adhoc

completed
2026-09-23T19:38:36.480953+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
211.3 s
total steps
438
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 center-left; I can see a yellow object to its right, a brown plush below it, and a light-colored object near the left arm. I’ll position the right gripper over the yellow object first.
move_to
right_x0.4200right_y0.2700right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6033, -0.3931, -0.0193, -0.0349, 0.9993, -0.0208, 0.7944, 0.6075, -0.4004, -0.0193, -0.0257, 0.9996] state[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1772 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0009 right_z=0.1772 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.388, 10.2906, 2.0098, -0.0855, 0.149, -0.0904, -0.3624, -1.5385, 9.6889, 2.0391, -0.0513, 0.0659, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.27,"right_z":0.16},"note":"The safe is open near the center-left; I can see a yellow object to its right, a brown plush below it, and a light-colored object near the left arm. I’ll position the right gripper over the yellow object first."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe yellow object is centered in the right wrist camera, but there is space between it and the fingertip area. I’ll advance slightly and lower the open jaws to its mid-height.
move_to
right_x0.4350right_y0.2700right_z0.0270
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7666, 1.8122, 1.2984, -0.2741, 0.5861, 0.45, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0149 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4105 right_y=0.2647 right_z=0.1463 right_yaw=0.0337 right_pitch=-0.0454 right_roll=-0.0361 right_gripper=0.9996 state[joint_eff]: [-0.1299, -1.5385, 6.7487, 1.8486, -0.0269, 0.0073, -0.0171, 0.212, -9.2923, 8.5265, 1.6386, 0.4127, 0.1978, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.27,"right_z":0.027},"note":"The yellow object is centered in the right wrist camera, but there is space between it and the fingertip area. I’ll advance slightly and lower the open jaws to its mid-height."})
tool
executing move_to over 8 steps (0.8s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe lowered right jaws now straddle the yellow object in the wrist view. I’ll close on it and check the gripper reading before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4164, -0.0189, -0.0383, 0.9992, 0.7372, 2.0567, 1.1721, 0.0891, 0.5682, 0.4282, 0.9996] state[eef_state]: left_x=0.2903 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4304 right_y=0.2672 right_z=0.0376 right_yaw=0.0292 right_pitch=-0.06 right_roll=-0.049 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.306, 7.2957, 1.8095, -0.022, -0.0464, -0.0122, -0.4991, -8.1026, 5.2171, 1.2869, 0.1294, -0.0952, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The lowered right jaws now straddle the yellow object in the wrist view. I’ll close on it and check the gripper reading before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe right gripper stopped at about 4 cm open, consistent with holding the yellow object. I’ll lift it to confirm it comes off the table.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.7338, 2.0731, 1.1702, 0.0837, 0.5606, 0.4198, 0.4366] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0016 left_pitch=-0.0423 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4289 right_y=0.2651 right_z=0.0278 right_yaw=0.0349 right_pitch=-0.0818 right_roll=-0.0668 right_gripper=0.4366 state[joint_eff]: [-0.0615, -1.6615, 7.2, 1.7802, -0.0708, -0.0659, -0.0122, 0.1983, -12.1915, 6.0103, 1.4774, 0.2515, 0.0806, 1.033] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.17},"note":"The right gripper stopped at about 4 cm open, consistent with holding the yellow object. I’ll lift it to confirm it comes off the table."})
tool
executing move_to over 10 steps (1.0s)
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 stayed in the jaws during the lift. I’ll carry it above the open red safe, aiming for the middle of its floor while keeping clear of the rim.
move_to
right_x0.3450right_y0.3900right_z0.2000
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, -0.0383, 0.9992, 0.7334, 1.9041, 1.4437, -0.4103, 0.5526, 0.4183, 0.4394] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0503 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.2649 right_z=0.1379 right_yaw=0.0377 right_pitch=-0.1252 right_roll=-0.0966 right_gripper=0.4394 state[joint_eff]: [-0.0615, -1.2376, 6.9949, 1.7363, -0.0513, -0.0415, -0.0122, -0.253, -13.2171, 8.8821, 1.58, 0.315, -0.0659, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). 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":0.345,"right_y":0.39,"right_z":0.20},"note":"The yellow object stayed in the jaws during the lift. I’ll carry it above the open red safe, aiming for the middle of its floor while keeping clear of the rim."})
tool
executing move_to over 11 steps (1.1s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe held yellow object is above the safe opening, though the right wrist view makes it look close to the near edge. I’ll lower it partway and check the placement before releasing.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4549, -0.0193, -0.0387, 0.9992, 1.0615, 2.1345, 2.0392, -0.9703, 0.7055, 0.7139, 0.4394] state[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.074 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3454 right_y=0.3908 right_z=0.1927 right_yaw=0.0819 right_pitch=-0.146 right_roll=-0.1041 right_gripper=0.4394 state[joint_eff]: [-0.1299, -1.6342, 6.9675, 1.8242, -0.0806, -0.0317, -0.0122, 0.1983, -11.2068, 8.2256, 1.0672, 0.6081, 0.232, 1.0232] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The held yellow object is above the safe opening, though the right wrist view makes it look close to the near edge. I’ll lower it partway and check the placement before releasing."})
tool
executing move_to over 9 steps (0.9s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteAt this height the yellow object appears inside the safe walls. I’ll lower it toward the floor so it can be released without dropping far.
move_to
right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.461, -0.0189, -0.0387, 0.9992, 1.0649, 2.1689, 1.6176, -0.5648, 0.6952, 0.7147, 0.4415] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1607 left_yaw=0.0018 left_pitch=-0.082 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3377 right_y=0.3835 right_z=0.0683 right_yaw=0.0836 right_pitch=-0.1816 right_roll=-0.1408 right_gripper=0.4415 state[joint_eff]: [-0.0615, -1.4427, 7.1453, 1.707, -0.0464, -0.0513, -0.0122, -0.3214, -11.1795, 6.8034, 1.326, 0.3736, -0.0562, 0.9451] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015},"note":"At this height the yellow object appears inside the safe walls. I’ll lower it toward the floor so it can be released without dropping far."})
tool
executing move_to over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe descent stopped at about 5 cm with the yellow object still inside the safe, suggesting it has met the floor or another surface. I’ll open the jaws to set it down.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 1.0649, 2.1975, 1.5494, -0.4091, 0.7105, 0.7082, 0.4433] state[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0019 left_pitch=-0.0938 left_roll=-0.0015 left_gripper=0.9992 right_x=0.3431 right_y=0.389 right_z=0.0482 right_yaw=0.0868 right_pitch=-0.1381 right_roll=-0.1038 right_gripper=0.4433 state[joint_eff]: [-0.0752, -1.265, 7.0359, 1.7753, -0.0562, -0.0757, -0.0122, -0.0205, -8.4171, 4.6838, 0.7204, 0.2173, 0.0562, 0.7741] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The descent stopped at about 5 cm with the yellow object still inside the safe, suggesting it has met the floor or another surface. I’ll open the jaws to set it down."})
tool
executing move_to over 6 steps (0.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe yellow object remained inside the open safe after release. I’ll move the right arm back to its home position to clear the view and make room for the other objects.
move_to
right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.063, 2.2276, 1.5311, -0.3794, 0.6987, 0.7109, 0.9947] state[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0019 left_pitch=-0.1011 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3418 right_y=0.3879 right_z=0.0293 right_yaw=0.0876 right_pitch=-0.1569 right_roll=-0.1116 right_gripper=0.9947 state[joint_eff]: [0.0068, -1.2239, 6.9949, 1.7167, -0.0513, -0.0366, -0.0122, 0.1436, -10.5778, 5.3128, 0.9451, 0.2466, 0.0269, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18},"note":"The yellow object remained inside the open safe after release. I’ll move the right arm back to its home position to clear the view and make room for the other objects."})
tool
executing move_to over 33 steps (3.3s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteWith the right arm clear, the remaining floor object appears to be one long plush lying below the safe. I’ll bring the left open gripper above its middle and inspect the alignment.
move_to
left_x0.2300left_y-0.2200left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.4957, -0.0189, -0.0387, 0.9992, -0.0032, 0.9188, 0.7254, -0.617, 0.0364, -0.1299, 0.9953] state[eef_state]: left_x=0.2792 left_y=0.0017 left_z=0.1528 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0009 left_gripper=0.9992 right_x=0.2818 right_y=-0.0038 right_z=0.1551 right_yaw=0.0295 right_pitch=-0.2274 right_roll=-0.1102 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.8046, -0.0269, -0.0317, -0.0073, -0.1026, -2.6462, 10.4957, 1.8144, -0.1392, -0.0415, 0.0464] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.23,"left_y":-0.22,"left_z":0.16},"note":"With the right arm clear, the remaining floor object appears to be one long plush lying below the safe. I’ll bring the left open gripper above its middle and inspect the alignment."})
tool
executing move_to over 20 steps (2.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteA separate small white toy is visible to the left, so three objects need packing. The plush body is just right of the left jaw column; I’ll shift toward its torso and lower to a closer inspection height.
move_to
left_x0.2650left_y-0.2600left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1656, 1.3361, 0.9401, -0.7753, -0.7467, -0.9966, 0.9992, -0.0029, 0.9211, 0.7269, -0.643, 0.0303, -0.1463, 0.9954] state[eef_state]: left_x=0.2261 left_y=-0.2136 left_z=0.1458 left_yaw=-0.0193 left_pitch=-0.1611 left_roll=0.0294 left_gripper=0.9992 right_x=0.2775 right_y=-0.0026 right_z=0.1508 right_yaw=0.0447 right_pitch=-0.2549 right_roll=-0.1159 right_gripper=0.9954 state[joint_eff]: [-0.3077, -4.9983, 8.8684, 0.7937, -0.6716, 0.0562, -0.0122, -0.0889, -2.0855, 6.6393, 1.6923, 0.0806, 0.105, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.26,"left_z":0.11},"note":"A separate small white toy is visible to the left, so three objects need packing. The plush body is just right of the left jaw column; I’ll shift toward its torso and lower to a closer inspection height."})
tool
executing move_to over 5 steps (0.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe plush torso now fills the space between the left jaws, with its head offset to the right. I’ll lower the open jaws around the torso before closing.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.116, 1.5749, 0.9733, -0.6151, -0.7208, -0.9531, 0.9992, -0.0029, 0.9237, 0.7269, -0.6655, 0.0292, -0.1471, 0.9953] state[eef_state]: left_x=0.2517 left_y=-0.2412 left_z=0.0967 left_yaw=0.0022 left_pitch=-0.2039 left_roll=0.0927 left_gripper=0.9992 right_x=0.2734 right_y=-0.0023 right_z=0.1464 right_yaw=0.0465 right_pitch=-0.2801 right_roll=-0.1143 right_gripper=0.9953 state[joint_eff]: [0.7726, -6.8171, 8.9368, 0.9792, -0.4127, 0.188, -0.0171, -0.1709, -1.853, 6.8991, 1.6581, 0.0024, -0.022, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The plush torso now fills the space between the left jaws, with its head offset to the right. I’ll lower the open jaws around the torso before closing."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe arm stopped lowering near the plush torso, consistent with contact with the thick fabric. I’ll close the jaws here and check whether they catch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1091, 1.5978, 0.9836, -0.5755, -0.7151, -0.9463, 0.9992, -0.0029, 0.9257, 0.7269, -0.6788, 0.0292, -0.1501, 0.9953] state[eef_state]: left_x=0.2573 left_y=-0.249 left_z=0.095 left_yaw=-0.0023 left_pitch=-0.197 left_roll=0.0705 left_gripper=0.9992 right_x=0.2709 right_y=-0.0023 right_z=0.1438 right_yaw=0.0484 right_pitch=-0.2955 right_roll=-0.1155 right_gripper=0.9953 state[joint_eff]: [0.212, -7.4735, 8.3624, 1.1648, -0.4713, 0.2222, -0.0122, -0.1436, -1.8667, 6.7214, 1.5263, 0.0122, -0.0073, -0.0073] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The arm stopped lowering near the plush torso, consistent with contact with the thick fabric. I’ll close the jaws here and check whether they catch it."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe left jaws closed almost completely, so that grasp missed the plush. In the wrist view its torso sits closer to the base than the jaw tips; I’ll reopen, retract a few centimeters, and try a lower approach.
move_to
left_gripper1.0000left_x0.2220left_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1091, 1.5982, 0.9844, -0.5732, -0.7109, -0.9474, 0.0099, -0.0029, 0.9276, 0.7269, -0.6849, 0.0288, -0.1501, 0.9954] state[eef_state]: left_x=0.2571 left_y=-0.25 left_z=0.0949 left_yaw=-0.004 left_pitch=-0.1992 left_roll=0.0655 left_gripper=0.0099 right_x=0.2698 right_y=-0.0023 right_z=0.1424 right_yaw=0.0489 right_pitch=-0.3035 right_roll=-0.1148 right_gripper=0.9954 state[joint_eff]: [-0.0479, -6.9812, 6.2291, 0.862, -0.4029, -0.0073, 0.8132, -0.0615, -2.0581, 6.9265, 1.453, -0.0024, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.222,"left_z":0.065},"note":"The left jaws closed almost completely, so that grasp missed the plush. In the wrist view its torso sits closer to the base than the jaw tips; I’ll reopen, retract a few centimeters, and try a lower approach."})
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 lower, retracted open jaws now bracket the plush torso more directly. I’ll close again and judge the result by the settled jaw opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.216, 1.6047, 0.8955, -0.5568, -0.7284, -1.0725, 0.9952, -0.0029, 0.9287, 0.7269, -0.7017, 0.0292, -0.1501, 0.9954] state[eef_state]: left_x=0.2229 left_y=-0.2528 left_z=0.0694 left_yaw=-0.0183 left_pitch=-0.2117 left_roll=0.0558 left_gripper=0.9952 right_x=0.2666 right_y=-0.0023 right_z=0.1395 right_yaw=0.0489 right_pitch=-0.3214 right_roll=-0.1141 right_gripper=0.9954 state[joint_eff]: [-0.5128, -5.7368, 4.8068, 0.9597, -0.569, 0.0024, 0.0366, 0.0068, -1.9761, 6.7214, 1.5702, 0.0073, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The lower, retracted open jaws now bracket the plush torso more directly. I’ll close again and judge the result by the settled jaw opening."})
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 second close was empty too, and the plush torso appears too broad for these jaws. I’ll switch to its narrower head, moving the open gripper outward and toward the table center.
move_to
left_gripper1.0000left_x0.3000left_y-0.3250left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2179, 1.6047, 0.8944, -0.561, -0.7223, -1.0786, 0.0096, -0.0032, 0.9287, 0.7269, -0.7238, 0.0288, -0.1505, 0.9954] state[eef_state]: left_x=0.2213 left_y=-0.2526 left_z=0.0681 left_yaw=-0.018 left_pitch=-0.2189 left_roll=0.0543 left_gripper=0.0096 right_x=0.2623 right_y=-0.0023 right_z=0.1362 right_yaw=0.0494 right_pitch=-0.3435 right_roll=-0.1129 right_gripper=0.9954 state[joint_eff]: [0.1162, -6.5162, 5.7368, 0.8571, -0.4371, 0.0366, 0.7985, -0.1709, -1.8667, 6.8034, 1.5946, 0.0024, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.3,"left_y":-0.325,"left_z":0.08},"note":"The second close was empty too, and the plush torso appears too broad for these jaws. I’ll switch to its narrower head, moving the open gripper outward and toward the table center."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe plush’s narrow white head is now near the center of the open left jaws. I’ll close around it and check for a nonempty grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0927, 1.9049, 1.2758, -0.5686, -0.6769, -0.9524, 0.9954, -0.0029, 0.9295, 0.7269, -0.7368, 0.0296, -0.1505, 0.9954] state[eef_state]: left_x=0.2927 left_y=-0.3165 left_z=0.0724 left_yaw=0.0016 left_pitch=-0.232 left_roll=0.057 left_gripper=0.9954 right_x=0.2597 right_y=-0.0024 right_z=0.1341 right_yaw=0.0494 right_pitch=-0.3573 right_roll=-0.1127 right_gripper=0.9954 state[joint_eff]: [0.2803, -9.1829, 7.9795, 0.8181, -0.4713, 0.1929, -0.1343, -0.0752, -1.7573, 6.653, 1.4432, -0.0073, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The plush’s narrow white head is now near the center of the open left jaws. I’ll close around it and check for a nonempty grasp."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThat close was also empty: the head stayed just to the right of the jaw column. I’ll reopen, move a few centimeters toward it, and lower slightly before another close.
move_to
left_gripper1.0000left_x0.3200left_y-0.3470left_z0.0440
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0924, 1.9118, 1.2778, -0.5804, -0.6697, -0.955, 0.0101, -0.0032, 0.9333, 0.7269, -0.7464, 0.0292, -0.1501, 0.9953] state[eef_state]: left_x=0.2911 left_y=-0.3153 left_z=0.0687 left_yaw=0.0038 left_pitch=-0.2456 left_roll=0.0673 left_gripper=0.0101 right_x=0.2579 right_y=-0.0024 right_z=0.1318 right_yaw=0.0494 right_pitch=-0.3705 right_roll=-0.1114 right_gripper=0.9953 state[joint_eff]: [-0.1026, -10.2769, 5.7231, 0.9548, -0.4274, 0.0122, 0.8181, -0.1299, -1.9624, 6.6393, 1.4237, -0.022, -0.0073, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.32,"left_y":-0.347,"left_z":0.044},"note":"That close was also empty: the head stayed just to the right of the jaw column. I’ll reopen, move a few centimeters toward it, and lower slightly before another close."})
tool
executing move_to over 10 steps (1.0s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe head is now centered between the open jaws in the left wrist view. I’ll close gently around it and check whether the gripper holds a measurable width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0714, 2.0708, 1.3956, -0.5606, -0.6544, -0.9463, 0.9949, -0.0032, 0.9333, 0.7269, -0.7509, 0.0292, -0.1501, 0.9954] state[eef_state]: left_x=0.3103 left_y=-0.3369 left_z=0.039 left_yaw=0.0178 left_pitch=-0.2686 left_roll=0.0861 left_gripper=0.9949 right_x=0.257 right_y=-0.0024 right_z=0.1311 right_yaw=0.0495 right_pitch=-0.3751 right_roll=-0.1112 right_gripper=0.9954 state[joint_eff]: [0.5265, -9.265, 8.3487, 1.0525, -0.4664, 0.2125, 0.0562, -0.1846, -1.8393, 6.7761, 1.3358, -0.022, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The head is now centered between the open jaws in the left wrist view. I’ll close gently around it and check whether the gripper holds a measurable width."})
tool
executing move_to over 10 steps (1.0s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe jaws stopped at the borderline reading of 0.04, so I can’t yet tell if they caught the plush. I’ll lift a short distance and look for the plush moving with them.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0718, 2.0777, 1.3994, -0.5613, -0.6502, -0.952, 0.04, -0.0029, 0.9333, 0.7269, -0.7689, 0.0288, -0.1505, 0.9954] state[eef_state]: left_x=0.31 left_y=-0.3378 left_z=0.0367 left_yaw=0.0198 left_pitch=-0.2736 left_roll=0.0838 left_gripper=0.04 right_x=0.2533 right_y=-0.0022 right_z=0.1286 right_yaw=0.0508 right_pitch=-0.393 right_roll=-0.11 right_gripper=0.9954 state[joint_eff]: [-0.1026, -11.535, 5.7641, 0.7643, -0.4518, 0.1929, 2.1221, -0.0752, -1.6889, 6.6256, 1.4481, -0.0073, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The jaws stopped at the borderline reading of 0.04, so I can’t yet tell if they caught the plush. I’ll lift a short distance and look for the plush moving with them."})
tool
executing move_to over 7 steps (0.7s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe plush body still appears on the table, while the gripper opening is only about 6 mm; it may have caught a strand rather than the toy. I’ll raise and pull back slightly to check whether anything is actually attached.
move_to
left_x0.2700left_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0721, 2.0285, 1.5967, -0.8528, -0.6426, -0.9661, 0.0635, -0.0032, 0.9333, 0.7269, -0.7883, 0.0292, -0.1501, 0.9954] state[eef_state]: left_x=0.3084 left_y=-0.3375 left_z=0.098 left_yaw=0.036 left_pitch=-0.2997 left_roll=0.1127 left_gripper=0.0635 right_x=0.2493 right_y=-0.0024 right_z=0.126 right_yaw=0.0503 right_pitch=-0.4125 right_roll=-0.109 right_gripper=0.9954 state[joint_eff]: [-0.0342, -14.3932, 8.3761, 0.7985, -0.442, 0.1294, 1.033, -0.1436, -1.812, 6.5709, 1.4383, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_z":0.21},"note":"The plush body still appears on the table, while the gripper opening is only about 6 mm; it may have caught a strand rather than the toy. I’ll raise and pull back slightly to check whether anything is actually attached."})
tool
executing move_to over 8 steps (0.8s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe plush is still on the table, so that tentative grip did not hold it. I’ll reopen the left gripper, park the right arm high, and work on the smaller upright white toy first.
move_to
left_x0.2900left_y0.0000left_z0.1500left_gripper1.0000right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1515, 2.0071, 1.935, -1.2755, -0.6399, -1.0729, 0.0635, -0.0032, 0.9352, 0.7269, -0.7929, 0.0292, -0.1501, 0.9954] state[eef_state]: left_x=0.2735 left_y=-0.3456 left_z=0.1871 left_yaw=0.0353 left_pitch=-0.3213 left_roll=0.1013 left_gripper=0.0635 right_x=0.2484 right_y=-0.0024 right_z=0.1249 right_yaw=0.0505 right_pitch=-0.4189 right_roll=-0.1086 right_gripper=0.9954 state[joint_eff]: [-0.6222, -12.1368, 8.4171, 0.5983, -0.652, 0.1001, 1.033, -0.2256, -1.9624, 6.5846, 1.2674, -0.0024, -0.0122, -0.0171] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.15,"left_gripper":1,"right_x":0.29,"right_y":0,"right_z":0.18},"note":"The plush is still on the table, so that tentative grip did not hold it. I’ll reopen the left gripper, park the right arm high, and work on the smaller upright white toy first."})
tool
executing move_to over 31 steps (3.1s)
step 259
top_cam
camera top_cam step 259
left_cam
camera left_cam step 259
right_cam
camera right_cam step 259
assistant
agent noteThe white toy is centered in the left wrist view, but its torso is still beyond the fingertip area. I’ll advance a little and lower the open jaws around its body.
move_to
left_x0.3150left_y0.0050left_z0.0480
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1226, 1.0557, 0.8238, -0.7216, -0.1864, -0.1135, 0.9977, 0.0067, 1.1301, 1.0023, -0.9276, 0.0296, -0.1505, 0.9954] state[eef_state]: left_x=0.2856 left_y=0.0014 left_z=0.1453 left_yaw=0.092 left_pitch=-0.3528 left_roll=0.1028 left_gripper=0.9977 right_x=0.2796 right_y=0.0002 right_z=0.1646 right_yaw=0.0617 right_pitch=-0.4731 right_roll=-0.1059 right_gripper=0.9954 state[joint_eff]: [0.0205, -3.8906, 6.3111, 1.4579, -0.0317, 0.1001, -0.1148, 0.0889, -2.7419, 9.4564, 1.3407, 0.0904, 0.0415, -0.0171] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":0.005,"left_z":0.048},"note":"The white toy is centered in the left wrist view, but its torso is still beyond the fingertip area. I’ll advance a little and lower the open jaws around its body."})
tool
executing move_to over 7 steps (0.7s)
step 266
top_cam
camera top_cam step 266
left_cam
camera left_cam step 266
right_cam
camera right_cam step 266
assistant
agent noteThe white toy’s body is between the lowered left jaws. I’ll close and check the jaw spacing to see whether I have a firm hold.
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]: [-0.0956, 1.2819, 0.5781, -0.3206, -0.1612, -0.0925, 0.9978, 0.0067, 1.1316, 1.0012, -0.9489, 0.0326, -0.1505, 0.9954] state[eef_state]: left_x=0.2991 left_y=0.0034 left_z=0.0435 left_yaw=0.0902 left_pitch=-0.4278 left_roll=0.1085 left_gripper=0.9978 right_x=0.2748 right_y=-0.0003 right_z=0.1613 right_yaw=0.0595 right_pitch=-0.4972 right_roll=-0.1075 right_gripper=0.9954 state[joint_eff]: [0.3077, -4.4103, 5.9692, 1.4042, -0.1685, 0.022, -0.0024, -0.0205, -3.1658, 6.7077, 1.3211, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white toy’s body is between the lowered left jaws. I’ll close and check the jaw spacing to see whether I have a firm hold."})
tool
executing move_to over 10 steps (1.0s)
step 276
top_cam
camera top_cam step 276
left_cam
camera left_cam step 276
right_cam
camera right_cam step 276
assistant
agent noteThe white shape in the wrist camera is the same plush seen brown from above; there isn’t a separate white toy. The left jaw closed empty, so I’ll park it and approach the plush’s nearer, narrower part with the right arm.
move_to
left_gripper1.0000left_x0.2900left_y0.0000left_z0.1800right_x0.2150right_y0.3350right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0967, 1.2957, 0.5636, -0.3218, -0.1612, -0.0948, 0.0094, 0.0063, 1.1316, 1.0004, -0.9642, 0.0334, -0.1501, 0.9954] state[eef_state]: left_x=0.2931 left_y=0.0036 left_z=0.0346 left_yaw=0.093 left_pitch=-0.4565 left_roll=0.1133 left_gripper=0.0094 right_x=0.2713 right_y=-0.0006 right_z=0.1592 right_yaw=0.0586 right_pitch=-0.5132 right_roll=-0.1071 right_gripper=0.9954 state[joint_eff]: [-0.0068, -5.2718, 7.1726, 1.2088, -0.0952, -0.0024, 0.8034, -0.0342, -3.1932, 6.4889, 1.2479, -0.0073, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.29,"left_y":0,"left_z":0.18,"right_x":0.215,"right_y":0.335,"right_z":0.13},"note":"The white shape in the wrist camera is the same plush seen brown from above; there isn’t a separate white toy. The left jaw closed empty, so I’ll park it and approach the plush’s nearer, narrower part with the right arm."})
tool
executing move_to over 28 steps (2.8s)
step 304
assistant
agent noteFrom the right wrist view, the plush has a narrower head and neck than its broad torso. I’ll move the open right jaws toward that area and descend beside it.
move_to
right_x0.2670right_y0.3200right_z0.0530
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1816, 1.042, -0.9565, -0.1612, -0.1177, 0.9977, 1.179, 1.8698, 1.5806, -1.1503, 0.4301, 0.9558, 0.9954] state[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0973 left_pitch=-0.4966 left_roll=0.11 left_gripper=0.9977 right_x=0.2098 right_y=0.3242 right_z=0.1235 right_yaw=0.0733 right_pitch=-0.5473 right_roll=-0.1498 right_gripper=0.9954 state[joint_eff]: [-0.5812, -4.0137, 9.5111, 1.2137, -0.1832, 0.0757, -0.0317, 0.1573, -8.9641, 7.8291, 0.5348, 0.3541, 0.2613, -0.0122] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.267,"right_y":0.32,"right_z":0.053},"note":"From the right wrist view, the plush has a narrower head and neck than its broad torso. I’ll move the open right jaws toward that area and descend beside it."})
tool
executing move_to over 5 steps (0.5s)
step 309
assistant
agent noteThe plush head is just right and slightly ahead of the right jaw column. I’ll shift right and forward a few centimeters to put the jaws around its snout and neck.
move_to
right_x0.2850right_y0.2660right_z0.0290
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1831, 1.0473, -0.973, -0.1612, -0.1177, 0.9978, 1.0409, 1.9678, 1.4475, -0.9379, 0.4026, 0.8326, 0.9954] state[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.164 left_yaw=0.0987 left_pitch=-0.5089 left_roll=0.113 left_gripper=0.9978 right_x=0.254 right_y=0.3037 right_z=0.0548 right_yaw=0.0163 right_pitch=-0.5923 right_roll=-0.2132 right_gripper=0.9954 state[joint_eff]: [-0.0889, -3.4803, 6.188, 1.2283, -0.1538, -0.0659, 0.0024, -0.1573, -9.6889, 6.3111, 0.8278, 0.2222, -0.0464, -0.0171] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.285,"right_y":0.266,"right_z":0.029},"note":"The plush head is just right and slightly ahead of the right jaw column. I’ll shift right and forward a few centimeters to put the jaws around its snout and neck."})
tool
executing move_to over 4 steps (0.4s)
step 313
assistant
agent noteThe right jaws are at table height with the plush head between them. I’ll close now and check the settled opening before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1835, 1.047, -0.9745, -0.1612, -0.1204, 0.9978, 0.9184, 1.9652, 1.3006, -0.8116, 0.3813, 0.7296, 0.9954] state[eef_state]: left_x=0.2814 left_y=0.0008 left_z=0.1636 left_yaw=0.1007 left_pitch=-0.511 left_roll=0.1121 left_gripper=0.9978 right_x=0.276 right_y=0.2589 right_z=0.0191 right_yaw=-0.0385 right_pitch=-0.6332 right_roll=-0.2641 right_gripper=0.9954 state[joint_eff]: [-0.1299, -3.6581, 6.5983, 1.0965, -0.1343, -0.0366, -0.0122, 0.759, -12.0274, 6.0239, 0.7497, 0.2418, -0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right jaws are at table height with the plush head between them. I’ll close now and check the settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 323
assistant
agent noteThe right jaws stopped about 1 cm apart, suggesting they caught part of the plush head. I’ll lift it to verify that the whole toy follows.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1835, 1.047, -0.981, -0.1612, -0.1204, 0.9978, 0.9131, 1.9652, 1.2881, -0.7742, 0.3775, 0.688, 0.1094] state[eef_state]: left_x=0.28 left_y=0.001 left_z=0.1629 left_yaw=0.1014 left_pitch=-0.5173 left_roll=0.1137 left_gripper=0.9978 right_x=0.2796 right_y=0.2613 right_z=0.0165 right_yaw=0.0003 right_pitch=-0.6274 right_roll=-0.2549 right_gripper=0.1094 state[joint_eff]: [-0.0752, -3.5897, 6.5709, 1.1404, -0.1587, -0.0659, -0.0122, -0.1436, -12.0137, 5.8462, 0.6325, 0.2466, 0.0366, 0.7448] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.14},"note":"The right jaws stopped about 1 cm apart, suggesting they caught part of the plush head. I’ll lift it to verify that the whole toy follows."})
tool
executing move_to over 8 steps (0.8s)
step 331
assistant
agent noteThe head remains at the right jaws, but the plush body still hangs low in the overhead view. I’ll lift higher to clear the safe rim and confirm the toy is fully off the table.
move_to
right_z0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1835, 1.047, -0.9817, -0.1612, -0.1204, 0.9978, 0.9215, 1.8866, 1.5894, -1.1637, 0.382, 0.6876, 0.1106] state[eef_state]: left_x=0.2798 left_y=0.001 left_z=0.1628 left_yaw=0.1015 left_pitch=-0.518 left_roll=0.1139 left_gripper=0.9978 right_x=0.279 right_y=0.2645 right_z=0.1162 right_yaw=0.0009 right_pitch=-0.6296 right_roll=-0.2679 right_gripper=0.1106 state[joint_eff]: [-0.0752, -3.5487, 6.3658, 1.1209, -0.1197, -0.0415, -0.0122, -0.253, -11.7538, 7.788, 0.5788, 0.3248, 0.0659, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.23},"note":"The head remains at the right jaws, but the plush body still hangs low in the overhead view. I’ll lift higher to clear the safe rim and confirm the toy is fully off the table."})
tool
executing move_to over 8 steps (0.8s)
step 339
assistant
agent noteThe brown plush is now clearly hanging from the right gripper. I’ll carry it over the open safe, placing its head toward the far side so the rest can settle inside.
move_to
right_x0.3650right_y0.3600right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1854, 1.047, -0.992, -0.1612, -0.1207, 0.9978, 0.9291, 1.9171, 2.0277, -1.5345, 0.3885, 0.6872, 0.112] state[eef_state]: left_x=0.2777 left_y=0.0012 left_z=0.1613 left_yaw=0.1033 left_pitch=-0.5299 left_roll=0.1167 left_gripper=0.9978 right_x=0.2785 right_y=0.2669 right_z=0.2161 right_yaw=0.0259 right_pitch=-0.6019 right_roll=-0.2371 right_gripper=0.112 state[joint_eff]: [-0.1709, -3.7675, 6.3521, 1.1209, -0.1294, -0.0659, -0.0122, -0.5265, -9.0872, 7.2547, 0.6911, 0.3492, -0.0513, 0.1294] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.36,"right_z":0.24},"note":"The brown plush is now clearly hanging from the right gripper. I’ll carry it over the open safe, placing its head toward the far side so the rest can settle inside."})
tool
executing move_to over 8 steps (0.8s)
step 347
assistant
agent noteThe plush is over the front of the safe, but part of its body still hangs outside. The loaded arm fell short of the first carry target, so I’ll move it a little farther into the opening while lowering it.
move_to
right_x0.3900right_y0.3900right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0, -0.1612, -0.1207, 0.9978, 0.8867, 2.2604, 2.4355, -1.5955, 0.3767, 0.6273, 0.1148] state[eef_state]: left_x=0.2761 left_y=0.0014 left_z=0.1595 left_yaw=0.1048 left_pitch=-0.5415 left_roll=0.1196 left_gripper=0.9978 right_x=0.3343 right_y=0.3128 right_z=0.1859 right_yaw=0.0316 right_pitch=-0.6166 right_roll=-0.2521 right_gripper=0.1148 state[joint_eff]: [-0.0479, -3.8496, 6.4615, 1.0818, -0.1538, -0.0757, -0.0122, -0.7726, -10.7692, 7.788, 0.6764, 0.3004, -0.0366, 0.2711] camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.39,"right_z":0.15},"note":"The plush is over the front of the safe, but part of its body still hangs outside. The loaded arm fell short of the first carry target, so I’ll move it a little farther into the opening while lowering it."})
tool
executing move_to over 7 steps (0.7s)
step 354
assistant
agent noteThe plush body is still hanging across the safe’s front edge. I’ll carry its gripped head deeper toward the back of the box before setting it down.
move_to
right_x0.4350right_y0.3800right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0065, -0.1608, -0.1207, 0.9978, 0.8936, 2.5496, 2.698, -1.5974, 0.3779, 0.6235, 0.1157] state[eef_state]: left_x=0.2746 left_y=0.0015 left_z=0.1588 left_yaw=0.1052 left_pitch=-0.5479 left_roll=0.1208 left_gripper=0.9978 right_x=0.3618 right_y=0.3517 right_z=0.1225 right_yaw=0.0246 right_pitch=-0.635 right_roll=-0.2815 right_gripper=0.1157 state[joint_eff]: [-0.1162, -3.6308, 6.3248, 1.0867, -0.1538, -0.0366, -0.0122, -0.294, -13.2034, 7.7197, 0.735, 0.2418, 0.0171, 0.0757] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.38,"right_z":0.14},"note":"The plush body is still hanging across the safe’s front edge. I’ll carry its gripped head deeper toward the back of the box before setting it down."})
tool
executing move_to over 6 steps (0.6s)
step 360
assistant
agent noteThe plush has moved mostly over the opening, but its feet remain close to the front rim. I’ll bring the head farther inward and down so the body settles into the safe.
move_to
right_x0.4600right_y0.3900right_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0107, -0.1608, -0.1204, 0.9978, 0.8276, 2.6343, 2.8017, -1.5986, 0.3809, 0.548, 0.117] state[eef_state]: left_x=0.2737 left_y=0.0016 left_z=0.1584 left_yaw=0.1056 left_pitch=-0.552 left_roll=0.1221 left_gripper=0.9978 right_x=0.394 right_y=0.337 right_z=0.1086 right_yaw=0.0163 right_pitch=-0.6326 right_roll=-0.3009 right_gripper=0.117 state[joint_eff]: [-0.0342, -3.6171, 6.3248, 1.0281, -0.1636, -0.0317, -0.0122, -0.3214, -12.9026, 8.3897, 0.8571, 0.2906, -0.0708, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.39,"right_z":0.065},"note":"The plush has moved mostly over the opening, but its feet remain close to the front rim. I’ll bring the head farther inward and down so the body settles into the safe."})
tool
executing move_to over 6 steps (0.6s)
step 366
assistant
agent noteThe plush head is now low inside the safe, with most of the body over the opening. I’ll lower until it meets the contents or floor, then release it.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0111, -0.1608, -0.1204, 0.9978, 0.8101, 2.7686, 2.8853, -1.5349, 0.4046, 0.5106, 0.1185] state[eef_state]: left_x=0.2736 left_y=0.0016 left_z=0.1583 left_yaw=0.1056 left_pitch=-0.5524 left_roll=0.1222 left_gripper=0.9978 right_x=0.4183 right_y=0.3438 right_z=0.0667 right_yaw=0.0146 right_pitch=-0.6131 right_roll=-0.3264 right_gripper=0.1185 state[joint_eff]: [-0.1573, -3.6034, 6.3248, 0.9939, -0.1197, -0.0464, -0.0122, -0.5675, -11.2615, 6.8171, 1.1453, 0.1001, 0.0562, 0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.025},"note":"The plush head is now low inside the safe, with most of the body over the opening. I’ll lower until it meets the contents or floor, then release it."})
tool
executing move_to over 3 steps (0.3s)
step 369
assistant
agent noteThe right arm stopped descending at about 6 cm, indicating the plush is supported inside the safe. I’ll release its head and then clear the arm to inspect where it landed.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1912, 1.047, -1.0187, -0.1608, -0.1207, 0.9978, 0.8055, 2.7773, 2.8864, -1.5272, 0.4107, 0.4969, 0.1199] state[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1571 left_yaw=0.1071 left_pitch=-0.5617 left_roll=0.1244 left_gripper=0.9978 right_x=0.4215 right_y=0.3422 right_z=0.0632 right_yaw=0.0149 right_pitch=-0.6112 right_roll=-0.338 right_gripper=0.1199 state[joint_eff]: [-0.253, -3.412, 6.3111, 1.0623, -0.1636, -0.0708, -0.0122, -0.0752, -11.7402, 6.735, 1.1111, 0.0855, 0.149, 0.1343] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The right arm stopped descending at about 6 cm, indicating the plush is supported inside the safe. I’ll release its head and then clear the arm to inspect where it landed."})
tool
executing move_to over 9 steps (0.9s)
step 378
assistant
agent noteThe brown plush is released at the safe’s front, though some of it may still be near the rim. The small white toy remains on the left; I’ll clear the right arm and place the left jaws low around that toy.
move_to
right_x0.2900right_y0.0000right_z0.1900left_x0.3450left_y0.0030left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1108, 1.1946, 1.047, -1.0302, -0.1612, -0.1207, 0.9978, 0.8055, 2.7457, 2.7792, -1.4788, 0.408, 0.4965, 0.9945] state[eef_state]: left_x=0.2696 left_y=0.0021 left_z=0.1552 left_yaw=0.1096 left_pitch=-0.5761 left_roll=0.1287 left_gripper=0.9978 right_x=0.4188 right_y=0.34 right_z=0.0518 right_yaw=0.003 right_pitch=-0.6321 right_roll=-0.3597 right_gripper=0.9945 state[joint_eff]: [-0.212, -3.8632, 6.4889, 1.0574, -0.1538, -0.0611, -0.0122, 0.1709, -16.9504, 5.8188, 0.9255, 0.359, 0.0171, 0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.19,"left_x":0.345,"left_y":0.003,"left_z":0.02},"note":"The brown plush is released at the safe’s front, though some of it may still be near the rim. The small white toy remains on the left; I’ll clear the right arm and place the left jaws low around that toy."})
tool
executing move_to over 29 steps (2.9s)
step 407
assistant
agent noteThe white toy is centered between the low left jaws. The cleared overhead view also shows the brown plush slipped back outside the safe, so I’ll secure the white toy before addressing that.
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]: [-0.0834, 1.6077, 0.8421, -0.4446, -0.1574, -0.1085, 0.9978, 0.1513, 1.3212, 1.2488, -1.1332, 0.2642, -0.1417, 0.9953] state[eef_state]: left_x=0.3356 left_y=0.0033 left_z=0.0206 left_yaw=0.13 left_pitch=-0.6095 left_roll=0.1386 left_gripper=0.9978 right_x=0.2924 right_y=0.0015 right_z=0.1853 right_yaw=-0.0339 right_pitch=-0.6083 right_roll=-0.36 right_gripper=0.9953 state[joint_eff]: [0.4171, -5.8872, 5.2308, 1.243, -0.0562, 0.149, -0.0122, -0.1299, -5.3538, 6.0376, 1.0867, 0.0611, -0.0366, 0.0708] camera 'top_cam' (step 407): [image omitted: streamed camera frame] camera 'left_cam' (step 407): [image omitted: streamed camera frame] camera 'right_cam' (step 407): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white toy is centered between the low left jaws. The cleared overhead view also shows the brown plush slipped back outside the safe, so I’ll secure the white toy before addressing that."})
tool
executing move_to over 10 steps (1.0s)
step 417
assistant
agent noteThe jaws closed empty again. The white toy sits slightly nearer the base and to the right of the jaw tips, so I’ll reopen and shift directly onto it for one more attempt.
move_to
left_gripper1.0000left_x0.2950left_y-0.0270left_z0.0140
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0845, 1.6104, 0.8421, -0.4294, -0.1612, -0.1131, 0.0102, 0.1513, 1.3075, 1.2385, -1.1469, 0.2531, -0.157, 0.9953] state[eef_state]: left_x=0.3389 left_y=0.0033 left_z=0.0212 left_yaw=0.1338 left_pitch=-0.5961 left_roll=0.1375 left_gripper=0.0102 right_x=0.2864 right_y=0.0025 right_z=0.1839 right_yaw=-0.0143 right_pitch=-0.6231 right_roll=-0.3568 right_gripper=0.9953 state[joint_eff]: [-0.3897, -7.4188, 4.8615, 0.9451, -0.0855, 0.0024, 0.8474, -0.0068, -3.959, 6.3248, 1.0965, 0.1832, 0.1148, -0.0073] camera 'top_cam' (step 417): [image omitted: streamed camera frame] camera 'left_cam' (step 417): [image omitted: streamed camera frame] camera 'right_cam' (step 417): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.295,"left_y":-0.027,"left_z":0.014},"note":"The jaws closed empty again. The white toy sits slightly nearer the base and to the right of the jaw tips, so I’ll reopen and shift directly onto it for one more attempt."})
tool
executing move_to over 10 steps (1.0s)
step 427
assistant
agent noteThe white toy’s head now sits between the open left jaws at table height. I’ll close and check whether this alignment finally gives a secure grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2188, 1.5009, 0.6979, -0.4267, -0.2108, -0.2329, 0.9955, 0.1513, 1.2995, 1.2114, -1.1431, 0.2527, -0.1577, 0.9954] state[eef_state]: left_x=0.2978 left_y=-0.0247 left_z=0.0121 left_yaw=0.1324 left_pitch=-0.6041 left_roll=0.1469 left_gripper=0.9955 right_x=0.2817 right_y=0.0019 right_z=0.1773 right_yaw=-0.0153 right_pitch=-0.6384 right_roll=-0.3598 right_gripper=0.9954 state[joint_eff]: [-0.3897, -6.9265, 4.9299, 0.9158, -0.1587, -0.0757, -0.149, 0.1983, -5.3812, 6.612, 1.1355, 0.1392, -0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white toy’s head now sits between the open left jaws at table height. I’ll close and check whether this alignment finally gives a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 437
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2211, 1.4948, 0.6922, -0.4225, -0.2142, -0.2405, 0.0354, 0.1513, 1.2808, 1.1713, -1.1278, 0.2527, -0.1577, 0.9953] state[eef_state]: left_x=0.2973 left_y=-0.0247 left_z=0.0125 left_yaw=0.1373 left_pitch=-0.598 left_roll=0.1451 left_gripper=0.0354 right_x=0.2764 right_y=0.0011 right_z=0.1702 right_yaw=-0.016 right_pitch=-0.6444 right_roll=-0.3611 right_gripper=0.9953 state[joint_eff]: [0.0752, -5.2444, 5.6547, 0.8718, -0.1587, 0.0611, 0.9499, 0.1299, -5.2991, 6.4615, 1.1502, 0.2027, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 437): [image omitted: streamed camera frame] camera 'left_cam' (step 437): [image omitted: streamed camera frame] camera 'right_cam' (step 437): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.071 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6033, -0.3931, -0.0193, -0.0349, 0.9993, -0.0208, 0.7944, 0.6075, -0.4004, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1772 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0009 right_z=0.1772 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2906, 2.0098, -0.0855, 0.149, -0.0904, -0.3624, -1.5385, 9.6889, 2.0391, -0.0513, 0.0659, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40a765bcbbb90e6e2822a60bd172ae96ee2b3e9b31446fe5fe1877775ceb4169",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2092b31a4843124b41fcbd63bc5afd4f40d1a1148a58a56b9b767b9745ce57f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb7072669bc7cca256b785bae299167cda5f4a4ba62e475d6d35a6fda4942ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.04 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrKN3GVai0NWFRXzVWfCsQmJO_oISzXqeYwqT99TNuT-fYvtXmy4rgKsnzC5dRy2BmBBy7b0kewwK_bLBo3s0RimCin4TvfUsKRygzVngWq41oWOiqtJXJ9dnxpmYX8MbL_rqHHqZGXwKr13JTkLkeu8tGEP4zEz444jNnUS13yyb8t1-qptmTpHrYPfdbyexHbbdw15ylvvpSM1a2Bv7A-6BX5ObEI7IeWZkiivIymJp86Cywvpdo5xQfhr-WJG4E_XjEBPQM1gOknaPSEygxByvJZWJvCQtct7Xy76w7g8YOfbffBv4OKXoSiw80E4ippoqf4vQDe_dX7rhHWJ72QG1qK4KXyvF6hI8VGKDPPa2AdvfdmEDScUZ-o-FFroRnvEZ3tyi4OrW58EU5Zvd8qd-NXYRC4BPbODqQBdvu1bh5kuZyfzsFYWH7sqc9hw99DWxTGgLTdD-sp6rXZqchIV7asb4ZbhAlkFGk7vAxw7aWKdN2NMienqErTV23EOoXV_2HDa1tcU2pDHQGB2n6ODkfI3pPkHhQAHDhhWweHuBFPzzZS2HwcY_93t2tqW6GfdcXmyDy_5uFnFCUCAeegYl6dLpvyJS5aPehsuuO1EBkEK7ZE4HeaCVqOaiXDp-gdic6CgrpEi6nwpxsb7N4mckjM5DtMtRiQ8mh1lqXBmxErWfIMd8f3My2sp_4tPTIWpA6r3ORmo1giPPQqJ_M9qbUEw5_tcEhXc5ZXtTnUm1Jz7n71DNiKwkFECqFTDOalTalWn1TGuZCn8PBpSrTNgVvhC1zKqCzIPKslYTHI_ZCl_NA9SB9Rh0nAxBs4HWesFG0zIuuVVrKq3DBy-OHtlJHZwSbtjVjIw19giBUvUHlIWlAQnEMlpI710H_oHg3d5uxRFyvbK0L0t9OlscV7WTKAxpJO66jva4Ah4vp1A9hqKJpfPenuSkDWbHINw4_zHSb2t6yT4RXK7DMLm85wXgOt_SoM0XNMHffi8uEXrEgKEyjLYEn6oQlwYBjf-82UM13tXWhYGgTE5C0AxWcCM6rSapK298lJY2t8glhKq9-pVOQiW8Jd7ZZRyi0BLDDhCYOXOUL8dnGQCqwBkDT-siunIqoE5z-RkgXPW3l16Ao8fIOIlFKvBdCKR6k68d98yfas7_-wa9RkCSqy8SQxwp_HvuddHRDfgMR0f2dorWpW-bp3ozIa6Wc-Htt0F0qMxSZV_q5HIkgkUuEI_CuJUOMLu16cjP4rcOESaE2IfJkh0yHYTetTHG66_gsASJOGCRk89F-QHz4uE3gsNG6iFbqPsGj6zvvXSOi8Ziow3yZXAQZ3LcVlGay0uNVW0A_3etM9gX7wdW67bLCP6tytjzFbw9O3b1U6-jG_1hHSIBbz98hrOnKxo7zvOej1MFJI5v040LxrC8WARFdkUXBUqUCBIZ0yZzPk-3HFOGvb1lkWzFbeV5C0U16w5qbyXHPOuOka54VSjuRAnqYmCqGC0EHydZ7Ex4q54JIgg5AJWcRIoXiSRIA2d1imiNL2h52PcCPsEgFKgu4iCmgBqMiuZF9s-8nF72n907eim7Yo6GArgK-6Bhq05IcOtFQuCL-jb3S-OUlV-EHQ6_4BcDkUQBio-TDUgBx2c934rrMM10btLzmaDczzcAJZgpE6bswl8NGi-zSbLFzZY_oHiJI9amOOlRhg7FRQJGbuCfbDpOXNaDjxf33Qyc3XP7OU7GMCV4WfiasbUeWmsojR-mlmt5PoHl-fhRr54Mzvbe4IlpafOpyGZA2DHIxkAiRVs2AXaT8UmHqX2OiAnj5RfDi2iia0VIB8is1VH7MW4ZjDsd0xHvzdGOQuTiwCeO_XW1x_ommNIoTk9SnQenSIAhYOeui-bTsTGHwv-kc5NsiOJWSDQbI44IzvjFWG0vC986IVsqKYGsCaZjHXuSOZNjXGPxm4FLIzn74xHD0DkzLLka0mdzkmpnvlcWT90CKZVrx31K1E3ahLL0sunwhnpg6OgItTqmC-LNUFsLLkNamnnJ_xEREsNPEDmIPMzi9q1TZ2YWiskzyGpU33yAB2166l8VHyoFYJcq2jwzPYe8UV6m-ml-PPdqLyF0qVwnp3241nUOg0iJyRucaUVT1F9HB3DV_O1XtLRt_smawakzBdEKPWKn60mvqJtCTKUwm-CJXYX_7pR1DZoYSDiSOPfn12zACKBTHLdbsT7PBjS406vb6bpTQ35OGj2YBt1V2NK-RCg9YcMTE8gJvWgPnOwRs6EsAmtczH2FGpZrHHecVw3JLj0W_Li92h4nnx2Q1HKbABzi9ITSWQichdxHfli10cGbJOhD1iSEaRlzvtpnVaE-BT0CuVBE3_K3ssp0e3ZVznp5DCB7CZjgyV9XdrZtevP5W7BFlN1GOQq3thoFfsNnt2GSNFSBAGJyOcz0Gpj5q6YE9E6El6PPkJtPifKsvv_suVp4FTOtTu5e5qoa5MkTRF7L50OivjOvLKqkJmf-B79oivra2c5Hd9a69v1F1MlTG3vpR450u18zf8sztD10tGMmjN9P6uMSX7tTcKR4k6Ed_s-YXBecAbilVOY200wXZ1FAZmDkOM7fQqmtobfTbqFE3npcpfaHDFiluqKL2oeOmNSoZArt1NkG9OiZJNmGnX39IyEXbZcmr41nV-kVFj_JlxPs8MQUfK5mL0xVS0pVgdnpbRUDA7-Cd4Kkv8YZOB80yCnIaeg1WMiH9lA_NtSagkfEpJF95eqJJOg1fyaLrv78o9MsFbpOjEJzNiW27QyfJf0bQ7GpZaBGPwpAq6GynItCkS7-J2nuPPpGyFWObCgLI7YBSzCk5z5FwqsrzyxoalvaqIx-L_U7IiuwBT2QFkfDM8CY5HakJqafarkmB53F3Aobnpp1tZzvJkkkkFKSirCz4Z05jwMCgwlIkuvMwrvdVxnxQr6Lo1V3VWmRC0ob0LiExHdOzwafEdqJobBSMfScv1AzPnNEAkUwYq_5BgXumwN8dwtmOmNibTZYv2ZMw4U-dQ5Ok41K4L7ZQArMgoHwuI69c4CCQt5mK8Fys9vPTkmCOnffYpjFTXC5Ygtu1rx_GKgDkh2li8hi7v_XwdtKch4teT0-OKCSeEzhDewsNZ9xn2iVV23GPbmiXzOZwm3wP_VJLDLUak7tMFUxhLVs8sUMC6BbluKylqKqHkBOF4B89hUs1odPu-sUrYwZpAZkGPVxYQQbYD6XDhH59JGOZQj7NxuMFpquXZy6Zk6MN1hPYXNVBf1ZjHMZi8fP7XCXvo1rCzO2zkeMVZsDV9rzNqOVpcNCMBK_o=",
  "id": "rs_05f2009507de6390016ab42ac596b087d0b749e8dcb1d65110",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.27,\"right_z\":0.16},\"note\":\"The safe is open near the center-left; I can see a yellow object to its right, a brown plush below it, and a light-colored object near the left arm. I’ll position the right gripper over the yellow object first.\"}",
  "call_id": "call_SZoOClvdz2N4poDehoF3TQSh",
  "id": "fc_05f2009507de6390016ab42ac9df6887d0b692e4f741ea6dc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SZoOClvdz2N4poDehoF3TQSh",
  "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]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7666, 1.8122, 1.2984, -0.2741, 0.5861, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0149 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4105 right_y=0.2647 right_z=0.1463 right_yaw=0.0337 right_pitch=-0.0454 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.5385, 6.7487, 1.8486, -0.0269, 0.0073, -0.0171, 0.212, -9.2923, 8.5265, 1.6386, 0.4127, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20427e28ff1ffca53bb193ca34a7582c0ce27b9bb06de416e318976085ddf93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b975eaf78ec2a87bb993ce6982986f8b6516cb812e1e3d239d74920df1b502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d0e4826cf794867a2dfec094370debab6ff1d84edfc0bff1ee868ad3e196cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.07 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6033, -0.3931, -0.0193, -0.0349, 0.9993, -0.0208, 0.7944, 0.6075, -0.4004, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1772 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0009 right_z=0.1772 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2906, 2.0098, -0.0855, 0.149, -0.0904, -0.3624, -1.5385, 9.6889, 2.0391, -0.0513, 0.0659, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7666, 1.8122, 1.2984, -0.2741, 0.5861, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0149 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4105 right_y=0.2647 right_z=0.1463 right_yaw=0.0337 right_pitch=-0.0454 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.5385, 6.7487, 1.8486, -0.0269, 0.0073, -0.0171, 0.212, -9.2923, 8.5265, 1.6386, 0.4127, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c20427e28ff1ffca53bb193ca34a7582c0ce27b9bb06de416e318976085ddf93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1b975eaf78ec2a87bb993ce6982986f8b6516cb812e1e3d239d74920df1b502",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81d0e4826cf794867a2dfec094370debab6ff1d84edfc0bff1ee868ad3e196cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCrQF2MisuJarZG_6GuWTkbFfmC3c4bxxqdgGK0BzUAm6qx8xm_dH9Uztc8SJaR_9Kz7mLww10nC3CJekALmAVUW1mTin2icHRGEJYHWh9EMWb9QFVmBfyRRFiDj4eIoh_1v0W-843LeM8qoJrijkWzRSVXCnn0fyDmzjFEgY3rQQUUgZ4ChG6s5jDnNUvr1mQruFCJZ_aVnBjHjGvjZBsjDGun9jZLo-acOPs1C9Y-n1Siowf5vrpbFwd3xTqe_Qe5Lvaxykx3OxKM0UwjmjePK-AVkRCoXD1RS_T7gdp92hS3kQl050YNlHknXMLLrjticKSguGMGh6X-8EaM8ajr4ZnEObUTp7CLDOUp0Cj6Vup94BBTYuuZ_644g13knO7vX3BD8WLy0_QCFMYX4WUPHmLwoR7sWKaZbgrsI5DTxrx7Cgn8f4wF0vn1XPdcIwoZv4gHT5EC7r56bkFaHDDAqHuiaaBnif6nGf5uXalBfRVfHeYBG5aFDmbY33BuUoThl-rPag6WiqptBh-YD6KvO5gkNYHVJWqIp9ubkDv0rH4zccX4nyntX4HO1jBMndW8sIwk3XBmd14oqeLog76T3nNzTbzS0pmPOGDZoTFvjanOtkw23TZszOcV-pLM7Qg_NgbQ4oms0zbER9vV2D5Dl12TWSq6pvB1kCmTYVsdZuaJYpl9HPe1FNqsoN2xBnMtS6cYzGIfauosZtRtKB3-iiefzNsPMPgvcqJ4E0-Vp8WsKBGxeFRbmFRxMuQa_7MxMQJDxvIfTmPVRtBXy1n6-xbxl7lH71c_Qe_uJLDUb1_2gkA-z25vnk1jkHgI9zzRJp7aICxjQuTelcWjihlmirwiLCrUSHW1B_K5ReMDPZQqxqHkw9v1C1ack4zmOCsp3NnfE3Cd7Tw4ohpwzEliRnJq_sOISPYGSJuWUVRsuT8bgY5f5ksU2cEGPs2k1GDSHyE-YRFYfoootjgCx7t8AWWCVb3ti3JLnsTa5abQ5LC4ztV908QpsY69nhIvGu8Ulh-DGweQfAH9zjMmVT_eHn_STFzkTNMOOW8ewKpf82tTGFLpnG4GoINEIRQ4sVbJoHxPv2S9ZkaY4AtJPi7FuV_o8q4dYTs2RFiFEKrf8eYFTiLSk_5LBGxbWBRsJoWHXJArp9bT6aWk7MB5AwHebuUQLnQQ8gR75dIda7VjLLb_TKwS2KQHQoL_lwqvzL4ajUM9Jy9mG9w_saYLq5BZJ7dn4uCnMJ6xyrhRWHFNmUf9gnxDaFRyEAwtZS74X3XKe8Yt94yXu7MEhW9Uj2bFfBMhNRS9OK4ELHBwIb9ibFYrsLhd3tqorCY1BMdabMnRYXYAensXpRXGhNgnISaEp9XxAK271JT5Z8LpnBCD7VmuqNL_ifviWqJSUFpGDfNRZgZSVCOCk2RKhunuyaLSPiDFVUQ53GvrKFfk-ESC4Vqa-atWYtloPW69488bDo1MeS8U03OyqpzhIaiSCCvYbVz05qVqR2lqgJ1iU6SBJ3kapvz3tVfvwbMGR8ik-ediSF1-4NXx1E9yLKAKI85XIxUPbAsY5buv_pW5OLb6rXHCr9U5z0ZM500zu99KZ3iBrGkQ0JW24t76496hpY-NqepG9y0qDraiWLcQ_5_s7IsanM9x2njkh2UTFCq_YQqeTG06i2tosj4aesGMDuiIPKxULUjvX0VZ76WocCDbRrPJNmgOO4oeuPTagTyQNNo5zNyiG5il0YCuQ9zKut-yppSrRJJLoMDLZny1EANqEr71BGFQaZLgVWY6j-WCdZo7-U8fBx-JTWmIbrbkrwxmfZpoLQ-Zi5ysRJzDVTocKXoxgA9a76uYGw6qhlOBPkBhddFvwq6HdjyZ5semLgaQsgAAqATDul1aa5Q1vI8Ox4whT4_agK8922G4qj8RGsflWhZUMiFVgdVTKJXQljMYf7g9Fw-4oD8bmgzoZLVlWTJyJB9Bv_wZtGqQ-OAG_eVo7TefJ-uUGhf9RaKGVsCNp7rh-nOUC_GfSUM6ddE8oERrF42pgxkCvouhZlMxGQVXsW8B48MmxYOYPp7o-WkGmmC8mlU9Rib_z1xdRlJfnTAE7Rb9S7sau2-aC5CWRHoamo5U3F_p6vXLjGvJ2gsooKdBUk4G0GLSGQiaM7b74BazXfu16gbHgia6YAPEC6_ermqqeJtkWOTII9Pd1whW-SxWRwrpHjJT5VKTafOXwj_eJHI-WI8_wf0Gxo8MXA4LOP_VDu3s1htAY8ioF93SYZlMzcJIAXE8x7ORwu6aPFX1fFXhwNFgsp5M-TO_vCjHyf3aaANeNHVuzYEOa84kWUDyIOoSvw_vcXcMTVRWAVjCnfMzciCy5b-bm24xHwYcd8UfbZTh_Oe5TUC02Nv-fww==",
  "id": "rs_05f2009507de6390016ab42acdaf5887d0bace523189faad47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.27,\"right_z\":0.027},\"note\":\"The yellow object is centered in the right wrist camera, but there is space between it and the fingertip area. I’ll advance slightly and lower the open jaws to its mid-height.\"}",
  "call_id": "call_tdqK190lXxdMkfEF5VtazkLz",
  "id": "fc_05f2009507de6390016ab42ad0204487d0b7b1172e66dbcc7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tdqK190lXxdMkfEF5VtazkLz",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4164, -0.0189, -0.0383, 0.9992, 0.7372, 2.0567, 1.1721, 0.0891, 0.5682, 0.4282, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4304 right_y=0.2672 right_z=0.0376 right_yaw=0.0292 right_pitch=-0.06 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.306, 7.2957, 1.8095, -0.022, -0.0464, -0.0122, -0.4991, -8.1026, 5.2171, 1.2869, 0.1294, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64d3b419f2175ed774ed3cac2723fda29960d183f6d1b28310f40aa29dac2ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbc51141d55e45a59711364ea19f1b7f63a7d8a2f0b2c6fa6798416ead2b5af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d728d1caeb96a158c88cb4988edac518009afb9d46276b7d75474479fa830948",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 1.59 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, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7666, 1.8122, 1.2984, -0.2741, 0.5861, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0149 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4105 right_y=0.2647 right_z=0.1463 right_yaw=0.0337 right_pitch=-0.0454 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.5385, 6.7487, 1.8486, -0.0269, 0.0073, -0.0171, 0.212, -9.2923, 8.5265, 1.6386, 0.4127, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4164, -0.0189, -0.0383, 0.9992, 0.7372, 2.0567, 1.1721, 0.0891, 0.5682, 0.4282, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4304 right_y=0.2672 right_z=0.0376 right_yaw=0.0292 right_pitch=-0.06 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.306, 7.2957, 1.8095, -0.022, -0.0464, -0.0122, -0.4991, -8.1026, 5.2171, 1.2869, 0.1294, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64d3b419f2175ed774ed3cac2723fda29960d183f6d1b28310f40aa29dac2ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbc51141d55e45a59711364ea19f1b7f63a7d8a2f0b2c6fa6798416ead2b5af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d728d1caeb96a158c88cb4988edac518009afb9d46276b7d75474479fa830948",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCrTYBbO5bs21gM5wXH3RANsg4fK3TV0_A22ZkpsC4iCZooud0rPEAPXTl_nLOdhi1YH5WG_XBTM_7s6YXKGHcMZxTWc8v1KFn-FYTkTngriDLS-_b4FVR0iYCvXr40yVAwIg-pJHLsYOuwUWPE8_3UgnpQq1axh7dDazEvxEiIIquULc7OvHbQciSxUQtYWX4FZj9kznP6Un4VCRUha7qD1gdgo1xM8HpGkhEjo01Sbz-H_6cOzqfp7607UTcdkJdaM4R1zV4T4KDfweA1ATFGr_On5Kr6Ru1hX6HkHMP0JuIbzFHiOvQk-u86XCPsbc2VAlAKxhLlJisM_rFmPMBnHsBfqqlMndz8XpvjMSsXZwajTFtxGXILvqnw4AhutJnOWmwA0dTrlWONf7Zdg9tG6gQbcoRGpYINbKFt6vwOYbeNq7Ka1erQoQPF20iUAyZtJibBptjQn7n37jNEN8qwRe7YM2SgwOPc9hf4zchD0WszMEF6mlt8fD0PMTrETrJR0CKdnrQVOABZsAWo5Ql_lMV4StLoOzME8MJZa2l0Bq-IKzURV_c4psSU0k0xVRZ9QO11y_HOKiHccwSB2YTM3oa50jiPXRyfdaKLzGlLo_diOFSempaXI_s7HZHjzl9oPeERySFGJVAk9afecC2vkKZ8lCG86sMiWq_NOhIlFWlZbb1-85YKIkOzzRSEoGzA9p0kR-ad4eZOLaaa97MknIZSoTjN_f7uF_F5WIrum28nnxQ2IepVmnrrNFqD9GyGyLR2c7O-Wm30oTfAQQAHFQFyLFwpWupKQDHL6kyyE9YBPFgny40HHHvVl3DpUm7DchU0xl7SKycbQqO_B0b41LwcmYbP7sDEn3mttRj8zZINfXk_WpmQSdLJwXa-BB_vVD_nezOE2XxqTWb7-PX9q_WXaMwdS-tATvKfXYiLcLeuzBBvPENGp0UhkJbz84iQNQDV6sOBaeESdpHs6-wKCn01SF4FQs0JfM8IQBGkUoDDmIEMGtBD8-3Z7d_J3UtFxzr04jgEaLzOJzPdJHCBpcFqo33VdINrv4T80CJWWE0ilHWOJHALKYrvHRbAHuq8V8j1BW4Q0hZCVfgrbTYpDgtRIEXCkG2K_whFX_9bvyfJDk50utYET25JgsP2LitR235gr0yZsv7CH-kuFM-di9w8SWGDRZUkAhUVZ4E4qYKkFZujsrf304FVi-4SZtGBFUoBxikihdjbXC1GVF7vZP_ylHEvK3XaDahChb2HlgSqIRjrRX_Ybt5a6H-DZ8R65rIi6HVI3ppl4wLdDBwwbb0M0sNoQoIb0hoAwT2pmb2vJmTyi3_BgPe1qCsu8TR2kEL0Gcv3r2P_i_gf4ii-igrEUxvFkeDsUaJSuj5ow-qtu6Hu87Y0JzJp984idyzRYBuMZ4PGFTcbaMIDYIzfmM3cEaaQn4N5UiBQwuajhgWevh8aBCv946JMsr3Xg6x_QD18_sydjfjUz0xKndl5LWA==",
  "id": "rs_05f2009507de6390016ab42ad25f2c87d089ac4af5e29152b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lowered right jaws now straddle the yellow object in the wrist view. I’ll close on it and check the gripper reading before lifting.\"}",
  "call_id": "call_l8TRfEvRjVgDeF2ILWiwT0j0",
  "id": "fc_05f2009507de6390016ab42ad312b887d096489e0f90a28347",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l8TRfEvRjVgDeF2ILWiwT0j0",
  "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, 0.8024, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.7338, 2.0731, 1.1702, 0.0837, 0.5606, 0.4198, 0.4366]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0016 left_pitch=-0.0423 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4289 right_y=0.2651 right_z=0.0278 right_yaw=0.0349 right_pitch=-0.0818 right_roll=-0.0668 right_gripper=0.4366\nstate[joint_eff]: [-0.0615, -1.6615, 7.2, 1.7802, -0.0708, -0.0659, -0.0122, 0.1983, -12.1915, 6.0103, 1.4774, 0.2515, 0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f176f67298808de8f67a0152cb2999d06bdf800d730453a2ef1f3743b71ea5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd2c939cc5071f5fb2240285d28b3c2025f2f7a183ac41789cfe2b84dc3f03d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffe29d72a8966ae5e1ac37a4129a5614d7ef83ff6e09263f9206fe5208fd2f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.453 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6033, -0.3931, -0.0193, -0.0349, 0.9993, -0.0208, 0.7944, 0.6075, -0.4004, -0.0193, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0013 left_z=0.1772 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2925 right_y=0.0009 right_z=0.1772 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2906, 2.0098, -0.0855, 0.149, -0.0904, -0.3624, -1.5385, 9.6889, 2.0391, -0.0513, 0.0659, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4164, -0.0189, -0.0383, 0.9992, 0.7372, 2.0567, 1.1721, 0.0891, 0.5682, 0.4282, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4304 right_y=0.2672 right_z=0.0376 right_yaw=0.0292 right_pitch=-0.06 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.306, 7.2957, 1.8095, -0.022, -0.0464, -0.0122, -0.4991, -8.1026, 5.2171, 1.2869, 0.1294, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.7338, 2.0731, 1.1702, 0.0837, 0.5606, 0.4198, 0.4366]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0016 left_pitch=-0.0423 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4289 right_y=0.2651 right_z=0.0278 right_yaw=0.0349 right_pitch=-0.0818 right_roll=-0.0668 right_gripper=0.4366\nstate[joint_eff]: [-0.0615, -1.6615, 7.2, 1.7802, -0.0708, -0.0659, -0.0122, 0.1983, -12.1915, 6.0103, 1.4774, 0.2515, 0.0806, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f176f67298808de8f67a0152cb2999d06bdf800d730453a2ef1f3743b71ea5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fd2c939cc5071f5fb2240285d28b3c2025f2f7a183ac41789cfe2b84dc3f03d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffe29d72a8966ae5e1ac37a4129a5614d7ef83ff6e09263f9206fe5208fd2f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCrW3drIFDjS2y3IGpCg-v8gmTDt209vMsdBwG95m2yCqoSLdnsrzsoNbh-HROOhr0t29RR2oq4VbxIs7w6J07fHbg81_btSEjilo_UhVzTFkdf0y4J0dQCmAyujTnHk_hknTHm2bUFvSCQA4Vj__jYF9guXkOWRmS4PKI5ZwOWxqBB3A6H8V0iPh2Zw5GEyWMN040-N1H6ZU6YneHGISWtNRVbjjcPqEZyGmiqQqx_FAYpUi6PnUkcD0nrJmz_CJmSvBkp_0rDcVnorPOyXNQ67gO5XG6fEjdnn5HKVPOc2qxdhruzyZB6gBBVUfg9Ed_gOKW8oFzywy3RRu3kO-PLiFHlpGUVC2hpvo67HNuGABI41jnulUfo_UnblsF6HWd4C1V4r2gbsQPaV7XK87VZhciAarQO0Kb6SDpU8V0c6lyu7xDU-k9D0K4Aj-nAzvcDDt-XtF4j3W78_V15MFUUid-PLQyIl--7zwawRm2fBuEx0odr6FfnCcGgBYFdYV1tv1qwO6xTnlxjXE2ccFPoMENSH7gd4z3wSH3A2pHvyZfCpy0q6vAM_cBj-9y3_DfElABeSV8WJ_9Q77mjf4fMqa_YuTDc0cn1fBL8lNBrK0k_MF-tSIIHrRNHSSDheY-Xv7TckjfMSS6bK2w7RGguy7n4ZqKXMrqekT9KASQ4cSOAidemVE-LJcOgkBqda7jDS0nNsIHVS0n0cBA7n1lqBQGQ8FXYUEJuRAROoSu34bcASHaQJybkRev8tFIEnuGx_WmpeRw-IQRVfyMGrrLr76dIoy48GffNs-pigpbEqNWAh8h5qmN62leZkeMh-ZAPcc3lVU9jU_tL1meiM0ft1GB6Ga92Iwqf4aTKX5P9eHt8u_VCF8VwXFU4lFWjbSJs-WujZqAUdIbB5wCnAabVk_YSVvuXfVWLaUU-t4y9HCLIreeajhmFNP5l8UN8aeMQRyRJlbNee0rTljLT9fNSf11kY-eMtjxHHUBYU15LaS74Kgtj-KdodoQMy2Gqw41KmIHpAlyKLddwwWRzWE_FQhOF__rr6_onMp_PkV2t5PlkLYuOUTvi4w5hG9vzNL0Ih3fRdsjX4vZrrSrVumzWKb6rKV5lWbrOITsuhUQ_zQ4g2bpO4c7ncIQ2wpb2_tt2iwCk23ex10K-K4dulgnoxzJWDwyOmSmwjKDQYal_hLk5S-vnXE8mupu4g8Qo5jW4J1WOlVi_KpyU9gTwkbUtoxr1YJkv3pz7KOfWDqYQuLvk=",
  "id": "rs_05f2009507de6390016ab42ad5656487d085e0593d843405e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The right gripper stopped at about 4 cm open, consistent with holding the yellow object. I’ll lift it to confirm it comes off the table.\"}",
  "call_id": "call_hcE32Wl5SPsqZ5aqeUgzrsN9",
  "id": "fc_05f2009507de6390016ab42ad5993887d0a3f09bef41e9c532",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hcE32Wl5SPsqZ5aqeUgzrsN9",
  "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, -0.0383, 0.9992, 0.7334, 1.9041, 1.4437, -0.4103, 0.5526, 0.4183, 0.4394]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0503 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.2649 right_z=0.1379 right_yaw=0.0377 right_pitch=-0.1252 right_roll=-0.0966 right_gripper=0.4394\nstate[joint_eff]: [-0.0615, -1.2376, 6.9949, 1.7363, -0.0513, -0.0415, -0.0122, -0.253, -13.2171, 8.8821, 1.58, 0.315, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1cf69328fdb7d426064b2853d7d2501c1ec1597c0b61781e3fea31e9bafbd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494837bebaff69c708466a00b1f9ced5bf3697524d2fe4b8201c2f12ade746b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a07cf324299240eee2fcce12aedf51f9ab37d3b95ee954c29b51b5b5e7e5c36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.639 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, 0.6064, -0.4065, -0.0189, -0.038, 0.9992, 0.7666, 1.8122, 1.2984, -0.2741, 0.5861, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1749 left_yaw=0.0014 left_pitch=-0.0149 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4105 right_y=0.2647 right_z=0.1463 right_yaw=0.0337 right_pitch=-0.0454 right_roll=-0.0361 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.5385, 6.7487, 1.8486, -0.0269, 0.0073, -0.0171, 0.212, -9.2923, 8.5265, 1.6386, 0.4127, 0.1978, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.7338, 2.0731, 1.1702, 0.0837, 0.5606, 0.4198, 0.4366]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0016 left_pitch=-0.0423 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4289 right_y=0.2651 right_z=0.0278 right_yaw=0.0349 right_pitch=-0.0818 right_roll=-0.0668 right_gripper=0.4366\nstate[joint_eff]: [-0.0615, -1.6615, 7.2, 1.7802, -0.0708, -0.0659, -0.0122, 0.1983, -12.1915, 6.0103, 1.4774, 0.2515, 0.0806, 1.033]",
      "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, 0.8032, 0.6067, -0.4358, -0.0189, -0.0383, 0.9992, 0.7334, 1.9041, 1.4437, -0.4103, 0.5526, 0.4183, 0.4394]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0503 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.2649 right_z=0.1379 right_yaw=0.0377 right_pitch=-0.1252 right_roll=-0.0966 right_gripper=0.4394\nstate[joint_eff]: [-0.0615, -1.2376, 6.9949, 1.7363, -0.0513, -0.0415, -0.0122, -0.253, -13.2171, 8.8821, 1.58, 0.315, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1cf69328fdb7d426064b2853d7d2501c1ec1597c0b61781e3fea31e9bafbd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494837bebaff69c708466a00b1f9ced5bf3697524d2fe4b8201c2f12ade746b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a07cf324299240eee2fcce12aedf51f9ab37d3b95ee954c29b51b5b5e7e5c36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCraFuHzLroWdgjX3SmRN8-_v3z5MkuAFPtesIbNKWkDAbu9CfFscVKlFsGyD9EkfH0qRgqUeGhRTa9JtgCq8Ty6g7r3f5uflXgtc3idpnmEvtCzPGIP7dA8poUXsKS3ZFmhKnjxkjZHbUay56RWMnTTwFF57vOMj6dm_L78-O4b3WlpepPJkBzjrA6cqKlSS4sSMDoSTM2Y2M_QzINmnzrxwdpejKACVHGvDhDGAX9PLCpA1C5Fy6DHpq_8xceUaaOqN2y8wAT7k6f1_rcF8CGSDRo9foFAzAzk47cXIlaQzJ8nCTvhLG8tXVGzLVQWTkQicNAnDATi0_vxHKttiSeFqp6E3x63ajgdsUbEMDchqeCxOa99kT3STqm6DvoG6BammrzAeLiIrF6Mt2QbCqsx6hN18JcQcrEFYFjfL0nHYLumWNnr3Rl2hFNiYqQXenjRbJuOgn9g4YE67wNYw94iOxm5v03K3k_Kknkt8PLvbnHxs2qGdPXh3VMlSovYAdQTh5Z78K84iNUPmskk1eyOSMMdKEnJ-D4CExQ1AfChgBmDxflMeqR8opG4OxA7hl04j_wA2YEu8KrsAQlFHx5QoTFpCfBEX4qXlmr_jCvdYvTeOMl_fh8fHRf9bnjkGzEUWsbKSewM5eqoDd5xwPFBKW_lsMFL3Ap6dAewjA2LerC6YrggnL2Tj7iB5BizorF4onOYVhoUtMe5HLX2e1S-yx5d4-bMbHBFZJogefCeJNZ5gsbno82ylooaeLditInCnFWeVmmwAoE8HE1BOF_7zzWUFk0ucEX5Mk2KRqhY_WRgCnSPD2mT61Ngc30SPcoosuu2B57tl8vl4tPFj81-udvl15PCiXqtGZX1Gpn6_8T_jiIIudnplEmEEZoVTn4dYot7fyHf8zU-i8xjHgIlFlkMhaYtukyJNNOA9YmhMNHDCFv8fUOzRDePnkZJ180oT6CQOu5BsB9tW0nRXA1vXEwKgjAVLqGCUcw-yN2PqGsUj7m5DhhRJbqEurpLziYp3t9HiuBNxXYNi9v-Vl-fyPi5WPxdzI1xEAbH453xZkvPMpaulrvMSBhEgSMlwmOSngKxdbiSm9Q3undozhNElkazlEInQNFr2BNnsy7qzAXRATexfZTpmDAXQt2ghD3KIHpa5sepBS9wVSz4r5FJnFTGe099HnIGH6vm2K_8N62LiEWQ9jUqGNPfavaeVoDoNwL8N64XZxXPt0shG8POZWfEyOsNDo8e_TMS1sCJQI1lCYg03hgkz3lEFFohtOQm_vRd2AMehKz_6VQ8Rc-pzPtA-hXkRCMr9m4NV2PCeGn7YLL-nUuyQNmDsR4W8ETo_UXJqsN0I869XBIgLAHC3IJ-2RYLMAglR3LaY0xg0Owf-xKDWCrh1xhilSmUSuxT2M003t042UOvvt-ONjXGC_rhzA46FFxv5qO4B8VCKW_4zlTX99xgrQytedtojnFVNsdSpaVFcvJG39qmoHHEVQFlShLKQ1IRakbW_OUytUApd1Frkv43pdmOGnqv_XIee5V684yOxWO205bR2kXffBiNKCiLnt8GJvuxX-jpTZvrH_AtVFSi1-pZEcWetggLVwtVzqZqdQDPoR-Sev5-GL31c5PcrtLC7EZbfDHQbPRMzcWZXYjaCriZScI3trYWY4WSkv3Gje7xNGxkm1Ys0F0RUWDBn99uqWYvXAY9Jvh3GcdMCWUGjoGZgIU4PKJUGeyravgM_bP62Xn3Mqzn7_Iwe7O7zWvXbUKKy6nRme0lppFmzpN7UpUSqpn_TtIMxvTJq1geBLFYj1WXGRWP0wZDc3m_ZC-I1ILxE5Me87PiVTTJlzJv20IoX9VBMV6nvUaIgPkdc8YFE3jsitirqo6S5mB7X5QK0CfC8uagfVPyIAFuCdr5W8UdEytamP2NE2nRZJDieGupG2Ap6MiQAeNxFtQDnqSMIXjLw5jWmkOMhG3-_5Cya27NQXFEm6AMsteCWoLzTqCM3G5vzyP_xa-uZXL7hXf27GQSAqB1SF0=",
  "id": "rs_05f2009507de6390016ab42ad7f3a487d0afc6a65bdd7a35f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.39,\"right_z\":0.20},\"note\":\"The yellow object stayed in the jaws during the lift. I’ll carry it above the open red safe, aiming for the middle of its floor while keeping clear of the rim.\"}",
  "call_id": "call_BjhOFooxzGvZBDhQVNixbwpP",
  "id": "fc_05f2009507de6390016ab42ad9c19c87d0bfb230844e2889fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BjhOFooxzGvZBDhQVNixbwpP",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4549, -0.0193, -0.0387, 0.9992, 1.0615, 2.1345, 2.0392, -0.9703, 0.7055, 0.7139, 0.4394]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.074 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3454 right_y=0.3908 right_z=0.1927 right_yaw=0.0819 right_pitch=-0.146 right_roll=-0.1041 right_gripper=0.4394\nstate[joint_eff]: [-0.1299, -1.6342, 6.9675, 1.8242, -0.0806, -0.0317, -0.0122, 0.1983, -11.2068, 8.2256, 1.0672, 0.6081, 0.232, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a284804f9c88b562ba9a271fa151b64245e55ffa1fa5316ec7b8237bb3ac4a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e817ff998f42f82cb36c2fc6680d81f6e02790de9c014022c08ef6b2e3d166cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e018df6cb974f16805d956e9edb4cea3c3c3ad7cc7824922d3902965420c976",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.16 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4164, -0.0189, -0.0383, 0.9992, 0.7372, 2.0567, 1.1721, 0.0891, 0.5682, 0.4282, 0.9996]\nstate[eef_state]: left_x=0.2903 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4304 right_y=0.2672 right_z=0.0376 right_yaw=0.0292 right_pitch=-0.06 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.306, 7.2957, 1.8095, -0.022, -0.0464, -0.0122, -0.4991, -8.1026, 5.2171, 1.2869, 0.1294, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0383, 0.9992, 0.7334, 1.9041, 1.4437, -0.4103, 0.5526, 0.4183, 0.4394]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0503 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.2649 right_z=0.1379 right_yaw=0.0377 right_pitch=-0.1252 right_roll=-0.0966 right_gripper=0.4394\nstate[joint_eff]: [-0.0615, -1.2376, 6.9949, 1.7363, -0.0513, -0.0415, -0.0122, -0.253, -13.2171, 8.8821, 1.58, 0.315, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8078, 0.6067, -0.4549, -0.0193, -0.0387, 0.9992, 1.0615, 2.1345, 2.0392, -0.9703, 0.7055, 0.7139, 0.4394]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.074 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3454 right_y=0.3908 right_z=0.1927 right_yaw=0.0819 right_pitch=-0.146 right_roll=-0.1041 right_gripper=0.4394\nstate[joint_eff]: [-0.1299, -1.6342, 6.9675, 1.8242, -0.0806, -0.0317, -0.0122, 0.1983, -11.2068, 8.2256, 1.0672, 0.6081, 0.232, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a284804f9c88b562ba9a271fa151b64245e55ffa1fa5316ec7b8237bb3ac4a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e817ff998f42f82cb36c2fc6680d81f6e02790de9c014022c08ef6b2e3d166cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e018df6cb974f16805d956e9edb4cea3c3c3ad7cc7824922d3902965420c976",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCrf0SSWnvsQvusGV8wfZIwYfdmWlojvcd5VPLthBhU5ov6uEhbicOh5dLlTt3XYdFbdF2Wx67oxkpvgWC6qEfCbY6WY7R1RMiInsEdVcdY8PgIEGkSd9c5y3Dzdk5UPTwBpk2G7IKJLYbtaul_seZSxvFUfZJTRJ5L3KNkH79x4fomK8WQIe6tsYQX-c0HwCAge-g-D1yfO8J9JQcJi-elManSr0OmYKaDRP-E86TY0JuGI5mmH9WAbPB1-Bbv5DveYWCcGqCPnzhyfFSbxbGwuntQHxzLC_1kxRTSxCc1N26bWBh6hq7nFMrEcMa8cYAMT5mD4kHSeslIX8Ko--_lUrWKyIhbTP8rsRSMQv1L-6ACDUq9uzHPyou8HDB5mf3-1P8pOQ71RuOt-Gr6qOnVUlRxBdyywCcQNOXBAGmFLhQVO2vKIsRxeL-8YqneEHxj8rqKcT1Ua4Ez_fE8N3kFrVL_pSpbUEQ72WTQwu3XgOf2vdlTIZrEmNiaakTtf1Y5sy5bwnTpuJe8ZzXy4gqw8VTghe2k2V8xpJ2u7RQbdUZ277D6JWnoKrdXey4UPuuu04tWP5em3AzqoBKNHsNJlmtxcgpk-HrD71RuFik_ff9ftNescadrd2K9SqSuKv40mZczldswAUJshSBaQecsPszJxo5JuVrx4wlH9XYz5r109ije3PMkD3RDpXhoIiR-e0wUvpl76H_Jq1L8r1w6SmBZID0Th04I6wnetJISgLH9DBF1hcfYt7T8n_ms1BkyOU8GxetRRnzdA9N4XQ3NJeA17nXM_IjjXqKEhB11SZdP4KBuHsO5gY7DTg2HoHXHFIL4Rz8dPOaxKHgpNCGg4EVx7LGgP-JQUUMDeuzyzYpRpdAoruK7tN_ljxK1cMeWYIzc_gU0ZwXtaV15XAA2EDCbXekTm5ZhCwgTokmr9X_nX2kMVod96MXx-_wYHCfz3JDMk4zCWY31IX2Oj08EKBUc4De4LHqU_II7hBqCpX_cabgj7waf3o26fvEjqaiWgEmkAU6azBujUyXsSMSNQa3MO6_jyeARFbGCmWbbNVOzIIxgdAbMl_Z4VRyt86DTs3xR5ZBkImECAppVKWUzaL-0sy64QYNJk9zTZ5wU1Jo_ncAI0YpaNhXx14kGj60wTsBhxg2L-8q8ZGuP9NQw4KeqeinddTDYFJPFzhqW02xh2iZn8JI1mow76hxuHxHqTXfGa5EZN1gcvFs7yfZmOsID-1WCCe83RU1b7N95pykDgiwSTbeL_s7dCd1Ib8CkWUKLDOZPuiggwEy_iUKwACcRa9WRLphyAQesTRTotaIxdU6fSLHfUvpWrHmqxs3YjcktXhn9o-txWH9jtv7csDBG-Z_mX4s1JoaWdgHnyl6hhtIPVeRpnlLB7_kWxatRx7BaLF4eL-Jvdt8KuPMM-2LNssuDWMSgC8cAJPv-K2nb_POyIIYC7BeRiRNp02q9r-PosWERLtYwlrnI_3cVZGPAD1O30bbihcxkr2rLd9O1LIOordLgslzXKwBTSgQRcNoPt6_XCdzBNCqjU0-MFOthiERZuOuFUS9U6gbEFt4zI4mAMKkpm1ZH7n6MENFD2nodeEMKaozZznln4YQk4lWYA9M_3Ng5uSdkWxgkZ5MAXGrbJaZfjDgzvsqZtK64LdmCIlDeZiUHqQCG0epuqTvXIQytj5DiNE4aSF5fZZxwm7r3_KwpZIGmAyddqwCavSX2PECuqfyOi1NN5wYr3LSWYGgf8MvrXyHoQKdV31_nWr8wjWtnOyHqrJVeafNu47bXkNTu7NhS6pdoy4OQFh_PDF0f4Gac7b3LqXzBSsHQWPc2VgCWtInrd6lGqWxKQ7eSbg75aNtXFxx6Su62IpGPgn8bYFHHV9R3smi0m3jMLugMDJwd8zf_siyy1r3C1KchgSF2f42b2orRvx4bEYp7G9bs3XI9X2RC4EeQEqI783VtlntRY4kQN7UyHaumg2Cyh4dWidZ_wQURCJdob63578bSE3J2kbTton-puPi2Ldc0RtcqRhLlpmc6_b8wbBFtzpzzTh6zipAKXH8UW3wFSEqe2506O953KJuko9duXl_fS5SNrL5Wr7TyUYom8p_BO_1g-7QT5V2-JB_46rsaUBBFw1nMKYRSFFjRbcg1nK_KD50qdRWOSmtH03v44kdU4mJSehgYIfK4T3FfC1Y0LCz9OApGK0lFQrpB5ggs6rV7cbncyR5_DOeYNYoNJR0YW054UCH-Wp0VxOI1kjV39G7Yf0_HFTZfXRbnkTJ0tq5_XzEVEkFgOrcueFExH",
  "id": "rs_05f2009507de6390016ab42adc663c87d0abd3f99d14df03b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The held yellow object is above the safe opening, though the right wrist view makes it look close to the near edge. I’ll lower it partway and check the placement before releasing.\"}",
  "call_id": "call_WN92hVaU72LHXcS9FQ9SyMkC",
  "id": "fc_05f2009507de6390016ab42ade962887d08630595563b15491",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WN92hVaU72LHXcS9FQ9SyMkC",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.461, -0.0189, -0.0387, 0.9992, 1.0649, 2.1689, 1.6176, -0.5648, 0.6952, 0.7147, 0.4415]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1607 left_yaw=0.0018 left_pitch=-0.082 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3377 right_y=0.3835 right_z=0.0683 right_yaw=0.0836 right_pitch=-0.1816 right_roll=-0.1408 right_gripper=0.4415\nstate[joint_eff]: [-0.0615, -1.4427, 7.1453, 1.707, -0.0464, -0.0513, -0.0122, -0.3214, -11.1795, 6.8034, 1.326, 0.3736, -0.0562, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7ffa97e28b2052f07bbadcd3e727326379ffe633daf8f76d86e33fe11ae3e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22c8f5872bb71ebfb6fa306285e1e09a63dac527290d80ea7d9ae5d4b6696a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb7fd7a913507d3c0a22bb3944879c2f0b5e0c2e587904f501df4c055815400",
      "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 · 2.454 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, 0.8024, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.7338, 2.0731, 1.1702, 0.0837, 0.5606, 0.4198, 0.4366]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.169 left_yaw=0.0016 left_pitch=-0.0423 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4289 right_y=0.2651 right_z=0.0278 right_yaw=0.0349 right_pitch=-0.0818 right_roll=-0.0668 right_gripper=0.4366\nstate[joint_eff]: [-0.0615, -1.6615, 7.2, 1.7802, -0.0708, -0.0659, -0.0122, 0.1983, -12.1915, 6.0103, 1.4774, 0.2515, 0.0806, 1.033]",
      "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, 0.8078, 0.6067, -0.4549, -0.0193, -0.0387, 0.9992, 1.0615, 2.1345, 2.0392, -0.9703, 0.7055, 0.7139, 0.4394]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.074 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3454 right_y=0.3908 right_z=0.1927 right_yaw=0.0819 right_pitch=-0.146 right_roll=-0.1041 right_gripper=0.4394\nstate[joint_eff]: [-0.1299, -1.6342, 6.9675, 1.8242, -0.0806, -0.0317, -0.0122, 0.1983, -11.2068, 8.2256, 1.0672, 0.6081, 0.232, 1.0232]",
      "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, 0.8097, 0.6067, -0.461, -0.0189, -0.0387, 0.9992, 1.0649, 2.1689, 1.6176, -0.5648, 0.6952, 0.7147, 0.4415]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1607 left_yaw=0.0018 left_pitch=-0.082 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3377 right_y=0.3835 right_z=0.0683 right_yaw=0.0836 right_pitch=-0.1816 right_roll=-0.1408 right_gripper=0.4415\nstate[joint_eff]: [-0.0615, -1.4427, 7.1453, 1.707, -0.0464, -0.0513, -0.0122, -0.3214, -11.1795, 6.8034, 1.326, 0.3736, -0.0562, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7ffa97e28b2052f07bbadcd3e727326379ffe633daf8f76d86e33fe11ae3e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22c8f5872bb71ebfb6fa306285e1e09a63dac527290d80ea7d9ae5d4b6696a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb7fd7a913507d3c0a22bb3944879c2f0b5e0c2e587904f501df4c055815400",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCri_aeqTDf7_iUQ6eOYVJldfjYIoTuPb9XoDQMPn-myir9auk4csZ7A8Ib10SghRaoyDnDaAlOX94QriA-C_iDLRfKpnMy3vkl3RlhSLY94MvPoh_99II4R2KQraFiF49eUZJPi2d35zm0G9gQ0wmJq-4ntxpxIkbEK3o_INUQkMU4NhZylUEReB0nSiE5tAAEan5wh5DISpZgIsvGiBSHp0m-rlQEqlQrNj3A_PKfUOmJgAK0j71ksUor3If-PFnLp7uy9RF9MbWm_9k8H8BPNTVLfJu5a8l8QzDs4dvshHDfaxI6_H6iDTG1UCrIdj9evRWM5SI84Ls4gonzyCg52T5X45Mn8wBHAw6zl9EZ695I3Cdvq2rL43l-49vDApSJSoCps0Kh5YNBbpiIzzywwTrQSMV22hlSzMknPUPXTGfr7ENgdhvpJWxOxU8QVeMAp9mhT3IJmHw74Ywq_M9iiCjTL996XI5kqOpmZl17a6Ro4-e8b96TRiqRbv1E0cdHcBj_25ilayrUkAo1ySerDmg8B63D8VD25_F_RhhB5UXlU6TXZICJL3k0oKd2cVzNvMMte03w0YRJQKmX5s7pCdrlvat7sZb8-E3-GHuDqNo5FB-IJbBkswu3BMH59w3UgkFpf_DacHOe7IB0DMLPxHybjuBrov3FEn6BR2xmaVUjGucArgZuWPRBlrMjGawt4yPjuuO65ryHMkYGWWEwLiMg6sk7HZm7PNJFRfMAvzgJ_VoYtJ2b8wp1pPb8VwBm5oogrpQTHJ-hSlDLnSxhe7iGq_Fcn63rSrT7ROqTtvjIpGp6i6Suep4Eb6xZS0G15pfF-Y00jkhSdmQtvbs7DbBtt4VfIOzTVu60FXXTTMqszranCvxupGYtQSvTyn_JNa080EdBL967Ypl_mDsAlrX8v_ZSeT4QRvFS72Cegy-8kwlls3zniMl8_Lz1y0CKTwJFrnngeCAhKP-rqjgAqk3YB7Tj8OcAiRoHTbILKK5ek8r3HQMwrc3_RrolmLeH6J4MWJhwwi8S4FU1eCvCq1WItQxBowbQQ4FKjBY3MYf_IXOOx3MWWM8dZdOofwDD8T3F5MAXSQpQnymjXN7D63FcZ7xF0jmAVTSSZxXynlkXu_sbFHZnYRRnWwY3UsHa9LZiQfu7P39JqNWt4IuxLHHPm1AEaeywDLWXCBXYZwwN16sCrLhEHwGlPsTasuVYIl8Kz2YlRcTUX4zQmaGIn1hN0it4FfaS1BFOQNkpq6Ou4VH0BqGSYCv-Enx7rnoOTSsTsOmOg6DOU-4eA_QghEL25GDYzwMMGOucgwZC0ZpAmKkV7CpamvaRCLhl_CiH7ALsgS3EczSEc1gQQpBuy2uZBtOGDPAxhcsh2xR9QJvLRcqapq3tBcfm20pPSn7er",
  "id": "rs_05f2009507de6390016ab42ae0dd1c87d0bcd52b480d418ea2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015},\"note\":\"At this height the yellow object appears inside the safe walls. I’ll lower it toward the floor so it can be released without dropping far.\"}",
  "call_id": "call_gmELIRgoyxtGZJ5hdBfye3Qv",
  "id": "fc_05f2009507de6390016ab42ae1801887d0a426db698c46c1ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gmELIRgoyxtGZJ5hdBfye3Qv",
  "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, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 1.0649, 2.1975, 1.5494, -0.4091, 0.7105, 0.7082, 0.4433]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0019 left_pitch=-0.0938 left_roll=-0.0015 left_gripper=0.9992 right_x=0.3431 right_y=0.389 right_z=0.0482 right_yaw=0.0868 right_pitch=-0.1381 right_roll=-0.1038 right_gripper=0.4433\nstate[joint_eff]: [-0.0752, -1.265, 7.0359, 1.7753, -0.0562, -0.0757, -0.0122, -0.0205, -8.4171, 4.6838, 0.7204, 0.2173, 0.0562, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5152b4781f9cfccf6d6610d9a1ca5605d7310f943c3d950112cb5c03cf843672",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11baba5d51428a157216ba87a577bd9d50ff766eda384de8a57993dd4d163c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4e5d35080b8d3802e1eea61a1cb0a3484f6b81d3796989209cd45978ea79fd",
      "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 · 5.912 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, 0.8032, 0.6067, -0.4358, -0.0189, -0.0383, 0.9992, 0.7334, 1.9041, 1.4437, -0.4103, 0.5526, 0.4183, 0.4394]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0503 left_roll=-0.002 left_gripper=0.9992 right_x=0.4271 right_y=0.2649 right_z=0.1379 right_yaw=0.0377 right_pitch=-0.1252 right_roll=-0.0966 right_gripper=0.4394\nstate[joint_eff]: [-0.0615, -1.2376, 6.9949, 1.7363, -0.0513, -0.0415, -0.0122, -0.253, -13.2171, 8.8821, 1.58, 0.315, -0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8097, 0.6067, -0.461, -0.0189, -0.0387, 0.9992, 1.0649, 2.1689, 1.6176, -0.5648, 0.6952, 0.7147, 0.4415]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1607 left_yaw=0.0018 left_pitch=-0.082 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3377 right_y=0.3835 right_z=0.0683 right_yaw=0.0836 right_pitch=-0.1816 right_roll=-0.1408 right_gripper=0.4415\nstate[joint_eff]: [-0.0615, -1.4427, 7.1453, 1.707, -0.0464, -0.0513, -0.0122, -0.3214, -11.1795, 6.8034, 1.326, 0.3736, -0.0562, 0.9451]",
      "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, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 1.0649, 2.1975, 1.5494, -0.4091, 0.7105, 0.7082, 0.4433]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0019 left_pitch=-0.0938 left_roll=-0.0015 left_gripper=0.9992 right_x=0.3431 right_y=0.389 right_z=0.0482 right_yaw=0.0868 right_pitch=-0.1381 right_roll=-0.1038 right_gripper=0.4433\nstate[joint_eff]: [-0.0752, -1.265, 7.0359, 1.7753, -0.0562, -0.0757, -0.0122, -0.0205, -8.4171, 4.6838, 0.7204, 0.2173, 0.0562, 0.7741]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5152b4781f9cfccf6d6610d9a1ca5605d7310f943c3d950112cb5c03cf843672",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11baba5d51428a157216ba87a577bd9d50ff766eda384de8a57993dd4d163c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4e5d35080b8d3802e1eea61a1cb0a3484f6b81d3796989209cd45978ea79fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrk91tFHbyUN1XtzpA_OKCj_RMP3Ky3ugd2Wc4sw5X2OKPq5QZB0uZvZMFFvumrI4VCSTm0TRf1L7tJKpegJo58PF_SVnoSNddvI9958g2Kc0KJxe77dt5G2gJjlm2jU8QKs_QXz64bj0Wk8Y0KZSyPGdfGkgv2n5Mj11E_OWOnWLXOG1D11B09w4th06HUvAMvS-Yb5jCzKkUO4hJygyUdgPj-LGkMvpaMWwAKqH0nVIAN1GR9YxpKSLLj1TrseQQmeCoOThLs0RtDiStmixHT7z9DRg7dRm6LlZgxd4g04280MT3JvSKTvHP6PDf68y9cM51c3Y2JOv_1hCatkkkgqikJKMpotOWnmS1Y1cemznSe6OCobollDtzPeRhjNjR1PV3oUnqX-WMWrWAFBcIr_Ukeak3eCalHD0o2ERV4z9bUKn-8fvTYuO_IYXji12dsgvawhjFtCVQd4gTmkUg-GqygKA9j9Vkk1T6n_LxCm0Vnz_qPx3EVOeWoUF5-TUjcwcdT7mf2s2Rp3CYUn9dX-kwZ5LLzUHbA7wsFPBZBZplGpuSGn7Ek3Ps5S91AkO8Rh8mVC9Vjv0t59tAxD4ukwBDwBbTi9zcD3AIw0_ujXakXslXXbr6kRDoLsao2F2MjRhcdj8kkx_PASaMNk36C8a5amI3p2r_IyVqPPMYUxGX0bXHtDhVGYutZ981iCzYW-rAy2FQ56Fq4c-9PuHNEvwwYS_wXYsT-x8XkcSlfCm16GVxtofIV4CWWXZbJKBCXbGmKtO0IDarmvJIu_cI3r_qp8oYOY9Szbc9UVKmnLRZhP1IS2ZW5-6J639Q1_GIZGIhINCZHXMTO5n8W-ijBdhlj4RhdIQAwDvWGy5g02GnVQKsEVjrXvvjMJOvQFCsqhuq6V7yg7OOamoCKzW189lkea8FLhzECuJq7Z2s0DfdBjXwizfrHUVsABsQZ3BikNLWeEUhe9M0EEmX_fy-0F2NcKDyiCVDjB-4tFdUQbHaapBy0uevucD6nGnDU8hT_XchxhaewvRPZxBnsuPZ7aCcqIEkO6T00PkDMHJaSyGaoP5NKKjzGROP9yXcyjmzs1wL9AlamdpLwzjJV-8gcOjRXGOuf0c-aaaSbUyJYojLAEr6P1idI4lj0P39cSbFpF6_OUwsefQdRcUMZMEBuy76RvXU6wonc-r2XAj-Gvjj97fH4dlxYRk9hb--PHs2-kMG61vxaHPRZJeBLjtAccSCbGAS0ZlQuy7e5xFd_Fq2rHPjneyf2E5uIKLd83_ekLD9l0HGA_y7Q1wQEDP8il5N_Bt2c7pdQpbo8GivYkeq-Ri5Wj4-3kKTeOgJNUn1Dcg0JC34ahnREj8kSe9iUdRyoT80gZwQrJpMZrZBCJpNS-2iUNTq3JLds9APWN0GJeUhZfnfbMqEL5V0_M7M--xH8IdKWylPPrvZOe4c6ArI9sk8oBOYM-Sel7poPIjXn",
  "id": "rs_05f2009507de6390016ab42ae3c99c87d09ddedc734c1cd8e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped at about 5 cm with the yellow object still inside the safe, suggesting it has met the floor or another surface. I’ll open the jaws to set it down.\"}",
  "call_id": "call_njhe1XyZYStVu1vCJd7wCEkA",
  "id": "fc_05f2009507de6390016ab42ae44ff487d091d06c784f43a215",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_njhe1XyZYStVu1vCJd7wCEkA",
  "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]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.063, 2.2276, 1.5311, -0.3794, 0.6987, 0.7109, 0.9947]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0019 left_pitch=-0.1011 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3418 right_y=0.3879 right_z=0.0293 right_yaw=0.0876 right_pitch=-0.1569 right_roll=-0.1116 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9949, 1.7167, -0.0513, -0.0366, -0.0122, 0.1436, -10.5778, 5.3128, 0.9451, 0.2466, 0.0269, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ed4b644cd057fc816c20e13602cdee2fb37cfca4641d390b3e87405b5662e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91fe9f73184a5e81d06d4cd01489665983cc8b5acac0d8e50277cad091617c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de192ec37fea9134eba73a978495016c4526f1b80ebacff1a5b0a4c05171f86f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 7.827 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, 0.8078, 0.6067, -0.4549, -0.0193, -0.0387, 0.9992, 1.0615, 2.1345, 2.0392, -0.9703, 0.7055, 0.7139, 0.4394]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1624 left_yaw=0.0022 left_pitch=-0.074 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3454 right_y=0.3908 right_z=0.1927 right_yaw=0.0819 right_pitch=-0.146 right_roll=-0.1041 right_gripper=0.4394\nstate[joint_eff]: [-0.1299, -1.6342, 6.9675, 1.8242, -0.0806, -0.0317, -0.0122, 0.1983, -11.2068, 8.2256, 1.0672, 0.6081, 0.232, 1.0232]",
      "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, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 1.0649, 2.1975, 1.5494, -0.4091, 0.7105, 0.7082, 0.4433]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0019 left_pitch=-0.0938 left_roll=-0.0015 left_gripper=0.9992 right_x=0.3431 right_y=0.389 right_z=0.0482 right_yaw=0.0868 right_pitch=-0.1381 right_roll=-0.1038 right_gripper=0.4433\nstate[joint_eff]: [-0.0752, -1.265, 7.0359, 1.7753, -0.0562, -0.0757, -0.0122, -0.0205, -8.4171, 4.6838, 0.7204, 0.2173, 0.0562, 0.7741]",
      "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, 0.8097, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.063, 2.2276, 1.5311, -0.3794, 0.6987, 0.7109, 0.9947]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0019 left_pitch=-0.1011 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3418 right_y=0.3879 right_z=0.0293 right_yaw=0.0876 right_pitch=-0.1569 right_roll=-0.1116 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9949, 1.7167, -0.0513, -0.0366, -0.0122, 0.1436, -10.5778, 5.3128, 0.9451, 0.2466, 0.0269, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9ed4b644cd057fc816c20e13602cdee2fb37cfca4641d390b3e87405b5662e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91fe9f73184a5e81d06d4cd01489665983cc8b5acac0d8e50277cad091617c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de192ec37fea9134eba73a978495016c4526f1b80ebacff1a5b0a4c05171f86f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCrrMynT3WrndLlagJ6R9FyxHhJEZMxJjPKDAvdF-QEWuXL5omE4yhzbdpDIz-5zDb6oequzsyk6QRKMFfbwoD6gulOjnTgFhduI5m4Gk904tlX6AYZUPSQBiCfFojZEypj8UqdzQ2fKG6jt5R-fot2aAwJ22SaLk01-bAOyTl5jIZE8ZagnmF9Zx3TE27ntoJdciFJu53vJgy5K7Tp6zT5ROtvg0Mcw_nq7tBa0ZqWc9Y2xoS1m-ZxToFVPzjw-xljpOJfvCCSsio3I6OCmWhVV0ERyDFHUaOGdqP5CapC-PLYKNA8qBQZayYB8vcahGl5Ce9iqwwzFAOyt3gWVu-o8gP78vMQIjUqGYFXD_45xRejzWUUnBW6LU25yibcfrESgCgE_2zE90xI62fBhcTwfJHSPjm1GnY0D5dCwMNuuT4ylgHliR1nFbR2_WE7sRHAbA69z_2_xLkwOQgjzqA1Lu130FBhzgTuCG0o-JU6Qls_cSELV0XfbuNXn26R6MhQNgcecRE6xNjDAGWVdimKrT_XTRmsQC5I6jBoVHt6uHa_x0O-DXiW5iv5UGKIfLH8mgDiHDUC0F_sTK3I9YC9CTwh6iFPzuIgWEQZxNibvGpNfCcEyoQXu8uKbUKozJ3wavIxuBQTxRhaXh8_so0MZQ4N75WDfKSISJ6veCHOjQBU8cc0ebuRduIhp1p0oinzfFwJJEDDHetgYi1duxli1Oq4OE4DtYsn3L8iCXpowvbmUyM7cSXkUj5lQNvarIAq-4ibFHDp2TeQwFCD0xieONIEw1qyO7R3PZWzToQFwVPvhBVdN5mOb5FpLTT6v1ScLDN-afD9HAH1wVbrENXAW7aux-bhPi5U4qVn3Tv6GFOEevGjhG04BXzWLMJfXs87KwHUsLtXtE3_AQrlQA3sp5wW9wFMoEVMR4Q-k_zUBPHRxke7MX3x0SW09cFHD0_A3HMXlXS3zzGfgjFlE-s2K0rgs2uX8G0-6q2QJYk562w0Qow08s1UWBv80zeNzIRVs1tEoOAPIwLw_9lhIRdlp-zF7Uk-9z8gqkfPEVeHMU9BVuw8LX30I3c0vrDXhxf-ocvQJUfHqKMUc42x4EhfQsJUSgOTLvdfNyzPFyrhRZOBIO-DDw-wMvPA2oZrAnNRnnyf7qc4BJVSh-YknTFFnbyzcLQX2LQ_RIYXVgRVtGASIRYbzUDqbiopS6WtEcZaHDDSvndimiCAJB4jO-YRcfMDk8isdUz15l_YwhkK3F1Yfaust2Oaz_kFv8cNT6iCQ2OmeK5vc12YKdYQFfpym7R8sai_jRNCEp4QjFJr99l_2fv6KqpA4cqi0r55vMiLgtVT-v5XI8E9syasR9MQZg94m0GwMxTJWN2wZxOtzRoovcOcqjBiZTGKXuM3D9xpionrGr2Zuecgz0hmcuawSoGFSFHMp0_bxBql8MrXFbM2pyFf_TypZD2gIPejUMBhkclLqbkiY4sLrN0TUoKLQ7SR868bHd-1tAem2u18Z7P6xqr8WedgzuIVs4POyFaXWZWN47q65o9xppqPFy1_SEaJuFhUj8IAJTe3_O83m5DIpw9LEmS5s8_pKp4PfoGNSjkdc37tpLswTs8Vk7wamKpzWQHMnR_0y6irqezeM_Jvq1i17DeFJKZqu6JCre0xoPZBqDVGxJaKuCa1vZ0-byy7Vl1tHRfkWY4biwPGPXR3cViWhf-RTNxwGDQUNd0JuxB5R6rnSRCUTaGYpheGg1cSXMwNdeX-uSmSe-Q65JVbcqNohGopD1kTkMoj8y6uQYzdSvK7tXR_bg9bDyuKP30Xk4npwIYmEn19eMxAlwApaN1r-L2jvQFFYwwwiwQfK6xRvU3ancFAU8FxpErYx0vZ-NvY35MIgxAOBzREiUZinn2S1Wa7QjR3z-o9hg-MjNcXY9d-AtSXPZEtyX8cXaESLswI7jcEDWPjWrw0KjTOy1dObXKn7KZPmEOeaNUsw63ZxWm97Z6MS1uxEHsniiynvA_WKDA2bzCY1TA9JGz2gvDEtt9hfquE3STSBF2t3anXP5hsaBDhgumtffs5G2oIoy803UagfUFzGc8VH6SPvP3RicUzEa6SYzP2xisW_k4sdGW6pjdFipq6tB9QxDOsI1qdTpAp_F0yZuiZgRB_QmhmRk1vgdCFYOjat-4SPGxVVPRvL3ju5KlmimcKDQKVSPm5o4LDdHjg2D2LQc7ZctvFoVsdkhp-V_POQuxtDDQwd9DALXgOcd_oBHOAvMWTzVc9RQXns0Jc5uiWTFG44Wg0l6KQQQ7SDXI20aA5r0yFgh1d_mC3jiEj6aVmNafjig2fe8m2W36ROOnE32mphEWRgT5PCn_T_ZUCVB0eUMtccNM_8Ahs6nBUzTC0TPs9nVP-8FHASuv0MvQTOojZR4rZXBeQXtB3i1m7wS6JyPYYA-X3JW3HZ6N2q3lVSHOVTl6pabhdedSVMDH-rmuBSYkkHxmSew4ktbTsUezlcVXz-Tkqwhpg_he9sSRXEFy-F9yJKq2tvINkIvrl_dPsTUCe6HTuF6MMCBpjUgQQ78-v9TZQDs5ZPg1IdwgqUSN28De28YqaXIIW-KDblWvZh-BQ1YktEJbvndcirGkI2LlGYB_kUNQCVn1IjCp2wMhM3c0bivkCkhVj9LzS0Q-TdAUMGKRK1BL1yX1oLY5grzUGYzcBq04O1T6_ImRewJNwlhHNk8NIiXl8zeS4qTjnTRgiv-cUjUAgjauWrSBFd5NJG0tfeuVHyRN6d2lMNrpqeVY8vuxScCuw1b2v9bRaJnoLj0w7CYSgT-Fb4yKbNZaqMp4FwmoUMBgufaHJcE3VHOw4Rw_BtsC4F2acFm_RLzF2OQstmTTpOZ5Fwq_WMYWjsCnk2bUtFJlPlNnh9o8zmT23kZUeJF9zCtOw0zs5k40CC6IqeFY_KMEWyd4oJJRjyqWY7Pa38ch1aA8plU2EmnqqXxM0uP5YLa_ycMGCVVToIEAebPCIK0hS3cDKM2orM0pLqvQWyqNtf-kFFNbQLgUfPEUhyFBPTT49G_inzg789ylsCF5ZGg4Se563wmmOvOm5d2kq51LJzfoJWxp5rNCvrxCsvZ1OsO0LWXl5AGelXxoW0QvYTbKTucWo4",
  "id": "rs_05f2009507de6390016ab42ae6975c87d096079f46d6ecda63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18},\"note\":\"The yellow object remained inside the open safe after release. I’ll move the right arm back to its home position to clear the view and make room for the other objects.\"}",
  "call_id": "call_aNEsa2fFYCG9tYikqWIi9H5B",
  "id": "fc_05f2009507de6390016ab42aea4b6087d0958a079ea44ab298",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aNEsa2fFYCG9tYikqWIi9H5B",
  "output": [
    {
      "text": "executing move_to over 33 steps (3.3s)",
      "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, 0.8143, 0.6067, -0.4957, -0.0189, -0.0387, 0.9992, -0.0032, 0.9188, 0.7254, -0.617, 0.0364, -0.1299, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0017 left_z=0.1528 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0009 left_gripper=0.9992 right_x=0.2818 right_y=-0.0038 right_z=0.1551 right_yaw=0.0295 right_pitch=-0.2274 right_roll=-0.1102 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.8046, -0.0269, -0.0317, -0.0073, -0.1026, -2.6462, 10.4957, 1.8144, -0.1392, -0.0415, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111a5fcfb268b5a07c96ef62c04d900a47bdcceaf442f8475f4253660f00cbd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3686225efeec7fd95f8ac3831f3d450aa6ea65ce7392460fc835e839578bedc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a0cb5d6d62befb40b416d69f16cdb92d4cc186fb3dec19adaf275d4134ee25",
      "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 · 6.101 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, 0.8097, 0.6067, -0.461, -0.0189, -0.0387, 0.9992, 1.0649, 2.1689, 1.6176, -0.5648, 0.6952, 0.7147, 0.4415]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1607 left_yaw=0.0018 left_pitch=-0.082 left_roll=-0.0017 left_gripper=0.9992 right_x=0.3377 right_y=0.3835 right_z=0.0683 right_yaw=0.0836 right_pitch=-0.1816 right_roll=-0.1408 right_gripper=0.4415\nstate[joint_eff]: [-0.0615, -1.4427, 7.1453, 1.707, -0.0464, -0.0513, -0.0122, -0.3214, -11.1795, 6.8034, 1.326, 0.3736, -0.0562, 0.9451]",
      "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, 0.8097, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.063, 2.2276, 1.5311, -0.3794, 0.6987, 0.7109, 0.9947]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0019 left_pitch=-0.1011 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3418 right_y=0.3879 right_z=0.0293 right_yaw=0.0876 right_pitch=-0.1569 right_roll=-0.1116 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9949, 1.7167, -0.0513, -0.0366, -0.0122, 0.1436, -10.5778, 5.3128, 0.9451, 0.2466, 0.0269, -0.2076]\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, 0.8143, 0.6067, -0.4957, -0.0189, -0.0387, 0.9992, -0.0032, 0.9188, 0.7254, -0.617, 0.0364, -0.1299, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0017 left_z=0.1528 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0009 left_gripper=0.9992 right_x=0.2818 right_y=-0.0038 right_z=0.1551 right_yaw=0.0295 right_pitch=-0.2274 right_roll=-0.1102 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.8046, -0.0269, -0.0317, -0.0073, -0.1026, -2.6462, 10.4957, 1.8144, -0.1392, -0.0415, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:111a5fcfb268b5a07c96ef62c04d900a47bdcceaf442f8475f4253660f00cbd6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3686225efeec7fd95f8ac3831f3d450aa6ea65ce7392460fc835e839578bedc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a0cb5d6d62befb40b416d69f16cdb92d4cc186fb3dec19adaf275d4134ee25",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCr2iFfQQ7nqjzbdUiMhlaBSewh5BmN48wTgznVWkAt9Z0BKqtips2HZ9hVO9ZKV6e8KopGos7Q_UuKRwQpXfSA-t18OgBiy6dNB78vtt56dwnlw4KIUTqmXWvkNxi7TtLEMgvGINE7V3urPRdpyPCLw2-OAZ42mMb7xPMxa7zghyGwg2UeeWsVBTx-1yg9oc3iLDzgXEBZJ86sXhFdWYg5JBlazNMlM_HFxqhX5g9Tr4cJMZxz6ANDAG6ilNzZC_qRgynM4b3Fx3-iEOzUC4f6TSenTP302mYrodrvfmtDo4WQXb1WvBlplITYSlpB8Mf0A628-yQAYt9HGTuGeZfp2jKFjNaFuFnf6pGVzenjghVZoSSRYB3CBLvOH-GcHMvspjyoUTI2_kDWpSCJ_ycz356CjlQQZC4rBpGT2X0ipK62mrG1ld7SG1fip34Fa3VOui4HPYif0t9OMxnJogLWvcQNNd3O92GdsSBPSX8bnBCImPP48lIJbRydyeUbVjCLyHTREep4H6GXoSrLSuLf2ZV_BU4Yut67-9fVKizyPUpEf35wJjL05sVa2dlBtCoYUGjhPkOI6w63LMiBSLqQutLW7J786LVCdFzoKTIRhp7htDpOqFQnsqeS2idWdRUaDws6ozsnwtRl6-GZ8zRKV7xEPf3JEnyyYzuSvRFYNUBTp6KE1GWvBsSDNw-LwQNiaEcdD-lq6n-ZvORa6RREK4xplLSz0qHYQR-k91xV3uFS5K0Ikl2UOMXP2F6H4qGZOxzf6kvgX_9lbwAl8ZUqfXF3PvCUYgo8rHd6gZFEsWqnJHnKGNUR6mDAAk7mTRR36_bk2Drane48bJTjps65l8I5b1tRCrsq8HmFag_n2FB5pVTbU2IFiHHCURjnSJRr3ghBguC3cv-G4FkMd3Xlkn6trvHmy-s43KDthhEx0FMfaRdwJ2n6ER6rR9NmH0bRHLDWSnw7BHWjw19OYX16B6LNETyPH912lPnadHyciEKl9aAo1n9TdZ66SxTDJbnxyoV3Dl6Rmuf1-CcZSllEW2vvURBFSjFRyKTQFyVUmsJ61LOo1pMKpfOwZF-Rxujvke61bmjVRoqrvFlZP1XFGsjg36K17ycd9Nv5IXrI_Aq9Hq8Xb_jd0PHBOfYt6qPN7wdMUuXBrunPT3aFmvg8fsDwXugRZWSTtF7KmaAy3vf2esYrJFZhtLia0rK2uLbYQpPwLPl4GPx4VfYsj1lSB3HSQAl59k1-KxyKNORgvjBYK3tdf77MYQ5mVBf-G_QkSfWDlJt0W2czawweAVstKPxF33xK8SjMQxWh62GiqaFCx-Ehe4qfto7xWmBBOcRzqC_jv9YKdgW6KshVmD3zTkoKFWQ2FkQOzBQk85018HR8wllomvT0k2h1rQDWoXUGqsKOJho9iikxqYXN7j9OmT5VDaxxpWrlO7Etv1vVkhiiPehjuou0bYk736LphlXKZ6FMCaIeG5d_m_MAYgpB5wY6vLJlWhRlplxdyAQDjSkBOh7gnsPLo_AWlg2LEY2Jdfz1vD85ajaQeCIu7vznBxi5pTjFl8k57xCG8p8K-uLwGjS9lGqlW6hNhsQ5fva3Q-A2VKmQHUBtxT8V91PPSgMhu0OSnc4VV3J8EwKHaOlN7yOu6bRNwBVF2C1-mc6UqUpm_Zp1cQr7-pS9NofY5ilnUiIQIm3W6kbNpPE7JETvCHopWrpecMpdtTPOeuJ4isk4xxCcja7QTfV-Z4Y9y8kizwFB7q1K7XmGD1AyFqtTfvgN1ZU4upKIek2r_ErrAhS_kN7mNVo9fQpAkU4mzdltIwuSDdytujPhuUgJehEINq-KCACxbmOwlCaUCRU85ug7-8UKJ9DlmkM7cqaL-Bdv5GpnEPByR_rLScwoAaeAijX4XeAkslUiapDgw6J3xhOHH60GIEEJZE8getdgf_Qb3ii3uqUoPLiEKI7bIfiz-CX-m3OlfsrhWD9Zgl5lFLl4Adju_sD1Wj3vJgR2jE8bSQn6RzkbOUAc4nOgSXWS-X7XIBzR6UpAylgdJoQoLYIW3NbqG0J3qqesJGBUkL1_tyDLKAs-x9zXUdDph6w7g-vwMpYJxITohoqxL5wCxBRW7HB0G329PkzTUieYPj7kTPRa1NDHGpS2nRC9S9osSBqfKICAM5onNgo9VjJy3ZZj4KdbjH4HqCblvkFgqC0XOEh5wueNFlyFC995sh8MVsQZKlhKnuSHkHX21czHIKiaGdoqEjlNCdl-DX1NWhZVqnM0_LcnDZVZ0KOd2WOtVdAv21_CLPrD0RoxLH_Q6fqYorxqfbtoye5K0qUrDgT5e6tQd1MNMXREzJsibBOYmpRWfNk-hvOo6qNFrkS6rc3yXl2NB8S2QRMz1KSh5FKJe4MFCvioEYaKu5vDJRZfvipak4QHMUDNrjNxqAyHKDkD9GyI50ovnq8dBhPv54UkUIfE1gdij25w-rS2_cgnY1mhoFWRfBmZWkZ7hM7TdqDxOloeRGIVnex25DBLHXP-WYID8uReI51umdNVLZ_WZrGkJd59YZl4dNqpc_4K1LJ8oriEWZWRMY5BNv3Di4jspAyfAxLPrS3b3sq2VhpCV4hXRMstmE9UU0u1EMbDfQ1hWtCBYL9cneVsK9WyVa2wx6qsc8kiQD8nFvauUZREGC5whBPlr6al82tNMO0szjpWuyWZ-EokZUlhZ56ZHVN10cJY39EmNc6Oc83wbw50zRTDHVKpEnhWG-DeOeEzKUkGzddmCdpPAwI1Plx8jtzySLo9o9EJndlqkdOBL6s4UE9cjAkMTBiLoEbDGZK6raKT4IgGl-5ESgYB2MUF0Wh1bNwnUYUdB0e2RZJkRldieXUWw4AoQvJQcc6cdVHDRyxH6f3Lzn7AVCnSVJM0aMK6gKU3Hh3_i5Izi3awX9ujVJRb-Y5WHvzMj8Vjyv5qCeRCklN2STGkj5qiJAugy-vRl_oBL6sqY1WRaIeMwT2M3-qK0W0N0LQlUPGnZeko41Be5JaX6h1SykQWHN46rMhxlXbMdQqHffXSRCnt9x1t67Adii1ZXmjDVFRm-jNV-hbrkN0ZlCom6wDGMGDsP4nDpxCY0fesl180qxzd4iXfhtZ4KekqJfwGm-N_f_ZELNKjPQa17xCPSXj0iEz_sEd2dtbuNFf4oOMQHjj7jteEorw5IyTkYnFFjw3aTAYOMrPLPzYiP2zZqroyBhtXHpKAD4z0HAZd1lqu_8Z90JnV7Pmy4l_fFd4qzlAAJRHi3OEe79VAdFMHKWTGNZZHtaTc7wDKpmCUIa7nDlGjWd6_b4xOW0eSYnJORAuHR26uoPJo-Zbob5HEPmjdQhImFQCJDGHpdb4fTrV4xtKmtd-u3IK0BS2Yk94ARHs0x23y8H_109-SMbx0-lbjUzgVXcAk5U26kCfOLNI0DJ8NcZKcYkry_Jf0a3VLtF0_F7KlSiAlItjxxUEazTsHZeLjtc6xH3meO1ZCTvn9VDKgj7eams8fnpp0QBpVMZ_LktRl2HRsR5HxxNE8fgRTZ0NEsRfAGC66ITUvBeCgvfbQE2bq5vxm39XzGdxDIlt1IvRT3GsU758IDmTdIQM-gbFaxDSSzgnYC6Fv3S7XaWvvIhRjWZkVe3C_WWMiRsPFN_3u2kmsW0ynI8GaP4N8z7GKOadEtkk0uO7FvIkBxw1My6jBiSKxUMIxST4CVJZnsQJDk",
  "id": "rs_05f2009507de6390016ab42aef86c887d0ab9f2f6cd56e0a3d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCr2fq26XeFsH0gFCG7l8StHSsB9Zb9LHTIzfJZW76Q72hf1m3xO14wtXyL3oDPpZvnJLKbP_7Bq14aCvodGQ8LE4KyhMKhqa7u6r3ciwYMcy5337k4HJ3AbtdOx-7b8L-MvJUq9Ua3NJtXoWBBLfj4O9FlS-sE3J-6TgxPeDgF8kFn0jLEKNldhyTH9uxfNAnOs3HHcBbIxZrV3aTGO-BeuSPXjQGV9KwCe0Vj7mX8VRhyglxey9ArL9mbhoAPu8DEKr4mQ33b8eJtgU7d10nn8Hzkno28xxtgahWYn4xvvQvpNjE3sA5_CxcG9d-gQHcZ6re580JOrCI2g42cnBFsuwNbUsIpATdLk49unxrD5J06A3676_CjBf_Rn47GmIE-EYbgkjAcNM0dadCC8W6Ttvwq0UfTM0FFUXuEuxBP-hc0PItg2tGFKqANwLSOLsicWV2ly-lCtjGL5fk1zfwKl46RkpeaCOr2otFJRrimWkLbEa9lNz5BFhQEHX7_SmIrZfeKbL2YefycFQRY1w4a9z818QhuM3iy9sztSk6gsnY8oom6S9oJ3NtvKEc2VmUDjKEJ-05wRJt35O1xBuTLdjIPoZGmS_T2AnkjBUSnoeseg5VwbFjYLN2Aw5DC68KM3lohxO1GFM4Bl6UsznOImQgtkJ3kGh72NO-L-VOZOa8jm47J6PH4U4q9p3Rm--owLpULLPTGRQnO7ETAtiPy9Oz8D1lLvmyrWBY3KaeI96zl5SAHpuCzWBAS5UXIiXKy0TKGBDIo87iLaGQJqZambGez_c3wl_dJyS6inNXo5qI0Xz778GJCX_VLUE_rPxH8p1iBoHZf62DEnwH1S4NgdQ53MExHU5qb3pt2KBTJaf_VJcv6269UA_FKbNtShX2sM_tQNo4rIhPDlMGrXqE-wz0L8Vp5twX6rdnKUAQzjXGDW1i1DENx9U544os_96tANwC1RcRM-W_8oq9xe6NMxYSU2G2Zx5zngINfyfd3t9l8lHzrMuPdQNPttYfmU_5GCJwz8hKuFxMxzYWTPllzcGaUWeNfGuPKPQHdFXW88ijax_eFQ1AwY6nwza3j4Wp9Qk6TRTLv9iZGa5vZtKethGvepLBspgJBgoXoiGC6W21IkWmnaEo4mC-GXiG0dBYfFwjKFfBxp4P4u-_RUMwM5TeQTmfhwJfrLf4lMPC9jTfowAa9aDPkrubc_hpCVLniDLUroM8JyNwq8i2mCWtOcn1WGfFRA_Qkkl6P3YIs_aUPKaD2WSxKgujNP3tg5GOA_zXz2a3ilOtTDBx7AO87sjEJznJuak-5UEo4W8V4TH9Dx1ZSVg-xwLNfzd1Klr0pDCSgq17ubq0feYr_UCyai_m51ZvSoTwIyHps1oncmy5YlKmO8ihO4exrpxPK8fJYLifmbBW0NP93_IMx5dLNe-mPABzhT0YGtk2bQO7QzMZRh9JF_aaXBbK4TXbMoNfLzPnfbRAciyg7Leqos824KaK4wrC_NLVQkzaQVGRXjY9FhLFElhtxVfK_3Ue3vIrQ8oIx8OMdD01T3GZABpKgDo_aXYMxrm97L4EvxiFDWEgFOMpnN8Ium66gRjqkLb6QK9VajtdENMna-4SjSzUYYBo_xhKu_7DPn0E1-2T23uT_5y-G-W2jHZGjPlpy8wSV3ksv9ai7hQIGz1Eh8JGmfPFSNK78wBjtNPOpskD2c-Rz62z36rY8yXoB4DWMmbDTqRjxWH-sbB1dLcOp-aKqQfq06K8GLdOWVCUX0SZmEkitnx5Rl5e7RO18aLAPp_0t0YIe3p7OC0R67s0U4pxkkWy9qH01ZEM9uYn1gEM3ZIEanzbUlLVcasIEFTFUwF-1APsiG7_fBNxieC3rBjn9dVA==",
  "id": "rs_05f2009507de6390016ab42af45d8487d0bf9a394b81fe6c03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_y\":-0.22,\"left_z\":0.16},\"note\":\"With the right arm clear, the remaining floor object appears to be one long plush lying below the safe. I’ll bring the left open gripper above its middle and inspect the alignment.\"}",
  "call_id": "call_3r6PL3YD6Yuo4J4PFiuZfp7t",
  "id": "fc_05f2009507de6390016ab42af582d487d08bdb2d40d505bc13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3r6PL3YD6Yuo4J4PFiuZfp7t",
  "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]: [-1.1656, 1.3361, 0.9401, -0.7753, -0.7467, -0.9966, 0.9992, -0.0029, 0.9211, 0.7269, -0.643, 0.0303, -0.1463, 0.9954]\nstate[eef_state]: left_x=0.2261 left_y=-0.2136 left_z=0.1458 left_yaw=-0.0193 left_pitch=-0.1611 left_roll=0.0294 left_gripper=0.9992 right_x=0.2775 right_y=-0.0026 right_z=0.1508 right_yaw=0.0447 right_pitch=-0.2549 right_roll=-0.1159 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -4.9983, 8.8684, 0.7937, -0.6716, 0.0562, -0.0122, -0.0889, -2.0855, 6.6393, 1.6923, 0.0806, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfbaef04dc50bc3f5233ee8795ebde2f8819826af99af54a0c7cc597c9760ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f0e7ccc534817bb248f1d600f5457398dbfed9d8a8c61bb671481457d56618",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0a58724ff0c80784edd4f8f20014462dbd4b9caa3f89fe4948803e5962388d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.553 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 43 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, 0.8097, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 1.0649, 2.1975, 1.5494, -0.4091, 0.7105, 0.7082, 0.4433]\nstate[eef_state]: left_x=0.2826 left_y=0.0016 left_z=0.1584 left_yaw=0.0019 left_pitch=-0.0938 left_roll=-0.0015 left_gripper=0.9992 right_x=0.3431 right_y=0.389 right_z=0.0482 right_yaw=0.0868 right_pitch=-0.1381 right_roll=-0.1038 right_gripper=0.4433\nstate[joint_eff]: [-0.0752, -1.265, 7.0359, 1.7753, -0.0562, -0.0757, -0.0122, -0.0205, -8.4171, 4.6838, 0.7204, 0.2173, 0.0562, 0.7741]",
      "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, 0.8143, 0.6067, -0.4957, -0.0189, -0.0387, 0.9992, -0.0032, 0.9188, 0.7254, -0.617, 0.0364, -0.1299, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0017 left_z=0.1528 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0009 left_gripper=0.9992 right_x=0.2818 right_y=-0.0038 right_z=0.1551 right_yaw=0.0295 right_pitch=-0.2274 right_roll=-0.1102 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.8046, -0.0269, -0.0317, -0.0073, -0.1026, -2.6462, 10.4957, 1.8144, -0.1392, -0.0415, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1656, 1.3361, 0.9401, -0.7753, -0.7467, -0.9966, 0.9992, -0.0029, 0.9211, 0.7269, -0.643, 0.0303, -0.1463, 0.9954]\nstate[eef_state]: left_x=0.2261 left_y=-0.2136 left_z=0.1458 left_yaw=-0.0193 left_pitch=-0.1611 left_roll=0.0294 left_gripper=0.9992 right_x=0.2775 right_y=-0.0026 right_z=0.1508 right_yaw=0.0447 right_pitch=-0.2549 right_roll=-0.1159 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -4.9983, 8.8684, 0.7937, -0.6716, 0.0562, -0.0122, -0.0889, -2.0855, 6.6393, 1.6923, 0.0806, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cfbaef04dc50bc3f5233ee8795ebde2f8819826af99af54a0c7cc597c9760ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f0e7ccc534817bb248f1d600f5457398dbfed9d8a8c61bb671481457d56618",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b0a58724ff0c80784edd4f8f20014462dbd4b9caa3f89fe4948803e5962388d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCr-p8YQSNs6FLz09s9NGOZWRwhA3FZqJYizjqeYYh0wofejVIxaqxdsIFl6lU4gLlOSUwYXOfxHVZTuxIdW-NqaJSJYbkHKF_XEsbjVlBcrKS1_aHfOewTqf1bF3oxpgXdbvnMC0CWn1ozZ39E9VzPQkVeXZX7qAFTcYjfKaaBArUBgJcx5wjtHkjVRPgJt8guolFAfWsCKtJNxY8VSPytszCvCg1XihcDaNksAJ2xw2mZHmnIdRoHIHJSEEjF9nlbYu3dO4mZ3CdT8Xe6L70YIAG_Q7fyW6gwUeIor46TqcC-cYVKoN1dX7xvhcfueYMHc0-yyQ1aiCbTLpox9d7jhNGqosiBk7VdFVyjO-r4e6ZCDugeW_ZEuvHv1R7W20faKCJzZOcbZ0z0PH-X_H8Fnbj9CD7GK26lxD_kERwkbju-wIdqcrOvFWpDsdFUdwKwAyUlSs7n0YvVpmszTGQEBscIxmNCQeLiqpH1tj5aQUXJmASZS_01Ry0RzUwgMAm6JfK4g6SyEv3lPXNNBvi6JXMfqGBPi4CiK1_Xh_0ErUSlE6LbNtcWy6FjVfLl2-3ofDgSpQTk4NR5tXDEchdTnWV7J-WsumEacmrV8_wmRWVpSpyvFh0x4XHD_JpN7ZFJkT1Z_PNngHwrc4KHpRIpXOR1GOhP2IsCWtTqUVNaVAp1CKbuniKTPinXzuYtPGY6RcXv5Kgi-Gmpa9-Zv4sJuFfM_kz2qSA8uUeJLmv_tATwHZg8uPqT3Ou4FwDaOThA6cVA8Ix3p0uHd2xbAMgS6NEdcCw4CndjQeXm47hd3zHgsNv1RyeYhNl7zfJGjUAgBjnAK9xDuzbZ7MuHl4Rb6hp3ZO1fpo-oC6oGT6_shAi0mRK8FdeG_6bhc1BY1xC0CFZG7di7U1cvElZ2d4xkT5ddqIfWDKv1bYc9gF7T3mLbb9OuIh-zkQr1m2JsZTwTpMrjM1Uz3nwkbmnQ_loBMWLeyUdIrpBaS3DyDTyuOB9Ll4mxf44SJP7k0ESV90-xYuOanjNnLt82Ab9Us7g7LuvkX3vbltIZNugHZaYzZcCRS5lzq7FqZiyCo45r12VW8BEcEua-GWhsB21off_NtsBOgyUHi7lkkgUQIq3afIm2hY8toR9Cq9TaepAj2g1iel4qyYiwVTM0RXpwZEcJ35uc50Pn9DkM7gJL48Fem-QMLyfYGFsHYWrep--dx0ZKL9dEMiRxzzoQy-lXcWHBXWT9v7kqD9jOHZ3iFq-kX_ZRUB_XdSnXd5lSq3luBO4tz1xAw9Asaeqb-pVTnhIi8bV97ZbJKNr-rXNEHWkGvwT4NDf5XCDJlGdHIh9WmSQBcZy2apzADYgBs34MS_2VFeKsUDV-ADwUEGmaOJr6ygohFJmFncY5FoJ6gBpTqsinE3d8VY0e__jK3VxwhW_fPdwr41Pd2Lc5aEdsKuAXAIrhs2C_fjFucKigbCHokD_Y8XMUpiv8_JJ4SelX9Uid-g0rceoYzlm-l-bqKQl5IhYYQsdVzTTagGUAciq422Y-BVuCgWw-_f8LmRodkJ_9zxLUu4l5N7sMlBEtPkLeHeb-P5v9r4qIbnbTgVaT6H5Ax-Yg2CvOm6_bRNZhfKIUkUhd8-rpr3P7pppAAaNqkjTs6zTQL6tYMEJtSB9X8RviAIniHmn2VLFlRSM8Ilyd5lw0wF5TnN8FTYO00HMSKUIU4Vlq8u4TkFWUIUmai9bi9WE1V5J3UBBIZRd7-hNEXYhfd4nLTdHDKiblx4QrHwobcuimv-E75jYkZUT2J2Kpu6c2dUADKILy6VBS6UFHGIu5o5RPFHDIvFHNM2kKvT4MBGC_endECcFkzFaJRLKhgZsQ_rMhg-bgX8NQPBFogwYYLZATl9cEkRfoF-08e0hQxZKX2VWxq7P3XbRxMRT9xEKgLUgLNkPg69rsZsDu4fJu09XzV8NgWLuvWdPksg0WMe9v1SbmRzpaOcp3EWq9TK7QKSxRi6ZV4aOecO5TQv0ugrbMj_p7GDNrFYLYBWXubCWshyVCn31h_m1mxpSo0cEoFqvE-ikIFF7kgOxGa5sTq1H4PIm18vOxOUK4KW5jqyOJN447O-05p2nkg0gY5Il052hFlyYctLuChlX4sH7Ofe76gb5SJU-j3ocOcD-mPTCIt0Rchbl9JP47jMmfa9AneXJfzoUGTk6a86I8JcyIig0iXssVhe0jDLA_i4yneVnHpU3_UjC_50tbclwK6wwZ0AwG9rP9WYQJ-Vm3B_rBDaJYGPz89TQGMdtI46pgOZm0sQhUMPpezS-yAFayrASIpMFu0bfh-J_cianOjtnjyLcZR0ZjQDvf1QbIPU_i2eIO7xgPxWgsrPmeiKc5sTVVHGA2seGyARVo3zGqgJkxFovYmMCc_OdALK7WdKd0NKjmDwLS5wIQGxAqgfeUpCHxFqaZ4QI9xsrJMB5zwWROm6YeQYbSIUdYjuLSbPGfHCWT2DW6CA5URFFAIljXgAmskpUr7eoTcSx6POZiPGcQct3X9w_mAp7qKx1aJXBk5r8cUToMNYK3PWlYIqxCx4ech7nDLkZqhEB2HEeFqbDvW6eo9r1JiYQQ408M938iy3BgqxtrqS7yn3j4HM1g_5gcmAi192Ap5Fn3b72pab-c8J4WSPULfghbojldvWI6RX5j-ieAKd4OM6Iv3WsnRIOEZ4NX0t1E8JF-2ua32emNhTIlc7yh-IOgQ9wUKX8eONYEsradotxRU56OwfBFz6-tVglW3anN-VYpc-IWxGXxv3ltM8wEbi9f8qnlKvXMbvHmA68xNsrZtEtNfnSvDfCG5rPbOeOpr0fPDP9qqfefBVwz_rtOBXq9GYnSf6MdId3nN8QBhVfgFwjGYCpFXwXZSR49o2he2dv-qMU--uQjBHRhRGVDy0aXVbvla_GUFNihU8K6jm1yGdGisedOd3RDaHIral_2t0-Ct7FlgX2KLhlTa29jFiwVSD-00qvoyCezOUc2iDmV1HuflclE1IO9_ZZYGaA7_iWtaoIhFzyleHRadwsuMFMt5IiQ4tW4gsrFSpyseleQImeUEK09yNOObuCmUuaVhYmnBxQCUFY06tq3URCee-8ZXS9gQR3PL3ZD7sVvMHm9jpFeyaEfgoqK2NU0Zi_saTY832vBZSV93MI4ruh7mPYvdNsrKvGwzE26JLbNbuws9tD-uZbmvuVp9zU9Ycg-PL4-S2Sy4i3IiS8_xvmqoSmpXzjmPflM=",
  "id": "rs_05f2009507de6390016ab42af9730487d0b9c9dc3ac463e3a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.26,\"left_z\":0.11},\"note\":\"A separate small white toy is visible to the left, so three objects need packing. The plush body is just right of the left jaw column; I’ll shift toward its torso and lower to a closer inspection height.\"}",
  "call_id": "call_Ce8FHvkG9oKY3R0okacyCce4",
  "id": "fc_05f2009507de6390016ab42afd75b087d0891eb34b0ad8738b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ce8FHvkG9oKY3R0okacyCce4",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.116, 1.5749, 0.9733, -0.6151, -0.7208, -0.9531, 0.9992, -0.0029, 0.9237, 0.7269, -0.6655, 0.0292, -0.1471, 0.9953]\nstate[eef_state]: left_x=0.2517 left_y=-0.2412 left_z=0.0967 left_yaw=0.0022 left_pitch=-0.2039 left_roll=0.0927 left_gripper=0.9992 right_x=0.2734 right_y=-0.0023 right_z=0.1464 right_yaw=0.0465 right_pitch=-0.2801 right_roll=-0.1143 right_gripper=0.9953\nstate[joint_eff]: [0.7726, -6.8171, 8.9368, 0.9792, -0.4127, 0.188, -0.0171, -0.1709, -1.853, 6.8991, 1.6581, 0.0024, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447eae13668762d95dbe14a38eb26ba1d1d0dad2e96ab42983e19a22d672cc18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f91019da56f67e4c6c65a049958c0d78a1de89fb95c5d5d9d91b1d7ad0ff5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1429cc18c74ada497b3ed93c9a7808626bfd477606008fb4975247fbc159a5c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.22 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 43 changed as sent

message 47 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, 0.8097, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.063, 2.2276, 1.5311, -0.3794, 0.6987, 0.7109, 0.9947]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.157 left_yaw=0.0019 left_pitch=-0.1011 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3418 right_y=0.3879 right_z=0.0293 right_yaw=0.0876 right_pitch=-0.1569 right_roll=-0.1116 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.2239, 6.9949, 1.7167, -0.0513, -0.0366, -0.0122, 0.1436, -10.5778, 5.3128, 0.9451, 0.2466, 0.0269, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1656, 1.3361, 0.9401, -0.7753, -0.7467, -0.9966, 0.9992, -0.0029, 0.9211, 0.7269, -0.643, 0.0303, -0.1463, 0.9954]\nstate[eef_state]: left_x=0.2261 left_y=-0.2136 left_z=0.1458 left_yaw=-0.0193 left_pitch=-0.1611 left_roll=0.0294 left_gripper=0.9992 right_x=0.2775 right_y=-0.0026 right_z=0.1508 right_yaw=0.0447 right_pitch=-0.2549 right_roll=-0.1159 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -4.9983, 8.8684, 0.7937, -0.6716, 0.0562, -0.0122, -0.0889, -2.0855, 6.6393, 1.6923, 0.0806, 0.105, -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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.116, 1.5749, 0.9733, -0.6151, -0.7208, -0.9531, 0.9992, -0.0029, 0.9237, 0.7269, -0.6655, 0.0292, -0.1471, 0.9953]\nstate[eef_state]: left_x=0.2517 left_y=-0.2412 left_z=0.0967 left_yaw=0.0022 left_pitch=-0.2039 left_roll=0.0927 left_gripper=0.9992 right_x=0.2734 right_y=-0.0023 right_z=0.1464 right_yaw=0.0465 right_pitch=-0.2801 right_roll=-0.1143 right_gripper=0.9953\nstate[joint_eff]: [0.7726, -6.8171, 8.9368, 0.9792, -0.4127, 0.188, -0.0171, -0.1709, -1.853, 6.8991, 1.6581, 0.0024, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:447eae13668762d95dbe14a38eb26ba1d1d0dad2e96ab42983e19a22d672cc18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f91019da56f67e4c6c65a049958c0d78a1de89fb95c5d5d9d91b1d7ad0ff5ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1429cc18c74ada497b3ed93c9a7808626bfd477606008fb4975247fbc159a5c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCsCecYlzrTv80ZfBcp_rYcYhfyX2O8cd6dkNOR3SIFVGKVsSyx8s4gUJUFt3LjKqKH6-ZaR-R8Dopd_cBLxHd935__CgaUhqX-vee9IRj_SoJCUvDnq4JHU5O2LZUEPURmeKwtbEYXIogKAhAD-jd9e89jYvM8xjcqYFkm_PHeUTuyL3mGDYWIlRxy86hjjcPBNu-86BrqKEUZQqkhQs-8nteY2963al7ITgNIqPVWUNFLYGfqqYQRXQX_efBTuQyCEc3GmHVq09LL8bBESHXpJCI2NobESAFsdWcAp784hXWJZEvuZydAhyq2ZCEH4wTFCJz-kWpt9Y05o9zvvw9rxdVBHlpZljQMwqAOq8IRVgWxtN-XDVnySz_whHk2j81jpMAaNhoyUZT_pWQoHBfF1bmsQG99PVRwcR39XGQPzr0-EcUM4kEj5Qa4YIGYKVrEDiYtNzB4Ef0WmDY9aG9J6kFlEEpxXyru94z9-NfqEIDUCkdu9_2hVabkdgvnz5HvmpNBbZYtrSW7BhTx1TL079GkG1Oo0heVqcJaZHfW9zFeWww8MXXZdr8-FO1PHZWkIj2TR2DRFFmzH3T5KGQFGNF4-L7kP-Lbf1gMyz27-xrYGaK5qyX7ADf4hvsWUEZ-r-Ok8Tk0dcwWhi9bTOnNVOBDS9jX-GeA54sY38PuFaRY5fO4PcPorOvO2E_Trbc_AWRskRQYsA_ylH-VMwEoAhK-Ih0GemR5B__qGsKcY3CqjckoqQVELB5yr1Hw0BuOvmGwyGCcI-f_F6vwUWYSahxd9Rbf5gVHE8AIYtgcbCPjnpZZiAxjJhRow6S1ggboXZl1eeLqm2xF8nW-1ziQhzhq6zEojZ6FJFypTNhDS7JnFZt1_shCgeguw2gcnAX8zsWoWRkVmOtZ6gMgx1OjnOFC89HrsxgwD0Baf4J3N7h90bwAksAzG4s7PjNk0P6_1KqR7Sdzs5QI0If8BDSnzz6EYj8My0A-3j41jkVo7AEuBxU7Ix0iBJIXAjuSDrMwGJRf0vtpjroa4Z1Dc3n7rYGxWuk5c7g7WwHnXokDNkk2N6KckbTq-JZHTPxRrjFD_Tvj4nYAJhP2cFR-ggKOfP_VYC4ZMqfeSlbJioRpCRTg-1lXUTfmSyxjzoGTh3GqwsnWkPxgwfiQJapmTSdBtDtzURlqMlAN_Y7zx7XWcVeZVv42Ub9OSVWK22PZdxkkMtFJpIjmmEQCXkJd0197kxbsa5hPl0bDg6XsTHe63qArorxW7YA73Zb4L7rLOZVBZd2hjk0jUY3kIkF9CD-HmHr8tJCyZ3bdw7__hrWgLaakzo-eiHl0iZ8kWn9cjo_G-FRMpbiD5u5kroEFk9bkg16xMd7OXArTWgZQn4rHE6EPQW3iIk20vmh4WHwPghq8PnEX0oUTJeBRgNCuPRJxz_-UMcXpAHfCyfoh3gdn1vCN4yB-mpQJU2icdLhvsNOr3wV9R-M_liND5SRsyqwHJNIcDnnAlyQZEAqbgosgH6jnsXbA3u6iticGicpUX5r3baRt4NQNvR31sNlXsLlcjp78jJJGavxLAjtAbivoBFljb39twOmVDmHAZLPRvLQFy3kUFJRTAgZy0tXGW5vWt8t6oFRRJx5ZCuAq4jNI40dUP3YJTEoJXkXrEjHmSS-ke2aRdpQ3flypE2UJydckAD_qLgjS-DAFVA2u6OlK763IjKvCeH11UJKoF86ZF8n9ow0q6W28IiN3wvjetSKDCmvx64YgTAgRLPgkV4gKcETHxOjQJ2LXrVg5YBqHoyBZ1YWNsClAYkQN1jdjHJrkyKvvlec1pZJ3HInkE5yDMFIN1FWdJQyy8rtzdZ5t6dx5iXT_L-wzuYqO4Ia0TT0boEow0bCbjbcoQGoXd27alMzVTyZfkuUpVwigwEDvRIrDQcbFDPI3Vd7E4E1gxvJoyqAmq9iNEe78sZYZVYAlwQv1Y17ld3UJCAzskpGUvpwPYeeMe2M_5tRk5aYO2-p9LfIm4nuBU0qPkBHFhyhl8fS8=",
  "id": "rs_05f2009507de6390016ab42afff63c87d0baff42ba3d78e493",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The plush torso now fills the space between the left jaws, with its head offset to the right. I’ll lower the open jaws around the torso before closing.\"}",
  "call_id": "call_SEBUZgFlTafuNLV6Wjdv3QPk",
  "id": "fc_05f2009507de6390016ab42b01ca3087d0a66c535b53e439f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SEBUZgFlTafuNLV6Wjdv3QPk",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5978, 0.9836, -0.5755, -0.7151, -0.9463, 0.9992, -0.0029, 0.9257, 0.7269, -0.6788, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2573 left_y=-0.249 left_z=0.095 left_yaw=-0.0023 left_pitch=-0.197 left_roll=0.0705 left_gripper=0.9992 right_x=0.2709 right_y=-0.0023 right_z=0.1438 right_yaw=0.0484 right_pitch=-0.2955 right_roll=-0.1155 right_gripper=0.9953\nstate[joint_eff]: [0.212, -7.4735, 8.3624, 1.1648, -0.4713, 0.2222, -0.0122, -0.1436, -1.8667, 6.7214, 1.5263, 0.0122, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bccb6785be9e2a1e2fd994ea1d651ffa7d087d147ea5bf8d449b83929d4332b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680b3a5cdac16dded7f4f6bfcf7c7e061a172f12fce3636cfa675cc257c36c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc7f3ac10f28ba4521adcbb947bebf1f54117a7f3e5d7ec03233a736a96e2e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.025 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 47 changed as sent

message 51 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, 0.8143, 0.6067, -0.4957, -0.0189, -0.0387, 0.9992, -0.0032, 0.9188, 0.7254, -0.617, 0.0364, -0.1299, 0.9953]\nstate[eef_state]: left_x=0.2792 left_y=0.0017 left_z=0.1528 left_yaw=0.0019 left_pitch=-0.1213 left_roll=-0.0009 left_gripper=0.9992 right_x=0.2818 right_y=-0.0038 right_z=0.1551 right_yaw=0.0295 right_pitch=-0.2274 right_roll=-0.1102 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.8046, -0.0269, -0.0317, -0.0073, -0.1026, -2.6462, 10.4957, 1.8144, -0.1392, -0.0415, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.116, 1.5749, 0.9733, -0.6151, -0.7208, -0.9531, 0.9992, -0.0029, 0.9237, 0.7269, -0.6655, 0.0292, -0.1471, 0.9953]\nstate[eef_state]: left_x=0.2517 left_y=-0.2412 left_z=0.0967 left_yaw=0.0022 left_pitch=-0.2039 left_roll=0.0927 left_gripper=0.9992 right_x=0.2734 right_y=-0.0023 right_z=0.1464 right_yaw=0.0465 right_pitch=-0.2801 right_roll=-0.1143 right_gripper=0.9953\nstate[joint_eff]: [0.7726, -6.8171, 8.9368, 0.9792, -0.4127, 0.188, -0.0171, -0.1709, -1.853, 6.8991, 1.6581, 0.0024, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5978, 0.9836, -0.5755, -0.7151, -0.9463, 0.9992, -0.0029, 0.9257, 0.7269, -0.6788, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2573 left_y=-0.249 left_z=0.095 left_yaw=-0.0023 left_pitch=-0.197 left_roll=0.0705 left_gripper=0.9992 right_x=0.2709 right_y=-0.0023 right_z=0.1438 right_yaw=0.0484 right_pitch=-0.2955 right_roll=-0.1155 right_gripper=0.9953\nstate[joint_eff]: [0.212, -7.4735, 8.3624, 1.1648, -0.4713, 0.2222, -0.0122, -0.1436, -1.8667, 6.7214, 1.5263, 0.0122, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bccb6785be9e2a1e2fd994ea1d651ffa7d087d147ea5bf8d449b83929d4332b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:680b3a5cdac16dded7f4f6bfcf7c7e061a172f12fce3636cfa675cc257c36c4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cc7f3ac10f28ba4521adcbb947bebf1f54117a7f3e5d7ec03233a736a96e2e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsG83pKFSyZdEKsqJq38_6CCYnltcSQ8PPRDC0HVTBArXv9_sy4QEwoa-0wNJ1w9xp_HF1KKwV9vT9pY9I2m1OWWrOexwzyUA3fY2uYhBgOAQgfXiVIFIJNgRpThwYp4GD0hiNnLHXiY-mRLvYPHSOuEDGGsa0-pg6J7oi39T4ADE48dmEaajoD1oBfJPCaS1C-010BqcVtUWfNTS2ipKevnBQ1__-8Btkgk4JYFsbpUdq-sQfn8DTeRtRCeSs7QTqqQ8wwQL-SpOIgJljBzlsn1taCrsEVCazFz8AAxTAaySoKWjY8I3wiHPPde5yucHMSlCEQ7lzLvjSfUo75UrlPjq_pG6g-kLXTnfDwntX8Ypb3XGZPw4-Lg9g1Zh9v4s27g8pzPkTAvFftLQWy5359vuCtONo6yEp_z8pmxunszOWiAF-cHTSFyB3dw0b7jyCADhZD5jb_PpwuduvyU1Vj7vhHzKPSuG_K35Te5F9-wlzzT5712WDb8Syiy2XtzDttrqtaDI3ZcQ1GsemcX4XYjMXXurwesYGiieti61v_uU_r9O5vRHK5_NTxQrJs9qnKUy6pUoDETALMdhyeqXZgxH35ka_b8AOncDJJEVvYcd3kR1_vEF-4gTX70R8-ChoHVZ4wBZoUU_4xbVT7YqNui3lJJdcZgKrzXoBF_jPzBNpm24riirl1g07lf-GkDWv3GnZ8E5HMl6AXYg9g3bsKBJvOgOis1GpEaWRkt_dkheGC8r9XSRj8EK5CZaUOKmvx2gluI73r2Ddfk0-pCZCIvGVNitn6zMecwtJ_1TFOzydLGBWyp5dHfFFnjRA1C6MJ1NtWniwLnP0xLSRi76a7qh7kWiqP5lOZgDg2tu2dsLPF--r_sFo25SNAo0U2p3N21cvRwhMPda5295w9YtT2G6pcyCbyeVVER5SlbVXlXQOAlx_-OMiKgTxEPQ6-9262vCXoCC26Fy6bJOPTkHobwRY-aS46AlD0bPxz7LAU4sesS5egoU1fqtqL6_t4eb-JZXS_4GWOdA5SqokAQvE3RF_0ILBpdLLdOxDJjqMavd8cXCfJR7czp4sIlL0gEGtftAVO_HAdo9oAUv9KX3boW6nOwkRq2Wofejx5kPFxCDeTu89SHDg_aq_90OM4b6gEmbC-wWDTv46cbaeNaUh1XoK-OV8HO6xdxu-VP-_nc0nEnpmyezPxVzMWFqp56ErQ2EbieweKfmeTXmqQa-w0zRyZCkr74cIdLbfXxBYebngX1pyZ4VRZtG7jqkkl5iaaTObAauVJVrfZ4pKyy6_UJWXZ7HsOY4mBj7h9WZnEYeRPLEC9v9LLcrGa32MbUwxxTkgIhDmJQMe52bwnxywCFi9jSHXNRwE1_gSswPUrWURhyIYBwywwx3YIiOl7NNXH3dqSgWgV9T6FJqeRMfKkzT3SW8-da6fsl9oEYBipxCCgbPEX4qX5h70bBqLgXjShy1JNZqJkyBrQAfeymBbW6-E7i5vYJ3ojYXimoBjz8xGmC2RrOpXqWTi7N_n69ywrvtCu3L_4GrXzrEg74F7DPRcfTPw_LbiAHJ1YtTSkTwM4cD_nCf-Uwdbt7FWsh8CngSuTHzH6jr_KkSIC3Px_VBc8pwKQxrCPdcEoQmC2LMpT2U-S94l70hL8LqMDSNs_Sszq0Wz6t-jia8rNc6AtfsJrnIJZADax1PR6vnzBrqqin6otrw-nsvEuHpeaAaDLdcwB5sng2i7vbRpioKSzc0USJq9VlcgWE3ZQQ-YbaNex_MlUwfuyw1OA39fJIYRRunfbtgYy8y8qUHhOTI2oWzyQP0ziGxNgm6IYwYn5umQ=",
  "id": "rs_05f2009507de6390016ab42b045b5087d082c1f4a2486d300e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm stopped lowering near the plush torso, consistent with contact with the thick fabric. I’ll close the jaws here and check whether they catch it.\"}",
  "call_id": "call_zrInSUvGULl5gOmp6bypA3LP",
  "id": "fc_05f2009507de6390016ab42b055a7487d0886bfcfbfa745615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zrInSUvGULl5gOmp6bypA3LP",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5982, 0.9844, -0.5732, -0.7109, -0.9474, 0.0099, -0.0029, 0.9276, 0.7269, -0.6849, 0.0288, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2571 left_y=-0.25 left_z=0.0949 left_yaw=-0.004 left_pitch=-0.1992 left_roll=0.0655 left_gripper=0.0099 right_x=0.2698 right_y=-0.0023 right_z=0.1424 right_yaw=0.0489 right_pitch=-0.3035 right_roll=-0.1148 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -6.9812, 6.2291, 0.862, -0.4029, -0.0073, 0.8132, -0.0615, -2.0581, 6.9265, 1.453, -0.0024, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02be69474f00a59a8ba8d0e206dc8a9049e0d73374090059803b5080ea69a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536856ce33497432f4595e6577062a21ce1ec21b70565c9cd554bd93b9111fda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f5651f5b026bf4d342d998413d50a902d7899cc268a557a4cfddc80768e2a00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.102 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1656, 1.3361, 0.9401, -0.7753, -0.7467, -0.9966, 0.9992, -0.0029, 0.9211, 0.7269, -0.643, 0.0303, -0.1463, 0.9954]\nstate[eef_state]: left_x=0.2261 left_y=-0.2136 left_z=0.1458 left_yaw=-0.0193 left_pitch=-0.1611 left_roll=0.0294 left_gripper=0.9992 right_x=0.2775 right_y=-0.0026 right_z=0.1508 right_yaw=0.0447 right_pitch=-0.2549 right_roll=-0.1159 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -4.9983, 8.8684, 0.7937, -0.6716, 0.0562, -0.0122, -0.0889, -2.0855, 6.6393, 1.6923, 0.0806, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5978, 0.9836, -0.5755, -0.7151, -0.9463, 0.9992, -0.0029, 0.9257, 0.7269, -0.6788, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2573 left_y=-0.249 left_z=0.095 left_yaw=-0.0023 left_pitch=-0.197 left_roll=0.0705 left_gripper=0.9992 right_x=0.2709 right_y=-0.0023 right_z=0.1438 right_yaw=0.0484 right_pitch=-0.2955 right_roll=-0.1155 right_gripper=0.9953\nstate[joint_eff]: [0.212, -7.4735, 8.3624, 1.1648, -0.4713, 0.2222, -0.0122, -0.1436, -1.8667, 6.7214, 1.5263, 0.0122, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5982, 0.9844, -0.5732, -0.7109, -0.9474, 0.0099, -0.0029, 0.9276, 0.7269, -0.6849, 0.0288, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2571 left_y=-0.25 left_z=0.0949 left_yaw=-0.004 left_pitch=-0.1992 left_roll=0.0655 left_gripper=0.0099 right_x=0.2698 right_y=-0.0023 right_z=0.1424 right_yaw=0.0489 right_pitch=-0.3035 right_roll=-0.1148 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -6.9812, 6.2291, 0.862, -0.4029, -0.0073, 0.8132, -0.0615, -2.0581, 6.9265, 1.453, -0.0024, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02be69474f00a59a8ba8d0e206dc8a9049e0d73374090059803b5080ea69a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536856ce33497432f4595e6577062a21ce1ec21b70565c9cd554bd93b9111fda",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f5651f5b026bf4d342d998413d50a902d7899cc268a557a4cfddc80768e2a00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_05f2009507de6390016ab42b07d93c87d0a8bce08bfc0db205",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.222,\"left_z\":0.065},\"note\":\"The left jaws closed almost completely, so that grasp missed the plush. In the wrist view its torso sits closer to the base than the jaw tips; I’ll reopen, retract a few centimeters, and try a lower approach.\"}",
  "call_id": "call_Bc0oRya0Jzvor9qOvfoXXCOy",
  "id": "fc_05f2009507de6390016ab42b09f93087d0aa770a1bf68be362",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bc0oRya0Jzvor9qOvfoXXCOy",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.216, 1.6047, 0.8955, -0.5568, -0.7284, -1.0725, 0.9952, -0.0029, 0.9287, 0.7269, -0.7017, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2229 left_y=-0.2528 left_z=0.0694 left_yaw=-0.0183 left_pitch=-0.2117 left_roll=0.0558 left_gripper=0.9952 right_x=0.2666 right_y=-0.0023 right_z=0.1395 right_yaw=0.0489 right_pitch=-0.3214 right_roll=-0.1141 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -5.7368, 4.8068, 0.9597, -0.569, 0.0024, 0.0366, 0.0068, -1.9761, 6.7214, 1.5702, 0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac75adb434a7c33cd77121d545c758a535c6ed2727ade109c6f7c00fa0de97be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0fc63e52439389a062d090528a4fc54dfdb62d6bcbcb2b15bf39473a917c38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d26092512d7a38108de07d7f6e8d6e839c3914966b0275f923bcefa492a12d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 6.642 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.116, 1.5749, 0.9733, -0.6151, -0.7208, -0.9531, 0.9992, -0.0029, 0.9237, 0.7269, -0.6655, 0.0292, -0.1471, 0.9953]\nstate[eef_state]: left_x=0.2517 left_y=-0.2412 left_z=0.0967 left_yaw=0.0022 left_pitch=-0.2039 left_roll=0.0927 left_gripper=0.9992 right_x=0.2734 right_y=-0.0023 right_z=0.1464 right_yaw=0.0465 right_pitch=-0.2801 right_roll=-0.1143 right_gripper=0.9953\nstate[joint_eff]: [0.7726, -6.8171, 8.9368, 0.9792, -0.4127, 0.188, -0.0171, -0.1709, -1.853, 6.8991, 1.6581, 0.0024, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5982, 0.9844, -0.5732, -0.7109, -0.9474, 0.0099, -0.0029, 0.9276, 0.7269, -0.6849, 0.0288, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2571 left_y=-0.25 left_z=0.0949 left_yaw=-0.004 left_pitch=-0.1992 left_roll=0.0655 left_gripper=0.0099 right_x=0.2698 right_y=-0.0023 right_z=0.1424 right_yaw=0.0489 right_pitch=-0.3035 right_roll=-0.1148 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -6.9812, 6.2291, 0.862, -0.4029, -0.0073, 0.8132, -0.0615, -2.0581, 6.9265, 1.453, -0.0024, -0.0415, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.216, 1.6047, 0.8955, -0.5568, -0.7284, -1.0725, 0.9952, -0.0029, 0.9287, 0.7269, -0.7017, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2229 left_y=-0.2528 left_z=0.0694 left_yaw=-0.0183 left_pitch=-0.2117 left_roll=0.0558 left_gripper=0.9952 right_x=0.2666 right_y=-0.0023 right_z=0.1395 right_yaw=0.0489 right_pitch=-0.3214 right_roll=-0.1141 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -5.7368, 4.8068, 0.9597, -0.569, 0.0024, 0.0366, 0.0068, -1.9761, 6.7214, 1.5702, 0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac75adb434a7c33cd77121d545c758a535c6ed2727ade109c6f7c00fa0de97be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c0fc63e52439389a062d090528a4fc54dfdb62d6bcbcb2b15bf39473a917c38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9d26092512d7a38108de07d7f6e8d6e839c3914966b0275f923bcefa492a12d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsNwFy3ZYZ4cP1E-mYjBSJ47Lk4gbR7hd0ncOloAWifsOs_D9zhRPOLg-atHVqTKxl4AiAUn5fFXQS5IIRDkQCogIRbHtUqAu81PkvRmPLybh4CLqBHoUfXhR2PSvwlbydgHIqv4yd07fAbl3fKH-CciNk-oZ9fk4YCPUrhtLANZ5VElxJessNi8t-lAFW72TVE1CP-dSj6Q7M106otdb4gOGgyK-Cbx0w9Oxne7Uw79LQI7yPp7FHFGHPf_7tN-e6ulDq-KOZR7Ws1GLUFrBBM6DKAwQQHWcH8Tk0aQWSHk1v_XriLncSifQqtSvFHIGd2xjDbT1nuURFF2_VV1hbpIvgRt5HvMM-hTTBzPXMUQYARD5eSpuzUWCIQIBcCYAZ_9ZGOfbPeJaqu1YU3fFP5IWECGTM_QozPtBMLfAsi3zB4XnKUBjxq_mzgFVPnzn8D9mgvyYXTC9lzWT6c8EsKI0IOTia9vWj5JsmdE0Q1vnwGBlXMPwdyR4s-EcA8hdShhpaC6luc-ggn93ANSGdicYYLiQEVvO8R2kc3IlOOE6l3lwAz_PY0xB5XWhcYSMB9Tflkm9h-HQSWlB557f_Id5ZzIdj6QafZL2cwk-pzadjQDzxPlRQZ1wU6nis04WmBGIHlOX7X3LHKwLcTzhu4Nmw6ZL66Lso7QzhGBi2xfijbV34ck4rL_ePWzavidUsMX0kywkvyGo5PQBwf0GYy0HD9Jt2x2h80Z3gpfPjiURgwMG-In3CZs5o1PHdicnBC8vTbBj3MI--F_Se9szU-mhDUkKtJMIb_fUkUY4IsaKpBgqPCGxI-msHz6fmSOxk7W1s1itQOI3qWMfn3welxS7Fw-FJk_fQocH6Y7t0pONJ5k8g9ylq2lU_Oa4y2W9aiSweIpSHmkxgK_eKdd4hWskWA7jFmBWntVUUfrxsogAult23drrsJVva3cFCUlv5mgW_bIH8FlhdjgOOl5DwQo1K3grAiNGRjCcr6grpGNGYMqKx-7C_LLdh1ui0mwUsuktyjO09HfYC3_Jf33UzsxFjv3sOCeOmQZhcnX7NE0hqISCqvanOoQmrfzqTgfzncJy72IdWISdz7ck_U-eI6Q80vVVaenDs3YzLfMfc6ozhwilDPNsitHxc_K2oS_zgSo1Bm3yZvYc2Y6jZWWVLSU__AjbeMgKcrpfq0m8PwmiruRUKmLL4maLsVZBUM7cKvkBMo-xTWbQbAVEmmNlzdOcRZs6neLujCgyW9rtF5U5RdW5XA5649zdQwQxcHWqq8mgHTrUkYSMgT6h77uT3f2Rdn05BsW2g6UWL_L3_oGt-7-iCNOwcB3TJItpXscua4xMULZXhiNY2gU4Q-wfVdH8SDqzGGI_9Qf5CUxR4JI2ZaeQUzbJXFAJfrReqQGvi76DoablkKDsii7cM2p3Umuub_Xy26XMobYLrDwlBUDhI=",
  "id": "rs_05f2009507de6390016ab42b0cca4887d082ccb47f23b7f209",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lower, retracted open jaws now bracket the plush torso more directly. I’ll close again and judge the result by the settled jaw opening.\"}",
  "call_id": "call_k1Pxi4n12HTYTQm3GMEdeMWs",
  "id": "fc_05f2009507de6390016ab42b0d4b4487d09065089958e69e87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k1Pxi4n12HTYTQm3GMEdeMWs",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2179, 1.6047, 0.8944, -0.561, -0.7223, -1.0786, 0.0096, -0.0032, 0.9287, 0.7269, -0.7238, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2213 left_y=-0.2526 left_z=0.0681 left_yaw=-0.018 left_pitch=-0.2189 left_roll=0.0543 left_gripper=0.0096 right_x=0.2623 right_y=-0.0023 right_z=0.1362 right_yaw=0.0494 right_pitch=-0.3435 right_roll=-0.1129 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -6.5162, 5.7368, 0.8571, -0.4371, 0.0366, 0.7985, -0.1709, -1.8667, 6.8034, 1.5946, 0.0024, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c33911c0d50c82b61df55e207ce95ec4d013d1829838d6b7f6e2be7e8f170b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6228d40e07d799bbb4867f93a11754f17ff8b1b9db871b9dab65f9be26df7682",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e3a9d734c5433d49cd9456b93cba6b5ef6aa28ae0e8892a26c2405b50a4f1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.091 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5978, 0.9836, -0.5755, -0.7151, -0.9463, 0.9992, -0.0029, 0.9257, 0.7269, -0.6788, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2573 left_y=-0.249 left_z=0.095 left_yaw=-0.0023 left_pitch=-0.197 left_roll=0.0705 left_gripper=0.9992 right_x=0.2709 right_y=-0.0023 right_z=0.1438 right_yaw=0.0484 right_pitch=-0.2955 right_roll=-0.1155 right_gripper=0.9953\nstate[joint_eff]: [0.212, -7.4735, 8.3624, 1.1648, -0.4713, 0.2222, -0.0122, -0.1436, -1.8667, 6.7214, 1.5263, 0.0122, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.216, 1.6047, 0.8955, -0.5568, -0.7284, -1.0725, 0.9952, -0.0029, 0.9287, 0.7269, -0.7017, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2229 left_y=-0.2528 left_z=0.0694 left_yaw=-0.0183 left_pitch=-0.2117 left_roll=0.0558 left_gripper=0.9952 right_x=0.2666 right_y=-0.0023 right_z=0.1395 right_yaw=0.0489 right_pitch=-0.3214 right_roll=-0.1141 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -5.7368, 4.8068, 0.9597, -0.569, 0.0024, 0.0366, 0.0068, -1.9761, 6.7214, 1.5702, 0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2179, 1.6047, 0.8944, -0.561, -0.7223, -1.0786, 0.0096, -0.0032, 0.9287, 0.7269, -0.7238, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2213 left_y=-0.2526 left_z=0.0681 left_yaw=-0.018 left_pitch=-0.2189 left_roll=0.0543 left_gripper=0.0096 right_x=0.2623 right_y=-0.0023 right_z=0.1362 right_yaw=0.0494 right_pitch=-0.3435 right_roll=-0.1129 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -6.5162, 5.7368, 0.8571, -0.4371, 0.0366, 0.7985, -0.1709, -1.8667, 6.8034, 1.5946, 0.0024, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c33911c0d50c82b61df55e207ce95ec4d013d1829838d6b7f6e2be7e8f170b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6228d40e07d799bbb4867f93a11754f17ff8b1b9db871b9dab65f9be26df7682",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e3a9d734c5433d49cd9456b93cba6b5ef6aa28ae0e8892a26c2405b50a4f1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsVIbwik77a4mf6zlwnG4cTPBQxusp_L2ygFo9GiWUBWRAkKbv_g9V27mT56nE2z7Wdtc84QPSv6L9e7IXhMlHxulcHz90jW2-n-S0p-ixLfxaAzGOQNCMQtZyw1Fdr1c3L3Fm-ER78TZ_X1Jw-P3bCAWz_C-e8-X86IY4kEjlzbCu8la0u2Ax7prKd4oOySzHU-d-jndsWUrXIqo_3b0wBoE3ueN8QmP5UNbomzChEEX4GuYeNziE_5escjbvrVjpXBViDrEO5W9eDwKaVJq6ZlBOyYWxQ0Jr65BcFRbKJmUMxbaPtbKW42z4HuyU1WwpROGJ3S3KE8KjTEIF351-guiy1-bp_ogf9AeqxNRMX8FnDCGFVUF9gHwcFTDAMgZvtD-r_cKauKWVXKA91jzeqK_E_kWKXi2ShsWIlSW5TR32_9w1tUxkVnbeW72DO-Edu5_9j_HjRxrbQSkwRjcbyxTHvQW02HhvOKEtjp4aagwXsuSyGohJVuTr7PWf6xREPINYWTlY8V_HgNh3hyPynMq6gDSq_zHwzTyPCs-GsiUbxrSTsQIJqFgASzkao-f74BAvaOf-zM9ll_0OFShDwLdBS0A-WM3Wz0zPqBr7nkkJLyhCaUF3fFlE0P0beH8caXwE1KmUBxEPvc_DHQAPdEpn8izZdfahC5Rr-1YcEQ2VK3MEnSEp8_FFQPyQk3mSwmiEKleTnVYHHDMXzhlGXzF8LTmqIprhaUokDod6cWd_QbRACntS7W6VHlyER52TbZ04PkQT74hJG96YrEFGunV5kwWX3Q-RVjB4wTIc_DiP1CqR6MMhQtaSHd-v8L-KYp0DubOvI4sgltuVZUImpWMdBXXdu8do5WwxXXK6VYpfuSivMmylzw760cUeeYPZrwske9jEjJVSUkQU6KswIV0YoIFF6aOeCVPDWB-PAdjfjxqXaFFqiYKye6ToJnvnzOmmzZbg_VshuwpF-OystkvfMnwkXuEwm_GzPBlrnwHyYiG_ER4JUS9g4s4An34FWDh1sMxI7bqfuweGE5ceCDNiXnfiQ5RApJzPz_ncDxbrjVG7HeCIKSxRv-Q8WuM3lxm6_2kNB830PJxebHdW6wvuyhIZJiR6ULpZX8IKIRzy9TaeQ1anCpxwe6ViKqknJhQOjUfKTWbWVotBLQma7tgK5AE42sA_KnS1PMaWfq6yQCPvD7l-1f05q-SPJKqUajKO4lLUE5TwkPyqT3Cm6OeQlw8yGnYzD1zQRcfnPVVgPiPV1-WMrNHOIBHnrYDgs-M6hNV4ekO43ezASqjJeo7Nr918-HVDKjWymF6yUoGnvErNg9j921hMG5UNB9gCBWPaeZG0kh4NKeET5Iuu02sR6XHwcgPmLLFy5ev6kKaIcETz4-urpZT4c_9ks-lLxDQd1k-TSEnWUBByfE0hSzcLs3MejsiUQQW50U0j0zIYC3BMR2R00Pqo5tPn54mZGuKGHwNg-3nUBegySS8WfFdB7YNWpg5BdBCWRXzdDzIv5RGOp8_qHKYfj5VoMeQvGMffB1fpgnKhEEn5BnDjvx12zhJFd5mPQYelLAovLFXNHYpx8eLfqb0kxLJg3h-9Cw89kZRTjyVSf12IF0qUzbTVNbE0ktBNEq1mcVmOtsU3G7XBE1GbmcHWTdisqEvsxNzYy7P1jWW90aRctbWVGZ7iJAlVs9SV6Hpk_qRQck1btllyCWGHNSjQBd5_sTCA06Z5qiS9tLOG1iOkEA8J4NM-PxXh4nHtIdjG1VfP6Syx0A9-CQR7KYI0z6zKkTT_8y0oxOqy7RfxYpYTaUeZnNljP52AD_C6rps9dPZmbx9DJbzSQ_ST_X7yW7cna2fxaDfy757UWnDOJSdNQ4LjgMAJwFNgh_1dtOOkxXxIO5i9u4Wg-wUzfcyv0-Q2lQpxVcgZSQpvlJMybfNbld7AXnvfi02nuXjb4FgwOWkr3tts9MabDS6QEcvjb2zxz_Px5_uIPGs5m1XbaYxoxJLGMvUH9KiNIvhl1VIXSgAdzgFbUGVRCcoolCFPJ4BPKOND0kPtKGURzBPSnSDyme50eO24EzkC6-3pAZ2gsc3afpHJbp_CLIOuMcSLLSwaVZSlq9-vjEgoSlgSIu4oiKVAimRBKTMdxGfo8Oh_l5jAJ7BN1yJHiPjZq01XNsTxcbm7n6Fd-4U4DYyUcwFvJf-06CicE39MkvfRVtb5sin9EPfc9NT22Vrm81f5PwnN4uwk5s68_QRFKORVPhDSVt76XtZTEYqoy32PRtbgX_vq56Ckd1lLcYu8IDVJ1QsfaWpoabt6hG0F9EnJPUSlYuHVQgxXIL0fCgBqDHQlHjVaRJgks7KmNhb1fypP_8l7ETD6EbRBGe_MK4C4wh5vQGYkasgaDdQBwHLBxrs_TRADHpGBqWB97ptydcI_F33IgmQZmom_GRCJojs4k-WDmaP90GF51Gg_RAaX0LbO0W0kv8fC_VY8aZ8SK8G3vzoRHb0Ies4h0i0JU9-XzbMOVbB6H-GnSSwJkz-_oFFchFKgzywWeA0Z98MWp8Mg3Sa-GSRfNwAUBSyLZr8F-OKvxvBBAoYkS72YEaiyEDgAk9aGJjfc1AFz-m9pqwAsWCNuxYto66rmcdg5EIzsnynjW2GrzCaWbeov0_g9upVcyoLm8BIoJUt6noR_farJenHmAIPgFAgAjL6-lRxGI-pU-DKcRhuzMfq-TVv3FnOdKZf-HuZCfwj3gS_a6vIgxfQoPA-gUdb4o3C55SyVG2JXgS601AXSHF3d0yyU3x2cLx7_NTBvY5YB6JnigsexqQFsm2Afmj44r7X9oecUxRZ99vcWLNXPejPGC2TUGAVwxgZyUrW-4iB8FHMHE-yte1jPzx9h0_lDI_lBaU61BXpigekapA2doD6FtFHSyWpfzim5iYGv9Ra2BCpRDtZacGwaFOCAOlBZgQLOBB0J1tsvSMZDRsDrHkWfDYLaH7cvmHD3MqhoCKnv_HPC4dJWYhPKctY8In1exrhNYxF13oth4zIjzf6c1Ywz15Wov3Aiv-DrhDXyJhcTUMRlLBpK2XN7DqBgLvOWB59vn3GEmz908NA_8V08t904S9xX4YpYKj5J2MdgOLvHJYvYGUUznXFhsJIvd_BngQ1gP0q8uH9U5Evgi2bb4CxiiUO-N_Cl74twDqOridLlHDxLrACGCuIYaWdz_Ev2ZHhnOOWNmI2SWPor-MfbmTh22SpXs795qiXIyyyz7yENH18UfQGTu1RGk3LpRhQNBuhxf8tZdOwzmdvVdYr0RSn1IJcCcxa5djJhdz1z0tlGBj3tz1kR5g99QIM4pnVyLnFXGP6FcU1XjZm80W7Nja8J6mqzCYFLWdAVu33AVBSBKpyHNgfwdIR03uLAJtHUUBGLB7-STyBAi9Tf11BCr8Nj70aYOVCIyQKbx9iZjDbK2ivDxetDzxHIwTJY8",
  "id": "rs_05f2009507de6390016ab42b101e6887d0ba1b5ab7b299acc9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.3,\"left_y\":-0.325,\"left_z\":0.08},\"note\":\"The second close was empty too, and the plush torso appears too broad for these jaws. I’ll switch to its narrower head, moving the open gripper outward and toward the table center.\"}",
  "call_id": "call_Kkg9okmY7thjRXDpCS1kaGjj",
  "id": "fc_05f2009507de6390016ab42b14a45887d0a91c881e92b5c36f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kkg9okmY7thjRXDpCS1kaGjj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0927, 1.9049, 1.2758, -0.5686, -0.6769, -0.9524, 0.9954, -0.0029, 0.9295, 0.7269, -0.7368, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2927 left_y=-0.3165 left_z=0.0724 left_yaw=0.0016 left_pitch=-0.232 left_roll=0.057 left_gripper=0.9954 right_x=0.2597 right_y=-0.0024 right_z=0.1341 right_yaw=0.0494 right_pitch=-0.3573 right_roll=-0.1127 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -9.1829, 7.9795, 0.8181, -0.4713, 0.1929, -0.1343, -0.0752, -1.7573, 6.653, 1.4432, -0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953ff489b964382f6fae6467a83109bce30c1c0a6d05538d2fe3193155a68319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb46f0aacca684b401fee9ad3d5fe9d1d6faffa134531248f502532d5f8a3d11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0a965625bd7a6fd0b9ad50cdfc88c85a61582ed0a42e3f2085569a289e3827",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 3.548 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1091, 1.5982, 0.9844, -0.5732, -0.7109, -0.9474, 0.0099, -0.0029, 0.9276, 0.7269, -0.6849, 0.0288, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2571 left_y=-0.25 left_z=0.0949 left_yaw=-0.004 left_pitch=-0.1992 left_roll=0.0655 left_gripper=0.0099 right_x=0.2698 right_y=-0.0023 right_z=0.1424 right_yaw=0.0489 right_pitch=-0.3035 right_roll=-0.1148 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -6.9812, 6.2291, 0.862, -0.4029, -0.0073, 0.8132, -0.0615, -2.0581, 6.9265, 1.453, -0.0024, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2179, 1.6047, 0.8944, -0.561, -0.7223, -1.0786, 0.0096, -0.0032, 0.9287, 0.7269, -0.7238, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2213 left_y=-0.2526 left_z=0.0681 left_yaw=-0.018 left_pitch=-0.2189 left_roll=0.0543 left_gripper=0.0096 right_x=0.2623 right_y=-0.0023 right_z=0.1362 right_yaw=0.0494 right_pitch=-0.3435 right_roll=-0.1129 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -6.5162, 5.7368, 0.8571, -0.4371, 0.0366, 0.7985, -0.1709, -1.8667, 6.8034, 1.5946, 0.0024, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0927, 1.9049, 1.2758, -0.5686, -0.6769, -0.9524, 0.9954, -0.0029, 0.9295, 0.7269, -0.7368, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2927 left_y=-0.3165 left_z=0.0724 left_yaw=0.0016 left_pitch=-0.232 left_roll=0.057 left_gripper=0.9954 right_x=0.2597 right_y=-0.0024 right_z=0.1341 right_yaw=0.0494 right_pitch=-0.3573 right_roll=-0.1127 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -9.1829, 7.9795, 0.8181, -0.4713, 0.1929, -0.1343, -0.0752, -1.7573, 6.653, 1.4432, -0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953ff489b964382f6fae6467a83109bce30c1c0a6d05538d2fe3193155a68319",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb46f0aacca684b401fee9ad3d5fe9d1d6faffa134531248f502532d5f8a3d11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0a965625bd7a6fd0b9ad50cdfc88c85a61582ed0a42e3f2085569a289e3827",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsZn6frMR4jZa7oQKFmcNrI_klD_kHWmOHdcBH4VltuEg2x6ou6p8rHbUt59tUPRWea1KtEtq-L1lZevLoGJInDaF7_pYVF5S27foQKPtSxY82x-B7CDXvExKibj00m77pwmdX8gIF0Pvi6hmGpErz-olso-TtV2Zhhv4HE1NUlVO8iHx_TdQa-ztECr6lszLo4hLMaEUPE4_bSPBn35OIf09FcoV30hEN1V-hoZbSyIUCbpOdpdJpm4rPJTSKIoDwX0wHV9LLdgu-y6xPL5bN9X5re3OB6gx0CLrGf3Cf5CrvkxMilY7MDKXnJPqBNOUrpMhoayJy7-VXIK_e7_FG6npKxDdGTaSQvZKBQBBgaZXJbyznqAtA2ODWT2YB1plpG_xGuW_pZGO7u81-Sc4l99o4RbxAzPbX_D8VJa3JQp_TN8tDXGoLf8yKpsoBwpkxwViMW6wpu4CiL0u7cMHaqjfQkCpQBBPc8phevXJOd-WIrCfNy4Bq10Ds2A1nBtCbFf-rm5KWg1yX7DtRouc9x7ClyfgplvEPEXQK__qXY6_cdlVa15Rox0DdhAVpUMzs1I_nhJZ8lnmWsrYNph7QW7ZpkSNiiQJTJUjrF3uc9_VcoHpu4Lz_5bb4Lww6XqsXw4JVvGXjOtHE8FlNTYNc17jUqDX-IY-9WMlCBksTqd0EjgRwfKJfx3KFzEpfpmCFIsaQC31AE-Td9f1__gssGfZL5hq2pGZUsjNekDi-r0hxG03nUPQDjq95NRl0QvAKO2ACnwkQsCRXvSlipMTUqY4_6dRm79LO_jO4f1KKYGAAXhTExUVEvgCuGIYPLsroWNJmzj-MgFcvFAtzEMJOr3QLA8N-A01S0Vw9fOlEHVZjSSJWaElSn4rVb8AWssIg9KxGJKFcLu8uc6DE2nzH55xxzsL_SjJbeul-Ik9gv_Jr78PkFBG2FRXAEM0J8_x3K5JSW6cJc6JAyBdZf1Pnola3AXMi4haghuy-oO1ME0KkA4f1tFaFygsIyjfMT6cf6reYrxTa9eDzl7PfbLxXZwgQcmGlhb7iKY-a7MYRA_EQLgERqGE3BR6lC41vrvI3Wi_ahwtbiFF2uJGDHZhU9rWHu-5TgPD7xqX--0shSJVNX7WOJc-p5AWBFSHjY2uTyBcXFU153Aa3NQozlTOU54mtcvVU1ePHvn6F30silfUtkCEKArk0qUArgH0lUc3yJWFwscECpjFNX-JDRuDtE4PClgEvDlMkGYFN8H07tuWCX2Sr8nInML8xRYvilvCY6UXc4skxVXAsPSnCHM4FzCw9-toJD1UkBG52Ftp1ObM-XmlFxFR9jg7B6m2RCxyUl8bRO0r4EZtGcSGlmg6zRzuaBVLSFleN0MWXKaGL0V2j2wIfRSBwSc-di4AUiO2MWJjDlQWjskiggTOgIlKgSjrLc8iUQ3AmfRdZgqz-VB0oaRHd7xCHlB-XQqdVbI92tet5_d5ZdMBPmZBEWRqDEZVAqS8f9NlqQ7PKg0SXNBOeG6qtWjlQKrgNs6AkIg7gANYjcub54C_nlAMOwzBb8SM9dDT2uBUVvyydbBXeDAit_t26rAsQyOvQz3tI1nA1DIK2lxSC5zoIM21OZwYRdMTWtbQJM8TlgnsYf0EuojqP6_i1QV-sHBvXIcbL0AZy-9LyXTczNH68VAWAdf0cNSN6af_pwZHTjj8JRzEyLODvO551hjJv5kn6Nwr5JIdcDzxnzdctxA-DbafBzayH95SbR8xh8PWF7QkJ86LlZrO4Qcc2z9j7hVB4Zc7Kxk58bEYNikEfutbE_hepc9QwkGu97aqHHF-EY9wVJ_TeyUVDxOLnezjHwXqxqv3YH8kJdr5cgHb_KJNvmS-Hp3YVezsW4PYaHRcW2TsLL2UosOZZKf0ILIpIA9c-GwVMI-CTX1QCFyZmHnzwqFXYCtQmtIw==",
  "id": "rs_05f2009507de6390016ab42b177b3887d0bb8ef0a4e13780ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s narrow white head is now near the center of the open left jaws. I’ll close around it and check for a nonempty grasp.\"}",
  "call_id": "call_IZ7UJKS08NVwh7fR2ZTx3FC9",
  "id": "fc_05f2009507de6390016ab42b18fe9087d0abeb3f49a36c58be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IZ7UJKS08NVwh7fR2ZTx3FC9",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0924, 1.9118, 1.2778, -0.5804, -0.6697, -0.955, 0.0101, -0.0032, 0.9333, 0.7269, -0.7464, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2911 left_y=-0.3153 left_z=0.0687 left_yaw=0.0038 left_pitch=-0.2456 left_roll=0.0673 left_gripper=0.0101 right_x=0.2579 right_y=-0.0024 right_z=0.1318 right_yaw=0.0494 right_pitch=-0.3705 right_roll=-0.1114 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -10.2769, 5.7231, 0.9548, -0.4274, 0.0122, 0.8181, -0.1299, -1.9624, 6.6393, 1.4237, -0.022, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c89423a2d1346b32875dd18f163db4e432ed3d3c62c0e518fedd310fd3fef7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458c5bfc1f68d01e55546b6363eaeab88bff110571b63b61b9fb9580d4f6dd35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f2c39f8070ec9e646f2145774c9afc82b1390b8d55c27a4035f346193098f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.412 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.216, 1.6047, 0.8955, -0.5568, -0.7284, -1.0725, 0.9952, -0.0029, 0.9287, 0.7269, -0.7017, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2229 left_y=-0.2528 left_z=0.0694 left_yaw=-0.0183 left_pitch=-0.2117 left_roll=0.0558 left_gripper=0.9952 right_x=0.2666 right_y=-0.0023 right_z=0.1395 right_yaw=0.0489 right_pitch=-0.3214 right_roll=-0.1141 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -5.7368, 4.8068, 0.9597, -0.569, 0.0024, 0.0366, 0.0068, -1.9761, 6.7214, 1.5702, 0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0927, 1.9049, 1.2758, -0.5686, -0.6769, -0.9524, 0.9954, -0.0029, 0.9295, 0.7269, -0.7368, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2927 left_y=-0.3165 left_z=0.0724 left_yaw=0.0016 left_pitch=-0.232 left_roll=0.057 left_gripper=0.9954 right_x=0.2597 right_y=-0.0024 right_z=0.1341 right_yaw=0.0494 right_pitch=-0.3573 right_roll=-0.1127 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -9.1829, 7.9795, 0.8181, -0.4713, 0.1929, -0.1343, -0.0752, -1.7573, 6.653, 1.4432, -0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0924, 1.9118, 1.2778, -0.5804, -0.6697, -0.955, 0.0101, -0.0032, 0.9333, 0.7269, -0.7464, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2911 left_y=-0.3153 left_z=0.0687 left_yaw=0.0038 left_pitch=-0.2456 left_roll=0.0673 left_gripper=0.0101 right_x=0.2579 right_y=-0.0024 right_z=0.1318 right_yaw=0.0494 right_pitch=-0.3705 right_roll=-0.1114 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -10.2769, 5.7231, 0.9548, -0.4274, 0.0122, 0.8181, -0.1299, -1.9624, 6.6393, 1.4237, -0.022, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c89423a2d1346b32875dd18f163db4e432ed3d3c62c0e518fedd310fd3fef7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458c5bfc1f68d01e55546b6363eaeab88bff110571b63b61b9fb9580d4f6dd35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f2c39f8070ec9e646f2145774c9afc82b1390b8d55c27a4035f346193098f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCseDMvI13YZfvyPrp6te8FijJw1jXts1tC2cxzEYXzMMhAv3MhOMoDxMJiGsUodfm7zLICl-G_4G3fqsg4dc6JeR_ae53sfKz6T8Km--XIxemJCQ8LYQ7IswOsliS8QizQC2iAFWLiBhj6JrbyAdfxEtPaU3Ssalu6Ndvja3FvTOzDepv3f73xXkVO4u-bp-Ai_4sr8GvZJ_Bf5CHg95Dz_fCHz9wPgH6QIBNGvxQct5xrxYKgY0_shj63xfJiHNTG4N4p4WZlRX5Fm0zox5L36edSYaXi0uAL4yRbR2azYHYs1HaHvwipGyGpYFrjdOARvqn7mBXhYCpajN_Ut8xuoFjZrCT55PDIR_7HACiHHnykcw3FIMhYR52SgRpLZzutn5AlU0D2r7FgywL3QZGWvWxwcG-8py0eR_LR1TRi26txB_cFEYoJbN-del4_g6x1vf1HrrI7LuSWpQctJqnv-Qap05TpLrpbwA42TV6knCtwldIGwresTSg-nBCtWLgholykwOimh9ZcwcvQUcLTAhghoSn4p3TbIn27GBFkmIjHy8eQ77A5crsU2HGZRryiWdpRWL0Es_gBAkTaaR7YoHhK8x8WDsy7oZ2LXRuKS070onVuUy_Z_GmAYcpl-JAfyFxqFwQ68xDnsHTnQGvhP5bEZUBHb9GlabWyeMNSjvwdyD1j4xG43mfd8W18KcjqgW3Gl4oSZGOvpL3QZlh3X_zoQt9sPRF5FJ2_6KleUj4CjlIuZwDAdEu7J-x3WWZYPStP-Vjz4HUYOv6A7Bq-JbDzRkssXb0fh3nqvctIyF4feuxy2KTo3vtjlwVmYqkhAf_jJOJ4sTLvFTZgfb4jZA63Qeuz0lhX6ZMgqC7bzSeKXZyyrRHObGNQe2ScVL_AmOlUswmOQUblt62KoWaLEoXoBq57NEwBuGwzMR661ffqDYNzwbbDhuxNl7h7JKKxx4jfO8x585Ta2TPfOsAJ3K-jnyopvLQqmsmmMrNY6TQr4Q07pwZhgV8fBJDOJB1nw_VXOfombnJsH9hI3OXhyWo2Ox9neNN_pxKCo0gQRe1B7RkbQgmanjJ0yv2a3fhGBUYeDVSI_aWVo7dosNDC-5PQ_-4MFdv7ibjrMAV3DZDuM8LgC7kZQ9cHzZsVcrXJ0yJKeB-3AWqZMIj-w7mxhJ7vUA067X70hA_G2QNFNkNv0NjNATOgaiJp6XHEeBmiCACG2Qrko6ujICt5K7mHle1SA8BvWO5cktln422QJ8H3y4urYbVqf0fcgUXwX_qIpeHtw3oSVEIOdkkK9GEEvvR71P6PMHwZDxLCGtbtMYbL6u20s8msEMBYYO9Nhfic4_aK-pEM8OXrvM8uh_XjHMDU60RD3IuuCTOQgZLhzjjeAQp9WgBDQTPNIOLVmix2K7QFVc1OolxnSCfo1Bv1wt7gJh8-MAJsjny4Bb-OQaAtR1CqlckXfc1RdUZMnKSGVvTkuxwxmQKIy8jyAz3wCBDg6TKf_tGWIuo8S5tyUdY6ZotAT_OuUUQT4dkDZg9gh2-MsYG7VqvA5_K9BjhitjC5oxaaWpWrg5IVWCPny02QUr0OvsR4hudnUmVE3MpRCEJ8WZQxmeM0C9Og71cWGNcwsHk7k_8cVULIZUGhgdbOtnmKDe3hhe2skE0VeZeZal_C3tqHPdMoKBui4ojrM3rjGSu8vKSjGWFka1dtrXDFvyAQsG1MYth9ZyHpq0ylWn4y5qgSXmrQABTuMkFhq12tBX8WlQl8zWD4KAdNNgmms_aCtZb8Es-pdqEA3egJ4IixjaiEm4FGCgJa0Q30mtZQXaRAxdgmcu0mpF5b4NBAI-Tpat5A600-Qhn4Xmf-b1N5cCNS2beooJirJKobCdsGcLZzFjqIdXhMA_IWhSpAHM3kKuFOByGtJQWawAwlk9cAlS_E50DIWoxoIilc9plP6_6z3GjvIbWkkWgCxcVNrWDG9e_3XCpFnF7VhvBTTLINhMvTSou6DQL47LSQ4Wg==",
  "id": "rs_05f2009507de6390016ab42b1b7b7487d082fd1f269b09bc7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.32,\"left_y\":-0.347,\"left_z\":0.044},\"note\":\"That close was also empty: the head stayed just to the right of the jaw column. I’ll reopen, move a few centimeters toward it, and lower slightly before another close.\"}",
  "call_id": "call_ekwv3HbYfjC1TvlXSEm9YZL5",
  "id": "fc_05f2009507de6390016ab42b1d2d0087d0bbaf6370518095fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ekwv3HbYfjC1TvlXSEm9YZL5",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0714, 2.0708, 1.3956, -0.5606, -0.6544, -0.9463, 0.9949, -0.0032, 0.9333, 0.7269, -0.7509, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3103 left_y=-0.3369 left_z=0.039 left_yaw=0.0178 left_pitch=-0.2686 left_roll=0.0861 left_gripper=0.9949 right_x=0.257 right_y=-0.0024 right_z=0.1311 right_yaw=0.0495 right_pitch=-0.3751 right_roll=-0.1112 right_gripper=0.9954\nstate[joint_eff]: [0.5265, -9.265, 8.3487, 1.0525, -0.4664, 0.2125, 0.0562, -0.1846, -1.8393, 6.7761, 1.3358, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c309cc23a5105562752cbc767144147a21051b6275a36f50ff1c6be03b79e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332a688247ad025f4148dff9d51e0fffb5f4b67ad6c6bd1f553ca4821c45fd43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a6616ad9a37ab787cc7ffc5925f52d81745d84e0bc631dfe9d388c9f4ee0eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 2.238 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2179, 1.6047, 0.8944, -0.561, -0.7223, -1.0786, 0.0096, -0.0032, 0.9287, 0.7269, -0.7238, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2213 left_y=-0.2526 left_z=0.0681 left_yaw=-0.018 left_pitch=-0.2189 left_roll=0.0543 left_gripper=0.0096 right_x=0.2623 right_y=-0.0023 right_z=0.1362 right_yaw=0.0494 right_pitch=-0.3435 right_roll=-0.1129 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -6.5162, 5.7368, 0.8571, -0.4371, 0.0366, 0.7985, -0.1709, -1.8667, 6.8034, 1.5946, 0.0024, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0924, 1.9118, 1.2778, -0.5804, -0.6697, -0.955, 0.0101, -0.0032, 0.9333, 0.7269, -0.7464, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2911 left_y=-0.3153 left_z=0.0687 left_yaw=0.0038 left_pitch=-0.2456 left_roll=0.0673 left_gripper=0.0101 right_x=0.2579 right_y=-0.0024 right_z=0.1318 right_yaw=0.0494 right_pitch=-0.3705 right_roll=-0.1114 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -10.2769, 5.7231, 0.9548, -0.4274, 0.0122, 0.8181, -0.1299, -1.9624, 6.6393, 1.4237, -0.022, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0714, 2.0708, 1.3956, -0.5606, -0.6544, -0.9463, 0.9949, -0.0032, 0.9333, 0.7269, -0.7509, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3103 left_y=-0.3369 left_z=0.039 left_yaw=0.0178 left_pitch=-0.2686 left_roll=0.0861 left_gripper=0.9949 right_x=0.257 right_y=-0.0024 right_z=0.1311 right_yaw=0.0495 right_pitch=-0.3751 right_roll=-0.1112 right_gripper=0.9954\nstate[joint_eff]: [0.5265, -9.265, 8.3487, 1.0525, -0.4664, 0.2125, 0.0562, -0.1846, -1.8393, 6.7761, 1.3358, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c309cc23a5105562752cbc767144147a21051b6275a36f50ff1c6be03b79e68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:332a688247ad025f4148dff9d51e0fffb5f4b67ad6c6bd1f553ca4821c45fd43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8a6616ad9a37ab787cc7ffc5925f52d81745d84e0bc631dfe9d388c9f4ee0eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCsi5Ee523d692MH0yLi3uxjhLmVZe8ddyN-h7WDuf6kWbDb7DckBdklxS8rIXIEfvYv3YpsFHIBQegoQ9gdEyya8yepOK-xnrWDfZxWosfv2TKLdv62Sts2EPkwu3EiAoxyrHd4qJ880l_euoj9luMYc2Q8f3Dnb1ve0fUkkQAS_ZwFn9xoigcBg0isa1z0OhPXRR_3A3JRaHtLfRS88okIh-xIDrnvk9bTDimT_P9ZqUbbQmRVD4EhbOinvkQzOZiDOVCYcxiDBZ--DsY-8lyQGyxrvzzFxMl7vJ0MSNd0vZJa_pW6jniI32b7PUqk1_q_auiE8hjV8vwRIUgtcM3LyQzd-4HLpulAa1dm7rYSKd4roR8XwNiyBepiTaHT42eVR35-9xdivK3JJ4FZWQTXlOBkQc7FKhpD_GfbUEHQ1Z5TISDJRKiAOqicqQN6yNTOF0HBScMCmRjYifQ7ak80NrhDeZRG3LrbhFOByTTUmeUTwz11pv7_zKWGhruYnN-fDktIlg5TLTft0kiq6C8H8iUYcPMijFzUKvOEYWGC5HjJ410NAJZJtEIgEyGZOEhsu7CtAfUZzzc0vtNiajEKAISIboSTres8Mx1yE-lYR-uhnrJN79HJvSmR1mvGi4c3NU9JeeA53Sq5N3aqKuuyVbHmXgn-mHFzXxwV568gO-I1sXKQ-f_cldu_EDJgnBi1IIBVpro7G8o4fgcK1jcFaYPQzqrAlBeCWwzwBLt59CPXsSpifQgwZ0OVkq6SQR_iI4dgNSsCSDNWq5Tca24nBD-l0yZI1Q_GT7g9paP8KVDS2NSzrUndnztcRTmq_aDJy696pmC2Kuk9VN39h59eacSJbW806XL_eRni0o-DsWzO9R5QwpR2AQdiUR7IJOFejF15-Dhnm6SFBnIr8j2R3t8r8rg3uD80nDHAgVUsBvDRTDhbMnizE9kMEFBdbQ-uZ8qgv-f5ZyPpz8UB3_ZQkCRBbNWjbw3FHj1a3e3J-GZ9eEyIc-0ai8jqnpaXP2xi_x74d1LBdzZBlPiQk9Udh2ugLFBk7kzM-sxbNwKNEM66C6j_G6E5-YMvfT1JW4pH6InyDunpjpv6mwjZNhBmzchB3ZjUYoyild3phqbQPV0Q8xo0IBEfdUKmCMEql6iui9j0Eb60dYx3niQBBkEc3ZXivwmMEcf3Qpi85Pm8FdbZZV7MxFarkF05_7NoICrQZGROdzD9NNEFAxMqnNsnmkI4QOftGQ7B1EHKyKFwKN317i3bDVhfCcTvglDqP9HW7dSstuFObnFDW3lLW1SzRVCnQ6aqL7hBV8GWOF2u3U7NR4FDpX7VMDzA_q2hSJk7wmY0w9QO4POSxQGQ5dDCFQ==",
  "id": "rs_05f2009507de6390016ab42b212b3c87d094039e4c4b9d9bdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The head is now centered between the open jaws in the left wrist view. I’ll close gently around it and check whether the gripper holds a measurable width.\"}",
  "call_id": "call_i1hVX0rsg6xzmmBZEyvUzUPp",
  "id": "fc_05f2009507de6390016ab42b219f9887d083774d441a2a5556",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i1hVX0rsg6xzmmBZEyvUzUPp",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0718, 2.0777, 1.3994, -0.5613, -0.6502, -0.952, 0.04, -0.0029, 0.9333, 0.7269, -0.7689, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.31 left_y=-0.3378 left_z=0.0367 left_yaw=0.0198 left_pitch=-0.2736 left_roll=0.0838 left_gripper=0.04 right_x=0.2533 right_y=-0.0022 right_z=0.1286 right_yaw=0.0508 right_pitch=-0.393 right_roll=-0.11 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -11.535, 5.7641, 0.7643, -0.4518, 0.1929, 2.1221, -0.0752, -1.6889, 6.6256, 1.4481, -0.0073, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07cc7f30ac1d7f21d74accb00a2b79425d008e3985d682b9c575670f070622c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34928d83063e5decc0b4ae35f4c05f33e31f3421c5df4d38044237d0fedcd897",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231e9e3ab4561074b44a3cc556becf614c08d3600b94078b1ddded4101bc1582",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.15 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0927, 1.9049, 1.2758, -0.5686, -0.6769, -0.9524, 0.9954, -0.0029, 0.9295, 0.7269, -0.7368, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2927 left_y=-0.3165 left_z=0.0724 left_yaw=0.0016 left_pitch=-0.232 left_roll=0.057 left_gripper=0.9954 right_x=0.2597 right_y=-0.0024 right_z=0.1341 right_yaw=0.0494 right_pitch=-0.3573 right_roll=-0.1127 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -9.1829, 7.9795, 0.8181, -0.4713, 0.1929, -0.1343, -0.0752, -1.7573, 6.653, 1.4432, -0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0714, 2.0708, 1.3956, -0.5606, -0.6544, -0.9463, 0.9949, -0.0032, 0.9333, 0.7269, -0.7509, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3103 left_y=-0.3369 left_z=0.039 left_yaw=0.0178 left_pitch=-0.2686 left_roll=0.0861 left_gripper=0.9949 right_x=0.257 right_y=-0.0024 right_z=0.1311 right_yaw=0.0495 right_pitch=-0.3751 right_roll=-0.1112 right_gripper=0.9954\nstate[joint_eff]: [0.5265, -9.265, 8.3487, 1.0525, -0.4664, 0.2125, 0.0562, -0.1846, -1.8393, 6.7761, 1.3358, -0.022, -0.0415, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0718, 2.0777, 1.3994, -0.5613, -0.6502, -0.952, 0.04, -0.0029, 0.9333, 0.7269, -0.7689, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.31 left_y=-0.3378 left_z=0.0367 left_yaw=0.0198 left_pitch=-0.2736 left_roll=0.0838 left_gripper=0.04 right_x=0.2533 right_y=-0.0022 right_z=0.1286 right_yaw=0.0508 right_pitch=-0.393 right_roll=-0.11 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -11.535, 5.7641, 0.7643, -0.4518, 0.1929, 2.1221, -0.0752, -1.6889, 6.6256, 1.4481, -0.0073, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f07cc7f30ac1d7f21d74accb00a2b79425d008e3985d682b9c575670f070622c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34928d83063e5decc0b4ae35f4c05f33e31f3421c5df4d38044237d0fedcd897",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231e9e3ab4561074b44a3cc556becf614c08d3600b94078b1ddded4101bc1582",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCslhlmf1wqvC_WcuVh6rE1Ks6utTJQFE7W8tZp3iTd1XX7WHI-XrSKZnD5CMDm130vQ8s5IvJF3G2c20IVZWjljZP5E0LCK9Do2oT4FtDi4Hi9GSup548nJvBkWp4diztuMy-NNEUKCCE40pbz4LlLWGgDz6Hdd9L24gNe6ET_wiMVLJPeGVQp5T5Q1eKsqorWqKnPcemQbwQOPZzKWQGH3WTxZXuK1KRXE9g2xOD3TPrtEHITI_w1y8KY5cP3ro3ZsZGL8vtRgXEK3atVqu_XZGx8SLpx1l3-R-caxlL4-7kjqgiMBDRLcR6y7aRa8AnpoEwNoffJsLiJldHtUqK4rfiC_ZMPWiSEOsMqAyLWtbF0b5EdrF0LGw5DUmhSc_pphE44Arqq1aRE-0k6kPuBWP3XX6kr98G9TII9MvcoZUgPbRLK1TkbFx0jHHOb3y6W1piaVIcGImeY7aXvjicUQAb8SqAPqSzemM2ikq6NfXGjbmt4Wh1te99A3jOTfqGxo1lop5UgJ39k5o9QrRDbZouFgXP-r8T6LBGWYkoNbGZG441rLRU_O1UfrIggs_bU48u610y3I0o3mHuqZzkjwv5iwwNIZyV21UotZ56XFeyql6NBQ0xSRfiTLwjfU4Cqm39pvHuCTurN1TrHxcvLfWz1hrzyJ9egNC58Xv6t7SsbIA_ajwHTzwAVvRjezPChfnCX3rav54aI8xi2lcQ1GfS8vKPUeCqFadIh1oE0s3eUeki4D4v4PD8mAQ6WOlOD0pjkeEfol64Pl8lLTPaPOxPwYWQCsv1wLtRd2jKQ8jCtnQLDiuHAhGn1hlVUwC4SzESK_capk6XLYIZGYibX_8QUoiybKHmLCJ__vDkwOmSIK9Fezs3SveySKPqpufQHxfzBkU6sziVxUv08zZRt9nTh-ZDEDyOn7x1k9zJWSenCQP_1FdhmzpN6Ngoh3E3Dj3p3vgd44MPaKYfjEGjJhMp2ry-cnQJ-0O-Irh6nyaJvrMh5UXMP4W3gSVfXU50zju8GWrpO9DiwK8wd9FVP1vCViQEAsi_Up75unwjoCZBZPqfReTOeJEhM2_G9pT58cPIRpnuA92ul1vRXsTleEPB2fxqMnq2QCQAhrNeD_Q6_YDgj6XuNws16hh7VogEelHdwSW1W_f8JKmDvs7fstr6mAxT7U3AnMO6Vwxlocs9rEA4TQapTpcFyRlTfp0KSS89UAAIKHSscjiKX9mmDxj8sCRaG2roZPcebF9ue4-88RNNESTe9mez5_SppEse66qkiMWGS1vJ0DgSutTGJUxA0yCPwpW7oatJK8TaiEfKI6vCIotK2Gno56F9_lTpBTKmciyfzNFNI_XMuvTfXBLw==",
  "id": "rs_05f2009507de6390016ab42b248c5487d0aa71c35ea802306a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The jaws stopped at the borderline reading of 0.04, so I can’t yet tell if they caught the plush. I’ll lift a short distance and look for the plush moving with them.\"}",
  "call_id": "call_Rsnad8yRRygLs8MvTKdQr4o0",
  "id": "fc_05f2009507de6390016ab42b24d13c87d091c0a0df7e7312a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rsnad8yRRygLs8MvTKdQr4o0",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0721, 2.0285, 1.5967, -0.8528, -0.6426, -0.9661, 0.0635, -0.0032, 0.9333, 0.7269, -0.7883, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3084 left_y=-0.3375 left_z=0.098 left_yaw=0.036 left_pitch=-0.2997 left_roll=0.1127 left_gripper=0.0635 right_x=0.2493 right_y=-0.0024 right_z=0.126 right_yaw=0.0503 right_pitch=-0.4125 right_roll=-0.109 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -14.3932, 8.3761, 0.7985, -0.442, 0.1294, 1.033, -0.1436, -1.812, 6.5709, 1.4383, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b700ef32a476d2f294ce0d4842aff4a5d1e07c148c21afaae4dba47d53b4a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628586918a7562734c4614c4a11a1dc57a6f3c8d8d73834f1926b4d6373517d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2566dc115b4e3c1e9ed3c91a346144c56595c2fca8583b701d50c896706154",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 6.633 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0924, 1.9118, 1.2778, -0.5804, -0.6697, -0.955, 0.0101, -0.0032, 0.9333, 0.7269, -0.7464, 0.0292, -0.1501, 0.9953]\nstate[eef_state]: left_x=0.2911 left_y=-0.3153 left_z=0.0687 left_yaw=0.0038 left_pitch=-0.2456 left_roll=0.0673 left_gripper=0.0101 right_x=0.2579 right_y=-0.0024 right_z=0.1318 right_yaw=0.0494 right_pitch=-0.3705 right_roll=-0.1114 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -10.2769, 5.7231, 0.9548, -0.4274, 0.0122, 0.8181, -0.1299, -1.9624, 6.6393, 1.4237, -0.022, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0718, 2.0777, 1.3994, -0.5613, -0.6502, -0.952, 0.04, -0.0029, 0.9333, 0.7269, -0.7689, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.31 left_y=-0.3378 left_z=0.0367 left_yaw=0.0198 left_pitch=-0.2736 left_roll=0.0838 left_gripper=0.04 right_x=0.2533 right_y=-0.0022 right_z=0.1286 right_yaw=0.0508 right_pitch=-0.393 right_roll=-0.11 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -11.535, 5.7641, 0.7643, -0.4518, 0.1929, 2.1221, -0.0752, -1.6889, 6.6256, 1.4481, -0.0073, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0721, 2.0285, 1.5967, -0.8528, -0.6426, -0.9661, 0.0635, -0.0032, 0.9333, 0.7269, -0.7883, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3084 left_y=-0.3375 left_z=0.098 left_yaw=0.036 left_pitch=-0.2997 left_roll=0.1127 left_gripper=0.0635 right_x=0.2493 right_y=-0.0024 right_z=0.126 right_yaw=0.0503 right_pitch=-0.4125 right_roll=-0.109 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -14.3932, 8.3761, 0.7985, -0.442, 0.1294, 1.033, -0.1436, -1.812, 6.5709, 1.4383, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b700ef32a476d2f294ce0d4842aff4a5d1e07c148c21afaae4dba47d53b4a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628586918a7562734c4614c4a11a1dc57a6f3c8d8d73834f1926b4d6373517d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2566dc115b4e3c1e9ed3c91a346144c56595c2fca8583b701d50c896706154",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCspC1r8LZ_-b4nIqfDk6PDHs1c-McrJJBsJ7qH8v4NRZ180cGATan2-RRHSSvdhMYp_Zfhk3rJwdtOQMpYnB00vKQhQo7Tse4_MEBayZtAFi0ujNe3i-WaXEgbg1xnv15Be7ioC1AmClpH0ElrnlCxCneH9x2OmpR3zZgIEFaxi8oMNPRyT2gyNcIbssEM-YnQjbyjhsylLePmONx4p0Yjl4utlvizV8TzOZSdsQZQuEtXAz-oS2nkRx58f0ta3Wx8HxP3irD1WCpGXwMSnyWfSt0VhVhSgsxqXTpIBh06iryaebiqRVBrfc9-3MgMwiINQkKeWQhMGoP7XKmPWkOXeY9wwHab2eB-tiRAItd76VQi9x68mnSf1mhp-v8-0BEY0i18zfksq33jEX2AtgVEQEDuCSjYe3kX0a9FbfUPYLctINpz2Avfy1Takivwp1A4TdvwoJ0uT31UmRdw6DNjKNgA0dmTWgSMJ7CjSbxu8f5VvIB3tofCbFI625LI12pScbGbXq4Ffv3xUA_MHWzbxOyQJ5o2UNX0reu3TGUPtNsRVbsIKkr6QBq61BfeQjjlY1w9FS6lUoYcpFNm5dh7RBSjj5MRRp5t5o-oIDJAXFuG_at0x0ejjT5VwGhxg7SKSnsKgsu0CHN-h-3G3U-Ylcv_f95tbLQVB2yyO6avkHAnwAlvTo1ihhtUimu-FmyM89Uipf5_2HWNyv-vqAlC3aqIAVwy034SxOfpO_geKglumphDMt09DZT5faYvLOuSxbiMgwtyKxdt9tMhXA5j4Wy2jOcDZIYap-3iYk_DPXAxCzJP85GNpt0KK3i5R1OiizSZiNgQhrsCUtMTi3-UQHEGySEEallh5SgkRmfvYZNWGxbKAm6QV-pD8PVfKvUGZln54aFjparbcQd3ruyClqRi2M-dptN0sSzMyOGyLTUQt8ap2jXpfPm3YmbzDjjvOE18_rPJbKNomR3MNC0oEFgJBnHhmzGhKEvPEGsx7lKExDNXsTt0HWXrwAZDCRIK0XvULuCjxwCH-ZLNT4iYID4Y-MI7WjWbFrJ4GIyBQPV8S8zJZK8dmgnvRZCJKhekJUHJeLZ0VFQq9P7ipvRxJO3MKVWahx_t524DaFCttmn-PRabr4yBqSBcEXrmrGgP8gqH018eoNIWfa3s-vbQsscWzNg5lrJRmc_0ehun7lk8grUxPL-bU5cZEWE1iFq75TZpkoYgpjaRw50KlY-FX2Y92l1D0oAHeLHT1ccN-x_9YZ5tPPsyIsbZF9sffV-n90pJRYgjEwO-CYpKN9SJmkddS-S95s425ptdALPITVlRwayVPY-oidxbGDIu6Ni_Q5-Z01n-LJnUSrGpn_kampa0UVDn8-KrRLQsu-xx-8D38oW4w5G5ninM72QQLi2dWWB-n3cIw-UjHLoOhZU9zImK0uhp1ftOP9j5jzZN5E7E6O7zG7-ZcCThjtddGB8K2RjxhQgvARUVNLVxoNwlBVgM41X4gX3YbkJX-eCuD7g7xmV3fcCv7lDa8F7GAHlKg6MhVs9swElSZttVyIEXlxjSuD8vn24sK9jEDYHnEjjDQ8W_q0EqUx6MFGG1pKD4Ul-xiQN2v00708DA2Z9poctrAaIveMlFJXPKWuafVHkhsHKCmQ9ZdIkrIkuin27Az0ZWw4KydjJ1pCv3CjSLDhV5Jm8FAQWs5ympxZM-0fPjzcpufAzl0s-oCUgV3EltQ0ZdntVH3eW0rThyNTypoSGSEz8tmdFG_ftW52QPXHGOMLVlxwPqUJlQynTLTdQm8H0oaUQIe8wzz7L159FRzfhOToyP6Hfuj1rSVnIutmXfMmicqdI0-73-zGaBwSvJdVMq0D5GSTq_uGnTVC5rkq10q3ZVcfEhQHyov7tfRkPwDS_7JznLwhQCZOiCtPN2t7Ld3j9JkleKOHae3xI-ddLvuPR3xWpuSUyCM0CpSsP8mF5YmQvshueGvC5hTvLcNUtCBd1eSh0fhsGwfNi3yiA==",
  "id": "rs_05f2009507de6390016ab42b275cac87d0825eb97633fe51fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_z\":0.21},\"note\":\"The plush body still appears on the table, while the gripper opening is only about 6 mm; it may have caught a strand rather than the toy. I’ll raise and pull back slightly to check whether anything is actually attached.\"}",
  "call_id": "call_Q9lJZof1BXf9edmnz3TPSVY2",
  "id": "fc_05f2009507de6390016ab42b2894a887d0b6ebb5912a38fdca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q9lJZof1BXf9edmnz3TPSVY2",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1515, 2.0071, 1.935, -1.2755, -0.6399, -1.0729, 0.0635, -0.0032, 0.9352, 0.7269, -0.7929, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2735 left_y=-0.3456 left_z=0.1871 left_yaw=0.0353 left_pitch=-0.3213 left_roll=0.1013 left_gripper=0.0635 right_x=0.2484 right_y=-0.0024 right_z=0.1249 right_yaw=0.0505 right_pitch=-0.4189 right_roll=-0.1086 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -12.1368, 8.4171, 0.5983, -0.652, 0.1001, 1.033, -0.2256, -1.9624, 6.5846, 1.2674, -0.0024, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9925f7beb8b7b126e64b466a639a6ac11903a6ea2d01302fb3009244816a6d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e539744a603befdf487ca317d9442c04dac6132c806cfe8d71bc2d2b5d0af80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cf911a802024e3ff0d915840d0fad863908f3d2004749774d799b100b64056",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.728 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0714, 2.0708, 1.3956, -0.5606, -0.6544, -0.9463, 0.9949, -0.0032, 0.9333, 0.7269, -0.7509, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3103 left_y=-0.3369 left_z=0.039 left_yaw=0.0178 left_pitch=-0.2686 left_roll=0.0861 left_gripper=0.9949 right_x=0.257 right_y=-0.0024 right_z=0.1311 right_yaw=0.0495 right_pitch=-0.3751 right_roll=-0.1112 right_gripper=0.9954\nstate[joint_eff]: [0.5265, -9.265, 8.3487, 1.0525, -0.4664, 0.2125, 0.0562, -0.1846, -1.8393, 6.7761, 1.3358, -0.022, -0.0415, -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 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0721, 2.0285, 1.5967, -0.8528, -0.6426, -0.9661, 0.0635, -0.0032, 0.9333, 0.7269, -0.7883, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3084 left_y=-0.3375 left_z=0.098 left_yaw=0.036 left_pitch=-0.2997 left_roll=0.1127 left_gripper=0.0635 right_x=0.2493 right_y=-0.0024 right_z=0.126 right_yaw=0.0503 right_pitch=-0.4125 right_roll=-0.109 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -14.3932, 8.3761, 0.7985, -0.442, 0.1294, 1.033, -0.1436, -1.812, 6.5709, 1.4383, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1515, 2.0071, 1.935, -1.2755, -0.6399, -1.0729, 0.0635, -0.0032, 0.9352, 0.7269, -0.7929, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2735 left_y=-0.3456 left_z=0.1871 left_yaw=0.0353 left_pitch=-0.3213 left_roll=0.1013 left_gripper=0.0635 right_x=0.2484 right_y=-0.0024 right_z=0.1249 right_yaw=0.0505 right_pitch=-0.4189 right_roll=-0.1086 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -12.1368, 8.4171, 0.5983, -0.652, 0.1001, 1.033, -0.2256, -1.9624, 6.5846, 1.2674, -0.0024, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9925f7beb8b7b126e64b466a639a6ac11903a6ea2d01302fb3009244816a6d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e539744a603befdf487ca317d9442c04dac6132c806cfe8d71bc2d2b5d0af80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34cf911a802024e3ff0d915840d0fad863908f3d2004749774d799b100b64056",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCswoXWQMiekG6in01_letYR_YVk0ytjongp39KNIFve6Lj3SSeFXjaEqaGl8DL9q45naVFoXqdHn_tDFPPimOAalyNZkponAL1cuhNpHMvElZ3IrA876dBiVwif0E5bvD-vhHaGOZbKRJePfcIcLvjFSejLBS_-rlP35vrrqcHy5mWw91alNoYGAUG-9Py7Z6yD7_-_NzSKLD2_8I4UBRq9GL9jOitqoiKWIuZJXpFdA0nysfpKlLtMZ8n7NFRuyf82Wspfcd941adYWaaTE8lNjtpcfQb41Lyg-WtIXB08EMPAN3ROPh6I6Abg5SvTsc-ynWyjMHHjHuXOx5VShs1pi0MKyAamcuGEVu_1CtAKZe_Qr3VpOlp9Em9MFm91yUupHGM1r8Vd3zSuIKtJVQjFM8PV0_RqHrL9SdyqFX9o2z74drbNAKTXOiCHi39J0JVRLwHbaJ6kdKqIaob0PltNkExfwBqLe8zD7FHtJauiYlMK0p0gRivA3ShY45hHIIkco_kV5Zz1g5I5_e5-cbuBMj2FgqHdtGEZpaAre5yD1l8u09EJSm7ujp5LyAZgB8yBjv0ezMf81_nF02a1NslfYgf-aCrziI4thR_5kzgYr7WFtAHbULaQklWbQAXCHhwM8NJ87-mhV-yynRnasSa8yiT9h3AZQ-MtSFIbDgA_aytErClVkXnHSqOK2n1qYJb-7EhlhD9x05f-fOhzhWE6qRfOa1BtVBgsYli096ABVf_j0J27_RxrvN2_cYrz-E2zRsCCsRyV2aPVPAaE3mq8hVLFTswTlgZWWGu9IJ9em44o-lKr7Ah3zLaSRkSU76TyBu2r5ES_Oi_ZqFOfVxpgtErzcjPzlLMB0nHHRyQ0F9inHw7IxxG9Ki6iC2S2v20kumW4vVje-jXCK3VGzPv1Mvppzvk9VEQ_r0m844DMs5K7SdtCr8L6Pvanms5_-myQMqJSzZzcuDhymkg0tR6rqi9w9vDN3TAQGLON68-J8N67G4J2AcZf6F_NrCutdMX46UMqMRfMHCgXe99ZfQgO1eFeuKvVx9Fq0R9IOLeIGCNZ8S3rZxzWgUKGIABV2gmB9GPoDudGRJ58Zi_IsvqSDvrXlcCMLAZNZL1vygfp9MaNRxOtgiCvKr_GEzqZjYsmxzbE24Hok3vKQY7in9QULmfzdZP8tLrwEvngC9BjUHvZjSlS0U-U6bJ3nHUuGFQ-xCppazVYNS8l38M1u9xUF4XeyXbU5zB_wvhHIMuhMev4MxUEcwf-sRrw4nHljNH1TIVxEJs87hIecDJT3RcHguDjyFCylBC6WgPDkpmzC_iUNPOzngfNvD3dYzqUQ8VBumrPLK5S-H5HuLYR9nx4-0GczWdRoQVrZniuZtsx0Fy6vrT2tUEhRGe6tteFwv7pJpIzVM1K3_KG2iQsS13Amg67RK8M8sMwvf-eJU0LF_uJ_1aUmE9ld_V4baP47kog9S7h3fe9wWdvs3p0yFxrlz2b3jt1WN_UC3-DRG-kgFK7gtyfP4eek0RYOZd3keidQCGhvsJQtppbk4_aY7CSr4HWiMpQFsxOXkGQ0-hOFndLtMRr4tWOfei9pwjjNs4mOQsfqWBYi_UOj3EL5MT3iJHKtCoKKDpjFp1_0Lr53ng7AKFz07igPdnIN4Y3v6E3zTa3Mc4Hy6ITj-Jy5e9uPtGsl60idXR_oEnoYVyxaWkkAp26LZd1thFWDCIW96dTayyCJUC6KgN-B333sV6TQuA_-lTqjxm6zGgl8lUIF-7MW5SP5hQ1gOAfN9lzYf0ibiVvFBsHrIbB3R4j6MGkLQc_Gr8MP3q00nXiYi0F-2hHdVsP_fHh_zmwILMxQ8q3qmmI3jdTXY5Z4upsKmEloRnvsm_pc042m4Vh_zNy9OSSXYSICNCRSDhbkqtk7T8aoPrvbRsRsTKImIQ18u2j00aC74YrB4blnsMAyTQv5ykPyVrsCkIppZlxxHihQnvq1CK3GrrDiPpAlqfua0c5jzH1gL2OFWeS_8XRW9tpcw6ceduV83H4in-smfZVnSjsQLxiU0UUG23tAT4I0Rdtu7K84ZhsCLS7aUbUL7SZz77HwBLZhmM1wSUyDeS0RzNcqAiupvRXIB-yfZPi5_UCjnlh0ErXtsoze-7wEg6xCPrAuwL5aYxAspopRo3tgETc-0wDCr6R4jHpvkgblQA-bCFHxSwWLjOMm1JPIyo4_uPjaPcw0wNTskwh2Rl6ESZ2cYvw9YF0oShOIytJscjkwLmajjHqYs475xDqP8Y3SUZLSEKrBB6_b42XPZeW1pDAAOcGFNlSrVczHiV0S2QgqNUfWtmjnmg6ovpIp4ytS6zpr41HcSQn__RXZIhvRqjgPK8UBkXULf11J0gBqvmi88i_ozzxLekRFoO9c1MAvKxAMjYV_NTWb-nNxTifjFNgFPi_YDWd8jFIpc33WN35bQU0RqwaT5QHyiYOXCp1B-r9zRc3HXscdBm5z4PR58VyTTJkXxeWDNPtjllCnnQtyMRhc0hJZjT3LkEUbcoyEJQwm-yWbqE4-VH2UKMG0z6Am7elpUFePH5jF4CNMN-drNOerekOgE0t7o_c-7jwEAysiRL4pFob3CaIJYIXQG6uFIx4jKfWJJQ8W1W_ty_cdT7SmmBsYsi8VuxX6CJ8HZq2f6W8qWuEtvZpkZHDtUX4tVkwiQ3gumSzA6ElD_FsWjW309Ruflp0H4-a_NwYKVz-JYYM1XGiwaeFSPus7Ld4g1s_5mCvmPjBs3OwJ3RTw6wxj0oYd6S_pdsL8r8Mh_FofqnDheYuydq2Ba4y-z15WtVf9JK0c6FY2FUOP2AhWx5Nw58sjAFT-eNtkrJZH0m1XxhPvuHOO8Vp8ZdpkPA8cHUrwz3U1gBjH2cODbm1jCAzkydf7m09XDuYip3_i41nXK-3umkLjs2VJ3MYe_5jVPCGaQghwfWshX54dizEytIjqW1qzM-IuCl0XM5J2M79E4eN34VSrk_WW_oLqaEm8meB829h2kfwGBkfScNesCCEOPfghBTbeXmZeMWll5kYCLWmTXYFqeVfDFnDKo3diTKSf8InfXOt085z8m2J2XV6TksLOzWbb1zuZVHIxqml6Jv8O2g_5LdaqOLBAxA02cijFLVTpKkXorM7z-G_9xxq0--6f-fDcm1wq0Z7IOnHWQskScBffl83qufd4lKSI9ca9fdyPPA3Y_-Df0mOYw==",
  "id": "rs_05f2009507de6390016ab42b2c0a3887d0ad88c4ac85e24a86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18},\"note\":\"The plush is still on the table, so that tentative grip did not hold it. I’ll reopen the left gripper, park the right arm high, and work on the smaller upright white toy first.\"}",
  "call_id": "call_7cCRAg2aneVkuTM0U4sFnAln",
  "id": "fc_05f2009507de6390016ab42b2fc68c87d09482152e5388b27c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7cCRAg2aneVkuTM0U4sFnAln",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1226, 1.0557, 0.8238, -0.7216, -0.1864, -0.1135, 0.9977, 0.0067, 1.1301, 1.0023, -0.9276, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2856 left_y=0.0014 left_z=0.1453 left_yaw=0.092 left_pitch=-0.3528 left_roll=0.1028 left_gripper=0.9977 right_x=0.2796 right_y=0.0002 right_z=0.1646 right_yaw=0.0617 right_pitch=-0.4731 right_roll=-0.1059 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -3.8906, 6.3111, 1.4579, -0.0317, 0.1001, -0.1148, 0.0889, -2.7419, 9.4564, 1.3407, 0.0904, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19cc7299e5e6563130df16705197e0e56f2303b5a6013b8f1286f5a468b913c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ed995493e91b8035e015bb784e93a208063454a76c1bcc06e3348c845d6c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274e75179462599dfcc1c55e971f05439e8844296995263bc7eea41ec112aafe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.384 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0718, 2.0777, 1.3994, -0.5613, -0.6502, -0.952, 0.04, -0.0029, 0.9333, 0.7269, -0.7689, 0.0288, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.31 left_y=-0.3378 left_z=0.0367 left_yaw=0.0198 left_pitch=-0.2736 left_roll=0.0838 left_gripper=0.04 right_x=0.2533 right_y=-0.0022 right_z=0.1286 right_yaw=0.0508 right_pitch=-0.393 right_roll=-0.11 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -11.535, 5.7641, 0.7643, -0.4518, 0.1929, 2.1221, -0.0752, -1.6889, 6.6256, 1.4481, -0.0073, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1515, 2.0071, 1.935, -1.2755, -0.6399, -1.0729, 0.0635, -0.0032, 0.9352, 0.7269, -0.7929, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2735 left_y=-0.3456 left_z=0.1871 left_yaw=0.0353 left_pitch=-0.3213 left_roll=0.1013 left_gripper=0.0635 right_x=0.2484 right_y=-0.0024 right_z=0.1249 right_yaw=0.0505 right_pitch=-0.4189 right_roll=-0.1086 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -12.1368, 8.4171, 0.5983, -0.652, 0.1001, 1.033, -0.2256, -1.9624, 6.5846, 1.2674, -0.0024, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1226, 1.0557, 0.8238, -0.7216, -0.1864, -0.1135, 0.9977, 0.0067, 1.1301, 1.0023, -0.9276, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2856 left_y=0.0014 left_z=0.1453 left_yaw=0.092 left_pitch=-0.3528 left_roll=0.1028 left_gripper=0.9977 right_x=0.2796 right_y=0.0002 right_z=0.1646 right_yaw=0.0617 right_pitch=-0.4731 right_roll=-0.1059 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -3.8906, 6.3111, 1.4579, -0.0317, 0.1001, -0.1148, 0.0889, -2.7419, 9.4564, 1.3407, 0.0904, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19cc7299e5e6563130df16705197e0e56f2303b5a6013b8f1286f5a468b913c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61ed995493e91b8035e015bb784e93a208063454a76c1bcc06e3348c845d6c10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274e75179462599dfcc1c55e971f05439e8844296995263bc7eea41ec112aafe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCs5SfXWxP38E1iLo-TsWEPh2PfvTkpXj_ukMkSEIQGuj0sbl5ITEUYN35wXK97LJ3fyUfX9Lmy8J_psen29kg0IN4qvyqKiThFSe4MpidhHqQX2zexuhbG6N_IODjNfccr-NEdrJwZYzHhy3ICyvYlNBrX_Jh6M0A4QaIv3kj52MZnb1BKkZiLLGpjltXFvVu5wV2WsDDoe5VuVX2xouXev6o5bLcYX4vCr8WuScy5aMvB8IQgdTJ4kIIKifngGqPKSgIMMBNOe87ZTJF-bTh9n18MG4QzvVC63EXKJWAqt9zpFbHvr6SKUg8BU3Jn2ZUqeKvvmPshPgOcxmDXLZsHkGm2zvDbq8yRIJVEYgqPRI0whTYtcrEx_SZfpMFJ8ai2URQbHck5ZS-Lx5zGLPRputFo8ryEEhP7y3Ay3kl93qSMSnDr2R6iKktd_w66Uan5d4vwEQQPzdRO67wMcfC1vd9udXyAyFUf8SMFshwtwUjHjtTkJf-RjVCGN88NxL7vTMZ1gsDsWum_MpCavM5zTIaU-4RjcVL5fS1ZVTw-Vdkgp1jvppPCna-P4L7KX3mxxt_fH4IBdExUsMef3fXIjs9E2jOBFhwU7IaphpnUXKGWNmGZH8z81U6ZL5t7mkWrPSQVwGswG-u4-fOauQ8Gp6nLlyONZDFCcua3IJg-7rIpVNof7OrDopTxMx0Ajnq6KKtAsZNnsgaPZ-IMycOhkqjZdN_KcjecbFR1Ac3XMlLlP1T3MXx57bjIQveN1kPevpKuuiI1N2y5PVovsSbbDnROPfVNsN8kxtAXFYCIhPXHX3gAFG910LU__WJh_xk3t9bAC5J2kVb2vPDgR1F71kWNor1gJqvLVi8rJy_WxdNbpZNBID2_JyQRdHbS0sMi-bHbJD5JlvbYcXMZTUc9mNVzHnb00uKZLHWnlQxZhi9cwigf5KVnYnRgZlQo_X9XfFB0in4rqPuM1f08gYj3aq-_FzmvPq19Z0EELk-t6llUK5fpZoL8uaDXwc5yWOjv7HIWv2ndHXXWSpvq42OM_s6ZO7BCi9OBQ4sZkNyAFXTU-Cz81vY23AaQSJSugQh8BjRYgMuERt9c1mGYOVGNSETOl7gDFs16tuNhp5NnnNzVpYpANhulp-QeoGvuyrmF4vU11L52v_7GOsykmvW_8XE0o5_4eA1QvFeKBGvCzD3JRs8diDOiqvAt_W7YlFRqAvIahwOWt9aICD6qN8-CfHnS-68j_QfSseHpY7A0eGFwqcJtao_fPbplcft6Xw1sOX0XWQo-xX8Y2AGVixBjdtEJGwX_fSE-RXeWs0TP9W58Xz9K4rUwTLQCdq__i1HjjW8TTiwmD9w0YK-GJSO5iUDIYtAf9-3m5b-GqN0av2nXtg5vnDPBmk3mjpBhpcY-rBZ4w3yQRip1AKpr1Tv00f4MfrO835nJt_6HdYGB0SuRUOmr2AKKBczxWRqpMrFTauE5YLQKb2Or9wZkWFtUdxZ1uIZkJtxnc4wLfIthR7x1AfR-nyv1S9FzOfk-i-_oBpaVijFyCNn0RTeQT05jIckCA0SRIWIXgvH9HX5S30gebigJSdTF0JQn-Gb1prq4IYB5uXMTBMPk9R_HpTd_ksVUl0Bd1G0LH3dyPxRykrKcjOX-Y2PNNBHFvmqcde30PZsBq0KpSg4b50ikgD8NNqk9bmZO49LHf4T0joFEXYeppKH6eZGjVqK1KvjjlQZ8FIBrVONvPfvBhdD3eW3a2L5FuBM_MHherd3mWOSsJLTfmUqyzVQy-gXAnmAYspL-cL3yhvcN4tcvS8nlWfuCiJ6OJFyLTmESiIJo53FC0mNWSprPVNZ0XTR8RTz21u2sEg__pPHBK14yb5v4Q2iX0s7-9Ps_Oezqi8bikhRAL99RtxmIL_9PJfs6tVBEpHPCpu-hg63mQxr2LDNAVXWy50JXMJRg3Oz9B0rYn0LOn1VeNfX-Or5KDKbT0AcHnlT20yvUnBepTbdAUPC7xY5gR6OGTq-C0vs7uNBXiPJiBN6tvQi_T1JppTaLOGAk-nn1iukhgIYmM0C8y8CEBWzZut1jjhX9XXxe0RpVoa430Z816MTlVZS5XTLpiqP5jqIRe0f84GM0pk8tfcr_w4oTZo1clQ22nJ101um07_X0dpiOO9T2nFQ4aXg_FGO6ZAoeVvSqboqXAeRHm0nIQYP7uuTH8Dfnmye7_y8o2V75W1q7FkGQLEJ1SX4k3bvDc3698-uXxaKuOUreeWy3F4TCMxBxnNkKulAM0CkWUFuifdU50p9sigJCUy46pXBVFy-ds5fIh934mmmUkDteJuLBaTrgmx_M_6QFhZdz-zc1oV8jLZVaIe1tiBTk6rWniYt47z_vS2TGGUls3o93D46fWDuNioyi9uXqSXWbKZ2Mrtk7sU4UbKr3kjx7-Cg3IApFqC4sMHt-pOCs7k4Pq04qcugpBMdBJRQPpjO37USQ1-w8nvBVBHYfGsaqhsOCDVG5v2LRadnY8dKnVRmU2COjgVjeNFW5g3xg7egQMEDcoRx-HJo1lr1ArtUfgATJ7bPOPeqWSZ6a534IOerJj281mTyIb5VWmh_tok84uoxzfI03EwbmXNO6W5GVwQVrW6j_5lsVWYvC4TL3Y9Jx2cBpDNZyzW5WhoXmvLnIjHcLHJ9Zl3OUoETK_khQ8hIjlwPxBAqH038VRDaWzDX0_jryrrw==",
  "id": "rs_05f2009507de6390016ab42b35998487d0811939a974b5789a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":0.005,\"left_z\":0.048},\"note\":\"The white toy is centered in the left wrist view, but its torso is still beyond the fingertip area. I’ll advance a little and lower the open jaws around its body.\"}",
  "call_id": "call_wEJrtkDuebHPqQr2Ue17tIgx",
  "id": "fc_05f2009507de6390016ab42b3863e887d08045cf0de5b6f5ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wEJrtkDuebHPqQr2Ue17tIgx",
  "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]: [-0.0956, 1.2819, 0.5781, -0.3206, -0.1612, -0.0925, 0.9978, 0.0067, 1.1316, 1.0012, -0.9489, 0.0326, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2991 left_y=0.0034 left_z=0.0435 left_yaw=0.0902 left_pitch=-0.4278 left_roll=0.1085 left_gripper=0.9978 right_x=0.2748 right_y=-0.0003 right_z=0.1613 right_yaw=0.0595 right_pitch=-0.4972 right_roll=-0.1075 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -4.4103, 5.9692, 1.4042, -0.1685, 0.022, -0.0024, -0.0205, -3.1658, 6.7077, 1.3211, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720b1775ac63f4e4869a9127131bd1257a2cdc62bbb38ebeb613bc85ff62ecae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af7a9484b5e68d147a9bb5557d9f7bc4f60180d9747cc7f44d1f2e6a4535656",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d590f261bca6993f3415d6bbdcb199b112672a994339689995caf98a1f50adeb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 6.28 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0721, 2.0285, 1.5967, -0.8528, -0.6426, -0.9661, 0.0635, -0.0032, 0.9333, 0.7269, -0.7883, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.3084 left_y=-0.3375 left_z=0.098 left_yaw=0.036 left_pitch=-0.2997 left_roll=0.1127 left_gripper=0.0635 right_x=0.2493 right_y=-0.0024 right_z=0.126 right_yaw=0.0503 right_pitch=-0.4125 right_roll=-0.109 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -14.3932, 8.3761, 0.7985, -0.442, 0.1294, 1.033, -0.1436, -1.812, 6.5709, 1.4383, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1226, 1.0557, 0.8238, -0.7216, -0.1864, -0.1135, 0.9977, 0.0067, 1.1301, 1.0023, -0.9276, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2856 left_y=0.0014 left_z=0.1453 left_yaw=0.092 left_pitch=-0.3528 left_roll=0.1028 left_gripper=0.9977 right_x=0.2796 right_y=0.0002 right_z=0.1646 right_yaw=0.0617 right_pitch=-0.4731 right_roll=-0.1059 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -3.8906, 6.3111, 1.4579, -0.0317, 0.1001, -0.1148, 0.0889, -2.7419, 9.4564, 1.3407, 0.0904, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0956, 1.2819, 0.5781, -0.3206, -0.1612, -0.0925, 0.9978, 0.0067, 1.1316, 1.0012, -0.9489, 0.0326, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2991 left_y=0.0034 left_z=0.0435 left_yaw=0.0902 left_pitch=-0.4278 left_roll=0.1085 left_gripper=0.9978 right_x=0.2748 right_y=-0.0003 right_z=0.1613 right_yaw=0.0595 right_pitch=-0.4972 right_roll=-0.1075 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -4.4103, 5.9692, 1.4042, -0.1685, 0.022, -0.0024, -0.0205, -3.1658, 6.7077, 1.3211, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720b1775ac63f4e4869a9127131bd1257a2cdc62bbb38ebeb613bc85ff62ecae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af7a9484b5e68d147a9bb5557d9f7bc4f60180d9747cc7f44d1f2e6a4535656",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d590f261bca6993f3415d6bbdcb199b112672a994339689995caf98a1f50adeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCs8vS6R4Wz1sgVrCul0han80pzZ-cl_NbnNgexB_JNM2NKMrKl7LO5XskWNT_MIGd1PZAutBD31yEUsPDvtZt0KvAgMgjs1rVoeoEolX9A-uTtJ5-ySM4VWS3ZiZql17_bXXBzJ7lVyHjChHx6lRjWxQA5NHGksmcdGUPIob_0AAJOFPrVCuKsT_G_iK48luokAZQl91CLo1j5P-v-l13EPLc1JtGAtg6Z8FrhCaR-P2OZ6EdIaKFvu3m5sqaHBNXz9q4ynq5LOW02td72OnxHhBvmumQLnzYgZKbRPcihLtIhEMVKXIFo22y2x8FVR4hPDIO58zIGb_NscshfwJch8NgbQAmyYZ3bddUgeK890g2vG7kTKX3bW07pwbyVCY3zUboL7M8VtFZNS6vHHbVZ8mlc8QKbAw-rFGjuFC1nqxubZPXWssynyU7ot-kE-ZNto_Ukrzs2vUWVcHCdtLTdpB1Uuf0BRe3Jh8s-xbitFOd0dMUwcMo3xLi8AlLkiIqvQb6nRH1Xr1Cc36JyiSOZp4cCKySyOtHRPIxcuYPgvetnQFEPj5MtvHgSLBJngSOowsCuYzNGXQaoGfb-h9CzRUzJrfpi5BVfJv8nyJ64Kf4msswbz1FChe7J9VAFN725Qq_kaeEWi6Gjdjyle2nwQCUz-fP57_ncvyrjJIiiK0DgRFE4uW2It0tjET8wBFw_bPQs1UGXB6SZsk3yk_ex8446RDWviGqkpZVbbumvTstHx-n6L3EFUfP-ThxPjCYt4cXuAGW95UqtOCkeM6xBSNwe-hwjeTD0dTbCuZhxGnjafGQj9Ue7veoBqyYz_OVKe-GRIpOL-GJMp8NzC6GITEAIRjm1RUfTH_0gd-OHWuO2ve1B3o7rWfHVQFMWIWCwlrM0ib3gY7x6rYn7K4tWR9Sywssfq_xftHLOExdem0vRXgS58RxBLb0X_BjWltmz_96WS0w8jdrS-Ld6jqW7P6fROKgf4YfImubbxJJ-qBZjwvBiPJNVKiyPEaER8pf4HiHvLOtfBPLp59G3B0DjVpk2VgCCCShD5oN6gZaaGZa_kWUW2Rp0vjxxxA-HW8e5ThPc_Lz-axKWhhnZL5KiMtaOEcsNJ4pLgY8nafllPBfN8lHDfzf-s__ioPzEBSNisyU1YVQdPSQCYMo0pjULkfLAF6x_UnoWX5PiEX7Wg653RyIm8fK4x31qkiGg8iBeyHkLnvs5urtULOVotQ3baZR8_59ALH4wDYBvIX4rr3efQd-O0WfL8YFSn0RRG0xUz6PLgeYYVeAIGVmPF4jeeiVOST2Ea7wxHNnY0tqg098hUkuEUsPFmuPm-IFwfD5eEUp6W2kfpcJIJfPiLm5E3zQ==",
  "id": "rs_05f2009507de6390016ab42b3b387487d0b7716cce2028d7a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy’s body is between the lowered left jaws. I’ll close and check the jaw spacing to see whether I have a firm hold.\"}",
  "call_id": "call_Cf5cW5zDMNvLpp2LCc6ZPyv8",
  "id": "fc_05f2009507de6390016ab42b3ba19c87d0a7703674ed797a1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cf5cW5zDMNvLpp2LCc6ZPyv8",
  "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]: [-0.0967, 1.2957, 0.5636, -0.3218, -0.1612, -0.0948, 0.0094, 0.0063, 1.1316, 1.0004, -0.9642, 0.0334, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2931 left_y=0.0036 left_z=0.0346 left_yaw=0.093 left_pitch=-0.4565 left_roll=0.1133 left_gripper=0.0094 right_x=0.2713 right_y=-0.0006 right_z=0.1592 right_yaw=0.0586 right_pitch=-0.5132 right_roll=-0.1071 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -5.2718, 7.1726, 1.2088, -0.0952, -0.0024, 0.8034, -0.0342, -3.1932, 6.4889, 1.2479, -0.0073, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668444447af35abd78ef030fc644c2b872a8b3494f49cde67044c024b84b16f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd66c4c56e43f23a9c3823dde8f0829117765b1fa387416246231b0c827c7f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fb3ff43ccdee4cc98e7f9debf015ad2ec4a3c6d59524cfd47ca824a41c7114",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.14 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1515, 2.0071, 1.935, -1.2755, -0.6399, -1.0729, 0.0635, -0.0032, 0.9352, 0.7269, -0.7929, 0.0292, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2735 left_y=-0.3456 left_z=0.1871 left_yaw=0.0353 left_pitch=-0.3213 left_roll=0.1013 left_gripper=0.0635 right_x=0.2484 right_y=-0.0024 right_z=0.1249 right_yaw=0.0505 right_pitch=-0.4189 right_roll=-0.1086 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -12.1368, 8.4171, 0.5983, -0.652, 0.1001, 1.033, -0.2256, -1.9624, 6.5846, 1.2674, -0.0024, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0956, 1.2819, 0.5781, -0.3206, -0.1612, -0.0925, 0.9978, 0.0067, 1.1316, 1.0012, -0.9489, 0.0326, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2991 left_y=0.0034 left_z=0.0435 left_yaw=0.0902 left_pitch=-0.4278 left_roll=0.1085 left_gripper=0.9978 right_x=0.2748 right_y=-0.0003 right_z=0.1613 right_yaw=0.0595 right_pitch=-0.4972 right_roll=-0.1075 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -4.4103, 5.9692, 1.4042, -0.1685, 0.022, -0.0024, -0.0205, -3.1658, 6.7077, 1.3211, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 1.2957, 0.5636, -0.3218, -0.1612, -0.0948, 0.0094, 0.0063, 1.1316, 1.0004, -0.9642, 0.0334, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2931 left_y=0.0036 left_z=0.0346 left_yaw=0.093 left_pitch=-0.4565 left_roll=0.1133 left_gripper=0.0094 right_x=0.2713 right_y=-0.0006 right_z=0.1592 right_yaw=0.0586 right_pitch=-0.5132 right_roll=-0.1071 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -5.2718, 7.1726, 1.2088, -0.0952, -0.0024, 0.8034, -0.0342, -3.1932, 6.4889, 1.2479, -0.0073, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668444447af35abd78ef030fc644c2b872a8b3494f49cde67044c024b84b16f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd66c4c56e43f23a9c3823dde8f0829117765b1fa387416246231b0c827c7f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fb3ff43ccdee4cc98e7f9debf015ad2ec4a3c6d59524cfd47ca824a41c7114",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtD1SXxyCn2UZxA9ivzWlyE0Qh9mJlFpD241rKxfLPUFfi0JfnZUrYjMAx3vMH5Bsrugc3JvIu_lyNeBns4VlFSt2p48C0P4EpyYKW4aGTewIydzs_0kZcRsxuEY1sU3NEEf2P2xrnlnkb6yfWy6CpAGtArh9J-BrSYaj-Zl1IihQCJvvZATucjqtZJLkpaCsZtazj21z2aB_mOlBD7YsXTLd0C51kgZdljnq4musrKmMWbzUSLISNIZhyzNgAT609-MZbAIr32HudCqwGp5wuNSvsZkKmrt3BLBKYgShYPCET2bNwSAs5RgYa8qPhz6rNmi1gqjJn1ELhPFNI7eW8vdyGMxhPSOHGX95Oy5chBJcNtp6sEJPWZIhEYUvxLZIQ6uo0J5rPlFxtRc2pAAZiUBuVEg7fhKvTKFVfMjLGmVbUmNr7L8sBYVsU2gVHCc7FHZ4JWF_lrEXu9V8mgSzvJm8o3rSWV3l3StjNcX-hJAUAClAWuExs__kodEaSdeSQ-R7mwWFmVXElm-PM7lHl10pwQsxsh9QBgCVHvlpVTYg2XmRSmyoncZz7vI2oYmyZIq20BKcBsrdo6nnljs3fpM8NxRWRiCJQnhSW9ATIl0PA3sMDavf5odL61ns2X6ZbIFndeKS2jCL1yv_XMCCOEmPYERO2QATTeBsK2TZ3k8U4TsW0KqdD8-PG_blSCWVK4Bv7qFnkQIB_agNic6doB1RFZIVr6tIE9VW76iz_IycUZKk5xg74EAuS4cCOcJJW2RWgDDLWaxrXEQTEndPSUjX776FxroOOheW4LcHzE2pj51e6AjZEmbRTDx2o4v2UYSNMKOArzXFr3uSSsHk1K58VOdQ1UHSIihDpBbnLck76scbNrQqktZnv7B-sS93jl5s9WPZWwnzA8TbXBUVPWq8IbmwNHLZyRa2DVxetgtoZGGOfVnYG2Mfo1gVbm7WTOyRiCbeme36E7rHXEoBvBhf4_6SJfBkXhtDYpKKLrMDcKO5lY9cqz0cpttR8DKlkacVSu3ybjyytj2Xm0vswjnFZB-FCayyYIWZ8q-F205pp71G9qqrb8cQmJuapEPJLf4OVKzD5-QdTaljP427InUeaDoa5CvB62478LQNEKa9sC2D3htiaUTKSkKV3_XqWHXolvy-84_VlINLgRld94-4_5_DJifVayM8bOTMiXXTb1ocLFuV_1E1fFSWR035URhWuLOvNJOpV1E9QlNW3NiVtbQS1oVyKdZXCcbfIlhf5Eznn1cIGWYGYGGZ10QddQ_UYfGy87ycxneGVTr55fGZt_naHoaJQB0oGD2AYBtbjnMIapYnIug4f4CLGIez2C3EZ0HEh0rLkcSEJBVCOwXs2h-7UoM3Jwf_QX1zYGhH5YhU-SGTNLdUm1Hq0hBXD7E3tTI50yBiqZnSjUg_DIM8dY2YtKMAdBwEiDUqdZ2qB1fAhJkLiTE14SEy69D3YdqVdKnI_Nnl83U8Bf04-iFuAz-c8ZGz-JLKyEYe9ziJA401mfL2Rnf94H1eh-ruIm6qI8ZcawdOPEuHmBAch_0iqxme50ya9HPVhR3ae-igS2hJg88w2Lis1g28gkyzRfvayNdLFD9VQxcRZ4Jcip_HzA0jQWYSb4Nf1vf14xTk3cjnvdGBMWN4epIwEXb2UJLD_lky28iX2g97nC6r6LiM-hqBHEr4HfE2ZgCprW3gXjbYPunx5tFBK5BWn6tzKe2O1Hta3Nqg6A6mAIi3SyuRzkPSNinfF_8eqp5kVb7KewoXt46XDcMv-_U6jBKXoJbcf-uwtkHCJz6jrhyO5GBb9eMVl8uGEJMsNsf_mqTXjdsdiUo8TCXMe-xkxO8MgYmnTZ5yUFlG8e7R8Shn06rBDpRXAICL2HAVqsMmLsogzBWTRC3f7VSONfs3chvykb-fYDjYEUrKwowU_NHvbJBMIpUSRp1P8Fy9EbRMYIVlPPTmt9vzqbt5Nzu9Caw1w6VKWZYXCluDQdpBJEFkj3tPlSpfwuO9iIHhQzLX_fPYH72nSUVyRLFKHpUvl3Brb5KKk7HgxoIImFxn5XM8VUneGtvdWJVzVdEgvZx5w1EGhLL8-OVoLaX7POxCqZvTtOAj0HHDAQmdVk3uCDZmevmxHEXS48OZt_K5YwiILv-t6IPIMQB8DMxpvizYFV-Nciu-arFxcfU6LH85A4Q-eGkcGKA_7_gOn49258NNgA37phQdftqE7LGzE2bBXxphRVyYrPWAR7WzsW1IxG6b_OhG_U5YkfYLK_LiE_gGTs01tdIoUZ21BGSIEVToMVWSx3UiDKjhfNVODgYuExOKfa1QHDVmieO2gJLYifNmF89Di4QK6_QP2I6cPGO245C1U7vcyX_MDBgMj_M8cl_20f9GBxXvW3Dw2jbSwgbrR1Etzy9vePIrtj89OukiA6oxbYk7s_Ai_6TmFNtT3fxRyz_eADqC8gBS284Ix1u5ejp-vTJo-kSZnLsYQPgsLWWwM3YJeK_XoFVm3VGOGphN7-qtGGIFHJ2K84NextNghNjIj2ky2f6UrbBAXf1W6-BfZTCXjhd-RaGhVBJJGm9CA7rXpHsnFBL9F_pOLZLPWOsqsrNrRhodMyRfyhXZvuLfMIODfMnl0zT_N2r7Nr_L5RajmVwWPg0gUNudJHgJyaqgZ94--tZT-rY1P2isVkcn__X2spKRCsS9qRQr_sr1tJZas2xEQqc8sOyhnIwK_sExs=",
  "id": "rs_05f2009507de6390016ab42b3f37b087d0891b0f1afdc74d19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.215,\"right_y\":0.335,\"right_z\":0.13},\"note\":\"The white shape in the wrist camera is the same plush seen brown from above; there isn’t a separate white toy. The left jaw closed empty, so I’ll park it and approach the plush’s nearer, narrower part with the right arm.\"}",
  "call_id": "call_lmUaN7l88pHKVPLjB9KL8bF9",
  "id": "fc_05f2009507de6390016ab42b42674887d0bd0157ccdadf842d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lmUaN7l88pHKVPLjB9KL8bF9",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1816, 1.042, -0.9565, -0.1612, -0.1177, 0.9977, 1.179, 1.8698, 1.5806, -1.1503, 0.4301, 0.9558, 0.9954]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0973 left_pitch=-0.4966 left_roll=0.11 left_gripper=0.9977 right_x=0.2098 right_y=0.3242 right_z=0.1235 right_yaw=0.0733 right_pitch=-0.5473 right_roll=-0.1498 right_gripper=0.9954\nstate[joint_eff]: [-0.5812, -4.0137, 9.5111, 1.2137, -0.1832, 0.0757, -0.0317, 0.1573, -8.9641, 7.8291, 0.5348, 0.3541, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679cf4be38f704f4253d743665dcdacb4bdacceff7d3ecb34a2152a6c93a1e69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c29ef4fe3216c44287299a4e2e9ec69be240f367bb7fc6a6183e12d44e73eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4585e7c33bfa37cdd897298e253fdc434898ca48576075479a35a2cc6cf1e29",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.924 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1226, 1.0557, 0.8238, -0.7216, -0.1864, -0.1135, 0.9977, 0.0067, 1.1301, 1.0023, -0.9276, 0.0296, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2856 left_y=0.0014 left_z=0.1453 left_yaw=0.092 left_pitch=-0.3528 left_roll=0.1028 left_gripper=0.9977 right_x=0.2796 right_y=0.0002 right_z=0.1646 right_yaw=0.0617 right_pitch=-0.4731 right_roll=-0.1059 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -3.8906, 6.3111, 1.4579, -0.0317, 0.1001, -0.1148, 0.0889, -2.7419, 9.4564, 1.3407, 0.0904, 0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 1.2957, 0.5636, -0.3218, -0.1612, -0.0948, 0.0094, 0.0063, 1.1316, 1.0004, -0.9642, 0.0334, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2931 left_y=0.0036 left_z=0.0346 left_yaw=0.093 left_pitch=-0.4565 left_roll=0.1133 left_gripper=0.0094 right_x=0.2713 right_y=-0.0006 right_z=0.1592 right_yaw=0.0586 right_pitch=-0.5132 right_roll=-0.1071 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -5.2718, 7.1726, 1.2088, -0.0952, -0.0024, 0.8034, -0.0342, -3.1932, 6.4889, 1.2479, -0.0073, -0.0024, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1816, 1.042, -0.9565, -0.1612, -0.1177, 0.9977, 1.179, 1.8698, 1.5806, -1.1503, 0.4301, 0.9558, 0.9954]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0973 left_pitch=-0.4966 left_roll=0.11 left_gripper=0.9977 right_x=0.2098 right_y=0.3242 right_z=0.1235 right_yaw=0.0733 right_pitch=-0.5473 right_roll=-0.1498 right_gripper=0.9954\nstate[joint_eff]: [-0.5812, -4.0137, 9.5111, 1.2137, -0.1832, 0.0757, -0.0317, 0.1573, -8.9641, 7.8291, 0.5348, 0.3541, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:679cf4be38f704f4253d743665dcdacb4bdacceff7d3ecb34a2152a6c93a1e69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c29ef4fe3216c44287299a4e2e9ec69be240f367bb7fc6a6183e12d44e73eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4585e7c33bfa37cdd897298e253fdc434898ca48576075479a35a2cc6cf1e29",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCtKahvamnI8_sPR0xR_aUbCw1ygXDx6OCRYHLjtXWmf_qZjxgU_JeHGs-gjM43k8xW8PapMQHHQTqLNVxRdu68pShtjH7odvDpLNsFTV5tjvpPBuPLtft-EI1LT4hlqu1AWknCJERyYnRBdGHlitsoPJQIX7pP3zpXqTIPDz4_ONnn2L-R5wGJqaWg557rmXnKaG7h22x4KnnwKMiwL_C3xM4pJLtXqNgJaIFvYUJqvOmS0XCbF2D6Zdndueo7n_AwezqX7f272cUNS6fx4s3TxJV3b3IVWsRXHE8JWC2EZaAjuQXPaOBtyI4LCiiwxet7-MUcDQ5uKbD3N5PQCW_fduIedJFJrH4k1mgVyDFWtZRKGF9ITUsVq_FGIhSx3-9UH20wE8YkEc3XpQVwcC3FTXXz_H2pMxmCURtNzKLXhhFPNnexBMKcU3xEzlmaKIxTSQJ1X3yU2suGNQukKF-VtskpaARKshsGpVd7YO6Z0sk5rkvguFtVIc49qNnoHz97GyWnvLx0uNchrGtSYvhH4xES58AHMAv6jjSP0E5S4xBBECqbZ7J5oDacJhYz9lC_4RXTjnO_hkg5mK_qMvzYp4hHFirDMOhqUi04kOHoVdZ5TLvurkP7mVkevArY1cyLYOCUPRsyHm3331KavB2spVbd-K7bLTzfH9DSDrIKBDy151yaZn1YI2OmHbB3EK5FNYsKaXkMhBsatOEqo0--o2umL26BKXw0qe5IReV9fzJ-5QK8ertFg0JCzi2BIcmkm3uqlZzpOobxqCB-Zu1PGIAI-uufyGY_2QcS3vEmn5SNMgT7B5q5gE2_9pVVJmmOUhpILaMYF4Y9SOs0wh_cFu38qcwV3xdnaSt7j8plH1UFgjA95Qaen03k99P530dvfCeA3eov4b2N8gHvh3ZEm1U3ASA6HB0PSwXUbNZMBXSwbL_Kr06l2d3pkeiWjAy-YQTq--z6culwm89mHbMJ5w-FGIsO1jLsunCaDvi_iVn7FcBsLRQCgDB5JKPoQwkrL8pDWyPGA5KIs2VXZzjvObkqBzNjGoMzaA6_4Nokk9ec62RoCe2vPWUK7qtNxaMHVBw6I_BiTk9AapG5jxSm7VPkujs_UYtmCf937wFMqn1XvKzkdwXcGxZJ8C5x0Zx3FYm_sAD7LPSaufugFoSBGfgo0oua1jkdw22cXB7uvJszFJZXz-TXxlVZTqeC469VXX0XypW7tNwnBXf8XlHy9h5m4vmzjBoau713h9P3pl-sFB6f4dlzUcWj2HvaNns72gIGjkk6xEhewvqrC-vJsXLgkLAVemsHRF5A5gwPJ4qRZM5EzpLrPnvheWdDkmVO-XF3f1CD45544X1bsoV9Y9nj7V0vcoUlisOQ8M-rLhDwcAtrEFG4wjJAtO4zulU4OxFD0XcOFC5ODo-OjdADbgYXi2ng4ABgnDXs0vidoxaodCJmwEo0y4yPRojAszwD5NwZFCei36BQZnWDFKaPolq224F1ttLhHyU8D9Z3RT116nXnvfkt8YIK9ziSHZ5KyPCJsxzXshcC4-8i8lkwnlcZmL9yBUli4xtWjrGAvx_9nOqyEaJ77RuFjE-IWkIvZIW2gFBfTZLre-JfUw059uWu_lybSp7UFPuxQQO-LFvi5HT613C3S3GMIGn8zR5sQoUD6tgeh61IfXq1I_2x-oF8Kx3IV_LR7bROA7Uw1GKZe5I4loChJmtVVIIU_dGqULYr2Pxqpsr7GUACv3OtfX4HyqdWzBpTBgEJMETyymo4GoS96xv2bFbGaO20nxWs40FE81oGHPqdmuWovofzOLZBB84HkgF8rSJ6kfSp4fotshhEEvchRBaspuc7XCJebXvk3TtHnV8xgU-tIX2edP6BmCIuO5bNdSOGt6kztxC8vc71okAJ97DJASqnsEwtYlPAmQrTuMpciWvav0IJR98XuJ0r6fXTd_XTY04KzEIw3SY_gvwkllA8cgCd9KALpWaP8Do127NNMTxEH14ME2vLTXfEX7qCN8w78z4ppIV_HF54xApoln1dGxRtZ52NHQGomI_LTM7vl_m4yefAa7pEaJwyXbbQfaGK8RIQEfJt9KRyeO1wQ9dI7gfNIGqay9inZ57dBkc6JxOQtRggl6ohhfbb5aBNf5xPzy11oGV8FrQq-AhdLcAfVcGnlPs9kQfGA4eAJJBqP3ljDRwquPa5zLVDXuFScGGOsVQ-4W3FDYJufID4dIgocaR7qRs0cdAcGjOl6kGosyEdVSAN_-31S6q7H3IWKk7hmy6FYJZQ8JBFgXyaeNpLqF8682-lpGOlMqXG6NJxn4pU53QV8w3QhSDgb8o_tZlF13WJ-PJEKPbqgwGWaNKoQ3GUsDAHE4y8xFjVpr9MZk4KZ3OUa3K5pxKiTvr_nfI0LB4jNVMYOTVrAVunByxIFdZclauNv",
  "id": "rs_05f2009507de6390016ab42b47a22487d09f59038d496f27ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.267,\"right_y\":0.32,\"right_z\":0.053},\"note\":\"From the right wrist view, the plush has a narrower head and neck than its broad torso. I’ll move the open right jaws toward that area and descend beside it.\"}",
  "call_id": "call_NKWedEi9v6gPWIPJ1WqrS6m6",
  "id": "fc_05f2009507de6390016ab42b498c1087d095390fec911135b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NKWedEi9v6gPWIPJ1WqrS6m6",
  "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]: [-0.1108, 1.1831, 1.0473, -0.973, -0.1612, -0.1177, 0.9978, 1.0409, 1.9678, 1.4475, -0.9379, 0.4026, 0.8326, 0.9954]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.164 left_yaw=0.0987 left_pitch=-0.5089 left_roll=0.113 left_gripper=0.9978 right_x=0.254 right_y=0.3037 right_z=0.0548 right_yaw=0.0163 right_pitch=-0.5923 right_roll=-0.2132 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.4803, 6.188, 1.2283, -0.1538, -0.0659, 0.0024, -0.1573, -9.6889, 6.3111, 0.8278, 0.2222, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc30cbdef228c86f7158ca4802330359833393971185842dd5bd2eafa61f9a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469a181a64ebc64c49771ed9f9523022e10a43125709f486997cbffbd38696cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8706a7791f4ae0f335d1b418cf622b83e08055350af22814da13e8d6fb561ca5",
      "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 · 2.111 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0956, 1.2819, 0.5781, -0.3206, -0.1612, -0.0925, 0.9978, 0.0067, 1.1316, 1.0012, -0.9489, 0.0326, -0.1505, 0.9954]\nstate[eef_state]: left_x=0.2991 left_y=0.0034 left_z=0.0435 left_yaw=0.0902 left_pitch=-0.4278 left_roll=0.1085 left_gripper=0.9978 right_x=0.2748 right_y=-0.0003 right_z=0.1613 right_yaw=0.0595 right_pitch=-0.4972 right_roll=-0.1075 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -4.4103, 5.9692, 1.4042, -0.1685, 0.022, -0.0024, -0.0205, -3.1658, 6.7077, 1.3211, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1816, 1.042, -0.9565, -0.1612, -0.1177, 0.9977, 1.179, 1.8698, 1.5806, -1.1503, 0.4301, 0.9558, 0.9954]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0973 left_pitch=-0.4966 left_roll=0.11 left_gripper=0.9977 right_x=0.2098 right_y=0.3242 right_z=0.1235 right_yaw=0.0733 right_pitch=-0.5473 right_roll=-0.1498 right_gripper=0.9954\nstate[joint_eff]: [-0.5812, -4.0137, 9.5111, 1.2137, -0.1832, 0.0757, -0.0317, 0.1573, -8.9641, 7.8291, 0.5348, 0.3541, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1831, 1.0473, -0.973, -0.1612, -0.1177, 0.9978, 1.0409, 1.9678, 1.4475, -0.9379, 0.4026, 0.8326, 0.9954]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.164 left_yaw=0.0987 left_pitch=-0.5089 left_roll=0.113 left_gripper=0.9978 right_x=0.254 right_y=0.3037 right_z=0.0548 right_yaw=0.0163 right_pitch=-0.5923 right_roll=-0.2132 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.4803, 6.188, 1.2283, -0.1538, -0.0659, 0.0024, -0.1573, -9.6889, 6.3111, 0.8278, 0.2222, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbc30cbdef228c86f7158ca4802330359833393971185842dd5bd2eafa61f9a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469a181a64ebc64c49771ed9f9523022e10a43125709f486997cbffbd38696cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8706a7791f4ae0f335d1b418cf622b83e08055350af22814da13e8d6fb561ca5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtPLp_z5iQRT4vlb2XDrY3GN7tmt-e8H4GrHgoufIrorDRQDMoO2Om534eNUqurRus3aS3jLZighKTNSp1JmtbxraZZ_K7DCtLHw80K89GAKrXZ5RZegMxisaGlkJ7-o4jUnD_W-ji3e4GZAWHJSlwLD3cNKZMvs5_isPwIHB6kGZ6QbYED_pXJTRgzEpc8V7rsqs_mMTc0UxJ1B8RfIsPyG4LZMMbZz_ybHzgWF7dkdG-PnxozmC5o-ZKuok039GYNRYYr3pk7d5MrB7ZEQkBH0ReL4V327Uhgkl26aG2lYapMIfVDRcuXDB7r0D9Wv38U8DiX7CkaGh8uPWD5wP9kiYgwkftXLlouZBmv5q6M6RYtjNxYZVm9JIx-LDxBXSnBv1WBYQPiTGyqe5_b5FZ8t2o-0Du40wvkptbcnRI884A-R9acJGZkN-SrwIXpN9YI0QpVhEwhJ9EnOXWFdwNpCC6-cHRC-mgWADaLWwzrkfWHo4a9rB1z1c-8vxyOnyiKw3kVRgNnYDJum9SAnk2N5dzvWSTPekgRdRZUB3qC_Lu99xhTc9gfE3_1BUSsCSTpC41uFZcpS3p-4cVsmQvi9amLUPEZQJyXNcbfcnOkvrH1jS0xok7VJu_KOUDU8KbtvgVgp9YW743-fq6xLv8oPjZuyCTiNH6GXU856ntHCmnCPQWn4D5RAES2C9s3omPNdn-P6NekP-7sVb0lQPCWKU9eJGk6hP89rY7gnAwS9DHT_rXvgdev7f_12h7iml5CunUWxY4fEYdmWXfw2aog6xn99keJipYMJSFw3KqDomOzDH780-k4bBiPMT8QU0kUs12bXR3LgnPTcVd2fjvyHrkZKqSGDh7z4kGvVEj8lsZYZb7GNO9LV__xuMJstmPhHYZW3Mg6BoOzwg4ZdEcn9CzM6rUFjwqSzF9Zj4imLH1ljA07pUlEMSFt3PsbcVaR5w1iNIcd93JveP7u3CK9nZdSqH6W2nG-OPWCOT80nEBKUVoCfTeLRMk-b8NnJKVP9uf154F6yCyQM1MqThy0VhyUF2Lcq2UsaTThVCGd4qlbvOq8TK79PA7ZCG-75LLrwF1WsYVKnRbMnjLRMbvHJbonh8lZbULnOdpVUxnBsx7yS1e-cDubHXVoVR5l_QMWvmlS0LC3QVSbtVMo4xArksSprUuoDYaS5wdxmMoh1XjEIjpUFnDQ8RaJUqjzTWtxjsNBdviUkdVd4EhzrMyymiWbVJ6zc_qaSzn4TJSaZMR5r9CcrD3L4WdRFngP6K1vnT0zGQ53EGqRHut_SdBafDWwgifFB1xC115kxmn5vsCb0PxQDMTA2vWk9E6KeOBJ3rKQnl25s7-L8XLmV9MG3uAQ2M9ZkIY4Du7KoqPaXnE3_C1SueXqZ40D-sDJ6tuTxLTU9EWgwirllzvz_mRndARNz12Me2T7OraGv8gk2xISdHOYTuttzMJJt3g-DIjH0b9egi1VL3A3mKClDUneFZLPRPZDRLQkKWo9O1wFzG5W7eIe0cr0xSMjet8ngoVshcpRXvKywpJh9K-qR8o4mssKkzQPPuJmLJ3OKu8kGeu1HwvfhYfRoPS16ejfxhLkrxuA3tRUwfK3ZNekQD3cgn4q4H-iHnw1AUai6rz_wL27FpWF8byprliZNrHP8SXoXDdjFw516PJUL_wisw7ZbMVZov7GyRHciMcJHWCJs0yhYWWxQkUSFntOCAM9pCTfzG8xpWTDm3KJFasDINUStaDive6t7hEfCFPTLxk4TDrltThgJQvll1ZOxznnLn7ACUsGaPmJD_diHUzIk6MH7IbRRdR0Pku7h6HZgkenN8hv_8CjSKTmGZTIzePGjZBgXG4GEK7v89PwRnsVH3OZgJJD3x56JrtK4-QbEhNZD-iaIgn6WeNOglTPnVXAngma-PywDhzsYxq4IHroaksrJVwOt9D9iyyHZnEY-IOsYUR62rtcBjhue8TemE5X-U9tuvADk96TvX4hQKvBLPs3mWRKC9vTZEl-Cp1-WPuOuDVIF1UF_54ybUJxCgbTOKg3tW7Gcr4UAKaEhPiw_joKAvC-UBj__PuVDvmNZv4W1hHMT622ZlRThwXgidQKYkqxI5bgBpFtiGwInf3FnKIHYqSIe49VANkdA7HP9a9flrNkQeRX8BJ1Qt1Oi7UIoKpLUX2ETRggUdjLwuobytz0wIuNpkPebr5JVNFHZej_zqmxZrmedIVYpbBm8LXbTevKTC0d7Hk7YDXdZNDJUM8GNA==",
  "id": "rs_05f2009507de6390016ab42b4c4f9c87d0be525d3b2a1ff954",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.285,\"right_y\":0.266,\"right_z\":0.029},\"note\":\"The plush head is just right and slightly ahead of the right jaw column. I’ll shift right and forward a few centimeters to put the jaws around its snout and neck.\"}",
  "call_id": "call_QjgwktefnzmHqUQ1fMPz1TOz",
  "id": "fc_05f2009507de6390016ab42b4ec08887d09083609432fa96d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QjgwktefnzmHqUQ1fMPz1TOz",
  "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]: [-0.1108, 1.1835, 1.047, -0.9745, -0.1612, -0.1204, 0.9978, 0.9184, 1.9652, 1.3006, -0.8116, 0.3813, 0.7296, 0.9954]\nstate[eef_state]: left_x=0.2814 left_y=0.0008 left_z=0.1636 left_yaw=0.1007 left_pitch=-0.511 left_roll=0.1121 left_gripper=0.9978 right_x=0.276 right_y=0.2589 right_z=0.0191 right_yaw=-0.0385 right_pitch=-0.6332 right_roll=-0.2641 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -3.6581, 6.5983, 1.0965, -0.1343, -0.0366, -0.0122, 0.759, -12.0274, 6.0239, 0.7497, 0.2418, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f89c0decd6a6ec2b4761c07ca0960cc0481dc82183204c1cd0d55d787ae4a64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1787b7b4e3e145019c18b1cca6077b899c1d16ca70a2be3960e379586334a3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e8a0d41bc937135d6ede216e9c9fc444916563732769c91bf8a5bcc9614c2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 2.432 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0967, 1.2957, 0.5636, -0.3218, -0.1612, -0.0948, 0.0094, 0.0063, 1.1316, 1.0004, -0.9642, 0.0334, -0.1501, 0.9954]\nstate[eef_state]: left_x=0.2931 left_y=0.0036 left_z=0.0346 left_yaw=0.093 left_pitch=-0.4565 left_roll=0.1133 left_gripper=0.0094 right_x=0.2713 right_y=-0.0006 right_z=0.1592 right_yaw=0.0586 right_pitch=-0.5132 right_roll=-0.1071 right_gripper=0.9954\nstate[joint_eff]: [-0.0068, -5.2718, 7.1726, 1.2088, -0.0952, -0.0024, 0.8034, -0.0342, -3.1932, 6.4889, 1.2479, -0.0073, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1831, 1.0473, -0.973, -0.1612, -0.1177, 0.9978, 1.0409, 1.9678, 1.4475, -0.9379, 0.4026, 0.8326, 0.9954]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.164 left_yaw=0.0987 left_pitch=-0.5089 left_roll=0.113 left_gripper=0.9978 right_x=0.254 right_y=0.3037 right_z=0.0548 right_yaw=0.0163 right_pitch=-0.5923 right_roll=-0.2132 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.4803, 6.188, 1.2283, -0.1538, -0.0659, 0.0024, -0.1573, -9.6889, 6.3111, 0.8278, 0.2222, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1835, 1.047, -0.9745, -0.1612, -0.1204, 0.9978, 0.9184, 1.9652, 1.3006, -0.8116, 0.3813, 0.7296, 0.9954]\nstate[eef_state]: left_x=0.2814 left_y=0.0008 left_z=0.1636 left_yaw=0.1007 left_pitch=-0.511 left_roll=0.1121 left_gripper=0.9978 right_x=0.276 right_y=0.2589 right_z=0.0191 right_yaw=-0.0385 right_pitch=-0.6332 right_roll=-0.2641 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -3.6581, 6.5983, 1.0965, -0.1343, -0.0366, -0.0122, 0.759, -12.0274, 6.0239, 0.7497, 0.2418, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f89c0decd6a6ec2b4761c07ca0960cc0481dc82183204c1cd0d55d787ae4a64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1787b7b4e3e145019c18b1cca6077b899c1d16ca70a2be3960e379586334a3b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e8a0d41bc937135d6ede216e9c9fc444916563732769c91bf8a5bcc9614c2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_05f2009507de6390016ab42b512ea487d0b16dc3feb7e81121",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right jaws are at table height with the plush head between them. I’ll close now and check the settled opening before lifting.\"}",
  "call_id": "call_voO0ktccGvINpTD7LqZwg5y4",
  "id": "fc_05f2009507de6390016ab42b51c64087d0a56cf5c0c5133673",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_voO0ktccGvINpTD7LqZwg5y4",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1835, 1.047, -0.981, -0.1612, -0.1204, 0.9978, 0.9131, 1.9652, 1.2881, -0.7742, 0.3775, 0.688, 0.1094]\nstate[eef_state]: left_x=0.28 left_y=0.001 left_z=0.1629 left_yaw=0.1014 left_pitch=-0.5173 left_roll=0.1137 left_gripper=0.9978 right_x=0.2796 right_y=0.2613 right_z=0.0165 right_yaw=0.0003 right_pitch=-0.6274 right_roll=-0.2549 right_gripper=0.1094\nstate[joint_eff]: [-0.0752, -3.5897, 6.5709, 1.1404, -0.1587, -0.0659, -0.0122, -0.1436, -12.0137, 5.8462, 0.6325, 0.2466, 0.0366, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26db5ab970a0e07f5b11b6a8f3db2cc455ba07b5c2bd6b5316d03531bded8c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860d6915919fb2ff3bc7c9ba32d09bd7086f42f4646702a08de98ee3bb766377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf3982de57fc0d86e3bb15377d9b53ffd5c6bd307beea9093191033878a1b70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.056 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1816, 1.042, -0.9565, -0.1612, -0.1177, 0.9977, 1.179, 1.8698, 1.5806, -1.1503, 0.4301, 0.9558, 0.9954]\nstate[eef_state]: left_x=0.2843 left_y=0.0005 left_z=0.1643 left_yaw=0.0973 left_pitch=-0.4966 left_roll=0.11 left_gripper=0.9977 right_x=0.2098 right_y=0.3242 right_z=0.1235 right_yaw=0.0733 right_pitch=-0.5473 right_roll=-0.1498 right_gripper=0.9954\nstate[joint_eff]: [-0.5812, -4.0137, 9.5111, 1.2137, -0.1832, 0.0757, -0.0317, 0.1573, -8.9641, 7.8291, 0.5348, 0.3541, 0.2613, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1835, 1.047, -0.9745, -0.1612, -0.1204, 0.9978, 0.9184, 1.9652, 1.3006, -0.8116, 0.3813, 0.7296, 0.9954]\nstate[eef_state]: left_x=0.2814 left_y=0.0008 left_z=0.1636 left_yaw=0.1007 left_pitch=-0.511 left_roll=0.1121 left_gripper=0.9978 right_x=0.276 right_y=0.2589 right_z=0.0191 right_yaw=-0.0385 right_pitch=-0.6332 right_roll=-0.2641 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -3.6581, 6.5983, 1.0965, -0.1343, -0.0366, -0.0122, 0.759, -12.0274, 6.0239, 0.7497, 0.2418, -0.1245, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1835, 1.047, -0.981, -0.1612, -0.1204, 0.9978, 0.9131, 1.9652, 1.2881, -0.7742, 0.3775, 0.688, 0.1094]\nstate[eef_state]: left_x=0.28 left_y=0.001 left_z=0.1629 left_yaw=0.1014 left_pitch=-0.5173 left_roll=0.1137 left_gripper=0.9978 right_x=0.2796 right_y=0.2613 right_z=0.0165 right_yaw=0.0003 right_pitch=-0.6274 right_roll=-0.2549 right_gripper=0.1094\nstate[joint_eff]: [-0.0752, -3.5897, 6.5709, 1.1404, -0.1587, -0.0659, -0.0122, -0.1436, -12.0137, 5.8462, 0.6325, 0.2466, 0.0366, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26db5ab970a0e07f5b11b6a8f3db2cc455ba07b5c2bd6b5316d03531bded8c55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860d6915919fb2ff3bc7c9ba32d09bd7086f42f4646702a08de98ee3bb766377",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcf3982de57fc0d86e3bb15377d9b53ffd5c6bd307beea9093191033878a1b70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtVDcEK0SQL2V6EFjUeLo1uZfYUUU9r3NaBEkkYWxj0THP75CyOuWhulAKRrZ-P2ihLnpOytrwuK7ZKhEQLwBtOUXf2g94LWR8OS1_LyYPvQocAcW7d4eklFSNTbTCWwcMOlBbvKNv74ilGrxI_-yEh0QomhjALTT7BBgft80G_9NFImd-tOiLChrpr9LREso1BaNl2LZc5AGGCaofgeMMia6i0Y_WjN-N6rkr6p4W6d4C8sR4wIQ29E9DrXYR0HNvtds3yzW_QZbMW5O9V-UJJDPTXaGUIgRsQ2x6gwQazlxY8shZ5dmpSq-iH4CWfsMDvdbjiXQDvAhEeQWPsOxWsZXC-8CazdLTazKu0fe6QCIMuyzUvW3H6sJiQiNIsOUB71FQivw1eUo6Ox9XOhv797tWjdqlt5po--NII1VcJVQpey2ITv14vk7TgMH83dTHnaDwF5NxM_kNZbzOog_SLSw4mTbbu7tm2M_exb9MMNirslmZI7Y9-2ADNwOjeMQG_xKCutAqNoxl9gzBKRMuyRzQl5gwm4pDnbt0qfGOwzGnObkCganpfrxChQYHObuwFHZ26xaFDKE3TT1E7Fji73SRn5xysflVBDYceZIlYxFkjk24qhemg84uE4-9tKUeQnI03T-FAGy-OD4nFoDZT_woxFFKgyNO6jQpI1EJCw8JWYVttHa1cEGTQsA4-vDLygQ01WE5cSqaTEQ6gdjYchqX4HX8ZwTl8pzwZRXwpChRbcHEjTikoXpQ3Fl2SIQ3tzfRkOG9ADIiPtskcTWc_tbcSUZ_HJInOS-LRkLTL1bg4O8pedASt_hywnR7ddYjvfHSnjDQ5KxUpTKgINxgMq388n4OUa0uYRWKmNUya1Mm2WZTeseCuoC_xMfX7oefSw4uNJpi1FMMEe0tAiqfHWgxa5hx7PmFrij-R0a30cYC7VSuJMhJ2sTcMZif-7JdABnacmFpjYGwVI_jhJMcA3EiNEWQSmUhRLghWvn1YBaDV7AQZskPKSK97KBlRgdlz8q2AW7l5dgVvN3G_0AIuyzRLClS8P8E1PQJqkKN1-R1kSjp5B4xlBbkcOdnq9qjChs0pl7BLw8qPx8zW_O-1cubkxNJlLBd2cy9znUCFotj1b7kv63yF6X2ruoMGQ22_HbK9l420YxtSBE2GD7s2B3fGV7zyrXZUEaw3t5KUbb_9YVA8Dbp8h-iFjMNQnbfg",
  "id": "rs_05f2009507de6390016ab42b54e77887d09a7e1c6576661d2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The right jaws stopped about 1 cm apart, suggesting they caught part of the plush head. I’ll lift it to verify that the whole toy follows.\"}",
  "call_id": "call_ze50PjdqB2GwzWOtsXgKk7QP",
  "id": "fc_05f2009507de6390016ab42b55054087d09cdd9fb3af2444ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ze50PjdqB2GwzWOtsXgKk7QP",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1835, 1.047, -0.9817, -0.1612, -0.1204, 0.9978, 0.9215, 1.8866, 1.5894, -1.1637, 0.382, 0.6876, 0.1106]\nstate[eef_state]: left_x=0.2798 left_y=0.001 left_z=0.1628 left_yaw=0.1015 left_pitch=-0.518 left_roll=0.1139 left_gripper=0.9978 right_x=0.279 right_y=0.2645 right_z=0.1162 right_yaw=0.0009 right_pitch=-0.6296 right_roll=-0.2679 right_gripper=0.1106\nstate[joint_eff]: [-0.0752, -3.5487, 6.3658, 1.1209, -0.1197, -0.0415, -0.0122, -0.253, -11.7538, 7.788, 0.5788, 0.3248, 0.0659, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ddf558d7d29dc39608bebb4e2b6719f3904c7cd2911e7cf4577641dd3f7f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7bfe2e339b3da7be46c07e90fa2091bb34606a346bcaf14d19447e44691b43c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3268b4cfa995d2d3c7b489d770895ac0c015c26fab26b4ca3502fe2b6e4d8da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 4.193 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1831, 1.0473, -0.973, -0.1612, -0.1177, 0.9978, 1.0409, 1.9678, 1.4475, -0.9379, 0.4026, 0.8326, 0.9954]\nstate[eef_state]: left_x=0.2818 left_y=0.0008 left_z=0.164 left_yaw=0.0987 left_pitch=-0.5089 left_roll=0.113 left_gripper=0.9978 right_x=0.254 right_y=0.3037 right_z=0.0548 right_yaw=0.0163 right_pitch=-0.5923 right_roll=-0.2132 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -3.4803, 6.188, 1.2283, -0.1538, -0.0659, 0.0024, -0.1573, -9.6889, 6.3111, 0.8278, 0.2222, -0.0464, -0.0171]",
      "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]: [-0.1108, 1.1835, 1.047, -0.981, -0.1612, -0.1204, 0.9978, 0.9131, 1.9652, 1.2881, -0.7742, 0.3775, 0.688, 0.1094]\nstate[eef_state]: left_x=0.28 left_y=0.001 left_z=0.1629 left_yaw=0.1014 left_pitch=-0.5173 left_roll=0.1137 left_gripper=0.9978 right_x=0.2796 right_y=0.2613 right_z=0.0165 right_yaw=0.0003 right_pitch=-0.6274 right_roll=-0.2549 right_gripper=0.1094\nstate[joint_eff]: [-0.0752, -3.5897, 6.5709, 1.1404, -0.1587, -0.0659, -0.0122, -0.1436, -12.0137, 5.8462, 0.6325, 0.2466, 0.0366, 0.7448]",
      "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]: [-0.1108, 1.1835, 1.047, -0.9817, -0.1612, -0.1204, 0.9978, 0.9215, 1.8866, 1.5894, -1.1637, 0.382, 0.6876, 0.1106]\nstate[eef_state]: left_x=0.2798 left_y=0.001 left_z=0.1628 left_yaw=0.1015 left_pitch=-0.518 left_roll=0.1139 left_gripper=0.9978 right_x=0.279 right_y=0.2645 right_z=0.1162 right_yaw=0.0009 right_pitch=-0.6296 right_roll=-0.2679 right_gripper=0.1106\nstate[joint_eff]: [-0.0752, -3.5487, 6.3658, 1.1209, -0.1197, -0.0415, -0.0122, -0.253, -11.7538, 7.788, 0.5788, 0.3248, 0.0659, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96ddf558d7d29dc39608bebb4e2b6719f3904c7cd2911e7cf4577641dd3f7f08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7bfe2e339b3da7be46c07e90fa2091bb34606a346bcaf14d19447e44691b43c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3268b4cfa995d2d3c7b489d770895ac0c015c26fab26b4ca3502fe2b6e4d8da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCtZya-bMxMnIvyoU_nuVx6TQT7QTFz2AKvhWcCOIMpZBb_sbK1OZDARVjCdaQgJPPZDlnRVHar47SVS_6rSahVvFnTQ8eJpDDlUs_l_JVm7fYyr8oOY6HAQDXNsML0r0qvJrfaW4OcoOGSi9U7QAY34flHV6l4kYyW6xC94ndmcqoNCy1LmWeXTXW5pwRPLLBM6GquSxPJLE4uXgkz91BnEEC9CvIc5_tw5mIce9sk9BSt_Dw9PsHKg5eLcRnQ9L_ShuY5hVz-1w_2YnPLx-KEj3VH2w1_ruvhKQ9q7_my0yUapeTV0_0JgXToSFVVH8P2fYdo6rbOEWUNbJGgMndJtAcSf6H337tajnJd2eo0x1ydaDR7wipVJQFVtxskrF65ILvAkhp1nmjKG-T68HSvo7ashPtbcnyIv-Sm2oyljDttNAvsaFH-Tb6agJE9sf8rIU75QiS0KtOF-4dXYew_YTxs9nCnIUrHfSpNuFcCQWfGnjuIG7OkoGitj7QZylmUIp4X6Xg8ekf_Jxi2ohSaGPuvFXcqfl9ktjJhUkTXpQYOzevRT-Z4fo9czh5jmZR89r2ojBr0w0UzdBQ25UXPzKSuqersWrLhxjc7Be7r7cPFkCVPZS5iIWRlgpTWfXJbZTr_jI2IZLzS0bnyXNArfYZ0UWy_0HwJUUdwxr1R6SKVHOALsAePKw8U-n9VCUyOPj61RMob_m_kh7OGUGScX8LzpimA0ty_maJpW3wGQref34hLSMroPTu_W4OCVqYzwsXJjnBua-ZQQpbKgtcWK72ZPDhLJOKk4H_xUMju6sASPvgIqU7cFbxQTScBBK6qocCeR3DzhzJsLHNtzSHtcnXcvRpQmEolueew_yS20-smV6zoSnsdo5Z5NmN6oBd25nOtw-axQPBSXsfMq7goRS-1cqJvM0KYGz8Xmfmx-hEmaseguhPzJi6mf3QSKVJYDKv4YpefvLPVL9fOEqlYL1QLT6I5P47iEWCIymAuawJUSwMILf78NO-yM14fQ06GJaf8zVgJb_cG2zSdu4Lj9PIrqDw2JZPgRcdIAvg5N-AJ_I2DY9C5M4b_BJLGdo-WJPfYI5dCB0vAri48zNzBUi_zDOuliz-QwziIyFgv0T-dYx0Y4_VzB7RL0fZr_e4scif-eo6q-OE5sS53oZWS1nh0Y_ND_CUE3YuTvsH7Vk7M-z4iuuill9YJO3M0EbMm-Lqya89FHPVyO6Li7-AId34l7uunChD_3G4NfrYVmyLoenPHODCHzOACmPvikO1hmIAF1zNhEAGz-gVarMLre56uupv2jNHGWG3-IisiEGL-YHcI2CBLyJyuU0QmQ61WSIlGvedtuloXpOrRXNmDHonxEZUh6F2L3Zr4g4xYXf-8lHcW0u0u6KS1mI4vca4pxW2aYFoSPSNYQsQ3kQQ9pj2NjwkNsdKLcV4EidlOz6FbDbayt0X_aLFQhqPp2xh7B6nwgoyX4wDY9IRIgY7d4TD8-gYvLIijFwssWR5lEZLn_i3PtkbZV9Cvk9A74f1qY3fNnUvawwBPdYjmxwM6ZPORSwkHs0RovCa28P8vie1Nkj5QygE8264DLDACHJDxFXDHv6YSu3UgAH23P19ATUCu2n__UxlHx_rbPAMYaL2w27rrhGfDcO_UKp4rB92e9WS7pi0AGeEBCVolHtw--NGB61PljGWiLpjVAt6S7TDVJJbHxAXM5YG1xO15bJKSrE27G3_uJV7Bk9YYpDvyZlF93r6gi5VGKBSiN4rqwxPmb1epqWkb4fYd3xnMlnuKjc7iaJBEhv4N8WbRrOQklD-InNnVcl3o4B52OxHgDWCyfzUP-sPqDNug9uq9J41sIDDliHhM4iRtdtytaNLnjvFpVYfHROWh8wz6hIrqD09Z6Ej62q1kYVbI7cCFr-Fi7XwMDID_fI6prGcyDJetA8z4eDugYKyM4q1ry1kreQ4Rm9KfS90pU0lh8L6ZYMWjW",
  "id": "rs_05f2009507de6390016ab42b57733887d0a48f04cd0b3c06c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.23},\"note\":\"The head remains at the right jaws, but the plush body still hangs low in the overhead view. I’ll lift higher to clear the safe rim and confirm the toy is fully off the table.\"}",
  "call_id": "call_RD34lvtHUcZKPZ3hr67xrIXG",
  "id": "fc_05f2009507de6390016ab42b58c25887d09a86013458e3eb9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RD34lvtHUcZKPZ3hr67xrIXG",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1854, 1.047, -0.992, -0.1612, -0.1207, 0.9978, 0.9291, 1.9171, 2.0277, -1.5345, 0.3885, 0.6872, 0.112]\nstate[eef_state]: left_x=0.2777 left_y=0.0012 left_z=0.1613 left_yaw=0.1033 left_pitch=-0.5299 left_roll=0.1167 left_gripper=0.9978 right_x=0.2785 right_y=0.2669 right_z=0.2161 right_yaw=0.0259 right_pitch=-0.6019 right_roll=-0.2371 right_gripper=0.112\nstate[joint_eff]: [-0.1709, -3.7675, 6.3521, 1.1209, -0.1294, -0.0659, -0.0122, -0.5265, -9.0872, 7.2547, 0.6911, 0.3492, -0.0513, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f44a25cc0237ad5bccb26485157dceddc1842f164133fe514739daf49c504e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9332069f142f43b5ec5621ba424ddf72ccc59eea1c0465d46f2c3d7efb81b2a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2578dcb4f8252862f735f6e7a8e53f91b71392f25b31468661ddbf7e4e9df054",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.003 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1835, 1.047, -0.9745, -0.1612, -0.1204, 0.9978, 0.9184, 1.9652, 1.3006, -0.8116, 0.3813, 0.7296, 0.9954]\nstate[eef_state]: left_x=0.2814 left_y=0.0008 left_z=0.1636 left_yaw=0.1007 left_pitch=-0.511 left_roll=0.1121 left_gripper=0.9978 right_x=0.276 right_y=0.2589 right_z=0.0191 right_yaw=-0.0385 right_pitch=-0.6332 right_roll=-0.2641 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -3.6581, 6.5983, 1.0965, -0.1343, -0.0366, -0.0122, 0.759, -12.0274, 6.0239, 0.7497, 0.2418, -0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1835, 1.047, -0.9817, -0.1612, -0.1204, 0.9978, 0.9215, 1.8866, 1.5894, -1.1637, 0.382, 0.6876, 0.1106]\nstate[eef_state]: left_x=0.2798 left_y=0.001 left_z=0.1628 left_yaw=0.1015 left_pitch=-0.518 left_roll=0.1139 left_gripper=0.9978 right_x=0.279 right_y=0.2645 right_z=0.1162 right_yaw=0.0009 right_pitch=-0.6296 right_roll=-0.2679 right_gripper=0.1106\nstate[joint_eff]: [-0.0752, -3.5487, 6.3658, 1.1209, -0.1197, -0.0415, -0.0122, -0.253, -11.7538, 7.788, 0.5788, 0.3248, 0.0659, 0.105]\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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1854, 1.047, -0.992, -0.1612, -0.1207, 0.9978, 0.9291, 1.9171, 2.0277, -1.5345, 0.3885, 0.6872, 0.112]\nstate[eef_state]: left_x=0.2777 left_y=0.0012 left_z=0.1613 left_yaw=0.1033 left_pitch=-0.5299 left_roll=0.1167 left_gripper=0.9978 right_x=0.2785 right_y=0.2669 right_z=0.2161 right_yaw=0.0259 right_pitch=-0.6019 right_roll=-0.2371 right_gripper=0.112\nstate[joint_eff]: [-0.1709, -3.7675, 6.3521, 1.1209, -0.1294, -0.0659, -0.0122, -0.5265, -9.0872, 7.2547, 0.6911, 0.3492, -0.0513, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f44a25cc0237ad5bccb26485157dceddc1842f164133fe514739daf49c504e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9332069f142f43b5ec5621ba424ddf72ccc59eea1c0465d46f2c3d7efb81b2a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2578dcb4f8252862f735f6e7a8e53f91b71392f25b31468661ddbf7e4e9df054",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_05f2009507de6390016ab42b5b40ec87d0bb279a61305cb024",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.36,\"right_z\":0.24},\"note\":\"The brown plush is now clearly hanging from the right gripper. I’ll carry it over the open safe, placing its head toward the far side so the rest can settle inside.\"}",
  "call_id": "call_rLNAK33dZbxq1SmbN6IZFb03",
  "id": "fc_05f2009507de6390016ab42b5da9b887d08d7b600ef7a85f8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rLNAK33dZbxq1SmbN6IZFb03",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0, -0.1612, -0.1207, 0.9978, 0.8867, 2.2604, 2.4355, -1.5955, 0.3767, 0.6273, 0.1148]\nstate[eef_state]: left_x=0.2761 left_y=0.0014 left_z=0.1595 left_yaw=0.1048 left_pitch=-0.5415 left_roll=0.1196 left_gripper=0.9978 right_x=0.3343 right_y=0.3128 right_z=0.1859 right_yaw=0.0316 right_pitch=-0.6166 right_roll=-0.2521 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, -3.8496, 6.4615, 1.0818, -0.1538, -0.0757, -0.0122, -0.7726, -10.7692, 7.788, 0.6764, 0.3004, -0.0366, 0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e300049b4191d6ac163c279c429f45a24efb27ea963b26c4ef1ec12fc32579cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9949d31ac174a328742555e005ea6086d685e954f89f4a5e3b6db27f34c1dab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2184d65145c29cee58794a5835eb86c75024e2ec435b29b47cb5a9a57be823c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.003 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]: [-0.1108, 1.1835, 1.047, -0.981, -0.1612, -0.1204, 0.9978, 0.9131, 1.9652, 1.2881, -0.7742, 0.3775, 0.688, 0.1094]\nstate[eef_state]: left_x=0.28 left_y=0.001 left_z=0.1629 left_yaw=0.1014 left_pitch=-0.5173 left_roll=0.1137 left_gripper=0.9978 right_x=0.2796 right_y=0.2613 right_z=0.0165 right_yaw=0.0003 right_pitch=-0.6274 right_roll=-0.2549 right_gripper=0.1094\nstate[joint_eff]: [-0.0752, -3.5897, 6.5709, 1.1404, -0.1587, -0.0659, -0.0122, -0.1436, -12.0137, 5.8462, 0.6325, 0.2466, 0.0366, 0.7448]",
      "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]: [-0.1108, 1.1854, 1.047, -0.992, -0.1612, -0.1207, 0.9978, 0.9291, 1.9171, 2.0277, -1.5345, 0.3885, 0.6872, 0.112]\nstate[eef_state]: left_x=0.2777 left_y=0.0012 left_z=0.1613 left_yaw=0.1033 left_pitch=-0.5299 left_roll=0.1167 left_gripper=0.9978 right_x=0.2785 right_y=0.2669 right_z=0.2161 right_yaw=0.0259 right_pitch=-0.6019 right_roll=-0.2371 right_gripper=0.112\nstate[joint_eff]: [-0.1709, -3.7675, 6.3521, 1.1209, -0.1294, -0.0659, -0.0122, -0.5265, -9.0872, 7.2547, 0.6911, 0.3492, -0.0513, 0.1294]",
      "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]: [-0.1108, 1.1893, 1.047, -1.0, -0.1612, -0.1207, 0.9978, 0.8867, 2.2604, 2.4355, -1.5955, 0.3767, 0.6273, 0.1148]\nstate[eef_state]: left_x=0.2761 left_y=0.0014 left_z=0.1595 left_yaw=0.1048 left_pitch=-0.5415 left_roll=0.1196 left_gripper=0.9978 right_x=0.3343 right_y=0.3128 right_z=0.1859 right_yaw=0.0316 right_pitch=-0.6166 right_roll=-0.2521 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, -3.8496, 6.4615, 1.0818, -0.1538, -0.0757, -0.0122, -0.7726, -10.7692, 7.788, 0.6764, 0.3004, -0.0366, 0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e300049b4191d6ac163c279c429f45a24efb27ea963b26c4ef1ec12fc32579cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9949d31ac174a328742555e005ea6086d685e954f89f4a5e3b6db27f34c1dab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2184d65145c29cee58794a5835eb86c75024e2ec435b29b47cb5a9a57be823c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCtkHCJccqoSaNXp2fn8ciTlzdDmk6eH4VJPyrAvuzjbNtIilqPj8u-MlIsSJYgDrnoWIqrs5u923k13Lg8yPIdhVCyLjyPnPYWvyULXDlBM-HqjbITeQGcKoZvKLjOKj_rMPn4gUcsjrgmXCCeIyte9TvHDbQIE4zbwCqiAtecwjEkbe6bScjRlNZVoqIHTMmK4oSK2dPtHgE4maAIDSfnq9RskmwggFzaq_9kUQD_PbGn8hZPWcfcL3pKoJIX4DNHzDUG_IUfiGvbpX127MKyfC1EGeoK8_NwxUwwu-JW0odQWu0G7qTEyI1vizVuArqI7pYOtQVBIJru8jkL4TBWkj_4CSQpsbIPSoRf3TcyTxvR8qS7WWsdu_dT-7J07r2Hoy-fiUWrZdqn34-pfbcRNjrXQ3f52__0mm_UEL4oZ9ZAQxviKzulUx0D0Od91wIRkItFFzSOREFV7NhA_AY3JSK9NsYygfMf2LVlGOBT_VFGHhqcXO79uh3IOM7OiUdUjqABy7vv6VAleUDHpZc7CmhZtDkkBvOjEQ-ZF8-Bgfp-U4AUWYQxGy53ZdomI7amzCq5QJtOcCNDUAOS2PnMo1ZYLJ1vY9UfwLSdJ_XrBQR9lqb3cysnxLD2NsARhUPkfjjDMCHeTRKc0FP9SHtf0qM0bL53wroAAlvDCvBtk0JbebHmZIUUax-RcAYAkHzeXJNLr5yndyimIsfqw1EFdOjBnHu2YUgdXw4tvldy03WAJ5aDU9kRhrKx6mP724e3j02KW2T4-lgReFH79WXCaA1RyRIhhKt0Hqh-MsrnRpZ9eZBv2LWW-1gZAWqucNQ4_AkUP0r_ZvAUuYevQC7NTq84upQo4MtjhYLg7z8vE-noAmsAmCXrkS_VuNcziVevVvNv_CEICtjUEk9rJn_THj5N0u6pMHHBNvLQUuuAfUX0iNvGi8HO5igECYffoAaU-1PB5zfafi1lsnO_RrFk1vt5NLFyPOf6KalHW9JqqEiSL4TDuFh4Zd7wKRm7C4b-kZnvZgtaXfjOLrTY2MeRS0YdWeSb3ecnfvz-EGMY27tUH2w2y9Mhg0aP1tiGN9quUuxgabfEqojh9-vKKVWh5z-A-uNDVOyaak6Dw2vN4kIqk25SLSvXT4BfubC2Taq6Nt2rVo6z38cItlGNjQeX_hQ7hWJP6Avkvt1tblgNI4ZrvoSP0HmJMjVSBys18aPjER54ggxe0I3bLFmzyUhDaroG55xw9w4HIx8d2t9NusSmAiJ0tyMnYhyfQDyRibwIzoMn6aYoiOO_xSzNWItbF8xQ2K4XZq_xVltiGyVJd3TllUnWzL0PR02EwKVLYmqhAMQLBkd99p8xdKg6DU_gEHTrnwO8Z5Tzwxu-2BkhfDGwZ437gASqJGGWCFk7vFXZzEZXR0T7goZABRMTvD5fXOofEcYtlF-6Pcd9iQhMoff1Jy2l3IB5AoKgZXM-9uvrfheaNFCuw1lgM4IjN6ee_JEkzqxNRl5gZn8ZbZm5Z0je2hls_ofDqqJ6MnadOY6R3bG6yZfvzpDg0wiNYXydfE4_jaTB5L1SPqZUCR8XS9YRgSGCvXcdWtpCHHptoLwRPOJyptTGSv-RowF7ATB4J6iD0QZsbz7PqBSfYdhUv2QSekF0jMdT-h2MMCD8Be1c44Y-B4lhvU2iqy-zyxbHInJEN-b4saWBZfGpW0GIcBRU3stxhgoMdXTOXa8mufBieiAT1iE56yYAKlwTOilFGuRo6oO1LHCXG8LpP0OAQatlvvMZwXgODFNGXIcFDMNKfi2TFTqSolPNWqD5jysWWzRDTtyD3dUmZFDFIkCJujG7fU1RQ4E46YjVjjuDmjkcB10rg1MA5FSz9_azDZz3xdpR7NVTe5_PBoYkQXiHCzoqUMNjKRSRM1UgPDOdAsv1WgXANiVqmVI5pUH-hMxOOVEZDvO9oOzihjDOKr802deMxmMgYxXXHoBMyiq4RBpV4QC6P8CAYbfEhysxRU6PVmguaI3rCozlLRAK0UKGA0Sd9A6SppW3tNIXt5uiw8YtRTxqL_T6IRR-kITJVNJlvDY3hfW4sSghC9NddcpVEwSqaPkvCEmXlmG-EG12dLuC1VqDCmLXpBWC8k44hqVWDrlk58MTHqCt4UDLW4EKPoivWxEnwwHyot2gg2-7G7lBQD1AuSFyNi3O-fJjQLgnNwgGpadu6Sf-ccFzB-QgQDSVXuw7nvwoEQS4A7b4HIZ36y7DXO6u9S9iO5JqxcyVjSPPy80m9juHRwLbpf3JR6W6q_EgU7K9TEk_AsB9sn-WH2T1dO0_N-bfwQC99kos-nhFf87dw4NJubdHhA0O4ckqkILrJj2tNO6PpmmmY8VwlwtpECFu9XfnqyxevQd2fQR8184QsVY3MlkbZPQHO-OBmXcEJ1EhKnquQgkwZ_f8GXSAuoVKOENFfUj4Wc1WVe1FFEk7CluUcOesU-gtJoFQxDg9Mjj6j_lNzj8DCP5kfBOlA01xR3V4z8T8QwH8XIe62JotU6vb_kc96mLx4EGPsDoeUaGkUg7xmM4RKnPSCCvIg6pGiLdUhp4GYN1aoKLoDMoQ84i_M0jRro62uPbq92l9cQ9v1lyI5yWN3xSLuOSJKk03C2Pl75AEw71xG7A==",
  "id": "rs_05f2009507de6390016ab42b608bf087d0a7f240a4d4a5329b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.39,\"right_z\":0.15},\"note\":\"The plush is over the front of the safe, but part of its body still hangs outside. The loaded arm fell short of the first carry target, so I’ll move it a little farther into the opening while lowering it.\"}",
  "call_id": "call_jxq7LtnZdZrKYyfzu3QwyvXN",
  "id": "fc_05f2009507de6390016ab42b63312887d08d9f2ae40abb3e19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jxq7LtnZdZrKYyfzu3QwyvXN",
  "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]: [-0.1108, 1.1893, 1.047, -1.0065, -0.1608, -0.1207, 0.9978, 0.8936, 2.5496, 2.698, -1.5974, 0.3779, 0.6235, 0.1157]\nstate[eef_state]: left_x=0.2746 left_y=0.0015 left_z=0.1588 left_yaw=0.1052 left_pitch=-0.5479 left_roll=0.1208 left_gripper=0.9978 right_x=0.3618 right_y=0.3517 right_z=0.1225 right_yaw=0.0246 right_pitch=-0.635 right_roll=-0.2815 right_gripper=0.1157\nstate[joint_eff]: [-0.1162, -3.6308, 6.3248, 1.0867, -0.1538, -0.0366, -0.0122, -0.294, -13.2034, 7.7197, 0.735, 0.2418, 0.0171, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be367c6dfe83f8a22280c3984619ddb08aa8eca6b4aa4967240c194c67a76649",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e89859688b4977b13326233e975ee56b66b83eaef9d975a43eb2444f5cda431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca2cc9168b46bbae2124aea6cad152ee4cf1ab4d5bf1507aaec1c77ebd7f3df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.584 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]: [-0.1108, 1.1835, 1.047, -0.9817, -0.1612, -0.1204, 0.9978, 0.9215, 1.8866, 1.5894, -1.1637, 0.382, 0.6876, 0.1106]\nstate[eef_state]: left_x=0.2798 left_y=0.001 left_z=0.1628 left_yaw=0.1015 left_pitch=-0.518 left_roll=0.1139 left_gripper=0.9978 right_x=0.279 right_y=0.2645 right_z=0.1162 right_yaw=0.0009 right_pitch=-0.6296 right_roll=-0.2679 right_gripper=0.1106\nstate[joint_eff]: [-0.0752, -3.5487, 6.3658, 1.1209, -0.1197, -0.0415, -0.0122, -0.253, -11.7538, 7.788, 0.5788, 0.3248, 0.0659, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1108, 1.1893, 1.047, -1.0, -0.1612, -0.1207, 0.9978, 0.8867, 2.2604, 2.4355, -1.5955, 0.3767, 0.6273, 0.1148]\nstate[eef_state]: left_x=0.2761 left_y=0.0014 left_z=0.1595 left_yaw=0.1048 left_pitch=-0.5415 left_roll=0.1196 left_gripper=0.9978 right_x=0.3343 right_y=0.3128 right_z=0.1859 right_yaw=0.0316 right_pitch=-0.6166 right_roll=-0.2521 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, -3.8496, 6.4615, 1.0818, -0.1538, -0.0757, -0.0122, -0.7726, -10.7692, 7.788, 0.6764, 0.3004, -0.0366, 0.2711]",
      "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]: [-0.1108, 1.1893, 1.047, -1.0065, -0.1608, -0.1207, 0.9978, 0.8936, 2.5496, 2.698, -1.5974, 0.3779, 0.6235, 0.1157]\nstate[eef_state]: left_x=0.2746 left_y=0.0015 left_z=0.1588 left_yaw=0.1052 left_pitch=-0.5479 left_roll=0.1208 left_gripper=0.9978 right_x=0.3618 right_y=0.3517 right_z=0.1225 right_yaw=0.0246 right_pitch=-0.635 right_roll=-0.2815 right_gripper=0.1157\nstate[joint_eff]: [-0.1162, -3.6308, 6.3248, 1.0867, -0.1538, -0.0366, -0.0122, -0.294, -13.2034, 7.7197, 0.735, 0.2418, 0.0171, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be367c6dfe83f8a22280c3984619ddb08aa8eca6b4aa4967240c194c67a76649",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e89859688b4977b13326233e975ee56b66b83eaef9d975a43eb2444f5cda431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca2cc9168b46bbae2124aea6cad152ee4cf1ab4d5bf1507aaec1c77ebd7f3df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtCtpfcCVjOr-jcjPc9MuJBeERioJovQYalTz0W9RFsiOqMILJrThk5D2ohWQdpIo2EZsLw2FNToulRRtnnPdDtiXoGxzyS3oZtteW4IC1LmPjgMDVydWd-3rD98SHzvYt-rrdHZrawoyPpAlQrYYAwyDCnkSI1RU-40qRzn6PcspkBnNjUS4q89euXuhpKhQYu9OKtgtk1vuKHKk2ZQvGhNSLyIOnyLK3VHKWRgClsNxBkNocYSiyKAQoFsI9YdLm8mIrlMOdRLqUjv0-y9szqYIHzkCTb3UwkJ5AbH4We_mGpj0JP-vx1xseDNLLAjRFXyv4bcrh1E1xCqE87vQ6o7FSUjbU9qElNTYIFUvMUzlj1CKsOVWqUHwbQXL_wXh3P5Bw-SPnBRnv6-XgEuwYx-N0jMLOfZTDQZbQu2wAuLwEYpA_TSOUHsOo1py2zzYLooFpirSH0lbb7v_B-PrtXKOvzFh6s4zqtIxg-BPTAAycobiEynfg9tcO1EvVmGjkjZp6xNMiMqt9UGiIcUOc2b5G1MMbnzb4BhtfcVpgoFzj8LGZ-3YF-iHs92VL9e98t2k8JExWGBklO4VC7N4qEj6ac8QRi-NnYRo33c5ODAmL6fiTBFP3snxl6EijPmJCpKlZOBs7vsnAuSIe91P5JaNmdkXnHgITACPDCxsWWttgxeqFC-VVZ0T_NiVGzhA9OUoSfH1APUnYXLiw7FXOPN2QPKw9IBGtM0i2-3gyvrpL2vkAwhwOdbNir5svtP0z27tKQLuRMvq73G8dMbXtqMZtei81lXrqUz39Sjs4bh26p4I_KG904Ep6CAvsKfCj1Zs4Ntujrk9UtVF6DdlLqAxs63DaYZrlLJkQDKAjMJ43goAmK6gE82IGlUKoqUwQ90FWPnCxevYn467Yn5mNGJ_JeXhGDLi_qqnHBOU_2TfMKeSOYRvivM-0_hh4ABa_fn5mEhK9X7qS1DFH2LMr1ra4dxkQvo5sSWeWKd6EYA5XWUw50YgR3cjxjaE0ElhCCb8wTnof-Rca4YY3-SR7nIIZ7AP4tHCA6ZIgE_yVOWkvN9pxlqEVfi8Vbzs2FuSMXmH6f1nGDYi_yuipkJ7FJNrPztvKSlmfnRwOKlnXUEZPCtZwjcLTuONswfWXn2gaJ_uaHqOnWPa3_FAeiHl5VZsEjEeCqfEIuf1mECxNxCyIx2WwWGZO1739t30Qp3oQYRPOEUqarCHSnQEwZDWe-fp5xDUYzxWAK5riefKG8H5ejkZi81m-zO3aSmMq83E1CFmOZZBU2XRAIAN3wKboPTDtqWJUiGkIFMVRw2PEy5CPrP2ixxKkwdlapmPM2LY_T-JrC7Nv9O_RV428ZfgC03CEYyNXPx9fvNpNs2NOuSVA5xJ3Ic9lRzZsqbHUk1vxlTN2_Bp2WDYVXmQCOcFgtrQEZdvUn67Y4yOIWFdHspTmTC43Fq7ZWaoAOfxu773Z8q3fpCi7RgmPBwQup4SADxk-7xg0d91FkwJfF0zDEWKnwOp6dNy5smz-7Pfau7sx7Ke6sWykcoTDxCz9lKT8qpwnTKQZi8pf1CSOoOg_3ZSquGdCzIpoxbqScXCztvW6xGOWWzN9nNJkwqC1ORxXixFikUxK9GoRjp0fUlg6bycFM7cu8zAf3us-3VhjRRAveIEn8I3-PEaUXqzi-BKTh4CVB9YkFeuEXuikOaE2xoZPBZktK4vJG1G9e_C7OBwqqbTf2oxDHoDw_eO18WilZ3nmu-d35cGBUDaFOpBDThgzLILi7gG5U16o-9OBhXkQqiDXEurcrAQeDzMcK8tYPQLxd7HPeZdrjcw9wV9-osSOssaNO_H-4fNrWq4S_NbQCimnh20diAY5s4HzXmgUNZx4BPuy_R2FxlI8D_4898f3p_Du9rAVXjkiZvzxHY2DIwcj1Jl36FmKcbfhobuzgwdWdduBpVImchB4Ni_LspNkdomImrGcl0V9e0506zCHrNmRfLb0I8jqbrR2ACjI3fKQ4m6lulqXZr7jLHWlXUY0N9E6BL5kKEdbdJSekz7DV6CxoP85Km0Qvp9q3WAGyM9nHgy1OyzyDu64zJG49ysKFfcKeIauv2hS30EPWQES1E_8uQy2SnrAkGPAsz5J3F4XjAmKPCJfU8QNakHhrg-ZOURTvT51N8Q3QE9xpjFdwbt4dpW-X3K3eeev55kwPpMjI7pvtsQKPR3meNNoWb2897aov9PqoWnAoOmyrh-t4lQCt7mSDhhZZC_gdvh9VXzWnWF_j_bo8rrN0UqELUSPi8_8dXwTDqEX3p0cw0z6koJ6-inYYjgR4FIvhnNHIc-C2OkQa9gnCEveJu8G4eptcmEZBM9I5Dcr_qy7lqp7OkmyxWQ3_FGiMWQHj7HQ5LzEnz2HMFH-KU_zVqEI1id4eiEarvjXPfMhhITw6nxlCYAo9YRLYiTg9kvkf1xc9asWedQ6bcKnUUq4jc2Kpwd_Q0EwEbj96LYds1yZw80kD1_MMKcxFzgXX4H6ZyW0SxpVA==",
  "id": "rs_05f2009507de6390016ab42b65dfd487d085b64bc08a7d5dc9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.38,\"right_z\":0.14},\"note\":\"The plush body is still hanging across the safe’s front edge. I’ll carry its gripped head deeper toward the back of the box before setting it down.\"}",
  "call_id": "call_nUFhy0yRYSgpkHeh2HkFSqq1",
  "id": "fc_05f2009507de6390016ab42b68c77087d0893f527de0863e1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nUFhy0yRYSgpkHeh2HkFSqq1",
  "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]: [-0.1108, 1.1893, 1.047, -1.0107, -0.1608, -0.1204, 0.9978, 0.8276, 2.6343, 2.8017, -1.5986, 0.3809, 0.548, 0.117]\nstate[eef_state]: left_x=0.2737 left_y=0.0016 left_z=0.1584 left_yaw=0.1056 left_pitch=-0.552 left_roll=0.1221 left_gripper=0.9978 right_x=0.394 right_y=0.337 right_z=0.1086 right_yaw=0.0163 right_pitch=-0.6326 right_roll=-0.3009 right_gripper=0.117\nstate[joint_eff]: [-0.0342, -3.6171, 6.3248, 1.0281, -0.1636, -0.0317, -0.0122, -0.3214, -12.9026, 8.3897, 0.8571, 0.2906, -0.0708, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3349e74e551598d2550e61baa9f25b54a64cb6476e9b4017705796fe10ba81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa13f7dc9b0ca8ae967179efb4f4075799a247eb229c1b5ec0a577456ca366f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8efd5fa8e6e33209a7a881c486263c69207304046a30a795f35d313e91e9e3c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.092 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]: [-0.1108, 1.1854, 1.047, -0.992, -0.1612, -0.1207, 0.9978, 0.9291, 1.9171, 2.0277, -1.5345, 0.3885, 0.6872, 0.112]\nstate[eef_state]: left_x=0.2777 left_y=0.0012 left_z=0.1613 left_yaw=0.1033 left_pitch=-0.5299 left_roll=0.1167 left_gripper=0.9978 right_x=0.2785 right_y=0.2669 right_z=0.2161 right_yaw=0.0259 right_pitch=-0.6019 right_roll=-0.2371 right_gripper=0.112\nstate[joint_eff]: [-0.1709, -3.7675, 6.3521, 1.1209, -0.1294, -0.0659, -0.0122, -0.5265, -9.0872, 7.2547, 0.6911, 0.3492, -0.0513, 0.1294]",
      "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]: [-0.1108, 1.1893, 1.047, -1.0065, -0.1608, -0.1207, 0.9978, 0.8936, 2.5496, 2.698, -1.5974, 0.3779, 0.6235, 0.1157]\nstate[eef_state]: left_x=0.2746 left_y=0.0015 left_z=0.1588 left_yaw=0.1052 left_pitch=-0.5479 left_roll=0.1208 left_gripper=0.9978 right_x=0.3618 right_y=0.3517 right_z=0.1225 right_yaw=0.0246 right_pitch=-0.635 right_roll=-0.2815 right_gripper=0.1157\nstate[joint_eff]: [-0.1162, -3.6308, 6.3248, 1.0867, -0.1538, -0.0366, -0.0122, -0.294, -13.2034, 7.7197, 0.735, 0.2418, 0.0171, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0107, -0.1608, -0.1204, 0.9978, 0.8276, 2.6343, 2.8017, -1.5986, 0.3809, 0.548, 0.117]\nstate[eef_state]: left_x=0.2737 left_y=0.0016 left_z=0.1584 left_yaw=0.1056 left_pitch=-0.552 left_roll=0.1221 left_gripper=0.9978 right_x=0.394 right_y=0.337 right_z=0.1086 right_yaw=0.0163 right_pitch=-0.6326 right_roll=-0.3009 right_gripper=0.117\nstate[joint_eff]: [-0.0342, -3.6171, 6.3248, 1.0281, -0.1636, -0.0317, -0.0122, -0.3214, -12.9026, 8.3897, 0.8571, 0.2906, -0.0708, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac3349e74e551598d2550e61baa9f25b54a64cb6476e9b4017705796fe10ba81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa13f7dc9b0ca8ae967179efb4f4075799a247eb229c1b5ec0a577456ca366f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8efd5fa8e6e33209a7a881c486263c69207304046a30a795f35d313e91e9e3c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCttq6ncu8gy4cbqk-w9CqIlL4r8HyD97ybjUixF7j_LRw6SinUNn_W5gKonxYqzC-AoaRvfLt3AbUZWC51P3c26nKrzyKyZ9PAY-wZEBzVCPMjtMygzjo3c2-iej6msrgg7gGKieBZ6AtIuyRY2NIGWqz4oK8gnHheZbBS4bz7bTCs7G1Xac4yzwOprYNe7fbRkEmfh3GtFdDTCgMJ0HZZyJADT2JkmHfSGS6A-PZGoJAq8H8mOx92aLFLmhZhzpw-EUyJefZhzgL3xE7IsdDVbT-Ds1xv9M4GHK2wurdFlAv-gShMWqqLLjKEdJ_vUT7HS0cfCug5K33_gnn1hoLG6FWgL2jUSQBY-TIBq_l6lU3192SfVqwffCTNF76oe_nDDTWl8WEM_g9BdqlbQ94wq3V-Wj-GJnhR6ONWKLqsos0m_vfcZCdv2wLPCIxbTcpVKuopx0ORttPh21Oe1wl8dFWSNHmqkZTGQmIji5FvF9N5T3aZzrSTIfB_-AqUW-6qEPjPAZgQyODa-NdmOB_6WYVNSmgegbbky6-0ACtdOZ2hAHt0FmEYH6Em5sk-bahocZa6CxNSagF11rc_Wrvm1M83Y2vcxdxbHcaEQ4XdmtMY-VsuJCEXV0Q5YuAvSJtT13yzqF9qPwdvLbTPuXhyo7EFfthO2_7mRV2OsPyEP6Tw7emRchBvHyflsehiBmcOpefuEdbljcT2pEd3ZU2rBqzLcp5bO_MJiNoBlKnC3GpV3KQAamPT3EWBO8E856fL-buAceccQaDwwVDeX6DRaOEsOaOYDMEx3sDCnVrWRA3KwrtiW8HwoptpcgoFWvPEtJ3r3nT2437OIj0RbJUgYLRWZShfg63ojliH2vmFiumnlOgXyYZEJDL6n-JaV8azUDZ9rN73DBFIn17xySpXK9k2CwG7IKAPqLsyRdUH_HXxw0wsu8MJ0GBrCRS6fMCjzowvZURvAZnl6W2tjOGg_YCgvf4tw8-2Yc0d_A82TNNP7jaFCW6fldvLEKel705NN0LanWaDG68i25DPXHe6d-gcbYi2j81z4cMDMg7twD079tZn03U7jBbeJqclpEPN263xFlANqLeOqhwG1cgXWlIB4KitOKTUnXBAHWWsdTNjFSU2yfaBYrpPoQepgoWR1kA-HvYHK87Ia2N7zPU3uedG7TozX99WxvmhmW8TeoEz6k66wXiGsaZm2TfnZIn_tmAGl_Gq5bI1i3p9iJP7Q6WkQYHSTqgA1d155DbcxpTjuXqipnmeGfJM_oVLnZ99NronjGjPUUHFFk5B-sdVz5jlUSUuDoOywJru6UR0_c3fmg2URoSXFkd81UwJIUP2ByLE_l3kXTKAJcWUPd57tzyCIhdP4IO4CqFTdDi5fVpk3pJycZtRcyQrGjibEMOp3cVc-jRE8En1clj-Kr6C_KIiRGhyKtaLbAny7uIHfElDZ1BERgUIQzTAuXrcY8jlpVMFN6yzsFu2M1oed50obctUABQHqHZKUBZLEulMFqNjhB8QK7uYsJnNdFuCmvR9ugnmNRtauFcCzQJtX1j5iaZxw303V500UYugyAburWZxHLhi9IullpsEJKIWy8MZEoKmGzSsW-1XfkvuRr_95FBK4xGM47JsiYnsgJFJEpTh29BYZ7nk6GUWrsukQU2cGqRaVLLbkI6f5wY1zA_dGeFQ4Gzv33HeYVgOjdRGVevRkXQjDUfVcvcAcomAPrLVdFnAGwV53Uh-MgCEHaW2zZin7orTh7tuWKvvz-0znS6DQlk7OAQJrPt_RP8pj9hEEftzlsoZ0tRk2rRvozd-uwDWYcN9xTeEnbNv03fw-ymfnqDYYjWubCkhlxPCBWF8qNXNBC_69bgVVfd3rRvpIGTF6YeHmNux1x5r56A1Kq1dLrvxcQAKWpO2cVr5-Msdl",
  "id": "rs_05f2009507de6390016ab42b6b5da887d08215a04c027044f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.39,\"right_z\":0.065},\"note\":\"The plush has moved mostly over the opening, but its feet remain close to the front rim. I’ll bring the head farther inward and down so the body settles into the safe.\"}",
  "call_id": "call_YfrYnyO5VmoDBVlL0cw2qOqA",
  "id": "fc_05f2009507de6390016ab42b6cc29087d08daf3784c11262cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YfrYnyO5VmoDBVlL0cw2qOqA",
  "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]: [-0.1108, 1.1893, 1.047, -1.0111, -0.1608, -0.1204, 0.9978, 0.8101, 2.7686, 2.8853, -1.5349, 0.4046, 0.5106, 0.1185]\nstate[eef_state]: left_x=0.2736 left_y=0.0016 left_z=0.1583 left_yaw=0.1056 left_pitch=-0.5524 left_roll=0.1222 left_gripper=0.9978 right_x=0.4183 right_y=0.3438 right_z=0.0667 right_yaw=0.0146 right_pitch=-0.6131 right_roll=-0.3264 right_gripper=0.1185\nstate[joint_eff]: [-0.1573, -3.6034, 6.3248, 0.9939, -0.1197, -0.0464, -0.0122, -0.5675, -11.2615, 6.8171, 1.1453, 0.1001, 0.0562, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268108ec0ed8cf4b24b6a51d6a373199927b8dbbb3b97c9cc9450e8cd4655612",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbe212384182d38324d7ba3dc8268a81b4fc39e934f2964e405ed39120fdcc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5414a624f1a7b4c02b49d5c9955a676c29eb8a4da33fd26eb75255ed4b1803c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 1.955 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]: [-0.1108, 1.1893, 1.047, -1.0, -0.1612, -0.1207, 0.9978, 0.8867, 2.2604, 2.4355, -1.5955, 0.3767, 0.6273, 0.1148]\nstate[eef_state]: left_x=0.2761 left_y=0.0014 left_z=0.1595 left_yaw=0.1048 left_pitch=-0.5415 left_roll=0.1196 left_gripper=0.9978 right_x=0.3343 right_y=0.3128 right_z=0.1859 right_yaw=0.0316 right_pitch=-0.6166 right_roll=-0.2521 right_gripper=0.1148\nstate[joint_eff]: [-0.0479, -3.8496, 6.4615, 1.0818, -0.1538, -0.0757, -0.0122, -0.7726, -10.7692, 7.788, 0.6764, 0.3004, -0.0366, 0.2711]",
      "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]: [-0.1108, 1.1893, 1.047, -1.0107, -0.1608, -0.1204, 0.9978, 0.8276, 2.6343, 2.8017, -1.5986, 0.3809, 0.548, 0.117]\nstate[eef_state]: left_x=0.2737 left_y=0.0016 left_z=0.1584 left_yaw=0.1056 left_pitch=-0.552 left_roll=0.1221 left_gripper=0.9978 right_x=0.394 right_y=0.337 right_z=0.1086 right_yaw=0.0163 right_pitch=-0.6326 right_roll=-0.3009 right_gripper=0.117\nstate[joint_eff]: [-0.0342, -3.6171, 6.3248, 1.0281, -0.1636, -0.0317, -0.0122, -0.3214, -12.9026, 8.3897, 0.8571, 0.2906, -0.0708, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0111, -0.1608, -0.1204, 0.9978, 0.8101, 2.7686, 2.8853, -1.5349, 0.4046, 0.5106, 0.1185]\nstate[eef_state]: left_x=0.2736 left_y=0.0016 left_z=0.1583 left_yaw=0.1056 left_pitch=-0.5524 left_roll=0.1222 left_gripper=0.9978 right_x=0.4183 right_y=0.3438 right_z=0.0667 right_yaw=0.0146 right_pitch=-0.6131 right_roll=-0.3264 right_gripper=0.1185\nstate[joint_eff]: [-0.1573, -3.6034, 6.3248, 0.9939, -0.1197, -0.0464, -0.0122, -0.5675, -11.2615, 6.8171, 1.1453, 0.1001, 0.0562, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:268108ec0ed8cf4b24b6a51d6a373199927b8dbbb3b97c9cc9450e8cd4655612",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbe212384182d38324d7ba3dc8268a81b4fc39e934f2964e405ed39120fdcc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5414a624f1a7b4c02b49d5c9955a676c29eb8a4da33fd26eb75255ed4b1803c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCtywekbuPeRtc9GuKCoopb4NN-5-RGTnLsD6hA7z69bG5BXaRiK5mYLzcLZpA9kBdnqiHfjApyt-L8RsAmx0jNFI1qk64SMxEdWCjNnNfnyXvircv5TG8UvtQT22LKlNxFH9KfAztG5Q7b-bQgMxynqWVwPHA-NQUFz3RGPQuEB8KhJ3PLg9e9eDjAvjpQolnMHvTVqkVZCuLjnPZXzCUV5RTLRnhSS_zvHydj_v4sWnKF8ZM7yBXpPyKSkBbXG_KBNvlBGvJ9smtRGkQe6AwXdGrc01J4sdRHhA0w_fI_D6XTrEm_r7tw-mm60Dly_smQsg5gA_ROCd0kiT2HXkSoHJ3_hh6HLBcH6dNrn8oiDphE6-6crx6AuW7i0p525mOw_HYfGX-0mhXgKiX3pUZz9AzcMjrDdEserRXQqveFzz4XOOnrVB9cdor0aAV2XQtt76d011jfNzzflsF-c5jO5isPAyzubQKXQaANLfKy2txX5O4X_nvR-cqXhcXstlSARtNEcFMI_6sMIc_ow7WESP840MIlkwwwUY4dLgxwaAGn0GmrQOppTM-a0PM4TdFiqBpnZmDwshyVbPU26oKW2V6BMRPCJwCQhynuZ3P4sF9TM-gw2_MgERNthQRPXL2_x1UFT1g5W_sne28WWmTlRUp82DIgeryikV3tkusu_5jJs9mCZpddywn63MpVLK7P_n9q21NLnt_LhkhkpxYICuYDDgM2DRc8XbaGbhXZD34etxw3OsZ59gJpD2eNPhpbbWa0rz3EO1EtD2VfSgOH79Nb0kI1B1RdmZRFSjEB6_ragn1xDkiOyTGpo7LRIs5sdpUEt7UXE13HlS_6YOuQzrIxRGNe_t0cPQzY-YnWChidgUIxBdBMee_XCCdD285g2s-gKv8zZLF4W3uFu2j48kLEtGo6MoVUzRfP4J1J64l3V7gY7P4QWYSw27y_IGeeNflMGJR5Ep6CSTrJzqazZRhwzEeZ_1DsAi8o_7i_l52cikg0-b5uyS_c5cmxdwAipbf0FbrH8qMztfzk8SEro9AlifD-RGmqAVn7yb2x6DK3dFRZxcz4yqquFSJi2Pj7Pbgi5CIgmgDgAka5KoX0K9rieTNuhEK_D6Xldg3BR0m5DVUrSeW1d0g-WbSN4yRimywYYkfLti8FbihuKQM7C1wBj44MhJuegAglWiultvs_TGz2ChcQqIkvVpdO3wG-i5Wcx3kKTlmiuJkSADLdeK3Usr0KSDN-w7CU2nm9SIKIFzNPL2hvXhuiXHIoBtey81uh5nmfXu_0HPczUUxb_qj5Ib-Fw3mJeHWMOGITbEZy7pTgDwAtnwv26v2-wzYxGGakD-bzMLKArk63pH2Ezh-wWh95ufiTVgkP-8YAzifkkIFosbq29DCa3N2XQ2YNiS9w8ZK4jPI9u4jEA0dYdUk4j0fr9cebwJd4uYZZXnOcuA5qu9V2M8dq_H7ibqAYSvEPLLAdriC3yBBoT503u2IpmGvS94Y1Nx8Xjc_bLlhcR6VjDgskabiG2tpK09s2aNQaH2lEJOp7Nn2AMFVIHj0p7qwdjM2rvY1ElefDiAeKxV79rn-9YeT5rBZTimFlJUbs36E5VNyWTcRbBd1yKNXBTy6N3F6G2x7-5bch5-K6MI-rz0CtzHsAe4wSzVa2xSvYARVPuNhk8LnAKnyS-ukddIJNz7VvTb6r4GUp4_DqZedaf36E3ZRxETneDr8iCDV0EF077KEG1omGUFHfdb-6uyKaecvc7CkuUkf7NKg6bF9NEPkynJ2esojIe9TT1wjP2tr8EAtpe0DWz6A881Camb5f5CMGFvNzTYibW40pnn0pdeUft4AUmf0IQVu2qoD6p5EJjWyfMmlYusszr-CytN0wq6sjCcNpMaelInfLOmjPu-Iaxmb9VLIW01j7A8WJMUFp4sv_vQDqTSyMK61f0tTwcq8zLQ9Q77f79m3dfv5o2msGETJ75gwm3qN7jAtgu-zS-9U4nAf-x2QDASRxlNSSrGebv1s9levXrVZvafK_58H2tGZDfIyUP4wrXV0fTUDbnL0_F3avHjuH9XuBOL3vv0E7DJ6ksL-itApfyqOcdwNIjMEBotm2pvdTJUgbVWsKzKBpvm1mB_gPKc_LgIEZ3h0lsCknb8kMri6E=",
  "id": "rs_05f2009507de6390016ab42b6fcf4487d0b7eb314e8b10624e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.025},\"note\":\"The plush head is now low inside the safe, with most of the body over the opening. I’ll lower until it meets the contents or floor, then release it.\"}",
  "call_id": "call_BjgefeJIgn9FGxZnW4L8dpXR",
  "id": "fc_05f2009507de6390016ab42b71a7c487d08470a95f6cea9bb5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BjgefeJIgn9FGxZnW4L8dpXR",
  "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]: [-0.1108, 1.1912, 1.047, -1.0187, -0.1608, -0.1207, 0.9978, 0.8055, 2.7773, 2.8864, -1.5272, 0.4107, 0.4969, 0.1199]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1571 left_yaw=0.1071 left_pitch=-0.5617 left_roll=0.1244 left_gripper=0.9978 right_x=0.4215 right_y=0.3422 right_z=0.0632 right_yaw=0.0149 right_pitch=-0.6112 right_roll=-0.338 right_gripper=0.1199\nstate[joint_eff]: [-0.253, -3.412, 6.3111, 1.0623, -0.1636, -0.0708, -0.0122, -0.0752, -11.7402, 6.735, 1.1111, 0.0855, 0.149, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6accc842df9c9902041b260e9e410a084d7a0ba3a46ea629d8f8aa63107780c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ad65e99d79b415601c3ebc684bbeb181a9478d7e048275da7ea0b03619d859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97bfdbfd3aa41c795a9d44720083dc40b2e2f8f3c9e053e31f405a8b83e5c36",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 9.314 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]: [-0.1108, 1.1893, 1.047, -1.0065, -0.1608, -0.1207, 0.9978, 0.8936, 2.5496, 2.698, -1.5974, 0.3779, 0.6235, 0.1157]\nstate[eef_state]: left_x=0.2746 left_y=0.0015 left_z=0.1588 left_yaw=0.1052 left_pitch=-0.5479 left_roll=0.1208 left_gripper=0.9978 right_x=0.3618 right_y=0.3517 right_z=0.1225 right_yaw=0.0246 right_pitch=-0.635 right_roll=-0.2815 right_gripper=0.1157\nstate[joint_eff]: [-0.1162, -3.6308, 6.3248, 1.0867, -0.1538, -0.0366, -0.0122, -0.294, -13.2034, 7.7197, 0.735, 0.2418, 0.0171, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1108, 1.1893, 1.047, -1.0111, -0.1608, -0.1204, 0.9978, 0.8101, 2.7686, 2.8853, -1.5349, 0.4046, 0.5106, 0.1185]\nstate[eef_state]: left_x=0.2736 left_y=0.0016 left_z=0.1583 left_yaw=0.1056 left_pitch=-0.5524 left_roll=0.1222 left_gripper=0.9978 right_x=0.4183 right_y=0.3438 right_z=0.0667 right_yaw=0.0146 right_pitch=-0.6131 right_roll=-0.3264 right_gripper=0.1185\nstate[joint_eff]: [-0.1573, -3.6034, 6.3248, 0.9939, -0.1197, -0.0464, -0.0122, -0.5675, -11.2615, 6.8171, 1.1453, 0.1001, 0.0562, 0.1441]\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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1912, 1.047, -1.0187, -0.1608, -0.1207, 0.9978, 0.8055, 2.7773, 2.8864, -1.5272, 0.4107, 0.4969, 0.1199]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1571 left_yaw=0.1071 left_pitch=-0.5617 left_roll=0.1244 left_gripper=0.9978 right_x=0.4215 right_y=0.3422 right_z=0.0632 right_yaw=0.0149 right_pitch=-0.6112 right_roll=-0.338 right_gripper=0.1199\nstate[joint_eff]: [-0.253, -3.412, 6.3111, 1.0623, -0.1636, -0.0708, -0.0122, -0.0752, -11.7402, 6.735, 1.1111, 0.0855, 0.149, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6accc842df9c9902041b260e9e410a084d7a0ba3a46ea629d8f8aa63107780c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80ad65e99d79b415601c3ebc684bbeb181a9478d7e048275da7ea0b03619d859",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97bfdbfd3aa41c795a9d44720083dc40b2e2f8f3c9e053e31f405a8b83e5c36",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCt0YASNBfEIy9jbigUjqoZCWcUu-Ea-KWMxq52RxOL0Nq1y-bme7FUNcbJ_oTJ0XgMkwtU1a3ngMVt8cuEmUQ_VCnnphSi2ezCWsnX2OkDLlb2vz_NWhWf9p3ta-TQb1D-T6jRDAmAJ1f2PWfmae6qGdillGmIz9RhcvA8sy8WUnvC21tl9czaI8y4eD1kPofVu-FV8Mrbk4y88inykpDwpO3ihpa8iDsgJBijM83OWLbvzmt0vTfU3942W2-zt0_PmWIsOOdsK41O495fFwkFW8q6sI7tfeUUcm9wrC1vOv5ELMlmaBwNJbXfDH1uF4mFL911667MeMajWUw7Ybcycnps-TNzVfBJPXZl_gUN2ad_aRhSdEFiZAYhKDRtOFZBwLcOAHK0FdyqIlL_AynduGJ0VnybfqQW-XghKqtbKWQGH3pIz1aEzPntbnKYWxIHlZYnEM25kakXEgR5_Cr9jhl6IWoqSX9-huikJ7Xyw4OroOzSEVAH4tmMU4DEn1OhnFlpJ3_E5ccozu65AF9rZcXqPd60yBdLifIBAciVtmpGHu7uqUn5-uII-qeP97lzt7mgDJY0gE5N85npwJBkgsIa09ut0Bswnbi0cwoIZHK2fEy-kALbnDMCYFvCEi8ZhZOVgUnux7gDnNPGe35eBduOicDMg3lQexvBtq6SP32lN_2QC0sx9nFejMI9s0-bCxj5NGi8NThmnoAUdPNEPSLJSk64Gdiuj6LIMmnVjZqwXxmctDTfAok5Dn6KIxGjf3lkFDUN0plAG_YPhwjzYxbuHWRo03N5PmwsAXLg7uDyMgUVI0rsF70kONWkX_Ib027FsZw6XEfp7WnKKahpN9S5yYMxO4dlNis7SAd0o93XbYPkNl6zednu1refpdXzzIHzOKNhTgp-7zVRG14y0rlYvc5mT5VvtUhn6FExEKFSPgcWA1U99KlQM7IDeP1m9VEkKi5u-Hom-137kq8kWLoNnOcHF68gqiZk49UTAjAVi0knAZ7-AeI7xrgUZp1WtiLo979NxQW3T92lAQS5TG_vktCzyWin7tq7aQB5AMWuYZvISFkhgK6qA6uWNWTLecI71Mj_Pi33KxDoe8Wl3-eWuQQmS1W3XNiR3c7Kqn5-ZBORCcOOKxytp72QqsswrXMi288ZyW5CtVapNh1WWvSrZ8XhpyTfisgdQO1Ice2DevmE4P2BhChOBC0feQDnt6h5wsh-e2rP8TInFBR7s2g==",
  "id": "rs_05f2009507de6390016ab42b73dca887d082b9bd2292a242fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The right arm stopped descending at about 6 cm, indicating the plush is supported inside the safe. I’ll release its head and then clear the arm to inspect where it landed.\"}",
  "call_id": "call_kAalXuikTEiswtmaClBpybIL",
  "id": "fc_05f2009507de6390016ab42b73fbe487d087485ac3a748a2a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kAalXuikTEiswtmaClBpybIL",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1946, 1.047, -1.0302, -0.1612, -0.1207, 0.9978, 0.8055, 2.7457, 2.7792, -1.4788, 0.408, 0.4965, 0.9945]\nstate[eef_state]: left_x=0.2696 left_y=0.0021 left_z=0.1552 left_yaw=0.1096 left_pitch=-0.5761 left_roll=0.1287 left_gripper=0.9978 right_x=0.4188 right_y=0.34 right_z=0.0518 right_yaw=0.003 right_pitch=-0.6321 right_roll=-0.3597 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -3.8632, 6.4889, 1.0574, -0.1538, -0.0611, -0.0122, 0.1709, -16.9504, 5.8188, 0.9255, 0.359, 0.0171, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c60bf0e45be64ba5ce75f50307a8937e2e77f7e129f14dec636b1de43953e2c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7b5de695176d8171d35c4502bf2279b1969f5fc51cc055f0faa6e06d5d7235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28abb0fa8a5bf77f2c50cd769283fcc6168741e123716696acfb4f9b2cd9c4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.054 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]: [-0.1108, 1.1893, 1.047, -1.0107, -0.1608, -0.1204, 0.9978, 0.8276, 2.6343, 2.8017, -1.5986, 0.3809, 0.548, 0.117]\nstate[eef_state]: left_x=0.2737 left_y=0.0016 left_z=0.1584 left_yaw=0.1056 left_pitch=-0.552 left_roll=0.1221 left_gripper=0.9978 right_x=0.394 right_y=0.337 right_z=0.1086 right_yaw=0.0163 right_pitch=-0.6326 right_roll=-0.3009 right_gripper=0.117\nstate[joint_eff]: [-0.0342, -3.6171, 6.3248, 1.0281, -0.1636, -0.0317, -0.0122, -0.3214, -12.9026, 8.3897, 0.8571, 0.2906, -0.0708, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1108, 1.1912, 1.047, -1.0187, -0.1608, -0.1207, 0.9978, 0.8055, 2.7773, 2.8864, -1.5272, 0.4107, 0.4969, 0.1199]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1571 left_yaw=0.1071 left_pitch=-0.5617 left_roll=0.1244 left_gripper=0.9978 right_x=0.4215 right_y=0.3422 right_z=0.0632 right_yaw=0.0149 right_pitch=-0.6112 right_roll=-0.338 right_gripper=0.1199\nstate[joint_eff]: [-0.253, -3.412, 6.3111, 1.0623, -0.1636, -0.0708, -0.0122, -0.0752, -11.7402, 6.735, 1.1111, 0.0855, 0.149, 0.1343]\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 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1946, 1.047, -1.0302, -0.1612, -0.1207, 0.9978, 0.8055, 2.7457, 2.7792, -1.4788, 0.408, 0.4965, 0.9945]\nstate[eef_state]: left_x=0.2696 left_y=0.0021 left_z=0.1552 left_yaw=0.1096 left_pitch=-0.5761 left_roll=0.1287 left_gripper=0.9978 right_x=0.4188 right_y=0.34 right_z=0.0518 right_yaw=0.003 right_pitch=-0.6321 right_roll=-0.3597 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -3.8632, 6.4889, 1.0574, -0.1538, -0.0611, -0.0122, 0.1709, -16.9504, 5.8188, 0.9255, 0.359, 0.0171, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c60bf0e45be64ba5ce75f50307a8937e2e77f7e129f14dec636b1de43953e2c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c7b5de695176d8171d35c4502bf2279b1969f5fc51cc055f0faa6e06d5d7235",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28abb0fa8a5bf77f2c50cd769283fcc6168741e123716696acfb4f9b2cd9c4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_05f2009507de6390016ab42b76ca1487d0a85c99553ad4e7e9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtCt-UjW28YILtJ5Ng8GWLox56yZIzamu7wAQsjUnlbI6bkLNNirlK5sD0mijS3_4kc1dmaZEdg_Js1guQGSYjbRcA-P1tYhgqDXsG8ux_21Optsvr_5Cn_2d4JGNj9zInOzWqEEa8w5ZJ-_qiEi0zr4O8YWwwo1GzowOjfOqaV5Nhd0ZeCU9sMj4qTftzdO5zKjoh7PMydg-jwdkwKvFS0SfkgJdZpecSY5pRZXZnyj6010Pne9MAkqc-XTzDB4PhJKvprL4oQeDH6QGf0UfRioRQqhqrhsg6gMhK-lXB0INivrguiy4N5s5D2gHOiZ1UJLkJvt0DRRqEQcPyo2uX9KlDLjV_LAHgU14-W1mHNTbWA2iJrONcuzxOYfR1MqJYU_f2HIAXiWNGbeskiwd36pE85FGpYP_8dHngyEV1OerrQ3FKdb4aUk2warNJrEZEsWQnC9gTpkJAxMjTpNQrwt0G4iJ1KG2QLdApvawW-8T_Xdv4y959Ijg1AOhpYb5L73vjG142dlPXzz5Hf5tFKTGnymxAaP3BWF0s6VEBSs2Xda6UF9mOXiBaeuxHe6F6b4UG_AO6HBOlEjVG2XDlLlXJ0CeAcuJFMrYn7za6D6_3XZraEf4rmGJgaiV8OGwhla96JTtD8ffawuOjFGp-b_xnQRosVEDzwkQUm-kzaDcl9q037bukPrIX0aw5tS20o-xH51oJyzt-yhrDBGtBsrf2_6nqManea3IqTaqoxyfT8oYQ63SM5iaeuT0Cwo22TRo9KFsVRzVj50CpjEA-h3NOlHIXC6JEcAg6I2tO3VAZH6tm4xtLkXJ1v0jdci3Xy53fSqpsjI9KMRRXAA3sKPJXPeHB17RGtlGDenheqwTZmYZLE9zAWQEYhTyhqjGU_xGAKKFfK7Z3EWw3kXKwKyssIihiJlo7waLBslKwTCGi1Pwe4yAyBSOWrq3YEA_MTUtDeQOKAAnJgCyUpGehaeE7yO_XKHDQ9k0aFrP4V8qjB78eG7W4YTga5o1eQVuokURdOjs6VlQ74CJzwfbclYJOsMU_oLfPW21gF1mixyD4g7grJWLpf5xAH781gjpJULHtR8esqWtvWLxtWGzvOj3F9RGIH0ZyFNb8itfal7U9zlHdzDMYQcuUcGBJdx9TAynhmwHYgoEy01Noycvjl6Ml3My1aERNmYr2j71l8uXTYpOy61ezg_PJeablBBrUrTbI6dft8uUyZ46C31Lgepe4VpC5xgfaGlRkfGrkd6IHKD2J4ZLQJeOBZQNhd8MD8OH3ws7thWtmn_BVCgayGRISkD1liC6WUcKok9I3W7LKWeMv4tO71o6WZ5Ufc22ouSfJ2DkmRE79i1LLPRWYvCfrfUCPnmXe1Hz7J8ySUzwh8ybcRHLFyQoZvu3WtA48c7nIoolGIz1rFsC_eeobpbfcgRTW9LNbF3AdsvNSsA3XfxrCdOYmnzPO43Fu6VNbNkt4P10zIpVdmwBFLkrjhmk7vPf8guOG6kyHKlR2UiVtzKL6ccDr47zQTO1Lh4mhnELPMYgwImTcub44eXGd63HMqJCEu6-Okyc-FSvE_nUyGd9hUbSGO02PJgxcI3jrrOB3xZ5is_rK6deIZ3Uhtua-nIQQX7nT3tk-TXRkWelt9iKs-DkzDoXUbCFZk7neHrVEIknN_SYCtbrmLa9HC9DVrLXBAiayEHBYQlwDh0_0sd1XFMdnyI4rIDajxHZ-z8WBda01qfht1Z0oGSd2wOwj58VMvGQKGPFb9UX9VatVcljV6vcw0YiYpXdyNXzHGXbXOZqY3Sww4T5dI_X7z9jj89SqNu0LCwJFq-uuOse6t58i-RSZ4c6SSmiMEWk-CWHdsCiXhuZV3KqiGY0AGbT6b44E60zqrK-bCH80OO8pOiM1Geq9RvBJWg5HQEJ_mpG4ylA9hsGJzf9r53as8CleywlXbrcADNcDycV5dIJGxeLPDPSDqiRVwvdYkduoJo2oufTTrWIrl2dPqZ0HAAQCePMcJ7b0Oe4bm53lohh6-i2XgHulhTHBJ8Yq5T4nhPMvX8PaeXf0qzYwN71Lc-RAnVJTjqnEONjCn2lMX2umnBkbZcmxbcwZ8MMd6qULn80y-sGVJxdNdn-S2qR2reo9uGYMkvJ6ZJXXULh_1ZyqsC_j7fTp9ynbABnf5fk8CRE9fn0LmyZ5m9eLv0JJgdnYAEjDNYIlxRkSHeYsw1PoKpdGkslaKuKqpRGqBjDc9RNNbA4UFgpEO8uMg1jSbHXK5SiG0cPwfFRcXdrHMY4WzKKmMMWe4dLuR2ft9xy5zehxDq360FM2lWX33w7Uoo0q6D4jjhfg2I_TfOYA7heifg_8jCeZ_D87IlNnBJ7HBisGOx-1gWVeUwS1XLIZmzI4sNqajeo_prW5yuJyuft7BjQlyMxBLsyQP8VOQ-2MlLH0Vd2ME5a4_h0PaMYNrt9mTLt3-kN61ltW38a0fLtP2rk5IB-V_vQ9Z6J7dcBU-UAjKIRiMWHy7MK54sevnlKGCqf1oBol4fUwdrcPMPTmFuqGLJs5g9RVl1IWfC0dfHGDy2Vfp9kRmQUTpa6FumFx9Vh8t360Clqj3p32N5-ketbDJYxT9xzp3Nh9vgnGukz87l_yYjtZBxL6MAZDhiz37g8r6oKhOYvnRU1hi26Ox0=",
  "id": "rs_05f2009507de6390016ab42b7b517087d0809c159ea6732cd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.19,\"left_x\":0.345,\"left_y\":0.003,\"left_z\":0.02},\"note\":\"The brown plush is released at the safe’s front, though some of it may still be near the rim. The small white toy remains on the left; I’ll clear the right arm and place the left jaws low around that toy.\"}",
  "call_id": "call_bc5o0LqLKVuyxuqH9wG74opf",
  "id": "fc_05f2009507de6390016ab42b7dfec087d09c7338233da55f99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bc5o0LqLKVuyxuqH9wG74opf",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0834, 1.6077, 0.8421, -0.4446, -0.1574, -0.1085, 0.9978, 0.1513, 1.3212, 1.2488, -1.1332, 0.2642, -0.1417, 0.9953]\nstate[eef_state]: left_x=0.3356 left_y=0.0033 left_z=0.0206 left_yaw=0.13 left_pitch=-0.6095 left_roll=0.1386 left_gripper=0.9978 right_x=0.2924 right_y=0.0015 right_z=0.1853 right_yaw=-0.0339 right_pitch=-0.6083 right_roll=-0.36 right_gripper=0.9953\nstate[joint_eff]: [0.4171, -5.8872, 5.2308, 1.243, -0.0562, 0.149, -0.0122, -0.1299, -5.3538, 6.0376, 1.0867, 0.0611, -0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5ce6384da8ac959b93f6df5258a83d1b4eab05062959879086eee289966ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df63ae9d7b53c606e151380bfa394d4bf6efe12bd24a0aed08f1a6169d0948e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5ee57d92dcddf15fcedea3f21ebea179916d89701aa5c4b0c474f1aac87aa6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 5.128 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 152 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1893, 1.047, -1.0111, -0.1608, -0.1204, 0.9978, 0.8101, 2.7686, 2.8853, -1.5349, 0.4046, 0.5106, 0.1185]\nstate[eef_state]: left_x=0.2736 left_y=0.0016 left_z=0.1583 left_yaw=0.1056 left_pitch=-0.5524 left_roll=0.1222 left_gripper=0.9978 right_x=0.4183 right_y=0.3438 right_z=0.0667 right_yaw=0.0146 right_pitch=-0.6131 right_roll=-0.3264 right_gripper=0.1185\nstate[joint_eff]: [-0.1573, -3.6034, 6.3248, 0.9939, -0.1197, -0.0464, -0.0122, -0.5675, -11.2615, 6.8171, 1.1453, 0.1001, 0.0562, 0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1108, 1.1946, 1.047, -1.0302, -0.1612, -0.1207, 0.9978, 0.8055, 2.7457, 2.7792, -1.4788, 0.408, 0.4965, 0.9945]\nstate[eef_state]: left_x=0.2696 left_y=0.0021 left_z=0.1552 left_yaw=0.1096 left_pitch=-0.5761 left_roll=0.1287 left_gripper=0.9978 right_x=0.4188 right_y=0.34 right_z=0.0518 right_yaw=0.003 right_pitch=-0.6321 right_roll=-0.3597 right_gripper=0.9945\nstate[joint_eff]: [-0.212, -3.8632, 6.4889, 1.0574, -0.1538, -0.0611, -0.0122, 0.1709, -16.9504, 5.8188, 0.9255, 0.359, 0.0171, 0.022]\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 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0834, 1.6077, 0.8421, -0.4446, -0.1574, -0.1085, 0.9978, 0.1513, 1.3212, 1.2488, -1.1332, 0.2642, -0.1417, 0.9953]\nstate[eef_state]: left_x=0.3356 left_y=0.0033 left_z=0.0206 left_yaw=0.13 left_pitch=-0.6095 left_roll=0.1386 left_gripper=0.9978 right_x=0.2924 right_y=0.0015 right_z=0.1853 right_yaw=-0.0339 right_pitch=-0.6083 right_roll=-0.36 right_gripper=0.9953\nstate[joint_eff]: [0.4171, -5.8872, 5.2308, 1.243, -0.0562, 0.149, -0.0122, -0.1299, -5.3538, 6.0376, 1.0867, 0.0611, -0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c5ce6384da8ac959b93f6df5258a83d1b4eab05062959879086eee289966ec6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df63ae9d7b53c606e151380bfa394d4bf6efe12bd24a0aed08f1a6169d0948e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d5ee57d92dcddf15fcedea3f21ebea179916d89701aa5c4b0c474f1aac87aa6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCuE0611J4JZtqvtDxGCDVCkOPASaItm35N6ehgFCTrHdGOyODdoQcAF0OFI8KD-XAckcYNtfLNQciVfllMENTYaoH4k9_E-gaSUiU9CTSu4Re7_ajlCd1dh0ebp_Kr-WDckwKhQRbkQQKKTTenn76WgUToPNl3o8nAvcGxRzhz7eO5YUrWPcGqpRv5LAEbxrzflYqllY8pjuJZ-s-HxCxJBpKNzsejuE-tejUcMcttZk3P2WuxOwZoyTnyO9JN3WhSCOYsUYoDrgb1TG7LK1UtMCCjLUaT4ThXUgb-vW8Ou3UXroSfWxcwrxEABo4dEvGDsvzjlApbn7vUvrZpjPfyJT8-SZZcX_TeqlZxCdjGm2qW_wR3ucopFSAuqhDVy6BGsyKUkEfgkXShX9tHtq8XZUuwLnRhyhzlxfiLyudut-C67PwsjIcWo54o3wPmvcjnoM6VnVVUSVa95v2qrdELSsIREL4hDvC_DfDSltqf8P5Fl_U8iFgtPG3Ft56tuy5fRR9tqRoKR9ZtPUAX4hD59iLOQ3cS3eZ10MjsBmQHoC0Z3afH2lwAb9K2P1JTZNLsUPeY5xG6cdKuVgePGodMam8RYIpkqZQosVHKwjFBRFjPs31xfeOtk8in5qWaVrNbcwrnSomNqKTciHB38pkkaR03Rj3JFAqhTsHpSFCUJcRmbLgFKpidwNAgKj3FvQvjU-SisAgtsWQ_aehfRj7OhYhemJWD_d1lF2YeF5RQDZYpDtBYbQ5KqhLWq_LYtXLgevD2gYiyshqnWkrqP7nzAZjUdFqak6-9XZpKWQOWRNk5oDqlP7C1uLVXKjdizuaAwg8gWqtGPY5v0JAJC9V14vuUYL1U3WO3Qr5LIaD0Jr6AuTdsAp8SOYdbGFsi8eqLFF5lT3vManmcQp5p7gzuQYR_6esk0KNq9D57ccMrbxY9s62Mj5GUc3gFydxWH3b54ptY6US85L4j7NLxPkDu6E2WwSfRyCIIYQdyJd2SGYJl3zbrRxT0kpFR96fcwIwT4MmnoDNYnUBMqmPga9cBI9JpskeJt0iIHy5EMNe3r2FGfFQgUZwY8QBEWxhdrPrJjXAZfkkgMNsifq2KmUMNgcm8bQR9lEnCk1Ezh8WL5UDKevW8wt6mo9jqazBsNOKJrQ0vYliGlQGmDfbuQ4tBriedJlv3W1JYE0QF9ZWwMTYrMHtIF-swzJOmEmRtQDBOoR1TrI3TrEm43fuvWhwvFJzwCr5aiyYs3pTJb0_kVf4nuKzC_mln9Ae6GXVZJB4WbPu3xLsDvCDQUbzhE8eM5pGOW_YAQoxaa59-9QQ3t5zWIXN1bUToltCznOOaidpHMsLgUClOUaSLGXq4r6GcDTtmoadVoaBbnRuFvAuUevrAUBVAiZmTW18QyeOLzVq3BmnMfkShj_FRVQCjjAPu_IuufCQz6Q0cOGJewamqRPLNOScQiHQFDtDM_4Bjm8i0HqP9oLF_rcv3O_lJ9wlFV9GuttpXy2MSBsnk6T103nt0=",
  "id": "rs_05f2009507de6390016ab42b834cb087d0a3e27793f29577ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy is centered between the low left jaws. The cleared overhead view also shows the brown plush slipped back outside the safe, so I’ll secure the white toy before addressing that.\"}",
  "call_id": "call_IOLlGzjlCRMfldh3t6lp8CHP",
  "id": "fc_05f2009507de6390016ab42b840e5887d0b121d5bb3e7e1230",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IOLlGzjlCRMfldh3t6lp8CHP",
  "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]: [-0.0845, 1.6104, 0.8421, -0.4294, -0.1612, -0.1131, 0.0102, 0.1513, 1.3075, 1.2385, -1.1469, 0.2531, -0.157, 0.9953]\nstate[eef_state]: left_x=0.3389 left_y=0.0033 left_z=0.0212 left_yaw=0.1338 left_pitch=-0.5961 left_roll=0.1375 left_gripper=0.0102 right_x=0.2864 right_y=0.0025 right_z=0.1839 right_yaw=-0.0143 right_pitch=-0.6231 right_roll=-0.3568 right_gripper=0.9953\nstate[joint_eff]: [-0.3897, -7.4188, 4.8615, 0.9451, -0.0855, 0.0024, 0.8474, -0.0068, -3.959, 6.3248, 1.0965, 0.1832, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e4fb7f191558415414acc059239396c3c2d19207056bd4e92d19e62a30ede7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c36322d8f7567640c7869865e2d1d985602519917665e0243b79d324e114f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935181e8ff3d76c5d54cd1f0f664476bfc5f5f3f705e618fe5279f9892505a70",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 3.026 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 152 changed as sent

message 156 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1108, 1.1912, 1.047, -1.0187, -0.1608, -0.1207, 0.9978, 0.8055, 2.7773, 2.8864, -1.5272, 0.4107, 0.4969, 0.1199]\nstate[eef_state]: left_x=0.272 left_y=0.0018 left_z=0.1571 left_yaw=0.1071 left_pitch=-0.5617 left_roll=0.1244 left_gripper=0.9978 right_x=0.4215 right_y=0.3422 right_z=0.0632 right_yaw=0.0149 right_pitch=-0.6112 right_roll=-0.338 right_gripper=0.1199\nstate[joint_eff]: [-0.253, -3.412, 6.3111, 1.0623, -0.1636, -0.0708, -0.0122, -0.0752, -11.7402, 6.735, 1.1111, 0.0855, 0.149, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 152 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0834, 1.6077, 0.8421, -0.4446, -0.1574, -0.1085, 0.9978, 0.1513, 1.3212, 1.2488, -1.1332, 0.2642, -0.1417, 0.9953]\nstate[eef_state]: left_x=0.3356 left_y=0.0033 left_z=0.0206 left_yaw=0.13 left_pitch=-0.6095 left_roll=0.1386 left_gripper=0.9978 right_x=0.2924 right_y=0.0015 right_z=0.1853 right_yaw=-0.0339 right_pitch=-0.6083 right_roll=-0.36 right_gripper=0.9953\nstate[joint_eff]: [0.4171, -5.8872, 5.2308, 1.243, -0.0562, 0.149, -0.0122, -0.1299, -5.3538, 6.0376, 1.0867, 0.0611, -0.0366, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0845, 1.6104, 0.8421, -0.4294, -0.1612, -0.1131, 0.0102, 0.1513, 1.3075, 1.2385, -1.1469, 0.2531, -0.157, 0.9953]\nstate[eef_state]: left_x=0.3389 left_y=0.0033 left_z=0.0212 left_yaw=0.1338 left_pitch=-0.5961 left_roll=0.1375 left_gripper=0.0102 right_x=0.2864 right_y=0.0025 right_z=0.1839 right_yaw=-0.0143 right_pitch=-0.6231 right_roll=-0.3568 right_gripper=0.9953\nstate[joint_eff]: [-0.3897, -7.4188, 4.8615, 0.9451, -0.0855, 0.0024, 0.8474, -0.0068, -3.959, 6.3248, 1.0965, 0.1832, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e4fb7f191558415414acc059239396c3c2d19207056bd4e92d19e62a30ede7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c36322d8f7567640c7869865e2d1d985602519917665e0243b79d324e114f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 417):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:935181e8ff3d76c5d54cd1f0f664476bfc5f5f3f705e618fe5279f9892505a70",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtCuKdZnajQ1nWkB4MH02m_WGrRhXN6hSbIhcTC1pIVw7wm6szGbAgSFikkHONxEr3lYcAXr06bWPsmUb2tYNJv7PrP-_g4KyUzMnAHjgqm8gKUgIwgOOfy75JE-8GFY7V8NpGr_RrDB5kj1z6qIHGpkX3yPbTIz00UwU0GnBxt6T8zExGnsxoL4rlayCZDEMX0UjxwlYKDRJVGJRV00IGn1O_fNgDtAH1Z7tF_mGjU01G-Dem6eGWG4G4J-h0ppONhDCJS1B2Mh8duh3SRk1ZQNhTczcEkIupn2F-EdfXzcnSFP1n1049WSNq047Gw-apFS654xRgYrErw_-r-fk0_ZsfZmkjRuIO8AHRklYjvrFhl1S73meks46IMWF0GjvEuPauSujek5bfiDoXo4wXj5OnnPxxFqlry0sy31mWzg78BBMc4UoULi_CqBbEnb-NNdx2lhLjtRyG_83xHqPQ5-0ECR56sJKlmRPbRhc2oy803x3FywZJkThloPK1j-5r842b8UU59vAIsyvcPHHWo-Cl7R1WnBwm1h1SywutvRv-STOVFr_Jde-LUsw4c0B7TH7-jTsknUgqx2WeK14uswdDFueTQ1GajVXVg9NgDGS_wvfE3LEQMbxj6LEBou1cumci2bgrDpJBWmqTpdzOCnRq3zD7YduTA3uHaZI7iDKnvTXnxP0tDbupC71viD0YPZPGfjgbO2UDzl7QAKA-XZ7uLfAF5D0nKM9Seh62kJCAa72NcnpMKoHIkiJkisRLfR3keFhi3l53fes3ihiAeen04IzRaL1SIK3SBCPcooxOMOc7UM3kekO90O1xKQJJY70_IlAlpcioiS5JkVUMBvqE50Q-9CAsIJKrD8zm_i5ahuP1xSUbAu7R0OlamOPM_huX6GfGYuxfw0J7NiRKj4PzWqHa_fJOUjiu8rqECQSMNeX7W6mnEjza-tb7D7kWmPWZ_0W1rQaJZYFepJoE-04seni_Dvr8aSiQArPITaIyoYger_7GjENe0Ws-Vs6IMxB7mGUej3r-MNUVdZiJPqx8RV5GamyoP8_KqkNx4vI53eNnRCOsXLPIzCmfztTfpU7RowzXEj6nZdZvPYS6RaaGcuS9pRdgfVbshxPs5FTa3eWLyGoRv6M0n_GkRQtyhT9-5EcX7Za1j2i7lFgKRl-sQtGOMwz7ygTWw0ijNpP7BkNuGz6TkM-WBs_nE0QzPBs3S3f4UHXEJLxKcLjAcdTNci1dRLqQBJ8OniX89d_8nqfHD6LxWXKJ4OLI3yPdDKiVZp24omNNoGScll0TGs3tDUzB34yH5rEZpFKGrY61pKyMfv0D9MQk7_hWMaC3i6xhMe5BaKy05U66CWOl1Fz0Cmq_X4UVp4xouYV5JLA3mey4iUUDhqUZ0rmy5kwXgMm-8coadIpw3DCD9pZih40kWmWAWIzZCVTF4DALCOHSWPGGq3ix3BcnpvfgPwlTwLXNxO0VdW2u0dBaBSjrdEoXsRvH1E-ArRdcJ3LZBO2jyEt6rDGOTqMRPe7Mrfj1nRXEBoejoRmVotiXseRIsJVNN0dnE3PumbfFe9ax1rYbrWoXLRxfc_I5_soB5ow0LsO0SM8aP8g-GSmPTf2aw2HqJAGIp9yak13ujm1Zpq1ha7IO_l9-xI-pFjJgj3UW-gHTV0UbtdwRreqKQCqhCAfW4RYXnoeJB_6C1zducviAPDWM3uToeAepz4rSEOfhhnTuBm2_ANot9TLvrV31dQDbaOoetMGiLTaRjTI4ydNiHQfqHXUvdz68hmTB5HuGb0_R0gH6J80AbTvZmmH8Z2pPvYr_ops9Gkz43uy2XlcNP5XP2987Ds-uk9-WtUe_y80c8E6j5w8HGRZsnQf5-MQCtU435zNT7uklFbCLm5qo3cXpm8yO8gtfmt97a0PKIN7s1fxsibXJi9MnWwSpMvbHxr5xPWPzJTEx5oFbrVzGDVd3z4pub_74u_95Wa1zq_e_yFx92Eofy38WF8qLXiSx0RDOIbU5M2tPCil007Y3Ca-aUv3X1I9oNBsfF3DMFIIf8XuqgiZEebLIyrA1D8Z0ofpRbEWGCrmm7XRZFJhZm-Qp3GGQfOwNFDytXl8NQCDyOteM59RXHRjTqHwuZkGgTLQ5sT8f1mnxOCY2oJkAEU3w76dkRagdYLB2vyzEMrgnuvr65rsx-wz-jBWGIsG8vjFEMDJxLxcOWlyttdB7t1m86zV3tgyX_m31dx8B30VFF3ApTNCz745g7bvRfqo3wyucI7-CQ_IQZgII5FGbOaD97xC1o7C3V4xuqNHPY7iutoV5qMvP6iBpy0MO77a2L-txaCqrtL7Zwk2ca_GBxjkiKD6luPsCB9F4aE2zIWa-3m_yBo-QPbAO10vH1ZNU0JA41O7loniGUajry878qDcPA2eIvYuYVcyXCq_P9UsDdjkGb6u4_vWqee_ZrOyKrU-6W63YxsFv6bvdFek-iY_xyg9jCyuGeuh1PmPVF4-KMClRyKzEFUP6Gd5b2vmclO-p_jgXQPY-oHyzBCjWpWxsBDTvF59U95hfUXuI-BdalYTY6QU8ahxoC8n-58-p6b6rVTvKZCcLPOWvTEwIShLGny_eb6uPf6ta-4x8OGuogI4AOJXhWwunaONZaa4n9-CGDwZay5FxMjzDgaHVBwZovq4SD8oRgeZ2qE2CoNn_jnQrzH1FaIhKYGHC4121NT-MVAR5zO7K0IvDSUPrQ6nn5rGVT11qpAm9ZWf7b-grtA3OJsEpQj6ZQQ_nTQc0CvlYVOMmz4lX04_3g-3cdn64A2oV2ClkEuK3Idwuhd-YlD1u-U_wR_wTzBJxReiTYdSU9dzATeS7hxhWix2hw4OsCXbkqXtOGza70ifxyIOa48yllf2HMR9aZ62Z7vqyTEU58Ssh4rY-OG1DxmwjUBJEXKGV-cgeR9OQw1X0QPfVoNLf7u0gVnH2-7gitur-uv3KWr7m9_qBO2lOBePGmwZ1zOduhr3D9Zol9jh0vGy8eOHGgfHqQQj5QmProSTPP5wBWkwm8x5Wvr19cLFBELfxE5eUWw-LndtHE66YPVH5ylJNHdjmGEI6PqgIwzyN92kBlJDCgrskfVpulHVaz162ULe5gvV2fpiat10fbW2bQHE9qbjwswennd4XrtXqQQxPT66uHglbZvThQp77-NShTf6jtvy-W_D9_gcCsZ8HwZK88z97d74qgGgECEXqaPrzw1DGe59eP_uGtlUYEjiaI1MD3bxThVRiyp_xknOQiKGsC-tGmTF-KbNOKAADEMYjCeih8ncX8Ns6vz9DJY=",
  "id": "rs_05f2009507de6390016ab42b86e50887d09697dd17ad5387b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.295,\"left_y\":-0.027,\"left_z\":0.014},\"note\":\"The jaws closed empty again. The white toy sits slightly nearer the base and to the right of the jaw tips, so I’ll reopen and shift directly onto it for one more attempt.\"}",
  "call_id": "call_MEjc3eG1HiyauWcNBHZw7Kgc",
  "id": "fc_05f2009507de6390016ab42b89feb887d0a8259e63a552ca86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MEjc3eG1HiyauWcNBHZw7Kgc",
  "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]: [-0.2188, 1.5009, 0.6979, -0.4267, -0.2108, -0.2329, 0.9955, 0.1513, 1.2995, 1.2114, -1.1431, 0.2527, -0.1577, 0.9954]\nstate[eef_state]: left_x=0.2978 left_y=-0.0247 left_z=0.0121 left_yaw=0.1324 left_pitch=-0.6041 left_roll=0.1469 left_gripper=0.9955 right_x=0.2817 right_y=0.0019 right_z=0.1773 right_yaw=-0.0153 right_pitch=-0.6384 right_roll=-0.3598 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -6.9265, 4.9299, 0.9158, -0.1587, -0.0757, -0.149, 0.1983, -5.3812, 6.612, 1.1355, 0.1392, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8968074bf0858f469704da29767650e96dfc64786e1028b0e856b5c5716a5e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82a3118a8d4fcedeaf08aad4c90d057e982bdb60250fb73d9f96e30ce6a4dd5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1903f6b25729f395275d3a26752fe4149de6c83c7a54e399b28f2b1a3f12f55f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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