqaW4r1Mp1sTBl75tDDwlzvIN0sW21EmHYolu588PkxL_TsGjgFaT8dpmrhIOArbQIxGYf9PY3t-cAlxks4vof-hnot_lTahfwKfwKucVPmKBY57thhRYEBJd4jPmU7Nr1Q1oT-kVAwL3n1WFksn-rt58bI7wYbe0_Jaz4aHRdhfpQTL3HrfeNuwbjy5iLgxngbn8e2q6majM3Q5gnCCHOF1r4B394MxS5HfCxNPG9bo2VMv3ATQtvyvFLM49L422sMWQUX-h6osdv9OAB6LL3d1779y_3sQT4dKjhIbVfU9qXdxjMG0hLREIbOyFpwN4ajn63opLKtOpiVlzV48fpTIqgLBozqhHzD4PyxQGSSJi58fb1f5me2yGX_Eke4i83HJfbcXcTw==",
  "id": "rs_07cb34427983476c016ab41d6c8e3487d08119eb318a902017",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush’s head and shoulders now span the right jaw opening at the fingertips. I’ll close and use the settled opening to decide whether this grasp succeeded.\"}",
  "call_id": "call_XeRjojSC3BEihBRew92FBcvH",
  "id": "fc_07cb34427983476c016ab41d6ce2d487d082fda9811a4373cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XeRjojSC3BEihBRew92FBcvH",
  "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]: [-0.1173, 0.9825, 0.8227, -0.8547, -0.1688, -0.0647, 0.9957, 0.5877, 1.586, 0.8078, -0.2531, 0.3878, 0.1604, 0.0088]\nstate[eef_state]: left_x=0.256 left_y=0.0033 left_z=0.1446 left_yaw=0.0611 left_pitch=-0.4219 left_roll=0.1276 left_gripper=0.9957 right_x=0.3351 right_y=0.1473 right_z=0.0464 right_yaw=0.1358 right_pitch=-0.3555 right_roll=-0.2464 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -2.0991, 6.7077, 1.2772, -0.1636, -0.0708, -0.0073, -0.0752, -6.7487, 7.9248, 1.3602, 0.3248, 0.0611, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f3580d48afcb9c98945139fa469779be58edf1837ced86dbc99cee7ff981ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8eaf07e49871374af5295220ac32da33fb52f925c9d35d0f464fe3a0e0b978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c73f605d6e3427aa53c2d6612f307c9a7c27ad52c2dd7845b44a959faee56c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 2.45 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9817, 0.8227, -0.8467, -0.1688, -0.0647, 0.9958, 0.767, 1.5494, 0.7799, -0.1871, 0.5068, 0.3172, 0.008]\nstate[eef_state]: left_x=0.2576 left_y=0.0031 left_z=0.1458 left_yaw=0.0604 left_pitch=-0.4133 left_roll=0.1259 left_gripper=0.9958 right_x=0.3173 right_y=0.1917 right_z=0.0652 right_yaw=0.1472 right_pitch=-0.2218 right_roll=-0.1908 right_gripper=0.008\nstate[joint_eff]: [-0.0752, -2.1265, 6.735, 1.3162, -0.149, -0.0513, -0.0171, 0.1709, -6.8991, 5.9419, 1.4286, 0.2613, 0.0317, 0.6227]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9829, 0.8227, -0.8543, -0.1688, -0.0643, 0.9957, 0.59, 1.5856, 0.833, -0.2375, 0.4026, 0.1703, 0.9953]\nstate[eef_state]: left_x=0.2561 left_y=0.0033 left_z=0.1446 left_yaw=0.0609 left_pitch=-0.4219 left_roll=0.1278 left_gripper=0.9957 right_x=0.3451 right_y=0.152 right_z=0.0579 right_yaw=0.1269 right_pitch=-0.3117 right_roll=-0.2327 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5385, 6.6803, 1.2234, -0.1392, -0.0269, -0.0073, -0.0342, -6.9949, 7.7333, 2.0, 0.1587, -0.0708, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9825, 0.8227, -0.8547, -0.1688, -0.0647, 0.9957, 0.5877, 1.586, 0.8078, -0.2531, 0.3878, 0.1604, 0.0088]\nstate[eef_state]: left_x=0.256 left_y=0.0033 left_z=0.1446 left_yaw=0.0611 left_pitch=-0.4219 left_roll=0.1276 left_gripper=0.9957 right_x=0.3351 right_y=0.1473 right_z=0.0464 right_yaw=0.1358 right_pitch=-0.3555 right_roll=-0.2464 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -2.0991, 6.7077, 1.2772, -0.1636, -0.0708, -0.0073, -0.0752, -6.7487, 7.9248, 1.3602, 0.3248, 0.0611, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f3580d48afcb9c98945139fa469779be58edf1837ced86dbc99cee7ff981ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc8eaf07e49871374af5295220ac32da33fb52f925c9d35d0f464fe3a0e0b978",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c73f605d6e3427aa53c2d6612f307c9a7c27ad52c2dd7845b44a959faee56c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1zLAmbTopZHNfTHyK3HFPK3SJf-g-KdqLVRns0C3C4zfSa154HcKXq8ZslBv7qRJJtOGHy-Ta7Qm6DBsZrlBefXH8E6BAJfxJ9JAppVGnJPNwBT5zSpqKDPgFeE71lCbg9UAbG-UhChjyyZTv9R7izy8FK7I2zWvXovt7gCt8cXYkVCD0O0ZbpJ4HnPPmrCS0FarTD05AcrvkXnpEKEVGIg3OiaKuoBGX0sKnTJjrn1pks3Fp1egQPzV4BvieZz4vXbesMood6VE58qTTIiiqplDLBCp4MAMF3LH4umWUELAX3T1k4RYcCSC15form4ybscaMw89yGmCdNCbsXv1SJs7RCkXocOsUU0yWbZ1kuiAbwbYvsL7suj7oyko1G3I1OYpswmrmj-MBGuG8LWvFOtplDzZfl8nnHYdFH1mPKdTCKmwnIegYSICEQfrQWqj9gR1LiKiBnK4Nmq1Vqa-J0vSyUlV3ga2TIOASKJuYeUXnrMKivsKv9f8woLj4f5Gvh3PE1SHjVtvlL_zJxb10Cvcn_S8V3PFHC2rDduRleK4L353Xv6ZK_KPru7EPehv__u3M8BWICsx2xZFscD8o2CSvzVwMAp_nazyu7L7s7FXDhTvpGU4rSPEfGkwKnksU5PwkzpGf47x1IFAxn1fZDtMV_-kEbA7rUPKlxSfPSasdbJ4rxL_ztE37ZKoA2EBoqp-zw-Wu8qZYyvaay8S8HoRV3DrOuqERMf2oD5lsGou3bM5xyktyF8XFjdOJU7OhYgqFnsNHHI_xXNixgEKz4FXCUvNNBMqbmB7rp3c7Vvf75M2oPgOX6Zk6TC2sqXBI0w57jz7U336aXcikb914N_iaAXckQ65aYZ1WZIAc3739t0Q8VbYGhOuYbzBPvSFQPElDl8jR0OtWcUpz2AEqrSGxoNh-96AWPYMpYTYdSrjaTwiLD0AE9ckOt8dMKsSX2S4lpheLH8rCTCLlV_uHGU0qvhVQ73OHtAHDulrcJGoZJwxdxb6PnXIz-xrGfzEbNw4obE2yALTSorVc5Z31fNfiHPdEkClhwoNkaWedh_mpDOHSiV1DM5lGQKM8YowQ5wFkXfTCJNR54Fjdthq2_OqMKB_Pru2gceVLscHstEsYc5J7fMcm9rhc_rzA8NcofGZD2eJVf-KECCMmvvbW0FqC1vVdwvlI5tq0G2KqfHM9EB4POLkNxuMYl2wbPPSRzVOoE9aqwrDnAHGAdTIcJ9agxtUossyqLsa_mNqOeJJkII4t2SwDyVIw6Sw3MOhLPW4g6OGKu9IHec1vEXFhUSS15sUeLN2do2vYLDL8iBScDuekH4nkt43-0CcyllPFyqqOWoakNR_n8ufJHhDJYtG-yNq7Vkyeb-zc-E39pjDlzy65Pxb0c6n20ARDsTEIMgAndsmhWYniOdBCSiW5xgPEXN1hJoaa3v-7m2PV-Rk7tXFpd8NEt1UW4e83NtP5VjDMofjpxCiRevMqGHCT_VxQEYdvbIo7V3wtG9QoC54L0PxK5dxlUWAF9DOX7DiybHc0igJrpcS7Zc6VZCug7KMv8lBnIxKbDZcBYSOwoA6jI_zcSBreclAE2sxefHxETTqbDuACxeBeEjYowCLzZLHsqk_s6xZLsl6IloNvmJrmzaqERCFiJvUIw7L78gUs8IDxhmTYveh7siNXWrSl_aKU0UdMMvD-P27eB0-f3uOoZ5kOuBjaxKda4XJujEg7KdnGq7lzGzqQCLA4CFrzmvOrYFAXaRJRO9YvnsR5xML4X6vTe094iVI8Uli0qKodYSL_e8VuBmkB1R-G5Mt_OfesqXrdR8ennDIadc6WuyFzSwF3VODXx2Pjsb55PW2FDTgbMIr-P-ZaXeaalVdMwZaftyyPF_qMDArshnV3rtCmGvCxa3E4HNYl0cSd01cxs_JvRwNvxhCu8VIcp0vOndoX0ypladF8_PEoudm_lc8evzqAkejyQmPJIbrscZS94WfuO5hwtEZC2AblE_y9jLPqRE85ubYtYFwEGdrSMPFXqtqRoS4HlwoRWtXutbxSyDYqHzhRPd8h4-Qm620dVXaLH8Smp0pGjaIKWNXQkVFEudAgNFWQNu7fdiD3wGxI-SUsRMSNG5Aewg_LiEe5IMWOoTNIIrsk_WGin7K1zthQ-LN77vDlTfGCmg25gl9OIWKP-dYrzc36kJamc0V56fZ_RkD19TghyffsGqBuF2ey9l_acchupUdF76mWAdizLWQUaCL3N34vcSnwxaAr-NsGfYTREizLBGwoVB-pLiNqSmmEA-OUxOCFsCFcxmPbgvBP50MI1rOplrX4Vza8Qq7rB-Nqmmx5nPZR8M03xZ1C0PDIyThil-ZbHly8HxZomwJoYgeRH72uw6G8vcwk4qQnJbRakUPnl3uE5_u0fyfE=",
  "id": "rs_07cb34427983476c016ab41d6fdb5087d09e058cd5bed51b13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.195,\"right_x\":0.335,\"right_z\":0.08},\"note\":\"The jaws closed in a gap between the brown plush’s torso and paw; its torso is visibly left of the jaw center in the wrist camera. I’ll open and shift toward the solid torso rather than the gap.\"}",
  "call_id": "call_ZtD7EZ8dT8lKXI6kXci8iOvC",
  "id": "fc_07cb34427983476c016ab41d72322c87d09d7243a4555ff31a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZtD7EZ8dT8lKXI6kXci8iOvC",
  "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]: [-0.1162, 0.9836, 0.8227, -0.8642, -0.1688, -0.0647, 0.9958, 0.7151, 1.6363, 0.9905, -0.461, 0.4294, 0.2562, 0.995]\nstate[eef_state]: left_x=0.2541 left_y=0.0038 left_z=0.1431 left_yaw=0.0631 left_pitch=-0.4324 left_roll=0.1297 left_gripper=0.9958 right_x=0.3269 right_y=0.1913 right_z=0.0697 right_yaw=0.1611 right_pitch=-0.3911 right_roll=-0.2603 right_gripper=0.995\nstate[joint_eff]: [0.0889, -2.1538, 6.5162, 1.3455, -0.1538, -0.0317, -0.0073, 0.1573, -6.8308, 8.2256, 1.1062, 0.4176, 0.2173, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d206605ac62c89501ffed10650ab34a9f04819e5472da2df548b453201cbf1c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da62f8acb23fa90f42fed3e617377793913d7697770c55a64be1c0ad7a3b28e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc68e71ce907274f85d479374c69113ea853d505c373d8cd9561f1f711b404bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 3.778 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9825, 0.8227, -0.8539, -0.1688, -0.0643, 0.9957, 0.6613, 1.5864, 0.9588, -0.3248, 0.4427, 0.2165, 0.9945]\nstate[eef_state]: left_x=0.2562 left_y=0.0033 left_z=0.1447 left_yaw=0.0608 left_pitch=-0.4212 left_roll=0.1277 left_gripper=0.9957 right_x=0.3527 right_y=0.1831 right_z=0.0937 right_yaw=0.1462 right_pitch=-0.2573 right_roll=-0.2136 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.1812, 6.5846, 1.2918, -0.1294, -0.0171, -0.0171, -0.4444, -5.8872, 9.3607, 1.4432, 0.1441, 0.0855, -0.0366]\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]: [-0.1173, 0.9825, 0.8227, -0.8547, -0.1688, -0.0647, 0.9957, 0.5877, 1.586, 0.8078, -0.2531, 0.3878, 0.1604, 0.0088]\nstate[eef_state]: left_x=0.256 left_y=0.0033 left_z=0.1446 left_yaw=0.0611 left_pitch=-0.4219 left_roll=0.1276 left_gripper=0.9957 right_x=0.3351 right_y=0.1473 right_z=0.0464 right_yaw=0.1358 right_pitch=-0.3555 right_roll=-0.2464 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -2.0991, 6.7077, 1.2772, -0.1636, -0.0708, -0.0073, -0.0752, -6.7487, 7.9248, 1.3602, 0.3248, 0.0611, 0.6764]",
      "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]: [-0.1162, 0.9836, 0.8227, -0.8642, -0.1688, -0.0647, 0.9958, 0.7151, 1.6363, 0.9905, -0.461, 0.4294, 0.2562, 0.995]\nstate[eef_state]: left_x=0.2541 left_y=0.0038 left_z=0.1431 left_yaw=0.0631 left_pitch=-0.4324 left_roll=0.1297 left_gripper=0.9958 right_x=0.3269 right_y=0.1913 right_z=0.0697 right_yaw=0.1611 right_pitch=-0.3911 right_roll=-0.2603 right_gripper=0.995\nstate[joint_eff]: [0.0889, -2.1538, 6.5162, 1.3455, -0.1538, -0.0317, -0.0073, 0.1573, -6.8308, 8.2256, 1.1062, 0.4176, 0.2173, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d206605ac62c89501ffed10650ab34a9f04819e5472da2df548b453201cbf1c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5da62f8acb23fa90f42fed3e617377793913d7697770c55a64be1c0ad7a3b28e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc68e71ce907274f85d479374c69113ea853d505c373d8cd9561f1f711b404bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB12heB2A8F2yVkwR4NEyedlYzQDaRisw3PVcpxVps8LvdWKRN-mZdotbM1oQUaiWAjaRhhZ_-iT6kxgJ0Xtu6GcRs3RI6V7ru4Y4-nqSJFQ70XPehXTxRDH5HLDXWTnXLlKfJMaTvxz8MQO3OETqf9l2gwgVk2KT5e9mNLL0jqJz89DHPhwfWAOij3LqW51NCqWzSWKGJo9ntbetQa5Sv-ElNQHtFbJJ89VsYYikD940pM--wC_2jH3-uHdWt2TOqwd3ftGQKn52xKbbsyy6UcxFY6s6Pyyfw9ueYKEvrXxjB1w_kcv2hD90QwQjf4Hg5gUWoTEPzTOD4ljgmTVaqKdPAZ-WzQCn8H6kAXYCPT2Ua0gh8GMVY9Mtfsmr49jXCws7N-XKtsKJRQHF7Zj1kTu43DbfECR2fBTQXOyv6bcGnjmVLQcORMx2uKl8QbRo-OF16k7qPn3FCV-hwyFkV61KK3B__ndg4BN2sEaTVnIPSvOelj2keYLpzrMjD0fBhBbgyZtx2UehXLbcrI_xXVjuXQR4fwue0IgujPfSnVCIP1aIDGM6L2G2I9OZV6YPA4iad_MLtdL1UxtRT-oKsqIF56_7akq_iKouIGrO0oG26T43xqar8e3W8f4VK1hHziqhuktmjV51wG35IBkEfcjNcIw3k2gG_Oe9E3bQX4wQuWyDyrWj6-KiuggXY2ZHz_fZ00mw4iUA5uCJ9B9sLBOCZJbA6k2b8yr6c_oI2FznUHuUBKqaKdt6Ky0w7t8EJ4wXduX-hI9m10r2mkd-egllN68DpiQY9ewR-eK3v3OnpveQWC_j04t0vyz6cYV6plUuIv5PY4j4uaieQvnejGXr14neuwgFunGzmNui3uNTelrc7hms2bMo5XEwBhpqGAZDl5IaydgXrh1a6IrwgJ1NaslKmQgqtrss59bG6yGJPQQYnoTsnYxDXEzuqo3R61fXSx80idH9dDKrMuPQYa1M7O6Ilc-y9j7Ii9ONTZ7OpgqCbtdaAHqffbokj3IrPkl8K5SLJNaFCvLIH19O-b6EL698GB-x5wtOYMiqk4l0SzWoM0Xwr2A5tNW1sJtyTgKVlEcliSjenqPWB57q-LZY-UiXav_nWIO_8B3lf4_SD_-lWzcfR5kK1JCqdcBvtYdwX8hVkY1vmoDAt2XZeKPFL2ItEowA6z7SAwBc0_S0dv7bdt-2l_-KBcTKDZyIPU1mJuGqoGWeXxsKegF-WheZkh8_zyz3MDdb2zdRVhkkX64XVASRvrSKl3mbjRAtCQL9ynAEZI9eLuIv746rIXiSamna78UYnCXFbw9uIvc1RZzQKfE9aVMgD5VFRqiqgSinqMvhTv037dUNrwtrrvc5yWwbSauo8Rirb7BX0LTORVubNimO-LG7bO6bnd2T7BmnbWVGUnciapBRYeRa5QYD6q38tVWHMKzAiwl1vbVH6zD6wrxK9Gwpp4rm-0l0ww2NxhM2rCgFSq9wEqb4ZPxQJxpabIUaAVogxkGcP7V4RcyEECYGBGsY75OW0axqgZzsgYsrvcxOMENAInrHBSQfYJzUnjZ2HXRgEQAWW_FUGnGsXZWSDSQVNHr9ufukaKb5KuXWNjaM7xUuYHUWtb7EA==",
  "id": "rs_07cb34427983476c016ab41d754c6c87d09be40880318cef79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The plush’s thick torso and paw now occupy opposite sides of the open right jaws. I’ll close across that material and check if the jaw opening remains above the empty value.\"}",
  "call_id": "call_tGQbAQR33GiZsXlWoABHM2jJ",
  "id": "fc_07cb34427983476c016ab41d76024087d0ae21272f8503e7a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tGQbAQR33GiZsXlWoABHM2jJ",
  "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]: [-0.1173, 0.9871, 0.8227, -0.8696, -0.1688, -0.0647, 0.9958, 0.7189, 1.6375, 0.9928, -0.4812, 0.4248, 0.2508, 0.0083]\nstate[eef_state]: left_x=0.2531 left_y=0.0037 left_z=0.1416 left_yaw=0.0627 left_pitch=-0.441 left_roll=0.1314 left_gripper=0.9958 right_x=0.3232 right_y=0.1908 right_z=0.0677 right_yaw=0.1673 right_pitch=-0.4103 right_roll=-0.2706 right_gripper=0.0083\nstate[joint_eff]: [0.0205, -2.4137, 6.5436, 1.2772, -0.149, -0.0513, -0.0171, -0.3214, -7.4462, 5.8872, 1.243, 0.2613, 0.0415, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb8667a06908650aa51992a3ebc76d6862b03460bdd025819bdaaf60e4ccc5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce05eaedc2bbe473726863a8fe98404f777a90cfc4abb5fef039a54e92f8806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec65b8d99b00c3d0a858f40c4d8b0d0862bbc0d65cb89f6d69f7ca954e7684fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 3.53 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9829, 0.8227, -0.8543, -0.1688, -0.0643, 0.9957, 0.59, 1.5856, 0.833, -0.2375, 0.4026, 0.1703, 0.9953]\nstate[eef_state]: left_x=0.2561 left_y=0.0033 left_z=0.1446 left_yaw=0.0609 left_pitch=-0.4219 left_roll=0.1278 left_gripper=0.9957 right_x=0.3451 right_y=0.152 right_z=0.0579 right_yaw=0.1269 right_pitch=-0.3117 right_roll=-0.2327 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.5385, 6.6803, 1.2234, -0.1392, -0.0269, -0.0073, -0.0342, -6.9949, 7.7333, 2.0, 0.1587, -0.0708, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1162, 0.9836, 0.8227, -0.8642, -0.1688, -0.0647, 0.9958, 0.7151, 1.6363, 0.9905, -0.461, 0.4294, 0.2562, 0.995]\nstate[eef_state]: left_x=0.2541 left_y=0.0038 left_z=0.1431 left_yaw=0.0631 left_pitch=-0.4324 left_roll=0.1297 left_gripper=0.9958 right_x=0.3269 right_y=0.1913 right_z=0.0697 right_yaw=0.1611 right_pitch=-0.3911 right_roll=-0.2603 right_gripper=0.995\nstate[joint_eff]: [0.0889, -2.1538, 6.5162, 1.3455, -0.1538, -0.0317, -0.0073, 0.1573, -6.8308, 8.2256, 1.1062, 0.4176, 0.2173, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9871, 0.8227, -0.8696, -0.1688, -0.0647, 0.9958, 0.7189, 1.6375, 0.9928, -0.4812, 0.4248, 0.2508, 0.0083]\nstate[eef_state]: left_x=0.2531 left_y=0.0037 left_z=0.1416 left_yaw=0.0627 left_pitch=-0.441 left_roll=0.1314 left_gripper=0.9958 right_x=0.3232 right_y=0.1908 right_z=0.0677 right_yaw=0.1673 right_pitch=-0.4103 right_roll=-0.2706 right_gripper=0.0083\nstate[joint_eff]: [0.0205, -2.4137, 6.5436, 1.2772, -0.149, -0.0513, -0.0171, -0.3214, -7.4462, 5.8872, 1.243, 0.2613, 0.0415, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb8667a06908650aa51992a3ebc76d6862b03460bdd025819bdaaf60e4ccc5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fce05eaedc2bbe473726863a8fe98404f777a90cfc4abb5fef039a54e92f8806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec65b8d99b00c3d0a858f40c4d8b0d0862bbc0d65cb89f6d69f7ca954e7684fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB17ZsOikhhe6HGKJ99KQKl8Ke5LgS6clSb-kIkywytJN5QWlaiPKlhASc7tMjW03CrPYiJ6I7liwcPydaO3kKXS8Dpm84y_akymCzNGUikZGuSfLEXsal6qauiSggmWhCyXd6WtC2NkAPmlx72dPnofr7wQYkM5VzYaHa-lrzPgjd-CElY2hHX03hE1fNSQiTjGUGqWO-7NrrMsd1fbffwOZg6g4DyUV-kIX43hFArAoNGerGzcBEJb1CDsHO4xKVPEpDy5iWLiCK1VdMss8vm89s2Rmdn-MH6puDVFi5Ku5opSzMVzgKKr04nhscVyfoUvu_EtcwDN7fjnykAI0dyE12d7CZ_1yvSvgfv3rVorXg9HMDXK6IRAnRWkOIsFdRx8UOxCyBVCgDjPVi4SwIVb2tbqZoUl8auis-5UKk1u3UcaIDsTbXCCIMwkZDLRo91T4zIJ85yemAdYxyIqanvGznZk3uB8bXSlpL_M5dp-8eYlUAy9MarKtYjBB4DVGBopfAposEhDwo_mabVnXh0lwd-eQfGA8InlcF1zjEGDCeNWWzPS0cJUW_kVadpzSjNf3Kd1hB4zPoS-4Dl39a01wr5xKfrgBypkjrDZUWM2547J3ocBswxEgHVQVcd8UaBjRr0nQC_6J_wqIQ23J-5kNUlqC1bMbZIbQQ-thFW2hIettFNBQ992ySWZuqe6P7bDdo6Nfo3GTyeEcSYIb_clOAy92xjvzDSk8Q3Uaq-9jGmS_rWa4_jD-WmNEeJCFX2syXN9Xb3txeBGXS-FRRlRpEpruFKmE13RBBRhT-5QmojZBa1pFvLrnoaR4A-VyJQPU4QBE-9ErIaCb3cOnRZ7Z-Amd69ZoFP0aFSUv2yIQq4eAI8O-Fgi59mTxOFJNK_wtCUdWfKXHXg_hwSgshQokDbwS-YKjeSY5tMy4RNHp3vrIiNVKYvUYr9do1wl4lKfJRQCX9-HQ6FYr1ctj7rIigE1Gy7C1Djy_7MasLpPFi9zBxLQtgIAGaxYjtvft_M1I6_lLVqNQgCdCvgHXNV0cfyn3Q7IZpG5219kKreR5LIFMncGDxFCwByqxrxUYnxyN-n7MasHmnYhTiDqWWEc7CrRAkrfu_QkUt7_irrroIUXyYJhoU627D9Q5lwl27TnK5Gh8g88-SWgsAWRfRUGPO45LzmjaFo0fBpoasv_NFjAsPcDEJwdaH3mVyP_5FXqPW3SDuWh043i4dqFVNUUAKM0iri56CTVrVO8ZQ1WfuuYDCKOTOxbRi6N5Srm4-5dTT-bkIUgo3zViGtqXWQ4tlvO_ddkWDqUT9SmjpPw8zJ4CpuTtnHtRlzy5J9bF4fy-58YzTO55a-0t5pe7Ub_Gmrj4noBwWWyymd8Dj-iH0RGB4kbkV-X7mxMuso6t2QC5314KxmVGVPsKbaAZ7wyZUfeFxtFdA_8v8yMMQyxtEaHrdvKgl8Xtrb-3NvFUL33u1Vz3FbEKP6JPYYBsxOHnnHVnpnoGHHzQVDSGhuL_pHDYpi6_2L2oeARJ934VD9LVs8eXiqqEoBMT92WAStJ9l8aomgWi8D9WY7YjhtrRC52NIygxomUofqT9qTOixGJpg15EV4ZHfZoVGVK2nE6sNHcxMZ4P_TI--oIYIA6_4H-0UMwwtQw5wc7pLUNgKX-EAit1835HTCypDMQAPsDwZ2eQRxJN1D-cQ5yIuo-Wn9IFjR5SbJXETe9_3P2je352uUPcxiyvbXBEwY_-oUUYXuq0Sk2SlMOvEWMtFe-1N91c5I1cRhqvHrPgZB3hkg1uDwX5EjLG_jbmccCMB22dpbssTT8vIglu666SvdA9WFajgUM0zwQpHsPAQds7VB3jVA_YQnzaW-uejF4ieZ42dQELNllMifl2v248_DcKhH7fYAkCbtCkClsKylagITKYA-46DwwGIlBeHILJS6DBQ==",
  "id": "rs_07cb34427983476c016ab41d78ffa887d0adc418a8017c0041",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.255,\"right_x\":0.32,\"right_z\":0.085},\"note\":\"The closed fingertips landed in the U-shaped space between the plush’s body and its front legs. I’ll shift the open jaws farther toward the solid body, away from that gap.\"}",
  "call_id": "call_NOlqo2kER8APANj1BFfSmaen",
  "id": "fc_07cb34427983476c016ab41d7a7ae087d0ad2ee5586fbcd7ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NOlqo2kER8APANj1BFfSmaen",
  "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]: [-0.1173, 0.9874, 0.8227, -0.8734, -0.1688, -0.0643, 0.9957, 0.8616, 1.776, 1.2156, -0.6556, 0.4595, 0.3683, 0.9947]\nstate[eef_state]: left_x=0.2523 left_y=0.0038 left_z=0.1411 left_yaw=0.0628 left_pitch=-0.4452 left_roll=0.1324 left_gripper=0.9957 right_x=0.3123 right_y=0.2492 right_z=0.077 right_yaw=0.1917 right_pitch=-0.4481 right_roll=-0.2872 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.1538, 6.5162, 1.1941, -0.1538, -0.0171, -0.0171, 0.1162, -7.8154, 7.9658, 0.9939, 0.4811, 0.2515, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc9542bf165443b3f7b6aa6745f59b85f41f3ad5459104923b74c85ca7b0445",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f240d8aa67fdebd82b3f2ec410e7faeb6f99bb0c0b93a222ab81f8176840cc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6007aa36da8b9e798d5bb7345e3185e66b2f61cab799ec05c6eea9f3a326f242",
      "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 · 6.264 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]: [-0.1173, 0.9825, 0.8227, -0.8547, -0.1688, -0.0647, 0.9957, 0.5877, 1.586, 0.8078, -0.2531, 0.3878, 0.1604, 0.0088]\nstate[eef_state]: left_x=0.256 left_y=0.0033 left_z=0.1446 left_yaw=0.0611 left_pitch=-0.4219 left_roll=0.1276 left_gripper=0.9957 right_x=0.3351 right_y=0.1473 right_z=0.0464 right_yaw=0.1358 right_pitch=-0.3555 right_roll=-0.2464 right_gripper=0.0088\nstate[joint_eff]: [-0.0615, -2.0991, 6.7077, 1.2772, -0.1636, -0.0708, -0.0073, -0.0752, -6.7487, 7.9248, 1.3602, 0.3248, 0.0611, 0.6764]",
      "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]: [-0.1173, 0.9871, 0.8227, -0.8696, -0.1688, -0.0647, 0.9958, 0.7189, 1.6375, 0.9928, -0.4812, 0.4248, 0.2508, 0.0083]\nstate[eef_state]: left_x=0.2531 left_y=0.0037 left_z=0.1416 left_yaw=0.0627 left_pitch=-0.441 left_roll=0.1314 left_gripper=0.9958 right_x=0.3232 right_y=0.1908 right_z=0.0677 right_yaw=0.1673 right_pitch=-0.4103 right_roll=-0.2706 right_gripper=0.0083\nstate[joint_eff]: [0.0205, -2.4137, 6.5436, 1.2772, -0.149, -0.0513, -0.0171, -0.3214, -7.4462, 5.8872, 1.243, 0.2613, 0.0415, 0.6471]\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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9874, 0.8227, -0.8734, -0.1688, -0.0643, 0.9957, 0.8616, 1.776, 1.2156, -0.6556, 0.4595, 0.3683, 0.9947]\nstate[eef_state]: left_x=0.2523 left_y=0.0038 left_z=0.1411 left_yaw=0.0628 left_pitch=-0.4452 left_roll=0.1324 left_gripper=0.9957 right_x=0.3123 right_y=0.2492 right_z=0.077 right_yaw=0.1917 right_pitch=-0.4481 right_roll=-0.2872 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.1538, 6.5162, 1.1941, -0.1538, -0.0171, -0.0171, 0.1162, -7.8154, 7.9658, 0.9939, 0.4811, 0.2515, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc9542bf165443b3f7b6aa6745f59b85f41f3ad5459104923b74c85ca7b0445",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f240d8aa67fdebd82b3f2ec410e7faeb6f99bb0c0b93a222ab81f8176840cc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6007aa36da8b9e798d5bb7345e3185e66b2f61cab799ec05c6eea9f3a326f242",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB1_LttECMoDU1Cxr6eaW6vQl6-_AGLyoSUrzhgLQSh6N4Z9IEtiJRJrA9En-EamMxnQITQDX-rx94s0Fr3MNdZdeW5FLvDhU7QS-P1DiLUAqS-yC0CHIentVW-lMHLD2bwMuv_BqDzvsK4QdkftO2IyUxt6l2n7o7sakaJuxPFDc6Gdm6_U_rUcj0VBLJ2HvYfY-M02_9FzIq5-bux8PSIL8flJZUcz2Vx20QkJX6IFqP5fXot0yfDqnoRWaSYr1k1MK0dshOjzj3GKSnPQCgS4BPYhr_FQ_t42qOBkhewffTnYRsFzeBvS68P3ecyikgpqvym-JX2_imDtF6ELUoCCyQV1x_r5RlZ8Dhm8ykcsV1VM9k8kGciwB2ALAxgFZd18BWXU6Q4njc3BqN2Y_toWGgD_m9oPMWeY_tFXPKDfqPqlrT_X9MqCMQdQHxKu41q8755au0MbRgzF7UtA04xuJWyr14M8cwMGUaQF3wPoDhiD0qjfLsQfN4TDEMaGQ9-ztZmvPTUJuGXtqutJfCl3_x1R6t3pwyRN7X5OC4uBik_igWPVTej_-6O_EaB_uVuwO5v-T5toW0FhfEP3naRxHjJuybFXQQuoKLNfcHV_gfH0Uxg5_PmkcXAl0NHu5WSuHlv8hKwgaCA9EoiQ-f0bmTckI8Doee9bdhnyEW8vTCE72bOewdAMWwnKdQCg2YasFETsQ5tkyvbViHfdXacUkOIkHeP7cN7p2O9_r4AMTfAe5H3Wfqnus_my1ldfu-bo-XE7WJ9gPuLB14iz9OCbUXoFd4SuDVQpYQt96MH7ngi6-vYbyxar31aujXCHAk0w1pk3NrQvxQTeYzXfIcT1d31zitgDpasa87lIafadZWkCKEXHpACUAZVL7lugCSl_Z2RRk8mmIOT5FcI6R_ExsDJUbwXoJEbmr4mRnlC1bbuxAmnfHnqWY27KaOzMTuPrPe2ydRgJJMPoEWbSZF_tze38r4bUnbY632XmLbzNGBrWZt7MKUntn_y3uF0SRafbewPAF0vguoNVCyy8PlGY1X8DyLAQ78XwdfJkBetMPlexzLuhoeHbMZmfzCDVDkIZKD5fRzHt2o7OC-zqRTjtOqTG-l67AA3iaa2NgmxLxE3-Oc_OoxwxWkYRUfFEY06-0hlNClR-XaGogXNgDWIeIyY-AcdOw0CawLx8T-bkB9Ub_Px8unz0Ey6LJE95MATttFA8MhdwNTZ4sRzz819kXuWH5afiGjsTH6i71wssYvkNwsWCtovtkIPNmZoWpw4_-ONiplc2FIlSrtRvW-t-QTdSEX2aOZjrRcWGZADmb80qYg0yM7XRtyy19ZjViklC9QPVpkI5v3cVPJnXY-EtvEEMHb7n8YNyElXMTim0_kGbDNLI5FfWX6onRu50YJOVPKU0NEUr_ByNZDTocu_dxw==",
  "id": "rs_07cb34427983476c016ab41d7e878487d080aebc9295a4e7af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws now straddle the plush’s main body rather than the empty space between its legs. I’ll close on the body and inspect the settled opening.\"}",
  "call_id": "call_yEjAM7l9YwVxPrqFYUHIjJPE",
  "id": "fc_07cb34427983476c016ab41d7f14a087d08a30adc1230d30c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yEjAM7l9YwVxPrqFYUHIjJPE",
  "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]: [-0.1173, 0.989, 0.8227, -0.8768, -0.1688, -0.0647, 0.9957, 0.8627, 1.7824, 1.2182, -0.6758, 0.4519, 0.363, 0.0089]\nstate[eef_state]: left_x=0.2516 left_y=0.0038 left_z=0.1403 left_yaw=0.0635 left_pitch=-0.45 left_roll=0.1332 left_gripper=0.9957 right_x=0.3088 right_y=0.2476 right_z=0.0734 right_yaw=0.194 right_pitch=-0.4723 right_roll=-0.3005 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -2.2769, 6.6256, 1.1941, -0.1587, -0.0708, -0.0073, -0.4308, -9.1829, 5.8188, 1.0574, 0.2857, 0.022, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a80d6834eec9a5661f60e5906eca14c0bfe658d3ce21f98f534b958b990b10d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0276090f5d977abfc0680bf7ae25a2c9801af74259fc3ca407eef2b3a27591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5d5b88847841c3ad1c015cfeae2f884ddbd95a851d3faa924ac487f58fdc9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 2.639 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]: [-0.1162, 0.9836, 0.8227, -0.8642, -0.1688, -0.0647, 0.9958, 0.7151, 1.6363, 0.9905, -0.461, 0.4294, 0.2562, 0.995]\nstate[eef_state]: left_x=0.2541 left_y=0.0038 left_z=0.1431 left_yaw=0.0631 left_pitch=-0.4324 left_roll=0.1297 left_gripper=0.9958 right_x=0.3269 right_y=0.1913 right_z=0.0697 right_yaw=0.1611 right_pitch=-0.3911 right_roll=-0.2603 right_gripper=0.995\nstate[joint_eff]: [0.0889, -2.1538, 6.5162, 1.3455, -0.1538, -0.0317, -0.0073, 0.1573, -6.8308, 8.2256, 1.1062, 0.4176, 0.2173, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9874, 0.8227, -0.8734, -0.1688, -0.0643, 0.9957, 0.8616, 1.776, 1.2156, -0.6556, 0.4595, 0.3683, 0.9947]\nstate[eef_state]: left_x=0.2523 left_y=0.0038 left_z=0.1411 left_yaw=0.0628 left_pitch=-0.4452 left_roll=0.1324 left_gripper=0.9957 right_x=0.3123 right_y=0.2492 right_z=0.077 right_yaw=0.1917 right_pitch=-0.4481 right_roll=-0.2872 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.1538, 6.5162, 1.1941, -0.1538, -0.0171, -0.0171, 0.1162, -7.8154, 7.9658, 0.9939, 0.4811, 0.2515, -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 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.989, 0.8227, -0.8768, -0.1688, -0.0647, 0.9957, 0.8627, 1.7824, 1.2182, -0.6758, 0.4519, 0.363, 0.0089]\nstate[eef_state]: left_x=0.2516 left_y=0.0038 left_z=0.1403 left_yaw=0.0635 left_pitch=-0.45 left_roll=0.1332 left_gripper=0.9957 right_x=0.3088 right_y=0.2476 right_z=0.0734 right_yaw=0.194 right_pitch=-0.4723 right_roll=-0.3005 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -2.2769, 6.6256, 1.1941, -0.1587, -0.0708, -0.0073, -0.4308, -9.1829, 5.8188, 1.0574, 0.2857, 0.022, 0.6862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a80d6834eec9a5661f60e5906eca14c0bfe658d3ce21f98f534b958b990b10d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0276090f5d977abfc0680bf7ae25a2c9801af74259fc3ca407eef2b3a27591",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5d5b88847841c3ad1c015cfeae2f884ddbd95a851d3faa924ac487f58fdc9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2GqnBxN-K8bbBf9SguyjbE4q2pzFTWmRF8GOlK-IIiBUXoXpD_8ES-H2NUUH-Fm1nM93CgWE4tkNMU6sQ4bD8yTCI9w0xGLJ3rIQ11R4N7y35viLmi0RMpZ0pAxiePH2oFW-3-nA3gAHST9Nz16PazfwhmTh8uMMwZL9xH9M3tUNQhNsXoS3IKkA-LFWOuIUy-HHk_EagwI_9c1VSyUP8qSLR-5eIb8AF8jPVjcVHUZSFgxBBJWuiNeQlfv_K8uJhIvry2G7JUYpC3vK4Yqq4u5WgapxSPTGSzQ67KPRqrIaQUUqPh82YJrCYWCvf-pxDOT1xgzIeYvqTK-EP28WL5bwaSwCphSdxM0o3JUjagXnNEgqmX_ZJ2OktQ491efu6aurcV6qrsf_DjbzDIV7vip1rAfKnFXirM7c2GLiSm9n19eVSbJGicAaXKrTnjzbQiVA4eL-JGpZ0v8Lm72Yr8euwEalPJCRTbBYG6EZ3viVfoDEZ1k8mCW_NobiLnbuxgsC20k-SBWJKAZ3a0cCuKEvcRpBjzRpsIgRRUqltWltbyu6lbkuk9sARxPgR24ReMtRBWX8HHqcLDCfb_mIPJmrFz4HXleomxkTRnII9dI6-r8FDzE8BHSYP4cEf0WoWAu_Pq9S7c3qYQz_QdErqTlEPowSg6bC4aNK9TV6GeMAEwzwvxRGzFAXmossRpDH4CXzb20pFcguQFhdolsmIhhSuxC-4hSh42C2AQZ2XhOjvpONO10ILPJ3JfMvjmH9r-VG2wDBG0ceUGWF6L3KzfOPKNtQ175eoLTq9bIIMAs3MM14-ALNhq1YiLrqmQ0ExxX2rUee3th2sFiDiw5d7hECf_bYbphkDs8nmDvZwT0iMjz-2n-mY-htwRG9tyowN7WihG78zoEwZa-P1sMvCsMeoJXOpXy8LYohub7XUjNZiMX8hqut1viZ5eOaYTBdUzARJ6yNgjJwbaJQdMju-XyLMukU4jS4mWUysYKJvR10u8d4NumwOWlGZk89kAPWZuQZufZ3Q1shBa0H4qtQG0SfCc14urrYaSLJYVCAcXnpzXzLcjn2ZaSIywCMull7zN6Oh5q1_LMSKrBYm-RY7zRJjHGnmx3jwJ4rfKCmYdV9dm_q0hc7Ir2uCQ39m2uwVdqor5Qrrca3scDIpWnV685BI4xLBXIn4zQL6Lo_SaegvkMnnMCauRHpfkw4-PSHvJNfW4tARlLFy_RCzPzevTL5C-29d7_PC-MjMBLafY1bFn6p6vwR97-accDnx35CAGHCfIM3P8YSExeHRTnFvg4No5vZ9wdA3K19xIVqw4njJHUaYgiyMtAanPWw-Z9UQ7xNUtzKuynqgebXL425DUx9UQ4ily1qHZTMqVhZUNTCIxOFzvui721iqVTiwqBhYhvYP6yjQY63IaLHPhW3ihFUgR440o9awD4OFpjpP-0SQksBw2hT53w50UZXwm34ej8qktR_IqHjjDNLoZbaCOJDhV1fNCiN1QepoxAT2YZY5uY9McRG6SUQZ-lihqhObte5CvV4CdaIzls72Uwg8LvH5nKYy76C89mSeOnFt4vaLUpvbDJzUypvooYSwKtnZSCIydKAwqk1dCA-Mp7S-7-sjkGJjMOnF9ebM1HOdQrtvhTnfEw5IS4QT0DYy4SyeeBR8ylWl7pGrB-JLYprBAOQD6is3tDFsz-SbeXW0Wcn3dUvTfVyOaKjEYVoTdEFg1MWQzjCsJgpHRE1oYf2Z_xRylte8YqC46-_qUFssqBpugJLpZlqNnXrDamjtYGNLZ6Xz0qseiRYWBKbCYEpUF7mrrRJ2ajEgNm0tehS0B9UZK0oVrX9Wg012zuuGKemq_QMTkUaiyLi4dPqujnLgAgTPZOHsA4jR4f4sVG7k13eWuhk6crAPMRDbuzDSN5okpogxYkwgZvT9-qYPCnZO9PfmfjibRdwl4yyoWPY66q1yUg1mB1RXi5Htf5hoXCHvEJGA9HpHmJmbG-3B0G9rpK6N0FgXymZ8yQ_kG5zcYKTDXWSWmJcjoK59HLi3JvLkpd6BxFimSFq9Ew9bisQ8yBrVF_9rHs40MwTUO1BmZl3nScQh3NTAiRHEVBm9M4rBj9iLto_K0SbOEzYhlmuHb7xvaYG5endRvE1loWJkziGzL71Elhy2MMNsJLgy7kIHHXIdnX7iGRh6JgMclGmG22ZUZ0jPv7s3k3rMQy_CmPLQ3fV349Z7HU7Yq2EChh4HOb1cV8uyd0BOo-EcCRjdWJZonmpj0Kfku2TOsVuSft-U7kzoDp1mprWa0xBSrXInId8dr6aHqH-Ae4wXBZgvWAIN5J8stUHIgh4qfp9AV7a06IkPPfzgacImTujBsa5okelzYy-L7qBhs80H__S8n5nMPtZL4Nhy5hZK1ZdaHd5_Qq_xQVRj1mUSGym41KW02yEGgZS95Jq_39QwM7z_8MYxBpOUhz843GiZ7NFWYmvJ9zhp78a-BhEKokNQ8iz_NzUHQp14WnI8C49Nw-Ukajq-8OzapKrXNJ7FEKnPITqik3zwf7pzuILxYAyrij4IzdK0ors8kjUJZ6sPL68rLb0jbbWsaQx52Eb1Db-yAJvrPtNBQpWUXG8e8xui0-qbH8IY5dbSJrsPUE-5OESezmuRhyFPU5cBbpF0SVAk7prI9oFSJ7Y-ZXZ0535muSEh7nMR7zgeXmW8bKeBDpr-kJwfCNFWAmvGbb48S3RTeTJ1Eg6Js9EHc-ea3gWmPMsULqbukJhPwMKV8j3jW7qjswcCZEeyKjPQTGSoOaCmVNjNynhITvwD9eLrqgP26lICJPYstHT5wU-4tqpTVwFk3VzAm3LbQRkIgQdVsY8qjV23HZlfKlOg7MrtdkTwtoAipuVu0hXvXyHDDo4wOLbY4ew==",
  "id": "rs_07cb34427983476c016ab41d82e91887d09d55c8bd9eb97e9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.35,\"right_y\":0.19,\"right_z\":0.005,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The jaws still close empty despite surrounding the plush in the camera, so they may be passing above its thin body. I’ll reopen, straighten the wrist, and lower to table level at the center of the plush.\"}",
  "call_id": "call_BwwAhMNeQphBzkq1vFAbpJEp",
  "id": "fc_07cb34427983476c016ab41d860cf087d091d903796f498d12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BwwAhMNeQphBzkq1vFAbpJEp",
  "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]: [-0.1173, 0.989, 0.8227, -0.8772, -0.1688, -0.0643, 0.9958, 0.6636, 1.7851, 0.5262, 0.6189, 0.379, 0.2657, 0.9961]\nstate[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1403 left_yaw=0.0633 left_pitch=-0.4504 left_roll=0.1335 left_gripper=0.9958 right_x=0.3503 right_y=0.1955 right_z=0.0155 right_yaw=0.1906 right_pitch=-0.0007 right_roll=0.0133 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -2.1402, 6.5436, 1.1551, -0.1587, 0.0122, -0.0122, -0.7453, -4.6701, 3.7675, 1.0574, 0.1929, -0.2076, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f56adcb6363a246effb9af628d7ab75cbdd7d257157fb76948ffce834ac8825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc65bed39ec162d5df301bd605124e610100cc1a6d1d5cf1d5f99089f0d80b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6205008255bee766e9c65b8c1e6f9c1342a8c2a2c7a8c4b032ff4c5554a48b6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 2.176 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9871, 0.8227, -0.8696, -0.1688, -0.0647, 0.9958, 0.7189, 1.6375, 0.9928, -0.4812, 0.4248, 0.2508, 0.0083]\nstate[eef_state]: left_x=0.2531 left_y=0.0037 left_z=0.1416 left_yaw=0.0627 left_pitch=-0.441 left_roll=0.1314 left_gripper=0.9958 right_x=0.3232 right_y=0.1908 right_z=0.0677 right_yaw=0.1673 right_pitch=-0.4103 right_roll=-0.2706 right_gripper=0.0083\nstate[joint_eff]: [0.0205, -2.4137, 6.5436, 1.2772, -0.149, -0.0513, -0.0171, -0.3214, -7.4462, 5.8872, 1.243, 0.2613, 0.0415, 0.6471]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1173, 0.989, 0.8227, -0.8768, -0.1688, -0.0647, 0.9957, 0.8627, 1.7824, 1.2182, -0.6758, 0.4519, 0.363, 0.0089]\nstate[eef_state]: left_x=0.2516 left_y=0.0038 left_z=0.1403 left_yaw=0.0635 left_pitch=-0.45 left_roll=0.1332 left_gripper=0.9957 right_x=0.3088 right_y=0.2476 right_z=0.0734 right_yaw=0.194 right_pitch=-0.4723 right_roll=-0.3005 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -2.2769, 6.6256, 1.1941, -0.1587, -0.0708, -0.0073, -0.4308, -9.1829, 5.8188, 1.0574, 0.2857, 0.022, 0.6862]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.989, 0.8227, -0.8772, -0.1688, -0.0643, 0.9958, 0.6636, 1.7851, 0.5262, 0.6189, 0.379, 0.2657, 0.9961]\nstate[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1403 left_yaw=0.0633 left_pitch=-0.4504 left_roll=0.1335 left_gripper=0.9958 right_x=0.3503 right_y=0.1955 right_z=0.0155 right_yaw=0.1906 right_pitch=-0.0007 right_roll=0.0133 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -2.1402, 6.5436, 1.1551, -0.1587, 0.0122, -0.0122, -0.7453, -4.6701, 3.7675, 1.0574, 0.1929, -0.2076, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f56adcb6363a246effb9af628d7ab75cbdd7d257157fb76948ffce834ac8825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc65bed39ec162d5df301bd605124e610100cc1a6d1d5cf1d5f99089f0d80b3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6205008255bee766e9c65b8c1e6f9c1342a8c2a2c7a8c4b032ff4c5554a48b6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2Lyx1UM79paiFT9n6CUAsGac5GKMMaJ9t1QhRRxV_b93K9SYTaOZd14mv_Z0RP8OASDZOauK22VdW5KLLT7E8-B0Vo6eKF09QspJszQhOHIVDY1g2FRpq7Z3YlI8zHtIFKBM3erfLccgiMTFQqhe5TwG8BepGbgWvTx97VGTgzR4mrUwFSIvoXigOoMxw0anujPGm8xwPPPg-Wxi0snq1O7x92y59IivSoibV4UrL5C2XPGHxw1bSM2OLWdMEcwQa3icH0ilvIvLdmvwuK2jZ4uQtf_-EOmCYH4vjGXuDn7LDerfpzgGe3XjBap-1i3VWQMkAqXG8RYg9DFtQOgoCNXBmqcZ1niCTEihYr5t_aue3eRL5T-2f3zmzRS7de3wA6OvcKj5C5lg0Mug4yk-vLs9xrEn-51f8kg-oaXpPF9kK5tB89AGcUOn0cf0nWL3Stcxfq6X6X8r_thGBvIsafctNjfBm7FBbfGsM1N7cKzYGQ-LrfMSdE_j1qVwauZYCQf-27o43kkUxw5H9k3uCVehTa_SZKSZTjBDANLZu3JDxqSBBvenoRSu3RwjJA6bcwVWYpdbI0KcaVCFsDiVnsSOu-XzAk3LpGSee9IyjEb7tPokT7sI9dkerLIB8_gvQvXa0yuZmn0JuJK9dyFzWtTlL-KXzeKridvq9PH0X4iDniaK5t3z7XN2vZRCu9jtz7GedsutFX_q10pI_wsxnPbePMP0vkzvOXSBWq3pE_XeFJ5KyYlNZYBBg_B3u5d4ymomtkhEK_EHvw_KRnWa0MGFeuxtG5HiLdpDaQxXataWoujDqGV5hU1mEdPSs790MiLj3yfyP9Uk9cX6h8EWCu9IHJOiZxsIQeYpf2YsxYOQ3wwxMRXfdvju-tTP7M4q9DrX6MerKZOP4NJZYUeGXqVrnAn0jltGsHdghUnvcOZ_qU8oOUCX1MA8kAWa7aY2WC1rQCH3CYX_mWPcNob6eo54fZi9U89jiU7pJ1tyBmEVL2S5sk7NKOSYYwLU-EbVO1CUVcx0ucMETm1LzcjvFMILLdRyCB4zN1R1RDP_YHlEeSNs8cblN5S4XY65wXzxTbRA_yj9yq1tIVcCFNFUBEyBr6X8Wx5HOuR64O5st7qUBTbY1x_QvJAl3GNmAw6c3O-FVqCNeAXyevc6UfbofipVUvezx9IsM8vapiNxbQ62Y8exZRvWXKJ4fzxgES52B1ycDEQmN_leylTT6JjHzo7NFx6P6WqRYrgQBT3X7pPIopeEAjjzgwGhAUyvS5cAGMsxNxTpEoA5-ToLGCK-wjO61cOn8ywKj6UD6na-dsWlCR0HOB8P4aBHfXgLWefY_KD_LiA-krlEOcsf0pLYYnsA==",
  "id": "rs_07cb34427983476c016ab41d89d80c87d09d4416206e208b1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height, the plush’s fur is clearly between the right fingertips instead of below them. I’ll close once more and see whether this lower grasp retains the body.\"}",
  "call_id": "call_5orzunFuX2r3imfmR2BMDO44",
  "id": "fc_07cb34427983476c016ab41d8a3e1887d08c70e0146c8142ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5orzunFuX2r3imfmR2BMDO44",
  "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]: [-0.1173, 0.9894, 0.8227, -0.8772, -0.1688, -0.0643, 0.9957, 0.6662, 1.7817, 0.519, 0.6685, 0.3691, 0.2619, 0.0363]\nstate[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1402 left_yaw=0.0633 left_pitch=-0.4508 left_roll=0.1336 left_gripper=0.9957 right_x=0.3528 right_y=0.2008 right_z=0.0236 right_yaw=0.203 right_pitch=0.0377 right_roll=0.0358 right_gripper=0.0363\nstate[joint_eff]: [-0.212, -1.8393, 6.5162, 1.1551, -0.1343, -0.0366, -0.0171, -0.5675, -6.7624, 4.9983, 1.1893, 0.1832, 0.022, 0.9792]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d712d2b94ecf442db2825b3668c9ecf24e1066e2403153b0d2d08c314635ade5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16db78cc437e8f05c5b4cddf360779eb101587418faa50b001f249597025323d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4387e32cc61e2d2423d7cbf7a819ba1ba074664dff9f3d67da12b9d5205106",
      "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 39 attempt 0 · /responses · status 200 · 6.12 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 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]: [-0.1173, 0.9874, 0.8227, -0.8734, -0.1688, -0.0643, 0.9957, 0.8616, 1.776, 1.2156, -0.6556, 0.4595, 0.3683, 0.9947]\nstate[eef_state]: left_x=0.2523 left_y=0.0038 left_z=0.1411 left_yaw=0.0628 left_pitch=-0.4452 left_roll=0.1324 left_gripper=0.9957 right_x=0.3123 right_y=0.2492 right_z=0.077 right_yaw=0.1917 right_pitch=-0.4481 right_roll=-0.2872 right_gripper=0.9947\nstate[joint_eff]: [-0.0068, -2.1538, 6.5162, 1.1941, -0.1538, -0.0171, -0.0171, 0.1162, -7.8154, 7.9658, 0.9939, 0.4811, 0.2515, -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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.989, 0.8227, -0.8772, -0.1688, -0.0643, 0.9958, 0.6636, 1.7851, 0.5262, 0.6189, 0.379, 0.2657, 0.9961]\nstate[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1403 left_yaw=0.0633 left_pitch=-0.4504 left_roll=0.1335 left_gripper=0.9958 right_x=0.3503 right_y=0.1955 right_z=0.0155 right_yaw=0.1906 right_pitch=-0.0007 right_roll=0.0133 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -2.1402, 6.5436, 1.1551, -0.1587, 0.0122, -0.0122, -0.7453, -4.6701, 3.7675, 1.0574, 0.1929, -0.2076, -0.2076]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9894, 0.8227, -0.8772, -0.1688, -0.0643, 0.9957, 0.6662, 1.7817, 0.519, 0.6685, 0.3691, 0.2619, 0.0363]\nstate[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1402 left_yaw=0.0633 left_pitch=-0.4508 left_roll=0.1336 left_gripper=0.9957 right_x=0.3528 right_y=0.2008 right_z=0.0236 right_yaw=0.203 right_pitch=0.0377 right_roll=0.0358 right_gripper=0.0363\nstate[joint_eff]: [-0.212, -1.8393, 6.5162, 1.1551, -0.1343, -0.0366, -0.0171, -0.5675, -6.7624, 4.9983, 1.1893, 0.1832, 0.022, 0.9792]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d712d2b94ecf442db2825b3668c9ecf24e1066e2403153b0d2d08c314635ade5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16db78cc437e8f05c5b4cddf360779eb101587418faa50b001f249597025323d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4387e32cc61e2d2423d7cbf7a819ba1ba074664dff9f3d67da12b9d5205106",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtB2O1kmUQLAUPQ32E0uEAEalTvSPEdcrYu777EdYvWowmTDntLKt31q-FPG6IRsbmT2YeYMiMrgnlC-8C7ULDrIPYd9qN_Phe7FptFYdcFVzm0cPwOMeqbSyJKoNsLMYJ7N0uowQy7Abnf-19HZ5FKrws75y6YTF4dBBVvCLQIl_6Wx3G85M9s53RZ44edydbt5fVDZvZOINyHyzbRGGCVKj2Sd4LirMGCoClixOda48epf72Tzsk4mOTyfYLnGB-j_6-_x-F1LmvDeAEkkzMNteXmo2V9FRpNiKWIhqmRZJRdt19fXLr1U2WzbqGwyDTxuIUYyEQqcGCJV5HoiT6XjDjNqBrtfeP2VHs_0Rapxu7wrIDZDxKZxgORGNTY0MDauAqFrSA5S6j8Oa-FL2y-qN3m5vU5ObuWD1_Pdc0PHvEmmr2WVmIsHOw8cZdesp0V6UwmqpqjqjgXM4TIwxbXWPNwMqkNUY66NPmz4BYMG3Ed1QfvkjW0EYUli8VFg-AEHjhyJX5wjUu9e_qmKCinberZ8z5_OZbopfMOT9LZFgQfY1AMn9J8d-dEznAHLpsyum3shCDdlkJxswGd2agUiNkpAM8wx4WUHRaF5G7m154KLWSewj-NAN_FyQt2yTqmwFWbGGUy3SRb6fAEvEm37Wj-XDS5lClgOKdem27_9_1O7q2E_6v1slbiRELlU03V0gF2ZYU0TV41Gjy_fhBNZPQu8eWga2pUhQVMReOg49dxNwAG7D1vrfVQHc_bO07ySgS4Y_vkRXg7SYHqsifClRpuzq_xEcJk7aB8giZa0re9kLhdHL8txUihejymOD0MJlnfopqZghAyau-K3DTEom-myij6AT4DI6AOgF6KTCM48Q3S1h-Eztbn7jxs_lhyEqCGHe4FrspTymrTinGn3MBh0qLrA_tlm4VQ_rfhzt4u9qcSl7E-G5YxXutz-02AuO5T54o7mZfbSgjvKVP08c2xdo84UX7zOeKLm5NhW9p_bOHRwmZc_BjuQEd1lDHYkjHQC2RQr774c7KEI6dEHi6rsp72cKitJdsUyglS64KeBhv53xsa0AHCLqCQlhLZamTWuvDGd1B2Gc13w-aKZieK-v_kvNZq2nq3UEbKIuyCQlwulYHOXwv9yI5M_62QZ4slKA9ThSHY3UMmTiZR7DbMllBmrdY1JloL4mL9bCq2MUEsHMQ9gM2lmPT7HitytAIpy9RuWS5DY4_Dxe3psM50nYFcZCJosremTNbWcwWsIaxP_UL08gfMkMADqgAfSsvwqffJtreHixQAYGSoBQbA==",
  "id": "rs_07cb34427983476c016ab41d8d44bc87d08c3daa527b0784ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The right jaw opening is only marginally above an empty close, but fur appears trapped between the fingers. I’ll lift the gripper to verify whether the brown plush actually follows.\"}",
  "call_id": "call_lfgVzZwALGKfiB0tre4sfoKI",
  "id": "fc_07cb34427983476c016ab41d8d780487d0bbc3fbbbdf49a5ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lfgVzZwALGKfiB0tre4sfoKI",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1173, 0.9894, 0.8227, -0.8772, -0.1688, -0.0643, 0.9958, 0.6662, 1.4773, 0.6521, 0.1925, 0.3584, 0.2611, 0.0364]\nstate[eef_state]: left_x=0.2515 left_y=0.0039 left_z=0.1402 left_yaw=0.0633 left_pitch=-0.4508 left_roll=0.1336 left_gripper=0.9958 right_x=0.3472 right_y=0.1987 right_z=0.0965 right_yaw=0.2123 right_pitch=0.0004 right_roll=0.0237 right_gripper=0.0364\nstate[joint_eff]: [0.0205, -2.0034, 6.5026, 1.1697, -0.1636, -0.0317, -0.0073, -0.3761, -7.159, 9.0325, 1.9609, 0.2418, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a59bbd3b61c0c7d7bc970e48d56b56875afd77bc11141a39cf28ffe089f99043",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c89e402eb78c4c6463047dc1ca9649dc13def40d4eed2a69eb4d2b062f4d2ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75d92deac63e2352e59c0dd133b4d853f609966c1004f5562b8a86394f906b5",
      "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]