adhoc

completed
2026-09-23T22:00:01.409739+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-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
206 s
total steps
402
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe open red safe is centered, with a yellow ball just beyond its upper-right corner and several plush objects below and left of the opening. I’ll send the right arm above the yellow ball first, keeping the gripper open and high for a wrist-camera alignment check.
move_to
right_x0.4300right_y0.2500right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3939, -0.0193, -0.0307, 0.9998, -0.0212, 0.7937, 0.606, -0.3962, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1771 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0007 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.4291, 10.2496, 2.0195, -0.0659, 0.1197, -0.0366, -0.4308, -1.5248, 9.7709, 1.9023, -0.0366, 0.1685, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.25,"right_z":0.18,"right_gripper":1.0},"note":"The open red safe is centered, with a yellow ball just beyond its upper-right corner and several plush objects below and left of the opening. I’ll send the right arm above the yellow ball first, keeping the gripper open and high for a wrist-camera alignment check."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe yellow ball is now centered between the jaw columns in the right wrist view, but it still has clear image space below it, meaning it sits a few centimeters beyond the fingertips. I’ll advance radially by about 2.5 cm while staying high.
move_to
right_x0.4450right_y0.2430right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0189, -0.0315, 0.9997, 0.709, 1.7657, 1.3106, -0.3161, 0.5465, 0.3939, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1749 left_yaw=0.0005 left_pitch=-0.0134 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4188 right_y=0.243 right_z=0.1633 right_yaw=0.0335 right_pitch=-0.0547 right_roll=-0.043 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.5521, 6.9538, 1.8193, -0.0513, -0.0757, -0.0171, 0.4991, -8.8684, 9.0325, 1.6972, 0.442, 0.1294, -0.0562] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.243,"right_z":0.17},"note":"The yellow ball is now centered between the jaw columns in the right wrist view, but it still has clear image space below it, meaning it sits a few centimeters beyond the fingertips. I’ll advance radially by about 2.5 cm while staying high."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteAfter the radial advance, the ball remains centered and has moved down close to the fingertip line, which is the expected grasp position. I’ll descend vertically to roughly the ball’s mid-height before closing.
move_to
right_x0.4330right_y0.2390right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7967, 0.6064, -0.4076, -0.0189, -0.0315, 0.9998, 0.675, 1.8217, 1.3746, -0.3595, 0.5201, 0.3664, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1746 left_yaw=0.0001 left_pitch=-0.0149 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4328 right_y=0.2386 right_z=0.1548 right_yaw=0.0327 right_pitch=-0.095 right_roll=-0.0717 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.2103, 7.0085, 1.7216, -0.0366, -0.0464, -0.0073, -0.1983, -9.265, 9.5795, 1.6825, 0.2466, -0.0366, -0.0073] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.433,"right_y":0.239,"right_z":0.025},"note":"After the radial advance, the ball remains centered and has moved down close to the fingertip line, which is the expected grasp position. I’ll descend vertically to roughly the ball’s mid-height before closing."})
tool
executing move_to over 9 steps (0.9s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe requested descent did not track—the readback stayed near 15 cm—so this is an IK/reach issue rather than contact. I’ll come slightly inward, tip the tool forward, and descend to an intermediate height to unfold the arm before the final approach.
move_to
right_x0.4250right_y0.2390right_z0.0800right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4095, -0.0189, -0.0315, 0.9997, 0.6662, 1.8309, 1.3823, -0.3683, 0.511, 0.3557, 0.9996] state[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1742 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4349 right_y=0.2366 right_z=0.1516 right_yaw=0.0361 right_pitch=-0.1077 right_roll=-0.0808 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.265, 7.2274, 1.7705, -0.0611, -0.0708, -0.0122, -0.1846, -9.3197, 9.6342, 1.7509, 0.1685, -0.022, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.239,"right_z":0.08,"right_pitch":0.3},"note":"The requested descent did not track—the readback stayed near 15 cm—so this is an IK/reach issue rather than contact. I’ll come slightly inward, tip the tool forward, and descend to an intermediate height to unfold the arm before the final approach."})
tool
executing move_to over 14 steps (1.4s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe intermediate move succeeded: the gripper is now about 6.5 cm high and the ball fills the centered gap immediately ahead of the fingertips. I’ll make the short final descent with a 1 cm outward correction while retaining the helpful forward pitch.
move_to
right_x0.4300right_y0.2360right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4274, -0.0193, -0.0315, 0.9998, 0.7406, 1.977, 0.8619, 0.63, 0.6895, 0.178, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0008 left_pitch=-0.0366 left_roll=0.0001 left_gripper=0.9998 right_x=0.4194 right_y=0.236 right_z=0.0649 right_yaw=0.0593 right_pitch=0.2118 right_roll=-0.119 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.388, 7.0632, 1.917, -0.0806, -0.0513, -0.0073, 0.1573, -8.6769, 5.4222, 2.1905, 0.4029, -0.0952, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.236,"right_z":0.025,"right_pitch":0.3},"note":"The intermediate move succeeded: the gripper is now about 6.5 cm high and the ball fills the centered gap immediately ahead of the fingertips. I’ll make the short final descent with a 1 cm outward correction while retaining the helpful forward pitch."})
tool
executing move_to over 3 steps (0.3s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe final approach tracked to 2.8 cm, putting the jaw tips on either side of the centered ball. I’ll close the gripper now and use the settled jaw width to verify that the rounded object was captured rather than squeezed aside.
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, 0.8017, 0.6064, -0.4347, -0.0189, -0.0349, 0.9998, 0.7334, 2.1548, 0.8532, 0.8806, 0.6952, 0.1322, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1678 left_yaw=0.0024 left_pitch=-0.0469 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4274 right_y=0.2376 right_z=0.0282 right_yaw=0.0635 right_pitch=0.2604 right_roll=-0.124 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.1829, 7.0359, 1.8242, -0.0855, -0.0024, -0.0171, -0.4308, -9.853, 4.3829, 2.0879, 0.1685, -0.1245, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The final approach tracked to 2.8 cm, putting the jaw tips on either side of the centered ball. I’ll close the gripper now and use the settled jaw width to verify that the rounded object was captured rather than squeezed aside."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe gripper settled at 0.50, corresponding to a roughly 4.8 cm object, so the ball is securely held. I’ll lift it well above the safe walls and translate over the center of the red compartment.
move_to
right_x0.3400right_y0.3300right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0357, 0.9998, 0.7292, 2.1826, 0.8486, 1.0203, 0.6891, 0.1345, 0.5048] state[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0648 left_roll=-0.0029 left_gripper=0.9998 right_x=0.4334 right_y=0.2414 right_z=0.0405 right_yaw=0.0422 right_pitch=0.3426 right_roll=-0.0495 right_gripper=0.5048 state[joint_eff]: [-0.0889, -0.8547, 7.2821, 1.8632, -0.0513, -0.0269, -0.0122, -0.0615, -8.7726, 3.9043, 1.3455, 0.2173, -0.3199, 1.0525] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.33,"right_z":0.2,"right_pitch":0.0},"note":"The gripper settled at 0.50, corresponding to a roughly 4.8 cm object, so the ball is securely held. I’ll lift it well above the safe walls and translate over the center of the red compartment."})
tool
executing move_to over 12 steps (1.2s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe overhead view shows the yellow ball stayed on the table, and it is also visible ahead in the wrist camera, so the apparent jaw-width grasp was not retained. I’ll reopen and return above it with the successful forward-pitched IK posture, then align for one corrected retry.
move_to
right_x0.4200right_y0.2400right_z0.1200right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0189, -0.0383, 0.9997, 1.0225, 1.8565, 1.4284, -0.588, 0.7647, 0.5289, 0.5059] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0043 left_pitch=-0.0728 left_roll=-0.0049 left_gripper=0.9997 right_x=0.3339 right_y=0.319 right_z=0.1504 right_yaw=0.1121 right_pitch=-0.0947 right_roll=-0.23 right_gripper=0.5059 state[joint_eff]: [-0.2803, -1.3333, 6.9949, 1.7167, -0.0415, -0.0122, -0.0171, 0.1846, -12.041, 10.4274, 2.7912, 0.5201, 0.7741, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.24,"right_z":0.12,"right_pitch":0.3,"right_gripper":1.0},"note":"The overhead view shows the yellow ball stayed on the table, and it is also visible ahead in the wrist camera, so the apparent jaw-width grasp was not retained. I’ll reopen and return above it with the successful forward-pitched IK posture, then align for one corrected retry."})
tool
executing move_to over 14 steps (1.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe return path stalled near the safe wall: the readback is still at x=0.36 and the ball appears ahead-right in the wrist view. I’ll raise higher to clear the rim and unfold outward before trying to descend again.
move_to
right_x0.4000right_y0.2400right_z0.2200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8036, 0.6064, -0.4732, -0.0193, -0.0387, 0.9997, 0.9184, 1.8259, 1.2125, -0.3313, 0.7368, 0.3721, 0.9977] state[eef_state]: left_x=0.2822 left_y=0.0017 left_z=0.1597 left_yaw=0.0049 left_pitch=-0.0873 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3581 right_y=0.2792 right_z=0.1128 right_yaw=0.1137 right_pitch=-0.0873 right_roll=-0.2838 right_gripper=0.9977 state[joint_eff]: [-0.1299, -1.1692, 6.9949, 1.7705, -0.0757, -0.0757, -0.0073, -5.6137, -5.4222, 4.3966, 0.8669, 0.4371, -0.1538, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.24,"right_z":0.22,"right_pitch":0.3},"note":"The return path stalled near the safe wall: the readback is still at x=0.36 and the ball appears ahead-right in the wrist view. I’ll raise higher to clear the rim and unfold outward before trying to descend again."})
tool
executing move_to over 13 steps (1.3s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe higher recovery move brought the ball exactly onto the jaw centerline; it is still just beyond the fingertip line with clear space below. I’ll advance about 2.5 cm radially while holding this lateral alignment and height.
move_to
right_x0.3970right_y0.2620right_z0.1450right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.8841, 1.7428, 1.1278, -0.1665, 0.7891, 0.2279, 0.9988] state[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0046 left_pitch=-0.0988 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3719 right_y=0.2616 right_z=0.1429 right_yaw=0.1239 right_pitch=0.0334 right_roll=-0.3153 right_gripper=0.9988 state[joint_eff]: [-0.0479, -1.4701, 7.2684, 1.7411, -0.0611, -0.0708, -0.0073, 0.0615, -9.5932, 7.7607, 1.4579, 0.3053, 0.0611, 0.1099] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.397,"right_y":0.262,"right_z":0.145,"right_pitch":0.3},"note":"The higher recovery move brought the ball exactly onto the jaw centerline; it is still just beyond the fingertip line with clear space below. I’ll advance about 2.5 cm radially while holding this lateral alignment and height."})
tool
executing move_to over 9 steps (0.9s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe ball is now large and centered at the fingertip line. I’ll descend to about 6 cm with only a small outward adjustment, using the pitched posture that previously allowed low reach.
move_to
right_x0.4050right_y0.2600right_z0.0600right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5014, -0.0189, -0.0387, 0.9998, 0.8696, 1.8114, 0.9489, 0.3389, 0.8501, 0.0185, 0.9989] state[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1528 left_yaw=0.0046 left_pitch=-0.1217 left_roll=-0.004 left_gripper=0.9998 right_x=0.3888 right_y=0.2603 right_z=0.1282 right_yaw=0.153 right_pitch=0.2118 right_roll=-0.3566 right_gripper=0.9989 state[joint_eff]: [-0.1983, -1.4291, 6.8991, 1.9121, -0.0757, -0.0708, -0.0122, -0.4171, -8.0342, 6.2017, 2.0147, 0.4274, -0.0073, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.26,"right_z":0.06,"right_pitch":0.3},"note":"The ball is now large and centered at the fingertip line. I’ll descend to about 6 cm with only a small outward adjustment, using the pitched posture that previously allowed low reach."})
tool
executing move_to over 5 steps (0.5s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe descent tracked to 5.3 cm and the ball remains centered between the open fingers. I’ll lower the last 2.5–3 cm without changing lateral alignment, then close more gently around the rounded object.
move_to
right_x0.4050right_y0.2570right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8135, 0.6064, -0.5171, -0.0189, -0.0387, 0.9997, 0.8482, 2.0605, 0.8673, 0.7139, 0.8497, -0.0624, 0.9989] state[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1489 left_yaw=0.0047 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9997 right_x=0.3985 right_y=0.2568 right_z=0.0534 right_yaw=0.1681 right_pitch=0.2291 right_roll=-0.4041 right_gripper=0.9989 state[joint_eff]: [-0.0068, -1.4564, 6.8855, 1.7265, -0.0611, -0.0659, -0.0171, -0.759, -8.4718, 4.4923, 1.8339, 0.2662, 0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.257,"right_z":0.025,"right_pitch":0.3},"note":"The descent tracked to 5.3 cm and the ball remains centered between the open fingers. I’ll lower the last 2.5–3 cm without changing lateral alignment, then close more gently around the rounded object."})
tool
executing move_to over 3 steps (0.3s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe readback stopped at 4.3 cm, consistent with the fingertips reaching table level in this pitched pose, and the ball is still centered. I’ll close only to a moderate command so the jaws contact it without the strong squeeze that can eject a rounded object.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5205, -0.0189, -0.0391, 0.9997, 0.8471, 2.1746, 0.8654, 0.9508, 0.8608, -0.1051, 0.9989] state[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1478 left_yaw=0.0049 left_pitch=-0.1464 left_roll=-0.0037 left_gripper=0.9997 right_x=0.4055 right_y=0.262 right_z=0.0434 right_yaw=0.159 right_pitch=0.3169 right_roll=-0.3701 right_gripper=0.9989 state[joint_eff]: [-0.2803, -1.2239, 7.2, 1.6386, -0.0415, -0.0659, -0.0073, -0.7726, -7.0769, 4.2325, 0.7595, 0.1392, -0.232, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The readback stopped at 4.3 cm, consistent with the fingertips reaching table level in this pitched pose, and the ball is still centered. I’ll close only to a moderate command so the jaws contact it without the strong squeeze that can eject a rounded object."})
tool
executing move_to over 7 steps (0.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe jaws have closed to 0.35 with the ball visibly pinched between their tips. I’ll lift straight up about 10 cm now; the overhead view will confirm whether this gentler grasp retained it.
move_to
right_x0.4090right_y0.2630right_z0.1500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5255, -0.0189, -0.0391, 0.9997, 0.8436, 2.1921, 0.8646, 1.0264, 0.8635, -0.1528, 0.3542] state[eef_state]: left_x=0.2744 left_y=0.0017 left_z=0.1468 left_yaw=0.005 left_pitch=-0.1514 left_roll=-0.0036 left_gripper=0.9997 right_x=0.4085 right_y=0.2625 right_z=0.0487 right_yaw=0.1667 right_pitch=0.3523 right_roll=-0.3809 right_gripper=0.3542 state[joint_eff]: [-0.0479, -1.265, 6.9402, 1.6093, -0.0708, -0.0659, -0.0073, -0.4034, -6.9949, 3.8222, 1.3211, 0.0659, 0.2125, 0.0464] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.409,"right_y":0.263,"right_z":0.15,"right_pitch":0.3},"note":"The jaws have closed to 0.35 with the ball visibly pinched between their tips. I’ll lift straight up about 10 cm now; the overhead view will confirm whether this gentler grasp retained it."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe yellow ball moved with the lifted gripper in the overhead view, confirming a secure grasp. I’ll carry it high over the center of the open red safe, with clearance for the raised walls and lid.
move_to
right_x0.3100right_y0.3400right_z0.2200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8165, 0.6064, -0.5392, -0.0189, -0.0387, 0.9997, 0.8433, 1.8774, 0.9432, 0.6163, 0.8425, -0.1307, 0.3542] state[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1441 left_yaw=0.0048 left_pitch=-0.1663 left_roll=-0.003 left_gripper=0.9997 right_x=0.4097 right_y=0.2672 right_z=0.1439 right_yaw=0.1762 right_pitch=0.3396 right_roll=-0.3641 right_gripper=0.3542 state[joint_eff]: [-0.1573, -0.841, 6.8991, 1.7021, -0.0366, -0.0464, -0.0073, -0.5128, -8.1709, 6.4068, 1.4628, 0.1441, 0.1783, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.34,"right_z":0.22,"right_pitch":0.3},"note":"The yellow ball moved with the lifted gripper in the overhead view, confirming a secure grasp. I’ll carry it high over the center of the open red safe, with clearance for the raised walls and lid."})
tool
executing move_to over 8 steps (0.8s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe ball fell back to its original spot during transport, so the prior grip was only under its front edge, not around its center. I’ll reopen and return above it; on this retry I’ll place the grasp point several centimeters farther outward so the ball sits deeper between the jaws.
move_to
right_x0.4200right_y0.2600right_z0.1200right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, 1.1641, 1.7859, 1.2106, -0.0158, 1.0771, 0.1123, 0.3542] state[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1405 left_yaw=0.0049 left_pitch=-0.185 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3146 right_y=0.3462 right_z=0.2014 right_yaw=0.2373 right_pitch=0.273 right_roll=-0.4011 right_gripper=0.3542 state[joint_eff]: [-0.0205, -1.4427, 6.8581, 1.6972, -0.0513, -0.0122, -0.0122, 0.0889, -10.8786, 8.3487, 1.6484, 0.4469, 0.232, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.26,"right_z":0.12,"right_pitch":0.3,"right_gripper":1.0},"note":"The ball fell back to its original spot during transport, so the prior grip was only under its front edge, not around its center. I’ll reopen and return above it; on this retry I’ll place the grasp point several centimeters farther outward so the ball sits deeper between the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe ball is centered in the wrist image at the high approach. I’ll now descend and advance roughly 3 cm farther outward than before, placing its center near the grasp point rather than at the fingertip tips.
move_to
right_x0.4400right_y0.2540right_z0.0450right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5632, -0.0189, -0.0387, 0.9998, 0.8082, 1.9022, 0.9104, 0.5598, 0.7887, -0.1585, 0.9959] state[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1392 left_yaw=0.0049 left_pitch=-0.1926 left_roll=-0.0023 left_gripper=0.9998 right_x=0.4107 right_y=0.2536 right_z=0.1081 right_yaw=0.2209 right_pitch=0.2296 right_roll=-0.4446 right_gripper=0.9959 state[joint_eff]: [-0.0615, -1.1556, 6.9128, 1.6386, -0.0757, -0.0562, -0.0073, -0.1709, -8.7043, 6.0786, 2.1709, 0.2564, -0.022, 0.0024] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.254,"right_z":0.045,"right_pitch":0.3},"note":"The ball is centered in the wrist image at the high approach. I’ll now descend and advance roughly 3 cm farther outward than before, placing its center near the grasp point rather than at the fingertip tips."})
tool
executing move_to over 5 steps (0.5s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe ball is still visible immediately ahead of the grasp point, so it is not yet deep enough between the fingers. I’ll make one final 1.5 cm outward nudge at table height before closing.
move_to
right_x0.4480right_y0.2540right_z0.0400right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8227, 0.6064, -0.577, -0.0189, -0.0387, 0.9998, 0.7662, 2.1601, 0.9157, 0.8692, 0.7498, -0.2188, 0.9969] state[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1359 left_yaw=0.005 left_pitch=-0.2101 left_roll=-0.0019 left_gripper=0.9998 right_x=0.4325 right_y=0.2541 right_z=0.0458 right_yaw=0.2349 right_pitch=0.2553 right_roll=-0.4579 right_gripper=0.9969 state[joint_eff]: [-0.0615, -1.5111, 6.8991, 1.6825, -0.0757, -0.0366, -0.0171, -1.0188, -7.8154, 5.4085, 1.6093, 0.1929, 0.0513, 0.0952] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.448,"right_y":0.254,"right_z":0.04,"right_pitch":0.3},"note":"The ball is still visible immediately ahead of the grasp point, so it is not yet deep enough between the fingers. I’ll make one final 1.5 cm outward nudge at table height before closing."})
tool
executing move_to over 2 steps (0.2s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe arm reached its practical low/outward limit at x≈0.436, but this is nearly 3 cm deeper than the previous failed grasp and the ball is centered between the jaw roots. I’ll close fully now to capture it at this deeper position.
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, 0.823, 0.6064, -0.5823, -0.0189, -0.0387, 0.9997, 0.765, 2.1857, 0.9226, 0.9382, 0.7464, -0.2367, 0.997] state[eef_state]: left_x=0.2649 left_y=0.0019 left_z=0.1348 left_yaw=0.005 left_pitch=-0.2158 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4364 right_y=0.2577 right_z=0.0488 right_yaw=0.2388 right_pitch=0.2939 right_roll=-0.4479 right_gripper=0.997 state[joint_eff]: [-0.0615, -1.2513, 7.0085, 1.6288, -0.0806, -0.022, -0.0171, -0.8957, -8.6496, 5.1077, 1.8388, 0.1294, -0.022, 0.0024] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The arm reached its practical low/outward limit at x≈0.436, but this is nearly 3 cm deeper than the previous failed grasp and the ball is centered between the jaw roots. I’ll close fully now to capture it at this deeper position."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe ball is still just beyond the right arm’s low reach and the empty-close reading confirms it was missed, so I’ll avoid wasting more retries for now. The left wrist already has the white plush centered near its fingertip line; I’ll descend onto that object while retracting and parking the right arm clear.
move_to
left_x0.2850left_y-0.0100left_z0.0300left_gripper1.0000right_x0.3200right_y0.2000right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5854, -0.0189, -0.0387, 0.9997, 0.7647, 2.1864, 0.9226, 0.9375, 0.7395, -0.2401, 0.0112] state[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1343 left_yaw=0.005 left_pitch=-0.2189 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4363 right_y=0.2586 right_z=0.048 right_yaw=0.2463 right_pitch=0.2906 right_roll=-0.4501 right_gripper=0.0112 state[joint_eff]: [-0.0342, -1.2513, 6.8308, 1.5116, -0.0513, -0.0464, -0.0122, 0.1573, -10.4137, 4.465, 1.6874, 0.188, 0.0415, 0.9695] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.01,"left_z":0.03,"left_gripper":1.0,"right_x":0.32,"right_y":0.2,"right_z":0.18,"right_gripper":1.0},"note":"The ball is still just beyond the right arm’s low reach and the empty-close reading confirms it was missed, so I’ll avoid wasting more retries for now. The left wrist already has the white plush centered near its fingertip line; I’ll descend onto that object while retracting and parking the right arm clear."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe left descent tracked to 2.5 cm and the white plush now fills the centered gap between the fingers. I’ll close fully around the soft object.
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]: [-0.0853, 1.1072, 0.2989, -0.0582, -0.0563, -0.0914, 0.9998, 0.9112, 1.3952, 0.6102, 0.4335, 0.8536, -0.186, 0.9947] state[eef_state]: left_x=0.2743 left_y=-0.0099 left_z=0.0247 left_yaw=0.0017 left_pitch=-0.2817 left_roll=-0.006 left_gripper=0.9998 right_x=0.3258 right_y=0.2087 right_z=0.1773 right_yaw=0.271 right_pitch=0.3032 right_roll=-0.4442 right_gripper=0.9947 state[joint_eff]: [-0.6769, -2.6735, 5.2444, 1.4432, -0.2125, 0.1197, -0.0415, 0.1436, -5.012, 6.2427, 1.8828, 0.1636, 0.149, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left descent tracked to 2.5 cm and the white plush now fills the centered gap between the fingers. I’ll close fully around the soft object."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe 0.012 jaw reading shows the plush was also just in front of the grasp point despite appearing between the fingertip silhouettes. I’ll reopen and advance 2.5 cm radially at table height so the plush sits deeper between the jaws.
move_to
left_x0.3000left_y-0.0100left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0864, 1.1145, 0.2867, -0.0422, -0.0563, -0.0982, 0.0117, 0.9142, 1.3964, 0.6064, 0.3836, 0.849, -0.1837, 0.9953] state[eef_state]: left_x=0.2727 left_y=-0.0101 left_z=0.0209 left_yaw=0.0046 left_pitch=-0.2851 left_roll=-0.0103 left_gripper=0.0117 right_x=0.3226 right_y=0.2072 right_z=0.1665 right_yaw=0.2861 right_pitch=0.2585 right_roll=-0.4744 right_gripper=0.9953 state[joint_eff]: [-0.0752, -3.0154, 6.8991, 1.2869, -0.0611, 0.0659, 1.0525, -0.4308, -5.2581, 6.5436, 2.1319, 0.1587, -0.0464, 0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.01,"left_z":0.02,"left_gripper":1.0},"note":"The 0.012 jaw reading shows the plush was also just in front of the grasp point despite appearing between the fingertip silhouettes. I’ll reopen and advance 2.5 cm radially at table height so the plush sits deeper between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteAfter the outward correction, the plush body is now visibly inside the jaw span rather than only beyond the tips, and the grasp point is pressed near table level. I’ll close again from this deeper position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0769, 1.2697, 0.3378, 0.0013, -0.0563, -0.102, 0.9952, 0.9131, 1.3964, 0.6064, 0.371, 0.8486, -0.1837, 0.9953] state[eef_state]: left_x=0.2834 left_y=-0.0083 left_z=0.0057 left_yaw=0.0182 left_pitch=-0.3455 left_roll=-0.0069 left_gripper=0.9952 right_x=0.3222 right_y=0.2062 right_z=0.1643 right_yaw=0.2872 right_pitch=0.2482 right_roll=-0.4819 right_gripper=0.9953 state[joint_eff]: [0.1983, -3.2752, 8.1709, 1.7167, 0.0122, 0.105, -0.1343, -0.0752, -5.0667, 6.2838, 1.7411, 0.1441, -0.0659, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"After the outward correction, the plush body is now visibly inside the jaw span rather than only beyond the tips, and the grasp point is pressed near table level. I’ll close again from this deeper position."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe second empty close and overhead shift show that the fingertips were pushing the plush toward the base rather than enveloping it; for this very near object, the needed correction is inward, not outward. I’ll reopen and retract the grasp point about 6 cm along the table to get behind its displaced body.
move_to
left_x0.2200left_y-0.0100left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0772, 1.2739, 0.3401, -0.0044, -0.0566, -0.1097, 0.0113, 0.9131, 1.3964, 0.6056, 0.3523, 0.849, -0.1837, 0.9953] state[eef_state]: left_x=0.2826 left_y=-0.0082 left_z=0.0046 left_yaw=0.0229 left_pitch=-0.3531 left_roll=-0.0106 left_gripper=0.0113 right_x=0.3212 right_y=0.2048 right_z=0.1609 right_yaw=0.2896 right_pitch=0.2325 right_roll=-0.4938 right_gripper=0.9953 state[joint_eff]: [0.0205, -3.6308, 5.2855, 1.4335, -0.0855, 0.0611, 0.9353, -0.2393, -5.2855, 6.2838, 1.7705, 0.149, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.01,"left_z":0.02,"left_gripper":1.0},"note":"The second empty close and overhead shift show that the fingertips were pushing the plush toward the base rather than enveloping it; for this very near object, the needed correction is inward, not outward. I’ll reopen and retract the grasp point about 6 cm along the table to get behind its displaced body."})
tool
executing move_to over 10 steps (1.0s)
step 214
top_cam
camera top_cam step 214
assistant
agent noteThe inward correction worked: the plush is now plainly centered between both left fingers with its body extending into the jaw gap. I’ll close on it now.
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]: [-0.1295, 0.8219, 0.234, -0.321, -0.0795, -0.1505, 0.9953, 0.9131, 1.3964, 0.6056, 0.329, 0.8482, -0.1837, 0.9953] state[eef_state]: left_x=0.2291 left_y=-0.0121 left_z=0.0254 left_yaw=0.0133 left_pitch=-0.3219 left_roll=-0.0214 left_gripper=0.9953 right_x=0.3201 right_y=0.2034 right_z=0.1569 right_yaw=0.2933 right_pitch=0.2134 right_roll=-0.5074 right_gripper=0.9953 state[joint_eff]: [-0.3487, -0.4308, 6.0513, 1.5263, -0.188, 0.0171, -0.0659, -0.2256, -5.2718, 6.188, 1.873, 0.149, -0.0464, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The inward correction worked: the plush is now plainly centered between both left fingers with its body extending into the jaw gap. I’ll close on it now."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteThe left gripper settled at 0.13 around the soft plush, confirming a real grasp. I’ll lift and carry it over the center of the open safe with ample wall clearance.
move_to
left_x0.3400left_y-0.3100left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1307, 0.8246, 0.2306, -0.3405, -0.0826, -0.1574, 0.1334, 0.9134, 1.3964, 0.6037, 0.3077, 0.8482, -0.1837, 0.9953] state[eef_state]: left_x=0.2241 left_y=-0.0111 left_z=0.0206 left_yaw=0.0202 left_pitch=-0.3469 left_roll=-0.0193 left_gripper=0.1334 right_x=0.3186 right_y=0.2018 right_z=0.1526 right_yaw=0.2965 right_pitch=0.1944 right_roll=-0.5212 right_gripper=0.9953 state[joint_eff]: [-0.0205, -0.5949, 6.694, 1.5018, -0.0611, 0.0269, 0.9451, -0.0752, -5.0803, 6.5026, 1.7753, 0.1343, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.31,"left_z":0.2},"note":"The left gripper settled at 0.13 around the soft plush, confirming a real grasp. I’ll lift and carry it over the center of the open safe with ample wall clearance."})
tool
executing move_to over 27 steps (2.7s)
step 251
assistant
agent noteThe white plush is visibly suspended over the red compartment. I’ll lower it inside the safe until the object rests on the bottom, keeping the jaws closed through the descent.
move_to
left_x0.3330left_y-0.2800left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9054, 1.9114, 1.7969, -1.1519, -0.5034, -0.8734, 0.1335, 0.8894, 1.396, 0.6006, 0.2821, 0.8871, -0.1509, 0.9954] state[eef_state]: left_x=0.3327 left_y=-0.2801 left_z=0.1781 left_yaw=0.08 left_pitch=-0.4098 left_roll=0.0808 left_gripper=0.1335 right_x=0.3221 right_y=0.1854 right_z=0.15 right_yaw=0.2285 right_pitch=0.1919 right_roll=-0.5231 right_gripper=0.9954 state[joint_eff]: [-2.6325, -9.4291, 10.0991, 1.8437, -0.2271, -0.1343, 0.8083, 1.9487, -5.1487, 6.3932, 1.7998, -0.3834, -0.4811, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.333,"left_y":-0.28,"left_z":0.04},"note":"The white plush is visibly suspended over the red compartment. I’ll lower it inside the safe until the object rests on the bottom, keeping the jaws closed through the descent."})
tool
executing move_to over 9 steps (0.9s)
step 260
assistant
agent noteThe descent stopped at 7.6 cm with the plush contacting the safe bottom, as shown by the centered red interior around it. I’ll release the plush inside the compartment.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9096, 1.9179, 1.3838, -0.6811, -0.4934, -0.8803, 0.1362, 0.873, 1.4311, 0.5659, 0.0574, 0.8871, -0.2104, 0.9954] state[eef_state]: left_x=0.3327 left_y=-0.2856 left_z=0.0758 left_yaw=0.0566 left_pitch=-0.3887 left_roll=0.025 left_gripper=0.1362 right_x=0.3036 right_y=0.1545 right_z=0.0947 right_yaw=0.2502 right_pitch=-0.0642 right_roll=-0.7507 right_gripper=0.9954 state[joint_eff]: [0.1436, -4.506, 3.9453, 0.9841, -0.359, 0.0269, 0.7448, 1.1282, -7.6103, 8.5128, 3.8999, 0.2662, 0.5495, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The descent stopped at 7.6 cm with the plush contacting the safe bottom, as shown by the centered red interior around it. I’ll release the plush inside the compartment."})
tool
executing move_to over 9 steps (0.9s)
step 269
assistant
agent noteThe white plush is released inside the safe. I’ll retract the left arm to its side while bringing the right gripper down around the brown teddy near the lower center; the two paths separate rather than cross.
move_to
left_x0.2500left_y0.0000left_z0.1800right_x0.2300right_y0.3400right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9039, 1.9411, 1.3643, -0.6891, -0.4911, -0.8875, 0.9952, 0.8738, 1.4471, 0.5461, 0.0376, 0.8818, -0.2279, 0.9954] state[eef_state]: left_x=0.3289 left_y=-0.2773 left_z=0.0595 left_yaw=0.0834 left_pitch=-0.4187 left_roll=0.0651 left_gripper=0.9952 right_x=0.2977 right_y=0.1487 right_z=0.0807 right_yaw=0.2589 right_pitch=-0.1186 right_roll=-0.7939 right_gripper=0.9954 state[joint_eff]: [-0.3761, -11.6444, 7.6376, 0.9206, -0.3346, 0.0659, 0.0415, -0.212, -6.188, 7.3915, 1.4774, 0.3687, 0.1197, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":0.0,"left_z":0.18,"right_x":0.23,"right_y":0.34,"right_z":0.03,"right_gripper":1.0},"note":"The white plush is released inside the safe. I’ll retract the left arm to its side while bringing the right gripper down around the brown teddy near the lower center; the two paths separate rather than cross."})
tool
executing move_to over 25 steps (2.5s)
step 294
assistant
agent noteAt table height the teddy is visible along the left jaw rather than centered, so the right gripper is slightly to its right. I’ll shift about 3 cm toward the arm’s left and a little inward to center the plush torso before closing.
move_to
right_x0.2200right_y0.3700right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1448, 0.9985, 0.9413, -0.9859, -0.1841, -0.2119, 0.9963, 1.3396, 2.1391, 1.3121, -0.6827, 1.0912, 0.5419, 0.999] state[eef_state]: left_x=0.2504 left_y=-0.0002 left_z=0.1694 left_yaw=0.1383 left_pitch=-0.4341 left_roll=0.0624 left_gripper=0.9963 right_x=0.2364 right_y=0.336 right_z=0.0437 right_yaw=0.2629 right_pitch=-0.0947 right_roll=-0.8037 right_gripper=0.999 state[joint_eff]: [0.1436, -2.6188, 9.0872, 1.2576, -0.0659, 0.1832, 0.105, 0.7863, -7.9111, 5.7368, 0.3297, 0.2369, 0.1001, -0.1197] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.37,"right_z":0.03},"note":"At table height the teddy is visible along the left jaw rather than centered, so the right gripper is slightly to its right. I’ll shift about 3 cm toward the arm’s left and a little inward to center the plush torso before closing."})
tool
executing move_to over 3 steps (0.3s)
step 297
assistant
agent noteThe lateral correction places the teddy’s brown torso across the jaw gap at table height. I’ll close fully around the soft body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.0008, 0.9409, -1.0061, -0.1654, -0.1959, 0.9964, 1.3762, 2.2456, 1.4822, -0.8059, 1.1137, 0.6228, 0.9989] state[eef_state]: left_x=0.246 left_y=-0.0028 left_z=0.1658 left_yaw=0.1151 left_pitch=-0.4611 left_roll=0.0609 left_gripper=0.9964 right_x=0.23 right_y=0.3659 right_z=0.0443 right_yaw=0.2624 right_pitch=-0.0699 right_roll=-0.8022 right_gripper=0.9989 state[joint_eff]: [-0.212, -1.853, 6.3932, 1.3553, -0.3394, -0.0757, 0.0073, 1.0325, -9.3333, 5.2308, 0.1538, 0.1441, 0.0952, -0.022] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The lateral correction places the teddy’s brown torso across the jaw gap at table height. I’ll close fully around the soft body."})
tool
executing move_to over 10 steps (1.0s)
step 307
assistant
agent noteThe empty-close reading shows the teddy was still just outside the jaw tips and toward the outer side. I’ll reopen, retract 5 cm toward the base, and shift to the right arm’s cross-over limit to get behind the teddy’s displaced torso.
move_to
right_x0.1800right_y0.4000right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.0016, 0.9409, -1.0107, -0.1711, -0.21, 0.9965, 1.3788, 2.2589, 1.4826, -0.8165, 1.0996, 0.6106, 0.0108] state[eef_state]: left_x=0.2451 left_y=-0.0016 left_z=0.1652 left_yaw=0.1296 left_pitch=-0.4644 left_roll=0.06 left_gripper=0.9965 right_x=0.2275 right_y=0.3643 right_z=0.037 right_yaw=0.2683 right_pitch=-0.0979 right_roll=-0.827 right_gripper=0.0108 state[joint_eff]: [-0.0752, -1.9214, 6.4479, 1.1502, -0.0562, 0.0904, -0.0024, -0.4034, -12.6427, 5.2034, 0.3346, 0.6471, 0.1099, 0.9206] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.18,"right_y":0.4,"right_z":0.02,"right_gripper":1.0},"note":"The empty-close reading shows the teddy was still just outside the jaw tips and toward the outer side. I’ll reopen, retract 5 cm toward the base, and shift to the right arm’s cross-over limit to get behind the teddy’s displaced torso."})
tool
executing move_to over 10 steps (1.0s)
step 317
assistant
agent noteThe teddy lies beyond the right arm’s lateral limit, so I’ll switch to the left arm, whose workspace covers it directly. I’ll lower the open left gripper onto the teddy while retracting the right arm clear.
move_to
left_x0.1900left_y-0.1900left_z0.0300left_gripper1.0000right_x0.2800right_y0.1000right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.0023, 0.9409, -1.0115, -0.1688, -0.2142, 0.9965, 1.4864, 2.4104, 1.7447, -1.1282, 1.1213, 0.836, 0.9945] state[eef_state]: left_x=0.245 left_y=-0.002 left_z=0.1649 left_yaw=0.1304 left_pitch=-0.4663 left_roll=0.056 left_gripper=0.9965 right_x=0.1898 right_y=0.3989 right_z=0.0412 right_yaw=0.2783 right_pitch=-0.0666 right_roll=-0.8395 right_gripper=0.9945 state[joint_eff]: [-0.0068, -2.1402, 6.3385, 1.1746, -0.1832, -0.0317, -0.0122, 1.1145, -8.6632, 5.4906, 0.105, 0.105, 0.0659, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.19,"left_y":-0.19,"left_z":0.03,"left_gripper":1.0,"right_x":0.28,"right_y":0.1,"right_z":0.18},"note":"The teddy lies beyond the right arm’s lateral limit, so I’ll switch to the left arm, whose workspace covers it directly. I’ll lower the open left gripper onto the teddy while retracting the right arm clear."})
tool
executing move_to over 25 steps (2.5s)
step 342
assistant
agent noteThe left wrist view now shows the teddy’s torso fully spanning the jaw gap, well behind the fingertip line. I’ll close around 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]: [-1.1145, 1.4891, 0.7254, -0.7063, -0.4881, -1.1648, 0.9984, 0.8135, 1.0149, 0.622, -0.3702, 0.8925, -0.3416, 0.9953] state[eef_state]: left_x=0.1831 left_y=-0.1769 left_z=0.0242 left_yaw=0.1328 left_pitch=-0.4973 left_roll=0.1122 left_gripper=0.9984 right_x=0.2765 right_y=0.0975 right_z=0.173 right_yaw=0.2395 right_pitch=-0.0766 right_roll=-0.8346 right_gripper=0.9953 state[joint_eff]: [-0.2803, -5.0393, 7.788, 0.6813, -0.4322, -0.1245, -0.1734, -0.0752, -2.4957, 6.8171, 1.6923, 0.2564, -0.0317, 0.0708] camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left wrist view now shows the teddy’s torso fully spanning the jaw gap, well behind the fingertip line. I’ll close around it."})
tool
executing move_to over 10 steps (1.0s)
step 352
assistant
agent noteThe teddy compressed out of the closing jaws, but it remains directly in front of the left gripper with the safe straight ahead, so I’ll sweep it along the tabletop into the compartment. At the same time, I’ll move the right gripper beyond the yellow ball and close it into a compact pusher for the next sweep.
move_to
left_x0.3200left_y-0.2800left_z0.0400right_x0.4700right_y0.2200right_z0.0800right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1179, 1.5017, 0.7269, -0.7139, -0.4911, -1.1679, 0.0165, 0.8116, 1.0176, 0.6205, -0.3832, 0.8749, -0.358, 0.9953] state[eef_state]: left_x=0.1819 left_y=-0.1752 left_z=0.0219 left_yaw=0.1418 left_pitch=-0.5001 left_roll=0.1319 left_gripper=0.0165 right_x=0.2753 right_y=0.0983 right_z=0.1684 right_yaw=0.2563 right_pitch=-0.1043 right_roll=-0.8466 right_gripper=0.9953 state[joint_eff]: [0.1846, -6.2154, 5.2581, 0.5104, -0.2271, 0.0464, 0.6862, -0.0615, -2.6735, 6.9538, 1.4774, 0.4274, 0.1587, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.28,"left_z":0.04,"right_x":0.47,"right_y":0.22,"right_z":0.08,"right_gripper":0.0},"note":"The teddy compressed out of the closing jaws, but it remains directly in front of the left gripper with the safe straight ahead, so I’ll sweep it along the tabletop into the compartment. At the same time, I’ll move the right gripper beyond the yellow ball and close it into a compact pusher for the next sweep."})
tool
executing move_to over 15 steps (1.5s)
step 367
assistant
agent noteThe left sweep has moved the teddy up to the safe’s near rim, so I’ll continue a short distance into the red compartment. The right gripper is radially beyond the ball but laterally to its right; I’ll shift left to line the closed jaw tip up behind it.
move_to
left_x0.3400left_y-0.2900left_z0.0300right_x0.4800right_y0.2500right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8486, 2.0125, 1.351, -0.9283, -0.4393, -0.9714, 0.0185, 0.6201, 2.0006, 1.1503, 0.1081, 0.7654, -0.5014, 0.0109] state[eef_state]: left_x=0.296 left_y=-0.2169 left_z=0.0178 left_yaw=0.3335 left_pitch=-0.6085 left_roll=0.3217 left_gripper=0.0185 right_x=0.4616 right_y=0.1836 right_z=0.0741 right_yaw=0.2078 right_pitch=-0.1656 right_roll=-0.8739 right_gripper=0.0109 state[joint_eff]: [-6.106, -9.1829, 11.959, 1.956, -0.4713, 0.3004, 0.5299, 4.0821, -7.4462, 9.4291, 1.9267, 0.2515, 0.0317, 0.9695] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.29,"left_z":0.03,"right_x":0.48,"right_y":0.25,"right_z":0.04},"note":"The left sweep has moved the teddy up to the safe’s near rim, so I’ll continue a short distance into the red compartment. The right gripper is radially beyond the ball but laterally to its right; I’ll shift left to line the closed jaw tip up behind it."})
tool
executing move_to over 7 steps (0.7s)
step 374
assistant
agent noteBoth remaining objects are immediately outside the safe: the teddy at the near rim and the ball ahead-left of the right jaw. I’ll make coordinated low sweeps toward the compartment center, raising the left tip slightly to get the teddy over the rim while the right tip rolls the ball diagonally inward.
move_to
left_x0.3400left_y-0.3000left_z0.0500right_x0.3400right_y0.3400right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7567, 2.0949, 1.4281, -1.0992, -0.4389, -0.981, 0.0215, 0.6285, 2.188, 1.3586, -0.0147, 0.8043, -0.4389, 0.0129] state[eef_state]: left_x=0.2989 left_y=-0.1741 left_z=0.0108 left_yaw=0.555 left_pitch=-0.663 left_roll=0.5249 left_gripper=0.0215 right_x=0.4857 right_y=0.2001 right_z=0.0433 right_yaw=0.1531 right_pitch=-0.219 right_roll=-0.896 right_gripper=0.0129 state[joint_eff]: [-8.8684, -10.4684, 9.4838, 1.2527, -0.3736, -0.1343, 0.3004, 7.1179, -7.2547, 9.9487, 1.7265, 0.569, 0.2613, 0.486] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.3,"left_z":0.05,"right_x":0.34,"right_y":0.34,"right_z":0.04},"note":"Both remaining objects are immediately outside the safe: the teddy at the near rim and the ball ahead-left of the right jaw. I’ll make coordinated low sweeps toward the compartment center, raising the left tip slightly to get the teddy over the rim while the right tip rolls the ball diagonally inward."})
tool
executing move_to over 12 steps (1.2s)
step 386
assistant
agent noteThe yellow ball is no longer visible outside the safe after the sweep, while the teddy is still caught at the near rim. I’ll lift the left pusher as it continues inward to roll the soft teddy over the raised edge, and retract the right arm to clear the lid area.
move_to
left_x0.3300left_y-0.3000left_z0.1000right_x0.2800right_y0.0500right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7349, 2.4969, 2.1555, -1.6997, -0.4385, -1.1465, 0.0237, 0.4797, 2.2898, 1.6115, -0.6594, 0.944, 0.1604, 0.0154] state[eef_state]: left_x=0.3327 left_y=-0.1948 left_z=0.0404 left_yaw=0.8782 left_pitch=-0.6365 left_roll=0.7865 left_gripper=0.0237 right_x=0.4745 right_y=0.0896 right_z=0.0348 right_yaw=-0.3891 right_pitch=-0.2752 right_roll=-0.8674 right_gripper=0.0154 state[joint_eff]: [-13.1624, -11.0017, 12.8342, 0.6618, -0.5153, 0.0513, 0.2125, 17.5932, -9.3744, 8.8957, 0.7546, 1.199, 0.2369, 0.525] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.3,"left_z":0.1,"right_x":0.28,"right_y":0.05,"right_z":0.18},"note":"The yellow ball is no longer visible outside the safe after the sweep, while the teddy is still caught at the near rim. I’ll lift the left pusher as it continues inward to roll the soft teddy over the raised edge, and retract the right arm to clear the lid area."})
tool
executing move_to over 15 steps (1.5s)
step 401
assistant
agent noteI could place the white plush in the safe, but the rounded ball repeatedly slipped or was pushed outward, and the teddy caught on the safe rim. The safe therefore cannot truthfully be closed with all objects inside within the remaining control budget.
give_up
hindsightIn this layout, objects that appear at the bottom of a wrist view are toward the base of the fingertips; for the near plush, retracting the grasp point from x≈0.28 to x≈0.22 produced the only secure grasp. The yellow ball was farther radially than the right arm could grasp at table height; low diagonal sweeps pushed it outward rather than toward the safe. Use the left arm from the far side of the ball, or establish a deep grasp before transporting. The teddy was easiest to align with the left arm near x≈0.18, y≈-0.18, but closing at the visible torso still compressed it out; grasp a limb or use an over-rim lift rather than a tabletop sweep.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8371, 2.3638, 1.9213, -1.5852, -0.4, -1.2579, 0.0259, 0.5961, 1.6005, 1.1591, -1.2846, 0.9459, 0.4942, 0.0181] state[eef_state]: left_x=0.2896 left_y=-0.2131 left_z=0.038 left_yaw=0.8406 left_pitch=-0.6299 left_roll=0.713 left_gripper=0.0259 right_x=0.2836 right_y=0.0236 right_z=0.1544 right_yaw=-0.4979 right_pitch=-0.3447 right_roll=-0.9656 right_gripper=0.0181 state[joint_eff]: [-1.5932, -7.4462, 7.1453, -1.1746, -0.6032, -0.1001, 0.2125, 7.0769, -11.453, 7.6786, 0.7057, 0.9304, 0.0855, 0.2808] approver: 11 step(s) modified (delta_clamped ×11). camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could place the white plush in the safe, but the rounded ball repeatedly slipped or was pushed outward, and the teddy caught on the safe rim. The safe therefore cannot truthfully be closed with all objects inside within the remaining control budget.","hindsight":"In this layout, objects that appear at the bottom of a wrist view are toward the base of the fingertips; for the near plush, retracting the grasp point from x≈0.28 to x≈0.22 produced the only secure grasp. The yellow ball was farther radially than the right arm could grasp at table height; low diagonal sweeps pushed it outward rather than toward the safe. Use the left arm from the far side of the ball, or establish a deep grasp before transporting. The teddy was easiest to align with the left arm near x≈0.18, y≈-0.18, but closing at the visible torso still compressed it out; grasp a limb or use an over-rim lift rather than a tabletop sweep."})
tool
give_up: I could place the white plush in the safe, but the rounded ball repeatedly slipped or was pushed outward, and the teddy caught on the safe rim. The safe therefore cannot truthfully be closed with all objects inside within the remaining control budget.
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 · 8.767 s
model
gpt-5.6-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"
    }
  ],
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{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3939, -0.0193, -0.0307, 0.9998, -0.0212, 0.7937, 0.606, -0.3962, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1771 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0007 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4291, 10.2496, 2.0195, -0.0659, 0.1197, -0.0366, -0.4308, -1.5248, 9.7709, 1.9023, -0.0366, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ffb36c524df089942a8324673a86903d3f84f7d1f5b83a97e662c562403a7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54f6c59293ceec3eeaf62e9b0101efad9a490bdc4bed206631e1140696a652bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15eadc2754bcc5b9aed9fbc24e3a54e363f30760e6b5a924d0b3e892dfae45b5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 3.56 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEvyoUGn7j61JJ7QSJsqjfVPdTOLdGBJyZ883vLo724RvbB1sW5_PzO6vW8JQJgj3pKJuVq8vd2drWAQwm_xxz8UOpRTSspqmHX6RvwnZJW6YPH51ewnd5uoLg0oyGhaT4CnF8YWqJOywqkqlP2TqBhaMaysZuLMJ88wRbRgXRYCOzakiXx_fJMEUqBSukUGkH4iMAlug28j9tjs5BaCl-zwV5_yXoGRdOIe7L4KWNvMpO62oKN3fYD8wDLaJZ_go5YL1BA3VXgbDlUGUroVhhrylHYJyeqzL3tkWumeS3OWD6okI34RTGB5VUGha3OJefLjBQcIS354gjq758BN3b9_EbdeJPVj7qbodCkzxw0xZlErUliDiEYp2Wnr8-Brj11_3OYtRWgLf2l0hGYajf1CBBplOjdahT6h4L9839lij-6Ifsat1eaX1wmGwj5NpypNLa_MhAqflHMXG5siulZbXukko3CAZGeqCy9LB66Ziij3Kb_-wk3QKbm-pXEz0K41nqtfA_SQ37sonoQ7Geg8rxizX9uorZlXN8T7FI5cEXjULIYYTe267uuAHYcuRsROLDs_3ca3oT7XVAlchNW3zuN9ICdXWQ8TPBmwwh2oCN3xp6Y8niX4mAUZSsbV1JR6amP_vauWy4u8R1jLK7Mh3B5CzU54uPq9UfRRhAR9rGdvZyk9kR_kSrFy-UCLOs8LhBWGd4_NoNma5iJXQlF0JhWm6hbs3iJRJ64fI2h87BufLieaKgoGjTx-X1s7hvEc_JAzZ9P_RcTdfh5N7ypFiBL-yCLxUJxKCQqu1qdNWuxh8xZdwZUvDPu0nDr1tuQfyjUTO_JLTn8Bl6HzTSO3H8GzI3Jrn-s3_tBcHxK9LhTqG0cMQUh0dtfNIk8RPZ3GljY0a00bk4dTqFzJAwbllcDtaHsdO1WFgG9mfTSAFfxhzZQKJXqiL7RGZFXTf59joKEfanDFrzJtpFm419F4XGZiaxYrg1ZUuvYyFmnMWeuBzf034kQ_qJ9XNXx5KrTkAEiK3qJ5x_Wjk4iAwZOhGMdpuwg1TXw4ywLPXtuW-7Sd1hyuKugRpdTUYLsy_oHAc1ht3MoHsfEyrp-46li5UTPAHCzfiEsq19S2GxxlbcNWU-r9kE_V8p6RqGs2IG0T-N8zEO3aZuidjvqd5cU1FM5J8ghe1sw67ZcgEHBVPpWYAk7IL4erXQtt3iL2NYXhfj1t6x0FpP5mDOD7RSosm-Jkhimynu0ht7eNiTHzf5P0-H9E5L-y5LoJwW2pLEb-mP5wA8xHPGOmrzinnqQvUKaJ7iXdoRo6MiSv-JeJ6q4bqTSQdfIWmqq1XIR5l8N9YBmo-ZcmWb7skbi3V_5JyjR2o6QXFc7KA-WMAyr5t52NPMPalc8ZvRDsXiXQCMuajqPcnsNmUZiF-AoSnCg8itIg1MqERa9pN_2mFmrFmv3AADMWwBIHjyB6M9rZNIO6m_TM1nVz2PvMuw6BtZQxb2LIfQj0GFr3hDEMBIAKmxfelqeJxsQUyJYPaDk442bt-xMBm6YEGmz137S5XtBq0TpmDixBNizZIdE_M3rmeiuZD-8MzNfmPEudM0CqqHEzK7_rFntkCRr73yuUsss2-4intEHGXjsW_HDmaLLRmtUfXXFhoN2fx5bXDCO8UI1PeoL8xPjbzG2ya_8tsrOTHCZ0lNsbjZwOSAeqPuniForgWrU-W7LkNxPKmzm1eN7Reb6Yr_j5OG_fxUjHmsCvhHEvubEM2ZLICKFmqODAalXchb0GnxgW37lBZSN2r5Rs25TLrrGGtsWjJqR1mwpGJsHoBm19U8tsohe166GcbGbZTIVqWkQuQnXyj_DhkZ5F5ic5xYCjCQMAKNA6spML3fNlQ-VWiOi1c8FsV56h_5gVYVLwPdKboEMVRwk7VPKaLtLw-w1xDBW_CMZKxGO1dm9p8uHVfEeLsnI8ULtqMRHct3jeUAYwp-vv7oG1Knn0xt8U7Uj885kliprDIj0j-O0FXN2jAab9h2VEEYN3JiHgpFt93PHHSVyPAMdXzh5YsrpMQOsTQAOAyLTRhGMmq_E0HnLdWhBoTpQcxW7zae1z_y_NP6cBCjk9TF2zAT3o7OU4dOblJ4Rnd7Y3tV7l94iqLbC9Kvr8ph8MpqZMKD4RVZYemVUaO2XZ4PHMq6OEjXu4gc5uu0_WSnwXbFBP0uJdYq-pWsSSWVkDbucqQ2a0zYtuJSn3KRgbP5weF7h7mtKm4baEUgk7UP3aMBsgmj7umVXotFaJuzm9rfmQTqOeYLJOVT_pPP59gB6o61cNhGRYSYzncv_ckb7P7xrENL4iPsycYAQE9zFxRzwvFc0TJnheBrrO1HTdRoRrcYAoWeJAMcOMEsSXztTbXUZl9oMpfttaj01RNPYUHLMUPf0DpOHh35qYNYK2wHVwRdgCqDdD_cEaOm4Tz3kZkjf5pQ==",
  "id": "rs_0381e540c0bc1714016ab44bef1df487d0a03d9cb432f5a2cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.25,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The open red safe is centered, with a yellow ball just beyond its upper-right corner and several plush objects below and left of the opening. I’ll send the right arm above the yellow ball first, keeping the gripper open and high for a wrist-camera alignment check.\"}",
  "call_id": "call_vamGJTDMVIW1QpXIPTKH5wBl",
  "id": "fc_0381e540c0bc1714016ab44bf1468c87d09bc30d48da45e87c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vamGJTDMVIW1QpXIPTKH5wBl",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0189, -0.0315, 0.9997, 0.709, 1.7657, 1.3106, -0.3161, 0.5465, 0.3939, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1749 left_yaw=0.0005 left_pitch=-0.0134 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4188 right_y=0.243 right_z=0.1633 right_yaw=0.0335 right_pitch=-0.0547 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5521, 6.9538, 1.8193, -0.0513, -0.0757, -0.0171, 0.4991, -8.8684, 9.0325, 1.6972, 0.442, 0.1294, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650f43f35b12a9b49e96b50df6a01d4b9f93aa85d046f2ed7698ba45e0dbaf4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a26c12efd5ab96fcfe8f96b616d61d0fad0e23c2b50b0a6fc03f8b8bf8684c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fba515bcade85280b3cc5effd5947c143e043f92bc89b2ce328402ca28fabd",
      "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 · 2.803 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3939, -0.0193, -0.0307, 0.9998, -0.0212, 0.7937, 0.606, -0.3962, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1771 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0007 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4291, 10.2496, 2.0195, -0.0659, 0.1197, -0.0366, -0.4308, -1.5248, 9.7709, 1.9023, -0.0366, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0189, -0.0315, 0.9997, 0.709, 1.7657, 1.3106, -0.3161, 0.5465, 0.3939, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1749 left_yaw=0.0005 left_pitch=-0.0134 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4188 right_y=0.243 right_z=0.1633 right_yaw=0.0335 right_pitch=-0.0547 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5521, 6.9538, 1.8193, -0.0513, -0.0757, -0.0171, 0.4991, -8.8684, 9.0325, 1.6972, 0.442, 0.1294, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650f43f35b12a9b49e96b50df6a01d4b9f93aa85d046f2ed7698ba45e0dbaf4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a26c12efd5ab96fcfe8f96b616d61d0fad0e23c2b50b0a6fc03f8b8bf8684c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17fba515bcade85280b3cc5effd5947c143e043f92bc89b2ce328402ca28fabd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEv3DInWjKvox3_55Bt2iWuak04_DiPR9mZTC-65GgcQdgVD_JciBQ8_8SsebxQpemAn2Osoffo4Q4Rahnir0bvV9_DuPq8vBDOAWNexNrtSrMv8Fl2bSpSQNLXgDza_ZFskIMazk3UtU-4Zl0ZFphtDjPkGeh1l4V2nX86L9HDxVy6o5m-ATNsCLisC4rTmL1MZzdSL_hEI0Aqt67YmVXy_OA1oKgwahpF2cG9eeOTMQcyqgqDycR0vmX9xOJqpyfx_fI-wIhbuFs6Nv8WRB5jFHleA56p4L6mVfWWaZKz9-gGAIVBnCGe6vOkesUyYgk77iKsZQVmOqUUtpZGVp8nRIXM8ibp_6yUlA6aXlUAxyv5N74dWCxTarfNHtfE9Z139XvmbKkwma47d5Szsw4kw2vhEYZj93ORoSLg4SBnTzukqzOtFR5UXtrIxEj4G-JnmvRuHLTqSL0DNzzdc1Tn2CtiIHuM8hosZ0D-kchRlSrRvep9F8LIqW8vcdiM-f65JWCoPpqkfdyo5hAzvb8XKrAikzSR0dmOKgttNj1nwpZpAesjYAupzQyR-Tv1ljenJveWQ7Q9AdGYr6LbGf7MAGDEZBpd2DbVKzAKDR7Yt9SSjx7h7VxUG4kJZVOJF8CtSpjrfvZVruI20pdApM0g5r55isJpWl2rs6lGJONDSrahIW1hfkHrelQHxfRxrSosQsARGKjjJkkI1QenoBglmio79W4rl0GmrOe7jPKU_Oom9wYM9si9VxB6dEY9wtGWGe_XACY3htBP1556-G4vnoLkucCorQd4p60ZefgvAhRDdgSQ_AyYgbd0nUuN6MkZQ4RAolN_7f_tXobjaUIlpZE2on4yTxN8VjWkFQ1siwyioOlQIm3jl3KCINvo9HzD6GmSdmu_zfF6WKANFff7IPnHBb3L9KNCwGNDyyStlW7qvXiOjMcShYJqZh1lnggg9_ITMSveej3hJJ6asQ6yQGB73sso0FrBj3JMn0nOOMFYFsHS_SzqBF-kFfnl4tq6Deg7QYfnKdvm4Ly5x6hll5PrN8t-IQks7yxiQuEmEI4wN8miQ4jkraL54JmlYlv6miQcowXUV41Bnal9ZXtYQfGm7sbs4GB9NlajlDoTc_ciU066Xd2XoL-5LI-unE84XL2vQZcGGQXQ4i0Sgvhzp9tY3ugNUlpNyEF-3Qgb1jT8ifPtAjKeEfpCR4TA4rah7UDTdyUzytYcsUoydiUI0e4J3XW3vGn6Tpa6LmwSeyjDjcVvP9LOWAIfiCDgVqkiIcyFP9BLkawwrqb7qHFFfIbJJhg8bNAaamYTtzbKyxGaGhL8GAMYj_0ehWe0svji08ZiAg96JixcCNFjRqPA_iYxesq9hK1SPFpSsNya4u-GZ1AG9cDj4tGxn_afZJQDntQGp_EQUAiE60N7WvkPZNJBAoZT_rRwPEccCbcUus6_Ou8oE6naeWP6WZduIYcjy",
  "id": "rs_0381e540c0bc1714016ab44bf62b6887d099198bf6fd7c26af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.243,\"right_z\":0.17},\"note\":\"The yellow ball is now centered between the jaw columns in the right wrist view, but it still has clear image space below it, meaning it sits a few centimeters beyond the fingertips. I’ll advance radially by about 2.5 cm while staying high.\"}",
  "call_id": "call_LRiVZLvi4DLb0dDfioOVr376",
  "id": "fc_0381e540c0bc1714016ab44bf7195c87d0bdb1a3ad4d693910",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LRiVZLvi4DLb0dDfioOVr376",
  "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]: [-0.0193, 0.7967, 0.6064, -0.4076, -0.0189, -0.0315, 0.9998, 0.675, 1.8217, 1.3746, -0.3595, 0.5201, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1746 left_yaw=0.0001 left_pitch=-0.0149 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4328 right_y=0.2386 right_z=0.1548 right_yaw=0.0327 right_pitch=-0.095 right_roll=-0.0717 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2103, 7.0085, 1.7216, -0.0366, -0.0464, -0.0073, -0.1983, -9.265, 9.5795, 1.6825, 0.2466, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fdc60650a0bdeb909274654664701bb9d4cb21b0820f90b2c1a6802a8058b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41b08b5c04e9c0294f19b1d9375873cac22f1ed81a159d91da8c9a606f11226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e2402d2aa89315150fb02ce15ec1183a297a15b2586b8c1484323eff14e123",
      "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 · 4.911 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0189, -0.0315, 0.9997, 0.709, 1.7657, 1.3106, -0.3161, 0.5465, 0.3939, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1749 left_yaw=0.0005 left_pitch=-0.0134 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4188 right_y=0.243 right_z=0.1633 right_yaw=0.0335 right_pitch=-0.0547 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5521, 6.9538, 1.8193, -0.0513, -0.0757, -0.0171, 0.4991, -8.8684, 9.0325, 1.6972, 0.442, 0.1294, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7967, 0.6064, -0.4076, -0.0189, -0.0315, 0.9998, 0.675, 1.8217, 1.3746, -0.3595, 0.5201, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1746 left_yaw=0.0001 left_pitch=-0.0149 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4328 right_y=0.2386 right_z=0.1548 right_yaw=0.0327 right_pitch=-0.095 right_roll=-0.0717 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2103, 7.0085, 1.7216, -0.0366, -0.0464, -0.0073, -0.1983, -9.265, 9.5795, 1.6825, 0.2466, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22fdc60650a0bdeb909274654664701bb9d4cb21b0820f90b2c1a6802a8058b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c41b08b5c04e9c0294f19b1d9375873cac22f1ed81a159d91da8c9a606f11226",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5e2402d2aa89315150fb02ce15ec1183a297a15b2586b8c1484323eff14e123",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEv6TDVSjC-Cn4ktrKEuXPMr-jCJfx6lrN1Ip_DigGbHI66Z1yShQm-cuhRHinzBsmVk5uDpXLwzpi_cjQsVnbbxKI-wmQtR1bsBFpzgnqEkHKXfPTtSxJgKdi1rRPtflg5hxfs04nImzPtfDejsN5_oyl1xVFAuceEiysGey1RkCLXhQPQTsOuPbp_DVo-4UfKNvuiEcusni3c9HXcTzrEhXV0ue3Bd_jIR9iEwRsJ4sQRcKOyZuKRMGw7MVywi_fLpPQQr0TOySzIsbg6t5nY4X9fIxBHxbJ5Y2OjL0d-GeTep7tOKfbpgu6M3wR-Fv3p7iaAR9wuYn6DOp39igJkozAotSzId8YrGJoRlsmzcLNpbczVAiH6o_xaNVRkwlz3V6O-P5vzJCdDSZgrD5MyHT7N5YovLjA6PHC_o8vDxTtcY6KRG7DjDJ7o1G_OjSgk1zHT-nWCCOMfZ2n5JjQbxgxo1Jz-j2SgMb4JkGJW9p5v4OAgmW4uGqXnnwRgJzroAAJfBUYuaVAy5_mwmSYLLVekyS8zgnnh3FrHSrPZcRGn911p_4qFQrktRyMKV-Mnupz1EQEWHLiDVwB8MzxVAxmBXmUY-b7uIb2Jv036fk0ci9McwFKdUCLpI8e82_DXe9dZqKL8jvKN0bBOg8EohZFjqYhsyv_jZ4JafOw5W2qPE_dUpkNRv7G40Qb_yRFK6CZ2l_JJ1lDyGNxv5GGk9SUE3TgXe4A3W9WvSTJkbLL58no1ZgS7_BFud_LJu_Mpb6-S-7sUuzbTAKX7TTJqjQjdYOIZ6bvzU3CzxAHFgsr-WdpfpIop_mE52T32TqriBVK_22DohJgXOAV39YYLmUnorieYLP-GA3onx_JvUnfW98YhdRnKBEUgVT4xjv2RIz8_xGn51vnqdksjy9MN2kkOaP0wGp9lmO7ajOjuV15iiAQgVIEJmbSJPZaRAQstdhorLEDCmgkHmjAmBHOVCFh5V-iJ1ymT7mNDk9-PEBr0d4SlHOzDodJ6iWurooHOod2E64P-JZIQqQyQOdYJZd7rxRQtSlJMse76LCP6BPCtv7P_ziGs7QLvhfZxHOP0tmJnc2qtxiEDGC0sa0jG4YC9OecrwkBEryz9faGhCC3FlkOnKUCkH3RzN1jUg7Z4wTNmHDJyeWsXxjT1WGsHWsHXXk11VIhHfucGSx6T8Mt8KdhVWIOND3_Y4alY2TvS6x5lqLSK8GbZwubF91TBiKlSThpXtrUuhiUxY-nv-3-JDTrG0-rBisdrCZH4xnz3T1eqPhdgBg_l9MAHzIu6cYkgBgSWfv-Cmfz9RCx74vbYt67epOr-AtboqIpRnoQmZ_llUEdKkfl9iE817hSg4TSzzO-7AanI6xS5rnCqqWEdhWp5y0k98l0Ofvk1Z8d3s",
  "id": "rs_0381e540c0bc1714016ab44bf96d1087d08ab0840b48bbaf28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.433,\"right_y\":0.239,\"right_z\":0.025},\"note\":\"After the radial advance, the ball remains centered and has moved down close to the fingertip line, which is the expected grasp position. I’ll descend vertically to roughly the ball’s mid-height before closing.\"}",
  "call_id": "call_rh2VDJXLoAgAj110Oq6gyL8e",
  "id": "fc_0381e540c0bc1714016ab44bf9eee887d09c456b9631a2fe7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rh2VDJXLoAgAj110Oq6gyL8e",
  "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, 0.7967, 0.6064, -0.4095, -0.0189, -0.0315, 0.9997, 0.6662, 1.8309, 1.3823, -0.3683, 0.511, 0.3557, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1742 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4349 right_y=0.2366 right_z=0.1516 right_yaw=0.0361 right_pitch=-0.1077 right_roll=-0.0808 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.265, 7.2274, 1.7705, -0.0611, -0.0708, -0.0122, -0.1846, -9.3197, 9.6342, 1.7509, 0.1685, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e77fe7464e3f349ba2c06a01e6f19f4c3473ce1c35558a59b3252e212b60361",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932d7ccdd823bb0c1aa9aff5b4b1feddac420e5fe7a27ae3523719f7d06283fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e9a2c37425fc046d72888e2b70ce8bd8148203180085c543bd2336ee5fd311",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.933 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3939, -0.0193, -0.0307, 0.9998, -0.0212, 0.7937, 0.606, -0.3962, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1771 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0007 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4291, 10.2496, 2.0195, -0.0659, 0.1197, -0.0366, -0.4308, -1.5248, 9.7709, 1.9023, -0.0366, 0.1685, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7967, 0.6064, -0.4076, -0.0189, -0.0315, 0.9998, 0.675, 1.8217, 1.3746, -0.3595, 0.5201, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1746 left_yaw=0.0001 left_pitch=-0.0149 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4328 right_y=0.2386 right_z=0.1548 right_yaw=0.0327 right_pitch=-0.095 right_roll=-0.0717 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2103, 7.0085, 1.7216, -0.0366, -0.0464, -0.0073, -0.1983, -9.265, 9.5795, 1.6825, 0.2466, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4095, -0.0189, -0.0315, 0.9997, 0.6662, 1.8309, 1.3823, -0.3683, 0.511, 0.3557, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1742 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4349 right_y=0.2366 right_z=0.1516 right_yaw=0.0361 right_pitch=-0.1077 right_roll=-0.0808 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.265, 7.2274, 1.7705, -0.0611, -0.0708, -0.0122, -0.1846, -9.3197, 9.6342, 1.7509, 0.1685, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e77fe7464e3f349ba2c06a01e6f19f4c3473ce1c35558a59b3252e212b60361",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:932d7ccdd823bb0c1aa9aff5b4b1feddac420e5fe7a27ae3523719f7d06283fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e9a2c37425fc046d72888e2b70ce8bd8148203180085c543bd2336ee5fd311",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwAR9vE5jF_4tmc-vxhpwTa2hXRZIxc94ovdZcr7o98Iw9haNockXTbPKwGFYQiNDQmtsUhiZu4MGaFmNL17HENfMOzDure6gZpVHLEhgRcokWE-FEJxWTU8xqzWXODv18HkYRN0qsmcumYXNwTzDBSCjU_o7QH5x4GhYWCvyyX7QO9Zp6qh4L6tCxEfw8oXWq-q9fZHG88Af-4WlANQQUwL4Ro5WfZvDg3IJ88wESK-9SkMxXGn7DKfEns7LZ2_rdeQNvhznQXgpzdN4-nprxAoqJfl2MNxcxqx14me_ANSdImp_esNtB204AHkwBM5Y41wfNkyK_3-A-l034tkUKoTfzR0WlHfdtmPbZanmRUW-DLnv7QW1FrRWQMMZsR1xDFSiVw7H6ceyI6UTbaV8-3WrXVWlpb0T3vEHWEaAKfKjO2tDUm2hWDct7EMU_C13h7lNL7CFfD69n-p1AVE2fyymhloAvl-15nd7G6q4OnjC2_sKNNgpzIYL_lxhfxz9iN_YZanKiZSceCYw_2aUNqyK0YnXeyHzjAG2jdR0j0g-uA55nvOqtpQ9ezQdSzMsRblU5eRe_XGMu9SAWcL_BzNdXZDP5z9f-IOQc84buScmVgZfLlTfBNDlvoHGXDr7ZMTGk7lVxhP-Ngqva0ZRtWbI9TLj0QIZzO9zLM6JTIDvk0VryS3gvV2pxCw-1O4Fhib3QUlGuOmTN5qAkam5sKQ8YzCp-v3RPLtBHVTqs-ZD_OJQMLJCBwe-UOl4tl27jx1AluGaQdYfdHg9MfTSB_kmDODkXAZrPQEeFIUP_xBADHghBUMwZmOdqwkE-fe5_jfn89TrCDmqN8qt_brSnjrIJCdmLp2uB9w8XNlj_7-X80uTrg0u8VWP0LScJ9PJch56MCmwRpJhrx_C7M73Fk2MR3D66_7DeeOThyTWSMa-NHfdMVzM5HcQjb48r1SzQRQRA0FUztJFmbg3cuZiI2i82yLgSV7TbwnhKfgvbqj3FeyDtgD89dsYhYfbJw6bKITzrFimwPW7XxyPi3LbXebIe2n15K3kNfFBnjXTOQRlLBwatdzj4zumwDNlc64ZnK2j9KclgktoS9Eo6InvSrkR_SPy4guvhbHbl5eM8pct5CpxdyJaK90LjzJtW7NcNIR9babcvFPYn1-JssY6NLF49U26LSs0FeRCpAGnp5t5p9Cfg8LNPtt1GVPtTei-b-VGkPFeY7ew-6HxWi-3Olytjmz3zs21-g_mEXnsYdJ6zhulUNz8zLA3plrTEuzS_sSFXcL7DNv6nvIKS2KgOs7EjLtKW228tYR1JGl4k3mRtIN6a3ckuL_Gb-cV2u0aFpVysZmS8AGIYxEJwjHDPNxVZjfpkrhrBlSGnp3udGVOFRKIQjvZvUe_OXLHRVTwVk4GHdeZXkXG_bLhhrNwvQDiXIyOCp-uKW5-07RdUxDp_it9fpnqJ8Ofs9pDb_6ixaD_3LxT6li7qOZysKUjXPAeyJMFwEmfCYhlaFJuDqMzNL28hyzkRHDeYzfCXH1ggUNgadtN_NAe0FUisi_CJNt5VQgHom1WzaTq6u0eYkyuIqccNXqrbBfVIT976Xpra-V6K5wiFJeC9vmFlrmDmhaB-dbi0qEZ18-XpNEojVbFlq4FPjDLFW3k2oYRNxvUyvxiPhzKBjakCb1ZdSFoGKxyJLIpOGeLExjjY_p4wjIdsE5X8Ulcfc1Uh9HC1yRnS7AqRMxvDnWInbjTk5A0aD8IQ702oFxmyUrVAcBwcJTRFaYf50KlF8t_kBlh8VUgTUAt_4dZNui1DC-iHQapbR5keZ5ExMugSaLEFajAygQcv4-DFqG9ft395XNkx9oitsalv0KDiP31oTeTQCPI9bPe_gEJ5FHRKFdzyeCFFE29cHj9LeY9kkFC_IcVtZ8hHEAm8EzGCOb0fNBcil8lGqcYltfn89H5tzQy_Cv5PkX5FSAoUsFtip0YoL_BnXnJdSofhCO74kvJ4ieOkjnd7LJh44Ga6pNujYwN8Zvug-cb4mifbuTDuRrErva4De3pmkihKZltj3vXYkkXt_5Y1rMoAt_JICdojbtzjt2F3dtw2TfCsJs4lDnflcFS_dXImIDW1TJCBUGd56o8sDk9plXrnMr7d2gJXNOouPugZIB-Vr2uxySyP_vd4VwzPL9sD_zSmVcfMx2ccb83Coqo0LpPH7gfA6mzWaTxLkSgd7IJLV-65XSLkALelsxUMCrt8nHuCchvkY-FXDV-cAtTRdVR9sC0MBhpHVD_K37ZkjFpvgZR0sHDV5VYDdBcbYct-R0KXzCqYsadVgHEV7chmPJ1Xyfo3GmsadnvneqkD7_MfZQbnjg7FYA3R7PKHOkTt5dUbS0nHesdVGBnF0KAVvKw==",
  "id": "rs_0381e540c0bc1714016ab44bfd8c4887d0b0d54195e88d2440",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.239,\"right_z\":0.08,\"right_pitch\":0.3},\"note\":\"The requested descent did not track—the readback stayed near 15 cm—so this is an IK/reach issue rather than contact. I’ll come slightly inward, tip the tool forward, and descend to an intermediate height to unfold the arm before the final approach.\"}",
  "call_id": "call_KE4yO9p22U786eFSBP6n4NTu",
  "id": "fc_0381e540c0bc1714016ab44bff88dc87d0a3ad325e8f871976",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KE4yO9p22U786eFSBP6n4NTu",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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, 0.7986, 0.6064, -0.4274, -0.0193, -0.0315, 0.9998, 0.7406, 1.977, 0.8619, 0.63, 0.6895, 0.178, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0008 left_pitch=-0.0366 left_roll=0.0001 left_gripper=0.9998 right_x=0.4194 right_y=0.236 right_z=0.0649 right_yaw=0.0593 right_pitch=0.2118 right_roll=-0.119 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.388, 7.0632, 1.917, -0.0806, -0.0513, -0.0073, 0.1573, -8.6769, 5.4222, 2.1905, 0.4029, -0.0952, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152afef5bdc1f86039391d3265aa66728c574c494d00ed98a27b315a0726e0b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4a6ff97d0b7b6bccb891a6b446e77880881fcf29bd0a5b8d3b0b34cee09b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccdfa4e6cc69536e11f2f127247360542ff93e8a2bca4a3409b405cb0b39739e",
      "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 · 2.325 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4061, -0.0189, -0.0315, 0.9997, 0.709, 1.7657, 1.3106, -0.3161, 0.5465, 0.3939, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1749 left_yaw=0.0005 left_pitch=-0.0134 left_roll=-0.0006 left_gripper=0.9997 right_x=0.4188 right_y=0.243 right_z=0.1633 right_yaw=0.0335 right_pitch=-0.0547 right_roll=-0.043 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5521, 6.9538, 1.8193, -0.0513, -0.0757, -0.0171, 0.4991, -8.8684, 9.0325, 1.6972, 0.442, 0.1294, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4095, -0.0189, -0.0315, 0.9997, 0.6662, 1.8309, 1.3823, -0.3683, 0.511, 0.3557, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1742 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4349 right_y=0.2366 right_z=0.1516 right_yaw=0.0361 right_pitch=-0.1077 right_roll=-0.0808 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.265, 7.2274, 1.7705, -0.0611, -0.0708, -0.0122, -0.1846, -9.3197, 9.6342, 1.7509, 0.1685, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4274, -0.0193, -0.0315, 0.9998, 0.7406, 1.977, 0.8619, 0.63, 0.6895, 0.178, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0008 left_pitch=-0.0366 left_roll=0.0001 left_gripper=0.9998 right_x=0.4194 right_y=0.236 right_z=0.0649 right_yaw=0.0593 right_pitch=0.2118 right_roll=-0.119 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.388, 7.0632, 1.917, -0.0806, -0.0513, -0.0073, 0.1573, -8.6769, 5.4222, 2.1905, 0.4029, -0.0952, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:152afef5bdc1f86039391d3265aa66728c574c494d00ed98a27b315a0726e0b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4a6ff97d0b7b6bccb891a6b446e77880881fcf29bd0a5b8d3b0b34cee09b49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccdfa4e6cc69536e11f2f127247360542ff93e8a2bca4a3409b405cb0b39739e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwEY1Elg3N5S7zOHBPD_gqvl25WSFbgKTEfyezYNHByHXpCPffNalajRJdBwzHbK4Ppg6Vbd4ogZ1MGAphXNnPKQkEy_yoONJ-hCtZX_MqnEDlkW-Z3gnC_ouTleTTRuGdruXv_1fPtvvLX8ULEKwVqxbO92B9AuxcCupbawHkqH1N2Lvz2XPv93AfjlT3G7ZKNVle3u2y_xQCD9mrAGVD5bL8X7ntd6o0iZYBwsN3o1pmc0rVN7BQfEodc1J2S55vd7tiQTPeVNZWCexHHHGHUocqc7pl-d2eHConN_-Iy3neSzxOZxJCqUwiFnG85D5GQm_-78G3lrxG-pJj5O_uGZD46z9zN0muH-TZMC4VdN362MTu76zmMzzMfsMD7w6unw7F4bXYZfrMXxzpYIaLAdKMfXHVXJCyZpLwxHM68bH0PtHXZPt13NQqgDd6rdUWd9a7sa8ogwOBjnqRfHD4umpKERVyAYjB5VBVlESMKu8qDxPGozBrG_-dNQFURsROTX60OFHP9uHD8fWEBQ1PcPF4OG7uS-ixufd3z2NY-tto5mL0CotseHCrn5486Un__RwvKo3BuiE16aPCxZADzsFFAfhbm-PCZaUNiXp2UhVsvVN9CJvMmbyR0OH6hpo1FwqJWWNmq1FiQlHt8C5ZBOYN0XXvRzGxofTQOv076ZEA908w3EE6fbCmmGf9_UGGz3PobDwwXMf7hqfs-AU1IJMmztdkBFRHYqc3BYPwmG9k63IJDMepq2B9IxgHdR0-NoVASpRrOUS_q6I1NdNN0rG_zpNobeF5u0xCv7INegMQzc_EOwyPvEaQ4bkuHKYAqpZi9rjIKm0PDYy4IhTlcZJQZWbDckU6FDJoQP2KuUB5p3cKcJ6OUsUFt4c_eFE229jxwxXuNgUE2GwH3NdoGK9EUznBSvJd7LresNa9LfmHw4YaeTSfnpcqIPSGH1lDFcibrHKg7gOSzF-IEXkhd8Ys6Zres3wGDt00YZjb2LSnKhiHbAOI2PltAKbKXV8sfKXaAF7FmOUnCpRWJvqbik2zMskGyqkAimNsT3v2cCDlJziBVIYF8Ox4DP84DmPpiZDO3zaUtsgmLieFQNFM4m2POEF6-6Vb2QoogdwYY7RtJyHtgvOpX1ggki7Xn7yFU-epSQYtS7jiKQNP6Nz37017ZNwybh7wbkudXbAhaejfXQ8IK8ESRPQnFgFRiTREIfGwbLCda2lenOvI6BlgEXjtJwiOXiJX9puGLEcFfXubaqiB-Vq4MFrHZiK4tVF3vTJTq9tA1cuoSXjK07pq3aDIoxw3wyIOJG5PXoaE-sYyxSVGZMtfgbWbiJcRw2ccWo8A4a3kTvxyh7jJ1kL8lbbx7vvGPbyQRtndN-D6DKhJpntkPN36SAtfws8QsNUZGVpkLN69il2vDDgT1iKq0GSFTQPu9SFxEDbl20kct71r9m9HQn3VMFk7sDBBgecBRnYTQYd4c15A3vigjhH8ooUdtwajUbZQcBWZdEkN4Phq1DL4LuGiorEYS2lWW_ucjPYa6J4u9Fx7FXc6oy2JJmis1e7v235Pl0lFgkmylybnBcGIaa0UqUkJjzFGrBMLQrO-A6UaXwugluMVd8Uk9X8F7Kh5lZBmHO6T2MPworhw=",
  "id": "rs_0381e540c0bc1714016ab44c030d0887d08155163ed47ddf58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.236,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The intermediate move succeeded: the gripper is now about 6.5 cm high and the ball fills the centered gap immediately ahead of the fingertips. I’ll make the short final descent with a 1 cm outward correction while retaining the helpful forward pitch.\"}",
  "call_id": "call_hhlkklSfZ4vki21lPDRR0wxa",
  "id": "fc_0381e540c0bc1714016ab44c03fe2087d0a6035c220d64dc2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hhlkklSfZ4vki21lPDRR0wxa",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4347, -0.0189, -0.0349, 0.9998, 0.7334, 2.1548, 0.8532, 0.8806, 0.6952, 0.1322, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1678 left_yaw=0.0024 left_pitch=-0.0469 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4274 right_y=0.2376 right_z=0.0282 right_yaw=0.0635 right_pitch=0.2604 right_roll=-0.124 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1829, 7.0359, 1.8242, -0.0855, -0.0024, -0.0171, -0.4308, -9.853, 4.3829, 2.0879, 0.1685, -0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cf857fa74d0d7eca8f65a1223301477f835b268dd010a3cca325cf5e050979",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99632ebc695bf5f1ced7582457f5938b82f700a53cc80946facc76c61dc59681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f18fe7c7c80ab521b7bf4571f457397200f2edc02900d9e80adc259cba1568",
      "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 · 3.3 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7967, 0.6064, -0.4076, -0.0189, -0.0315, 0.9998, 0.675, 1.8217, 1.3746, -0.3595, 0.5201, 0.3664, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1746 left_yaw=0.0001 left_pitch=-0.0149 left_roll=-0.0006 left_gripper=0.9998 right_x=0.4328 right_y=0.2386 right_z=0.1548 right_yaw=0.0327 right_pitch=-0.095 right_roll=-0.0717 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2103, 7.0085, 1.7216, -0.0366, -0.0464, -0.0073, -0.1983, -9.265, 9.5795, 1.6825, 0.2466, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4274, -0.0193, -0.0315, 0.9998, 0.7406, 1.977, 0.8619, 0.63, 0.6895, 0.178, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0008 left_pitch=-0.0366 left_roll=0.0001 left_gripper=0.9998 right_x=0.4194 right_y=0.236 right_z=0.0649 right_yaw=0.0593 right_pitch=0.2118 right_roll=-0.119 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.388, 7.0632, 1.917, -0.0806, -0.0513, -0.0073, 0.1573, -8.6769, 5.4222, 2.1905, 0.4029, -0.0952, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4347, -0.0189, -0.0349, 0.9998, 0.7334, 2.1548, 0.8532, 0.8806, 0.6952, 0.1322, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1678 left_yaw=0.0024 left_pitch=-0.0469 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4274 right_y=0.2376 right_z=0.0282 right_yaw=0.0635 right_pitch=0.2604 right_roll=-0.124 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1829, 7.0359, 1.8242, -0.0855, -0.0024, -0.0171, -0.4308, -9.853, 4.3829, 2.0879, 0.1685, -0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cf857fa74d0d7eca8f65a1223301477f835b268dd010a3cca325cf5e050979",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99632ebc695bf5f1ced7582457f5938b82f700a53cc80946facc76c61dc59681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06f18fe7c7c80ab521b7bf4571f457397200f2edc02900d9e80adc259cba1568",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwHt5voQbNI3zT3ykPNC5BAztshMJerHruxDe4rjN3i09KUhydr5KzgIgG0YBAMRd3BRHQaqOB1Leyf5PtAVe9rEYyWf2NI5ZvLvni7827g1UZixVO0scjooickRtrCgDT0QBJbj6zL9f5ur9A6UX7Dp3tDG5tQmaMq7nb21A-3rSzILe3Pea1nYGMl_Bi1jtB8B1TIPJaUT8cWlpr2yV4MGEkEQeVSYLEIchWBUeN6kQgeXPyp_JMuOGpP_4pphs46dgmbzFwLSUhv2XqQXuI9aeJD4fkdhGzbol1TVDYK4gJ2pIYNkCFTAayURCwTg45wdh2IB2yET4e_gi5VZQybURnMhQWkwFHpjzfpLaepIXVEmfcCeIeMGBl0wZ27bXQqW5POgw3lFrRYBLzvx1eeG4Mh-M5FpuPZWLwFyAR7XdIDkyF6RIRO4c8vUpWLv_KCXxqn1vI-yGkjf7ZRv6K_lI7B9uzavyRlzBZ3obxetCqDKi81kAMB5Kl__qOC339fzMN5U0b0LKT4eM4_fEza_YCtr-b-ufVCUMMmXaEK4HdsXvejdlykOSxsYIKBB1-s36rzjaAbS4AqwIMCKo6Ai0lNE_Zv-4pv_VcLRbMs-VordxyF34tB9krcmv9N-R5HyYfMYG9SnZeDTZi3VbaCoRgoFJ8GcZK4dLqg75uFWwyDCJSCeOLV6FG32JMlBGo9WU1KeQGD_Zo6RsPvR66l5Bw7xToxG90demSt-I1gm8NXW772-gIBmeKp1FFWc5eCXhMpLroiCUlzjnJjr5tpNIi-Avc2wAOtQBhf4U1VP723bTRK95LK6mw_SderLM3TtpSSh_N17w6yyj2t8Hbhvx3vayhLKRib6F8oFvcxPtJPGvpJWOOLBl1F2i2ce9w-An3AXxEavu93e6w6NGBXZxI_NGyXIMi8pKMSFwsUVtQ8iCXIh0uQVMVDVep8i6wO7rzkd0R8YEg_ofb7TpX77e_ILsg2aIBQy8Ub79FK70u1TgH5uRyzHHoYKAjuA34xdPR0ctSYLfKQ87bXtIsVIXXExVP5HMfv4TC0QMJc9GgRDLF28_lvsrZHBXPk3on2UMRIu8XlgyK6P5nlx_047m47-1Uxo5dpo5sG-94YOVIZz6o4dXAK3ZXTJ8jNPED-yDHBpGnd4lun1zLJlmhzeijiwos6-iXHKjWQfpkXJKo9z2AktdQsCVM_UApWiozxY-wjvNIb9NZKt8iLtEhzEa_ToB-MDm2wZQCrTvR32oVgqmUtqSuxclht2Dn_9FXC",
  "id": "rs_0381e540c0bc1714016ab44c06229887d08449d241f4a7849f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The final approach tracked to 2.8 cm, putting the jaw tips on either side of the centered ball. I’ll close the gripper now and use the settled jaw width to verify that the rounded object was captured rather than squeezed aside.\"}",
  "call_id": "call_GgfrXsS83j3Dsj0zRjhR6V4D",
  "id": "fc_0381e540c0bc1714016ab44c0675c087d0966760fcfa7dbcd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GgfrXsS83j3Dsj0zRjhR6V4D",
  "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, 0.6064, -0.4511, -0.0189, -0.0357, 0.9998, 0.7292, 2.1826, 0.8486, 1.0203, 0.6891, 0.1345, 0.5048]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0648 left_roll=-0.0029 left_gripper=0.9998 right_x=0.4334 right_y=0.2414 right_z=0.0405 right_yaw=0.0422 right_pitch=0.3426 right_roll=-0.0495 right_gripper=0.5048\nstate[joint_eff]: [-0.0889, -0.8547, 7.2821, 1.8632, -0.0513, -0.0269, -0.0122, -0.0615, -8.7726, 3.9043, 1.3455, 0.2173, -0.3199, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5163214d974ecb1d49692680dca893481080925e3f5aa5316015399a4aa598df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:994578a2240e0851b638f29a30e5676625550fbdb817acddc7e4206d40c4b522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a58acbfa5bd73b1a52806847e9b5f9a39ab7fdc16c3f27a36c6663a1af7af73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.726 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4095, -0.0189, -0.0315, 0.9997, 0.6662, 1.8309, 1.3823, -0.3683, 0.511, 0.3557, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1742 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4349 right_y=0.2366 right_z=0.1516 right_yaw=0.0361 right_pitch=-0.1077 right_roll=-0.0808 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.265, 7.2274, 1.7705, -0.0611, -0.0708, -0.0122, -0.1846, -9.3197, 9.6342, 1.7509, 0.1685, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4347, -0.0189, -0.0349, 0.9998, 0.7334, 2.1548, 0.8532, 0.8806, 0.6952, 0.1322, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1678 left_yaw=0.0024 left_pitch=-0.0469 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4274 right_y=0.2376 right_z=0.0282 right_yaw=0.0635 right_pitch=0.2604 right_roll=-0.124 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1829, 7.0359, 1.8242, -0.0855, -0.0024, -0.0171, -0.4308, -9.853, 4.3829, 2.0879, 0.1685, -0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0357, 0.9998, 0.7292, 2.1826, 0.8486, 1.0203, 0.6891, 0.1345, 0.5048]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0648 left_roll=-0.0029 left_gripper=0.9998 right_x=0.4334 right_y=0.2414 right_z=0.0405 right_yaw=0.0422 right_pitch=0.3426 right_roll=-0.0495 right_gripper=0.5048\nstate[joint_eff]: [-0.0889, -0.8547, 7.2821, 1.8632, -0.0513, -0.0269, -0.0122, -0.0615, -8.7726, 3.9043, 1.3455, 0.2173, -0.3199, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5163214d974ecb1d49692680dca893481080925e3f5aa5316015399a4aa598df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:994578a2240e0851b638f29a30e5676625550fbdb817acddc7e4206d40c4b522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a58acbfa5bd73b1a52806847e9b5f9a39ab7fdc16c3f27a36c6663a1af7af73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwLvLkM4UPN_xn-x6J-g-zltX-dGwiHA_T5-aBZCZa_D3SHTokJ6w7263sIhFoxMyfVMkTCj2n6n7ggg4LkpJ-2zznQC8hu3eUXjM9J2cAN3amVs17JT3oODYgQ9JscqThEo4m82ZGnRk4RfgtuU1DmoAXDmyf27mMEnjyRhy_oUv0UcO6ilemmRjI394NW6kp-qbzSJcAsb2nXtXZcx1JpkALMppUrQAUj8w3AiZN8evaCd5P0iaAFkNpNxfrCes01VU-TjUrlXM28iImKDiUywfZCSATdnbW5-OYbNqS2IG1koL3OpgxLywDmgnmf8--_Xug3Bf3ctoww1PKstq8hAabXQsHhEc-CbV_HHakGLgvo7QoZeW-R5zCYvDgNJa4lV9zFA9mJ9qbdoF2FIOg1HmaP-275e3qwn3tJ_Df5d2VfU98T2rQO0lFjtHpxQNmPN5CqQuxF_m7GrtgSIlF_QUaAWhOgK2DK1E5dOelHrkLRM4V-t6dOKZzFzNzpHsDgb390kdDgjTNyTe6d2KucuJNRg0CbBc9unxbf-LWwY5v6NMmAYKXYGZSrQNs1xQDCiyQOhobPoZxd7fYQ5qehHw6mAcj65OQVSbNuBzzMSvTQItJMBoIPVF_ihzxUA4F4HsGuT8YhO1_AOwXYK7SOszmMZgOAwxuBOrm8NQX_qDBAyf4XdxulZvUUh5K5WxRXSQT9ZoSAtlNHjdX3V6blAHn48yJcNWhciL0AnX0-X-VDXSlmwAprMJlj0VGyLOZUVGZGENwBwzrkgAcSyEcDHauSjnFX0SgBimssyOAuCgBxpzfpB3RmVkKfNPlI8993mYI5jhCIIXWB243ZtfzuJQNGyF_cMIymsLLUQvSwoCQi7dJTm-QgkxMdUeiC0hnq-Kmn-0Kk5yYQrv9W3AVzmRNxvSkfJIntpX6NnVrKbNGbLAh6Kbqgt0flF05TdFiGIIjQfTb7aKDoyx_U_1Vc53j844aiQ6lkTjm2ezOmXXGcUwxjNG3CTZmzSyEhiVgRbi7aP1MCsMydyzTUYYcKAMSkfJDay2oB5n4qVeBBVCDDMNepRClEr0-NimpPWCCoXj9jl9SMwBoAybiuVpCqCYCnuYnrHE2W1mCbfmx3nvNNZ49APt4IDF2lvUF-3yAAPj4FgeWgRZ3ceEzr2PcenGDtPABsSt8W2gfzZq6wnJaZDjVbT7O8ctDkeZcrVSZfusHPdgmusMEKvDQepfAwOrR8zC_c0GhQ41zYntIZ-985Fl1H_NFMpMsobHuoMN5l3YU14fTI7-16vAX3yvCkp5LffJVsd9MqhL0pm1TVfWF2oCCWdXcxfyLEiiFUj-q4HH1HbaYI-XW_alta6_x5OrHyD1XSIYT800HK9SRg5EG5rRPCa5zZ_C8-7pge7im6gXe8z51Ujy9z_YQ___MgEFLCYlPvLxGBLxGb6sHf_cFu3aq_dTp9qJ4kKYfucnAR8tYN6Q8qNbnGbNaplvGjMWY5t9Et0TuzicPRllozs4NPnfz2cmIV8myhnlE1nyNVudAps8PpQqmF9d1GpEnXF4XJxwmnx2CRDkGXsvflGUGo8I1FPM4g8aqMLnh1Ab-KU0KDk6IheKufKEd3knPrlwP5mDbHTpHREEppV-ZlqoagaFoYgfugA5t1bTiqC2mqsfsd5NTbf7ZUE38KdP1mnT1sGf4T5_DJnGzw5gZ2BCLjefNZrdTDyJstlgUb2urlUusK1QyIjhsmitlVsaOtc9713Q-mhh-utb8kxd93EZo=",
  "id": "rs_0381e540c0bc1714016ab44c0985c887d0855b23317e7cda95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.33,\"right_z\":0.2,\"right_pitch\":0.0},\"note\":\"The gripper settled at 0.50, corresponding to a roughly 4.8 cm object, so the ball is securely held. I’ll lift it well above the safe walls and translate over the center of the red compartment.\"}",
  "call_id": "call_OrhrgW1KxuRuR6iJHyGVPyQW",
  "id": "fc_0381e540c0bc1714016ab44c0ae82087d09749a6dce961a013",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OrhrgW1KxuRuR6iJHyGVPyQW",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0189, -0.0383, 0.9997, 1.0225, 1.8565, 1.4284, -0.588, 0.7647, 0.5289, 0.5059]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0043 left_pitch=-0.0728 left_roll=-0.0049 left_gripper=0.9997 right_x=0.3339 right_y=0.319 right_z=0.1504 right_yaw=0.1121 right_pitch=-0.0947 right_roll=-0.23 right_gripper=0.5059\nstate[joint_eff]: [-0.2803, -1.3333, 6.9949, 1.7167, -0.0415, -0.0122, -0.0171, 0.1846, -12.041, 10.4274, 2.7912, 0.5201, 0.7741, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2198a51ce8aff96814ce4bb2778b8fd09976c25c60a48389fed7c19654e1580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbd905d4d8929ca04e3b3fda0477de5a883c18107458a1eca4e5b81e1f91420",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8173299e05cf3af8b0d73a009e0d5ff17c35c97572727020e04d6de96aa88f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.681 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4274, -0.0193, -0.0315, 0.9998, 0.7406, 1.977, 0.8619, 0.63, 0.6895, 0.178, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1701 left_yaw=0.0008 left_pitch=-0.0366 left_roll=0.0001 left_gripper=0.9998 right_x=0.4194 right_y=0.236 right_z=0.0649 right_yaw=0.0593 right_pitch=0.2118 right_roll=-0.119 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.388, 7.0632, 1.917, -0.0806, -0.0513, -0.0073, 0.1573, -8.6769, 5.4222, 2.1905, 0.4029, -0.0952, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0357, 0.9998, 0.7292, 2.1826, 0.8486, 1.0203, 0.6891, 0.1345, 0.5048]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0648 left_roll=-0.0029 left_gripper=0.9998 right_x=0.4334 right_y=0.2414 right_z=0.0405 right_yaw=0.0422 right_pitch=0.3426 right_roll=-0.0495 right_gripper=0.5048\nstate[joint_eff]: [-0.0889, -0.8547, 7.2821, 1.8632, -0.0513, -0.0269, -0.0122, -0.0615, -8.7726, 3.9043, 1.3455, 0.2173, -0.3199, 1.0525]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0189, -0.0383, 0.9997, 1.0225, 1.8565, 1.4284, -0.588, 0.7647, 0.5289, 0.5059]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0043 left_pitch=-0.0728 left_roll=-0.0049 left_gripper=0.9997 right_x=0.3339 right_y=0.319 right_z=0.1504 right_yaw=0.1121 right_pitch=-0.0947 right_roll=-0.23 right_gripper=0.5059\nstate[joint_eff]: [-0.2803, -1.3333, 6.9949, 1.7167, -0.0415, -0.0122, -0.0171, 0.1846, -12.041, 10.4274, 2.7912, 0.5201, 0.7741, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2198a51ce8aff96814ce4bb2778b8fd09976c25c60a48389fed7c19654e1580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fbd905d4d8929ca04e3b3fda0477de5a883c18107458a1eca4e5b81e1f91420",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8173299e05cf3af8b0d73a009e0d5ff17c35c97572727020e04d6de96aa88f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwREQlJCl5dmmsFiBNaSDYKAV54gYqkmfTpA47rGuX-KQk_OiKNQem_im7t6RuphRdc_n0yDEcDj7OYGVcYJ5nuw_rho4iKBcO17BCiPpz-1cl2uof2oIzHwSC3IwkxWtU6G40OAiduiXjkEBk12tgAP_BYSEV2M4gOOZUwtEGQRvj3gWxm1TMpu3ss4gMkYBUPwttEWayMCnXTJNllyF_W7yMsRiSDAJ-ZgYiW_wuzsvRjh75WSlWvgPsvaRp2rS87UWqL8AVcOeDqyPMpdwSDL_MDBIV_PKk4EDP35uc7zA6fldTE2aafBo0_0UQbnn-Iz3bKJHp1M0Y7Op68OjwuaIE_8HMnhZoS0acacRDauBxJi7xaexFkHXdErCXRTH4CtS0FX327B9989TjHrVvxg3PFyaC-TTZfb_FWc8gQ9ymJ5UHB9Cs7zmZTm-v966VbycQpOfKOQfqsU9Pl_W1FM5wGqKHh_riP9pGpkDLj12u6mmKfTzUx7bZOgMfpaV9WiNxwcN4INFjXDrl6qXHc4rDJWYfFjNILEh4UmNsxpON_Hgm8dQeUXctd7GyMJh-w6_h0SQ-qKlvEZG45yr3ghfUvDFxFzF_GnmhXYQ4FwCYhJXyIFra-MQgijP7dH6CM8p8d7bl25Y5snzS45Uj_CB6QdTWNIABLJAhHKQpSzbuAK0wxvLeJCgYB-Sq5O2oTYguqy_ztLJw8imlSKpS2meGwNWZ2bploGl7W3DYNcNLU_MTYFJKFwl7O15srXRkfCRFZlYEibLhJKqEBNapUXCuw9d3wBbWaToSCN9znYEBHeBh8U_Aw_tpR2R7zF6e3wOs_TLbAfxwoqUxCV2rbpBgakXzPzWzEznRRfy3-LjykxyMlxRhE1gdffUIoYqsrnB2q8a0olT3ZyoFuWtotzFQc4pcDJ5hlphaHgkLNzxKeE9C7w7oR51rW4KsJPOmDVuG2PIpuUflyDWAOPkuieRV1PDB3wAJh1BYP-W2L_hIeF6q3ouysIQ-QMhD2L3ylGSEi51Kw3cRsAA2R9-DwbUaDVmJwsGIzhVZo7Kb32O6C1q2UG2mPLaqWks24yQ1ctMCOJgXUuiixJlOQ-sQxW36TNM--jYsWrijk5CM9SQSYWixfghSM4zEGM3d6Q-HWoBBMndU9pSY_vaj9nlILa7zKQOUf55Ruh36a8v2Xbo2nFU8xFP2CnvwdzAE6Nn-Nrq1cd813C3NE3CjaTg6JkUqpQMcMUoENZHZZOn5Uhh1F2jOlV7FIIcl-p6a2bidMn7J3n98rfxncjrLHYB9NHRYtBaejhMup9bUrEk4g-r0jX1BRRMIBCX1VPlCwWe5zr8JuvQYKKZ2pDTHXulKlhzIH3eFXV6yc1_emjeJOBNmehUz0CBkD3uMKXa8TOQ1IRYjP5YSGbc6OIgM4rC0q7vGAfWsB2SXpCBf4kXH9xDrZLTsKiSdKAtJ0PNgRW52bzJHepunTNLyuED3UFwc56Xbma9s7BFDtM3z07FiT8iZenz45eyvPOURUBhooKeJU1By1Ocf70sJXCTXF0LzlJivgKu-ao4jVGLIpzeonEsuYUlqSGun_nUNMAg7ciVNrpNpSCV-pA09dhVCSC7aJuzWu6s1x1EY9JqEbAMISANWkmawEcSODBSgHQ3gcAmtyH6mokl7GK3mARHinUVk4starZJvDcQ0fAINji_n_Xb7MyVJ9JxOBLC0vLNqGwbbLvRQJDB8i97uLfpyAZ4x-P2BUcJuwoHYePuQ2zBKOvG4ebhsiUWyUm86sAhY5fvPkRaslA6za9j5rjDOpuuQH2MzgYdBqn2Qvvq1HjsCjZAJgrEPJHFz7cFBYg9JfHUqgmbamLvKbiDb20W8BwVQ4a9vP8NWcHLEd0WAV4EmDx6nk9ZYJUiTGr3zC79hP08pphC6lzkZqNYiErFxLvJOKPFVcLA7_MAO9EBHWE03TIl7EmXu5y2wUbile0OclN_Z2802ZIOqAG8ldalKnXpW3Obx5dFe2p4Gfi5DCDRGqLqIbiNsagpZXQ2d2DY5ny2aw8PloFU925H82FGdfiX5BFmSjM7NqbhWRtMZXY31R6W6fwAllGSa522-XwnnnmFO3TBlrmUJZpwK31zUGUX8TBk0S_LbT_eKWHH7OpGPYfBqzDSSCegCTuLZlhyGATNre5Q3F2Mp6xIiXiWOB-ndyd7IQZrUaLkbmdlLNevHON9Vz0b-0LTdJWGDrfl_yB158z2TmJ5olZtJj81piyyJgfwP3MnwnYWAN-fWhDbDEHu2RmNvEfExRLrgR3wWAUutmtYNYowOPdyHr1R38puhOW5dd1nkIe7I6aKbEptNGzFaOR-sKYl2sBkuA6o-sunwJ7vDvEx-rtkNQg0oDUX7xj4xuECScD9F07dOMM_mnscDtjK3CqNOBVOMjxa_HyHawd0mSg4LCH0Iu76-_H41cSZe18fN8Va7YIyEzxxf3rx-ghoVOQdkfpVj52wuyr0YGnib10p6F_BQ6wx7p5s5WKh9N0kHlqc1jTSNKKrw0lPfRtRfWv5xLRAH08AjjagXhcZtu1jSscIaoUqbEIvAMIaKKgHUXIEFQxgZr5sWAqEMVBmX2kgBcBSu_h0ou0mNd",
  "id": "rs_0381e540c0bc1714016ab44c0dc39087d0b7857e5a6dfcba99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.24,\"right_z\":0.12,\"right_pitch\":0.3,\"right_gripper\":1.0},\"note\":\"The overhead view shows the yellow ball stayed on the table, and it is also visible ahead in the wrist camera, so the apparent jaw-width grasp was not retained. I’ll reopen and return above it with the successful forward-pitched IK posture, then align for one corrected retry.\"}",
  "call_id": "call_AOESFx7cjKCfiou0w0kTR308",
  "id": "fc_0381e540c0bc1714016ab44c106fb487d0a6cec12e1d2a1ef5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AOESFx7cjKCfiou0w0kTR308",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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, 0.8036, 0.6064, -0.4732, -0.0193, -0.0387, 0.9997, 0.9184, 1.8259, 1.2125, -0.3313, 0.7368, 0.3721, 0.9977]\nstate[eef_state]: left_x=0.2822 left_y=0.0017 left_z=0.1597 left_yaw=0.0049 left_pitch=-0.0873 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3581 right_y=0.2792 right_z=0.1128 right_yaw=0.1137 right_pitch=-0.0873 right_roll=-0.2838 right_gripper=0.9977\nstate[joint_eff]: [-0.1299, -1.1692, 6.9949, 1.7705, -0.0757, -0.0757, -0.0073, -5.6137, -5.4222, 4.3966, 0.8669, 0.4371, -0.1538, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f054f36c482038f485eaae647a1f0ee5d12e7dbde1df3be6f0725f62aad3ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2469df66845969eaaf0ad780c5f8da7f9c32d8f89fb83d9ac0c00e94df357d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dcdce89e7c31670c528f2c0ae6c36835500ddf17db99bcaa17d6b639329056",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.947 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4347, -0.0189, -0.0349, 0.9998, 0.7334, 2.1548, 0.8532, 0.8806, 0.6952, 0.1322, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1678 left_yaw=0.0024 left_pitch=-0.0469 left_roll=-0.0027 left_gripper=0.9998 right_x=0.4274 right_y=0.2376 right_z=0.0282 right_yaw=0.0635 right_pitch=0.2604 right_roll=-0.124 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.1829, 7.0359, 1.8242, -0.0855, -0.0024, -0.0171, -0.4308, -9.853, 4.3829, 2.0879, 0.1685, -0.1245, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0189, -0.0383, 0.9997, 1.0225, 1.8565, 1.4284, -0.588, 0.7647, 0.5289, 0.5059]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0043 left_pitch=-0.0728 left_roll=-0.0049 left_gripper=0.9997 right_x=0.3339 right_y=0.319 right_z=0.1504 right_yaw=0.1121 right_pitch=-0.0947 right_roll=-0.23 right_gripper=0.5059\nstate[joint_eff]: [-0.2803, -1.3333, 6.9949, 1.7167, -0.0415, -0.0122, -0.0171, 0.1846, -12.041, 10.4274, 2.7912, 0.5201, 0.7741, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6064, -0.4732, -0.0193, -0.0387, 0.9997, 0.9184, 1.8259, 1.2125, -0.3313, 0.7368, 0.3721, 0.9977]\nstate[eef_state]: left_x=0.2822 left_y=0.0017 left_z=0.1597 left_yaw=0.0049 left_pitch=-0.0873 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3581 right_y=0.2792 right_z=0.1128 right_yaw=0.1137 right_pitch=-0.0873 right_roll=-0.2838 right_gripper=0.9977\nstate[joint_eff]: [-0.1299, -1.1692, 6.9949, 1.7705, -0.0757, -0.0757, -0.0073, -5.6137, -5.4222, 4.3966, 0.8669, 0.4371, -0.1538, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f054f36c482038f485eaae647a1f0ee5d12e7dbde1df3be6f0725f62aad3ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2469df66845969eaaf0ad780c5f8da7f9c32d8f89fb83d9ac0c00e94df357d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0dcdce89e7c31670c528f2c0ae6c36835500ddf17db99bcaa17d6b639329056",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwWEFQEtrYgzl8ON9ZKBu02smgNokb6U8kdpTDNJmAo9yNF-l06XA4w_YpOKtZwRWY9__NNjdRIU4nNQOQcBjBcKNgjmgXSN5aJmco_7oqVxQDA3GXQWeiGqOvHqQq95wr0LFyrpUdrF-wRD87ERv0y9juCVUsnwNfLTQ0unFR56znus4_4Nxc4_mUPxxuTFAvC4bIsx0YBh_ZeWxLAfTJyEdGYvE6cIIAHC0qEx1NQqqWMQVXu6Pv4TjaEKA11FA-jI6AJPPsx1W-t6n23HyFfHfff5oy0K1yph-5FNI9RNSIerZFBXWoVXDz-5y6eKEFn3DvOJcYbWbZ6c-xQhJobcF7iTNb-HTyqKkLReQuCGJzzCYVVvXY-FeCah2yhrhFmvbwYWykiHTq5PlPDTalbN4_ccMnNnww21GgdkQWuzOhqqhLVADliyNYUpNDvHReoavMGqlvb-jzjlrSRmnIs-4oWCahI0JPSlrSc43V063J9yGAB2OC7_-DzQjJyWgcFsSTz7rrajsQSsCmOIx2mZhnLaPQzUgW6IiHeP0-GDlskcH0Ygu3t7VLElMfuaYROVRteZhRZlYVigWXTxRYCMijmDJmckIC2B_aAfZlJPbvgDGnrE3xWj8ARceE_2e8ZgnWQGPYH04PWsloSWDO3X1our5fKfjArgF0WrDWzkKoeQpDMSAqKZSZAB4-C1jxhNqCEIgBjJFbvJEpxpDjpkrwE1P_quLmuiS-ufAP7Ap_xTbtfMreg4R6G8q-IEhyh4IUgdG_woZCX2174KU8iqzPQ1OUsVRgU6al3wlb4lyPjm7lCo0gASW5GYR6Gk2uy2qRQu-e_-gmbXDXgb_Y1xKWnH712DSA6f8VdAPtNoX7Mvq286xYxUR7lEWHPYEyhD1yQuRmAaCcW35fo2pYhlbatfOBjLfAD1T2-uDo3KoOatfN6P6t4LStWeRWMJLe43xb6_7KyRzxo3BGWvq_RyJ4VsFssT9OmLwPhcf-LY7bDgwjg2Ed15zXXhyJa6Z1nZgqXdysAGXkr_nkgfupT_Yc8sZZeHLNkuddiPzoNk2lu2rj1v1NPlAsXqTeDhq0lwnmx6CTi00f0zEBz-JGA27SDa5XU6wXNYPW659sNExZU5bMlZySFP8TDIRPgsk_G6UmteUA2C5swWRTcVmhxau7-5CKTZMiIqLitvqlP7q5G4ypPqIs5u1_Z8MwzEmNyxDa84tqLkspS713llojQ_n5mKmJh6WkUoA8nHS3M-Zsp4yusfyRX4GgvabpuZiAakkuN1tW51n2zs-Pnab2o7J1tQ1y8QDLBMEqhF58Dgnnh_rYOCdRlEAo1WczhKHDfuhk5rj_7disq142-EmhezEdpJyNU7CBfGbL76Bmc8MdHIGbPfDf_DTY0SPra3WbbJisjvIrPN-4fQRujZfsgLxIrNCNBB2lu97wvd4pyostv6WW06n8iQFnzw6qEZasCVmFexNLxwV_Y2SjNDT3uXWPUbWEZHMKHk7um0WRSOOd-ABhqwku20uB1o9DZ85McOSj0em-x-qPWeCGJq71vtJ_3ZxxiPMNsRSf5gLEfXU4rDN8vTX8P-NrB3HKbU5pQGJ4nJER-fmuQxKr2Xaug3mBoOGaf0K6JMvacnjNlmEDcckDOY4hhfspY_pw-ixHnXJ0U9VSbt8w75pKFmNtx5Y0Atbb0G74dCWgpIH9JDSle7T_glmII-tI2vP2Qi7PVbeMUqqpx0CcV1TAbz1kblwBGx2HDyD9O7HkGPQ8597PXL_nxDot-pbpIRvXfuaxYtQ1rYqwiFS2Trnays654nemxB8IZwsL28DAcYyRdZe8=",
  "id": "rs_0381e540c0bc1714016ab44c13c46887d09a7fc90060824523",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The return path stalled near the safe wall: the readback is still at x=0.36 and the ball appears ahead-right in the wrist view. I’ll raise higher to clear the rim and unfold outward before trying to descend again.\"}",
  "call_id": "call_l6gm7N61UBB4Wuw8LhmuWpim",
  "id": "fc_0381e540c0bc1714016ab44c15666087d08a69928a7ce224ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l6gm7N61UBB4Wuw8LhmuWpim",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.8841, 1.7428, 1.1278, -0.1665, 0.7891, 0.2279, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0046 left_pitch=-0.0988 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3719 right_y=0.2616 right_z=0.1429 right_yaw=0.1239 right_pitch=0.0334 right_roll=-0.3153 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4701, 7.2684, 1.7411, -0.0611, -0.0708, -0.0073, 0.0615, -9.5932, 7.7607, 1.4579, 0.3053, 0.0611, 0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc4617236c47a291897c4a9279dba1d65cc9c42a24a96d6cac5befd6e3edb81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e162c4ab76dbc8ded6774195163c2b81890853f5f14ff0de6222cb94c6eaab19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d5d733e7c2c62c71801dd843ca27a2a2f114c2c6bd898be3d54d5abd0e10bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 2.117 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0357, 0.9998, 0.7292, 2.1826, 0.8486, 1.0203, 0.6891, 0.1345, 0.5048]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0648 left_roll=-0.0029 left_gripper=0.9998 right_x=0.4334 right_y=0.2414 right_z=0.0405 right_yaw=0.0422 right_pitch=0.3426 right_roll=-0.0495 right_gripper=0.5048\nstate[joint_eff]: [-0.0889, -0.8547, 7.2821, 1.8632, -0.0513, -0.0269, -0.0122, -0.0615, -8.7726, 3.9043, 1.3455, 0.2173, -0.3199, 1.0525]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6064, -0.4732, -0.0193, -0.0387, 0.9997, 0.9184, 1.8259, 1.2125, -0.3313, 0.7368, 0.3721, 0.9977]\nstate[eef_state]: left_x=0.2822 left_y=0.0017 left_z=0.1597 left_yaw=0.0049 left_pitch=-0.0873 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3581 right_y=0.2792 right_z=0.1128 right_yaw=0.1137 right_pitch=-0.0873 right_roll=-0.2838 right_gripper=0.9977\nstate[joint_eff]: [-0.1299, -1.1692, 6.9949, 1.7705, -0.0757, -0.0757, -0.0073, -5.6137, -5.4222, 4.3966, 0.8669, 0.4371, -0.1538, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.8841, 1.7428, 1.1278, -0.1665, 0.7891, 0.2279, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0046 left_pitch=-0.0988 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3719 right_y=0.2616 right_z=0.1429 right_yaw=0.1239 right_pitch=0.0334 right_roll=-0.3153 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4701, 7.2684, 1.7411, -0.0611, -0.0708, -0.0073, 0.0615, -9.5932, 7.7607, 1.4579, 0.3053, 0.0611, 0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc4617236c47a291897c4a9279dba1d65cc9c42a24a96d6cac5befd6e3edb81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e162c4ab76dbc8ded6774195163c2b81890853f5f14ff0de6222cb94c6eaab19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d5d733e7c2c62c71801dd843ca27a2a2f114c2c6bd898be3d54d5abd0e10bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwbGbcU-ouS0QqVrhUuqiy0kWBRMDCMu1WeZjKLqtcezt1qneKdCU1wBul0qp6YhAp3I8yH5E1IjBz-nbaPJ58z0f92QnBDK_DadGRfuzl_SeIZ_E0kCnjLcdCOkVs4WaL1nRMtWDWPeCNHhh-lHPbge2C1FbZyd52I-OoAhgn9o7RVciRc6SY9_i8ejCqto-_lFf2PiiCfxYHPagUabLMNFsu0hykLGPfOzyme2VY7M8cNq0zaithHIe9NX5fuq_BLvMeBU_zIL9OiCtMNYtiUxmIqSe17Bq8vBLsUijVjh0LSe6wXpr4L35-KPN2IboxsaaSUbU6d_PdEInIlnzL4x55thAm6axNdINnYfeCeOBgsC9HYYRty8O0HuPZiYiEbINvPDZYx4ZU4L9sNLsB1dJiukVb9cxzxefZmExaNjrLlL2x7GPJ1-QdqUR22mGUKyixsh9xr2OZPExHDHrBAV3c6ISxWQ-4UTEdKijsePYjWF4X8DcbXbq8wIwE5RCWzKgrrGki0cvYRVp9rY4rgmbMb_Ipbc6dJFbQZdbR4uNCpsj-YQpLqzV6GPu1vycTdIUSWeYLojBdYnYMMIURa2RZkZhNNfMiyYT96F_G5sMM95p33jBuUZzW6m9ZvJpBLKdSyvRL5K7toRQIiQp1hIKlwf2t8Eb91dYrCBjxRf6pfTplOjNikbfQtWEBUrhfR5gPZxAhdZMWZ9Ubjolky6Soog0ow_iDXrJJmPfNW9cSNbYGIpJWLMTYh-ZNBTN2IB1k84o3ypUCuYX4G-wQYLfZqeE7kuTg079L-pMdOhxXyG6FBtFS7Gv-YGsQ6vCs-hP2Zp1XXasDqlmjgKZ-pEM9z5Vh_SNEWlX8P_6DIKEu6-0EwD9TOtuIigVsPfv7Of5mKuorFXjO__uTgcftji0pzBlQKrXA56v5pdGPbZF3FyHhEiQr3ZvbOrI2Cq00KT1zHPE7vA7Jo57saD1j3Pnklky1Qr1YFzGXUTV6PoFpO0jS1xnzo67t0ukApIMNwVHEvOjtZEOIDcNjW-qPjf1iW36Hqx0BltBZRjn467igW5t9viVVBI_RdQN6-u4jkAZdWVTMZkuJYRHCmYo61AN6MjtPZThmSU4I4ptsBvsndJWwS8aERBLjTak9Crr27_6GquiUUAbVas54kxPNzsXep8PdlltU5NS0-n01dpI_ynf9kBsgo0ITjF26pi0nxLmIzCMmEeA2mvXMg5M7j0YDQ6vAPzLKWtoXPzU14XULL2Ey_b8yNwjjCKsja6hE12EKnNsnE8YhL44dxGgwOj9L0aaRk36WiEWnWgjbHWgXnJ2GsR19aP_qj1-XU1VhUdLmTHx6sxbe5B2PI6VjEBl9aWkIhze3GPHD2TVnu8kE-LWus7O8q5hh9Fj_cAcg78N6lT0SwmR0CR6dFWysKoUQS5Yz_y20BuKctFVLSpc1U33v3uHlEN8iAzQakYmy_",
  "id": "rs_0381e540c0bc1714016ab44c1a20b887d095b938748d450eb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.397,\"right_y\":0.262,\"right_z\":0.145,\"right_pitch\":0.3},\"note\":\"The higher recovery move brought the ball exactly onto the jaw centerline; it is still just beyond the fingertip line with clear space below. I’ll advance about 2.5 cm radially while holding this lateral alignment and height.\"}",
  "call_id": "call_3a8Mj7IfMNHElHnWVe2Oicmi",
  "id": "fc_0381e540c0bc1714016ab44c1ac54087d099949d3c92c5654d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3a8Mj7IfMNHElHnWVe2Oicmi",
  "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, 0.6064, -0.5014, -0.0189, -0.0387, 0.9998, 0.8696, 1.8114, 0.9489, 0.3389, 0.8501, 0.0185, 0.9989]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1528 left_yaw=0.0046 left_pitch=-0.1217 left_roll=-0.004 left_gripper=0.9998 right_x=0.3888 right_y=0.2603 right_z=0.1282 right_yaw=0.153 right_pitch=0.2118 right_roll=-0.3566 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4291, 6.8991, 1.9121, -0.0757, -0.0708, -0.0122, -0.4171, -8.0342, 6.2017, 2.0147, 0.4274, -0.0073, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9c8905084d82ebe5adcb9bc817a79368701d725b9c987ecfd7d3218c99aa5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f596258fe655d19dab12bc59d66a7316a9e2474d53b99b5d2116935265a25f39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4954d1e2403a5057f2fccc074a89af5ab265f477c260bf190463066e2c9158d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 2.873 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0189, -0.0383, 0.9997, 1.0225, 1.8565, 1.4284, -0.588, 0.7647, 0.5289, 0.5059]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0043 left_pitch=-0.0728 left_roll=-0.0049 left_gripper=0.9997 right_x=0.3339 right_y=0.319 right_z=0.1504 right_yaw=0.1121 right_pitch=-0.0947 right_roll=-0.23 right_gripper=0.5059\nstate[joint_eff]: [-0.2803, -1.3333, 6.9949, 1.7167, -0.0415, -0.0122, -0.0171, 0.1846, -12.041, 10.4274, 2.7912, 0.5201, 0.7741, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.8841, 1.7428, 1.1278, -0.1665, 0.7891, 0.2279, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0046 left_pitch=-0.0988 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3719 right_y=0.2616 right_z=0.1429 right_yaw=0.1239 right_pitch=0.0334 right_roll=-0.3153 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4701, 7.2684, 1.7411, -0.0611, -0.0708, -0.0073, 0.0615, -9.5932, 7.7607, 1.4579, 0.3053, 0.0611, 0.1099]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5014, -0.0189, -0.0387, 0.9998, 0.8696, 1.8114, 0.9489, 0.3389, 0.8501, 0.0185, 0.9989]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1528 left_yaw=0.0046 left_pitch=-0.1217 left_roll=-0.004 left_gripper=0.9998 right_x=0.3888 right_y=0.2603 right_z=0.1282 right_yaw=0.153 right_pitch=0.2118 right_roll=-0.3566 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4291, 6.8991, 1.9121, -0.0757, -0.0708, -0.0122, -0.4171, -8.0342, 6.2017, 2.0147, 0.4274, -0.0073, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b9c8905084d82ebe5adcb9bc817a79368701d725b9c987ecfd7d3218c99aa5a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f596258fe655d19dab12bc59d66a7316a9e2474d53b99b5d2116935265a25f39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4954d1e2403a5057f2fccc074a89af5ab265f477c260bf190463066e2c9158d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEweMvvs1CzNioCfsjJ7YPQDlSjRFQz77_571oxXJEFjgEwVxIPIjxlNiOnHbKN3B7hXTfyo4y25ovuTSFNDhkAban4TwiypJNJTUOBVEqwTg56P-WOOy0bPnwTWoZ3YfSm8ZuxJvHsvFtm-m9U7jFiMbD0UiyG_88M-yCfGnDDR6j-MLe4n09MgNNc8CWjkcV45wMP_2bWSBQ7xOld5t6UeJMVYFwZPVw1UBr6uErg7llKXzi395CUCSPpCEN9b0RQLUwPvtTeR4ZH-qusUHH_LuwDrx0VMmEyOq1V-L74pvOFtNltlABjObLbm5VWa5BCALowxZcUqfLla6ViTr4Yv6mcPB-7Ns_xkWrYkx_YVAhCnh-VYKgb6vMFsjnMAyqRUYVCwGomBa0uFt-uizkNVGGWYBMPJV2B-n_1GTDzUY--ta-DJA7sfoehdLXUW2H6S-czf2hNRZCJzLy2nx-5P-zcx1i66Q5z7x7QGbdQjdqty78aAH8ldizw-oD7HnrksRTDQG2t_sPJ1CNBbdlpwWxRScdc6JMnYg7HgyXdYPMtC9ocyIEPCfOoK0jpsByZYyhT6FTZgEYYbYdddK4oYTFP29LtVX8en-iGcLTSXx3Vf96Yc2LX_uAdneN1HhPmJn0c7BPr2lGkVUEaaGjQiF2rvzd91yOs49K_6w-Gdq0LXnrE4X-0SWJorlvaGY2ZrN_JAgtuq_Y3pMou4vMAGtR77n1VxsS_Q6GM_6xF9fUMXNX33gnjvKKaS5X1cPBjMSYhaEy-nU9EzlIv59K_awnnPGpIWwxLP3PC0dhgz5fGmLuSJBP93mV_OPg7rO8pLt6oBgJF7xSFvzMfnG3CZU1QYK06YpNDCZWOPcIlIUWzoosDVpup3R7FmJwYlsbHjlz913-6y5wYohzkB7RLv-jA2uoM5u2R_SQyVfx3p6tNLy2iQd4d48_VDM8HN-SaE7Q8zW_VR83SvrSMT0zPhHEUVV-IOhg95-PqTC0PEvxpXs_aRUmOGiop2TJjOjssuAp1iRMCXW_4rZPR_sITO9Vqk63PtzUlg1o_iJJMVm4tEmk68RV94nwTvTWsjQ0BL1BCdanhitOaL15EKEW6b35OlCkCvZHyqLnfYbJdFbDn5K4QSnzix1xqHuNBssmaMJy2Y0xxXW91HRhALO4Pdr-d2rw2Yse7OOfa9A8eHKYxh-iXRjcuYaiLOuCx8IHOi67e_N5y4gaGU7_pmlCaxVicDwcuHnS3yHBWpbV9hd9kr5kEGe8lPt4wlAGm5FZmYFSlthq7Ia_hsrO6cLvtesA==",
  "id": "rs_0381e540c0bc1714016ab44c1d79a487d0a1d2f70588bd04db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.26,\"right_z\":0.06,\"right_pitch\":0.3},\"note\":\"The ball is now large and centered at the fingertip line. I’ll descend to about 6 cm with only a small outward adjustment, using the pitched posture that previously allowed low reach.\"}",
  "call_id": "call_YLMgGP06O5YVQydKovQ0mcxu",
  "id": "fc_0381e540c0bc1714016ab44c1dd1d087d0b18897dc8e6c3c89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YLMgGP06O5YVQydKovQ0mcxu",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6064, -0.5171, -0.0189, -0.0387, 0.9997, 0.8482, 2.0605, 0.8673, 0.7139, 0.8497, -0.0624, 0.9989]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1489 left_yaw=0.0047 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9997 right_x=0.3985 right_y=0.2568 right_z=0.0534 right_yaw=0.1681 right_pitch=0.2291 right_roll=-0.4041 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.4564, 6.8855, 1.7265, -0.0611, -0.0659, -0.0171, -0.759, -8.4718, 4.4923, 1.8339, 0.2662, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7c5f339882ef3873f486fe0072ce37c3b311561b26d6f0eee6e198315c2506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12c974e452e6be21a067346ebadb2fdf1a35929d0d78227637f8c8bbe9eecfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3177538fbcb6d2d42ff968208ac1e5e639c08207cf56c093c61161bab2b71037",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.536 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6064, -0.4732, -0.0193, -0.0387, 0.9997, 0.9184, 1.8259, 1.2125, -0.3313, 0.7368, 0.3721, 0.9977]\nstate[eef_state]: left_x=0.2822 left_y=0.0017 left_z=0.1597 left_yaw=0.0049 left_pitch=-0.0873 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3581 right_y=0.2792 right_z=0.1128 right_yaw=0.1137 right_pitch=-0.0873 right_roll=-0.2838 right_gripper=0.9977\nstate[joint_eff]: [-0.1299, -1.1692, 6.9949, 1.7705, -0.0757, -0.0757, -0.0073, -5.6137, -5.4222, 4.3966, 0.8669, 0.4371, -0.1538, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5014, -0.0189, -0.0387, 0.9998, 0.8696, 1.8114, 0.9489, 0.3389, 0.8501, 0.0185, 0.9989]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1528 left_yaw=0.0046 left_pitch=-0.1217 left_roll=-0.004 left_gripper=0.9998 right_x=0.3888 right_y=0.2603 right_z=0.1282 right_yaw=0.153 right_pitch=0.2118 right_roll=-0.3566 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4291, 6.8991, 1.9121, -0.0757, -0.0708, -0.0122, -0.4171, -8.0342, 6.2017, 2.0147, 0.4274, -0.0073, -0.0024]\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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6064, -0.5171, -0.0189, -0.0387, 0.9997, 0.8482, 2.0605, 0.8673, 0.7139, 0.8497, -0.0624, 0.9989]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1489 left_yaw=0.0047 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9997 right_x=0.3985 right_y=0.2568 right_z=0.0534 right_yaw=0.1681 right_pitch=0.2291 right_roll=-0.4041 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.4564, 6.8855, 1.7265, -0.0611, -0.0659, -0.0171, -0.759, -8.4718, 4.4923, 1.8339, 0.2662, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d7c5f339882ef3873f486fe0072ce37c3b311561b26d6f0eee6e198315c2506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a12c974e452e6be21a067346ebadb2fdf1a35929d0d78227637f8c8bbe9eecfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3177538fbcb6d2d42ff968208ac1e5e639c08207cf56c093c61161bab2b71037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwhUVAbbJKpqIc6cbZ0sNmg27w8G2wY0ucihPa0YhNrlGWpnhd24i4_Jk11Y89UIgfD4N-sXqT09gSb5mA7FnEx-GrEH8GZGIdqq9EqPIFpeXO7E4IhfXeAc8FsvNp-NxKH-cJaJN6yzW0aPnD833SWx3ggapdl7qYCCh45GfH_9sNM77teCh0_qt3-biVUzjDS1ST319DXB-sEQK8wPsyPhkU7pzCsls_JNA1oG5JOVLFOEoz9Hs8HDsfQe-MLxKlLr3VYax_rof4xOLn2OdgfMnsidXYhIMMiLWGBo0WHNipEFwksOGMK62nVxH5unD_R-3fxUuoUG27TcrbufSW8sSX35PObGlvFlFoIWHQGCuqPQtZ-7JonFMsSO7_NgsPBF6BtQMPhDfu1-w54ilyyfsCKUrTWDfQkb6l3d9-rfQz3F_YgnSu6yOq5tUssIr2biOss60ONOEmUI3liOofmpo3zZYnlKKNdPoFGgvk-wqdMi-Qyo5JO40zLtbeW6lLTuvOnzPD1Eucco0Ha41vRKp3lf1_dfGnMZREAvQW8DZeOdr5TEi4TiAI4b-OKaLTMegy3PtCVOGUILJU7VV0Rhlraufudp85v-2h6zT6AL2p7Furdc_FXwIy8yPnrE3WxvPScojZee2YC9G0OMPcMWzgKJQtxKweIMZdA_pt9zMDEDfatBYkB8iJd5n4NaFHPdBXvssPaJalxiWsjhrZ6FJv_of74pOg17ptYw3Ll_ceUnb_U84XMOddoUUzZubMP2ozGjr78m7c-anOv-bznC3oAiDtOXmoMmSIivH-cBcUwlisCEou-jc2lb0b6Ui9kIAjK-HpUU1R_DXMjun2mlWsqb5KoWD4fQT8zWwcuRkVS8u4bp42Wl2IFMlqkDku9AveKKYSq1XyBI-yPDmG1cRW4BhLRz0AJf9Bb7dbD13hi8zGrtAcPjh9P2fn_Mx3Kb5J50QZEJZcpDRQNNmBMj-1px6_46nFsMUmvLYGyHqQCZmdZzainIFiwJZ1xBzFy0Hdx82dVy-mo8xklwguDucf87qe7_fwcc5-9ybDvZGPWDhfGrUpwYDO3DJJmD3MsNtIXCOmts52Vm5U7HaVZXyg3LS_t3iuF-ygkiiK-agUQ0FpAiC_c-6SD8ekFIt09Q-_qlB21P-Eh6-dHQJjgPEPsFjapkj7XuUmZJK0tkQ4P4PaTPEKWwkhQ_yU35PiYuJxoFZReQ3mwtweUkJklgCt-V-zWYCfXvNEA2XKb0bw87ijwjzXkP-pqD-b-b8q0A5lEKdeamerkmWQrqQ2bJA==",
  "id": "rs_0381e540c0bc1714016ab44c20487487d099c146d489d87c8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.257,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The descent tracked to 5.3 cm and the ball remains centered between the open fingers. I’ll lower the last 2.5–3 cm without changing lateral alignment, then close more gently around the rounded object.\"}",
  "call_id": "call_ebMg5IWW8tm8eL1riccC4sIl",
  "id": "fc_0381e540c0bc1714016ab44c20884087d0b8b1bb5e8f1bac61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ebMg5IWW8tm8eL1riccC4sIl",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5205, -0.0189, -0.0391, 0.9997, 0.8471, 2.1746, 0.8654, 0.9508, 0.8608, -0.1051, 0.9989]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1478 left_yaw=0.0049 left_pitch=-0.1464 left_roll=-0.0037 left_gripper=0.9997 right_x=0.4055 right_y=0.262 right_z=0.0434 right_yaw=0.159 right_pitch=0.3169 right_roll=-0.3701 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.2239, 7.2, 1.6386, -0.0415, -0.0659, -0.0073, -0.7726, -7.0769, 4.2325, 0.7595, 0.1392, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be36fb7fe83de7154bfc333fccf4c6c9bf6d0e1c91a9045c022147a49812414b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe90a2fefe4b0d08f837939066abe7a76824debf7e5dabe324e1976e6ff392c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e065529f81f4cf8ef5789d06f2fb8938ddc2127a755d25812e073bf13d3413fb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.803 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.8841, 1.7428, 1.1278, -0.1665, 0.7891, 0.2279, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0046 left_pitch=-0.0988 left_roll=-0.0046 left_gripper=0.9997 right_x=0.3719 right_y=0.2616 right_z=0.1429 right_yaw=0.1239 right_pitch=0.0334 right_roll=-0.3153 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -1.4701, 7.2684, 1.7411, -0.0611, -0.0708, -0.0073, 0.0615, -9.5932, 7.7607, 1.4579, 0.3053, 0.0611, 0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6064, -0.5171, -0.0189, -0.0387, 0.9997, 0.8482, 2.0605, 0.8673, 0.7139, 0.8497, -0.0624, 0.9989]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1489 left_yaw=0.0047 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9997 right_x=0.3985 right_y=0.2568 right_z=0.0534 right_yaw=0.1681 right_pitch=0.2291 right_roll=-0.4041 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.4564, 6.8855, 1.7265, -0.0611, -0.0659, -0.0171, -0.759, -8.4718, 4.4923, 1.8339, 0.2662, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5205, -0.0189, -0.0391, 0.9997, 0.8471, 2.1746, 0.8654, 0.9508, 0.8608, -0.1051, 0.9989]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1478 left_yaw=0.0049 left_pitch=-0.1464 left_roll=-0.0037 left_gripper=0.9997 right_x=0.4055 right_y=0.262 right_z=0.0434 right_yaw=0.159 right_pitch=0.3169 right_roll=-0.3701 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.2239, 7.2, 1.6386, -0.0415, -0.0659, -0.0073, -0.7726, -7.0769, 4.2325, 0.7595, 0.1392, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be36fb7fe83de7154bfc333fccf4c6c9bf6d0e1c91a9045c022147a49812414b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fe90a2fefe4b0d08f837939066abe7a76824debf7e5dabe324e1976e6ff392c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e065529f81f4cf8ef5789d06f2fb8938ddc2127a755d25812e073bf13d3413fb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEwlG5mmOV9GBhadbPR97ielVDL1widMBRDDI6yiGldKW1p_9vVnQfxzAbpXxLkTe9GYZrX-C3qD4bf-dd6HhHXPqp3nvvkwg543tg00NJUCE-Td6DcTP03FGAnEHDvpFH_yzBy-xXGFnApJJ2_iQm9cLfIaehphiH2ofZtUHDGe9aHkvUD_jyzSO8DHOE0dM9RrtYp8eK4oq1AbBgMwurw9ofHSCVr7fN62TVH0aFJmHkgD-Px9vQNh2z5DceL_8kDI-6lwzT_ECXQo-mFVH-6U1lBAklbEYeeK0zbtGY8odoi8AKBQVze1Xv-ZAWIoojn5bNV0_TweW-50v8DzlRMKnl5KJB46sV_Kq9myOjJps71mYrm9bPhqhqAZt9ScSAPaz2bH8wwATXuC3XiWxXc8NCilqcjZSHGL_Adg2bodKFZ4WNY2ISQ1BJwctGwcID2WOUlgqpfloCfb5fuS43as8T7nw2bJ7shEmgiGBJPIJjjCTGE3Sm--9kjXgXQ4BnyDDraWWcATuGqvfymyAYMASDyiHYgBqWOnWqYQAXISGI_hx_s96Bjk_z6_vwVJ7Ce0869nWOalAMe4nLZz5JhCEalLQaR8yW_iyVqF1BalO7nKkT0JQNNS8jqnNVws6we-U96ITKYu1k8aZWmtk9KT_tus30Bb3qO52zLlUrMyqwpdP5SFT3-su4OmZFU3Owtlc6v2OBxKPUbdT0UsWwEPaPLFfCpH_3QoGemDJxwTnayS_-_zwFugB4T34hmCWiukHbxnZEopcSQU6R8ovBBJ_T_2TZrD5M1vaRiUqkbszbyr90v1jKDkLLhI2JB72ViO4Owp5oXZLfqI7ExOi2-Z60Qp59OV99uO5UF5tgRZb0dlDJPkBaQdDcHlEWU_woPqlPmMMJ2GKA0d1WEMuFngfd7nf5hKA_GONqcq8j1OPkBr_QQ7nYfF4V6vXWl2UdGBPIVf8augd8m9V0keFijuCZRlFbrmKXYznxmy-sSwQ_6m219KpE6t5eRaayUiVCVgotUvp65rXHn6HmX5N6u3pnrAnJeDhJUCSSxmiRDQDnjzAXUgKGHQtwYCyA23HFTeLQOOH1OJAtt816xj5JWFUoVfmAs80-xvlzl4gVD8yJTQ1_ApJ4DkdYW7_yi8kZbMAC_FdUIOSdnoqk7hyY8NPwG2MwAeHQik5-cRjbbEPoqaRMGD4zW4B6pa_2ZKqi_V0b29ktmLH3laferFN6yNT4Li4jH0luFbdKsi0fRx7paQyi_mEBfWZ7jSNGmd6a0l0yw7gw6pGPCKYyfaUvxVg2ylvss2rt43GFdS2uXWNISnYaifYO8EC6rz6LeeP48lUvJdCR6GIxvIkIuPOkTSOK50jM_k_UAzXxQ-4Q0mO96I0tDPmMz4lMsSNi2UYA394xjA5ejjiDUp1oCT58TclCcFirdOxwn4nkpHIbDJVrW6Oyv_CqevPcW_TEHWdszm",
  "id": "rs_0381e540c0bc1714016ab44c23a50487d086ac8e21d9304d6d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The readback stopped at 4.3 cm, consistent with the fingertips reaching table level in this pitched pose, and the ball is still centered. I’ll close only to a moderate command so the jaws contact it without the strong squeeze that can eject a rounded object.\"}",
  "call_id": "call_uunRAlv2GFkBkFNqZIeS4LQr",
  "id": "fc_0381e540c0bc1714016ab44c24764487d09146f4e425a8bad7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uunRAlv2GFkBkFNqZIeS4LQr",
  "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]: [-0.0189, 0.8154, 0.6064, -0.5255, -0.0189, -0.0391, 0.9997, 0.8436, 2.1921, 0.8646, 1.0264, 0.8635, -0.1528, 0.3542]\nstate[eef_state]: left_x=0.2744 left_y=0.0017 left_z=0.1468 left_yaw=0.005 left_pitch=-0.1514 left_roll=-0.0036 left_gripper=0.9997 right_x=0.4085 right_y=0.2625 right_z=0.0487 right_yaw=0.1667 right_pitch=0.3523 right_roll=-0.3809 right_gripper=0.3542\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.6093, -0.0708, -0.0659, -0.0073, -0.4034, -6.9949, 3.8222, 1.3211, 0.0659, 0.2125, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10fe7029542d66c995d4e7b4eb096a6733abe857abab1010e5b921c1c34ae36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb43c8c06e458ea866d1fe132f0e219bd6a92598f25d2bfef96f0ffb63e817ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4258543b322cdf0e707a8234bc529feb854dcc67e61855e87537eeafe8c420a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 3.577 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5014, -0.0189, -0.0387, 0.9998, 0.8696, 1.8114, 0.9489, 0.3389, 0.8501, 0.0185, 0.9989]\nstate[eef_state]: left_x=0.2781 left_y=0.0017 left_z=0.1528 left_yaw=0.0046 left_pitch=-0.1217 left_roll=-0.004 left_gripper=0.9998 right_x=0.3888 right_y=0.2603 right_z=0.1282 right_yaw=0.153 right_pitch=0.2118 right_roll=-0.3566 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -1.4291, 6.8991, 1.9121, -0.0757, -0.0708, -0.0122, -0.4171, -8.0342, 6.2017, 2.0147, 0.4274, -0.0073, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5205, -0.0189, -0.0391, 0.9997, 0.8471, 2.1746, 0.8654, 0.9508, 0.8608, -0.1051, 0.9989]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1478 left_yaw=0.0049 left_pitch=-0.1464 left_roll=-0.0037 left_gripper=0.9997 right_x=0.4055 right_y=0.262 right_z=0.0434 right_yaw=0.159 right_pitch=0.3169 right_roll=-0.3701 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.2239, 7.2, 1.6386, -0.0415, -0.0659, -0.0073, -0.7726, -7.0769, 4.2325, 0.7595, 0.1392, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5255, -0.0189, -0.0391, 0.9997, 0.8436, 2.1921, 0.8646, 1.0264, 0.8635, -0.1528, 0.3542]\nstate[eef_state]: left_x=0.2744 left_y=0.0017 left_z=0.1468 left_yaw=0.005 left_pitch=-0.1514 left_roll=-0.0036 left_gripper=0.9997 right_x=0.4085 right_y=0.2625 right_z=0.0487 right_yaw=0.1667 right_pitch=0.3523 right_roll=-0.3809 right_gripper=0.3542\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.6093, -0.0708, -0.0659, -0.0073, -0.4034, -6.9949, 3.8222, 1.3211, 0.0659, 0.2125, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10fe7029542d66c995d4e7b4eb096a6733abe857abab1010e5b921c1c34ae36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb43c8c06e458ea866d1fe132f0e219bd6a92598f25d2bfef96f0ffb63e817ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4258543b322cdf0e707a8234bc529feb854dcc67e61855e87537eeafe8c420a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwpqpJSP1nG27eHgZp4x4urA_FeTHPnG4pShIacA7O2wz8AoyC5wybPCwtlIx_QbZhJvNy_F6NJPYrPtcmb9BDI85TcnOtuxVDIt67r9XQxExiMnstyySgnQ9TQkt83e17gCmFTEuUJw5l1uw2XfbPXj7UM19lMeC1te2S6bzviUfATpRGqiGNl9_jbm8ws6bkgA8OYaRxrN9nCzxU6CqcWy56xvyZS2X8F8vCxZ928mPgHGLgFhyTLjd4DTPwj0cQixbXxjIvZ3iWP17UfBOg6jLK7Dk7GKbDN0b7nM-6MzAf9d31gtaZm8epmzf4pu-b4Q4244zaDaTee7GmqmWKQAeB4U4oLcWqYGpEYispAt06TSRv17a5Dkr2A5PjjjHI9Bf2bBMYdghIn-J2iuglsnDrXR3zQp-NVQHl4Ii4e6w3c2MrkBtTKDKe-8WU6hNQ5AJqkaVHBIpRqdHtBFm-_8bhfkpTs9Z9ir6blFlXUbdo6YYOQiTP8fkiBIUr7_1vAqIRMM2HYBMqkxXm7N_dam6HGm61w70ZlirsvZca2DWg8z9IvYyMCtva6iETMHytRpDgIob7c0-5gt1iCSGLEpT8ihESUJs2E9oPJ4dASL3Ub0H0fU0cBqS680r0q73RZVNLN5Y7cEPC7j1bu_Lhnjddu1gMYnfPvl8jsDTlCs-YDbaDww6qbGxcKw9TdQ_YFkkmR2HF4V-zxsSBfHi21YQeMEzRQ1uEpBJea5eIggxvHtpy9jTrLvgfwBdrV7qopP-w7Cgo0sYfzLMdD9jRX3ED_rIixjztvaYJaXmTH-Lep7WJqAawAeOMg9nC_jINL8NUtNOGKT-B8ajnp5Av68uEAXo2w7xnQE8Hz1NDZljDjgOAfeSHwn7X-RE66jhditQX0kt3AHPjXg1D1jii8pnqQTJsIl_7we1jDKFrBa5Nh4XdY2iqaSLS6yDmpsN9ZSk_0RHdaWe85FJ7g2ShuDJFgUTVaOcG8X2vhUqtpEX3_cBYwP-FPHctqqdDNPwpJIgco44o2ZtRZhP7CcjpawD3DkqNUmB5aFLTiu1CCwfpeCDsSeAnhxLESNTQMI0yI_sFSNELn0opEhUupv9slsXJ4jh2OvdDfPE8o9Y7Z-fZBKUzV0Gt5HwiFdTsjlQb8vrB0avnvQdjQOUtTsHaNuwaeRzPlme8pQs3EVY8byiObd4zaS5YfLEduRPFhk7L6B6SLIrd1Iu2Tp0u7WMDHRGcMk4hl9H81EH4jBznJse_fNvkII1BQfdwyErPkYm38PIe44gpo_ebYR5jndhFKJtv2_s30Vfd4zZpgPmkKuRJyssUQPoCwINovKGQ4qME3PpaQV_GJfdjxQeppRdWbYg==",
  "id": "rs_0381e540c0bc1714016ab44c27df4c87d0b9a148cc49bf6263",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.409,\"right_y\":0.263,\"right_z\":0.15,\"right_pitch\":0.3},\"note\":\"The jaws have closed to 0.35 with the ball visibly pinched between their tips. I’ll lift straight up about 10 cm now; the overhead view will confirm whether this gentler grasp retained it.\"}",
  "call_id": "call_ntuxzP5cGLQadbhFOwLVakxr",
  "id": "fc_0381e540c0bc1714016ab44c283ef887d0a3e03799af2ae599",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ntuxzP5cGLQadbhFOwLVakxr",
  "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]: [-0.0189, 0.8165, 0.6064, -0.5392, -0.0189, -0.0387, 0.9997, 0.8433, 1.8774, 0.9432, 0.6163, 0.8425, -0.1307, 0.3542]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1441 left_yaw=0.0048 left_pitch=-0.1663 left_roll=-0.003 left_gripper=0.9997 right_x=0.4097 right_y=0.2672 right_z=0.1439 right_yaw=0.1762 right_pitch=0.3396 right_roll=-0.3641 right_gripper=0.3542\nstate[joint_eff]: [-0.1573, -0.841, 6.8991, 1.7021, -0.0366, -0.0464, -0.0073, -0.5128, -8.1709, 6.4068, 1.4628, 0.1441, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5acf6811a27d6ab6d91271e5c0fb7c8753e02a70f126796a13758a7da563fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b517a93237799dbf1fd9627cf10bf82934ed46dfca7a91d9204ae46d5163a6a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8c1d127ed1787864a5a42f3b1048588a4779a33f7921dd0c518b1d62f665ae",
      "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 · 8.047 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6064, -0.5171, -0.0189, -0.0387, 0.9997, 0.8482, 2.0605, 0.8673, 0.7139, 0.8497, -0.0624, 0.9989]\nstate[eef_state]: left_x=0.2757 left_y=0.0017 left_z=0.1489 left_yaw=0.0047 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9997 right_x=0.3985 right_y=0.2568 right_z=0.0534 right_yaw=0.1681 right_pitch=0.2291 right_roll=-0.4041 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.4564, 6.8855, 1.7265, -0.0611, -0.0659, -0.0171, -0.759, -8.4718, 4.4923, 1.8339, 0.2662, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5255, -0.0189, -0.0391, 0.9997, 0.8436, 2.1921, 0.8646, 1.0264, 0.8635, -0.1528, 0.3542]\nstate[eef_state]: left_x=0.2744 left_y=0.0017 left_z=0.1468 left_yaw=0.005 left_pitch=-0.1514 left_roll=-0.0036 left_gripper=0.9997 right_x=0.4085 right_y=0.2625 right_z=0.0487 right_yaw=0.1667 right_pitch=0.3523 right_roll=-0.3809 right_gripper=0.3542\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.6093, -0.0708, -0.0659, -0.0073, -0.4034, -6.9949, 3.8222, 1.3211, 0.0659, 0.2125, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8165, 0.6064, -0.5392, -0.0189, -0.0387, 0.9997, 0.8433, 1.8774, 0.9432, 0.6163, 0.8425, -0.1307, 0.3542]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1441 left_yaw=0.0048 left_pitch=-0.1663 left_roll=-0.003 left_gripper=0.9997 right_x=0.4097 right_y=0.2672 right_z=0.1439 right_yaw=0.1762 right_pitch=0.3396 right_roll=-0.3641 right_gripper=0.3542\nstate[joint_eff]: [-0.1573, -0.841, 6.8991, 1.7021, -0.0366, -0.0464, -0.0073, -0.5128, -8.1709, 6.4068, 1.4628, 0.1441, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5acf6811a27d6ab6d91271e5c0fb7c8753e02a70f126796a13758a7da563fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b517a93237799dbf1fd9627cf10bf82934ed46dfca7a91d9204ae46d5163a6a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb8c1d127ed1787864a5a42f3b1048588a4779a33f7921dd0c518b1d62f665ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEwt1L2S344l2CzhcQE-rKja3M5xNin6RIzeOFA0naURmIpesIoXhzFJC5v0M361NPuH39bieOIvIhNUXA_1PkpYBz2OL7lI2jRVTETc90EbuV5IuIVUy10epyakBSrJ7OEBkHfLliKZeW5ZuSBkPESSRaZJ_oMSUkLZsJY-BuDOqJh_IT_kwNNMtv6hxnrUmNfm9Cn0m9bLvev1UKE0_elEPTK_oTALpvAN1bpTTUouk_Kp3WRZ4EwFPX-zX5dXhgnS_iEoZgHo9NeZArCZbeW2Kxxxu7ncMBoEX4ajjTTNcNFgOu24IGt6zew8fTZWfcNNmNjFc3ukpLguAwidWxrlUC0SMH2nfJVSqSeTyEQPA1enMg-rm8caA3yjd2yjWrL-cyDWfHpng6nxt219orn8pIAXD0P-FraxmzGiBdL3NU0BV0QEomrfRKSsO5nL45kGdE9aUg29cot566IT8hDKLYlO_js7Z9RBTMBMPGIY9b2vd3tMOvqGkzOvRgfeTHRu8TjORrXzVhHCFRa_8W4CHF4D_ttgSgwH9AFmt6RGdfXQb06fmiQJAtZ4k-lQcrMlg53H1L3gNQ4-w2KGSefByYUqKYgucAbPH-aXzh8g-97aVFenoZbTXbgQZH0DSJtALMeGDwAGYah4_5zgRRsqARACrQgX0hepFUnWV8HCdf4KDtQlrgg0dpS3bOnWIjQ7yOTQevz3advVPv4JtXBnW0_cLLeoGp4objh5MSGXp1eKCrWSXCooVODiOVwSLe7vAGrT338ADEfO3TuooCMQ8e59-6efR-GDazuPV74pzbSXOqSGXJhP_HVbrC1pKoROdZMtz662pJumdl_DiQLxe3pAiZUhy82ePzfY__5wQlNFz7g4ZKtQelnyKv3ilQIc8-bMdHWGOdCg8VCMtTMecDPYCW44Z63r8wlucP2cOvo_Yhg9bfpRBxflK5yqLBnwyJp-_iNGUiIaUO03uTJt5WDAl5e6nhztOYgL4GHWhxE6T_uHoCNhyID5WcH0KmypSNKJqY_bmdYjDh7pFUI3Dm5264mP4s1cCczSacRoTIPva_QutGuW6esFLvjiO_lQLFIq3iPuC4hvnljU9k2WUmYzDsu9UNH9VIJv79k18SrEgnCf0H8tuK4QTRqmxAgjesi4AkXxRUutjU4GXvcfEKDJvEzmYur6vY443D9TxKF3GJh8qkAnPauKOGOBgXu0BgOThSFeVdANd-jVIA8mtNR_DlFV7-vX_wCvmG8Dp6mTerXsblJFKUXdsrQF9zBhue5wk9TKKfb2qJnIBR3dXr3bR13lrNGiZaxUJ66lbBeTeC5ukq6qF-YyvCFLrnKoGtFm0tBPZEcbyE3uhKhkRTB8QnxCXOP8A1kPlaOu3UMzdtIRlAyvfrd4H6ieCWe2b18O-kLfjKcdk6f2TDWgt4vQsaTcHUN-gDa8xFMRbWcO5GB839mzHAKXXFVRQnPMrBlfXHdd_C034PG5ikkU8hf1VnOgMKwj7wJM2P0yMHLYDYa1MMVa5edmbj2aUHC3j8aZgYEG1jqPsDXPLFnNMLSKYZB2RvYzowgJAmm_7l6ZORS4Jht1NYyEeEBzTu9HyT6mi8V6TIrfV2SeZVlGGqT0tcQCOPhCe7uu-VKgQYUS1TIfBupkq6xNUsfI4HVjGUgENpxuV86WufDBlK7Ve-pAAcB2N67BbhgdTbUoZNdE5i3jZf-hr3g27GvxCI8yx699igLUbESBFWCyXylzVDB2NN5r0uj3E7dgrP6BqvwXxsGaLdpkJBIeAu3BxaUi1CiKFUo_jO9mDwpU2GE-i3NQ92KSXILE25NfmfLZBIzF6yI8BVAYftYM88ltTH1EpmNJIxCto75hq9luTY4eORMv6UkzRR_x2iJiRGpBmsK31UalM2HTz83PnS9IG4fnWZLoKtIw5hfG_a1JGzRlV7ZEz7WADcERSpQ1siw8E-C5TspFktcWUTuAFjrWUQ_NLHUv2PKi_kuyl0Vm0MQuEBpDlM5jze_tx_xhiHPP0ZKdMTGymc6CXI4f9YFh4SDd",
  "id": "rs_0381e540c0bc1714016ab44c2ad71087d0a517007db79ed081",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.34,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The yellow ball moved with the lifted gripper in the overhead view, confirming a secure grasp. I’ll carry it high over the center of the open red safe, with clearance for the raised walls and lid.\"}",
  "call_id": "call_aLbcIqDO2FamUqm5rEbtdrUQ",
  "id": "fc_0381e540c0bc1714016ab44c2c6b9487d083cdc7a38641dc3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aLbcIqDO2FamUqm5rEbtdrUQ",
  "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, 0.8188, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, 1.1641, 1.7859, 1.2106, -0.0158, 1.0771, 0.1123, 0.3542]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1405 left_yaw=0.0049 left_pitch=-0.185 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3146 right_y=0.3462 right_z=0.2014 right_yaw=0.2373 right_pitch=0.273 right_roll=-0.4011 right_gripper=0.3542\nstate[joint_eff]: [-0.0205, -1.4427, 6.8581, 1.6972, -0.0513, -0.0122, -0.0122, 0.0889, -10.8786, 8.3487, 1.6484, 0.4469, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341e3eec4f5e6a8e41429d8a3166e1d547ca62bb08aff682997acbea9fa9484e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfcb05590a18456cae196ba9c3511275f7006f5d0363aa6a842ebe60bb74a4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9917fe3feb8bc76042c46b7934d63b2ed911865d46ba8e975d424154999011a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.6 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5205, -0.0189, -0.0391, 0.9997, 0.8471, 2.1746, 0.8654, 0.9508, 0.8608, -0.1051, 0.9989]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1478 left_yaw=0.0049 left_pitch=-0.1464 left_roll=-0.0037 left_gripper=0.9997 right_x=0.4055 right_y=0.262 right_z=0.0434 right_yaw=0.159 right_pitch=0.3169 right_roll=-0.3701 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -1.2239, 7.2, 1.6386, -0.0415, -0.0659, -0.0073, -0.7726, -7.0769, 4.2325, 0.7595, 0.1392, -0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8165, 0.6064, -0.5392, -0.0189, -0.0387, 0.9997, 0.8433, 1.8774, 0.9432, 0.6163, 0.8425, -0.1307, 0.3542]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1441 left_yaw=0.0048 left_pitch=-0.1663 left_roll=-0.003 left_gripper=0.9997 right_x=0.4097 right_y=0.2672 right_z=0.1439 right_yaw=0.1762 right_pitch=0.3396 right_roll=-0.3641 right_gripper=0.3542\nstate[joint_eff]: [-0.1573, -0.841, 6.8991, 1.7021, -0.0366, -0.0464, -0.0073, -0.5128, -8.1709, 6.4068, 1.4628, 0.1441, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, 1.1641, 1.7859, 1.2106, -0.0158, 1.0771, 0.1123, 0.3542]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1405 left_yaw=0.0049 left_pitch=-0.185 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3146 right_y=0.3462 right_z=0.2014 right_yaw=0.2373 right_pitch=0.273 right_roll=-0.4011 right_gripper=0.3542\nstate[joint_eff]: [-0.0205, -1.4427, 6.8581, 1.6972, -0.0513, -0.0122, -0.0122, 0.0889, -10.8786, 8.3487, 1.6484, 0.4469, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:341e3eec4f5e6a8e41429d8a3166e1d547ca62bb08aff682997acbea9fa9484e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bfcb05590a18456cae196ba9c3511275f7006f5d0363aa6a842ebe60bb74a4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9917fe3feb8bc76042c46b7934d63b2ed911865d46ba8e975d424154999011a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEw2OR9Yjw4ivmie61fCSJHTIyJGO7HjFB5R16BA4MUO7Tnh6_f5_VBBSASFY4zlI9S_mlyL9QG3tLnKNWWrXVBLbUSZL7X7ZozEbrke9F8mtJDxiD0d5q_EwfArsVD7EG4xBYWXwDq-gjsMIf2CtHXYphwEUjWs8dDCgCVGP_tBhdBilqD6N3pB2pAtYEM1HmnvhQ8CvTvazPZVPnnEGh9Y7jR-PrwsXAre_DjC4xOhmXvt27LIam5-oP1Smk2Ist10w57eq_FyZ9cxxSdZEJ-RQar7ayQWTuJB-lwFmPiCsco4ON1ZisKt5jxyopQK1FePsxWPl9kRg7lEPkUcEyOmVQHawwSjVd-buhiHqH_zq4JC-tglgVny_DLagDuaSvcbTiD8TqSXd7bMzBLAjTSWMGqNi6Vbj1yfSk3egGpUDApc0eMiLarq_nn4uGqK4lIwpQq74j0debFXALufT6dBlUbsg0LVPlnCuSNrurEBxtKgFCsoE2-RHJZmM5IfIOT0Zo75vTPGf_8JBrbLUbmSbA5SyBmNQNfGIvOuRj1BApfvDFyGPBZtn5uImRvM6YD86SzLaF4T9VIyBuhDpOTmvDA88I170LV68ublxwED3oEneDW7IeAiz4E1paejjER6PcuVj3O2bFx-27iW9a9WfR-EGK6vUBhB4oXaowdcQhDQtD_GffzXgoSHI_1p-V99QkCgpgjgJyY8odhwhHPUn5TLMfXASONzjiyyqYI-b84-3i2C1s5yQKTWHjVQiJ4F3b59EzW-UW2Glk44gOscjQp66ldb0AXOFjou7o7U7P7eCgcQQSf4PjBe9p8GDWi-E_hRWJNEbZ2yykgBd-ttk-T6i4K2N4jpv4WPJQxyaEYmhoiLPO1KvY58_C6R_m88wy_RrYMP9ikg3dDelJjhTZDmtjlj4I-l2anlmqa7yrve1r5bfJLwVrvJTmZJABdQR37tc8CZoCQ0OzVy-Gp0JyWg21wsqhGiegGsY7XffbaSCrEuGdJxGuIKUAXEARb5RJHYde7-ICrLZR3FDYh-0JZDzylSnfl6W0vjWLNIAQCQhMMiEPYqisx6hjpzwYko21ZMeMvrJSV9fEEo_-u-GWT1kP9frUhHUh4xTt82zrYvUlXJw699P69lBOVPeeItVpDMrUMsVT0MQCAFc3G4dQHRulY56TAyPTyUmxZUmx1sHQ4tRVuAAupYBVMwccY_lycTA0ivF5UqqG9aAm6a75kXLlXR68sJucqGc88RoFnYvqydWOoNZzQEPC6Lp0oVnM3mbAWjFmTPE8D45P-XGRcDek3smoDJVxreBFizNoCziAPZyRrcKNjH-Y-4pG-yJdKYF3cbuL3ey9Gz481VEx6ynEL3O7p5wKal4iV2uqOpFF6UOF7Z9V6LoqSxeeNE5p3hKxb14AfobsGtsVScMirQIF29mveeYw1Mea6Lgk1EvbEPGHJbSruDpwsISiSBoTtaj6lUVbe89ChDjnZCJjkRMbEQvFQF-wuhgFbVpTzQvcBWQFQeGAGZ-JzpWL9bFazAUi-sx9ed_R2nQF4-4DGaqhvnvdmmf9Su-K7uL6jy4gCVerFNNySCmk3S4hxSeCTHqQr411SdqSJqTR_PfqZkmZig8Uo57nMDt6SX6_pwTEdd-xem4RrpXqTJsS0Hm0N7UlxIpuSPkdKiYqWwAyMphCNs9mFIwCBjB3fYZaWFGdHi8KtSjNuvZLlBIAZF3rnm-wL0wqKxpjgxxzbN7k0Snd6yFdDQwPVPBel6Nagv7HRMx8TILwYf9T30tTPv6mlKTNNfTq2upxEEqKvNKuiut9DiNPer9icN3ql6db9zFzmfl9tlYTHhGCnGxhuZpNkwO6xlvH1MAsIRPOJQFi6-fBanjEe6hRajDThmfrMnjMNgLOPXu_zmpVdWAqOZALkBL0sk88uvFuXzXWLIXxhaQfw4U-nAcL5vXlisNDUklM3nANofg7jUM76L1X_0dHI4hEzohx5cox57rWg05gt9sWYENP1elLb1RZk3TGz6TDR_je4ZabA9OTuaFjG6QUMja2iJp0c_GJ0YozdteLWqv5NOM_-KBP6ADWz6GGyTL5u8DRzhuAzT3gwQei3a5S7BF9BdaUtVP-R68YVGv81QAMdi4SO7OEd57x1b95fRrTnb7CJ1n4igBgXg7zBhhfaaCE6YX1sg0YWFhIwN1-413219QigFht8eGeIStnVrZFn3KEQbvW9anUhx67epv0IXioEx8cqWEBM_9X4Jgn2LmINlrRl46b0ETzViDcrNznfP7VAjPXZARF6U-Oxw9laaXsbErEBa57dUO5F9TfrBZrZIWVPeLQj_P0Ts1OVYjaGKVWUtLhGjXh3VtHlak6tdldbpf6-QPU6_bLQPZFP1444ZGKWxkulhxq52bnXAW2RgPo5AalTLJ2RV3h15GB9GEETYF9Ue0IWJtgb_Z_Zmo27jFmwqSswZj48RnsGKH4CiWQOWHmjNspLYPefNlZuiJdPaAmlLZU6_4cHOcRHDJHdLMGVsQNg1QBJBI33n66l26gbzh50Ubb4TVWQtleA3plmD1nbZ9PTlJoraNHNL3voL30Lmotbe_MYoX3aUb9qX4aU2JwtRPGsO0sQ1LfV1jVNjYqbujc6cm3GfT7SYKrvfX8UE6iDQMP4twZON_z1fQsLhR1ET-35LF1DthSv-PVqStFgA_mQ6Pnt06Ku_Xv_MCoWfL1Q36mrNZM2qtW8-dkwE3wemewtV-5VYc6AerFacVc8vIMV49N4h8K1d5eGXXywLoxMT7wqB3PAAIgiBiX6M_Sf4JOrHba2QgISEP9PsjfcEc5y0yLdObWhPD6YVQzaXwS-1HoUxcWzHkz8bc3vh8lvdh2zZlUoGFu94w-B8pdEvxo305lHV_Jj5JXFZ9qCHWmyYK_i8BrWAlVGkIUZWdWgjKT7qDQHPQGCyYWxk38s3Mbha6FnQUMG_RkEuOpMTUoLDrdtPAYoLY9UdxhTDjwFwi8MU6rD6zq30Jt-NPUZTs3ckfdFm5A24EkXMrU6YIzTk07YBjl9WkZ_slVk0fFveacTjUt1PKmARGc6AlX9bm5nNJNqKjGOQ9qX5fY0uj7zEVkJYRKFalHX-HKHrvHfDbdtdFi6f4uSqEdqk0ULeie1r5JGuQsPV1noFqYB8nv7-R0J6WhoyLI5QB2wjxtU8Duq5aHG3-uqNr4MLBMHLAsIp_n_ZmI741RJ8SypPBe4h2v2Fj-a1SFXdqZbJmtyh-z4Qdu6Gdz5MYbM_3JDNLHMx12h_K2C5KAr6L4KgTQVm0UDiMoCfuPonxERpriXKk8I_M3_OZvS42H_C0aP8-0wFCds1EmxeTjIMAupuxHsMM5qojcfOwffaX0o2qAclqihHL_3AvP4LYy6MwqAPbkyumcVnfof05LhK0fiRDWfKhwVvQyBudJwVG3OxTJo4qag5H8uTOy8DxZ92FvqxccqBkNR5dvkjL35xfLOsSinwBo312rstamujMbvPqKt7mHJCujTP3-ZG5HAxEu_lBpWK8ZaHIye70Bvt5u-ydm1gALb1st8utu6AR5SPtA6_3tPQW8LQ82yJUqyvtlQ0k6AP3q1qMx8GAPfxjIr_x2C_lpXeN1z2VRAPul67cY_DAAbljSvNrQt4NPCwlkCpMXzlwnxoCREgZR3LYEVBrNhcipB_5GdfqRl_lGji_NpmObl73VDdvOfxmVJl56ktBbx69BwMvFLSdO6lx0Tkxp_FiYzE3F63j-S7EpVXGFAoYFMViDWvXSDvYDRZsoJn1OYxnCFXvzTV1S_J4wXzVyPVBXis2CqbEwTJEn7hFDCezxcF7xU9CH1IhgU-cgbtE06PxjU-irRgIayWplq_maSZd_uj43JWWedfHxt3xkzcGvetMmnb5NspQbAfXk3aZxqC7JJmCVq-LPdlkF1WsrSkaK2u2_QHTP-XwuyvwiBFvK2brfWcy7wZKW0_LN-LN1BS3rom32YanmJGsyl5ms4v2MQ2vfhPTDXMILfUEduM0xezK7d8Wudugx0p7mB0tad4sYWIPdolI0anT9c_U6z99x6_4lRftQvLVFfn1_zPVgQCB0XmH6DOzPRLpndJs0KUUxHHOLD0KWcUdUQFCLitShKd1sKPK0eGKpPKyQUqC7Q16DnXri4ZGxvd37XG30j0aiZoAw==",
  "id": "rs_0381e540c0bc1714016ab44c2f10e487d0a809f696f8406a32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.26,\"right_z\":0.12,\"right_pitch\":0.3,\"right_gripper\":1.0},\"note\":\"The ball fell back to its original spot during transport, so the prior grip was only under its front edge, not around its center. I’ll reopen and return above it; on this retry I’ll place the grasp point several centimeters farther outward so the ball sits deeper between the jaws.\"}",
  "call_id": "call_7aeYGFRngAzIQZN9J8L8JzGf",
  "id": "fc_0381e540c0bc1714016ab44c34f13887d08bdc0d734d589115",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7aeYGFRngAzIQZN9J8L8JzGf",
  "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, 0.8188, 0.6064, -0.5632, -0.0189, -0.0387, 0.9998, 0.8082, 1.9022, 0.9104, 0.5598, 0.7887, -0.1585, 0.9959]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1392 left_yaw=0.0049 left_pitch=-0.1926 left_roll=-0.0023 left_gripper=0.9998 right_x=0.4107 right_y=0.2536 right_z=0.1081 right_yaw=0.2209 right_pitch=0.2296 right_roll=-0.4446 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.1556, 6.9128, 1.6386, -0.0757, -0.0562, -0.0073, -0.1709, -8.7043, 6.0786, 2.1709, 0.2564, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adddd9d34badfe6c562126c1f4a0a1555c1b2910d2f56bd28ea7e3ba2e54f9d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a39f39b3d60961c164f80a32d122bf9441707e1250fff54732473d2e43d8ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e1a440a8302e4fa2018a8fa5fd8cfcf712464980204cdfee9d89e77fcde6f0",
      "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 17 attempt 0 · /responses · status 200 · 2.217 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5255, -0.0189, -0.0391, 0.9997, 0.8436, 2.1921, 0.8646, 1.0264, 0.8635, -0.1528, 0.3542]\nstate[eef_state]: left_x=0.2744 left_y=0.0017 left_z=0.1468 left_yaw=0.005 left_pitch=-0.1514 left_roll=-0.0036 left_gripper=0.9997 right_x=0.4085 right_y=0.2625 right_z=0.0487 right_yaw=0.1667 right_pitch=0.3523 right_roll=-0.3809 right_gripper=0.3542\nstate[joint_eff]: [-0.0479, -1.265, 6.9402, 1.6093, -0.0708, -0.0659, -0.0073, -0.4034, -6.9949, 3.8222, 1.3211, 0.0659, 0.2125, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, 1.1641, 1.7859, 1.2106, -0.0158, 1.0771, 0.1123, 0.3542]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1405 left_yaw=0.0049 left_pitch=-0.185 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3146 right_y=0.3462 right_z=0.2014 right_yaw=0.2373 right_pitch=0.273 right_roll=-0.4011 right_gripper=0.3542\nstate[joint_eff]: [-0.0205, -1.4427, 6.8581, 1.6972, -0.0513, -0.0122, -0.0122, 0.0889, -10.8786, 8.3487, 1.6484, 0.4469, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5632, -0.0189, -0.0387, 0.9998, 0.8082, 1.9022, 0.9104, 0.5598, 0.7887, -0.1585, 0.9959]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1392 left_yaw=0.0049 left_pitch=-0.1926 left_roll=-0.0023 left_gripper=0.9998 right_x=0.4107 right_y=0.2536 right_z=0.1081 right_yaw=0.2209 right_pitch=0.2296 right_roll=-0.4446 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.1556, 6.9128, 1.6386, -0.0757, -0.0562, -0.0073, -0.1709, -8.7043, 6.0786, 2.1709, 0.2564, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adddd9d34badfe6c562126c1f4a0a1555c1b2910d2f56bd28ea7e3ba2e54f9d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a39f39b3d60961c164f80a32d122bf9441707e1250fff54732473d2e43d8ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e1a440a8302e4fa2018a8fa5fd8cfcf712464980204cdfee9d89e77fcde6f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEw5Z-Vp7gOZ-8H9EUdSetdyoKO172WziD10jHkVkouVwxEChFCoN2mefIynxZWVHWHvqyWftzMaOE5jkU1hNFMwETkKAnyuHdQHKBCpZxY5rt5HGaHzQmQAvypwkywma5_OxOln93yDGH8NxV2wC9d035s-CeqM_r6-VddNIa7VoM-rLAs0hXBe4o8fUVIWqr8YhKs8OnaLYdyrvGrVDrEJhZytWpxMiF44kF-nfmHczi4i0Gilj2qnJhsb_8lAJR9KrEFZvKw1k1l4AFeFPH50NeY5TmPVS48EuwIcPouf16yHuELnV_jFJPA4JMlwWlPz2pNwuXPIOnAsTZIOqN-k3DMpQw8yuClflVyCmTxGjNpuBETfBVJehYHe30g4_7aT0nEvHABdtodPSCPaUkFUf3ArzUQaMTiwBSHbTIOvHiQATk1Z0ODNa-LRocTWgp3y2mfuFaaYbOif6LBXqwXxbC0Om9DIM0EiisslXj9wt3FbXMJakxqMp8k6NVw06Bj-bxF_Bi6amB2QBMSPi7B8nucPmfUNATY5xTfzHFTcHZeX_okYDhYYZG52yZCKwG21KGGiLZm9O9ElQhkzCb0dSsH-vqvI7xC215DT4sahOiy1Ow0c2yBGVbaOTTyi0eJJ-If1ia-XlYdcBGsQ4k1f-Wyh13dD6aBNkS0F04HNjV1g9zg6fehsdQCN8d8QbPHN-Qyn9-_5r1VHP1i-QiVfLUMHp7mNARRGRCa7GFJA6j5BxSQhVNntKri_B1W5Cy3EROhjNT86JnxH52yzVYDY-GwA_JUDIxv6y3klvy-LVxZbUM3x1JvAKBS-s9CDu9zKt_ORVjYuNiUcHIaI3tMIR76MEChEOHhQ4nN58CP5stZvseIaG7Eeb9LrrvekC9Mkxw6kvXQ9YYdJANLy4APyW4ghxgb05GHlxu7tzJc9QJoht4Vd01YnBRnaGKBIoq5mbCD5mkLaJd91lWsaO372GatmFsJMbPfHiZU0CsRAZSDWzQfLc9dQzEbHbr_Rix81_d-27OqF_PNQ3b-ftHGt0it7q0ei2I7QFJZIV_0RfczQmnANj_6G8UjMz9Ef7fu7Bv-SnvgsNiXOND-HuvCuoEJAl1AnxH-MFRZFENdFQXUVpC3H_kNqt4pX0BLc_eJJS6u4q_NTkRZbyg3YMpL4rbJg_GGA45mo2AQzGAfF0X93uMqgjwA-foVnEy0pu-F1hfvtMUCPtci0LSTBZ51Nd9n4DUIagzbyR1xjXbCRTdlFYH1ov8_JD-IIuZrGH9bQe7dBortrXXokqqZ8vMg0KrPksNfavhTvA2V4s_0RFsw7SMnmnO1ciHuh_p4UJmo4CAbEHUpPawXmabXi3pI3DyEWO0IKMsCAI3TueWChcVOpKT-yfkSOdxKJaOm4w_b_tvPMkZMyuGgVUOPwC-xPZNXXYI00X-p8hG5dbpJh_6VTEqJMdLOhj2Pb6EGCfEJc",
  "id": "rs_0381e540c0bc1714016ab44c37f1f887d0acd3e5ddd3bad5c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.254,\"right_z\":0.045,\"right_pitch\":0.3},\"note\":\"The ball is centered in the wrist image at the high approach. I’ll now descend and advance roughly 3 cm farther outward than before, placing its center near the grasp point rather than at the fingertip tips.\"}",
  "call_id": "call_P4Wf668q6IlDOlEHbzuFP7Y4",
  "id": "fc_0381e540c0bc1714016ab44c3890ec87d0b130329936489822",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P4Wf668q6IlDOlEHbzuFP7Y4",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6064, -0.577, -0.0189, -0.0387, 0.9998, 0.7662, 2.1601, 0.9157, 0.8692, 0.7498, -0.2188, 0.9969]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1359 left_yaw=0.005 left_pitch=-0.2101 left_roll=-0.0019 left_gripper=0.9998 right_x=0.4325 right_y=0.2541 right_z=0.0458 right_yaw=0.2349 right_pitch=0.2553 right_roll=-0.4579 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.5111, 6.8991, 1.6825, -0.0757, -0.0366, -0.0171, -1.0188, -7.8154, 5.4085, 1.6093, 0.1929, 0.0513, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b77aedc3308c81df76f5d05eaf87009fd18dd6b6b0ecf3ca65b70d8f74efaf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1566dd13ae4e8bd0e5e6e4e37843cafef4a9d9ba27c7636a0825f5b23621a4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e87fed4a15a462179fc188b4c5ebaf33f23aef479c2b6c59952adad549b2d3b",
      "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 · 2.427 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8165, 0.6064, -0.5392, -0.0189, -0.0387, 0.9997, 0.8433, 1.8774, 0.9432, 0.6163, 0.8425, -0.1307, 0.3542]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1441 left_yaw=0.0048 left_pitch=-0.1663 left_roll=-0.003 left_gripper=0.9997 right_x=0.4097 right_y=0.2672 right_z=0.1439 right_yaw=0.1762 right_pitch=0.3396 right_roll=-0.3641 right_gripper=0.3542\nstate[joint_eff]: [-0.1573, -0.841, 6.8991, 1.7021, -0.0366, -0.0464, -0.0073, -0.5128, -8.1709, 6.4068, 1.4628, 0.1441, 0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5632, -0.0189, -0.0387, 0.9998, 0.8082, 1.9022, 0.9104, 0.5598, 0.7887, -0.1585, 0.9959]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1392 left_yaw=0.0049 left_pitch=-0.1926 left_roll=-0.0023 left_gripper=0.9998 right_x=0.4107 right_y=0.2536 right_z=0.1081 right_yaw=0.2209 right_pitch=0.2296 right_roll=-0.4446 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.1556, 6.9128, 1.6386, -0.0757, -0.0562, -0.0073, -0.1709, -8.7043, 6.0786, 2.1709, 0.2564, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6064, -0.577, -0.0189, -0.0387, 0.9998, 0.7662, 2.1601, 0.9157, 0.8692, 0.7498, -0.2188, 0.9969]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1359 left_yaw=0.005 left_pitch=-0.2101 left_roll=-0.0019 left_gripper=0.9998 right_x=0.4325 right_y=0.2541 right_z=0.0458 right_yaw=0.2349 right_pitch=0.2553 right_roll=-0.4579 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.5111, 6.8991, 1.6825, -0.0757, -0.0366, -0.0171, -1.0188, -7.8154, 5.4085, 1.6093, 0.1929, 0.0513, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b77aedc3308c81df76f5d05eaf87009fd18dd6b6b0ecf3ca65b70d8f74efaf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1566dd13ae4e8bd0e5e6e4e37843cafef4a9d9ba27c7636a0825f5b23621a4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e87fed4a15a462179fc188b4c5ebaf33f23aef479c2b6c59952adad549b2d3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEw8-wvygPhGYDe0KmnH5QZWfD0azKg5qRJeDtG_3BvyQVVMM9qVJbqywExWsGubPGokKRieavzUzlhE3ULiiOZ7xt6uSlWUilLEkI9kDYIGW-Z04OeaVpm9tjuXexCerTchaJieWPMuE1SwS8HHsfHwv1lvQLlJcV5l45VZoMp8WI3DPHf0irBdCChOdA5xdwv6GQ28-npC2YYCKgRj9Uzg6AVJXUQbeZXXUM_di1lhv83UsPAl8sLDf0ygryccbszzPnvkpV82pv9UiWOmjWl-cPg0DD-jST1i1fSjZ1JUZNUn_uSo5lX7Ee5Mg4cMyilMW0bHiaPAUG_w-noFsWqeQpJ1tfZpA2Ak1YkNuEyZdi4dvC6mEVzGOfBrCv3-0rDUQ9hpXbJZkqGDR_m-JcMVOaX3h_b78_6G37InU_R5XXqN0vjKNE-c-XeufWD9DbVfblrmscuwGjZPK4qF68PsGRCsGajXO2uUUWprVXg1LjMLb5beCZwLeER5csrJ_-vuQ2eUCkYgYTBwjK4aKtFP5qN9hOfZAYlYZlYJ7xb-3T6O-KRG2I0l6J8smMoFuLVag7geiMpka-7Gv91LaNvyLpH3FaUHexZ3-F7bAHEuRng5EXKcNt7hqllUisMyewFjI4Jz_mG7iPddGIdFGMBCXxTb-wJwc-GKhI1FfKm2LkUpgOSomfSozBeceyOnQ1iJ6TtYviC_eLEwIL4RWcVxG5VDhq1Dn8ktMhiUD8LJ-bU1iQYYfjeD2fLscY10YVU4Rp4f9VklN-Mh7FQmD7HVe1ZpvsL6Ncyqxqu8HVWWImbSbR5-F2chP_hvyhgipuBahINVek3aUhJdkXL1Jq7Fsdn5EiDdjJ5ObfEPJXpaBj1Fp3fjBMnbxaDzTZMQNfzm4Rt8Kj89TIvUkoFm0cuWgiiujixCA8Zk4VTpFzEA7qGxR5cNJvFQjT44fVXTSWPmJHjx3nHwXU_khi9amrnvWIAL0BKZ3qmwnagIf6fTiwAMrc8koP5Zdb9HdHZUIbkgnVsFiM1LwsoSwuC8GqbyDYW7FXRmAlgWptulmcYpqvXIHFpvuOD16geEh_AN1zviiu5r7cOK1rKVqqf7kJwxLABIloZJFkhvVRgHWixfXyZKx9k2ds3H1ByovSxUfs88UvmVFl9rOvWf41j8s1_Xt5IedMxW5_LJs6a1g3RGW_MvMIbbKd-4mK3aPquiZAX2uGV9YcjlYrFNFVHqwnNiuTNEjSFx195mpwzxEp6b90CkThtijnD5-1ouTXr3xTmg1addD8tT9Gyxz0tJEPSTgWt4mGnBrhLnUcV8px5nVVDLTmGdfMhwOYhqDkXL5JeipqI3WrRkw2nRy_qGpa1VKw==",
  "id": "rs_0381e540c0bc1714016ab44c3ae60487d0a087f832ebbab924",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.448,\"right_y\":0.254,\"right_z\":0.04,\"right_pitch\":0.3},\"note\":\"The ball is still visible immediately ahead of the grasp point, so it is not yet deep enough between the fingers. I’ll make one final 1.5 cm outward nudge at table height before closing.\"}",
  "call_id": "call_JcJPArtnWUb5h2ZNPMv4YcsF",
  "id": "fc_0381e540c0bc1714016ab44c3b401087d09fc2f8c24354084c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JcJPArtnWUb5h2ZNPMv4YcsF",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5823, -0.0189, -0.0387, 0.9997, 0.765, 2.1857, 0.9226, 0.9382, 0.7464, -0.2367, 0.997]\nstate[eef_state]: left_x=0.2649 left_y=0.0019 left_z=0.1348 left_yaw=0.005 left_pitch=-0.2158 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4364 right_y=0.2577 right_z=0.0488 right_yaw=0.2388 right_pitch=0.2939 right_roll=-0.4479 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.2513, 7.0085, 1.6288, -0.0806, -0.022, -0.0171, -0.8957, -8.6496, 5.1077, 1.8388, 0.1294, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7b8d6f96c46b7145932fbcaf1d8172816de004756d5f72ea491ff5817c030c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59aedd283672c8a2a3740c19427710c92b3deaa43b9bf52f0a88597170c64bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39b9ec7a78009372b1a06439cb80978efa14663b1e767d8fe2da26b11d2ffb0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 9.7 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, 1.1641, 1.7859, 1.2106, -0.0158, 1.0771, 0.1123, 0.3542]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1405 left_yaw=0.0049 left_pitch=-0.185 left_roll=-0.0025 left_gripper=0.9997 right_x=0.3146 right_y=0.3462 right_z=0.2014 right_yaw=0.2373 right_pitch=0.273 right_roll=-0.4011 right_gripper=0.3542\nstate[joint_eff]: [-0.0205, -1.4427, 6.8581, 1.6972, -0.0513, -0.0122, -0.0122, 0.0889, -10.8786, 8.3487, 1.6484, 0.4469, 0.232, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6064, -0.577, -0.0189, -0.0387, 0.9998, 0.7662, 2.1601, 0.9157, 0.8692, 0.7498, -0.2188, 0.9969]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1359 left_yaw=0.005 left_pitch=-0.2101 left_roll=-0.0019 left_gripper=0.9998 right_x=0.4325 right_y=0.2541 right_z=0.0458 right_yaw=0.2349 right_pitch=0.2553 right_roll=-0.4579 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.5111, 6.8991, 1.6825, -0.0757, -0.0366, -0.0171, -1.0188, -7.8154, 5.4085, 1.6093, 0.1929, 0.0513, 0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5823, -0.0189, -0.0387, 0.9997, 0.765, 2.1857, 0.9226, 0.9382, 0.7464, -0.2367, 0.997]\nstate[eef_state]: left_x=0.2649 left_y=0.0019 left_z=0.1348 left_yaw=0.005 left_pitch=-0.2158 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4364 right_y=0.2577 right_z=0.0488 right_yaw=0.2388 right_pitch=0.2939 right_roll=-0.4479 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.2513, 7.0085, 1.6288, -0.0806, -0.022, -0.0171, -0.8957, -8.6496, 5.1077, 1.8388, 0.1294, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7b8d6f96c46b7145932fbcaf1d8172816de004756d5f72ea491ff5817c030c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59aedd283672c8a2a3740c19427710c92b3deaa43b9bf52f0a88597170c64bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39b9ec7a78009372b1a06439cb80978efa14663b1e767d8fe2da26b11d2ffb0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEw-RspG8dMwMk_oUIvfHP9D2kl_Jz73Kr_aQzc8_JXIdcx4sucSFBnu4ZmHL6LMNxlnTlwOFU1TEY7KlSNygduP05X3MNYpp_ajOdmx8-eCG75YOrL7YqmnkakcORQHjEP3dHFo_WgWkejw8W2sE5jk2kkumTazUV0dizr2h4xiPv8db2g-_B3B8Kra-zv-ZN8lWk75OcEm9yVvmhp5qAwtQ9zOripm-JTo3tO8Va_3181pcTz4cQFwuBfcvjlrAnhkGrTTkKv6PWJp7NamVSHPwQ6VeKE9N2zp-BAxy9TWlffQeEMlT95OCmdOdpptaNiLYyNE-nnUijP2MOeoRliLBUR5cwMYGWtAqteJkeNSczc1drf2z6M0oSs8LXcVjAMGoqkpUDtsGY1hAou5bUzSzwOuBSn5uB0tckeoXBL0kispF96snTzuM6pWVJDwOspfHocDPU_CJOKj-6anQ9pfOF2pXRkrnQoI7yTu0NotHnJNT564G_NZSSiqYQe426aYE-lz9mLMaprxSGFcfJ_Mo26SYhIaTlI_qwBaQgwRTgJ1rZ7cQC8HctVqSvcMkzyUfZWypcvqyd3rrEw-7-2z3zkU4OfYvxNVDGmJFTnBOithlr94E7oTKnuhiChFtyfQyywjp3zfyN_BP61lOeKu0hcAWoyk1xKz6ve-vk2_wvLPz-KsMFNgPlOoz9kI7sabNIos579UTwwFfEoPxPGRUS80x30KtZ2tmrBWBOq546ZlTiq5TUYAVT-syB2ZPkxGMaX7__lP9LNoDuE2CThCyasw1318C1y1foP9XxlJGgcAMobhXgh-BYVub_stdxuo8WEa9S2yjF4XmlKBdwFrrE4_klCNlZ4oQ2YDZgKPlc_DblhnPYHBENqU3L2gL4R5e3f9Lk26nUU-VNqSVLAu1PllQfBE2frdY_qI2GJ0VIZx8n8y3k4NCz_IgQwrXlezsLsp7rOLro2tjQEKt-wO97xKhnpCz8ylSIUoUGk8jo05y43IztAtVHf4IGAv_-PqEEah93-QBcOeFrsKlQoQoEbIHbwxTaErvQ_KaKKRR4MUjdDRhgIjI7as6lwSLVePO-EFo_bOBZrEOwjBqiW9Q4Xwflwrs_OHk7zw1p05tOdMMCC6dbzKrtS-3nTE8XakW70zkO9__oBumiXcyFteJQagkuwL8VlvnSsqmeGtkbLqr40ZavLOWnzxr2CHQhsi2wBbaSDL-zXMawbrQ9uOhwfZFoTCAz1ikEBIemVrPslicUAYsQCGHwYlpysdJ4BmSGfaFZVozB3bWEBj1ytReAndxA3lXwhfNxTpH-obj7ElheRq-2o0UcJi-3FE4odHTNYSxu_ZkL64ARK74udLNg==",
  "id": "rs_0381e540c0bc1714016ab44c3d5bc887d09193295c0d728cfd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The arm reached its practical low/outward limit at x≈0.436, but this is nearly 3 cm deeper than the previous failed grasp and the ball is centered between the jaw roots. I’ll close fully now to capture it at this deeper position.\"}",
  "call_id": "call_Wl8ic5wWrMy9RcHhSbyQU09g",
  "id": "fc_0381e540c0bc1714016ab44c3daf2487d0a20efd42fa338a7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wl8ic5wWrMy9RcHhSbyQU09g",
  "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, 0.823, 0.6064, -0.5854, -0.0189, -0.0387, 0.9997, 0.7647, 2.1864, 0.9226, 0.9375, 0.7395, -0.2401, 0.0112]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1343 left_yaw=0.005 left_pitch=-0.2189 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4363 right_y=0.2586 right_z=0.048 right_yaw=0.2463 right_pitch=0.2906 right_roll=-0.4501 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.2513, 6.8308, 1.5116, -0.0513, -0.0464, -0.0122, 0.1573, -10.4137, 4.465, 1.6874, 0.188, 0.0415, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d17e01ea557285b60b23e237c49d6b62354578c69136c9f74ab49d3a27d6b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb9531b4d9b98c139ea6944db4d731408de1d617145f5680c407d474fc257cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d895771d68786567184dadbbf61cd52b5d571833a1258e6e431a3457e12c7ea4",
      "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 · 1.891 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5632, -0.0189, -0.0387, 0.9998, 0.8082, 1.9022, 0.9104, 0.5598, 0.7887, -0.1585, 0.9959]\nstate[eef_state]: left_x=0.2681 left_y=0.0019 left_z=0.1392 left_yaw=0.0049 left_pitch=-0.1926 left_roll=-0.0023 left_gripper=0.9998 right_x=0.4107 right_y=0.2536 right_z=0.1081 right_yaw=0.2209 right_pitch=0.2296 right_roll=-0.4446 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -1.1556, 6.9128, 1.6386, -0.0757, -0.0562, -0.0073, -0.1709, -8.7043, 6.0786, 2.1709, 0.2564, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5823, -0.0189, -0.0387, 0.9997, 0.765, 2.1857, 0.9226, 0.9382, 0.7464, -0.2367, 0.997]\nstate[eef_state]: left_x=0.2649 left_y=0.0019 left_z=0.1348 left_yaw=0.005 left_pitch=-0.2158 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4364 right_y=0.2577 right_z=0.0488 right_yaw=0.2388 right_pitch=0.2939 right_roll=-0.4479 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.2513, 7.0085, 1.6288, -0.0806, -0.022, -0.0171, -0.8957, -8.6496, 5.1077, 1.8388, 0.1294, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5854, -0.0189, -0.0387, 0.9997, 0.7647, 2.1864, 0.9226, 0.9375, 0.7395, -0.2401, 0.0112]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1343 left_yaw=0.005 left_pitch=-0.2189 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4363 right_y=0.2586 right_z=0.048 right_yaw=0.2463 right_pitch=0.2906 right_roll=-0.4501 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.2513, 6.8308, 1.5116, -0.0513, -0.0464, -0.0122, 0.1573, -10.4137, 4.465, 1.6874, 0.188, 0.0415, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d17e01ea557285b60b23e237c49d6b62354578c69136c9f74ab49d3a27d6b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eb9531b4d9b98c139ea6944db4d731408de1d617145f5680c407d474fc257cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d895771d68786567184dadbbf61cd52b5d571833a1258e6e431a3457e12c7ea4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExJFcj7KFONP7-ClRJvrBGHSCuFWLrmxW_Wuui5SroR0VObP5p2QoY50yNlc_fgPPeFi12DJW6aAOAczaKiKtCDaJYheutN1msVipSimjMcIn9gNhBxP77mQKexdnF7Hu-rN8_biyJl9Zq3MkNlsdAVnPVdNtVmKE-U4xAfEnqBavLKUH6_FL0_LmJNCN_AcMx1CTRGMpZl8jZIATvMzt6Z8xh9oSE16PTn7B62yjqd0ljBaB7VxqShlFgRTtkESH0C7TdVroGlgE2ttHEUFAG4upguJJs4YtdsRyuGeUcrzSLwqGTQ1gf3LJVavU5tbTZct5NLBZwmX4luG7rMTs_U88TsxsL4BOdkGhTwVJGPSmyE4MevHKBN5dp4qTnquVZ-_FkfKUXQ_70GP1pcsp73Rbo78aIXsobPm1FxAdftHuys3kx0Eyzz0QIPSP-eJhrbYpJLUKS-ysdc7du5sNZE2Dy3tKp5ahz2zCYuzkMGmtGnc1JQk_H0r9g_5i3cVDvWiva8lYNmIAS8tWJhPAEi5KzspLdVVefVRh0u8XdSrrj37kOGzbIUea_n2Q8c90jmKTBJpWap7jApxwKZmX-xUZ_PrxDg0hYNLcwRyhqd705mRs0WFMBHPCgOko8nZVaQE_8FygXHFcvJMDVExX4YADlO0suMzX5b79IkTCT_jA-TzBgn5Y7VfkVUuRXyNMiYzZmnL6h9BlGjt8YTpYfNEypiw_TMQ833dw-QYQBw5qXt6Oslmfx1nWdAbcwURk8lIGbQUE_Xr83xPFaRc622KpGPG6_bHdDX4jk3va40c7c1E6TkKkxZW96s8RXBtz4CggDdsa0wNxMb8A1KfxcAAOy1mXuZvoeQgKOZpc7qrwClI6PyQH1ngUPXMZfXgkJjM_yBhzoVZbW8h_ONUq8jEto5Pv5uZ8HNU3ydQz0stODQN4AU6dKGMVIzSghFdqeuIwmWIY-E75J_AW3J7aEz7a0NIU2wP4klp9VuvUSvncFPfKKLiloF6VFDjThzJWV_OGSjjsr1-ADbM2TR-KokodnTLBJnsjHLuWH4LDYsWQ_bJvFUzZW0t9b3w2kF5kBbKBdhnkY3h9CENV-6WY9hHwvcgJIx4FzT77nEsNGgbFggdXXE6l1MrjYQveV3p4emxfONNB_aj1x6i13uAuDxsCjmh4sQ_jvwX-TgPHspF-5UyhDRk9jtMghKD1zJk_bBJwlD52imb3VNd7HFaAbYXRmDa6nZaPol6WVMQdsZgprPyKiIlOOGNRhbOWdPBrqmpALgflc9gbCL89lVJUKtkATWsN3cJmnjsyRIDUzc_fB5xWTRrjnUcMWL_LY5s6C-PF0sslk2Y-xdN2kZ7BV49AVBWxLO-P-o-K9finv53_5LilvWAi5fyJHqrLrwcNiWxuSvS5FVgqaSMogZ32m7NLl8LBUoaO3R_yQbNdcpcNLH0ZrTTiLYZqt35fWihSL9B2W8PQ1Dj6uW7ZF0RBFWRL_t9toa-tV-hTwa2yHoiFzDY9x-y7bgN-sLLZtSxUmd2Mgb29zBpB55HRHYEUNumUT19CDEz2w0aYwByQoXoJlcy6qaO_GCbbJrtp7FIKDvKdNaPBtSLp71sBHlDuystbQGQ2InM0fIY0dRg3EqQZxdJTFgMUtStY22gs58OORifql2zdCcs1PAvCC_maCnzoQrL9vqP3mUKa1WYDKK1RQfC_zWFVPMbfmW1XAegYtGP_cjC5rZM4ulqvPd-nKpkVS-dlADCJFhEA-CQ0Uuzauj8xqBIFpGHl-QIzj9wdPxlnHuKpqvjfAa4-y2krQAqkgkBb1wwXNH1lO03PkPSQkqU4BsyqFJ_DCJDrtEgyR_S7TCgYK3D5RlQN0E__AivTcRQzHY8wUYwojwhZJJvyI3UnNh5iDI4Sz7GpkYNgiZXrs2CXLx4tGarJSi299wtcurgL98m9KnPvGSyYSMyL_6mZbuHUTUyV1LFEBsJBSGBvfzB69z_UxABfZd0YWKGe45agp04wIUkJzC_3lO1Jwc-B1E77djQKtP2Kw3hJqjZEkzZdfDCAzCsghIwoRwkwA49nOma40jBz3ywqHpLffRTaA_yHdpmruu6XoA1-NnWV0FiSGe434SZjR8nmaqD0ke_CTv1rXyucfwG2bXxtlPEf4k_YdLfN9vsGh_DQdet3wcDREIzOEmTQfscg8opMfRs9zpGESmXcJ8gwD0q7vjAlQ4IE0TGGPHNv2XTTDvibVV6eqMhlDa-Ur1wUYwTEKAUi-kkh3nuGGpI8rJh3yJPIKaO-7DasqIV3woySbWL5piTYcHluCZFDmtw5CJXygutgYl9MF7cl1TTJqfWPzphcKUYB2tstFvBP1xioxLZyjPBg-xDONxX3zGC7dQ0cNHT6BMH5Whj4WM_IQp2T8-r4Ikk9eCH2_SgbrW-_pi1KEndM0nRByaABKXX9LY4mog-QAv7RnpPZPoM8X6EiEAVt_30eZxslR_gRUohHZVB06Mdg8zmVgpzp1Cs4QccYD45LKnS27oITeAykAg4cstNh-4fcqjCOQlSNkGvZaiQipmYyd1JE8j1RScmURvLrKS_S4fyKVFcRfgRN90XVDLTJMHgMEswLTsimT7p6gBB3zPhI2Cn6dqxfNMn0JIV0PMfQlilmCgDQydHtmKt9xIZIMFhzxFXHAozDVIvogF61dnq2_QABudQUuxipS47AALO_1I7ZtPROpyZhMdYrLhbtaWkIf60MALHMZAggNDJG246HvMMHPqmnEeC7UJnM2fRe3JStY7gBIIWSSJageMLtr4Y1YJGHM-P3XAiqnA7NBabOsSOJwUYRZ7OMWhx6puB20A-NX8LwW348cNVs9viWLfibJz3fqY1MlIlpNJskqyPxzneECtI8x4UWwiedxUDqeUh5tqoqwKH4GrTvuBlaO6EsisG607SEmbX6d_FJ-sI5wDrTIlHLT_l3QDaqo86y6O4OfVViF75GqCb8GwExlv6wUrUuQ0iyN88N0wf8nJaPZNdMPLw0zInVlvg5RwMb_uDjmQsjMhgT_w15-RGFfQrQYf-8ofwg9gHMeHr12gBcsCC9lyPnvhhDCozAkHeY6UXz4zatkjYEI86EgABbYJmSarsXIAktP2QMFtlq2bn05VxhVbHNrNVtkWTJxDwrWj6-Ny1UCju6paj_2JjWZyoSkZodaHbAXGIay23oNLPZmK2l_dcGxFY0V2-QaIBX7cvn6rZ3FSiKMBaNg0PNfKPsd0UQu8y9h5V83BfMkPQelEYeO2R139apJ-uB3ZajGvR70Izp-4WC7LRuhfSuIvqNH_GDtsNhPWI_lskZlyN1UrPqq0naFkzOieKXtqu3zMQnZxfCuJgU-TBPxdxTcwRKPwThADe7OtvXeGPdwW_0whve0_aZE2mXax4TMRqT9vLBlYzg6bep9D7vvg-ldp6E_u6F2qYWrcaZVQLqTLAzp_TxLyZht84wDxp_YJ_zOT1-E0aobvhZMqXiEgExjbkKEmItNOS0Z245HtDLxqpqgil7YXlnaK7byKnHTecDbpfltTiAyKIdWKXuPm9QmHVpkj1VcSMWs6-BQbVU7eXcpHs_PQDvIypJpfgHwd7QRbGwFt1L-ONFh4a1N9_ad8ZDIBi9kyUTyK0yO6NadoafyWTC0KwPUjg2vQsbSxzzQpV_c9Y9ztso9brslhnn8mIM0lcUWSne5Tg04KlnjlhKQxufrT3QPPf9xfSNPP_Ym6l2R7euYm8lkIy-DyjhHY_OCBsB5doL_JA5dYixzDRRN4AP8tcCl_bCFNmm-zszXmlEe2pmgZYRS-Nbt-RPW--M8hx9z_MeX9EBSu5cEa7qT_450MIP0Gv5tPSg==",
  "id": "rs_0381e540c0bc1714016ab44c41749887d0b5dca120b894890c",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtExJfns839KOPZYgyLscoUFI6Qg96sqzP0y5HT01Uyhgh0K5q0ofGud8Lqm__xbRcZJMbwY2si9MMBPYw1JNMk2z6hnGy8EbMRCEyoMnMxTXOBx6y3xDrlLfZ0XrUoryvFYmbuT32kr-14PzxiknXHot0C9ZN6a0zvp4m88VK2aZjgSzLMb9ZZuw-XfyPDQpn66qt3PIEPynhIITuZZuEbftLl8YdAV_Pg4chxn3vo1B5C8BJ744wXRGGH-Iri5dOd71JgYnR9_YnEUaoG8xr9eYvHohFotjoVA_9udyLcsMNg8Wg4QVG_UlYCEkP2smBy2-5zR18xesZ6YXwnpxG1N7uJbkgrywfZNw2bGgltyLsRfOGf3RXaTNZHBhdIrhG1n8WLwb2OLTWXE9ac7brQjcwOCNTdBaGEk4MjnWIuFpK4wEy4fIAbVKUjfmLi4rjuMqUvVtrIgE-TBkQVc7elpWSzBwTjeSoWY9V-TiiEl8h-AHgJIkSPm5WI4enly7KZ4yqn2pCdGxCf9ZUHuEscU7-2DFSG8JErygY3QugY1vWPUoxp3PyFc88oWlU22NBXFuU3Sumc3NUUTt4RHHb9P0krQ797Yhe0nIgiCkNS06mErPHZG2lVOPIoK26RoAynG7Up3GRFRNlmH6DcTW4djKfjvxU2C8FPsShT5tM651Ns3xtU2kCRoYs2Mo-RTAz4LSM07TsQxusiGWxNixVB2_Km95qmXBEZq6KcohqTqxw0MD6lMLDYtAmc3ajHd68UCzGym4k9wb75NjJQ3x5ZGhW89umr8hB8H11pHiTNUS0ThMPHSHbP9zimr2XjQQIl7n_ci0A8mecXczrsz5jE9anWXp-CwghkuWtpD6xI7LG1bQTgh3eFxPqexEpbGTaS5YdvY-ARt8XYlKgZ7JZyBjqv546wzhXisKXKyyYfLMtEIVA8_i2QUH3nDHETHCox6C9O-qXkRKeJAJ6A0Mc1Lwx6Olenta5kLtmPyJgF_1CS6zQszerLQP1uKCJSau35gLR_gDy3opuUKlrgZopHnPPOac29WEYcpdPWzZrjexCB15C3Ml2ynjnfXqXdIDMMoFr2XQotM4AScMTmGL7EoaHYaoq2slADArZabMROiAhvP5S3pah1UwUyMIuwGQnRAJqUAmelR0I54PVF5EXTcTTmwJi-a6TwKydfO57pjBrgxDyseJfCcIvtrOMYaAzKedQOEJE5OQQnzAZR8jnNXCGMbUUd98hmDPgI9RKuos9aEoNBEID3B2AZxbkvbzHe35hkWvt22MOlDcvATccYZBkZdeZD60pnKujPKQK4GbHicDhROe57g1SlenvBILyOg1Ps3pFyHCXHw82rLof25CW8U4-kyswz_uSx1UjtwFXlIb5pFRQ_7ZWgXO-4ur9-cRbrXr2fnmSgrnp2ID9Aqi9Mxr2xMXNzuNLG1t4UiqbS12IN7GM5Fep3k1QZc-xewhORQ6ck15nm36o9h0vmqheFHuD-tdXdCRaoAV2MFpDvdxQ-Md8YoAnxIHZv9chq3F13Mgngtv8XT1B6M2WdOUlDZAkh8PJ7FLSsVbQxfWN7AdIkcKT0bc8YiehWjczrCnmyhOdUlNwDa_Bw0m53UVL9xSNObPiDyUvd_LKX8BHD2udiBRriWOXIykTtFVN3v-WBYRTscE3awyQxGEkRa_T3a5BvRLfilPBRfu6IL1LKYo3qgGBjQUUelsFwmywuZxMcAnNVX4766YLfETOdfAN3i_2lQUvFNooocXUgBn0Br3dFVFipFhP2QwVz1t9F1aQXv5GlXeaZoPiC4weAdzd655Qfa28lqQtFO1uiB0_Espv9TcC7lhM07EpL1Gt6JF3jOh1Nzif3zes5kxiUnVmdCJb6smf9oEawJUAlrhJzmm1NvuuX0uHa4as_tN6yJtwsz6D88hrJnWwO5IbgABbQ==",
  "id": "rs_0381e540c0bc1714016ab44c46667887d0836711fcad97830d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.01,\"left_z\":0.03,\"left_gripper\":1.0,\"right_x\":0.32,\"right_y\":0.2,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The ball is still just beyond the right arm’s low reach and the empty-close reading confirms it was missed, so I’ll avoid wasting more retries for now. The left wrist already has the white plush centered near its fingertip line; I’ll descend onto that object while retracting and parking the right arm clear.\"}",
  "call_id": "call_FW5cCqbWQg2q9wubaCiZzsHz",
  "id": "fc_0381e540c0bc1714016ab44c47e64887d082d6325210051fcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FW5cCqbWQg2q9wubaCiZzsHz",
  "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]: [-0.0853, 1.1072, 0.2989, -0.0582, -0.0563, -0.0914, 0.9998, 0.9112, 1.3952, 0.6102, 0.4335, 0.8536, -0.186, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=-0.0099 left_z=0.0247 left_yaw=0.0017 left_pitch=-0.2817 left_roll=-0.006 left_gripper=0.9998 right_x=0.3258 right_y=0.2087 right_z=0.1773 right_yaw=0.271 right_pitch=0.3032 right_roll=-0.4442 right_gripper=0.9947\nstate[joint_eff]: [-0.6769, -2.6735, 5.2444, 1.4432, -0.2125, 0.1197, -0.0415, 0.1436, -5.012, 6.2427, 1.8828, 0.1636, 0.149, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46880670b8396696ad285879cca748376ef9beba9f3b32dfbe74cb120ef83632",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390f135332d563dfd9ea52bb40b7e3f1855c2fac30877a90f3bb4ada087c1239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b682001a0966770f2dfda8e14756438c816d769dc3e3693ca928686b273307",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.263 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 84 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6064, -0.577, -0.0189, -0.0387, 0.9998, 0.7662, 2.1601, 0.9157, 0.8692, 0.7498, -0.2188, 0.9969]\nstate[eef_state]: left_x=0.2658 left_y=0.0019 left_z=0.1359 left_yaw=0.005 left_pitch=-0.2101 left_roll=-0.0019 left_gripper=0.9998 right_x=0.4325 right_y=0.2541 right_z=0.0458 right_yaw=0.2349 right_pitch=0.2553 right_roll=-0.4579 right_gripper=0.9969\nstate[joint_eff]: [-0.0615, -1.5111, 6.8991, 1.6825, -0.0757, -0.0366, -0.0171, -1.0188, -7.8154, 5.4085, 1.6093, 0.1929, 0.0513, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5854, -0.0189, -0.0387, 0.9997, 0.7647, 2.1864, 0.9226, 0.9375, 0.7395, -0.2401, 0.0112]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1343 left_yaw=0.005 left_pitch=-0.2189 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4363 right_y=0.2586 right_z=0.048 right_yaw=0.2463 right_pitch=0.2906 right_roll=-0.4501 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.2513, 6.8308, 1.5116, -0.0513, -0.0464, -0.0122, 0.1573, -10.4137, 4.465, 1.6874, 0.188, 0.0415, 0.9695]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 1.1072, 0.2989, -0.0582, -0.0563, -0.0914, 0.9998, 0.9112, 1.3952, 0.6102, 0.4335, 0.8536, -0.186, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=-0.0099 left_z=0.0247 left_yaw=0.0017 left_pitch=-0.2817 left_roll=-0.006 left_gripper=0.9998 right_x=0.3258 right_y=0.2087 right_z=0.1773 right_yaw=0.271 right_pitch=0.3032 right_roll=-0.4442 right_gripper=0.9947\nstate[joint_eff]: [-0.6769, -2.6735, 5.2444, 1.4432, -0.2125, 0.1197, -0.0415, 0.1436, -5.012, 6.2427, 1.8828, 0.1636, 0.149, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46880670b8396696ad285879cca748376ef9beba9f3b32dfbe74cb120ef83632",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390f135332d563dfd9ea52bb40b7e3f1855c2fac30877a90f3bb4ada087c1239",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b682001a0966770f2dfda8e14756438c816d769dc3e3693ca928686b273307",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExM4UQHyHPLq2DBr1Ic8mjGy8fhYWBLlQD3Ofrv9kHtTGiZPWk0zx3gRWB3gSEh7hWyf2pldyFo5_tfYal2qldMzTouAjy05W5AoOlTYKZ7W2SEjCnIlfjerIUnov1CSHS-4izKobNJCWyapoAY9oZq_UAK3LjKA_2isQ1uxa3Ut-LF6n7kS2id-XvrVMu2jCrCkWCunEwbjR1pA2kgsB-yOzIZAnMYDcHSp84oy7p6EjSyQEPfOdccMiAsaYn2e3yy7KefQ96Ah8JRBFJh_iHKKKilrsxtnjGS_0rQ_d-2TaZpgjuBIJD8KkVrUsXuCo43DUGdhVsjF8V1lyhpztf7-agRdah1PCtu9eKocd9pcK0hbxDKgRHqfYyhJaJU7Wn6-FssASkLuNYwd_yyO2xEGO4od6ctuFRkkGH1WK2nUHY5LtT0lbItO1zyZSekzb4D6MM7f6Sbe3C_6hs1m7NJWfUSp5VhDLoxoTj8Z9NQ1COH7k6kLnmF3rune4lT3d3XJYCTPLCaB9ovEFbjy31AFinZP10CWYN1bm99TC2RwTDZZpO7J3SAstXPLmPHDhMrvheVvb-iV6hwz95_Ju4Eod-769y5d4-_TZ2603lRWLz54VjABO77jCEUKADrOspgBeU5ePoKaEmh6qhsRYeCJPubfyGHyvThz6xOJND61ZpgFXnj5Tx0ZUs_6eRb_MMoFCjYrhSri_t605qX52V1nF1W0HLhltVDipBQAHup5xhy7XPEnF2Ji2mdoSfC0S0oGhH51qMxleRjhEjZjedrpm4VqlEAP9dE2kzCuCIUSksli0CANBuEq0MTynseJHnwaaCGIo2TZQRv-cAv1hJpiicJOACxFbhwAymRPrThCsuZ4FXA3rAJeRXOSpQefr6ODZKQootKeJygNX_PI_b1CtgDsIH8ETpAd-3Vq0OcTkKvtvpZy5qfkghueV-mnTxdLlVKiIil1DHcNF3vqoUV70TS8QtmL8P-xWIsspTVld8gJAjAvc31n7WlhkoGG5EGMzoL-jwG0WjL1YniCo3-rJxaCp2nM4ri3e1kbzsMxzmcps4VEOO-HLmlh92A7TmSkyj65HrVO6fviNGYznGQwQ52oqQYCNNpvoof2YEt0hVATgNZfv_KyWKGgV-mBdNUAhzNgekMhVhHsLVkx3MWYdR7nhnR_zy2sSq5ui-7C1HVpx0sozlqm4HwiRjY8NZBrcAGAdBXGcRBvBezkoYKuLb4qcLqe91rYwbPy72v3jM=",
  "id": "rs_0381e540c0bc1714016ab44c4b4ce487d08daa0d74a4798e8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left descent tracked to 2.5 cm and the white plush now fills the centered gap between the fingers. I’ll close fully around the soft object.\"}",
  "call_id": "call_RJzSKnVyqPvhtnRtOw9e69hv",
  "id": "fc_0381e540c0bc1714016ab44c4b75a487d084a711fe1c90b59e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RJzSKnVyqPvhtnRtOw9e69hv",
  "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]: [-0.0864, 1.1145, 0.2867, -0.0422, -0.0563, -0.0982, 0.0117, 0.9142, 1.3964, 0.6064, 0.3836, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2727 left_y=-0.0101 left_z=0.0209 left_yaw=0.0046 left_pitch=-0.2851 left_roll=-0.0103 left_gripper=0.0117 right_x=0.3226 right_y=0.2072 right_z=0.1665 right_yaw=0.2861 right_pitch=0.2585 right_roll=-0.4744 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.0154, 6.8991, 1.2869, -0.0611, 0.0659, 1.0525, -0.4308, -5.2581, 6.5436, 2.1319, 0.1587, -0.0464, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a577f15f890c7f820da984553e6d905ad4237aa5321f3b9fdf6069355460db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c0f3144ca5a4894e73099ad17ae0d0bdce9d83477d62b8e4bedf44bfe9e45e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4044781e11a896782985904eb2d77b257fc5ba8e04ab491022ad9e98e20315da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 2.693 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 84 changed as sent

message 88 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5823, -0.0189, -0.0387, 0.9997, 0.765, 2.1857, 0.9226, 0.9382, 0.7464, -0.2367, 0.997]\nstate[eef_state]: left_x=0.2649 left_y=0.0019 left_z=0.1348 left_yaw=0.005 left_pitch=-0.2158 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4364 right_y=0.2577 right_z=0.0488 right_yaw=0.2388 right_pitch=0.2939 right_roll=-0.4479 right_gripper=0.997\nstate[joint_eff]: [-0.0615, -1.2513, 7.0085, 1.6288, -0.0806, -0.022, -0.0171, -0.8957, -8.6496, 5.1077, 1.8388, 0.1294, -0.022, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 1.1072, 0.2989, -0.0582, -0.0563, -0.0914, 0.9998, 0.9112, 1.3952, 0.6102, 0.4335, 0.8536, -0.186, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=-0.0099 left_z=0.0247 left_yaw=0.0017 left_pitch=-0.2817 left_roll=-0.006 left_gripper=0.9998 right_x=0.3258 right_y=0.2087 right_z=0.1773 right_yaw=0.271 right_pitch=0.3032 right_roll=-0.4442 right_gripper=0.9947\nstate[joint_eff]: [-0.6769, -2.6735, 5.2444, 1.4432, -0.2125, 0.1197, -0.0415, 0.1436, -5.012, 6.2427, 1.8828, 0.1636, 0.149, -0.1587]\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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0864, 1.1145, 0.2867, -0.0422, -0.0563, -0.0982, 0.0117, 0.9142, 1.3964, 0.6064, 0.3836, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2727 left_y=-0.0101 left_z=0.0209 left_yaw=0.0046 left_pitch=-0.2851 left_roll=-0.0103 left_gripper=0.0117 right_x=0.3226 right_y=0.2072 right_z=0.1665 right_yaw=0.2861 right_pitch=0.2585 right_roll=-0.4744 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.0154, 6.8991, 1.2869, -0.0611, 0.0659, 1.0525, -0.4308, -5.2581, 6.5436, 2.1319, 0.1587, -0.0464, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7a577f15f890c7f820da984553e6d905ad4237aa5321f3b9fdf6069355460db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c0f3144ca5a4894e73099ad17ae0d0bdce9d83477d62b8e4bedf44bfe9e45e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4044781e11a896782985904eb2d77b257fc5ba8e04ab491022ad9e98e20315da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExQ2f3dKX3GNIDGxH-AzPCqpoPIm7l8-lH1CL5J0RkxaH_sg9N_7Jg0ruW-VJMAczPw9IAZ8FomKFdfmd9a7MnffYaLIfGHCGa5xpNDfsykXYqHKAYRZwo7OdyxoVhV1BPt9K7yF9UHySKKKEUdKMFqPGcSqtTH8UM2aovxAFKkZlBrQVKshn03kRSagjMtYCvZZQNYsV_ZhGrL-MeI6occVud_bi-YUWV7UvEvZP7dzEwAuhKTY6R00XJ-qOkeXC1U7wbXFk43bnXohbYhQibfSi8IrLta8BDRmpzcnk3v_ySh-DxQUp7BaMolrwVRR-KaYzYRRE9_oAHGEwWhwuo60LuTs7ZiXowtFBfDexzloCs_AYCa12A50WOQu-mDWOuZYRYCl6F1DqQWmHCgoJuI9yzwy_OL1cx0JFbF7De2u7jNdcSCzchvjlN2ftxIiOAQE409OABUfyK5sSnJczQtUbGz39ElHKyl4gBeTTx03TGLvyI5ei4H9-abQRMe6kPv3Pt7uOCPXUqL9r_EHykFmgws1aExgQhGZNE-k_v8Uf89q1LFD2FdbGhAN461gsyJGBwoKxSveNaPLpcv8w0AmQZPfC5JSg2VDPTYD2xGLrBYayxW2mr7n_Z903H5qRHQcF0q99yv2hhE09FLkE6Qd2QpAyeYSQ97a-ZT1DVW-MToipvYI9LLAUFrIYlhkc-BgbJcsihlB5owL0o4SoiPAB-4S7FPEhLIRROw3ks7X7Hz-YZ8l7RZRRG5HMvXsxpnI-THWIzJAp_AGTE6pG-KRg-0g3rk0Y2XJbYV5B5HkiHgfex5sLO5URnOOI1NV2NjcBSyB-sEtP-GViTNmTRNcQeuq7S4-0oTYRq2_JoHj344mlDg6iyyxJ09kelXcsoLdrNIwhLpG9kvJTBTA2D7XftS-RhA5BX2W6i8IVt0G8Ke6comVNVjGgnGMM4wQ2VKy7eFSXCQuKJZoi3OJfWZcHXmWcJayoOfCOJyHMOsU3mle3yn-uGiglnTr8k_h5l5WI41rnMjuJH1IVDYfkN4imGTOAlo13T5NQwTKwG7yy4flcZufCozmZXrp5ecaqX8Fi9hHEIPLyyWrHwI1qby_RxVdrvOr8LdB2VxDVMG6OXRY1SVy-b0WudoytSyi8-xV32pEALyPifvn4368mx2Y0_Yv-1AkMoSAlkBxcElcXgtSeGYvMRXZ279eeNMkkKE-N-gus_EMW9TEjwuDsuQ2yLYX65k_CSyunXi57bknUoIXN4UDPiNTOmL1HTVDFVgbzaxYq_0MExNTKWiYStmrlY3mxtldp0agLUvZNlkhwHbHBYeecFpXwjI_iWyFYJ-z-BYEp78fTZLgHzMiGl_HoiS_BVBosOxBkc9U74BDrZAh_0JhFukbXUucJc-iCqoPmCc2HCwQMYulR0cDM_0hwiAwVPAZ5HSSk_qshdZisL6-DRAtuZG5oUujhV2ppYTA4soP8YeG9OcKhtaIS6A-icVzI3uF4rtvHOLBy2EuHA=",
  "id": "rs_0381e540c0bc1714016ab44c4eb1b087d0bcb220e665c6eae5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.01,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The 0.012 jaw reading shows the plush was also just in front of the grasp point despite appearing between the fingertip silhouettes. I’ll reopen and advance 2.5 cm radially at table height so the plush sits deeper between the jaws.\"}",
  "call_id": "call_gKXHAsQEqFtiUC4Kombl37Uj",
  "id": "fc_0381e540c0bc1714016ab44c4f6c6087d0b60ecaccb112b58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gKXHAsQEqFtiUC4Kombl37Uj",
  "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]: [-0.0769, 1.2697, 0.3378, 0.0013, -0.0563, -0.102, 0.9952, 0.9131, 1.3964, 0.6064, 0.371, 0.8486, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2834 left_y=-0.0083 left_z=0.0057 left_yaw=0.0182 left_pitch=-0.3455 left_roll=-0.0069 left_gripper=0.9952 right_x=0.3222 right_y=0.2062 right_z=0.1643 right_yaw=0.2872 right_pitch=0.2482 right_roll=-0.4819 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -3.2752, 8.1709, 1.7167, 0.0122, 0.105, -0.1343, -0.0752, -5.0667, 6.2838, 1.7411, 0.1441, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325643e6b9059e888e6c9d2959ceb57535a7fdf062d2a268268ee4ea1b843d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b05988610ad6d30f9e0bfdaec8e22be79d1e34e8bf10959b3c939869daaf442",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abcbb7fd3e1e80b80e4ce0bd91c8e0a95a2335afc15210663984ece499c3be5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 5.56 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6064, -0.5854, -0.0189, -0.0387, 0.9997, 0.7647, 2.1864, 0.9226, 0.9375, 0.7395, -0.2401, 0.0112]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1343 left_yaw=0.005 left_pitch=-0.2189 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4363 right_y=0.2586 right_z=0.048 right_yaw=0.2463 right_pitch=0.2906 right_roll=-0.4501 right_gripper=0.0112\nstate[joint_eff]: [-0.0342, -1.2513, 6.8308, 1.5116, -0.0513, -0.0464, -0.0122, 0.1573, -10.4137, 4.465, 1.6874, 0.188, 0.0415, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0864, 1.1145, 0.2867, -0.0422, -0.0563, -0.0982, 0.0117, 0.9142, 1.3964, 0.6064, 0.3836, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2727 left_y=-0.0101 left_z=0.0209 left_yaw=0.0046 left_pitch=-0.2851 left_roll=-0.0103 left_gripper=0.0117 right_x=0.3226 right_y=0.2072 right_z=0.1665 right_yaw=0.2861 right_pitch=0.2585 right_roll=-0.4744 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.0154, 6.8991, 1.2869, -0.0611, 0.0659, 1.0525, -0.4308, -5.2581, 6.5436, 2.1319, 0.1587, -0.0464, 0.0562]\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 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0769, 1.2697, 0.3378, 0.0013, -0.0563, -0.102, 0.9952, 0.9131, 1.3964, 0.6064, 0.371, 0.8486, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2834 left_y=-0.0083 left_z=0.0057 left_yaw=0.0182 left_pitch=-0.3455 left_roll=-0.0069 left_gripper=0.9952 right_x=0.3222 right_y=0.2062 right_z=0.1643 right_yaw=0.2872 right_pitch=0.2482 right_roll=-0.4819 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -3.2752, 8.1709, 1.7167, 0.0122, 0.105, -0.1343, -0.0752, -5.0667, 6.2838, 1.7411, 0.1441, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325643e6b9059e888e6c9d2959ceb57535a7fdf062d2a268268ee4ea1b843d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b05988610ad6d30f9e0bfdaec8e22be79d1e34e8bf10959b3c939869daaf442",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abcbb7fd3e1e80b80e4ce0bd91c8e0a95a2335afc15210663984ece499c3be5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExT7gxPrMoMY0YNT2OQDz6W2N_Nq2o1WXT5Dlbh84PCO6g_kVMFHpXVnA4EIYs93ZgJFYZaGh4zrbtRcpZNtF0cxxBB--shAiY0hDz2YOze7YW3NQFladbD51n8U4aXyznj__ZXBkvf68FtMYgC_CuqEjqoD9PZwY7b9540DY_alnXTAQfTdIRfwf7PtKP2BYTaew8-NEjbL3ytukNHAc_e8-rdmo1_gbcL0AKWWgkYTKEV-gQu7Xun5lNxJvCt072NjiMUcDnsug9IbFEdoPr7wDXXz7dFsyRruV5hCk0Y_T6lJI8YLWLpo2StaegjOU6a81tooPZzz6_Uv7rJvlsvPISELAu2BZsRQCS2FzcBbTuzeLc34vNLGVd6O4D3BI0479pLQfVJmDlY3by7j9vBJt-z2uFa3PRz0s8C0fw49ZEW_3WSmsS7GKQGSGP_IwHtKkLd4Tth7CJteqXDPzJFwtpsY0SWuohaKI-_9Cj5knFMY2fqkMkYqVj1_DzTiEu0t399jczr_tboC3BxWlMNDCrAekOHdHgVjeKhcW3cUu35wSqxLlhVZEPWaxrr83XHEOAx29JE93c7e-l7qeWoxlmMvUiAM47241UdfnUFosX0L7SF2XhxdXj_vxfU2e7YoEN_k5QoHbyVJSGDLM2p6KR0CX8dn1H6_02ziUlP0hdvlP5CiuXR8Guj9EGgsy7LAgkgpqMATbjUs5hxRWjx6Zx5C-S_ry0l05leqvHl-ZzJOJeZWwHrZIqKyp3lTsk1xZAqCxNH8gbKdI8s5ZvvHpX-aFUoQPDq9FFEQbH1WKJayO9W5tQD_PC2eghiGCnptiXpEk7PlTMGqn7SijWtyiRzaiOma8OO3tWjIbMgllmz0TWxnaweqdKmHfpfUPO8WZMGJQ77Rm8HL7uUgqSxwxQVbCPVoGbazulP2ALKqEMGjUPIVXw8uxxLreIBHNExP6I3z5IV7owWSJRbU_bJ_8dVbkaIQz6HssblQAkc2wSuiS5s050X4fe_DHQtW-vGqhnIOffIEEiZGx8df2YNJw4UZITF-zgSfDteYSIO4usb98f0_7AgweUMOyyOq2sBdY2MDfxmnUq5oWZfnDqI2zp37Fqv3bOGIu-k1Wg_IwlFnbz5yuxu7Z0wqGXhV54a-CxGeQfv7c1VbPZCerDNfIl5cXYaxtYtjLO8FPG3N6YloeFxEcVdn-eNh0zDkQNOL2yihq5ou4sdL0v3EIyudBybRHTnEzQRUMyUZjLMnYQ-vvg9QBVzr3qi5YCCb9g7wyfKLRTHFeVG9iNCbO_nlLHumhJChKex9kQYAsIf3qrD3dsEXUwHmByvNaEFXrhz",
  "id": "rs_0381e540c0bc1714016ab44c524c2c87d099d4605d46203f03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the outward correction, the plush body is now visibly inside the jaw span rather than only beyond the tips, and the grasp point is pressed near table level. I’ll close again from this deeper position.\"}",
  "call_id": "call_67RPrAINhfuf2Pio94THONQ5",
  "id": "fc_0381e540c0bc1714016ab44c52a14487d088af92cc1b454d99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_67RPrAINhfuf2Pio94THONQ5",
  "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]: [-0.0772, 1.2739, 0.3401, -0.0044, -0.0566, -0.1097, 0.0113, 0.9131, 1.3964, 0.6056, 0.3523, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=-0.0082 left_z=0.0046 left_yaw=0.0229 left_pitch=-0.3531 left_roll=-0.0106 left_gripper=0.0113 right_x=0.3212 right_y=0.2048 right_z=0.1609 right_yaw=0.2896 right_pitch=0.2325 right_roll=-0.4938 right_gripper=0.9953\nstate[joint_eff]: [0.0205, -3.6308, 5.2855, 1.4335, -0.0855, 0.0611, 0.9353, -0.2393, -5.2855, 6.2838, 1.7705, 0.149, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07642f4502ec57cc2604b98a1e8ad9a87140eaa7484d73625a129d65469a0f89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25634df07c7ef1ee35f6660c22037138b1978a8d90aad885dec14f6cc89a98d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a31ba754ae38434667b6d130e392dcb04bea5c0761368fa33426da8bd257e312",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.213 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0853, 1.1072, 0.2989, -0.0582, -0.0563, -0.0914, 0.9998, 0.9112, 1.3952, 0.6102, 0.4335, 0.8536, -0.186, 0.9947]\nstate[eef_state]: left_x=0.2743 left_y=-0.0099 left_z=0.0247 left_yaw=0.0017 left_pitch=-0.2817 left_roll=-0.006 left_gripper=0.9998 right_x=0.3258 right_y=0.2087 right_z=0.1773 right_yaw=0.271 right_pitch=0.3032 right_roll=-0.4442 right_gripper=0.9947\nstate[joint_eff]: [-0.6769, -2.6735, 5.2444, 1.4432, -0.2125, 0.1197, -0.0415, 0.1436, -5.012, 6.2427, 1.8828, 0.1636, 0.149, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0769, 1.2697, 0.3378, 0.0013, -0.0563, -0.102, 0.9952, 0.9131, 1.3964, 0.6064, 0.371, 0.8486, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2834 left_y=-0.0083 left_z=0.0057 left_yaw=0.0182 left_pitch=-0.3455 left_roll=-0.0069 left_gripper=0.9952 right_x=0.3222 right_y=0.2062 right_z=0.1643 right_yaw=0.2872 right_pitch=0.2482 right_roll=-0.4819 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -3.2752, 8.1709, 1.7167, 0.0122, 0.105, -0.1343, -0.0752, -5.0667, 6.2838, 1.7411, 0.1441, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0772, 1.2739, 0.3401, -0.0044, -0.0566, -0.1097, 0.0113, 0.9131, 1.3964, 0.6056, 0.3523, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=-0.0082 left_z=0.0046 left_yaw=0.0229 left_pitch=-0.3531 left_roll=-0.0106 left_gripper=0.0113 right_x=0.3212 right_y=0.2048 right_z=0.1609 right_yaw=0.2896 right_pitch=0.2325 right_roll=-0.4938 right_gripper=0.9953\nstate[joint_eff]: [0.0205, -3.6308, 5.2855, 1.4335, -0.0855, 0.0611, 0.9353, -0.2393, -5.2855, 6.2838, 1.7705, 0.149, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07642f4502ec57cc2604b98a1e8ad9a87140eaa7484d73625a129d65469a0f89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25634df07c7ef1ee35f6660c22037138b1978a8d90aad885dec14f6cc89a98d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a31ba754ae38434667b6d130e392dcb04bea5c0761368fa33426da8bd257e312",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExaY69KAu7agsJrGkCCgN5k_koIy7QtIAobva2UTbbZUmWEGQFzxeWBZkmM3y7m9apmSlkoIQYI-zuFlzkYZjy8wSkSUTr9lg6XcRpoMDdQjsJ1F83nKZCklsUD0IiRXZebEi1aOryTuzRXs-Th82HCYBTVTK6vlAD5NGGLH4fdd0KjbAB8OcPjvu6rYuwVxOGmlfTbjuoEb9IU7S3Jeq7Big8ttDy24SowHJNilypJFAI6PQEaHTUupEhnPlIfncIhqnwd9CEjZNkE0NA1_lcz0JyGECkh_qrZdueN2K6DVg-R35CwvwlUNLs3e_TB8P-pv_z64GJmLtC7Gh3DvxfQB535tDzygt0x5MK5jWhDhHpfK0WU9jzR77EpD9m2MNOAw6qu-B02zVrvPt86Ce-sN84wQkobZlmX-pMwVn7ecWahslD0YPVMtcD86nwPfi2BDj2kBj5pLgemJ3odDe8tPopsrwTCtKBUhDtjEBetrgUTaNcOZg9eC7gQM68TMqzsBsXwXidlayogZx0mxGLKSr9AHwkMKOgPb70qK9wvA0EHCjuSE4dMUDfW9Y9BoEsybIQwbeOkckiBupznBQElSfTJCyEGfMNjscolh4veDe7qxzH8pXaQXYuGdMSbYwixGorJniY_KopTyD4tD8kZpSrr9LYBerAb-_u6rcR7Xo6XQveFn4oiM9iDILQIuLd4IxM5btwBeqdGdXBKxTx-79cN8-UEwVNeGyP8NXv007wHJ52Uu-JdacEHceFNh3W3GBoHxA1ykcZ8SjXg9awnHrxxvPqBtE3LbJAYWDKXLMjKa-QTebZr7BfQKwoVVQrARaIbCl4nTqEZxtmELOE5gwcsKW16NKrv657mMO4l-KdtB7WwCtlC_edGFeDMkHX4qSxvf3D6LPf6fZc2savlU9QurMm6mlktkibqKxQwYi3WyZCQ56S8Zvn2zQRWWeYn7CV2VrVEA7aAmGQ-ieaZuQ7KAZml0HEXICzEj9i1wF7YjPlDSBU_SkV0i7A7IN55hEv9lakbZ055gWmiLcNfQEF0y0sXYvbJhcuJZsgcuujTI2WndL6lnFxQlqfX6VIkM9EqqsiYkQ31DLWnGeVUCHzn7Df28Sx2Oyr8vmnmqqzESJbioQsz8t5NN7MbrCpVBwXbie2YeLnRndPYJIbbZWue-sh_kqB5ZQCsdbyFu67k5--qXc5pfO9oYvHKfURuJ_QD_Qqg38I0QG2LdJBWFf3OnGgpEOMd72Qt16ag6okpHkzB7IrrhDYGbTWF7qNPMF6BtCYG6KhkX8Fs9RE0i47yA5JJFD9m5JEFHTZazbL41F43TyLmVZZU0PmiUC3hQAwzJWUQuavxYZQdumnqfpPQ75szxlX1XFAg0CGlBJUStuWfR5ozo0t2ykp7RWtQeWvjevmOY7ew0nyPZ3B02RTwB0Me_nz_V7rWK_E6oREZOo2mFH5-8qk9eKbpiacTpHCBqBJYRhX16kSs0gMzmR0ydVR9dJW9FhdcsDwRZmPBwKYO87XgK-RiWaz4fi0CtjIJoWup8Z48wlFRtlZv0EcZI3JqrrNCcXxPxJOxtKyW7xdHp5TRIqw5_cvLAg8-NbA82XYQlO2sYvhbJvYqFVM9NIftgHO6bSz5UGMT9YzX4tYLCk-JDXMWXf2B0Vf0TMrAuHQoqsKqllKjWWd4_qV3ieUvJYU3r3VaOU49X15ylDMnlX4aekr5HKSIzKNkU_Kbcs4dW0JpNX07VYnpl8eYIv66CgzS-wUkXXBLik2jTQZSqGPlTd90I2mtdsXt3szBiUKG7htdAlPhBcrfZ49jlliWXGMJlV8UGSfKSimxQyCPMzm9N-W2Nhf6M9jfJzkuvRot7RZq57T_h6gvSrVBwOQerDTKD3DAwt0DA1yUkInKrTOWgGFwvYP03j3GmQ3KKuCDYX5IgfSv_tyN3mOVIYQLOggtZzBKwoXQwtmLRuRJk5INM-MF03dVMPIxT58v4Zi_OnJJOjtHoBaJTPtDasl5ZAj0-XxU-Qwo80rOzalKKGEi7OqbXjLbm4u-OCbnI6OxLxcjovlJkIBD86RSXFVNtfwN5be2spwCBsbIWPca9Gfg77DTsGE8NpPNyn5ae7CY31HGu2IGEBE7EmRZiFYqFhh0O8Y5qmUEbrwm83tedcTBunAavPeaVZE3IJPvj5z7iVXSbwms-3HTkJps1lvNN-ItbQN652wDYbfoPK4VUoZmsKLI2rUt-DePqXgPuiCqEYM4GY0a_03rke0Z5yOTzIb4Vr9caUQf9dPgnKp8AdGZtfmRsmRCheLJg_584WJfI8ilZWzCFKmetHDF3hFCbJ3Wr9FS9rp1A6hJ0ugqREHHXz1PsaGXqq4kDwuKeSz7Qj6JZQNfbZT5RdTtNOgl66p_XYh2Oex9EQWS1akjYnaNcAEzjlwqCCirULmHHRnY0fWb0O2zwkJLYRK46lT370hbvF8hSoSVTTKNAUPUn8-s1vAxRiISj6-70kIe8TWCoorZbhudbBf8t0tXz3Qs0L0hYFhW4wgCJC7QUmt4lY2ndDIQCEltaRbLs1vsE9IqJI3A9yBWsvfS4GWlZeyr03K9jw95xbJOQC9kaTalyJjzFVWedve7t_Iez0yM5BInF0nMNqVB3QV_pPSVnoPaLHk0B6X15IyrlWN-iZjF9wl1tfVl6C0OlTlNsOmZLrPVO57dwgaQnjW6DGCkZhS2LEl90JM9FqTZGh0QAFAYC_O4rYGZlPP8WAVuRQoe1HcCnDZQWkTpD3wE-ShJxHOy6gzC97dPhjpEYgUFimNEIcPThgpX-CLuCy6siRMwYWCi6Ls7age-yqnBgAYWvL6afQZYTYMvEmV4LwqM2BOhFEar3Q2EEwHu9_60kMWOBVNwanyHGmneAl2xdK2Tt1yX1Q_PfNM6EmrUunzBNRw9NPIj-wU0jVh-7r6ccd9IlVL9gdoci0hG8_Q7x4P-uKQBZSZbBSW5H3TkY8yoLAjH7A3TAXLgKPTs-DT85dLM3PKGfRzjNwR2_bs9mfaaCJb0JfUrHHArXPEFqB8Vr2Jnjr2T7_TJgQYzEard",
  "id": "rs_0381e540c0bc1714016ab44c56056087d0b56c8a8d53b3401b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.01,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The second empty close and overhead shift show that the fingertips were pushing the plush toward the base rather than enveloping it; for this very near object, the needed correction is inward, not outward. I’ll reopen and retract the grasp point about 6 cm along the table to get behind its displaced body.\"}",
  "call_id": "call_rJm0RZDOuYdcNwGZFHbO8JWC",
  "id": "fc_0381e540c0bc1714016ab44c59396487d0982b5deb8e5a20c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rJm0RZDOuYdcNwGZFHbO8JWC",
  "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]: [-0.1295, 0.8219, 0.234, -0.321, -0.0795, -0.1505, 0.9953, 0.9131, 1.3964, 0.6056, 0.329, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2291 left_y=-0.0121 left_z=0.0254 left_yaw=0.0133 left_pitch=-0.3219 left_roll=-0.0214 left_gripper=0.9953 right_x=0.3201 right_y=0.2034 right_z=0.1569 right_yaw=0.2933 right_pitch=0.2134 right_roll=-0.5074 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.4308, 6.0513, 1.5263, -0.188, 0.0171, -0.0659, -0.2256, -5.2718, 6.188, 1.873, 0.149, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbeeadb8bff52a71dda7fc89a1c568454eedad81b37a3bfd1004b1b6820030b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abeb3e887fb859096583cc1a4a39d76691359ab5a52d8e6defcff8326e3332c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb04284997cc66e996d066da319d546f8f3d538f92657be381da02ad232422c3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 2.332 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0864, 1.1145, 0.2867, -0.0422, -0.0563, -0.0982, 0.0117, 0.9142, 1.3964, 0.6064, 0.3836, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2727 left_y=-0.0101 left_z=0.0209 left_yaw=0.0046 left_pitch=-0.2851 left_roll=-0.0103 left_gripper=0.0117 right_x=0.3226 right_y=0.2072 right_z=0.1665 right_yaw=0.2861 right_pitch=0.2585 right_roll=-0.4744 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -3.0154, 6.8991, 1.2869, -0.0611, 0.0659, 1.0525, -0.4308, -5.2581, 6.5436, 2.1319, 0.1587, -0.0464, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0772, 1.2739, 0.3401, -0.0044, -0.0566, -0.1097, 0.0113, 0.9131, 1.3964, 0.6056, 0.3523, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=-0.0082 left_z=0.0046 left_yaw=0.0229 left_pitch=-0.3531 left_roll=-0.0106 left_gripper=0.0113 right_x=0.3212 right_y=0.2048 right_z=0.1609 right_yaw=0.2896 right_pitch=0.2325 right_roll=-0.4938 right_gripper=0.9953\nstate[joint_eff]: [0.0205, -3.6308, 5.2855, 1.4335, -0.0855, 0.0611, 0.9353, -0.2393, -5.2855, 6.2838, 1.7705, 0.149, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1295, 0.8219, 0.234, -0.321, -0.0795, -0.1505, 0.9953, 0.9131, 1.3964, 0.6056, 0.329, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2291 left_y=-0.0121 left_z=0.0254 left_yaw=0.0133 left_pitch=-0.3219 left_roll=-0.0214 left_gripper=0.9953 right_x=0.3201 right_y=0.2034 right_z=0.1569 right_yaw=0.2933 right_pitch=0.2134 right_roll=-0.5074 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.4308, 6.0513, 1.5263, -0.188, 0.0171, -0.0659, -0.2256, -5.2718, 6.188, 1.873, 0.149, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbeeadb8bff52a71dda7fc89a1c568454eedad81b37a3bfd1004b1b6820030b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abeb3e887fb859096583cc1a4a39d76691359ab5a52d8e6defcff8326e3332c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb04284997cc66e996d066da319d546f8f3d538f92657be381da02ad232422c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExd9IRFH8KUzuNhmUQhV-DNWdxDPMKS2oeYXgqoi6MhiE7_cmNEoGLfpzwGcceaKtbV5Vmhef-kY45vehG7Ufs6tsr9HYTPnXXMR5Nweq0YvbulHEhJzokYQCYMxM2xhkMzA6Ye0Ljn0rEw1rRLm-D7lyYcw8D3yS4639SWnYqG_P3pvfEhJ8EqKSt_Mt2bBhz-c2YdguFawI-EgA4c6LeJJLFTYo6KmNtw8GPn0N4V_aYGys0-TiDm8kgUmOH18AzF2SnB44KD5bmoYU4aeJhNF5Uxpdy_0NDOCX51z4U6tJ9q6RvP6aHUDzdylXlQgNZTH33BnjSgCt5rbxI9GQCa3ahhbxvd6xrbxC9yD3g3cNs3jJ0CbN5mrUB5tH_kOgeQCS4VlpDIuHbp-ZWSREyIMXjn39vWGVXc3F6bNubqwc-VZ9Ofuq1RyXo6UVz_BCuHXnGYd9vNrkTt-jzYvyk4LUVZNsbrodwpq7_r26R2ZADCgkTstZmfG8pUCOIPBW4fRZRAUsinPKNrAoPCWIjPAOh7mEE3h0GrojWfv3wk_-U-0fIFGyZxf6VvSCIMo7Rop-YfPcibqDP7VHdGhgNVgO5REDJa_-Rp_X1MrIZe9F-0rFoXFXbB-F0jBnjqrZufUptv2ar85yazUwaJQx5M10g3NySmAWBQrjpprctXkNzEjWxEGk_SZYUCNus7U-NiQOHXj0e-RFz2XhdTshoI2uLwqgvJ3NWR_2q4EKECbAnA7t49g9N5sJtv98vIHt07uKnTO1xV1XGYRKtzRZsYEaUCc60eqoOnxOIvJ0FGxeJH5P-G2ssbEnRsA_Z98Xe92iF9yPDwQDe7f2UxnlIr-RzKGpZmsOh-yZRowSxPKGWRIIEeMYp8Dy4QYQ6EGeValghDuwbroFsIgNSTuoX-KBvRQzL55mon_mOrNyoPtAbQ4Gqxlj-HJZ4YQAs-hlkdgtuJymTLegfxHIAyay7qDJYCN5o0ElDEHFiO--WnF-rirLGlTp4UosIN-if_UjWdeGLyMNSDZjRwOggq8jowACkrMn44KHt3EtAzMu0lwyJIpDT5B-ielFoPxgXkejCvjVP1VqM_Coao39nKLJPjLlZ9VeciyjF04EVTaUjvnnKhcTlOH8arKtQD2vD9Ez1JRIj9gUZvje74aNpkpi9FgG7jElORrfPWxC2vBOvdlh75rauBRU5VlQKspNYjz2D2oHAwkRi0M_tTD0zyGtO6YA==",
  "id": "rs_0381e540c0bc1714016ab44c5c941c87d08fc3ffa13f3092b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The inward correction worked: the plush is now plainly centered between both left fingers with its body extending into the jaw gap. I’ll close on it now.\"}",
  "call_id": "call_S3yR0Ds7Ccv4iBEg1vLgZU0v",
  "id": "fc_0381e540c0bc1714016ab44c5cbac487d0be01557a8577f9c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S3yR0Ds7Ccv4iBEg1vLgZU0v",
  "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]: [-0.1307, 0.8246, 0.2306, -0.3405, -0.0826, -0.1574, 0.1334, 0.9134, 1.3964, 0.6037, 0.3077, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2241 left_y=-0.0111 left_z=0.0206 left_yaw=0.0202 left_pitch=-0.3469 left_roll=-0.0193 left_gripper=0.1334 right_x=0.3186 right_y=0.2018 right_z=0.1526 right_yaw=0.2965 right_pitch=0.1944 right_roll=-0.5212 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -0.5949, 6.694, 1.5018, -0.0611, 0.0269, 0.9451, -0.0752, -5.0803, 6.5026, 1.7753, 0.1343, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca0e75d7cf974f337d84626a2ebf935dce5a6951bf5284668c59632ef475a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c216ca73cb1732e3fad8658d0895145f2c2a296affd54baa1d4b852756b9ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7372af79930a661b729e070591a043607e8c0ec9a4766f9e56e6e9dbedf5cbf0",
      "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 · 4.425 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0769, 1.2697, 0.3378, 0.0013, -0.0563, -0.102, 0.9952, 0.9131, 1.3964, 0.6064, 0.371, 0.8486, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2834 left_y=-0.0083 left_z=0.0057 left_yaw=0.0182 left_pitch=-0.3455 left_roll=-0.0069 left_gripper=0.9952 right_x=0.3222 right_y=0.2062 right_z=0.1643 right_yaw=0.2872 right_pitch=0.2482 right_roll=-0.4819 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -3.2752, 8.1709, 1.7167, 0.0122, 0.105, -0.1343, -0.0752, -5.0667, 6.2838, 1.7411, 0.1441, -0.0659, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1295, 0.8219, 0.234, -0.321, -0.0795, -0.1505, 0.9953, 0.9131, 1.3964, 0.6056, 0.329, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2291 left_y=-0.0121 left_z=0.0254 left_yaw=0.0133 left_pitch=-0.3219 left_roll=-0.0214 left_gripper=0.9953 right_x=0.3201 right_y=0.2034 right_z=0.1569 right_yaw=0.2933 right_pitch=0.2134 right_roll=-0.5074 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.4308, 6.0513, 1.5263, -0.188, 0.0171, -0.0659, -0.2256, -5.2718, 6.188, 1.873, 0.149, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.8246, 0.2306, -0.3405, -0.0826, -0.1574, 0.1334, 0.9134, 1.3964, 0.6037, 0.3077, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2241 left_y=-0.0111 left_z=0.0206 left_yaw=0.0202 left_pitch=-0.3469 left_roll=-0.0193 left_gripper=0.1334 right_x=0.3186 right_y=0.2018 right_z=0.1526 right_yaw=0.2965 right_pitch=0.1944 right_roll=-0.5212 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -0.5949, 6.694, 1.5018, -0.0611, 0.0269, 0.9451, -0.0752, -5.0803, 6.5026, 1.7753, 0.1343, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ca0e75d7cf974f337d84626a2ebf935dce5a6951bf5284668c59632ef475a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c216ca73cb1732e3fad8658d0895145f2c2a296affd54baa1d4b852756b9ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7372af79930a661b729e070591a043607e8c0ec9a4766f9e56e6e9dbedf5cbf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExgsNCiBnnyOMkoOTeABfHE6mCLjtx1hJRyY-A7g4K-SplwoxwQbp46p0u73OE7QQHSwpxuamhGSFP7pYEyp6hbGMgCgyMdi4aLWPa2aZE_-zgrqwRYZZ9c9J4tjDRoZCPeAs9JvahBZ3zN6lpUPdVjO_PpgvbBdnct-pobHnHPImp8f5e4azUdxj9guha34EFz8MHGdz7TcR3NSm6XEcwuEzNstkSeVr2qfDCSBw_7tZdAzzgimlNy4sXZHYW4bPCDF7MZtPkl19jdhbBdzQSDxx-qBHnUeugovKYXlfud0LYIyoiHgZz729JZoUrtrp9n15EFN8-N_tU36uPp2ONeKI5RU0ltRRABeAsab85XykktX5rzNfcrPFTEaqVRuc1UeBhNdYkl_Y9e52zyy60A92YlPCvURQbra2md2EUVbey2d759w4Tf8-x3bOjaxkr4JqlFb3l0RCAzamkNspaZCk1-5m0K9XaquMCU_Ek-DEvsgBe876mlvnjvT-_jvnr80GQL2rtN5am9FiHiFHbVxpnjbQI4LhD7yTaiGp3IW2eGXIMs_Pfe_GSDFfWkCi_MI_HIurkJmXwUHDGzrGwjdHbc8yHNzPgh5iM0XazStEkBJsUBH5UMwwLMGQlYLulVLy9RaIfk7Ox11qzXtHsV-HyjL7SQvXY8fSlyrqS6ycluryMw2OIlcLTeN0NlrvF3L5Box7TiAgwpC2gdXNlI2tBpW1I0IGhQpORPvsbQpNMRdqm4HpAywEdBD1ZEiO2bTCh3KX2RXpjpzGm542uVnj9kftBV2wLaadcRZX_Q7FLBQ7NarYQ17ADQUO_nC-j3erdDd2vTbJAX9xmGpoyrcumH63vgY1bhgv0dd6r7nffjczQa1-YCzIZGYXsOs-xCMTtvfGT2e8JV-l3Rz4wuyY9FSURLbR2sNRinxPiJnhbXLaOpgamHtx7ixDesrb59uWb5BQHIlmfPgTruf5JcuBQbwjpxSk8Gvdcq3GLy7_ETPzv-nTf2XOrrI2BozoTXOHNMKRnMIEguKgDRIfLyrhtS3PZt8H30QU6mdzAjQwCVkMin75JRezq4Sfk5R6T8hv8iGpTqRvO6lPK3fQqUwUpA6xbpi4NFhkfS53ci1O8d54YOHj9UHC3ptop183khh7rQ2NaQLAy5y9L2EubTyALwBybfvPZq2KIQXJ_EtILMNgQnH-gWDef69vp38ojrG3iPSM0PgmdmkNon-XcMcOl_HMBMC-CcCm94A0l9KtFZ3K6xTVk64uUa7Y0R-XDAu7fWc-C_qTqbAmH_D5-Eevs3PkSnMtRxZXXkT32yO6YR3Hihs3jQh8J9tPj-qFfqC5VuXAeiy4PGM88HC_n2usjNmR_wRpSLK6WDIc4Wv6IlNRXolV_RXc9rix5P1POHac_H5n-VBFI7SnrHqIPqq--whrI9NTroMlTBIyqO8tgec8OBOdUHGc6BY32-fTQbbV1ZGZM8KkoK6E4R-qTHsOjKWf1LFEqmdl9wR7EwrdLnA614CAWepLKU9ftNQE80",
  "id": "rs_0381e540c0bc1714016ab44c5f916c87d0a351b9f97608a5bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.31,\"left_z\":0.2},\"note\":\"The left gripper settled at 0.13 around the soft plush, confirming a real grasp. I’ll lift and carry it over the center of the open safe with ample wall clearance.\"}",
  "call_id": "call_2AqcdUSo71bfiJxrJzKHtsZr",
  "id": "fc_0381e540c0bc1714016ab44c602eb487d09ed0ec3463d4a65d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2AqcdUSo71bfiJxrJzKHtsZr",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "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]: [-0.9054, 1.9114, 1.7969, -1.1519, -0.5034, -0.8734, 0.1335, 0.8894, 1.396, 0.6006, 0.2821, 0.8871, -0.1509, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2801 left_z=0.1781 left_yaw=0.08 left_pitch=-0.4098 left_roll=0.0808 left_gripper=0.1335 right_x=0.3221 right_y=0.1854 right_z=0.15 right_yaw=0.2285 right_pitch=0.1919 right_roll=-0.5231 right_gripper=0.9954\nstate[joint_eff]: [-2.6325, -9.4291, 10.0991, 1.8437, -0.2271, -0.1343, 0.8083, 1.9487, -5.1487, 6.3932, 1.7998, -0.3834, -0.4811, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621eea03de9901d1df4e0653d531ebc1462b0323a29a4a977b68366206cb84d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7853ebb145e45a02b6ef511bfeaaabc944af8a68e7229e70c106efd1b47874be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc52cbc4b16f0f0226c831ef11353a9c85e2ac792bf7d48dc5d6dd77aaa25d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 1.985 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0772, 1.2739, 0.3401, -0.0044, -0.0566, -0.1097, 0.0113, 0.9131, 1.3964, 0.6056, 0.3523, 0.849, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2826 left_y=-0.0082 left_z=0.0046 left_yaw=0.0229 left_pitch=-0.3531 left_roll=-0.0106 left_gripper=0.0113 right_x=0.3212 right_y=0.2048 right_z=0.1609 right_yaw=0.2896 right_pitch=0.2325 right_roll=-0.4938 right_gripper=0.9953\nstate[joint_eff]: [0.0205, -3.6308, 5.2855, 1.4335, -0.0855, 0.0611, 0.9353, -0.2393, -5.2855, 6.2838, 1.7705, 0.149, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.8246, 0.2306, -0.3405, -0.0826, -0.1574, 0.1334, 0.9134, 1.3964, 0.6037, 0.3077, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2241 left_y=-0.0111 left_z=0.0206 left_yaw=0.0202 left_pitch=-0.3469 left_roll=-0.0193 left_gripper=0.1334 right_x=0.3186 right_y=0.2018 right_z=0.1526 right_yaw=0.2965 right_pitch=0.1944 right_roll=-0.5212 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -0.5949, 6.694, 1.5018, -0.0611, 0.0269, 0.9451, -0.0752, -5.0803, 6.5026, 1.7753, 0.1343, -0.0611, -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 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9054, 1.9114, 1.7969, -1.1519, -0.5034, -0.8734, 0.1335, 0.8894, 1.396, 0.6006, 0.2821, 0.8871, -0.1509, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2801 left_z=0.1781 left_yaw=0.08 left_pitch=-0.4098 left_roll=0.0808 left_gripper=0.1335 right_x=0.3221 right_y=0.1854 right_z=0.15 right_yaw=0.2285 right_pitch=0.1919 right_roll=-0.5231 right_gripper=0.9954\nstate[joint_eff]: [-2.6325, -9.4291, 10.0991, 1.8437, -0.2271, -0.1343, 0.8083, 1.9487, -5.1487, 6.3932, 1.7998, -0.3834, -0.4811, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621eea03de9901d1df4e0653d531ebc1462b0323a29a4a977b68366206cb84d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7853ebb145e45a02b6ef511bfeaaabc944af8a68e7229e70c106efd1b47874be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc52cbc4b16f0f0226c831ef11353a9c85e2ac792bf7d48dc5d6dd77aaa25d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExn_HKC2T7SKTqH-lZt6R-od4x7aotedvXm14y5mTTv1MiFBranFnSNd_WNu2P-crAZ_FdrwB8W8lPvBza6qhn5ZnFFfeaAA6B_ATA2FkDOECpjcoiPzo_E8sGkIAwb-tvyglb_masri7ysdElR1Y0p4ApBNt7E8IFO1aW64tkOz6diJ-JZZZ2drz6Lq7fJu5eWNFdDCEmKkhsOuieFO14ntwnWrNbsjDof8V3YQGDUxaL0sXuA5wxe1tVANftUnlcv77d6OpDYJcSX378zSbe2vBYRP7PBL10GWtmzCHtizrrYmMDHib3AwbUDlNzxGFztB6y7h_8VnNdHIgeKWVblA8Uz-LV12OlcXRNScbXVupWnUoXv3C68eoapfVpDTkrFof0c2m_l0vUud7m0I4BQaYvmwPwBMSyoscmT2x_ygDv-MRJnzXT_nYJOix69_xSRP5Tv45TjuXECk0LP5cM52L50lrAsuppKGR3CDi49SvJM7iA6D_hsNDiw2ursBWk8_PwmTMrt9iP-MewLZ1Maiy1hGsusRAgk2VNfVTe4d9oDcd487Ewb0CR0CsUMwrkRbbhVDei9Lj43mW63JBJsaCAEjJPaBg9leLpXzJ6BCeyhZkXHZVzu5V-75JAiacRoEMo6KEd5IJu3MrjCQ7JNUXaKbD5sIXYXUOgeN2yph19vg4DfXe0uS1YrGY_07XglB4YJWsErDTZ_t2kugixswmYTC--sXxwBRJkHIVXrhHMzz9Dek9i9w1X8vBJzPtnAG7hSHBZcv04rnp4Eu5xnG_SeynbGsbDPN0145u_ph5Z1mvARPXcJX9Z661ci03P69t78fY7TbVHyIWMU7ghpTvxB6pXbBdONlUuX6-9pXNOZRKfQHZ7oU9RkwvqsCyF0pStJ2UXcKnBxSSYrdtKGivGuiKTbOQeNFD_MhzM1oSEhgDL7FhdJt0ITLjQ-kvclFgX0HQG1YWZy3MC49MAnWblvLM5sJi0jyOXBvdtmhh6cGfY1WLmYrdw_lDD0TRNIn4u88XK96-Kc9WGgLjmo1UUDTX9D7B1u6Xeq3jc2gciBOFhpZZ1KBa9OEEviq8DYtdS4Tbe1HI5rtxDWkQCfug-rW2Lv_3mJbBxRsieETeollhqk5-9Kn9kBXTUUIiNCni13TlW_llyB5DZpgFCv7GDMTXXPB_D4_OLoITJjn1Zkb2yA7M7BqpIzp89GzvfMfAWbyDwvalkxode-0NCsXMsd5y5ND4dJtNmP0I4n3-ZlCRA0Ja4IxCIGTl2bz0UcmnjUf3bRNlc236Z472r1NFqd2J2XHFq4cVU0E7r3N4Zv1Q1h_K3ry3ib9l0C43w-IE70XmPcSrxGrxRSLLi_3Z0O2GLa8OM6SUtWPeroYDU9Y33nCRNkx3QTf2Wgmfyi2wKRmHMYCj4Gjh9-frc-p5k9a7MAlT1LU-ywlkANfxwEyzewxxiWgRn2CJkyyhI1ASvJR3fPYKmLkjxhXxkjmi85bvebnjwcfFsjmaTuy1OipifOnixGQY98amIUqWeIremYvEf4GwtfQOaxiJYClOsSo5V5QhddDRbFMkCJ5sR_TrPlb_AnGgxhard9aKVRdBrwGIpdCzz4aklJt8eKvW0ImF0CWf8JN8--eApgnB9idFXadOoX6RmuXjWgwUD5SlDSc4OwNii_y3DQYCZbtNpoABugKuZI0pXnE1oleg5mi4-GMC5aEZTNcBPwvKPWqlEXdA9KUjTpkOf0J7oFWT4iiTnl-Qbn9ERp0-C19CJ_AWlDJCuBCEWDs9XGtJ8IzC7WsKosooJHz6Vpj6MPHVOqhN1uC5jWqO4IO2Y5huM=",
  "id": "rs_0381e540c0bc1714016ab44c65aaa487d0af1c6d7d6ab1211e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.333,\"left_y\":-0.28,\"left_z\":0.04},\"note\":\"The white plush is visibly suspended over the red compartment. I’ll lower it inside the safe until the object rests on the bottom, keeping the jaws closed through the descent.\"}",
  "call_id": "call_PfGZVuB3RtPAe2ROjLW9uhyT",
  "id": "fc_0381e540c0bc1714016ab44c66f6e887d0b128634f886fc795",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PfGZVuB3RtPAe2ROjLW9uhyT",
  "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]: [-0.9096, 1.9179, 1.3838, -0.6811, -0.4934, -0.8803, 0.1362, 0.873, 1.4311, 0.5659, 0.0574, 0.8871, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2856 left_z=0.0758 left_yaw=0.0566 left_pitch=-0.3887 left_roll=0.025 left_gripper=0.1362 right_x=0.3036 right_y=0.1545 right_z=0.0947 right_yaw=0.2502 right_pitch=-0.0642 right_roll=-0.7507 right_gripper=0.9954\nstate[joint_eff]: [0.1436, -4.506, 3.9453, 0.9841, -0.359, 0.0269, 0.7448, 1.1282, -7.6103, 8.5128, 3.8999, 0.2662, 0.5495, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c9426fd3ccf42959dfbcc4d35b4a3f167b3c495e37c1496130c4d07ccf9e64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24862880a9439186458fe685d7f4772190577abf3c5e6c18a54b042528eb55b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee432aeb8abaab0e416edc2df414f8ea5ec39b36025a08795d29dcbbffa670a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.431 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1295, 0.8219, 0.234, -0.321, -0.0795, -0.1505, 0.9953, 0.9131, 1.3964, 0.6056, 0.329, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2291 left_y=-0.0121 left_z=0.0254 left_yaw=0.0133 left_pitch=-0.3219 left_roll=-0.0214 left_gripper=0.9953 right_x=0.3201 right_y=0.2034 right_z=0.1569 right_yaw=0.2933 right_pitch=0.2134 right_roll=-0.5074 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -0.4308, 6.0513, 1.5263, -0.188, 0.0171, -0.0659, -0.2256, -5.2718, 6.188, 1.873, 0.149, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9054, 1.9114, 1.7969, -1.1519, -0.5034, -0.8734, 0.1335, 0.8894, 1.396, 0.6006, 0.2821, 0.8871, -0.1509, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2801 left_z=0.1781 left_yaw=0.08 left_pitch=-0.4098 left_roll=0.0808 left_gripper=0.1335 right_x=0.3221 right_y=0.1854 right_z=0.15 right_yaw=0.2285 right_pitch=0.1919 right_roll=-0.5231 right_gripper=0.9954\nstate[joint_eff]: [-2.6325, -9.4291, 10.0991, 1.8437, -0.2271, -0.1343, 0.8083, 1.9487, -5.1487, 6.3932, 1.7998, -0.3834, -0.4811, -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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9096, 1.9179, 1.3838, -0.6811, -0.4934, -0.8803, 0.1362, 0.873, 1.4311, 0.5659, 0.0574, 0.8871, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2856 left_z=0.0758 left_yaw=0.0566 left_pitch=-0.3887 left_roll=0.025 left_gripper=0.1362 right_x=0.3036 right_y=0.1545 right_z=0.0947 right_yaw=0.2502 right_pitch=-0.0642 right_roll=-0.7507 right_gripper=0.9954\nstate[joint_eff]: [0.1436, -4.506, 3.9453, 0.9841, -0.359, 0.0269, 0.7448, 1.1282, -7.6103, 8.5128, 3.8999, 0.2662, 0.5495, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9c9426fd3ccf42959dfbcc4d35b4a3f167b3c495e37c1496130c4d07ccf9e64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24862880a9439186458fe685d7f4772190577abf3c5e6c18a54b042528eb55b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aee432aeb8abaab0e416edc2df414f8ea5ec39b36025a08795d29dcbbffa670a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtExqzKy5UB3aR9_KDphDE6HuOO_as6XakEh7vreibzp0gVwU8lbVO89uYq4HzchWe92eCLLc1VEGpcnGTidnW8Ywbh022FFyO1lMfXLvppl7InMWPmlbbAcYB7VILEEjNvHwZXKQUPxMcdns7M0Q6V-hp6dIkPWbMVQ_URWIgjvZZ2UnotA9Vw2C-LXjVAkQQ_9fxCKHKK39qZjsgthHA0psJXxryVFiSWHQi3AErzGTKtI30j-WwAYC10OR4N65b550Z1Zwu3bS6N1arBHGPxjWT1-zhvb66t8wC9d3slArMT2MEtvWjUmJ1zEde1xTVxmIgisI15J9D0Sd34iW09-rnjPP51RNdYdbypmcSNiGDCzI_5EVKgVf0pI-4d1-h_kL_tVRzsrApldtCIkd-VdQFxxeXxrsLLerYQRv22Hfur3dD-YNyYPP-xlKwCg-0CSFK83V-pHLsbTtro-2pTQFTL9FOuA3wRMJ6mtZudk-y2aDlfrrm4aMghswGLELGAVGnm_UkuqnH4D0MZkCj2vkDP1FrMeXez0eKwx5xVXgxIz6_gJw2TPsz3NNyTZVIXstaLFEaEjWWVkiEv3kottllkT7KImXtigQJtZpVpS3HGQKm10Rg-aj5bB59ASghHlSDDifl0gpNIkvgN8a7FJs96kPyXnkhJGlcn0ZnuD3OsdX64ZvcTYbaLdOzkvphJbKi_XLECuduFN2dDUVVz79NQheH-w1YNeCDxxRVk_-gZAcBML5G0lSzUXrP5KH3OsCPg_CcygbDWT1tiiMxAvNhUKIbWFF8qZmLU8dd2RvE39hcYylF80t2ERn-VqI_iDnsO36r1MjOqFOZHH-xl2jTdpvCzCo3egUB9OQElOI0jKeR82ItvgBIgHCpb_dBIOWZlIdyozT2G76Hp_Ez5I6ynnVcJ3rPYzJRyPszAmjDois7-tXMTw-tcO06RUYuXJWpz9ooowMqr0Akmi0AQm4g84WAtMsz5hEyVIgHzyR49OIGQqc1XmeufeCp61IBF4hFOlHhZlKAYXX-XMnI4cvPok1LSP_Sv8_7OBgoG09DAaLZG75HToDdTuEQdrkuOo8NVMhc8n1UmP4JmvqSivvn8koWI9_wwWI45PSZX5Hq8yMSYYciFZtkRiVSvzcqzmsRhMhUpRcu5_dBvi_xbcM3YfxEJTyX__2GJ-3_5r2RM5LQp3Gn96B2nkyv1f5cAaJ52AVg9TKcrvp_6wOaZO6kA==",
  "id": "rs_0381e540c0bc1714016ab44c69d00087d0a117297bf9e3c8ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped at 7.6 cm with the plush contacting the safe bottom, as shown by the centered red interior around it. I’ll release the plush inside the compartment.\"}",
  "call_id": "call_mWNhN4wCzov5rVHI4VaLa0z2",
  "id": "fc_0381e540c0bc1714016ab44c69efc087d09205a3e7b262a131",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mWNhN4wCzov5rVHI4VaLa0z2",
  "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]: [-0.9039, 1.9411, 1.3643, -0.6891, -0.4911, -0.8875, 0.9952, 0.8738, 1.4471, 0.5461, 0.0376, 0.8818, -0.2279, 0.9954]\nstate[eef_state]: left_x=0.3289 left_y=-0.2773 left_z=0.0595 left_yaw=0.0834 left_pitch=-0.4187 left_roll=0.0651 left_gripper=0.9952 right_x=0.2977 right_y=0.1487 right_z=0.0807 right_yaw=0.2589 right_pitch=-0.1186 right_roll=-0.7939 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -11.6444, 7.6376, 0.9206, -0.3346, 0.0659, 0.0415, -0.212, -6.188, 7.3915, 1.4774, 0.3687, 0.1197, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67442e28d1f61a3836f109d567d685e4d5a85277910b80e9d23309024fec496b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0aea22c3f13312bbc5503981df377c32ceb3a6ae6a9a9ce8f7bfc7c60754bce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5894091c4377e2db6e96ba93da196638fc8d1361db162ae4107ebb784a202b80",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 3.338 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1307, 0.8246, 0.2306, -0.3405, -0.0826, -0.1574, 0.1334, 0.9134, 1.3964, 0.6037, 0.3077, 0.8482, -0.1837, 0.9953]\nstate[eef_state]: left_x=0.2241 left_y=-0.0111 left_z=0.0206 left_yaw=0.0202 left_pitch=-0.3469 left_roll=-0.0193 left_gripper=0.1334 right_x=0.3186 right_y=0.2018 right_z=0.1526 right_yaw=0.2965 right_pitch=0.1944 right_roll=-0.5212 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -0.5949, 6.694, 1.5018, -0.0611, 0.0269, 0.9451, -0.0752, -5.0803, 6.5026, 1.7753, 0.1343, -0.0611, -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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9096, 1.9179, 1.3838, -0.6811, -0.4934, -0.8803, 0.1362, 0.873, 1.4311, 0.5659, 0.0574, 0.8871, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2856 left_z=0.0758 left_yaw=0.0566 left_pitch=-0.3887 left_roll=0.025 left_gripper=0.1362 right_x=0.3036 right_y=0.1545 right_z=0.0947 right_yaw=0.2502 right_pitch=-0.0642 right_roll=-0.7507 right_gripper=0.9954\nstate[joint_eff]: [0.1436, -4.506, 3.9453, 0.9841, -0.359, 0.0269, 0.7448, 1.1282, -7.6103, 8.5128, 3.8999, 0.2662, 0.5495, -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 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9039, 1.9411, 1.3643, -0.6891, -0.4911, -0.8875, 0.9952, 0.8738, 1.4471, 0.5461, 0.0376, 0.8818, -0.2279, 0.9954]\nstate[eef_state]: left_x=0.3289 left_y=-0.2773 left_z=0.0595 left_yaw=0.0834 left_pitch=-0.4187 left_roll=0.0651 left_gripper=0.9952 right_x=0.2977 right_y=0.1487 right_z=0.0807 right_yaw=0.2589 right_pitch=-0.1186 right_roll=-0.7939 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -11.6444, 7.6376, 0.9206, -0.3346, 0.0659, 0.0415, -0.212, -6.188, 7.3915, 1.4774, 0.3687, 0.1197, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67442e28d1f61a3836f109d567d685e4d5a85277910b80e9d23309024fec496b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0aea22c3f13312bbc5503981df377c32ceb3a6ae6a9a9ce8f7bfc7c60754bce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5894091c4377e2db6e96ba93da196638fc8d1361db162ae4107ebb784a202b80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtExviTc8_jixZpRhB3BjDc2Vdp-LXygEV8DIj3jpLjWb6ba025BmRxJiS0B3oDEphleSsC_Wvfk65uoeFHUMZ6yLWSh6JH5OcX5wGIbi4luUsS2ljzcDutQQAzFYWbQrQsfXHh3h4fkYFWdi8qQcC6MWmbBadUFnNJxssCZS6bIKSj3hoge4dMHqe3CKuaift_p9V7SHRvFas4jh2mJ3RbleN3o4ox3GsCkcAX4ZXrL7KPpFFG88KFxC0UXCNoXsqAleN0dvYQS9PVjeKEZjdinHT2bC6jxItd8mn7DafghRjPS1-qfGimX1cE44RbseBpsQi9-MVZeCOtfWRTqIuhWgMGnF7ZYNMk7K2sSetr48EMNlI4x0A31Nw5SuABkYxZ3m5EcRXux8HIhUie0WRRNsFvbgE4yU12J5rK1OQr66kpRtArUThkFMoyIByXxwEbYniZpY_7Ld7XiNOyNBRL38TGXGqy3wXtYcPYW1D23hQqB0EC_R1pW-Tsz6IdiHONNOQAY6eWItPvxNo_QmvaO6BJ0ouf2VYZZ8c4rMOBvc_YARicrxz04SqW8Y7lF0mCl61pdwPYJfJ-VJLnsP4ycAhXXNqRnUn64m4_HjPOhv8dVk22zx7CN1kIZK9ffp-SLti9iNzMUU1dyjdKc43XjtYOgMOfcVZ_DZJhBtbtUphp1NjAecpTrqWM9O_59EtReT0EuGLnq2kTbONvRAzpGgp81HKotcPcxJmYRZV-1EOWIgfXxzqxnyPpe37Xh6zATanj0B_rjpQf4p1rA3iVq5nssRk9atTI_Mb8SCBfA1z2ZFmC0NNLSV6xFPlLrpr0v6yXmSC5OhGlNtbGceTkE4HLFF67QMPkldlX4kYLDpB4JHiaB_TEpIwTqX6ItS5KlAntiCsAFsSuf9Z42ncGIRPpitA3VckotaK-TyNJPEbSxM06VPcVYcPahdccZXv4dzQ-7CHLGxo3iIf1XiVynN3w-KdN4hMQZtcglq9AU5-kRzzcSfBPh9_ksy677VUBBs-acTDyL5Kohs15XVmJzcqG1jG5RPK43OdHOD80qI0g9RF95GBqZNh13xF61uhGt_1jXDB-m0o57W7F_78mxnt5GRLKdXQi14Cz7ZGEwiO4q8EhDDkEUf-UC_iO-NL1aaP3fltagFTV8_FLuM5231hzkJxsj7WQWaysMNC5N2nqpzU23wNQWmGPAdQOxKVbi5F51Sp8psZO0dBsKmiyVIw-7cKg1YkziU8OnD9jATSaL1FlUiDc0nNtiWxQuZoq9OXokuWOoSDfjewYmOb2OBrkdnjSx7k--inUscpvRmf8wPho7APsjhatRrCd1aqD_-LnLSUrK_1mgebu4vSx4BZ8pxPY1UNlyMMqPS2W4U8phVoBbuC7Vyi50T0QCp7KY9tT5msh4M4R3Ft9a4PS-QgHdNLdwLe0lhjMQ2z-TRmr9zDMMfpdn-d7_on0q6fCfDnt2cG_Ykx9E4Y6ZazC2OAurOZ12QGj6tkMD9yj9wU6MGXc-EexLDHHAPkdtP-ckOnLW_XjC45xz0kvgCBqcWFhU2LA_FkKOcAh7DTlB_awphOoWW12bEGLJ-IVYea2nhf40YDfASnnYzDCfoQQ6AWaF-LiDh-Ct-BsKhF1McPoEhrvLGB0FA88mT5O40XCZS3988y7EZL0J9NuyhYLkmNMtXzB7p_4KijojI0tbBbbx2a1IGAnjGedT_Ni6LO-vzr4GUgyrAylHEW7kVRnlb4zpOoqqZwadTh98EWf1bEgq_0zJvDq2GDADzINnce3tq_QADuNOuimBRc5-AJ72ZazBa6XcQL6ffF06K0zkFyN5nbjG1EgXNN_HkK_LP1-QpLwQ5IgjgH8xZrcZcNFoXkynyW183DZhSQFUYCP8at-MwP1X3y1YIyOQA3U21fG84hkPk2dRLDPOgEzBRqHFleage8UQ9o9TFV4G_KxJQrY47O8Xbxzmevzv_MFnS4wSlq0vTP3wa6sQpbMDJ5E0ArPA_ZQmY5MmI7npUjl8zFMyy3lPDiB-3JYBB_GUb7l8hBJGUCH5Yp-lf_EE7EkNdsgpsc4O1qnJ6kWsaZWddQgPIHIo76UbGM8-Mk5Y2TKMErMot6zD_r9NIcPXp-rG-ccMEgZEp3xUy9HXRlFNO1hmNfcGdlYj1nY6WsoHSHj-twse5KbRmCK4t7zcx55ZlMNsickBZkpWSY3TECbPOzoGNM6DA17TN8hFW0GCE5yQyC3MTgthj0exYrvg6YJDuujU0wT5YrbsAIROOMH-A54NWXAhqpaeT02GOjLdzd2jsIPTq9SmxgmE7gUfTmxsyhhaZz_qzkwFy5dlHapnkvmyl8ya3ZkFG6PvvB-AvfYqUvxvECphy2iVgzxthwd0QnyXVa_Ta3hpoqzg9MZ7soC1gBsjiupOXFElpWyLx14yr1lMpmdSML6qyRKUvgskxqa3bZX_5o5b3H7wHC5lWWmIY8q1sPPcDzoysqWCYTyQbrY6bbhVdv52MdY662w64EB22Cz7oQ8wuSdjVxJQJgnunKFzlENRhok2DYJxhTNA5RQ7YccCqALZ2QnG7q46IJ3s78DLsmtyMRjJnoU4VtnpDLfOr9hti2G3d7qj55l5J",
  "id": "rs_0381e540c0bc1714016ab44c6cbd7087d0befc14a94c5ed59d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":0.0,\"left_z\":0.18,\"right_x\":0.23,\"right_y\":0.34,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The white plush is released inside the safe. I’ll retract the left arm to its side while bringing the right gripper down around the brown teddy near the lower center; the two paths separate rather than cross.\"}",
  "call_id": "call_pavli18RLNN1BSFJ4HWglZjD",
  "id": "fc_0381e540c0bc1714016ab44c6f1d7c87d0861547dfe80670f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pavli18RLNN1BSFJ4HWglZjD",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1448, 0.9985, 0.9413, -0.9859, -0.1841, -0.2119, 0.9963, 1.3396, 2.1391, 1.3121, -0.6827, 1.0912, 0.5419, 0.999]\nstate[eef_state]: left_x=0.2504 left_y=-0.0002 left_z=0.1694 left_yaw=0.1383 left_pitch=-0.4341 left_roll=0.0624 left_gripper=0.9963 right_x=0.2364 right_y=0.336 right_z=0.0437 right_yaw=0.2629 right_pitch=-0.0947 right_roll=-0.8037 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.6188, 9.0872, 1.2576, -0.0659, 0.1832, 0.105, 0.7863, -7.9111, 5.7368, 0.3297, 0.2369, 0.1001, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b675bfaf8367a937cdcc89cb03c4231e61ee0709e5911aed12cc197039414b34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251feb84f7d439b383178a68e0b48fda62148a6fc2d2cda21e10f20ed7604dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaeb3a02448b39388482c035c1d1fb2d4345d30f0a709e39a55e38a5349e7f55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.067 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9054, 1.9114, 1.7969, -1.1519, -0.5034, -0.8734, 0.1335, 0.8894, 1.396, 0.6006, 0.2821, 0.8871, -0.1509, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2801 left_z=0.1781 left_yaw=0.08 left_pitch=-0.4098 left_roll=0.0808 left_gripper=0.1335 right_x=0.3221 right_y=0.1854 right_z=0.15 right_yaw=0.2285 right_pitch=0.1919 right_roll=-0.5231 right_gripper=0.9954\nstate[joint_eff]: [-2.6325, -9.4291, 10.0991, 1.8437, -0.2271, -0.1343, 0.8083, 1.9487, -5.1487, 6.3932, 1.7998, -0.3834, -0.4811, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9039, 1.9411, 1.3643, -0.6891, -0.4911, -0.8875, 0.9952, 0.8738, 1.4471, 0.5461, 0.0376, 0.8818, -0.2279, 0.9954]\nstate[eef_state]: left_x=0.3289 left_y=-0.2773 left_z=0.0595 left_yaw=0.0834 left_pitch=-0.4187 left_roll=0.0651 left_gripper=0.9952 right_x=0.2977 right_y=0.1487 right_z=0.0807 right_yaw=0.2589 right_pitch=-0.1186 right_roll=-0.7939 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -11.6444, 7.6376, 0.9206, -0.3346, 0.0659, 0.0415, -0.212, -6.188, 7.3915, 1.4774, 0.3687, 0.1197, -0.0122]\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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1448, 0.9985, 0.9413, -0.9859, -0.1841, -0.2119, 0.9963, 1.3396, 2.1391, 1.3121, -0.6827, 1.0912, 0.5419, 0.999]\nstate[eef_state]: left_x=0.2504 left_y=-0.0002 left_z=0.1694 left_yaw=0.1383 left_pitch=-0.4341 left_roll=0.0624 left_gripper=0.9963 right_x=0.2364 right_y=0.336 right_z=0.0437 right_yaw=0.2629 right_pitch=-0.0947 right_roll=-0.8037 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.6188, 9.0872, 1.2576, -0.0659, 0.1832, 0.105, 0.7863, -7.9111, 5.7368, 0.3297, 0.2369, 0.1001, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b675bfaf8367a937cdcc89cb03c4231e61ee0709e5911aed12cc197039414b34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251feb84f7d439b383178a68e0b48fda62148a6fc2d2cda21e10f20ed7604dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaeb3a02448b39388482c035c1d1fb2d4345d30f0a709e39a55e38a5349e7f55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEx1iN-Q_kWKZvhlhMVF-iiePK6TduphtfMCA8eEsDnWV7c82AqwyRGyaog7_McobxLsPF6y4tPf7h6MFppPU9sZfUguJ8kUjuI7xbmK7e_YSuVoO-6uXq14lq2jJodX_y1i3mZFsdhJSxNX6x-pasbbc7f1CsRIQcYu9WPTofm1V8l3Bx856zzQdRzaZfUFL-XFMDhCEXkJ730L_N7WrP_ItDM22HJWwDJ_9CUhlgmqEcFmq15o8V051ATD9HR4JAKgCc-nUww2rujeak0Cwr_yGQg9tMiLawnRrsqtciCQQ9AIEmaCBzZ6G7ajPs34c80yNbKHeKlWAIbPVToJ7uHy1kaCWDl5CN-GNgTPX1v23W32wWtnf7Wh86-d8XdtKcZBz0mIgN7KmqR1wm1QYYyhS2cHNoDWLlsCBsdjqdAq3etngdM01Lysdqsk25bPtfPaeonzOdBt_6fFML-fUqGFRZcwfGZIhq1b0ZcV-ER37HirOlv9ZCgZrJRmgJ7jpayAUBGEKEMKe-tA0GUeW2Tbt4oLTzhhqE0Fa7AtT6i35emTOjgwMWilVWdoorG46VGgnV_x2oMnORchimCQQ4CaZ2h6Pard5ZUZNWFHfAlOEe9C4oXEBl5BG0dalzLb4j2I5Kf-TQnuHh9j4JKbVhaDjPSrM_m49SwyKbUk7N5hEvkIRnVA2XGXZfoNXzKYI0NIR0kT60XKZ2I8oZZAJobPQMWvGIiq8UJjK7lKd-7nUpDmex4eM8f9Xza7Rix1k9ym5QjzEUrwYTAZix0l8Kficjr37AvuBJSvdvg7tLjdODEcK2ewBt9CjO95Cnd2JeFuYxWdHkrlWmUc568gt8IDbFa5CVhJ4UbTHUdvkOicj4g0as-k63ew3XSooJv1uny0M3NbAAhaL4njdszUIfkEz5GBUxWmh6PxG__d5JwonhgZkr6AvhRBRNxBz2LYiLOwDE3y-tLirJZp8j7q4eOAaLdvQyTKxDwZgKn9j0lLeWfNBmodGkBSwrozk9KArGvdM_XZTk8SSxFHoNpybhGE1Z6DZRa6nG1qGr0HInEVBkOmBrMS4MzFimD_x54ghLZr8Bpi8pWZ-PyT94OTDvwj3CInNF3IhuVfJjNxoh03KI_TILMdp8GAet5EiTiWeGX-lJJYKuNQhmIPE1vYq3r-rd3IQAjnBVsRJspQTYwo-66ssXeb3wxaMl_53JSHqp-XaUI-giGqy8Q1X7PhxJX7BciwUbPSx7ozVh6Gxb-fyjjTYpe5VKodnmHXAZmeSN8bt4ogZ9VAYr5ddigJMKKN-noDht5zPQiW8l_62-oYCtFssGSQSvkvpB5LXBWk9Qib4rxPJyrFPdQlbxkCExxzOcQIiOLvl2PVjHoq-qQike53ghBwhbBOscEL5Ps-Hr-lBHCO5bsDYra5vRxpyutDv_SS-IhcU6fGckvyvVXj1z9a5_QtGRD2TIIOtry9F1fRTg0g4HwBzeM5sgiXLp3-4qZYGmCp-5Id0z3tfvYFw3aw4KhdLph4r-Lu9tfUx2sxy8NTnks5GWD9pF8_eJfEwWNb8-2C4wOa2lKG8Xe2ONvPNs-rzQDe5ZSnfauFTwECaFX4TUjBpxtKlZ5xl7RYm_R5t8BXO5WPqerE3sQdvjPEFy4LikdLbzkVRryFY0G7RZwATL1M81ytEAAi1CIDSR-8jVqgIzYFDlCbHz7XpT9OilbO1lngdPKFcIs2cv3J0lysE0yDgFo0mmMBXlf4JYR355TmW8nJ5t1fgLcwNRlIxNDoMdRGZx5PjwGa5z2xwPFWeEcZC6ENdyDb5C5qEjAPopBcLMZ2OQ5Vh8NHcz0=",
  "id": "rs_0381e540c0bc1714016ab44c737bac87d0aab838cdd0431005",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.37,\"right_z\":0.03},\"note\":\"At table height the teddy is visible along the left jaw rather than centered, so the right gripper is slightly to its right. I’ll shift about 3 cm toward the arm’s left and a little inward to center the plush torso before closing.\"}",
  "call_id": "call_lqWaZoZ2KiQNY5js6N4tnsj2",
  "id": "fc_0381e540c0bc1714016ab44c74da4887d0adb9ccfcf10fee17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lqWaZoZ2KiQNY5js6N4tnsj2",
  "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]: [-0.1444, 1.0008, 0.9409, -1.0061, -0.1654, -0.1959, 0.9964, 1.3762, 2.2456, 1.4822, -0.8059, 1.1137, 0.6228, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0028 left_z=0.1658 left_yaw=0.1151 left_pitch=-0.4611 left_roll=0.0609 left_gripper=0.9964 right_x=0.23 right_y=0.3659 right_z=0.0443 right_yaw=0.2624 right_pitch=-0.0699 right_roll=-0.8022 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.853, 6.3932, 1.3553, -0.3394, -0.0757, 0.0073, 1.0325, -9.3333, 5.2308, 0.1538, 0.1441, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233cd29173b01272d55718425e3d3190bd45c7bcbdfa0796407c110949874d56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f087c4e62a194ab7d8c4ee5516d2577d56fdc8d9885fdce77b7ef80f4e356ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5755d75b51d8716565f993df0db479cdefb5aa2dd5c2ae2a86bd7b757652f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 2.808 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9096, 1.9179, 1.3838, -0.6811, -0.4934, -0.8803, 0.1362, 0.873, 1.4311, 0.5659, 0.0574, 0.8871, -0.2104, 0.9954]\nstate[eef_state]: left_x=0.3327 left_y=-0.2856 left_z=0.0758 left_yaw=0.0566 left_pitch=-0.3887 left_roll=0.025 left_gripper=0.1362 right_x=0.3036 right_y=0.1545 right_z=0.0947 right_yaw=0.2502 right_pitch=-0.0642 right_roll=-0.7507 right_gripper=0.9954\nstate[joint_eff]: [0.1436, -4.506, 3.9453, 0.9841, -0.359, 0.0269, 0.7448, 1.1282, -7.6103, 8.5128, 3.8999, 0.2662, 0.5495, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1448, 0.9985, 0.9413, -0.9859, -0.1841, -0.2119, 0.9963, 1.3396, 2.1391, 1.3121, -0.6827, 1.0912, 0.5419, 0.999]\nstate[eef_state]: left_x=0.2504 left_y=-0.0002 left_z=0.1694 left_yaw=0.1383 left_pitch=-0.4341 left_roll=0.0624 left_gripper=0.9963 right_x=0.2364 right_y=0.336 right_z=0.0437 right_yaw=0.2629 right_pitch=-0.0947 right_roll=-0.8037 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.6188, 9.0872, 1.2576, -0.0659, 0.1832, 0.105, 0.7863, -7.9111, 5.7368, 0.3297, 0.2369, 0.1001, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0008, 0.9409, -1.0061, -0.1654, -0.1959, 0.9964, 1.3762, 2.2456, 1.4822, -0.8059, 1.1137, 0.6228, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0028 left_z=0.1658 left_yaw=0.1151 left_pitch=-0.4611 left_roll=0.0609 left_gripper=0.9964 right_x=0.23 right_y=0.3659 right_z=0.0443 right_yaw=0.2624 right_pitch=-0.0699 right_roll=-0.8022 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.853, 6.3932, 1.3553, -0.3394, -0.0757, 0.0073, 1.0325, -9.3333, 5.2308, 0.1538, 0.1441, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233cd29173b01272d55718425e3d3190bd45c7bcbdfa0796407c110949874d56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f087c4e62a194ab7d8c4ee5516d2577d56fdc8d9885fdce77b7ef80f4e356ae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e5755d75b51d8716565f993df0db479cdefb5aa2dd5c2ae2a86bd7b757652f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEx4K5TceLuZt1CLr0trJSgpPKs95XbuGGmMAZ0-RVJwPysai-Jm70YXry-TC64iaGnzrNKxxgJx-IFxnEdtAJmZyleFUPWxf5Agu0kzw1dQvRtedUGb8lRL0lw9_utjEvqr3fxhBOtqoLdGKDdnVL9TjpB8eulA98ckLfmjyVwoF2kAssF7jn4PpU85JVQGhxw3WnXWnmWsh5iwh9RarhsYFJD-Yj0zlEpGUfRyXqPiL3l3QqFCZWrHuuF165fGB0w_qoW3XtadNPE3rGWga8z8wbu1LojPP3sI_Pidxqs9wc4Qi295HCZ1FqWV1hs1QTQj59uy4H3-kqn5F37n7LHuY82pTy8GzH5Gdwfdk99Sp7tCxr9pSWSuWyn_bvjHD8ZgKmg9e5JJnr1VF0qx25JX3NoyqLKBsLnrIerIc_H2GYo8y9d4w37mTGZuJm8VZRwE1b0kNhMGzBcXEXfYcrhuqwXeaprdWdGP9LnjovygjbLAzgTJk9cqhxHXxpw-lDSN5QXFa9NOnQv9rIhXh9aFBEJJcgwvXlvtfR4aBr_tqkoAiE7ILattuZjNMiJcnvVXs4e1RgP85DgA_Rc55qgq1J7rpY-n3vnUm3eacRY5HrTcXhWas3gv9enh8-uaM5BIG6nEH_M2h9w_8sO5auxD5pnvmu4gN1Ubq12IeBNHz8NPxNvLj-KLceqGKBjJfWtcQc_WQf5hvjHs_WYIE3urs_Pc11u_XTvAgwE8w8cbM1kqibQnu3kgAOmR3VD8jRCVN-Wou5DI0tA9vMvQ_hdb2NBOUhtHwWwHGdZ3KYoJMo-sKkagj-VkXFCg1DlNEvcgM7Icd4LGN_yBuHtQiVr3dczFKt-lhadaEKkQrkIYj7-qVBFh_0E-wnz4t7gqbKeLeCb7XXMh9kQJQngg76JBPrupDky2XAibPhaBg0NodBk1DbLsA4O33aK8SZYLttUFpe_pgx4Gv0GLhYfGajV27bV8QkmhpW1kxzZRqzRvB9e0UvO5X1zPJmrp4TNlKgzicGiLB7JZYoNwAC09K010GKbKKzTOs83NZPyUHczncYmjaJafbkraxaWtmIuSg4_h1AwcfF6sfW9WDE3-5lIMWZrt7NLvE2_t7J2cG97KZbDue4YqabP0A_vk4iN_Hrm5AKOUIZXV_Ametzy6H6sZfGcrDhyiybO0K0qUu8oZEZg6KGnUvvtADY5Y1vp80Cp0uIqqCQTGLtW8DV_mxK-e4MfWvFKQkrfyCZqagVweOjgwsDDbUS15iZFMxVekLnsbMuD7ZesbtMDkDBP2MuWI_75DCHuzGTnmQuJFpgZUhlOfcXznF2_WfzCeoIy89jPs",
  "id": "rs_0381e540c0bc1714016ab44c781f8887d08d33c96b806bf9db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The lateral correction places the teddy’s brown torso across the jaw gap at table height. I’ll close fully around the soft body.\"}",
  "call_id": "call_oyqXpTPZl0Jy0gZNaKwQ3qO3",
  "id": "fc_0381e540c0bc1714016ab44c78552087d0b5d1b30512a822cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oyqXpTPZl0Jy0gZNaKwQ3qO3",
  "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]: [-0.1444, 1.0016, 0.9409, -1.0107, -0.1711, -0.21, 0.9965, 1.3788, 2.2589, 1.4826, -0.8165, 1.0996, 0.6106, 0.0108]\nstate[eef_state]: left_x=0.2451 left_y=-0.0016 left_z=0.1652 left_yaw=0.1296 left_pitch=-0.4644 left_roll=0.06 left_gripper=0.9965 right_x=0.2275 right_y=0.3643 right_z=0.037 right_yaw=0.2683 right_pitch=-0.0979 right_roll=-0.827 right_gripper=0.0108\nstate[joint_eff]: [-0.0752, -1.9214, 6.4479, 1.1502, -0.0562, 0.0904, -0.0024, -0.4034, -12.6427, 5.2034, 0.3346, 0.6471, 0.1099, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851ae5aad6138ede725208d1cb0f078b4bf4a03e15a9e9826741266f552f4bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa806f72d30f5be3743c776c31e47f2d542fe56b5f19063bd530009e92d6c5e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f087fb6d0ebb0a74d50058a350f930c1186845af00b05446155c5e90a902a36e",
      "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 32 attempt 0 · /responses · status 200 · 7.309 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9039, 1.9411, 1.3643, -0.6891, -0.4911, -0.8875, 0.9952, 0.8738, 1.4471, 0.5461, 0.0376, 0.8818, -0.2279, 0.9954]\nstate[eef_state]: left_x=0.3289 left_y=-0.2773 left_z=0.0595 left_yaw=0.0834 left_pitch=-0.4187 left_roll=0.0651 left_gripper=0.9952 right_x=0.2977 right_y=0.1487 right_z=0.0807 right_yaw=0.2589 right_pitch=-0.1186 right_roll=-0.7939 right_gripper=0.9954\nstate[joint_eff]: [-0.3761, -11.6444, 7.6376, 0.9206, -0.3346, 0.0659, 0.0415, -0.212, -6.188, 7.3915, 1.4774, 0.3687, 0.1197, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0008, 0.9409, -1.0061, -0.1654, -0.1959, 0.9964, 1.3762, 2.2456, 1.4822, -0.8059, 1.1137, 0.6228, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0028 left_z=0.1658 left_yaw=0.1151 left_pitch=-0.4611 left_roll=0.0609 left_gripper=0.9964 right_x=0.23 right_y=0.3659 right_z=0.0443 right_yaw=0.2624 right_pitch=-0.0699 right_roll=-0.8022 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.853, 6.3932, 1.3553, -0.3394, -0.0757, 0.0073, 1.0325, -9.3333, 5.2308, 0.1538, 0.1441, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0016, 0.9409, -1.0107, -0.1711, -0.21, 0.9965, 1.3788, 2.2589, 1.4826, -0.8165, 1.0996, 0.6106, 0.0108]\nstate[eef_state]: left_x=0.2451 left_y=-0.0016 left_z=0.1652 left_yaw=0.1296 left_pitch=-0.4644 left_roll=0.06 left_gripper=0.9965 right_x=0.2275 right_y=0.3643 right_z=0.037 right_yaw=0.2683 right_pitch=-0.0979 right_roll=-0.827 right_gripper=0.0108\nstate[joint_eff]: [-0.0752, -1.9214, 6.4479, 1.1502, -0.0562, 0.0904, -0.0024, -0.4034, -12.6427, 5.2034, 0.3346, 0.6471, 0.1099, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851ae5aad6138ede725208d1cb0f078b4bf4a03e15a9e9826741266f552f4bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa806f72d30f5be3743c776c31e47f2d542fe56b5f19063bd530009e92d6c5e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f087fb6d0ebb0a74d50058a350f930c1186845af00b05446155c5e90a902a36e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEx8FpXkX3lWK5VLxUshPvR8jEHOHFt9wKvn18y18oTjKly419Ct0d3UMiJMvtCNpfF1aBkbAkenylnnZespHgvWhk4ytsTvKwR-lM_5xxcivGIK6lBkC4Laqx3Y56dmfrqEbs6lHu3N_NLJdCV3SPbH7OiHtlbT0WmvqrVJl02KiC2aQHDnyZfFsVbxy2ZagUcvRxpl-zMMnJetaC8prumkAlKtR1udcZniiLQpScwUko77toshAjFGSvOXfmFa1yev4C_puxWswagJSjI1Fq-h1PcCjym-UV8j1orwWE_YVYG6Gmp9D98C5qdx__-alg9q81FjL33tlIJrAQ59pPpLSVSynKbwW46D1J_1UQA-GMVa1oYGURdDZsiHLlaj_dZotEY_YxAy6mHWir9qLjTR1BDIRHQcZjkqlrRL1LDYzribQz7eUyXcm94BcpAr6Wijg6FPVuL67pN2g23paHl_uljifqdN9-Ep0wJaurLFagJUQ23UezkGYvtfRoSNFXEen60DkOKiFaWI0nyqPBsbA9D3ynQDaCrrUXXylASLSRlwWI4EGgz-LApGMxFHmIZkEO5gmLtfJewyAb47ucw5sRNa-Omtv-Dv3d4e3yJZs-uBpwpM18dUN2WmUcJEKIoRRFMiOazSSvQyUcg9niGg3antFPAhDVHxSygqRbR7L-EILOIiazqtjfzmIR_Era3SOwBMJpTj6IllYcE2goEAGQS3_2aWaolSsj279WqIXgIVEQyaFHzoIb1FEqnQmts4RjtIMykALnZSVSNBc0rYQlfsHW7oNXuYGejhqMbAMbiQ5PXdifaLCVgNWWzH5O85cr4Y7GMSq1kjS7eS7T0Y7HKkuayWQW0hxj7TPWf845D4Pk_PjU18mx1-eMvFy39U7wPT1TrQDCd1L86nxQb9sNLUitcFhcnuF7r2YGIyWC6RBhTDNXLyAo2uMD2ZL1DrlQIwjJDZNjIO10R2c_7V7ZYivSx2P9svehdxrgv6WH1sNLxNBVasaaHMSn8ELFtjhRtuVwJxszXF-g_h9OFlCcAO6cb_zCJXW5K0uI5HYn7z4x30uACigHHdMmQAPTcDhjczINOTe6m1Fxa5EfSf5lAaT89Gvg1EdtDrv2LfGxUflDP7KYJ9LpXf237aUXtCDeK7iRgaXzo3S5nX_4UudF_AOXZWaCq0fP3HKXWYPAK4l85QfStqjkEykk_ul5ldVeAGzJbw6Dg3EHysvGBCMgGAuH-Mq4tX_p6zjgrbVwatu9Hp-k4zu3beoHvkAfKMTEdQCKZszrIlCRIYbFm-YbGH-RQcx3r886B7UThrRo8j-dw2ITe5oIXYVmBYM6SUJsv-LTPWkQSx8CroHkYNk7i7WQNzLIezI23wD5SRauZm1fabhVmSZXUm8ZBYF1CJoqwT53oH0PYoWltInfhwIGIjmtRNJe93maYaUTC5U5N-uZNZbVJ6Zfx-bHpv_m-swDwhzk0iUCXwoUuN3G7mqAlQadRAcJYBjZRUTcusP5o=",
  "id": "rs_0381e540c0bc1714016ab44c7b229087d0a13bd074d69d729a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.18,\"right_y\":0.4,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The empty-close reading shows the teddy was still just outside the jaw tips and toward the outer side. I’ll reopen, retract 5 cm toward the base, and shift to the right arm’s cross-over limit to get behind the teddy’s displaced torso.\"}",
  "call_id": "call_ojJfXAilKms0DgbYnIWBDoCb",
  "id": "fc_0381e540c0bc1714016ab44c7bd29887d08df3dbaac78eaae6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ojJfXAilKms0DgbYnIWBDoCb",
  "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]: [-0.1444, 1.0023, 0.9409, -1.0115, -0.1688, -0.2142, 0.9965, 1.4864, 2.4104, 1.7447, -1.1282, 1.1213, 0.836, 0.9945]\nstate[eef_state]: left_x=0.245 left_y=-0.002 left_z=0.1649 left_yaw=0.1304 left_pitch=-0.4663 left_roll=0.056 left_gripper=0.9965 right_x=0.1898 right_y=0.3989 right_z=0.0412 right_yaw=0.2783 right_pitch=-0.0666 right_roll=-0.8395 right_gripper=0.9945\nstate[joint_eff]: [-0.0068, -2.1402, 6.3385, 1.1746, -0.1832, -0.0317, -0.0122, 1.1145, -8.6632, 5.4906, 0.105, 0.105, 0.0659, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fae1d082e9e96f68afe8d2d06dbcd2aa4d98d663984a86179c9b49030d7438b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a609be650f52dd73d2ac83762133ae6b80ee2fcafd4c30516fd0a5522c6a7751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72f7cbee238bd2e8df4c563b4ab569fe36c36eb5a3f8e4941a03d6e4d8f7479",
      "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 · 1.788 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1448, 0.9985, 0.9413, -0.9859, -0.1841, -0.2119, 0.9963, 1.3396, 2.1391, 1.3121, -0.6827, 1.0912, 0.5419, 0.999]\nstate[eef_state]: left_x=0.2504 left_y=-0.0002 left_z=0.1694 left_yaw=0.1383 left_pitch=-0.4341 left_roll=0.0624 left_gripper=0.9963 right_x=0.2364 right_y=0.336 right_z=0.0437 right_yaw=0.2629 right_pitch=-0.0947 right_roll=-0.8037 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.6188, 9.0872, 1.2576, -0.0659, 0.1832, 0.105, 0.7863, -7.9111, 5.7368, 0.3297, 0.2369, 0.1001, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0016, 0.9409, -1.0107, -0.1711, -0.21, 0.9965, 1.3788, 2.2589, 1.4826, -0.8165, 1.0996, 0.6106, 0.0108]\nstate[eef_state]: left_x=0.2451 left_y=-0.0016 left_z=0.1652 left_yaw=0.1296 left_pitch=-0.4644 left_roll=0.06 left_gripper=0.9965 right_x=0.2275 right_y=0.3643 right_z=0.037 right_yaw=0.2683 right_pitch=-0.0979 right_roll=-0.827 right_gripper=0.0108\nstate[joint_eff]: [-0.0752, -1.9214, 6.4479, 1.1502, -0.0562, 0.0904, -0.0024, -0.4034, -12.6427, 5.2034, 0.3346, 0.6471, 0.1099, 0.9206]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0023, 0.9409, -1.0115, -0.1688, -0.2142, 0.9965, 1.4864, 2.4104, 1.7447, -1.1282, 1.1213, 0.836, 0.9945]\nstate[eef_state]: left_x=0.245 left_y=-0.002 left_z=0.1649 left_yaw=0.1304 left_pitch=-0.4663 left_roll=0.056 left_gripper=0.9965 right_x=0.1898 right_y=0.3989 right_z=0.0412 right_yaw=0.2783 right_pitch=-0.0666 right_roll=-0.8395 right_gripper=0.9945\nstate[joint_eff]: [-0.0068, -2.1402, 6.3385, 1.1746, -0.1832, -0.0317, -0.0122, 1.1145, -8.6632, 5.4906, 0.105, 0.105, 0.0659, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fae1d082e9e96f68afe8d2d06dbcd2aa4d98d663984a86179c9b49030d7438b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a609be650f52dd73d2ac83762133ae6b80ee2fcafd4c30516fd0a5522c6a7751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b72f7cbee238bd2e8df4c563b4ab569fe36c36eb5a3f8e4941a03d6e4d8f7479",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyEqk3GvdhZOi1gQcJge7NSEoNxtQ5ziBi9hzRwPdygOEGNP-9btdCEGCWRwVYhjlWpOJeloUO0KObed7EFQBKtRR22GoLCTKU0zMGpTiaG1U_pnuTNZ7IW3tMX0maxYhTwFGLm-c_mc-CTt98w1tQeNNLSY-pppVQ0YHii0siQLAo0c5IXsYvXMY4tUTgpASo_3ZjLo9p8vzndpHrr7LaemvJHHliUl8IIssbHxiyPXK3l4HozHI1njUd-xj5ezntTFB6RdnSzGrL5OeOBvv5FqV2hdliptdB_x47NyjTdyqF83gTTQSE-kys_Nzc5ddiu5dR5MMpzUN5plxxqSLtasDplinjTSAVrVVetVWLBzER7QEsPzQrhumX3z-osNfI4dDQNdPq3RMRvoI8BMmuD3VT1zKRs-QDvE87TPNOcJfqIqmvEhoCbJ19Gsac2SSmGYq2qaTPvXOBg7Sp-uKjZpOXVQZ3wYppk9MJss7NbCljHa-6XEc8ws86VVKn3WH-xxBdGkQJEe8GKUeOPKDV8KDEv3awg2opUyesr5jzmFN8uhaBFuzEJtpHP6aD3WRThp1Ovtcd-cripVVsuDvOLoI5xZZ7Fp-0uHsX5JqP2EZk4mgHfHsrisc-35rqHBHJyqpW7FyHnfrDwggswdF8UvBNS4nCbqQKZt1LK-a9UR2Z48ywFvkJfj_ie6yTHWdNqx_-BqsULDRwumTck9jSH-pYr2QdlteLNbBUZ2RX3z2FZlAgVyoUwfZLxQmM1OZ3MQoP3RjdFTikVLQBZZWCX0dLHeBfOSc20T0yg8X1-NG7bEZOAWBow_gxvT6k2oq7c7_hHGHdwpGJtwDlpfXf_7B78obcd493CzTG85NwN9AEHrGkuAFR1GgqXusdNVG7DyS_K0rtYXQLX9CxsuwImNyLPIg8v3ja7NEce9VRoi2keDZx6EEdDuOqWw4vaTdVMtccNGVAb0uYkC7DB0b1Fj9ZAcsFRw92DZec0KwRIGuOe2DDozoF8HPIXxMtZ6shem1DnzfIoSkJbzyZnJyNNj-7q1Fl3CNdkLiGaRrziUKZ07ga-0LyTkkZFBjklSPd-VRiVtshr9gX7oNmrYzSsVgSTuknGf6o5oLKcJLLrUpfdgWspFpt39GvdiJYKWD7FSl8dnpIG4dzZHsjSwNtlZsnUQXLZbkX01aJIqTCYEXXZsOmvK1ysAbJmSHNRvXdcIsEQHIJcrJl0v7GqZjrxr73AYKHbIyw03RpABvacQtIEK28-IQDKvs_RkNULq0lRmtCVgwt0KYIFz-GygipewRo4gAPikCySj_tiqMtDCW9hXe8hJell_6JUyFRqWginOldCGMV_epSpaiFW39URM1IChotahRwytbVpdOul3Nf9YOz8c8bnAIpf4HkOLNxPnOixoNlk1kjsR7goNQEBQu6XY9UdLt4pO18jngtJ_DBU5Vbq2fVESvyRIfeLXlTb1u86BXVUg4-dFPTgYhLHlVmv4mWcPSmnZXtkk9wH5AcJ2OrV0QkVA-fxxxe2Mh1OEZsp3WS7wuywLYbZ6LgoRBnqRDxZh7AmTN9tbu8RsJFBFcQqLg7L1EUlzqcaVC5nyoAJ4_MGpXIzOhatMVoGSiZc56_rb0XHtlTSogmTqMmwVjxkz-mfj4tUlEecyZE5Lq-EzMaHIiktCN-qfi_uy1UcTzR66HogkMYU8amvcbeZZsXpZ3ENirPcZAZ2Pn6r9TXpmes47asM1grxlVWb10dUIcXfunY9y41KkuYltUmX06V9CsXMvFVlwLQpDBSkJ2xnFGgFAWhAPV9PwNwFihw4F6uZw9nXaImouWIW3QVIUpLSEUNnWcx7RmXm722a-fCaCzWyf8RLTVkBmfKojB2MJqmc74uN56aVqyPUtr8rFzulqNHc75j1UYlk7RVwl0wdMkfFQepCS6hvapwx4UvBghhmXIXzR6ybOPBnZ-cwPMlyH0Rtj7c_XBHqfJB1yf8NaB0JRK5khO5ycsWWLfcpT1p4cO8Ea6LCob3IqQr7lbqMxj9SloxjuEU7LzxKD04UEbv70fFw28gE3oFX2Y3k4I9NP-Xhq_hNFpeXevVmxzU76T_8vql6nLHC5leDj_aJN3ugt-wJb5Oz9VRq0ePmb8l4JW9jUaFQTgRrneuHfNeqUOmwkNx2QcDwbrYhw3c5-sTsi3AYV-DISXnfgZNB3YkYskCw2E7ds-nd5VNtK_H2S3dPng8cYGOQB0d4XGAKVUFumaDUSPNn-mjrXTzcyWgz73eJ-0qLcM5OmHsj8BVTaNRHq7cJEPK9gGTjgFikP7DLOrlFZLDlIpXp2s7BBfg9M3inY_a1aMjcOR_JFlcVw_Ws9Z8XQqz_APNJUyrOooqEjRRRkxg0n3_yMVMkErz4Ts4rhjuunWpfgvFU4gIwGnkuVm7UftdvpuNJRARlIow8IZCnkNM4D7wuFZMVnOwZF-EQqTdbd3vSoO6L19NkeqzziKuON-XqSSknZRL_tnnd6MbPtOoWz1rjvhxKyK9OTiIWYZyL-HYMw89BiKyE9quRMqMFBF24gTHQL2kFEF-2S31SxiYSDwup-u2eCx8oGSljG-5XqeOq1nElMge2AdgRvhbt-QNHDPoEIe_LonbPFEH4MPEq3tvyLEKs-wlwS0OddyZCxZH6c4YT2KowsVeEM9wDzfisBed8HyPSX08uq7fyPbWVEQGJObnzrIgOK671_SqdBi5u9JvWpC25mEP4fjkz31SMYLS2J8TTLUo4470xO7co2DIsS6swdhs1sPIG_FgIDyX7izQQugUCvvA0xbIYExUvRziKKk8Mk__g2L6mBAwdfqcN8QlTk1sNsMBWbM-JayguVQsNC1hiTNDUMuGP7X78J4Hl7bhQRRHpYcGlLNDlGc3ORmMRAlshGyAZ2n3idCo-4keDCU0uTKTIeF_8eq9WfOkuT7PJCQg_iTclzfO60_CZNRDvxWRmuXRFQSYjzn1ADPopvwhxko4MMVZSfzoGLTzANnvfVy_V7_ufccJO0hsf0DiSfmGgJ-G6eToBN5BJd95HC0gADKshNLQSoCiJxPX47IoEFD5RaZm6eY5JpiY68Epv1ufbtsDxVWaBsqwsnwB2JQb_lFXcihIYdn0O5dh3i1RVHgGXw0mrLx01bwwKr05L7iW1ygA3JXTuK4TOTA-n3XERHEuxrnFEha-RcwzXvXV3KkhTN1ZXCz9ZWCqbvuiUOZvDTkmjGJrjQL3cmAo8E0zVCVBhGqHYGBcclptxIpny6Bm2HhydEseVWsgS2dwpnkehifLE0qxmgH6GvDdP0NGQQfuab2ArfpUoiw8gbu7ElTv49Ol2SbLjsmAd2P6EKsB7sdPcTziFHT_K0FIc_kaJlveJ0OzS_VC-kd22bGf0idTHsBqe9Gy9milA2AwbaTxrXGNEoCoZpQtT5RhE2a7ewgMLMac5tRmZteTb9N30vzwC4_wWL1i84OoEn3LXZK6lGgwl2w2zvGhGvE5z2FxR36_qzxvi-GO5e5R8mYOlOtPCyoNiG0g91yhEK9Q33poEXuqFUiT2aMSDaECKACfjGwACncHTqcO-1JqljrTY7DnIHuetGS65FltIPkpf-O-2Nnnu21y_auO9tesZzE_YAzqenJI4CbLFVqDI9ma3HzYBpYMSPZ73TVwD9Gr_SZuGqiyzyFcmd1PyEDCyU6TQLW1Cfi_fYxFqx5YJm04TeWiUGlxjXCZ673BbH0_0Xa2ZeTpR1KrzKZKRdfX4uCwSQ6waZZu4699wFXYPLgHRFG7C_8SPMjJouROcFnLAV_sRtZKgY9ESlytxw0lOwUqhLFJjesMaRZHBQPBBQuA-g2HfhI5r5ePCIBS04mlKImf7fkqCUcgQLl5YsbdD2vjOhgP1pMQET7sEV10lckDynY2YEa14vsEjOFA7gih6c8MTVD8HQRNwsVzzWjij64BXC1YYpG4iWsZtTBek-X1giLQyeXHIQhyKOMcIHhLEdnJYfvcKb4gF0hzOK7w=",
  "id": "rs_0381e540c0bc1714016ab44c7eeaa087d0803c1e161f2f3a9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.19,\"left_y\":-0.19,\"left_z\":0.03,\"left_gripper\":1.0,\"right_x\":0.28,\"right_y\":0.1,\"right_z\":0.18},\"note\":\"The teddy lies beyond the right arm’s lateral limit, so I’ll switch to the left arm, whose workspace covers it directly. I’ll lower the open left gripper onto the teddy while retracting the right arm clear.\"}",
  "call_id": "call_pbuX026KkxlkW1Wf62rWNVfr",
  "id": "fc_0381e540c0bc1714016ab44c83f45c87d0b13da7368ab3191f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pbuX026KkxlkW1Wf62rWNVfr",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1145, 1.4891, 0.7254, -0.7063, -0.4881, -1.1648, 0.9984, 0.8135, 1.0149, 0.622, -0.3702, 0.8925, -0.3416, 0.9953]\nstate[eef_state]: left_x=0.1831 left_y=-0.1769 left_z=0.0242 left_yaw=0.1328 left_pitch=-0.4973 left_roll=0.1122 left_gripper=0.9984 right_x=0.2765 right_y=0.0975 right_z=0.173 right_yaw=0.2395 right_pitch=-0.0766 right_roll=-0.8346 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -5.0393, 7.788, 0.6813, -0.4322, -0.1245, -0.1734, -0.0752, -2.4957, 6.8171, 1.6923, 0.2564, -0.0317, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0227f064326e3fb5de5a3c08c2cc8641dcbef48c37c744b04a99fcbc0fb055d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c636653d45254ccf7e6b94cba1527e8ff1ec6fa29a6d50bb7334cc86054c54ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8af5637b5371fc81328f6de27f1e0674a30e7a10318734f9bfcb31c2dec850",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 6.033 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0008, 0.9409, -1.0061, -0.1654, -0.1959, 0.9964, 1.3762, 2.2456, 1.4822, -0.8059, 1.1137, 0.6228, 0.9989]\nstate[eef_state]: left_x=0.246 left_y=-0.0028 left_z=0.1658 left_yaw=0.1151 left_pitch=-0.4611 left_roll=0.0609 left_gripper=0.9964 right_x=0.23 right_y=0.3659 right_z=0.0443 right_yaw=0.2624 right_pitch=-0.0699 right_roll=-0.8022 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -1.853, 6.3932, 1.3553, -0.3394, -0.0757, 0.0073, 1.0325, -9.3333, 5.2308, 0.1538, 0.1441, 0.0952, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0023, 0.9409, -1.0115, -0.1688, -0.2142, 0.9965, 1.4864, 2.4104, 1.7447, -1.1282, 1.1213, 0.836, 0.9945]\nstate[eef_state]: left_x=0.245 left_y=-0.002 left_z=0.1649 left_yaw=0.1304 left_pitch=-0.4663 left_roll=0.056 left_gripper=0.9965 right_x=0.1898 right_y=0.3989 right_z=0.0412 right_yaw=0.2783 right_pitch=-0.0666 right_roll=-0.8395 right_gripper=0.9945\nstate[joint_eff]: [-0.0068, -2.1402, 6.3385, 1.1746, -0.1832, -0.0317, -0.0122, 1.1145, -8.6632, 5.4906, 0.105, 0.105, 0.0659, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1145, 1.4891, 0.7254, -0.7063, -0.4881, -1.1648, 0.9984, 0.8135, 1.0149, 0.622, -0.3702, 0.8925, -0.3416, 0.9953]\nstate[eef_state]: left_x=0.1831 left_y=-0.1769 left_z=0.0242 left_yaw=0.1328 left_pitch=-0.4973 left_roll=0.1122 left_gripper=0.9984 right_x=0.2765 right_y=0.0975 right_z=0.173 right_yaw=0.2395 right_pitch=-0.0766 right_roll=-0.8346 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -5.0393, 7.788, 0.6813, -0.4322, -0.1245, -0.1734, -0.0752, -2.4957, 6.8171, 1.6923, 0.2564, -0.0317, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0227f064326e3fb5de5a3c08c2cc8641dcbef48c37c744b04a99fcbc0fb055d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c636653d45254ccf7e6b94cba1527e8ff1ec6fa29a6d50bb7334cc86054c54ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e8af5637b5371fc81328f6de27f1e0674a30e7a10318734f9bfcb31c2dec850",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyJ6KIlERI0C0y2e3MySLzada7JxmpkmDNtq01qBJhZy8o_RmNagmoX0CBB_bfLq95_8OfMqZmbOpoLosPNOJHbHm5NtHNARJk9zlzS-mcuVDQNlllBxqQC9nYKCEai9j-fOupMJbRjeD4MjQHcGJYhA_ZW-AbPveVVYLhvTS1c2RLqrT1jpf6Bv-jsUwzu3CSKBgbUKXdcYrML8zTQfmTOPBiIFoGJGKGuxfXW0khWoQ10Yd8GXY8fvc1l_ohxA5IGpJqKqn_1g3N5lJn_vn5NQBmqMr982z0eBG-CLNBZDkfAPosRASf2i9eT3XkVWzy87wQbtQQmhY-hIU_ZkCgTJOruMyU08SnmjlPwXfvFV4uILh8NJG7PjhZK_ZZsxzlN8LFYgHR5nVEoOdbY2Vx1F-7sioumbNs_Uo3ynHwIgYSpw9IPgMWwlcDRm7A9twFiKUNMENBLmypEwB0sFmPnhjQMujcnIaiDmlCbirnHim4uGgn2iVxKVrV05LWrWxHhNZ6oJyeUOxMvp_wUQcsFaEGEpk6mNUU-Ap8uBZMeoe7_sTU6XZPmLMkNaxkVPMniQSxH4rSFHhvDjJOBhU9Uf02k-17MTBTJSYMQgMyvQjBiup08Mp0k8S64WOz12YVK-q8aq9qMqVR7l8CxiBf_RT1f01XGFQ_VkezEcsYj2YCmfhJTvRkxkioj66xaJl5K0UDRMOdhr57ChEFJ_r9qwjY00jNUnGhB4aT65ISIhGK-TME-GemHTfkAKgz5nSbqazbmxwfIH7BsnHDFVZSzoLaG9lVC-W6sZngJnY_B1EDRtrA9DmLrDvtVY4Zx3L2zeetlPuHpZdNal0k5IF7to6zuJaNCDoEeM6UL3m8m56zs20FMGpzdfdp6jtb66WI3En56orh3_dybijf_Cyk3XQjan3ZEF0g8nqvR-vj354-p9cXV4T3Huzf3sdrdbsdJVpZ9s4HXZhAu2ZI57jyA1CpNwjm43f83rzZgBY8ikA0DESYC5oByYVQ_JYtJ7aYL30S3SiefCK19dj68hrk-TmbXDJI5ecrZnSuZf0ZUKlbzx5_MHz_SO5pmUMZU290_tOn9Mza9-8UGz8-aqiEGcP_HJOHhk5ngZWk6lmkIWO50g1vfDsHvTaqfxcq-0wOuraRdO1AdLt55-zfn4ewmJnnPrHTinkOHg3jxtkHkkPWixlyVCoCDsP0Krf5e34v4f1rAg3HDXS-BhVvwkThqLg==",
  "id": "rs_0381e540c0bc1714016ab44c888d2087d0b8c01b3cd36a0c6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left wrist view now shows the teddy’s torso fully spanning the jaw gap, well behind the fingertip line. I’ll close around it.\"}",
  "call_id": "call_9OuIKC7C12v46ahu0Fdex0Ax",
  "id": "fc_0381e540c0bc1714016ab44c889f1c87d0ae95edd371fd9625",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9OuIKC7C12v46ahu0Fdex0Ax",
  "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]: [-1.1179, 1.5017, 0.7269, -0.7139, -0.4911, -1.1679, 0.0165, 0.8116, 1.0176, 0.6205, -0.3832, 0.8749, -0.358, 0.9953]\nstate[eef_state]: left_x=0.1819 left_y=-0.1752 left_z=0.0219 left_yaw=0.1418 left_pitch=-0.5001 left_roll=0.1319 left_gripper=0.0165 right_x=0.2753 right_y=0.0983 right_z=0.1684 right_yaw=0.2563 right_pitch=-0.1043 right_roll=-0.8466 right_gripper=0.9953\nstate[joint_eff]: [0.1846, -6.2154, 5.2581, 0.5104, -0.2271, 0.0464, 0.6862, -0.0615, -2.6735, 6.9538, 1.4774, 0.4274, 0.1587, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9c39e9527e554878bbbee6e54788869590fdce9e7305eaddd2240706a56244",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93f4b522b5c7938320e2fd717da21bbf043bc14c782953e43c8b4cd89985679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89ba0bc81786cec85013833c198c17cd8e93b579b35c69e80d8e37d7faeb810",
      "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 · 4.338 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 128 changed as sent

message 136 changed as sent

message 140 changed as sent

message 128 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0016, 0.9409, -1.0107, -0.1711, -0.21, 0.9965, 1.3788, 2.2589, 1.4826, -0.8165, 1.0996, 0.6106, 0.0108]\nstate[eef_state]: left_x=0.2451 left_y=-0.0016 left_z=0.1652 left_yaw=0.1296 left_pitch=-0.4644 left_roll=0.06 left_gripper=0.9965 right_x=0.2275 right_y=0.3643 right_z=0.037 right_yaw=0.2683 right_pitch=-0.0979 right_roll=-0.827 right_gripper=0.0108\nstate[joint_eff]: [-0.0752, -1.9214, 6.4479, 1.1502, -0.0562, 0.0904, -0.0024, -0.4034, -12.6427, 5.2034, 0.3346, 0.6471, 0.1099, 0.9206]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1145, 1.4891, 0.7254, -0.7063, -0.4881, -1.1648, 0.9984, 0.8135, 1.0149, 0.622, -0.3702, 0.8925, -0.3416, 0.9953]\nstate[eef_state]: left_x=0.1831 left_y=-0.1769 left_z=0.0242 left_yaw=0.1328 left_pitch=-0.4973 left_roll=0.1122 left_gripper=0.9984 right_x=0.2765 right_y=0.0975 right_z=0.173 right_yaw=0.2395 right_pitch=-0.0766 right_roll=-0.8346 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -5.0393, 7.788, 0.6813, -0.4322, -0.1245, -0.1734, -0.0752, -2.4957, 6.8171, 1.6923, 0.2564, -0.0317, 0.0708]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1179, 1.5017, 0.7269, -0.7139, -0.4911, -1.1679, 0.0165, 0.8116, 1.0176, 0.6205, -0.3832, 0.8749, -0.358, 0.9953]\nstate[eef_state]: left_x=0.1819 left_y=-0.1752 left_z=0.0219 left_yaw=0.1418 left_pitch=-0.5001 left_roll=0.1319 left_gripper=0.0165 right_x=0.2753 right_y=0.0983 right_z=0.1684 right_yaw=0.2563 right_pitch=-0.1043 right_roll=-0.8466 right_gripper=0.9953\nstate[joint_eff]: [0.1846, -6.2154, 5.2581, 0.5104, -0.2271, 0.0464, 0.6862, -0.0615, -2.6735, 6.9538, 1.4774, 0.4274, 0.1587, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9c39e9527e554878bbbee6e54788869590fdce9e7305eaddd2240706a56244",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f93f4b522b5c7938320e2fd717da21bbf043bc14c782953e43c8b4cd89985679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c89ba0bc81786cec85013833c198c17cd8e93b579b35c69e80d8e37d7faeb810",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyQBL6S84R_t4hf-z8svcXy1F_IRXfF0oyciRNll9271ucZhu7OC-JPOgO58Y-vfUese3hy1ofuTrYlAS2S4u9gSIi6HDFkXJIyJcMuW3HLkW3cRhVrFwfP4o0QuqG2MSoqUNBwp4VZZITge1QamYoO-PEuOmfY-l47AUgEXGla_T-Nqt_6AIYVgMaAAPUXFVXyWSkBNKcWkU6KDE6206es7hV7XqsU2m0c7PH3OKhdJc_ssQILwuDCYXVFxb3WCk-4pUVg8PSwFQgBos8a2kI_K8X9SHzq75hlslJ7f4-lKCCbQXulFMGFJhiQJTISRjzIasialZUtcHNVeGS_VesxxLP5sLPwqdwyhCnvBM6WYvDT4BJfSvl66iznoC_NMiWB_jKH9zfzMSSu7e2Nm6Lyzv-kGuG1Q-4AvdekX7J5NmeKboJbWIGPc0pn-PZuW62jQI9_Q4SuhSDhQHJSLsAmk-cHSiIzFKYIYDcoEiJgRDEIqWgPdAIduR8aXH4e8Niy77cvkxpIoe3sKYLlt482tqp3JaljU-WdUZbKgOGWhBylrGUjeOONzHWNziJZK36h7GvFzAFVI_eOCBsRercWmz09eZaHep9cqMpHb7sXW0B7pibOEuclg4T3XVComwZDGASEsvpMdbCOMnRldz9slSbuPY6AFyiYVYAonkU2NxJjYJeoPshObPdCpYIObFnMXdxSdo7l0PTMTL89_0bPMialU_3IeT4FjIHVr9qmpRjzQWblzJJRsgDo90t0OjpXAx1qMmbpwt7Cc0Bh4zY56UT_HPcraNEBOoT_CZuftHcbhDRO9teZC9k__FgUckN7s6uTAWhU8m6sARJtS2vTi_u5I3zUNCQiW_dzg6n8DZWHP76hZ9m6UqvJAg9zc2mTMQUdISMVPDijzG5ty37xh-m2U38n-tAtt6QLujvSH46LZUs0gahVdGB7dCUbtMFWUGO-cdV8Y-YWWcCHHaohOiwPq7eBfcpaDbAsZLz-12A38AvSfj4x7REQDKwYWT-veLzIGn5QiheQi6lQH4cBuAZIGS5v2dD22bsg8t-ulA7fEvNfD-9ztYAa-lsRWk3jMVBpG7Wp7W6diNa839Qhl4fJd5tEXs46tGlX4EevpCNhpDIFqwrGfV0tv_0RwcL_QIAnNd1SY82U2jr5UxrX2ynl0iRGvi2uMpcNRZcJg6W7lDsV2unBUGPAnxeFMP8oKXxAt-d-fuo65RH8L7Dn1AvmtvFxir8gswEF_4p3pYhZl6x7JThBC2aZFhzudY_zzLpN24oBAzNBllDNuDj4erbXR8VgpPHX9Qbmj1a9aDp9HFWVkxYsjmOwhnkKsN2DrL_TvMWUYFrzBFIiBACmQd9C6jMlscnT8HPBeNbAVL30sksrlYX4uZNy7-ae7wfzGQQvVzjxBqr6B4jGNOR59lF5TxSP8y6onBLOvAXiH7BLgDJJdVkr7wHA_Pxbq7xesKbb9YEF9qIcGqAY9Zoc-4KpjS21mpTY-9mPYOi9A4pPXPCoEBUJq9dk-kAbzfn162bxDHqr2RO6VPAbVUXBMYNYo0_1OybXC4LxSq8e_pFlTF-jJOLi6VN5mbFVv41QtTG9CarhDzXCUl3gEO4gb0yJxvMiJBHT7gPBfglPj8sBNqCJN9volEAtOoIEsym50pjVUk35sRF583hYbWbWuDbov33YBO06w1lgo1MgkmiQ4GX8zgZRADxCbHXJMUXsOLhWxEZG74c_Jy1DMYM5Kh6L6BH1eG33_-3sdEr4hkOMtc_5V-zSGK5xVpD5QsZ3oZNCXdw2CbFadl4McaKWlOj5SR6enbVDXV-1fIfuurQLC11C0U1qXTdTKB1iSZPoQwEEcrj3JxqQCk7jlQQlTzo_i7XJzIrxUMbsaF3up1buRjS5gILb4pfrFlbZx5LdaayUPrIZswQuEaA9wBj5B1PS7yRVcSSRqUfA5ekvr9Irzc3ilYqqv0CfE94FCcYsppP0wFmxraLQ3-9S3zvRn59bHKojIxzC-g71axEPUU4h-G5zg6bn7lEnua48z7PrNcU3Mc5EmddKhtlJQL4_2tEeENcRfSnBUtAmh_UWCs03Yu7Zkpm4xdKUil-xxaED-jzGK7tLsAS0SXqGrT-9L3P1D-OJlDKuJknfpPb2Do4sy846rOYpHynqof0xcw6AOomWo8ZMvAe0aCIm2E0E2eIs0_RJHCDn2LcQmj8h4NrPmPBZ2g20qSkAN02ZGS2kJ13VbO7lxOISUUyX5iZ5k3KarOlcB88KgRbYfG7GXPF62iWUw37ytUMjfvcoO6PhJ-ejNC7_xcprR0c7mAZR6OYGiRuxpkEAsTHtBP-ou5rcxgCiuFqH_XvJtqV0IGwZkFxF6O5J-d0NXvWvIviVJne1jxuhrAjB-vWireF3qPLE2Wm5XkmxIYrcEO8NuTE5gHU3b-4gDTm3QtPJUpv7fhck_7a7FoWAzCKP4VS0JfcUtVuO8Aewrt-JLURffgIkQyF7aMyGFeZP4S6HE-t-RgkODrXF0K5oRXZTRIilwTwhE5oFhaBuBTyBLTAcGpTtCvVdGMohA9yHPcaTEGCoWrInqhhcTw2lvnkFwMfGd6U6QwF9RYrwCnuZJclYcV-1hkz5j32HXWFytwDikb1G3_lAnebF2x-ilWY1M18CMjWHYuzCSiHBgkWuZjd5GPCqYtVGevYW3exsRSE8vMPp706-khUt45_Bpy6w6pFGz8P7h7pR-LkR_v5m7qkQKNfMfgTIFJr7A5CqdgVgusUNtoKNDu6rmHDhhzf04x_z8XzSezhak4ne72nlX6RlstGXksZ5R3eK1rdsMksomafm0uaTLB-xlYMngEI_GgT55Uz0SFLb778MulUWoiMawQ5VYFDFd1uasmwFwAWyyWVsXQ==",
  "id": "rs_0381e540c0bc1714016ab44c8b7f9087d0b32a1782ac1eaff4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.28,\"left_z\":0.04,\"right_x\":0.47,\"right_y\":0.22,\"right_z\":0.08,\"right_gripper\":0.0},\"note\":\"The teddy compressed out of the closing jaws, but it remains directly in front of the left gripper with the safe straight ahead, so I’ll sweep it along the tabletop into the compartment. At the same time, I’ll move the right gripper beyond the yellow ball and close it into a compact pusher for the next sweep.\"}",
  "call_id": "call_ig6Ebc9cNLUFSwQ0xopv0r6W",
  "id": "fc_0381e540c0bc1714016ab44c8edf0487d0be8c798594655e70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ig6Ebc9cNLUFSwQ0xopv0r6W",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8486, 2.0125, 1.351, -0.9283, -0.4393, -0.9714, 0.0185, 0.6201, 2.0006, 1.1503, 0.1081, 0.7654, -0.5014, 0.0109]\nstate[eef_state]: left_x=0.296 left_y=-0.2169 left_z=0.0178 left_yaw=0.3335 left_pitch=-0.6085 left_roll=0.3217 left_gripper=0.0185 right_x=0.4616 right_y=0.1836 right_z=0.0741 right_yaw=0.2078 right_pitch=-0.1656 right_roll=-0.8739 right_gripper=0.0109\nstate[joint_eff]: [-6.106, -9.1829, 11.959, 1.956, -0.4713, 0.3004, 0.5299, 4.0821, -7.4462, 9.4291, 1.9267, 0.2515, 0.0317, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a75219e9eb7c61465a36a3fd12140e76d94ceb23ca705acc5ef9ad2c0132472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02efa0d3b4d7f87b325aad9bc1574d89ebb14ecb714c9d15e999612702916629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2034e4660d5817a103da615db15b37b4c719dae297631ec2de60a4a9c0fb970c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 5.001 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 132 changed as sent

message 140 changed as sent

message 144 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0023, 0.9409, -1.0115, -0.1688, -0.2142, 0.9965, 1.4864, 2.4104, 1.7447, -1.1282, 1.1213, 0.836, 0.9945]\nstate[eef_state]: left_x=0.245 left_y=-0.002 left_z=0.1649 left_yaw=0.1304 left_pitch=-0.4663 left_roll=0.056 left_gripper=0.9965 right_x=0.1898 right_y=0.3989 right_z=0.0412 right_yaw=0.2783 right_pitch=-0.0666 right_roll=-0.8395 right_gripper=0.9945\nstate[joint_eff]: [-0.0068, -2.1402, 6.3385, 1.1746, -0.1832, -0.0317, -0.0122, 1.1145, -8.6632, 5.4906, 0.105, 0.105, 0.0659, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1179, 1.5017, 0.7269, -0.7139, -0.4911, -1.1679, 0.0165, 0.8116, 1.0176, 0.6205, -0.3832, 0.8749, -0.358, 0.9953]\nstate[eef_state]: left_x=0.1819 left_y=-0.1752 left_z=0.0219 left_yaw=0.1418 left_pitch=-0.5001 left_roll=0.1319 left_gripper=0.0165 right_x=0.2753 right_y=0.0983 right_z=0.1684 right_yaw=0.2563 right_pitch=-0.1043 right_roll=-0.8466 right_gripper=0.9953\nstate[joint_eff]: [0.1846, -6.2154, 5.2581, 0.5104, -0.2271, 0.0464, 0.6862, -0.0615, -2.6735, 6.9538, 1.4774, 0.4274, 0.1587, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8486, 2.0125, 1.351, -0.9283, -0.4393, -0.9714, 0.0185, 0.6201, 2.0006, 1.1503, 0.1081, 0.7654, -0.5014, 0.0109]\nstate[eef_state]: left_x=0.296 left_y=-0.2169 left_z=0.0178 left_yaw=0.3335 left_pitch=-0.6085 left_roll=0.3217 left_gripper=0.0185 right_x=0.4616 right_y=0.1836 right_z=0.0741 right_yaw=0.2078 right_pitch=-0.1656 right_roll=-0.8739 right_gripper=0.0109\nstate[joint_eff]: [-6.106, -9.1829, 11.959, 1.956, -0.4713, 0.3004, 0.5299, 4.0821, -7.4462, 9.4291, 1.9267, 0.2515, 0.0317, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a75219e9eb7c61465a36a3fd12140e76d94ceb23ca705acc5ef9ad2c0132472",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02efa0d3b4d7f87b325aad9bc1574d89ebb14ecb714c9d15e999612702916629",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2034e4660d5817a103da615db15b37b4c719dae297631ec2de60a4a9c0fb970c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEyVl00zB0in7eJT4jBbAwF5HjuWDIJXsTgS28jDzXgcve2mEKa-qIOo5XK1ogoMFi2m0ynH-jgCrP2D7G3uY63c0lD9JA6OF4hSCTSOP-PzM19kpCHselfN2sh-b2dMHjtowkFBAoC5ghKJI-vjwuhADJYlZC5Z14DTAejJJWpQsikDUg90l4WD-Qjd4IEnwh1nj5VAndG8R7B1kXVXndXhPUSLoWAT-GiCiVUoPruRAOQX19Zr6kkvNd05dhGHKvkvz4mOdNZ1WJYg41GXKAz2Mm7GdWJ2PINSfLrNda_9UNHo2RJnw-IXAW8KdIikwK9rHS_DhcKKc1Ea8C6WCdE2Qsq1B37W5u__brIaBfV09p2xE2rMjatwXapdFdvq4Kx8sG2jng1JAtUsxNROb4yY51cxWOIQzz5AUNjlwqKqhjKeYyP5hbP5NH895Ibn_13fkC5YQNxsU9WLdT7ODCTXG5WtoS--wv9WMdfuU4nPaM382Ad2uGANQcAi1ay2QoQOfCSYmh8JrKwE8qNeL6P80T5fZKxha7cJ6BD8rIDgRvz8p4f_2wPKMvl6oQzbdoRJQYPXDDJVCCX-WzoQOyJ9z2SYLfiYyeT0u4-EFOpBYVxFtK71ZDTaUoeRHdSTRAOMNnfm2HteGPJ-fRbk7StLXIVfqSAsHlfqfECsiXjaZ7jFZUj6KApLMbqvFsn6bAc59wJHcuVYiJa88Cxj0LcdCoOFBwvef-AaXoNgzAyRNlQZrLU6XXIG4t3rUVORJXr13QFdw37p3sI80nWn8RVv1zGezrCVZzaFdGYncfL2kjpiA2SlgNh0YWhc7eZ3k-oh3n0f4kMBT7X7bk268fGTevAfM4algFrVgq9-N9hsr1qB8s4lSSIc9ez-T9WZCm6dPwbxlZO3Ju4eqAtwVse1ZzggwZLA92Hih0nLB_cgvrvxEPe6mJJ6kCDqcTWxDO_f5tKC1vl0GcuKYpkQdJ9cwpgz2vpcebZGjDabEdmrpDi33Gpzo6_WDpPpZ7RyJWCvO1ROdrCR6aaoQl-I8dma2oPoy-hZwQ9e8f1Y_XBtEnaSlf4yISG0I_a8cE93PeitKQNQE0EPytAcywEw84hqKND-p0BE1k7-6TXMoE5CR6Q7JNPuiC-NdoWLU27HTcAqAeARQl2yQcnqskFkQlm8sGUYZdUvbrHMcdmbsJblTIw08JlIPMtWIc3Q7g0Ex7jJPZ9R_70VV-SAwTMmbobpSnFQ-qkkLO7-K7oolno4bNaDsob0YCEj-onK1TDAEmGXf1OPTpN7LSMA9-fV-tfXM9VAlgRN_eHUQ71kk9ux4173qI2vWkxmXO8l2jR4S11Bvo4Zl4yHI-tosn-uMqrrD43SJQCjqRNJ_7pKUj6NgxVsWib3WmHGCWVUL7RM5L-uMM0tIjMpH0AFCQFK4_AHNc55sEV0r_Uq4dlTOfSTQ-OGmN9UryqZRr59HhB-iQuhhzYhMHElNmPiMmjMNVQVjTOo9RCgRFpu9DL_fAqmZrGTM8nm510_ndj1YWzZmcIYPll7YRvkLao98P8d5-3rFDwIB0NgHxXEMHbHCPm8wisU5ufofnfW9xxS0xZd5iZgET5vLWsN-q3QUmxJfT7EpCC8ATHV09VR6nc9sjwlHvNjNbqEBPeuzGfss4kjfS4aT_b7CM2DMO9PeY2dAhiF8EsOo3TRgDqvZD6OsVMXRSsHHdo4NI5x-B_aURLeKxE-6ShZ2FJkZ0d3jABIt-rqJY57z2WjsbdFpkij03gAK9YV74DUQNi8ccGoA7uKEh3E8uMNnT4cFr_X6ipU2-Em0Ypx1ZaT2AwE-yIhSyNZ32ATxrhdCM387uq5Xm3sMg6-DbJQ9N56GXc66aDhxnE31nCoUv9iMqb-fpMmV8puKsnzVStXf3-q3DlFPg9FWWCyy68J4Bwply507lx4USpzGITStPJ9sxW07C_TUBwaq8qhe_J0zO5-K9hUF2NEvNewp2WwnshLdbLloMys5_XGYg4RD7L42VXXB7_wohgodSRU3E-6TrRqyn75NcbZdlVIXXHp2WLVeJsVSAMdy5AA2tF_eS45LNyKcDx3rYRahI0NcXpHF330_gCv9GQizEwICrDIuuzPRIh1FUQEB9S9Ce37M7H8ZrK-fCLac-hYKjpF-3G6FtD4-doEMAprkvbl",
  "id": "rs_0381e540c0bc1714016ab44c92f53487d0ad2fa1bfbfb8f662",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.29,\"left_z\":0.03,\"right_x\":0.48,\"right_y\":0.25,\"right_z\":0.04},\"note\":\"The left sweep has moved the teddy up to the safe’s near rim, so I’ll continue a short distance into the red compartment. The right gripper is radially beyond the ball but laterally to its right; I’ll shift left to line the closed jaw tip up behind it.\"}",
  "call_id": "call_nKPAWxTUX96OR3h7aqPMAENK",
  "id": "fc_0381e540c0bc1714016ab44c94c59087d08041d69c3ca618da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nKPAWxTUX96OR3h7aqPMAENK",
  "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]: [-0.7567, 2.0949, 1.4281, -1.0992, -0.4389, -0.981, 0.0215, 0.6285, 2.188, 1.3586, -0.0147, 0.8043, -0.4389, 0.0129]\nstate[eef_state]: left_x=0.2989 left_y=-0.1741 left_z=0.0108 left_yaw=0.555 left_pitch=-0.663 left_roll=0.5249 left_gripper=0.0215 right_x=0.4857 right_y=0.2001 right_z=0.0433 right_yaw=0.1531 right_pitch=-0.219 right_roll=-0.896 right_gripper=0.0129\nstate[joint_eff]: [-8.8684, -10.4684, 9.4838, 1.2527, -0.3736, -0.1343, 0.3004, 7.1179, -7.2547, 9.9487, 1.7265, 0.569, 0.2613, 0.486]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c28cd03b07287031723834965fa2e1a62b80be843b52705afa01bc1d694706e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8373f79f524a66afdbbdb4146d0637c49e22abbfaf296eb7dbe0f8f64e91400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b8d4a396684c625a8f44a112f98c9fa797ad86bca08cb4ccb6708a9db64cef",
      "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 · 7.328 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 136 changed as sent

message 144 changed as sent

message 148 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1145, 1.4891, 0.7254, -0.7063, -0.4881, -1.1648, 0.9984, 0.8135, 1.0149, 0.622, -0.3702, 0.8925, -0.3416, 0.9953]\nstate[eef_state]: left_x=0.1831 left_y=-0.1769 left_z=0.0242 left_yaw=0.1328 left_pitch=-0.4973 left_roll=0.1122 left_gripper=0.9984 right_x=0.2765 right_y=0.0975 right_z=0.173 right_yaw=0.2395 right_pitch=-0.0766 right_roll=-0.8346 right_gripper=0.9953\nstate[joint_eff]: [-0.2803, -5.0393, 7.788, 0.6813, -0.4322, -0.1245, -0.1734, -0.0752, -2.4957, 6.8171, 1.6923, 0.2564, -0.0317, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8486, 2.0125, 1.351, -0.9283, -0.4393, -0.9714, 0.0185, 0.6201, 2.0006, 1.1503, 0.1081, 0.7654, -0.5014, 0.0109]\nstate[eef_state]: left_x=0.296 left_y=-0.2169 left_z=0.0178 left_yaw=0.3335 left_pitch=-0.6085 left_roll=0.3217 left_gripper=0.0185 right_x=0.4616 right_y=0.1836 right_z=0.0741 right_yaw=0.2078 right_pitch=-0.1656 right_roll=-0.8739 right_gripper=0.0109\nstate[joint_eff]: [-6.106, -9.1829, 11.959, 1.956, -0.4713, 0.3004, 0.5299, 4.0821, -7.4462, 9.4291, 1.9267, 0.2515, 0.0317, 0.9695]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7567, 2.0949, 1.4281, -1.0992, -0.4389, -0.981, 0.0215, 0.6285, 2.188, 1.3586, -0.0147, 0.8043, -0.4389, 0.0129]\nstate[eef_state]: left_x=0.2989 left_y=-0.1741 left_z=0.0108 left_yaw=0.555 left_pitch=-0.663 left_roll=0.5249 left_gripper=0.0215 right_x=0.4857 right_y=0.2001 right_z=0.0433 right_yaw=0.1531 right_pitch=-0.219 right_roll=-0.896 right_gripper=0.0129\nstate[joint_eff]: [-8.8684, -10.4684, 9.4838, 1.2527, -0.3736, -0.1343, 0.3004, 7.1179, -7.2547, 9.9487, 1.7265, 0.569, 0.2613, 0.486]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c28cd03b07287031723834965fa2e1a62b80be843b52705afa01bc1d694706e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8373f79f524a66afdbbdb4146d0637c49e22abbfaf296eb7dbe0f8f64e91400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b8d4a396684c625a8f44a112f98c9fa797ad86bca08cb4ccb6708a9db64cef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEybpf7Bugcoo8Vp3ZwNgdtXWMvKlNOhEEKjfhkC5RLfbEE9PYRgA5q2njHP8LEoUKbIKoslERg3t_2C6WY1xTSYhaq2JucyftHt1gbIodAjm0SAWgjgJQ_V2PCazXNz1eglLiV0Jd0IXG9L3aMm1ikWjunBL_MQVfklxEijDmKUB0ZE3fGF5yzPJHLpFEreOB7B5ErA0CDKQX9k9rzdp2qYAWewftumDkTwBS0qJqb2xCroSzJ6eyDNqHjVWhKh1VLJON-2e5H-GUkdCEYCX2Jx8g1We2FW1XUqDSP9D1_4KN1vcA_PF-1vuxQ_4jmcgEqQ18KZdtRzLw74qvbuDGRq9c3ZcW14GAWSQ5W39tKbUpsdvW8NsZs_yFOfH6IPyNpyrlb7MuK2l6p1jDzMSIJQDdYqRHlMiCx8mwQgsnTgMr_zo02pC9IeStCiRbKvtaMPwEc48pZKiiXIHbq1F5rq-I4SS9x1y3nVaZNvnlpYWjBqDXvEwYTSM1qAtnRgV0yoxXRMUle4LkmsfyfcsDgIv6XTty0W9mpg-F0N29kTZawIQB6f9mSQE-jb-GhC220jwsUL3c29JWI0BgGNz_B2cYv4a3-K2bfpq3jLnTDuBEndywzBr2mmp5WM31Z4myGBAh2-k1GuNqJC4cdTNbBRl-0E8_DHvdeBrR853NVCmNFoeb9M1tQ2ZO--ko67Tn_TyL9Ge3of7X3FUPzKcdd7bwubKpsgPbPoGsfjMgXhqFGmS12afm9d8aoIUGes-cIBl_xFRIaE9IWJiIKLrBOIKmV1L6HT0AxLymASsJ0LfCKH4ytBt-1x-ZPC5enaTFlVufKQ87THExQvgs773_jtm6pXIIMOMNAW7GqueOO1474Oeiucn6c0vPzr3N0Mu4Bezu_BKpk5Qe9Xrku0i6tdvCiz2ySYXaA9-0s4AxH4E4z68mOXj1FMH3X0h7eVoQmNV4MDlx5QcF5r3eO3i6RgaHSpLbBIa42s9TwlhRjEqt8p06WQOkFUNm0fUlF-B9uy_Z5vkCXQP5Un9WsGEHwrHX4Ax52MSsrLp7mCx4zgFLYAI8Cfp7oPFoW2VoCBWOje9JBcvkMHE_zfaR5h1wjvhfM3BiJy-oJbFBQzDmCliFA9JalBy1Gcnu-gGlZJUhhWR60GHpbT9b3cIEuRHEjEolBfiaq03XOmnIa3CNrXTOeRYqe-bwm_YDeLkWB-QVQ-62l04Lq8pBQ4YMRk_NYNUp9gLXFri6kHjzSuqEbbQFpvt8Uzkw_OijO5_4muTR-vq93K9NWPkzq_HNCE44EbsmxMgJDOXe7uyt1M8NyFPXkmJiI7qlzfpNxkyKyvW7_3uDs2YtGDbCAIq-c3t6EEWBIPwTuaEFb3SeReFwS83cpfs8v1-tIZAmCEoHVfeSykQq3DlUlnyFHJXzn5NU4SrkFjbKeQqI223fyK09ZsZXajRVC6c-sqU8h_DfVPVUiNyuQzY5NMGeNbOtfWLlDqL1t50lqWAFTDbNsA2OINCh7HxEpohHdQvn4EpcvvBxIKnNrskQoPHcd4UgDGaBVni-zCUeQamIEZQPN7b83znsO5FQUi2ojNwDpCYwNCLDRYcNgyoyeZuKGh24oOGUZr-JLIBLkqz2obLXeOy-HGOXGicBVlaqxAHWRKBqdTS7dolsy3V3ZDveJDaX8PnLQUgtDdGp4k-1atPibHBuwh591Hw7H-Di7vSE3GzGyop0qOYP0fYwpizIF6Nc1w_LwwpPYBV0dQprSVydbjdRbEftu7mwNj5N1UWCVDlUVzh4cF5QSykMSi1yNkLdgDcfEKdelaA-E1zChGDdALfsvXkwq5UgK8fXGLh6DybrNRZTgZXykuY3YZa3onj0B35v8U-UtwxR2FBcFqIu3WpWqQ5ixYZbMIJWkMewehioxHr_qzgs9qWZmAbQc3OqDqR1jUutj7XzNi-Cw0dJN2NyS-5CiVxxcH0VwiKktS8KB6ws8VN3rinXg_LUlje26R-z0YD0FMiPazLPLlo3Yw3Gclfn0DMlFejN23dUhcgRZ3tdj83TZsYt-b2IyqR3MAPg44KStenu8uOWumELS00SD711c5Isgdv71Ll9anLBBb0aTVipfWwOIxakWTKFuBCCQKDQY5a13YCL4V9Zc94YE66ruyosq98C4nIvdeSFYLPTnMmeJyPmpX7AID34szv0cmz9lx53gt1xjomgRA05m7qIn6bMuZTtlvmLM3w9AYR7lUaXNiueMRGHZUfORp2UyAkrc27aDLpIDkc33r6ZpiPY-0WMlQHkmWCwe2wC_nMzjf6AEA0btK7NNqJnzFf0jIz5FO7uzE7KtpgmwcsfBnsXzG2aA2BDu5ReVPgSmHqfUK_Vn1-iAMeyPstTljXmb8N7CAzGwhQZmi4tfcXCD6QvVnLguOA5xeSpw6Wqpq2kYW19V35d3Ttj28z3HCR92eAgYP65eK1fKpz_3UOKBl2rg=",
  "id": "rs_0381e540c0bc1714016ab44c97ce7487d0b7d5733f4ec431cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.3,\"left_z\":0.05,\"right_x\":0.34,\"right_y\":0.34,\"right_z\":0.04},\"note\":\"Both remaining objects are immediately outside the safe: the teddy at the near rim and the ball ahead-left of the right jaw. I’ll make coordinated low sweeps toward the compartment center, raising the left tip slightly to get the teddy over the rim while the right tip rolls the ball diagonally inward.\"}",
  "call_id": "call_2KUXUS3LuNrXQT5mLUBJxf6W",
  "id": "fc_0381e540c0bc1714016ab44c9a711487d0aeb4d82f79ed73dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2KUXUS3LuNrXQT5mLUBJxf6W",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7349, 2.4969, 2.1555, -1.6997, -0.4385, -1.1465, 0.0237, 0.4797, 2.2898, 1.6115, -0.6594, 0.944, 0.1604, 0.0154]\nstate[eef_state]: left_x=0.3327 left_y=-0.1948 left_z=0.0404 left_yaw=0.8782 left_pitch=-0.6365 left_roll=0.7865 left_gripper=0.0237 right_x=0.4745 right_y=0.0896 right_z=0.0348 right_yaw=-0.3891 right_pitch=-0.2752 right_roll=-0.8674 right_gripper=0.0154\nstate[joint_eff]: [-13.1624, -11.0017, 12.8342, 0.6618, -0.5153, 0.0513, 0.2125, 17.5932, -9.3744, 8.8957, 0.7546, 1.199, 0.2369, 0.525]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660471d71144c917f1f86ec837fe7b160cf03d8da17367efbe3d06dc8d567f0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c8e1a32b3aedfb46144e9c9de514d9af7c1c4d4a0f8520dcafc4c01e5f159b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f416634e7b90e4d9946e48a9b9b1c13deb54186121d74c1c860892aa9da571f",
      "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 · 9.931 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 148 changed as sent

message 152 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1179, 1.5017, 0.7269, -0.7139, -0.4911, -1.1679, 0.0165, 0.8116, 1.0176, 0.6205, -0.3832, 0.8749, -0.358, 0.9953]\nstate[eef_state]: left_x=0.1819 left_y=-0.1752 left_z=0.0219 left_yaw=0.1418 left_pitch=-0.5001 left_roll=0.1319 left_gripper=0.0165 right_x=0.2753 right_y=0.0983 right_z=0.1684 right_yaw=0.2563 right_pitch=-0.1043 right_roll=-0.8466 right_gripper=0.9953\nstate[joint_eff]: [0.1846, -6.2154, 5.2581, 0.5104, -0.2271, 0.0464, 0.6862, -0.0615, -2.6735, 6.9538, 1.4774, 0.4274, 0.1587, -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 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7567, 2.0949, 1.4281, -1.0992, -0.4389, -0.981, 0.0215, 0.6285, 2.188, 1.3586, -0.0147, 0.8043, -0.4389, 0.0129]\nstate[eef_state]: left_x=0.2989 left_y=-0.1741 left_z=0.0108 left_yaw=0.555 left_pitch=-0.663 left_roll=0.5249 left_gripper=0.0215 right_x=0.4857 right_y=0.2001 right_z=0.0433 right_yaw=0.1531 right_pitch=-0.219 right_roll=-0.896 right_gripper=0.0129\nstate[joint_eff]: [-8.8684, -10.4684, 9.4838, 1.2527, -0.3736, -0.1343, 0.3004, 7.1179, -7.2547, 9.9487, 1.7265, 0.569, 0.2613, 0.486]\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]: [-0.7349, 2.4969, 2.1555, -1.6997, -0.4385, -1.1465, 0.0237, 0.4797, 2.2898, 1.6115, -0.6594, 0.944, 0.1604, 0.0154]\nstate[eef_state]: left_x=0.3327 left_y=-0.1948 left_z=0.0404 left_yaw=0.8782 left_pitch=-0.6365 left_roll=0.7865 left_gripper=0.0237 right_x=0.4745 right_y=0.0896 right_z=0.0348 right_yaw=-0.3891 right_pitch=-0.2752 right_roll=-0.8674 right_gripper=0.0154\nstate[joint_eff]: [-13.1624, -11.0017, 12.8342, 0.6618, -0.5153, 0.0513, 0.2125, 17.5932, -9.3744, 8.8957, 0.7546, 1.199, 0.2369, 0.525]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660471d71144c917f1f86ec837fe7b160cf03d8da17367efbe3d06dc8d567f0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c8e1a32b3aedfb46144e9c9de514d9af7c1c4d4a0f8520dcafc4c01e5f159b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f416634e7b90e4d9946e48a9b9b1c13deb54186121d74c1c860892aa9da571f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0381e540c0bc1714016ab44c9e894087d0a405d8acf5759ab1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.3,\"left_z\":0.1,\"right_x\":0.28,\"right_y\":0.05,\"right_z\":0.18},\"note\":\"The yellow ball is no longer visible outside the safe after the sweep, while the teddy is still caught at the near rim. I’ll lift the left pusher as it continues inward to roll the soft teddy over the raised edge, and retract the right arm to clear the lid area.\"}",
  "call_id": "call_Q6dWvkDzPtvSI4zAUUwZIce1",
  "id": "fc_0381e540c0bc1714016ab44ca2a38887d0bc363fa277bbb213",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q6dWvkDzPtvSI4zAUUwZIce1",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8371, 2.3638, 1.9213, -1.5852, -0.4, -1.2579, 0.0259, 0.5961, 1.6005, 1.1591, -1.2846, 0.9459, 0.4942, 0.0181]\nstate[eef_state]: left_x=0.2896 left_y=-0.2131 left_z=0.038 left_yaw=0.8406 left_pitch=-0.6299 left_roll=0.713 left_gripper=0.0259 right_x=0.2836 right_y=0.0236 right_z=0.1544 right_yaw=-0.4979 right_pitch=-0.3447 right_roll=-0.9656 right_gripper=0.0181\nstate[joint_eff]: [-1.5932, -7.4462, 7.1453, -1.1746, -0.6032, -0.1001, 0.2125, 7.0769, -11.453, 7.6786, 0.7057, 0.9304, 0.0855, 0.2808]\napprover: 11 step(s) modified (delta_clamped ×11).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd6b0169223749a66ee0ad8e77240eada2a657c7d9413713e14fdf0d6aa19588",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4933611abd1b823759b2c60487f0fa6b65c4a81dc2fb671a3e2fd94a69eff85e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17c55f0f6090b0537501efc93ee732f768d8f4a0dd1c982fbca6d5f3666939d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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