adhoc

completed
2026-09-23T21:27:13.889251+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
178.2 s
total steps
356
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe open red safe is near the center, with a white plush beside its left wall, a brown plush in front, and a yellow object behind/right. The left wrist camera already has the white plush centered on the jaw column, so I am advancing slightly and lowering above it for a grasp.
move_to
left_x0.3200left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7921, 0.6033, -0.3935, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6052, -0.3973, -0.0196, -0.0124, 0.9996] state[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1774 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.177 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.3607, 10.2496, 2.0244, -0.0562, 0.1538, -0.0855, -0.3487, -1.4974, 9.8803, 1.9805, -0.0708, -0.0562, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_z":0.1,"left_gripper":1.0},"note":"The open red safe is near the center, with a white plush beside its left wall, a brown plush in front, and a yellow object behind/right. The left wrist camera already has the white plush centered on the jaw column, so I am advancing slightly and lowering above it for a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe white plush now fills the lower center of the left wrist view and lies between the jaw sides, indicating the grasp point is over its body. I am descending to mid-body height before closing.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 1.0088, 0.3809, -0.0772, -0.0189, -0.0349, 0.9993, -0.0212, 0.8001, 0.6064, -0.4286, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3009 left_y=0.0012 left_z=0.0803 left_yaw=0.0002 left_pitch=-0.1228 left_roll=0.0015 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1694 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9995 state[joint_eff]: [0.1709, -3.2889, 6.8855, 2.044, -0.0659, -0.0122, -0.0904, -0.0889, -1.7573, 6.9265, 2.1026, -0.0366, -0.0513, -0.0171] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"The white plush now fills the lower center of the left wrist view and lies between the jaw sides, indicating the grasp point is over its body. I am descending to mid-body height before closing."})
tool
executing move_to over 4 steps (0.4s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteAfter the descent, the white plush is clearly to the right of the jaw column rather than centered, so closing now would miss or catch only an edge. I am lifting slightly and shifting the left gripper about 4 cm toward the plush.
move_to
left_y-0.0400left_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 1.216, 0.2291, 0.1837, -0.0189, -0.038, 0.9992, -0.0208, 0.8024, 0.6056, -0.4522, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.2849 left_y=0.0015 left_z=0.0109 left_yaw=0.0023 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.1638 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0019 right_gripper=0.9995 state[joint_eff]: [-0.1709, -4.0957, 5.9966, 2.127, -0.0366, 0.0073, -0.0171, -0.0889, -1.3607, 7.0906, 1.9414, -0.0464, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.04,"left_z":0.06},"note":"After the descent, the white plush is clearly to the right of the jaw column rather than centered, so closing now would miss or catch only an edge. I am lifting slightly and shifting the left gripper about 4 cm toward the plush."})
tool
executing move_to over 4 steps (0.4s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe arm did not track the lateral correction or lift while low, indicating the near-table pose is kinematically stalled rather than a useful contact. I am first raising and slightly reducing reach to free the arm before realigning.
move_to
left_z0.1300left_x0.2700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 1.2396, 0.2146, 0.2771, -0.0193, -0.0383, 0.9992, -0.0212, 0.8055, 0.6056, -0.4767, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.0158 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.2817 right_y=0.0012 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9995 state[joint_eff]: [-0.0615, -3.453, 5.8325, 1.8632, -0.0757, -0.0415, -0.0122, -0.0752, -1.0462, 6.9402, 2.044, -0.0806, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13,"left_x":0.27},"note":"The arm did not track the lateral correction or lift while low, indicating the near-table pose is kinematically stalled rather than a useful contact. I am first raising and slightly reducing reach to free the arm before realigning."})
tool
executing move_to over 8 steps (0.8s)
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 arm is still only a few centimetres above the table and has not followed the intended lift, so I am using the rig's recovery strategy: substantially reduce forward reach while commanding a high clearance pose.
move_to
left_x0.1800left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 1.1389, 0.2871, 0.1295, -0.0193, -0.0406, 0.9992, -0.0212, 0.8078, 0.6056, -0.4999, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.3013 left_y=0.0013 left_z=0.044 left_yaw=0.0038 left_pitch=-0.14 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2781 right_y=0.0012 right_z=0.1532 right_yaw=0.0003 right_pitch=-0.1163 right_roll=0.003 right_gripper=0.9995 state[joint_eff]: [-0.4444, -4.2051, 11.9043, 2.801, -0.0611, -0.0122, -0.0122, -0.0205, -0.9778, 6.9402, 1.8339, -0.0171, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.18,"left_z":0.22},"note":"The arm is still only a few centimetres above the table and has not followed the intended lift, so I am using the rig's recovery strategy: substantially reduce forward reach while commanding a high clearance pose."})
tool
executing move_to over 12 steps (1.2s)
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 recovery succeeded, and the white plush is now centered in the left wrist view with clear space below it. I am advancing about 4 cm and lowering to a stable hover, keeping the good lateral alignment.
move_to
left_x0.2300left_z0.1200left_y-0.0050
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0608, 0.5034, 0.8177, -1.026, -0.0399, -0.0692, 0.9992, -0.0212, 0.8108, 0.6037, -0.5236, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.1903 left_y=-0.0009 left_z=0.2113 left_yaw=-0.005 left_pitch=-0.1288 left_roll=-0.0108 left_gripper=0.9992 right_x=0.2741 right_y=0.0013 right_z=0.1472 right_yaw=0.0 right_pitch=-0.1449 right_roll=0.0034 right_gripper=0.9995 state[joint_eff]: [-0.4444, 1.4291, 7.9248, 1.7167, -0.1636, -0.0659, -0.0122, -0.0752, -1.1556, 7.0496, 1.8388, -0.0611, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.23,"left_z":0.12,"left_y":-0.005},"note":"The recovery succeeded, and the white plush is now centered in the left wrist view with clear space below it. I am advancing about 4 cm and lowering to a stable hover, keeping the good lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteAt the hover, the plush body is slightly right of the jaw column, while its radial position is now close. I am making a 3 cm lateral correction at safe height before descending.
move_to
left_y-0.0350left_x0.2200left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.527, 0.4557, -0.7242, -0.049, -0.0834, 0.9992, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2134 left_y=-0.0033 left_z=0.1112 left_yaw=-0.0006 left_pitch=-0.2121 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=0.0001 right_pitch=-0.1773 right_roll=0.0041 right_gripper=0.9995 state[joint_eff]: [-0.3487, 0.7179, 7.2137, 1.7949, -0.0904, -0.0366, -0.0122, -0.0342, -1.2786, 7.2, 1.8535, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.035,"left_x":0.22,"left_z":0.12},"note":"At the hover, the plush body is slightly right of the jaw column, while its radial position is now close. I am making a 3 cm lateral correction at safe height before descending."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe white plush is now centered laterally between the jaws, but its body still sits a few centimetres beyond the fingertip convergence point. I am advancing radially while lowering only to a controlled hover.
move_to
left_x0.2500left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3443, 0.6067, 0.4679, -0.7132, -0.1757, -0.2253, 0.9992, -0.0212, 0.8131, 0.6018, -0.5716, -0.0193, -0.012, 0.9995] state[eef_state]: left_x=0.2138 left_y=-0.0401 left_z=0.1045 left_yaw=-0.0815 left_pitch=-0.2524 left_roll=-0.0057 left_gripper=0.9992 right_x=0.2657 right_y=0.0014 right_z=0.1372 right_yaw=-0.0001 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995 state[joint_eff]: [0.3897, 0.1436, 9.6068, 1.5214, -0.398, -0.0366, -0.0122, -0.1162, -0.7863, 6.8991, 1.7118, -0.0073, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_z":0.09},"note":"The white plush is now centered laterally between the jaws, but its body still sits a few centimetres beyond the fingertip convergence point. I am advancing radially while lowering only to a controlled hover."})
tool
executing move_to over 3 steps (0.3s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe plush remains just ahead of the grasp point and slightly right, with the safe wall close on its other side. I am making one final small outward and rightward alignment while staying above the table.
move_to
left_x0.2700left_y-0.0400left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2642, 0.7948, 0.4538, -0.5922, -0.1635, -0.2142, 0.9992, -0.0212, 0.8173, 0.6018, -0.5945, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2319 left_y=-0.0292 left_z=0.0788 left_yaw=-0.012 left_pitch=-0.3335 left_roll=0.0137 left_gripper=0.9992 right_x=0.2618 right_y=0.0015 right_z=0.1322 right_yaw=0.0003 right_pitch=-0.2243 right_roll=0.0051 right_gripper=0.9995 state[joint_eff]: [0.1299, -2.7829, 6.9675, 1.7509, -0.0513, 0.149, -0.0122, -0.0342, -1.4427, 7.0222, 1.7851, -0.0513, -0.0317, -0.0073] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.04,"left_z":0.07},"note":"The plush remains just ahead of the grasp point and slightly right, with the safe wall close on its other side. I am making one final small outward and rightward alignment while staying above the table."})
tool
executing move_to over 3 steps (0.3s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe plush is still fully visible ahead of the fingertips, so the previous small move was not enough to put the grasp point over it. I am advancing another few centimetres while preserving the lateral alignment.
move_to
left_x0.3100left_y-0.0450left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.268, 0.8604, 0.4473, -0.5201, -0.1532, -0.2035, 0.9992, -0.0208, 0.8181, 0.6014, -0.6147, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2414 left_y=-0.0346 left_z=0.0723 left_yaw=-0.0309 left_pitch=-0.3356 left_roll=0.0121 left_gripper=0.9992 right_x=0.2581 right_y=0.0017 right_z=0.1285 right_yaw=0.0008 right_pitch=-0.2456 right_roll=0.0056 right_gripper=0.9995 state[joint_eff]: [-0.294, -1.3197, 6.5846, 1.4725, -0.2027, -0.1001, -0.0122, -0.0479, -0.6085, 6.8444, 1.6728, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.045,"left_z":0.07},"note":"The plush is still fully visible ahead of the fingertips, so the previous small move was not enough to put the grasp point over it. I am advancing another few centimetres while preserving the lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe arm did not track the extra reach at this low height, and the plush remains short of the fingertips. I am raising to a freer pose while keeping the outward target so the arm can extend before the next descent.
move_to
left_x0.3000left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.268, 0.86, 0.4473, -0.5198, -0.1619, -0.218, 0.9992, -0.0212, 0.8177, 0.6014, -0.635, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2418 left_y=-0.0331 left_z=0.0726 left_yaw=-0.0149 left_pitch=-0.333 left_roll=0.0098 left_gripper=0.9992 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.2654 right_roll=0.006 right_gripper=0.9995 state[joint_eff]: [-0.3761, -1.7983, 6.5709, 1.453, -0.2271, -0.0464, -0.0122, -0.0479, -1.0735, 6.7761, 1.6239, -0.0659, -0.0269, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_z":0.16},"note":"The arm did not track the extra reach at this low height, and the plush remains short of the fingertips. I am raising to a freer pose while keeping the outward target so the arm can extend before the next descent."})
tool
executing move_to over 6 steps (0.6s)
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 noteAt the higher extension, the arm reached correctly and the white plush is now centered directly ahead with its body near the jaw convergence. I am descending vertically to grasping height without changing the good horizontal pose.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1951, 1.0927, 0.8444, -0.6849, -0.1265, -0.1825, 0.9992, -0.0208, 0.8188, 0.601, -0.6579, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.2962 left_y=-0.0322 left_z=0.1473 left_yaw=0.0065 left_pitch=-0.3404 left_roll=0.0034 left_gripper=0.9992 right_x=0.25 right_y=0.0019 right_z=0.1211 right_yaw=0.0014 right_pitch=-0.2899 right_roll=0.0069 right_gripper=0.9995 state[joint_eff]: [0.6496, -2.1538, 6.8171, 0.9695, -0.0366, 0.232, -0.0122, -0.0479, -1.1419, 6.7761, 1.6239, -0.0659, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_z":0.04},"note":"At the higher extension, the arm reached correctly and the white plush is now centered directly ahead with its body near the jaw convergence. I am descending vertically to grasping height without changing the good horizontal pose."})
tool
executing move_to over 7 steps (0.7s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe white plush now extends into the fingertip region and its torso is between the jaw sides at table height. I am closing the gripper fully to secure 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]: [-0.1955, 1.2121, 0.4969, -0.2913, -0.1242, -0.1814, 0.9992, -0.0208, 0.82, 0.601, -0.6762, -0.02, -0.0116, 0.9995] state[eef_state]: left_x=0.2824 left_y=-0.03 left_z=0.0366 left_yaw=0.0092 left_pitch=-0.4125 left_roll=0.018 left_gripper=0.9992 right_x=0.2465 right_y=0.002 right_z=0.118 right_yaw=0.0013 right_pitch=-0.3093 right_roll=0.0076 right_gripper=0.9995 state[joint_eff]: [-0.0479, -3.6855, 6.2154, 1.5018, -0.1343, -0.0415, -0.0171, -0.0205, -1.1966, 6.9402, 1.58, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The white plush now extends into the fingertip region and its torso is between the jaw sides at table height. I am closing the gripper fully to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe gripper settled at 0.012, confirming an empty close; the jaws landed just behind/left of the plush. I am opening, lifting, and applying the prescribed outward retry with a small rightward correction.
move_to
left_gripper1.0000left_z0.1400left_x0.3200left_y-0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1955, 1.2266, 0.4763, -0.2962, -0.1242, -0.1879, 0.0119, -0.0208, 0.8211, 0.601, -0.6804, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.2736 left_y=-0.0282 left_z=0.0251 left_yaw=0.017 left_pitch=-0.4516 left_roll=0.0233 left_gripper=0.0119 right_x=0.2457 right_y=0.002 right_z=0.1171 right_yaw=0.0016 right_pitch=-0.3146 right_roll=0.0075 right_gripper=0.9995 state[joint_eff]: [-0.3624, -4.6701, 7.5692, 1.2479, -0.1148, 0.0269, 1.0183, -0.1573, -1.1282, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.14,"left_x":0.32,"left_y":-0.045},"note":"The gripper settled at 0.012, confirming an empty close; the jaws landed just behind/left of the plush. I am opening, lifting, and applying the prescribed outward retry with a small rightward correction."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe retry pose places the white plush squarely on the jaw column, with the safe wall immediately to its right. I am descending straight down for the second grasp attempt.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2245, 1.2919, 0.9512, -0.7334, -0.1276, -0.2245, 0.9953, -0.0212, 0.823, 0.601, -0.6937, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.313 left_y=-0.0447 left_z=0.125 left_yaw=0.0167 left_pitch=-0.4772 left_roll=0.013 left_gripper=0.9953 right_x=0.2431 right_y=0.002 right_z=0.1147 right_yaw=0.0013 right_pitch=-0.3299 right_roll=0.0078 right_gripper=0.9995 state[joint_eff]: [-0.4855, -4.3966, 8.9368, 1.199, -0.2271, 0.0855, -0.149, -0.0205, -1.2376, 6.9812, 1.5311, -0.0611, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The retry pose places the white plush squarely on the jaw column, with the safe wall immediately to its right. I am descending straight down for the second grasp attempt."})
tool
executing move_to over 6 steps (0.6s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe second descent puts the plush torso deep between the jaw sides, unlike the first attempt. I am closing now to capture the body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2276, 1.3941, 0.6834, -0.4301, -0.1272, -0.2253, 0.9964, -0.0212, 0.823, 0.601, -0.7094, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.2987 left_y=-0.0425 left_z=0.0347 left_yaw=0.0229 left_pitch=-0.542 left_roll=0.0308 left_gripper=0.9964 right_x=0.24 right_y=0.002 right_z=0.1123 right_yaw=0.0014 right_pitch=-0.3455 right_roll=0.0082 right_gripper=0.9995 state[joint_eff]: [0.0479, -4.2735, 5.8598, 1.2039, -0.0806, -0.0269, 0.0952, -0.0752, -0.9915, 6.8308, 1.5165, -0.0806, -0.0415, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The second descent puts the plush torso deep between the jaw sides, unlike the first attempt. I am closing now to capture the body."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe second close was also empty, and the post-close wrist view shows the plush still entirely ahead of the closed fingertip point rather than ejecting sideways. I am re-measuring from that view and moving the grasp point a further 5–6 cm outward before one carefully aligned attempt.
move_to
left_gripper1.0000left_z0.1400left_x0.3600left_y-0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2276, 1.4063, 0.6666, -0.437, -0.1268, -0.2329, 0.0109, -0.0212, 0.828, 0.6003, -0.7288, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.2906 left_y=-0.0407 left_z=0.0253 left_yaw=0.0331 left_pitch=-0.5767 left_roll=0.0374 left_gripper=0.0109 right_x=0.236 right_y=0.0021 right_z=0.1081 right_yaw=0.0013 right_pitch=-0.3707 right_roll=0.0085 right_gripper=0.9995 state[joint_eff]: [-0.1846, -5.8188, 7.0906, 1.0574, -0.0562, 0.0611, 0.9695, -0.0752, -1.4838, 6.735, 1.453, -0.0171, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_z":0.14,"left_x":0.36,"left_y":-0.04},"note":"The second close was also empty, and the post-close wrist view shows the plush still entirely ahead of the closed fingertip point rather than ejecting sideways. I am re-measuring from that view and moving the grasp point a further 5–6 cm outward before one carefully aligned attempt."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe larger outward correction now brings the plush close to the fingertip line; its feet are just above the jaw convergence and it remains centered. I am advancing the final 2 cm while beginning a controlled descent.
move_to
left_x0.3800left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1791, 1.5398, 1.2179, -0.8658, -0.112, -0.2058, 0.9956, -0.0212, 0.8288, 0.5999, -0.7433, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3534 left_y=-0.0403 left_z=0.1276 left_yaw=0.0511 left_pitch=-0.5914 left_roll=0.0374 left_gripper=0.9956 right_x=0.2329 right_y=0.0021 right_z=0.1058 right_yaw=0.0015 right_pitch=-0.3863 right_roll=0.0088 right_gripper=0.9995 state[joint_eff]: [0.5128, -6.1197, 8.5402, 0.9695, -0.0611, 0.232, -0.1343, -0.1436, -0.9368, 6.7761, 1.4042, -0.0073, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_z":0.11},"note":"The larger outward correction now brings the plush close to the fingertip line; its feet are just above the jaw convergence and it remains centered. I am advancing the final 2 cm while beginning a controlled descent."})
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 plush feet now reach the jaw convergence and the torso is centered between the fingers, confirming the radial alignment at last. I am descending vertically to body height for the grasp.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1719, 1.6337, 1.2449, -0.849, -0.1112, -0.1989, 0.9969, -0.0212, 0.8307, 0.5999, -0.7471, -0.02, -0.0116, 0.9995] state[eef_state]: left_x=0.3648 left_y=-0.0398 left_z=0.1062 left_yaw=0.0611 left_pitch=-0.6404 left_roll=0.0537 left_gripper=0.9969 right_x=0.2321 right_y=0.0022 right_z=0.1048 right_yaw=0.0016 right_pitch=-0.3921 right_roll=0.0096 right_gripper=0.9995 state[joint_eff]: [0.7043, -8.3897, 7.2, 1.116, -0.0415, 0.0415, 0.1197, -0.0889, -0.8, 6.7897, 1.3114, -0.0464, -0.022, -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":{"left_z":0.04},"note":"The plush feet now reach the jaw convergence and the torso is centered between the fingers, confirming the radial alignment at last. I am descending vertically to body height for the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe arm stopped at about 10 cm instead of descending, showing this extended vertical-tool pose is at an awkward reach limit. I am pitching the tool forward, which this rig uses to regain low-table reach, while maintaining the centered grasp point.
move_to
left_pitch0.5000left_z0.0600left_x0.3700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1684, 1.6623, 1.2442, -0.8265, -0.1085, -0.1993, 0.9971, -0.0212, 0.8307, 0.5999, -0.7479, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3696 left_y=-0.0398 left_z=0.0977 left_yaw=0.0632 left_pitch=-0.6476 left_roll=0.0524 left_gripper=0.9971 right_x=0.232 right_y=0.0021 right_z=0.1047 right_yaw=0.0015 right_pitch=-0.3928 right_roll=0.009 right_gripper=0.9995 state[joint_eff]: [0.3077, -9.0325, 7.2137, 1.1648, -0.1099, 0.0073, 0.0073, -0.2256, -0.9641, 6.6393, 1.2625, -0.0464, -0.0659, -0.0073] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_pitch":0.5,"left_z":0.06,"left_x":0.37},"note":"The arm stopped at about 10 cm instead of descending, showing this extended vertical-tool pose is at an awkward reach limit. I am pitching the tool forward, which this rig uses to regain low-table reach, while maintaining the centered grasp point."})
tool
executing move_to over 39 steps (3.9s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent notePitching forward restored tracking; the plush is now immediately under the fingertip line and centered beside the safe wall. I am making the short final descent to compress the plush slightly before closing.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3019, 1.9369, 0.218, 1.5139, -0.3943, -0.0368, 0.9971, -0.0212, 0.8341, 0.5999, -0.7689, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.3709 left_y=-0.0407 left_z=0.0601 left_yaw=0.0571 left_pitch=0.3916 left_roll=0.0701 left_gripper=0.9971 right_x=0.2276 right_y=0.0022 right_z=0.1012 right_yaw=0.0015 right_pitch=-0.4172 right_roll=0.0098 right_gripper=0.9995 state[joint_eff]: [-0.6496, -7.7333, 4.2598, 2.2491, -0.0855, 0.1734, -0.0122, -0.0615, -1.3744, 6.5983, 1.4286, -0.0513, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025},"note":"Pitching forward restored tracking; the plush is now immediately under the fingertip line and centered beside the safe wall. I am making the short final descent to compress the plush slightly before closing."})
tool
executing move_to over 3 steps (0.3s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe gripper is now low enough that the plush face and torso fill the space directly between the fingertips. I am closing for the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3042, 2.0438, 0.2493, 1.5452, -0.3988, -0.038, 0.9971, -0.0212, 0.8352, 0.5999, -0.775, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.375 left_y=-0.0421 left_z=0.0376 left_yaw=0.0535 left_pitch=0.3506 left_roll=0.0866 left_gripper=0.9971 right_x=0.2263 right_y=0.0023 right_z=0.1001 right_yaw=0.0018 right_pitch=-0.4245 right_roll=0.0098 right_gripper=0.9995 state[joint_eff]: [-0.6085, -7.0085, 3.0154, 2.2344, -0.1343, -0.0904, -0.0122, -0.0342, -1.0462, 6.8034, 1.3651, -0.0464, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The gripper is now low enough that the plush face and torso fill the space directly between the fingertips. I am closing for the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe gripper settled at 0.041, just above the empty threshold, so it may have caught compressed fabric. I am lifting to verify whether the white plush moves with the gripper.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3073, 2.0514, 0.2535, 1.5429, -0.4019, -0.0406, 0.0409, -0.0212, 0.836, 0.5999, -0.7883, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3753 left_y=-0.0429 left_z=0.0354 left_yaw=0.054 left_pitch=0.3456 left_roll=0.0868 left_gripper=0.0409 right_x=0.2235 right_y=0.0023 right_z=0.0983 right_yaw=0.002 right_pitch=-0.4386 right_roll=0.0102 right_gripper=0.9995 state[joint_eff]: [0.1299, -7.2957, 1.347, 1.8095, -0.0317, 0.0562, 1.1453, -0.0205, -1.1419, 6.5709, 1.3358, -0.0659, -0.0415, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.13},"note":"The gripper settled at 0.041, just above the empty threshold, so it may have caught compressed fabric. I am lifting to verify whether the white plush moves with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe white plush disappeared from its table location when lifted and the gripper remains above the empty threshold, confirming a grasp. I am carrying it high over the open safe, moving forward and toward the safe's interior center.
move_to
left_x0.4300left_y-0.1200left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3073, 1.4296, 0.2955, 0.8948, -0.4057, -0.0463, 0.0424, -0.0212, 0.8398, 0.5999, -0.7959, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3718 left_y=-0.0411 left_z=0.1219 left_yaw=0.0628 left_pitch=0.3608 left_roll=0.0758 left_gripper=0.0424 right_x=0.2218 right_y=0.0024 right_z=0.0965 right_yaw=0.0021 right_pitch=-0.45 right_roll=0.0104 right_gripper=0.9995 state[joint_eff]: [-0.2256, -5.0256, 7.9795, 2.083, 0.0024, -0.0073, 1.0281, -0.1846, -1.306, 6.5573, 1.326, -0.0122, -0.0708, -0.0122] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.12,"left_z":0.2},"note":"The white plush disappeared from its table location when lifted and the gripper remains above the empty threshold, confirming a grasp. I am carrying it high over the open safe, moving forward and toward the safe's interior center."})
tool
executing move_to over 8 steps (0.8s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
assistant
agent noteThe held plush and gripper are now over the open red compartment, with the wrist view dominated by the safe's inner walls. I am lowering into the cavity before release.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4961, 1.499, 0.7235, 0.4915, -0.5743, -0.1066, 0.0424, -0.0212, 0.8429, 0.5999, -0.8078, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.4237 left_y=-0.1161 left_z=0.1857 left_yaw=0.0505 left_pitch=0.3429 left_roll=0.0759 left_gripper=0.0424 right_x=0.2193 right_y=0.0024 right_z=0.0944 right_yaw=0.0023 right_pitch=-0.4649 right_roll=0.0108 right_gripper=0.9995 state[joint_eff]: [-0.2667, -6.2564, 8.5265, 2.0342, -0.3492, 0.0317, 1.0281, -0.2256, -0.841, 6.5983, 1.3114, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.07},"note":"The held plush and gripper are now over the open red compartment, with the wrist view dominated by the safe's inner walls. I am lowering into the cavity before release."})
tool
executing move_to over 8 steps (0.8s)
step 196
assistant
agent noteThe gripper has descended inside the red compartment near its bottom, clear of the rim. I am opening to release the white plush into the safe.
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]: [-0.5018, 1.8931, 0.5632, 0.9958, -0.58, -0.1089, 0.0424, -0.0212, 0.8444, 0.5999, -0.8185, -0.02, -0.0116, 0.9995] state[eef_state]: left_x=0.4221 left_y=-0.1171 left_z=0.0676 left_yaw=0.0424 left_pitch=0.3012 left_roll=0.1025 left_gripper=0.0424 right_x=0.2169 right_y=0.0025 right_z=0.0928 right_yaw=0.0025 right_pitch=-0.4771 right_roll=0.0117 right_gripper=0.9995 state[joint_eff]: [0.2256, -7.0496, 3.2068, 1.6337, -0.0855, -0.0024, 1.0281, -0.1299, -0.8821, 6.5299, 1.2576, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The gripper has descended inside the red compartment near its bottom, clear of the rim. I am opening to release the white plush into the safe."})
tool
executing move_to over 10 steps (1.0s)
step 206
assistant
agent noteThe white plush is visibly released inside the safe. The brown plush lies directly in front of the safe, so I am lifting out and moving to a high grasp pose over its broad body.
move_to
left_x0.3100left_y-0.1600left_z0.1600left_pitch0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5026, 1.9091, 0.5568, 0.9863, -0.5804, -0.1135, 0.9952, -0.0208, 0.8444, 0.5999, -0.836, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.419 left_y=-0.1157 left_z=0.0571 left_yaw=0.0397 left_pitch=0.2742 left_roll=0.1153 left_gripper=0.9952 right_x=0.2131 right_y=0.0026 right_z=0.0908 right_yaw=0.0028 right_pitch=-0.4947 right_roll=0.0118 right_gripper=0.9995 state[joint_eff]: [-0.0068, -9.1282, 4.5607, 1.8632, -0.1587, -0.0122, 0.0024, -0.0479, -0.8137, 6.7624, 1.3065, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.16,"left_z":0.16,"left_pitch":0.5,"left_gripper":1.0},"note":"The white plush is visibly released inside the safe. The brown plush lies directly in front of the safe, so I am lifting out and moving to a high grasp pose over its broad body."})
tool
executing move_to over 9 steps (0.9s)
step 215
assistant
agent noteThe overhead view shows my first brown-plush estimate landed on the safe's front-left rim; the plush is several centimetres closer to the base and to the right. I am correcting to the center of its broad torso at hover height.
move_to
left_x0.2700left_y-0.2500left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9192, 1.4796, 0.3676, 0.9344, -0.9607, -0.0811, 0.9984, -0.0208, 0.849, 0.5999, -0.8547, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3163 left_y=-0.1701 left_z=0.1518 left_yaw=-0.0092 left_pitch=0.4781 left_roll=0.0991 left_gripper=0.9984 right_x=0.2089 right_y=0.0027 right_z=0.0878 right_yaw=0.0033 right_pitch=-0.5179 right_roll=0.0123 right_gripper=0.9995 state[joint_eff]: [-0.0068, -5.4632, 4.5197, 1.6679, -0.2711, 0.1685, -0.1734, -0.0342, -1.4427, 6.4615, 1.3358, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.25,"left_z":0.13},"note":"The overhead view shows my first brown-plush estimate landed on the safe's front-left rim; the plush is several centimetres closer to the base and to the right. I am correcting to the center of its broad torso at hover height."})
tool
executing move_to over 8 steps (0.8s)
step 223
assistant
agent noteThe brown plush now fills the lower wrist view and its broad torso lies between the jaws. I am descending to compressible body height before closing.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2194, 1.7027, 0.514, 0.8486, -1.2266, -0.2405, 0.998, -0.0212, 0.849, 0.5999, -0.8597, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.2711 left_y=-0.2459 left_z=0.1257 left_yaw=-0.0421 left_pitch=0.4657 left_roll=0.1161 left_gripper=0.998 right_x=0.2078 right_y=0.0027 right_z=0.0872 right_yaw=0.0028 right_pitch=-0.5229 right_roll=0.0126 right_gripper=0.9995 state[joint_eff]: [-0.294, -5.9009, 6.653, 1.4237, -0.2857, 0.1343, -0.0562, -0.1436, -1.0735, 6.4615, 1.1062, -0.0317, -0.0366, -0.0073] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.04},"note":"The brown plush now fills the lower wrist view and its broad torso lies between the jaws. I am descending to compressible body height before closing."})
tool
executing move_to over 6 steps (0.6s)
step 229
assistant
agent noteAt table height the brown plush torso is visibly between both fingers, with substantial material across the closing axis. I am closing to grasp 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]: [-1.2224, 2.122, 0.4843, 1.2224, -1.2278, -0.2394, 0.9979, -0.0212, 0.8509, 0.5999, -0.8677, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.2691 left_y=-0.2432 left_z=0.0364 left_yaw=-0.0782 left_pitch=0.436 left_roll=0.1941 left_gripper=0.9979 right_x=0.206 right_y=0.0027 right_z=0.086 right_yaw=0.0029 right_pitch=-0.5328 right_roll=0.0129 right_gripper=0.9995 state[joint_eff]: [0.1983, -7.6103, 2.8103, 1.6435, -0.2222, -0.0317, -0.022, -0.2393, -1.2239, 6.5709, 1.1306, -0.0513, -0.0073, -0.0073] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the brown plush torso is visibly between both fingers, with substantial material across the closing axis. I am closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 239
assistant
agent noteThe brown plush again produced an empty close, but it is directly in front of the safe and the closed jaws are against its near side. Rather than spend another grasp cycle, I am using the low closed gripper to push the bulky plush forward over the low front rim into the compartment.
move_to
left_x0.4200left_y-0.2000left_z0.0600left_gripper0.0000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2236, 2.1357, 0.4839, 1.2255, -1.2312, -0.2413, 0.0122, -0.0212, 0.8509, 0.5999, -0.8818, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.2685 left_y=-0.242 left_z=0.0328 left_yaw=-0.0801 left_pitch=0.4329 left_roll=0.2038 left_gripper=0.0122 right_x=0.2028 right_y=0.0028 right_z=0.0845 right_yaw=0.0037 right_pitch=-0.5469 right_roll=0.0135 right_gripper=0.9995 state[joint_eff]: [-0.0479, -8.8821, 2.1402, 1.3748, -0.1734, 0.022, 1.0623, -0.1299, -1.0325, 6.4205, 1.2088, -0.0904, -0.0464, -0.0122] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.2,"left_z":0.06,"left_gripper":0.0,"left_pitch":0.5},"note":"The brown plush again produced an empty close, but it is directly in front of the safe and the closed jaws are against its near side. Rather than spend another grasp cycle, I am using the low closed gripper to push the bulky plush forward over the low front rim into the compartment."})
tool
executing move_to over 12 steps (1.2s)
step 251
assistant
agent noteThe first shove moved the brown plush toward the safe but left it at the front edge; the closed jaws remain on its near side. I am continuing the same straight push farther into the open cavity.
move_to
left_x0.5000left_y-0.1800left_z0.0500left_gripper0.0000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7303, 2.207, 0.6579, 1.4246, -0.8101, 0.0574, 0.0103, -0.0212, 0.8547, 0.5999, -0.9012, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.4102 left_y=-0.1907 left_z=0.0571 left_yaw=-0.0261 left_pitch=0.4868 left_roll=0.1934 left_gripper=0.0103 right_x=0.1984 right_y=0.0029 right_z=0.0818 right_yaw=0.0041 right_pitch=-0.5702 right_roll=0.0142 right_gripper=0.9995 state[joint_eff]: [0.253, -7.4462, 4.9162, 1.8926, 0.1783, 0.2515, 1.033, -0.1162, -1.2513, 6.3932, 1.1844, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.18,"left_z":0.05,"left_gripper":0.0,"left_pitch":0.5},"note":"The first shove moved the brown plush toward the safe but left it at the front edge; the closed jaws remain on its near side. I am continuing the same straight push farther into the open cavity."})
tool
executing move_to over 7 steps (0.7s)
step 258
assistant
agent noteThe brown plush is caught against the safe's front lip rather than sliding inside. I am raising the pushing point above the lip while continuing forward so the plush rolls over the rim into the compartment.
move_to
left_x0.5200left_y-0.1700left_z0.1100left_gripper0.0000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5655, 2.3363, 0.9207, 1.3289, -0.6846, 0.0719, 0.0103, -0.0212, 0.8566, 0.5999, -0.9089, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.4894 left_y=-0.1741 left_z=0.0519 left_yaw=0.023 left_pitch=0.5074 left_roll=0.1719 left_gripper=0.0103 right_x=0.1966 right_y=0.0029 right_z=0.0807 right_yaw=0.0039 right_pitch=-0.5797 right_roll=0.014 right_gripper=0.9995 state[joint_eff]: [0.6632, -10.0171, 5.2855, 1.6923, 0.2271, 0.1538, 1.033, -0.0615, -1.0735, 6.3795, 1.0965, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.17,"left_z":0.11,"left_gripper":0.0,"left_pitch":0.5},"note":"The brown plush is caught against the safe's front lip rather than sliding inside. I am raising the pushing point above the lip while continuing forward so the plush rolls over the rim into the compartment."})
tool
executing move_to over 4 steps (0.4s)
step 262
assistant
agent noteThe high effort and unchanged plush show the gripper had passed over the front lip and was pressing the safe, not the toy. I am retracting to the brown plush and raising the jaws to torso height, since the earlier empty close was likely underneath the bulky body.
move_to
left_x0.3100left_y-0.2500left_z0.0900left_gripper1.0000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5278, 2.2345, 0.981, 1.1084, -0.6636, 0.0662, 0.0102, -0.0208, 0.8566, 0.5999, -0.9123, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.5088 left_y=-0.1665 left_z=0.0759 left_yaw=0.0279 left_pitch=0.4576 left_roll=0.1988 left_gripper=0.0102 right_x=0.1958 right_y=0.003 right_z=0.0804 right_yaw=0.0043 right_pitch=-0.5831 right_roll=0.0142 right_gripper=0.9995 state[joint_eff]: [0.7043, -14.1744, 6.9402, 1.8828, 0.2076, 0.022, 1.033, -0.1162, -0.8, 6.3795, 1.0232, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.25,"left_z":0.09,"left_gripper":1.0,"left_pitch":0.5},"note":"The high effort and unchanged plush show the gripper had passed over the front lip and was pressing the safe, not the toy. I am retracting to the brown plush and raising the jaws to torso height, since the earlier empty close was likely underneath the bulky body."})
tool
executing move_to over 16 steps (1.6s)
step 278
assistant
agent noteAt the corrected 8 cm height, the brown plush's thick torso is clearly centered between the jaw sides rather than below them. I am closing now on the body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1072, 2.0544, 0.6373, 1.1618, -1.1553, -0.0441, 0.9972, -0.0208, 0.8616, 0.5999, -0.926, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3162 left_y=-0.263 left_z=0.0773 left_yaw=-0.0743 left_pitch=0.4653 left_roll=0.2385 left_gripper=0.9972 right_x=0.1925 right_y=0.0031 right_z=0.0782 right_yaw=0.0046 right_pitch=-0.6018 right_roll=0.0147 right_gripper=0.9995 state[joint_eff]: [-0.9915, -10.5504, 3.1385, 1.453, -0.2906, -0.105, -0.0562, -0.0615, -0.8684, 6.3385, 1.1502, -0.0708, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the corrected 8 cm height, the brown plush's thick torso is clearly centered between the jaw sides rather than below them. I am closing now on the body."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThe close was empty because the wrist view now shows the closed fingertips behind and to the right of the plush. I am opening and correcting outward toward the body and several centimetres left for a direct torso grasp.
move_to
left_gripper1.0000left_x0.3700left_y-0.2100left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.1095, 2.0487, 0.6346, 1.1442, -1.1637, -0.0536, 0.0112, -0.0212, 0.8616, 0.5999, -0.9272, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.315 left_y=-0.2612 left_z=0.0767 left_yaw=-0.0696 left_pitch=0.4611 left_roll=0.2431 left_gripper=0.0112 right_x=0.1922 right_y=0.003 right_z=0.0781 right_yaw=0.004 right_pitch=-0.603 right_roll=0.0149 right_gripper=0.9995 state[joint_eff]: [-0.1436, -7.9932, 3.7265, 1.663, -0.0513, 0.1148, 0.9548, -0.1983, -0.8957, 6.2564, 0.9451, -0.0269, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0,"left_x":0.37,"left_y":-0.21,"left_z":0.08},"note":"The close was empty because the wrist view now shows the closed fingertips behind and to the right of the plush. I am opening and correcting outward toward the body and several centimetres left for a direct torso grasp."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteThe corrected pose puts the brown plush squarely between both fingers, filling the lower wrist view. I am closing on the thick torso.
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]: [-0.873, 2.0487, 0.5819, 1.2518, -0.9634, 0.0341, 0.9952, -0.0212, 0.8616, 0.5999, -0.9344, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3669 left_y=-0.2062 left_z=0.0728 left_yaw=-0.0442 left_pitch=0.4427 left_roll=0.2585 left_gripper=0.9952 right_x=0.1906 right_y=0.003 right_z=0.0775 right_yaw=0.0044 right_pitch=-0.6102 right_roll=0.015 right_gripper=0.9995 state[joint_eff]: [0.212, -8.9231, 3.2889, 1.8632, 0.0171, 0.1587, -0.1099, -0.1846, -1.0325, 6.1744, 1.0672, -0.0269, -0.0317, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The corrected pose puts the brown plush squarely between both fingers, filling the lower wrist view. I am closing on the thick torso."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteThe jaws again closed underneath the plush, confirming it is too soft and elevated for this finger geometry. I am using the raised closed gripper body as a broad pusher to roll the brown plush—and potentially the adjacent yellow object—over the front lip into the safe.
move_to
left_x0.4800left_y-0.1800left_z0.1200left_gripper0.0000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8707, 2.0487, 0.5804, 1.2484, -0.9619, 0.0292, 0.0117, -0.0212, 0.8566, 0.5991, -0.9455, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.367 left_y=-0.2052 left_z=0.0718 left_yaw=-0.0422 left_pitch=0.4398 left_roll=0.2569 left_gripper=0.0117 right_x=0.188 right_y=0.0031 right_z=0.0771 right_yaw=0.0043 right_pitch=-0.6171 right_roll=0.0154 right_gripper=0.9995 state[joint_eff]: [-0.2667, -8.253, 3.4393, 1.6825, -0.2271, 0.0073, 0.8669, -0.1709, -1.5111, 5.8051, 1.1013, -0.0464, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.18,"left_z":0.12,"left_gripper":0.0,"left_pitch":0.5},"note":"The jaws again closed underneath the plush, confirming it is too soft and elevated for this finger geometry. I am using the raised closed gripper body as a broad pusher to roll the brown plush—and potentially the adjacent yellow object—over the front lip into the safe."})
tool
executing move_to over 9 steps (0.9s)
step 317
assistant
agent noteThe raised push rolled the brown plush up to the safe's front edge, while the yellow object remains to the right. I am continuing the left-arm push into the cavity and simultaneously bringing the right arm behind the yellow object to drive it toward the safe.
move_to
left_x0.5400left_y-0.1400left_z0.1200left_gripper0.0000right_x0.4000right_y0.3800right_z0.0900right_gripper0.0000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5987, 2.0594, 0.8406, 1.1259, -0.7418, 0.12, 0.0087, -0.0212, 0.8413, 0.5884, -0.9493, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.4695 left_y=-0.1715 left_z=0.1175 left_yaw=0.0131 left_pitch=0.4997 left_roll=0.235 left_gripper=0.0087 right_x=0.1852 right_y=0.0031 right_z=0.0756 right_yaw=0.0045 right_pitch=-0.6163 right_roll=0.0152 right_gripper=0.9995 state[joint_eff]: [0.4444, -8.0752, 6.612, 1.873, 0.2173, 0.2222, 0.8962, -0.1846, -1.1966, 6.1744, 1.0281, -0.0513, -0.0415, -0.0122] 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":0.54,"left_y":-0.14,"left_z":0.12,"left_gripper":0.0,"right_x":0.4,"right_y":0.38,"right_z":0.09,"right_gripper":0.0,"right_pitch":0.5},"note":"The raised push rolled the brown plush up to the safe's front edge, while the yellow object remains to the right. I am continuing the left-arm push into the cavity and simultaneously bringing the right arm behind the yellow object to drive it toward the safe."})
tool
executing move_to over 38 steps (3.8s)
step 355
assistant
agent noteI could not complete the task: the white plush was placed at the safe's left interior edge, but the brown plush and yellow object remain outside, and the safe is still open. Repeated attempts to grasp the soft plushes closed underneath them, and the remaining motion/call budget is insufficient to place both remaining objects and close the lid safely.
give_up
hindsightFor this setup, the safe interior is roughly at left-arm x=0.42–0.50, y=-0.12 to -0.18. The plushes sit much farther forward than their wrist-camera appearance initially suggests; successful contact requires pitching the left tool forward about +0.5. Soft bulky plushes should be grasped at approximately z=0.10–0.12 rather than z=0.03–0.07, because low closes pass underneath them. A white plush grasp finally registered at gripper≈0.041 near left x=0.375, y=-0.043, z=0.038 with +0.5 pitch.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4107, 2.1605, 1.0245, 1.0138, -0.5972, 0.1207, 0.0087, 1.0218, 2.3016, 1.1919, 0.8265, 1.0111, 0.2188, 0.0063] state[eef_state]: left_x=0.5355 left_y=-0.1209 left_z=0.1084 left_yaw=0.056 left_pitch=0.4665 left_roll=0.2378 left_gripper=0.0087 right_x=0.3942 right_y=0.3644 right_z=0.0703 right_yaw=0.0043 right_pitch=0.4366 right_roll=-0.0247 right_gripper=0.0063 state[joint_eff]: [-2.1812, -9.8667, 8.0615, 1.9365, 0.0904, 0.1197, 0.8962, 0.6085, -11.1385, 8.4581, 1.7558, -0.1197, -0.3883, 0.6081] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task: the white plush was placed at the safe's left interior edge, but the brown plush and yellow object remain outside, and the safe is still open. Repeated attempts to grasp the soft plushes closed underneath them, and the remaining motion/call budget is insufficient to place both remaining objects and close the lid safely.","hindsight":"For this setup, the safe interior is roughly at left-arm x=0.42–0.50, y=-0.12 to -0.18. The plushes sit much farther forward than their wrist-camera appearance initially suggests; successful contact requires pitching the left tool forward about +0.5. Soft bulky plushes should be grasped at approximately z=0.10–0.12 rather than z=0.03–0.07, because low closes pass underneath them. A white plush grasp finally registered at gripper≈0.041 near left x=0.375, y=-0.043, z=0.038 with +0.5 pitch."})
tool
give_up: I could not complete the task: the white plush was placed at the safe's left interior edge, but the brown plush and yellow object remain outside, and the safe is still open. Repeated attempts to grasp the soft plushes closed underneath them, and the remaining motion/call budget is insufficient to place both remaining objects and close the lid safely.
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 · 8.157 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.",
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  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
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  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6033, -0.3935, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6052, -0.3973, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1774 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.177 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3607, 10.2496, 2.0244, -0.0562, 0.1538, -0.0855, -0.3487, -1.4974, 9.8803, 1.9805, -0.0708, -0.0562, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95f8e9b2c48a56b0c8c58f83e222d47a1eba352185517711afcff43303cf5ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dcdc962791420e2308a38c065864eae96ad1225bb413d65e78f35dc2e2ec8b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452bcd5d46a11388244e377dc43b380b64ed78f3301128f04c1765c42c824148",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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call 1 attempt 0 · /responses · status 200 · 3.633 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERCF9yr_mGoDeBdN4mFCN1Jh5cWzkbahmIEi0E3qrD-1Yqvdz-xDFRvpHMM9GFHM0pcFuSa4AgFjjsCjzhqTFuxjmixqtRdeqBEUbJauLw6D2rQf6xvkH7OAP8nAjLJuxKXHe9slWjXFCjq5WzBCGLBqSEq42rmFnXFjo3ORPUtMU6F00ag2cNijj3oSOFvQUA_vfKbWpV3SJNiWIQ0YkR-_XzCPtdKHzQpEhjnrIGOUBguO1LG8cJXB9sdqC51A_7icf1yowFQME26FDcgikGXxi-btvJ8gwhTQh3lO84txH4fiDWLduq_srFEN6sWMuG3Zawa5Fo1CmAlu_jGstdqfRpQkemcJfzEyf8z9_Hj41J_KIz9ZHV-kdEy26QYzTL4Nga1bwsvre_6RoPckI54QZGd8Sk8SZuyt983oZqagQTdLj77YWfOgBcAv2wmRtkFlZPy2rfooqP1HXLBDzLb6xNY1cPz3iJdxdc-NCfKHD4BZS992454f_4KsDbVJPYHAf45fZRCkmDo2JESPBL7CPgcn8F0dRP743XoaKm0vylzeMJtucg6G5D8MFyf2sr7MN-qeA1DMiCOfd1gyukja9lMa7_lR9OyPmrrPEPGSF6ryTPs31SpCYE44N-fFfC-kJTPqZd6SzN9OkrhWsL24Ee79kdefC3NBUK81YsDZy6K3GmlZD2NAXtRgeGbnlgaUrj3BYKxSKlIO_lS71OnKG5HHSKY97SCxe5Intij2EDF6_FzENxQFTF2-7NfoWVu4LGeYv4zYpObglvsUhssE-5V8gcEGCVcusbmxPqGUyNVOsgh7dZvDMasrNFefKrL75KNthb0mKvOmFt-i9jrP088-ZYYsMZ555e55OW85R8rT8y4Wr5LvQh_bqqQCn1vf1CG1-bk5Yly8NgRnaOUfixeq2CRoCX71EJaCT9Ggk2mguSKcY73mNVzih1LeGDj8BjF0W_ObpyW8ImQcxz0Gp5bVFVbpWaLirDbchfrf_F7FHdTj2qiGCVmCywZqyQ1nliHoF-dR9oneSlUElJnV6tJnIkO9Ymrdprx72WeEIsO_hJ0pvbl-HpJX5K78LNnRVLtWTiAeFqLhml-nx1WXMTZk_3sz_cQOtjd9lTHJpVVRzG1NBhREpjzFcqEdO6HUdn0Vl6ZEhsfDtIlCl32Nr8MXf_Nvvh8f3KXaVXZDOUJ0A_pIiSCxj6kPocyxVN1Amu07FUB5mIxnHTVku04MxDzA1qhRdr8EtHQ87te-qBLaJFNkh_dEcW9FI-P693sPMpuKAMwunDnxykHW04pB3dzzY6uULXJtShOz5xxKgxSxk_Tc4V3VPtLqZSgGPE9AuYGR6r-nR7ApP-cZk9_XAszbcN20nIXp_0irnpAv51RtoKM8If8VFS_qXzil6np9GM2FRqnINJtvwWYLLAWQfxKlIBC92XBI48Wv--_8ug4n4VoMGiBP5XF8W_px5n4YoXlHXIzk0bSy8QjJER006fHwrrA8-4nhYgJQxSv3nEUg0k2oAPSYn2IqJmBwPtDGnqCr-wt3PARtuEjhbmhPxUUZCrjxDn19lxD82LaTUvT5aYMJEiAEmXmG6jv9MEiuIcxbtKwKmBjh-hn1uEnWeGLWNgKXAmYO2KJ1tOw2_A=",
  "id": "rs_030c8e8db579091b016ab4444029d887d0a4dc7687b6aeff8c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The open red safe is near the center, with a white plush beside its left wall, a brown plush in front, and a yellow object behind/right. The left wrist camera already has the white plush centered on the jaw column, so I am advancing slightly and lowering above it for a grasp.\"}",
  "call_id": "call_VJUMqoO86K83CaNkInUgEMAZ",
  "id": "fc_030c8e8db579091b016ab44440f0cc87d0a5de2026c1470ce5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VJUMqoO86K83CaNkInUgEMAZ",
  "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, 1.0088, 0.3809, -0.0772, -0.0189, -0.0349, 0.9993, -0.0212, 0.8001, 0.6064, -0.4286, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3009 left_y=0.0012 left_z=0.0803 left_yaw=0.0002 left_pitch=-0.1228 left_roll=0.0015 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1694 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.2889, 6.8855, 2.044, -0.0659, -0.0122, -0.0904, -0.0889, -1.7573, 6.9265, 2.1026, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544aa746722f3806be958cd781646dea88d63ccdb24ebbaae85f0c38cbebcd8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0b315e1dd6f916afe1b4df59f5b20b3778e83dc5915eda6fca6146df64eecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38539d4e69800eb46961a90ef5da3a90fd1ce9237760ecb94c7a60daa661f4a7",
      "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 · 5.54 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]: [-0.0189, 0.7921, 0.6033, -0.3935, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6052, -0.3973, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1774 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.177 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3607, 10.2496, 2.0244, -0.0562, 0.1538, -0.0855, -0.3487, -1.4974, 9.8803, 1.9805, -0.0708, -0.0562, -0.0611]",
      "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, 1.0088, 0.3809, -0.0772, -0.0189, -0.0349, 0.9993, -0.0212, 0.8001, 0.6064, -0.4286, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3009 left_y=0.0012 left_z=0.0803 left_yaw=0.0002 left_pitch=-0.1228 left_roll=0.0015 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1694 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.2889, 6.8855, 2.044, -0.0659, -0.0122, -0.0904, -0.0889, -1.7573, 6.9265, 2.1026, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544aa746722f3806be958cd781646dea88d63ccdb24ebbaae85f0c38cbebcd8e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0b315e1dd6f916afe1b4df59f5b20b3778e83dc5915eda6fca6146df64eecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38539d4e69800eb46961a90ef5da3a90fd1ce9237760ecb94c7a60daa661f4a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERGPhBeHgy2tOVkB3r6S59qwicJ6FkRRnVed-StRk2OgUpzpyHk6oRqoImMaJv3tYnMq_2rOZ9fIjnWX_KJQy50xT3kx9272gZw8-koYk7OExCJ_T4q85xBhwP7QPQFmj-yYU4cJV69vSVeDrXy9vxL4zmikuBo7-T0ueiPb5pnh2B8_RL4e1H920XZcY4q45bGPr5LVzr9l_S3FGGiAZuUdupOiZmWfOwFk2yVNCXdtzxTu4ZSjHvI19UlzNeCAXW2uZ9Ufh0YCGpJylL2R794gGjO0Z1LDrC41yUvrPAh6v7_A_cafpkRp1RO0CWDBg5fvfNGD4I04ufizbWQ59fTStWUQwjBOai3HFy0mMAMdXOrStgds37afKma6dgwQyMuDViqrxffgviWYRVUzHG7xlbV_ncAFQmBJHblHEI8fRUbg82wHmUvFb_72VoMswbJbdI_8c1j83JPk4GwaEV6zKJln4F1tcNAEbx5r9w7QEnZ7K5R5_Mw-i_8rtieIKv4n_v71fC0JUDKO4aXtF2-ry7gPeoGI3N-RIR-ihrHh9SSKiKNDnWiWsw5S9CppZ7F8ACsQUYc7WAYEAlT-tRO9keLewkOEKFNUiLPIDNZ7izel-X6iHZ981E8-NpdnLYp-z_J6IIXlfqlRh9_-4LqwSHBFXg9ndpCmATdPAktV5UlMBgnMaSUGiWT987cIIglZ5SmvwPhSLNcR6MTZb4tcaO-Qlahm4rZUeQoYuqe1t2T7m5bz6_kSCcsJXAR_cBtnLJk0sSujmC-YoeLqxEWDyNj0mOB5atpe9vtkRrGfJSL9pqy7ExaLtxuyLO6r7uSfpQbuxJuDnDZ5kiceNmPc7l7y8tTkZZk18m-Bb_c4LSVYfltj7lZQudYWQgHuJ60GUXMluFS2pQ02vFOJlmiLo0nklljXTmyCnC1qjzRJjsQhOtqltGIoBX_joHKqa19z-ZIl2IZebTSL4oi7-HQnZYxE9BU8H9aNfcq9V3H0XZfteKB1Yg_TEsb37YPJD9eNAXdE7Dv4iVLZq7SKWO_xGWds2vdO6s9Vw8AS4Zs23eDed5RhTShN9yowybtLF_4d0Viby31Xm_9uzZd1ZE11_RN_Hl8J22mAHPyxCsNtrAla1uR2RtzYlIl3jUqrhLYr3dJN2cCvmXGI7ppnRCkTWjHSS3u1_U81GORRzYz_YUbpytJ8dR3Z7DWzZnjPRgeR4Omqof3X933UawiQ83dyE9qqf-5ju9rZkjwJP32xaTkDpV8DTqj1Fe7gSpH8jRNTxHZ9zSzZAaIws7yXbuYPJXrgLuovliD9srxhlEW6ua_YapuBlnrBB87jm6Q4p3gC29-NgHKdoOh2uSTVJtkYPJsJMXKYr4kdXaesdmjNvTep30sIkAOI3N_MdazD6Aya1Wnjpo8R6216r2qKXSy1i_UEIAPhfUR6fxHFJ9ThN9sSBie1GvU2KMb2Rc-WVAveTAUCTRikm05mpCey-BXjDFWmcr4BrHTSgaaIa_okJmOgCrbterdR7LUqY37s8y3vThirmp4yNFc7b6KSU-pu6oK5ehBx6zeYlJOyA5lF6OPKc6SqcjMxBRLhTETGeyBQB3L4lzvwr9eMnEIeHfoZoSRbjhNKHV6xnwbUQJyvhCH_qkAjHMh2wRwM0GzFlydy60K3VtZw5C84tz99GXcRQ==",
  "id": "rs_030c8e8db579091b016ab44444248487d0b0879c2386d8e987",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"The white plush now fills the lower center of the left wrist view and lies between the jaw sides, indicating the grasp point is over its body. I am descending to mid-body height before closing.\"}",
  "call_id": "call_s6Uww5ROeHf1H9IQ9U7axTt3",
  "id": "fc_030c8e8db579091b016ab44445397887d08e26784877fb6ddc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s6Uww5ROeHf1H9IQ9U7axTt3",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.216, 0.2291, 0.1837, -0.0189, -0.038, 0.9992, -0.0208, 0.8024, 0.6056, -0.4522, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2849 left_y=0.0015 left_z=0.0109 left_yaw=0.0023 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.1638 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -4.0957, 5.9966, 2.127, -0.0366, 0.0073, -0.0171, -0.0889, -1.3607, 7.0906, 1.9414, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d30ca1fda263bfef636e0d97b98c794902d91e4462c602a04a434efe59c65fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0ec6a1731a39b6edf63916ba0a986f0c01c607609021c3ac0e943182617ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e82286e1e7ad9d43a4f8361f9d628ecab1293f95a01c9a1b05a15ac8d90f754",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 2.687 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, 1.0088, 0.3809, -0.0772, -0.0189, -0.0349, 0.9993, -0.0212, 0.8001, 0.6064, -0.4286, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3009 left_y=0.0012 left_z=0.0803 left_yaw=0.0002 left_pitch=-0.1228 left_roll=0.0015 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1694 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.2889, 6.8855, 2.044, -0.0659, -0.0122, -0.0904, -0.0889, -1.7573, 6.9265, 2.1026, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.216, 0.2291, 0.1837, -0.0189, -0.038, 0.9992, -0.0208, 0.8024, 0.6056, -0.4522, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2849 left_y=0.0015 left_z=0.0109 left_yaw=0.0023 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.1638 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -4.0957, 5.9966, 2.127, -0.0366, 0.0073, -0.0171, -0.0889, -1.3607, 7.0906, 1.9414, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d30ca1fda263bfef636e0d97b98c794902d91e4462c602a04a434efe59c65fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce0ec6a1731a39b6edf63916ba0a986f0c01c607609021c3ac0e943182617ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e82286e1e7ad9d43a4f8361f9d628ecab1293f95a01c9a1b05a15ac8d90f754",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtERLlLTay7wZyP9-TnzebSdMeK723NRe-1ThTRr9qpqgZYpK4uG49yThZbilKK-SkWJRBa0b-i9ffK7lvcNlfUY7Xm_LL8qXUNV50XgMpkXybvstnBz_ePuSzlmVRAI2iL0ONKRF9jJhAdI6MKcRoZVWzyNaG-LaBKqYF0ryXvtltauOoKZ1Xlyd0oAfen0TFVNQpqJiel9qzi0L2sGZBv09PzYo-IcWUAbtvV_6OeLTALStuC0wk_2703wWA3FMNCEW4WIWcHzWgxe2C_2Uh6GcLnGfcwaVoCHUze9IX4OEYRHVSX1cmerH7FfcIFmtW-pmrYHBnr-okbG3EDif8WOVkVyIhq4vqJAzm6QgOvgSs-PcMMLaFhM275qNGP2J5er7dsy3rYjQGlpS5Xb31NBEZw3of3kVFFNGcH_U38Lcj2lnkvXS9mx_cIq7-q9loI_vx7kIXhJSQdpDmtra2d4JgAYwbzQVxrpPzKcFa0iyZ8MpMWEXF05Igz18GSyu55qZqp-tuj3S-NImYlAaUr4x9dbybAKy2uTzp3aHhiECE2GV7XH3P06L66Mnb8oGxoraWEZD-jmbDtDjmDIXAHUsA1SgXf6qE3PKM-Q3Mh6Emlpucpe7GDRSYcmxei4Ta_Gg9l65aSqorM_L4IspvDOd6TKKFMU2C9-EZinGy617HqGuGZWUSyRGinZa7xopyS-DEvNeZwtorUZYYSx0ULtiuMvBxLJsdG2--oMBqAyt0VcpATM7I1FirVKXaJI_ZMEDtu9ZgWvmoolG3WreqOXRD14uLIRybSuVSpYSCu3EdAH4hj6yE6A5dbKW6aZ9tvStaSADt3uHUl2GGt5s7JUWkxzJszxtVjj1NUtV2cLznMKF-gv7VNaPrzflYZrDP8KiaZUhGdLqtJAJuQtot8ZG9om2O5guO1kPprzJYc5hJL1zyvuId7d3foCaF_Fomw5vAeG5Fodp4VrZ__bwC0uwEY8pP6zklF1mctJfRY1HHgrfuR7wK6q2YkzXWxRv5jtNr4JoN58pNJNJ0PdCEWaJJ7DLUArCxuburx1Xwv9fQsukPrupePgcJ51pvQ0pwwZVscdLdAJECDlUnJjblDIkgWjsoY-VT64GUSpsKEhdgf4es92tLwyZmknQsMuUADRdY8oxMi4nzQSbwqpWBj13XyyPn4LtVjI_o0irvrhGbA2Yb0k553hW-qR7TjY1Z1FQyHMVv2iy04lacTM5GdWg_2ZiGcAvN3oUDUCgzOG0jPf2F3lB_PLs8_WR0Xo2ZFWJLL_LoJ4vVoBMh5U3exfU0mBoW2iq7XLTFM_UGOHCTUkXDLebEvWe1zbzsADoYLCftGEokuU51PfhJc4QvQ1Fhp1wqZJGk18Pb9slBPTEnRRFtnnHIOxK0JHmBIbpbvOp04As-VdVxtYutoYGrhTo0C9osPIdyBQYAKYMsR0BYSAr4ZUUmFtCHdtJY8f8So7GrNCm4ZRpq5XiITLpT7GEYeuEGas42q9aRcQl-StI1NVO7oLMcisDJiu8oYvjLarCLQe2TytxXWPNNOD9sTxvfLPMpwVu3mchkIg6GailMKLw1NzasVstKYZsEgeapU8_iqbZ5ueRBFynrLllC4w0H_OIKYO7HTEJSCfKmPIzRn98AYXo1IAu-Gte4bhfr4OChI4yxIsJIIZz-hiz9hbJJ4UPwK6cNMaZMP7cPxC4ZoA_Q0apXMELJHnDMGUv0qX4QRYxhHbhumMt8bR13suLJ-O1F3Sy9MBRCL6L1TIl6Xo9LgYIt5PODzE_igM4Io0z_Eaupep18KzVCGcovygIfmJV3wrYS9U5w6JFpXBluSkhr50Arxgkvydy3pVhKZWaMAsREEZy_NYd6qxGQfeIO6HL4Ut5S-tRXpC5To95wjNqzF7ZkOx2Bt-k0pdvWCzdT1BzhltZew3Pq4hCmXN4gQ==",
  "id": "rs_030c8e8db579091b016ab44447595087d0bba458f49e607d23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.04,\"left_z\":0.06},\"note\":\"After the descent, the white plush is clearly to the right of the jaw column rather than centered, so closing now would miss or catch only an edge. I am lifting slightly and shifting the left gripper about 4 cm toward the plush.\"}",
  "call_id": "call_TvwlUcziMLasmaLQwjTNSgFC",
  "id": "fc_030c8e8db579091b016ab444491e7887d0b69f6a60296f5c31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TvwlUcziMLasmaLQwjTNSgFC",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.2396, 0.2146, 0.2771, -0.0193, -0.0383, 0.9992, -0.0212, 0.8055, 0.6056, -0.4767, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.0158 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.2817 right_y=0.0012 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -3.453, 5.8325, 1.8632, -0.0757, -0.0415, -0.0122, -0.0752, -1.0462, 6.9402, 2.044, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601a3b953dd59eb36a4d3c9160c9d4a94cb22d4c3cde18537e032bda60b319c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e74d93a9534821ea61ed17c35d3f0eab0beaca3204a7ff0ad04fe234e7af1e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cbf6b5c6c661124c39e7c6950a30dbd6d219cbdd52de767bd912ed6d077e6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.351 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]: [-0.0189, 0.7921, 0.6033, -0.3935, -0.0193, -0.0341, 0.9993, -0.0212, 0.7937, 0.6052, -0.3973, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0015 left_z=0.1774 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.177 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3607, 10.2496, 2.0244, -0.0562, 0.1538, -0.0855, -0.3487, -1.4974, 9.8803, 1.9805, -0.0708, -0.0562, -0.0611]",
      "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]: [-0.0189, 1.216, 0.2291, 0.1837, -0.0189, -0.038, 0.9992, -0.0208, 0.8024, 0.6056, -0.4522, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2849 left_y=0.0015 left_z=0.0109 left_yaw=0.0023 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.1638 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -4.0957, 5.9966, 2.127, -0.0366, 0.0073, -0.0171, -0.0889, -1.3607, 7.0906, 1.9414, -0.0464, -0.0562, -0.0073]\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 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, 1.2396, 0.2146, 0.2771, -0.0193, -0.0383, 0.9992, -0.0212, 0.8055, 0.6056, -0.4767, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.0158 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.2817 right_y=0.0012 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -3.453, 5.8325, 1.8632, -0.0757, -0.0415, -0.0122, -0.0752, -1.0462, 6.9402, 2.044, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601a3b953dd59eb36a4d3c9160c9d4a94cb22d4c3cde18537e032bda60b319c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e74d93a9534821ea61ed17c35d3f0eab0beaca3204a7ff0ad04fe234e7af1e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21cbf6b5c6c661124c39e7c6950a30dbd6d219cbdd52de767bd912ed6d077e6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEROpUBk3dl6fF6iM81PH6tfBgzOAj21fCl6bdKUhj4gfvhlQKeebmGHs7CmlCLxoTaKKoB1JotaBACvRkqVH7PPVxPUUKFOyd2CBbKdzVCANEB7qITNvs3wn1BwdXmHGHk7Iw_7o1poWmaElpyGiXMD0PbOdjvUzkWlJUzHM67wEBx96ylyb8q5zZCSYXQXJI9sIjk6BbmHqF7SAHEVy_-hrWGaj2WEJO9ojNIeqmb6-mfnoNX5fNFvFaDUdKYgAA17_uH9n11ZGtYrRogYSlRFrdYP1UsokdvzjTO1I0KeYAyIWI-4oPJ4tSWVgAxAJjvVnPOHrAp5ycFjDZAM9v-NMzEA8gsaO3F2YiRh1GutE7kVqidvZSej6WXAdVDdTI4AgNs-rV9gExDmB7J5Y1atDK1PV1GCSu3W0EB5z-sOjmsSv71e19biNqb8zjocEED0DsxKeOZQop02gH6PUoL0L2RdEKy3DrfW8bBDChinFJNDR7NfZ8CqCwggmnwIf5WjxmoEtsKWZ3qSv-n4pBggqVW76yXbRG9Ut8uB4GSIm10cH8ch2UmUDg7AVILznU2xrYh2TmShuYnbClXt1PQz9gu60L1Ygx47PdBiKRKxz4SP7Hu6C6UCyUQR7dXDI7rwCRQkdw3bqij99Pqnu4gw6z7iYzTOuWwFJnEe4QX5Z6VnfET_R-Av9r9T4WLnJq55H3RHHYdsIw3DOj-hMrILTKQtGtN5Ol-WxD0SqEEKEfQm3Uma_TJVzkKVkGxHGDZO9gdNHE2nrWSTyIUiFXc-eJwVWWNvqdP4R4Ws0beWlOQDuRobfoA-LlEh1r_quMpQWx0fnEcllqdY25Smzct9HkC_Zhg5nW-s17XdeAtuNd7qi0_uwlRgutEMMpPFf8hltI4O-DsjOqVEksVz1YJwj1RDjau7mijj9UlH_-QOEMNGQQJBmUdgS5mxDiRPB8QFH13uQ04xsqEsTzsQJeIXJ7gARiJ8fO-YY4fUrjwR8h0nBC1x97cVeLUyW55yUvJkqbdQQn3KwhNhUC_vyfKAxidXDYBRu75Io3J1PGYAb8xpvCBKoYNb1M5Cf8oB4yvX6-MLYwgO5lFQho7PIcZn26pMHG3mXRnm_8ZvXdHvU0cG_YJbaB_lchGNHu6WwUSBFbcE3kiO35FKGpbsOBQ-b3IJ5htvnMxSoFgi-FXY-vzGROiW1aA61JwTX5d2oLNZbcnd8ccKriiLe01ufXT8J3zRTLYlAM9YyB74McUYyetZ5RDUZX1iaejgJ0pFllHOQXrYNmmIgqgujJo8kfvUZe5K8MX2x3NATd6iBwjewiSUkTRK_uuMrQdyGurQBIBieGfEymdAUMzWGJZsl5tnc0lWVH4aQUHjN8PL2Cmw7i3_GSmy6tltrU_sBCW3K7pUyADOld3oWU5hYZ50Hn6btxfQm9Pz5KDXzDUsYicm_aaik3SH4lxyrB_jWndBr2na",
  "id": "rs_030c8e8db579091b016ab4444d5af087d0a10cfb71381c353d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13,\"left_x\":0.27},\"note\":\"The arm did not track the lateral correction or lift while low, indicating the near-table pose is kinematically stalled rather than a useful contact. I am first raising and slightly reducing reach to free the arm before realigning.\"}",
  "call_id": "call_CHhRbDv3HWneFDsNlIrGCySu",
  "id": "fc_030c8e8db579091b016ab4444de63087d0af81a935c8803910",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CHhRbDv3HWneFDsNlIrGCySu",
  "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, 1.1389, 0.2871, 0.1295, -0.0193, -0.0406, 0.9992, -0.0212, 0.8078, 0.6056, -0.4999, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0013 left_z=0.044 left_yaw=0.0038 left_pitch=-0.14 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2781 right_y=0.0012 right_z=0.1532 right_yaw=0.0003 right_pitch=-0.1163 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -4.2051, 11.9043, 2.801, -0.0611, -0.0122, -0.0122, -0.0205, -0.9778, 6.9402, 1.8339, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4262f07306738cb1368eeedb110bef71875d5f8ef19e423e5ba589f3c9d4b639",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fc414e2a1e238663caaf2f946f383bfc0fceef2593558d2a1683ffb73d7eb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be3e75661c0cc97a34d45f2e7597bb8ad002638e51144004749fd9c67583072",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.749 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, 1.0088, 0.3809, -0.0772, -0.0189, -0.0349, 0.9993, -0.0212, 0.8001, 0.6064, -0.4286, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3009 left_y=0.0012 left_z=0.0803 left_yaw=0.0002 left_pitch=-0.1228 left_roll=0.0015 left_gripper=0.9993 right_x=0.2887 right_y=0.0009 right_z=0.1694 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -3.2889, 6.8855, 2.044, -0.0659, -0.0122, -0.0904, -0.0889, -1.7573, 6.9265, 2.1026, -0.0366, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.2396, 0.2146, 0.2771, -0.0193, -0.0383, 0.9992, -0.0212, 0.8055, 0.6056, -0.4767, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.0158 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.2817 right_y=0.0012 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -3.453, 5.8325, 1.8632, -0.0757, -0.0415, -0.0122, -0.0752, -1.0462, 6.9402, 2.044, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.1389, 0.2871, 0.1295, -0.0193, -0.0406, 0.9992, -0.0212, 0.8078, 0.6056, -0.4999, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0013 left_z=0.044 left_yaw=0.0038 left_pitch=-0.14 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2781 right_y=0.0012 right_z=0.1532 right_yaw=0.0003 right_pitch=-0.1163 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -4.2051, 11.9043, 2.801, -0.0611, -0.0122, -0.0122, -0.0205, -0.9778, 6.9402, 1.8339, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4262f07306738cb1368eeedb110bef71875d5f8ef19e423e5ba589f3c9d4b639",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44fc414e2a1e238663caaf2f946f383bfc0fceef2593558d2a1683ffb73d7eb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be3e75661c0cc97a34d45f2e7597bb8ad002638e51144004749fd9c67583072",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERRKrhomCHcZUdymYfClpZtz9wq0E2Zxg2BbheaCIe0eayGbaTFv_hDoC30e_YvliwypkJRHeTkEgqXym0vaOlXn3pLr6_lOEfVk2neG6ajKk5u1zJ08AzRryNLKKYgRnwDxlm37wgmc0FSinmYjxjTAyc97snkvGyOndwM-_IPTHGF4zfTM3D53xQ3c8SIBUXWQ0_M1OqR3BmI2xYCAdDitEzY6uTn0NWcnkF7yq2r_Va9DyBy1KMf95rDprRUtcwQi0m-jQhwiKPJs1Hc21kZV5YTTCrA6HXgVPJlZxlAARvv6NkLlyZhuzKw9xUm82bmKEz-6gjNPDnJzEDlFd_H4sprYQZzZ4Ufc6pzN9oV3kMuY5Jc6g0-6APONOVuEOcSVP5xIddqOGl6CWBIDFIRhlsoa6ACXTxuBezIR8ccs3R88UmrpckGAs5ka3yWok9wQ3o1GbIqsvlBi9CZoAzRZJ7zlBRb8STw2CDiez9wwFdARs9zdW7P3kod_zZCQ5itNf9WEH0Kaf5lIeKEboRQ_i5-SBPM_zlr0-7A6WSunv4sBODo7KjRKl28L10J6dTeesz9NG7zBZn-D49PhfcZqTmMVV_ZtH2MskhAS8fo0oy5x5Il_KVvq0MPSix_h_oWh5xYKCy7D_iL1SRM8oVJnYX1OBvZGpdhn0PaEyzG1sbrOmwGeyKsZ9bhpbkOeK6kYvWVBGpPe2y5tlMCg2GSC8D1HI1KNlLzSw3U6b7i1lVtP7oZ8BuWZnqfYkXSN3oauTZfbDZMgbYwWakLTRPiai5FdJgIXUm9hC-ydNhcjEWBL0AViWl1d9d-wwZSqA6pu4wb8pHwiYuceF30-5KuBPm_5XrGsysikw2k6cOnrwj7Q-uRKVyiUAZL_U_fpl62v7YIq1T_CarzoH8TcOUJrXkUyR2pzJakcIbBdu5JocH1k0_yCNE1XQQFnYRZ7VuGUw2H6Db6JZmEvxr53akJ_3bTbZvJL-145BrvwhxTiOE9MkMN2ifRNgYFTDaZMJAFQEVq9l6AGn3eAjwEvBnBYD6mzyvi7BoKG-zpxO9elRTxNv5yK1J6aUj9OrTXb_K2DMx_kgdWETRv-2IP0KZxCsLKZpVFldj2pdGGXOSmGMsyULmYjwo7DH6u8HKcXRsTgMk74FnOpO1bzbXlkN9n05gxWHO1clQEAAj1E64iXenLuwQGI8d3NIyQLFFHuqMcSgfutmHN83gaOYHkjPoNxpKLZ0ua_PnQPYPs8h3B_Kek2J7I4FuX1QrCUahaGLz3dHJOx06YUB6Wc57evc6vVJrNvB8AR4mDSwvRp1ygHNMGKctkMW2rQ5bp7DBiJDBmCTpoJ0g-XMb8B4tBfTtmfQ==",
  "id": "rs_030c8e8db579091b016ab44450c5c487d09f15a9361f27547e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.18,\"left_z\":0.22},\"note\":\"The arm is still only a few centimetres above the table and has not followed the intended lift, so I am using the rig's recovery strategy: substantially reduce forward reach while commanding a high clearance pose.\"}",
  "call_id": "call_UmAz3Dnc9XwzrHSLhBmfpJeI",
  "id": "fc_030c8e8db579091b016ab444513cc887d0a9b05c50d91ebdea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UmAz3Dnc9XwzrHSLhBmfpJeI",
  "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]: [-0.0608, 0.5034, 0.8177, -1.026, -0.0399, -0.0692, 0.9992, -0.0212, 0.8108, 0.6037, -0.5236, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.1903 left_y=-0.0009 left_z=0.2113 left_yaw=-0.005 left_pitch=-0.1288 left_roll=-0.0108 left_gripper=0.9992 right_x=0.2741 right_y=0.0013 right_z=0.1472 right_yaw=0.0 right_pitch=-0.1449 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, 1.4291, 7.9248, 1.7167, -0.1636, -0.0659, -0.0122, -0.0752, -1.1556, 7.0496, 1.8388, -0.0611, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b2138bc0e1460978d7f2ad11564d0e586b988fad6e1cd98dea14ed2567ac20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2134d24cd79026bdbfa0b815158f877aa174fcb4f76f1dbc87d7fda721b7500c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd025fa7a9a706c3b9f46ec8a4c0e4be0be5f2f2504ea637f6d1d5a2cbcd8a2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.389 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]: [-0.0189, 1.216, 0.2291, 0.1837, -0.0189, -0.038, 0.9992, -0.0208, 0.8024, 0.6056, -0.4522, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2849 left_y=0.0015 left_z=0.0109 left_yaw=0.0023 left_pitch=-0.2208 left_roll=0.0012 left_gripper=0.9992 right_x=0.2853 right_y=0.0012 right_z=0.1638 right_yaw=0.0005 right_pitch=-0.0633 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -4.0957, 5.9966, 2.127, -0.0366, 0.0073, -0.0171, -0.0889, -1.3607, 7.0906, 1.9414, -0.0464, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 1.1389, 0.2871, 0.1295, -0.0193, -0.0406, 0.9992, -0.0212, 0.8078, 0.6056, -0.4999, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0013 left_z=0.044 left_yaw=0.0038 left_pitch=-0.14 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2781 right_y=0.0012 right_z=0.1532 right_yaw=0.0003 right_pitch=-0.1163 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -4.2051, 11.9043, 2.801, -0.0611, -0.0122, -0.0122, -0.0205, -0.9778, 6.9402, 1.8339, -0.0171, -0.0757, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0608, 0.5034, 0.8177, -1.026, -0.0399, -0.0692, 0.9992, -0.0212, 0.8108, 0.6037, -0.5236, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.1903 left_y=-0.0009 left_z=0.2113 left_yaw=-0.005 left_pitch=-0.1288 left_roll=-0.0108 left_gripper=0.9992 right_x=0.2741 right_y=0.0013 right_z=0.1472 right_yaw=0.0 right_pitch=-0.1449 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, 1.4291, 7.9248, 1.7167, -0.1636, -0.0659, -0.0122, -0.0752, -1.1556, 7.0496, 1.8388, -0.0611, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b2138bc0e1460978d7f2ad11564d0e586b988fad6e1cd98dea14ed2567ac20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2134d24cd79026bdbfa0b815158f877aa174fcb4f76f1dbc87d7fda721b7500c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd025fa7a9a706c3b9f46ec8a4c0e4be0be5f2f2504ea637f6d1d5a2cbcd8a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERWYG6x7l6AsHGmvediM9wGePe-37cnmZ50UTIEEFtJqbZ0bH1xMoMjzUmpglZ4AGXKTjoJZDqInCCC22xSD3ROrb08UMp2lKvXdzDIWbXB53m80JfBP5YyFFUz18kAJeqQzX-GuQzmc0po_cxc2arDvJa-wpcIgeNjJLh-Ba6qtHUmtAbRdKBrqeflWalui-6CWPVB-__dL6ZS9mAEu330OsysQ5nkpyDPZWdTRZZ3gKJ5w7Cxl__wWgu4iDH5lUmWX33X64b52qfBCTeOSaLjnFk0D8ybuZqSIIsnochlofqumLHYrcGRgVJkDixPrdt_c0xcKvR6Yb5P5FF1Ri92xRFJ9INbjkP6g7meSkWoBBoPIkAtXT5FjTBFA8O9eZAjvohztJzI3MF_1tEcEQw-ydBFxU9vDuoDgFD6bw0Ekm8e5KVBSWMISBjrHmjha8EZiqNaSl3Tirxd3GUlGJ5rYiYnjSK0NxsYH7uzOMV9ma-udchXheVOEkDcJWRgt2Xo0q9coOcxs0FsRFy6odgoPMAVTnEF84On7B4MUWF02Jsc-58EQyfRDx5yDCbkhkFjcLAyBxk0QQOw-eLSGjciwd9vyX8jtkAHiF2_oVf6TSFlsAMu_-vM6QAvKrpsl0yGdnwhac9HM53xuR3poKIdihpZAnShuT3AKNzR6v4nuElbdH1XeXL80CSACasm8twccVOGOFzfHouy6ZICqFF3xIq8k_jaAI6K6mqlikRLGq50vPn_MamPeaNqlyNVw4jIAPp2JYE7_U0covPNV_jD2lzKvsuDbpJSOPTF6veo9hDV5SbPzvvSXQ9iuX3zuwavrW4ytH3P8wyXtZFR-Nnu-wl9qnknY0jQKokQzgX4KW9xLngYkHVn4QeRqC5dZrp3A7h032fSCvUaHkZDBe3kxNVqhxSoTkXmcx-X1-dkFgukqTHCKOgU4b0Q_t1bELoC5W4i6u116eDwS__-akVq7DtVEm8HZwMUPkLNg5t0rWbyVGJCccTGWxxd-_-lydRiqNQTdjUk-rMSDXSIM8SG7c8VnwFPOHNyfZypmS4CV6ZkFSOK2Q3RkgSmLemhSb0TIeFeQA2A4odAuSk_QnpGPhIGJ4KEqgjkfQ8KAmp93-hLL_iam4kERu8_WLR90L4beeRVb1ZRybR6EKR3W3b83JRZnle_xUxM1lCtTWTvAnjd405bRpvr0YEpuUg0OaFoffKJG0gm9X5WXDOA0ntGn8anC3GwzF8xIZwBwjwkWs8fXpVTwIUFlfEVHlJr2i7N20d_Etm9Lq7JxLuvtBtc5YmX3O2pDQXp4g3FYnOn1aohDMnYHJNSCge2O49IH110RrihQdGc9QEaJyYCMLalr56yc_3bLhkhZj906ciz1hdAmFjQXVYHl4q6gm8V4OQ2PWGqegCM0B2gmYkClajOkOZbVU3_NTVhjJyc7F5FpiNJ9sx_2PNefOsK-iq_JgMr51Kao9r7Hx2o6g79u8XojG6V_80Mfn4T6eJd4A8ipBmvA1uA-8QiECx4b7W_Mno1PW8MaoeVAiXafygPrpq2PjtFZxzSbBYMUsHp4IeMOUJjtV-yF8FFkm2FPz4g7umczl7Vm9UDj9KhzHVHv8ZnzQjbD5BOZ2BlEd95WfXKka0sQjTWBxiFCUIwlvBmyDgCus-Y1_Opq9uenNSPnnIKPaFgujaCA-yYgDAQ8BL6Ffi1lfpgBeSZ79Lla_OaczpLADcHTmr2NTeY0jAX1gmMjSYn-nHeEpQ2R7HYvGO25uXGb_-2Mqh131mZpaz7jxwra7kEswc-8ZJlMFme5rrqVVFA_4NJ8E5JhodcDROq08XeqHmVYxYa-lxKaEj530_Gm1OWeXQ1obY-hZ8ItVWF2OeBg8vN4FW9w2h-BoCMO-gwv-36WxELu09OuIHiwUnRDQfxqnQTYz4Hxw2hatfEPfwBwD_Dox5ujAPUfGdB0HlZJkkr769V5uEVKiV2jrfj3ETdtv2LD-9mTp0ImIJ60g==",
  "id": "rs_030c8e8db579091b016ab4445455c087d0825081fd6630a5a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.23,\"left_z\":0.12,\"left_y\":-0.005},\"note\":\"The recovery succeeded, and the white plush is now centered in the left wrist view with clear space below it. I am advancing about 4 cm and lowering to a stable hover, keeping the good lateral alignment.\"}",
  "call_id": "call_JErhmaosG8f4oIAv7owldVQL",
  "id": "fc_030c8e8db579091b016ab444561c5487d081e28e1d824d5e48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JErhmaosG8f4oIAv7owldVQL",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.527, 0.4557, -0.7242, -0.049, -0.0834, 0.9992, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2134 left_y=-0.0033 left_z=0.1112 left_yaw=-0.0006 left_pitch=-0.2121 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=0.0001 right_pitch=-0.1773 right_roll=0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, 0.7179, 7.2137, 1.7949, -0.0904, -0.0366, -0.0122, -0.0342, -1.2786, 7.2, 1.8535, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9302b203811905bcd048738c1fde4438a8cf8b2bd1a97a3cae6f5916dc80887d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd3408706de15599942708a71319c980e32c174f0933874c142a00dd445e913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdffbd8c1612641d2a119a88fcad681e7dd93c0fd887853218f84605203c6a80",
      "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 7 attempt 0 · /responses · status 200 · 2.356 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, 1.2396, 0.2146, 0.2771, -0.0193, -0.0383, 0.9992, -0.0212, 0.8055, 0.6056, -0.4767, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.0158 left_yaw=0.0026 left_pitch=-0.1655 left_roll=0.0 left_gripper=0.9992 right_x=0.2817 right_y=0.0012 right_z=0.1582 right_yaw=0.0002 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -3.453, 5.8325, 1.8632, -0.0757, -0.0415, -0.0122, -0.0752, -1.0462, 6.9402, 2.044, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0608, 0.5034, 0.8177, -1.026, -0.0399, -0.0692, 0.9992, -0.0212, 0.8108, 0.6037, -0.5236, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.1903 left_y=-0.0009 left_z=0.2113 left_yaw=-0.005 left_pitch=-0.1288 left_roll=-0.0108 left_gripper=0.9992 right_x=0.2741 right_y=0.0013 right_z=0.1472 right_yaw=0.0 right_pitch=-0.1449 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, 1.4291, 7.9248, 1.7167, -0.1636, -0.0659, -0.0122, -0.0752, -1.1556, 7.0496, 1.8388, -0.0611, -0.0366, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.527, 0.4557, -0.7242, -0.049, -0.0834, 0.9992, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2134 left_y=-0.0033 left_z=0.1112 left_yaw=-0.0006 left_pitch=-0.2121 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=0.0001 right_pitch=-0.1773 right_roll=0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, 0.7179, 7.2137, 1.7949, -0.0904, -0.0366, -0.0122, -0.0342, -1.2786, 7.2, 1.8535, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9302b203811905bcd048738c1fde4438a8cf8b2bd1a97a3cae6f5916dc80887d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd3408706de15599942708a71319c980e32c174f0933874c142a00dd445e913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdffbd8c1612641d2a119a88fcad681e7dd93c0fd887853218f84605203c6a80",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERZfkxUSQViLFjMShIFgRtNhhk4wGsfmDfnprFhYjwY35j7l1uIF1uzD3v-y2CZXzYITUewX7pQtG6DsqOiTDu0ts4MOv4n646TfV9_kYjs-JaxjWBOmGWBAgGsnfProjkQLN5heus-gGNVMrSJOVHbrAbASTxsstMNLwxbiw3RvBo6P_PXkShrvngyFiBAC1BGXzp1gAozKa-EJkgoqBLg0iaj-rN7Ka2UrcPPwlpGFGoq64Czsp60Q9g63CkQyECkyQmK8_svT5G2NSZDoriZBUZGSae7THs-hu6Vrb9NPvxBJo5pqeFyr1xftnXN_KB8KU0UNbezHWNUPwjjS_Rfm-Q-TEsxsW7NI9EI5lKj_4DgBoGl7_0VyjkKM9iX6w6bfEe5UCSQ_RcGVCLR0EU6ZCjOL2B4rZhlZ_UJMI_mgjtuseoVJjcTg1g3XQF8KR59PnQ2TC5pU4pqdP-NwhaHTquf5lXqpmUF7h48qMx7DPzdvHOMk2IM59Ai7t6D40UCRN1HiUEc9Mgcfk99QjpF0z3kzn-wIk-eeN0fZLPVxcttZZLEE8KhOspCyz89s4nBjRZDINHPWnh2RdMp5LP55XipuOq3GaG5_87HvwZG2cV14K8semF5PXjhmSw7Mvz_Qw9Ku60AFVYi3jy8TttbUSWTY2rXfN3p3s0NSsCgj5VKU2kr9-rjlaiNay17tS-YgAcjSpZOmZkmFQEVkbipIDzkAG6S662z_Su-gHI5JR9w2jqgxO18EDqDHkttWGnpAQ6Ml2SguTXR2d4s0LFOU6pHORNrTjutlK2GS98DgvXhZz0Z8_cF_xwoD9uc26Wr0oVjXvIGXHYabv0_48kf-aRm8P7QiuyYKNkCA1K0hTMuSMWzTLJgQVHpdYIiA5tjcEif2VkHzsWNktyB0k7lnPvgvr3LiIEMz19ZKvK1O2i0imsvZak-doXI0yUIrSbj95RD3besaIOrQepKGIIhzXv6fcgMumIUGGiMWl4nFKcAELAgA8AmsLmyauy03ybdcsdwr6a4Z-tnykW4EiaC077JVYUryaiMIS0oP529KurwgIB2qEJWlkBiIUuXOJ6aZYdz95k-_ZuoCpEG3-IqO6KFVzEzV9loZwR3DHHLixs3QisqetUADhHqJPLZp-uRWUy96WnIphVM5wGkT7eREr_rsqHWA5hML9EK9mBUsuWmtJSO8wOb-ZgwjVqGNliYKEdtQnMLipT7JQ1Z_yPcJpqDk2yugSYxnmsEOfZuY0YC7YxmFXBewl7r7wEnvtGAwRKsuQ84IOseK1lfn9BdbcNty-Ofpixv8JSMPL0GZRUlaTlj5wGdugU-Z9-aUWRVOIsxvGKS14Klzd5awjAEAHfFQN7A-2k9KJQkUCYiUnl90Oviy62-vd6pZ-DEZmZ7gIVWlmrlTY7muM_UtSUubcqn1ENUOsPMU3nQ8gXwcnrGjKUo_YvhJw3NvSEQ-CzKKm1mflD78FmozMpr2vOguBwRGGYY3HReX3zmW89Xu0WkE-QiGBCrzUiTk4NxMP7IdPAtr8XNHVVnPWwqS_LuceEcYzrSbL6q8NkR5F9YLTTL1negL7Om_v-g7eWOaNPr",
  "id": "rs_030c8e8db579091b016ab444585b4087d0a426020727b88648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.035,\"left_x\":0.22,\"left_z\":0.12},\"note\":\"At the hover, the plush body is slightly right of the jaw column, while its radial position is now close. I am making a 3 cm lateral correction at safe height before descending.\"}",
  "call_id": "call_tnHlVVbrucSQc3lyZy39rl8L",
  "id": "fc_030c8e8db579091b016ab4445922ac87d0a8f94acc5370e4ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tnHlVVbrucSQc3lyZy39rl8L",
  "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]: [-0.3443, 0.6067, 0.4679, -0.7132, -0.1757, -0.2253, 0.9992, -0.0212, 0.8131, 0.6018, -0.5716, -0.0193, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2138 left_y=-0.0401 left_z=0.1045 left_yaw=-0.0815 left_pitch=-0.2524 left_roll=-0.0057 left_gripper=0.9992 right_x=0.2657 right_y=0.0014 right_z=0.1372 right_yaw=-0.0001 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.3897, 0.1436, 9.6068, 1.5214, -0.398, -0.0366, -0.0122, -0.1162, -0.7863, 6.8991, 1.7118, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2faed266a979ba54f384b2463aac0d4fb79845b206daad1f4cea2cfdf76987a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7492ce6415e6a1f12fd26fa146e3920d3c59cd1d1879d45841c2258c7fed164e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f484ec1ed3bfb77dd5c1a20c39cb06be0375218ee2f5dea51394d6771a8737",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.409 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, 1.1389, 0.2871, 0.1295, -0.0193, -0.0406, 0.9992, -0.0212, 0.8078, 0.6056, -0.4999, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3013 left_y=0.0013 left_z=0.044 left_yaw=0.0038 left_pitch=-0.14 left_roll=-0.0023 left_gripper=0.9992 right_x=0.2781 right_y=0.0012 right_z=0.1532 right_yaw=0.0003 right_pitch=-0.1163 right_roll=0.003 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, -4.2051, 11.9043, 2.801, -0.0611, -0.0122, -0.0122, -0.0205, -0.9778, 6.9402, 1.8339, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0731, 0.527, 0.4557, -0.7242, -0.049, -0.0834, 0.9992, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2134 left_y=-0.0033 left_z=0.1112 left_yaw=-0.0006 left_pitch=-0.2121 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=0.0001 right_pitch=-0.1773 right_roll=0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, 0.7179, 7.2137, 1.7949, -0.0904, -0.0366, -0.0122, -0.0342, -1.2786, 7.2, 1.8535, -0.0464, -0.0659, -0.0122]",
      "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]: [-0.3443, 0.6067, 0.4679, -0.7132, -0.1757, -0.2253, 0.9992, -0.0212, 0.8131, 0.6018, -0.5716, -0.0193, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2138 left_y=-0.0401 left_z=0.1045 left_yaw=-0.0815 left_pitch=-0.2524 left_roll=-0.0057 left_gripper=0.9992 right_x=0.2657 right_y=0.0014 right_z=0.1372 right_yaw=-0.0001 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.3897, 0.1436, 9.6068, 1.5214, -0.398, -0.0366, -0.0122, -0.1162, -0.7863, 6.8991, 1.7118, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2faed266a979ba54f384b2463aac0d4fb79845b206daad1f4cea2cfdf76987a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7492ce6415e6a1f12fd26fa146e3920d3c59cd1d1879d45841c2258c7fed164e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16f484ec1ed3bfb77dd5c1a20c39cb06be0375218ee2f5dea51394d6771a8737",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERclNToFzeMlDnC8WwLVSUOp8cUKgrfpNsTqoKRQ-kX9ftikiVskzHqRuVW8iZgdkkMHTQ-twOczYl8eeKlr7FKPLGgmIn-N37c5cTwnfp-z4B2xcTRipBrGYWvDCL_y63mFhqi6hQznlBIMBjxVjeMv3I8xo124uXhIqdwBTpdoD45mIB-_W5nwCgN-nFO6sQjHMxg4iYmY1cTW45Nq0Nmi3zEDU6DMeYi-jTeQGa45J-yvh0iShDUJiswuCBX3F_qxMElYwF4_IWF_HqZd5f30k4RRCoibQnBPhmPEym6EH15el81HYb5pF5cK6FoEWlhPVYxOnKEVXsCMju_pTTS1-I-DcXeNOOqkQhZ88UPfUcByKpWOrtYJ586mzC7m1VQuYLk6bRKS1DSNrxBO0dhqPavfDZPZdgIfUJNEMkcnEb9d1XohnMnS6kpbYk7f9thLSULtHJp2lulSgzjFbdmP8Omz1WoEkzKqP57BG5opKcJmCDq6lKAhm5Svi2Kv99OeTHxIgr64YKpaSZ8BcMwjL0E-2olDoRd5Kj1RG9npdFAYH2nRcYo6vsAYSXjuBQfFlord52feUAHEfqmdU1fUwBdJ6Qm-HGs4x34lTdqIiefniTt93V0kFBn4eRBEsTvzUl_jzoLx6s2yOHVqNrtgxhj8W1U_aaYDPzsWdf2PGsD8ysYfKoAnVeQFWxQCglL2C6Q2-ck69UiX3nmZueVRpfZN77R7TFwek9vgBitek41JrkX3FV8rKnheN4x6mINi3NnYzl9-S2i0MaDUMbUYtriWoaT40Vf4-DjjUQtdoMgNfQ69ncrBfZYkS0yTrcDJvfQCp7lewZjV7KXKFxQ0HTjPzY9sGtyr5U6ouM3kyeisS6-N-j_HRacdyLDxnKzFDCBse5lfT-cvv1HJjS-nYA-4cNudgKBFE4K6iVQq7V0CLwBwe7kPexNNlbL-RSG2uwCMQWHBgYQQewyKP317yKX89cJmibvVDZ5jT0H1MKKNI6m2ctS0BOcE3991-aJBZcI-MsgvTmNk0_7pLJTdMMDirjm6FAadUNB7_3KGIoy9SwC4XvHYr9WenH3g8QHg28kPL-pJnePieMMLeYHGMiTMORv5y16D54gCweIosGs_t5DwYbwKbVhzy8YnWxfyquLkzBAs4fP6lasm2ffz1T6xvf5qRu0TF1_Cbk-S8nF7tn0XiLA1jZaGAXJaKB82w_q-bvdVTcFf5dyjM7UWn-DknQWwV9sfkXI355CKQfLnUPQmSyZOn4HKfPGq-t8llaDIFr-UE0uCSsJe5iICdauFEOP8530SZ26E4ewvsoQBmUP3xS1RviydnGaQNGsIEVSb-JIbCIKgQKujxg8OgpPsE9UsScmR5M9-7KLQxivIdQDhmvK3j0jmutczwicNsTL_OOGz3UIJp56-7nMgFW0RJ751Bqi_cV89X9u3w41JXbPU0Ika3xhea7K_Itq",
  "id": "rs_030c8e8db579091b016ab4445b114487d08053b1913c028460",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_z\":0.09},\"note\":\"The white plush is now centered laterally between the jaws, but its body still sits a few centimetres beyond the fingertip convergence point. I am advancing radially while lowering only to a controlled hover.\"}",
  "call_id": "call_zTUID8phQEc2CCw82IIdhzzb",
  "id": "fc_030c8e8db579091b016ab4445bbc6487d0b61f6c90014989b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zTUID8phQEc2CCw82IIdhzzb",
  "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]: [-0.2642, 0.7948, 0.4538, -0.5922, -0.1635, -0.2142, 0.9992, -0.0212, 0.8173, 0.6018, -0.5945, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2319 left_y=-0.0292 left_z=0.0788 left_yaw=-0.012 left_pitch=-0.3335 left_roll=0.0137 left_gripper=0.9992 right_x=0.2618 right_y=0.0015 right_z=0.1322 right_yaw=0.0003 right_pitch=-0.2243 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7829, 6.9675, 1.7509, -0.0513, 0.149, -0.0122, -0.0342, -1.4427, 7.0222, 1.7851, -0.0513, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2093b1f6871cbb35c6be1c9dde390058e9dff69f8e9dc0c8667f3edb7b0f2b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23050a9e88fddab263eb9335f93beb08e61f9bb8b7eddbff9b7fb469b53a452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bec0831605daf810d76db224a96001e6529f5cac7f966010ff2514c8c58bbd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.457 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]: [-0.0608, 0.5034, 0.8177, -1.026, -0.0399, -0.0692, 0.9992, -0.0212, 0.8108, 0.6037, -0.5236, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.1903 left_y=-0.0009 left_z=0.2113 left_yaw=-0.005 left_pitch=-0.1288 left_roll=-0.0108 left_gripper=0.9992 right_x=0.2741 right_y=0.0013 right_z=0.1472 right_yaw=0.0 right_pitch=-0.1449 right_roll=0.0034 right_gripper=0.9995\nstate[joint_eff]: [-0.4444, 1.4291, 7.9248, 1.7167, -0.1636, -0.0659, -0.0122, -0.0752, -1.1556, 7.0496, 1.8388, -0.0611, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3443, 0.6067, 0.4679, -0.7132, -0.1757, -0.2253, 0.9992, -0.0212, 0.8131, 0.6018, -0.5716, -0.0193, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2138 left_y=-0.0401 left_z=0.1045 left_yaw=-0.0815 left_pitch=-0.2524 left_roll=-0.0057 left_gripper=0.9992 right_x=0.2657 right_y=0.0014 right_z=0.1372 right_yaw=-0.0001 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.3897, 0.1436, 9.6068, 1.5214, -0.398, -0.0366, -0.0122, -0.1162, -0.7863, 6.8991, 1.7118, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2642, 0.7948, 0.4538, -0.5922, -0.1635, -0.2142, 0.9992, -0.0212, 0.8173, 0.6018, -0.5945, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2319 left_y=-0.0292 left_z=0.0788 left_yaw=-0.012 left_pitch=-0.3335 left_roll=0.0137 left_gripper=0.9992 right_x=0.2618 right_y=0.0015 right_z=0.1322 right_yaw=0.0003 right_pitch=-0.2243 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7829, 6.9675, 1.7509, -0.0513, 0.149, -0.0122, -0.0342, -1.4427, 7.0222, 1.7851, -0.0513, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2093b1f6871cbb35c6be1c9dde390058e9dff69f8e9dc0c8667f3edb7b0f2b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23050a9e88fddab263eb9335f93beb08e61f9bb8b7eddbff9b7fb469b53a452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bec0831605daf810d76db224a96001e6529f5cac7f966010ff2514c8c58bbd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERf92OCqzHxFN4WaiGYVeWj5lQfkUrwScvvwchc7fiMz2LIH7IPl28KWDWbhIig5FYI0JK_L40PMxHY0CpvMXZKrHGqfvcZ-Y-Yc_yHwwJJerrYJle-XwjggFBPi-B9XtqGKevefRTdXV7uONnPgRDv4_EXomfEzxu2KFl0qTtx5q7xRvqmtjWivxCX-aZCupjk_gHHyYS29ECvH7vUX3zOoL-oie7d9u798wiGU94bZfmfnGwn34xyZ0a4rGygyRtjSv6WdoTH6pkZqEx2w6M75QaM9OjJOimsEDHE3S80XyHIT7Shef9ldZw25nD1OaCSqCeWuLPQ1fy_fKvKVsRqseBLhlS29ChiNbt7KGro7b-fmMCSUEtmPKcsv5wbrD_UuWICa68kOxmyxHOHS9VATAUjj2eEDSUOTGUg7sS0uq0HiRDM49SsAVRc2QRnk-qk3ebITXgFBZq81jHTA23arjAKUaPoCjwuIjABS4icXAhMeKPARoYwqPmCHdXBWnjXIeYW25mZv3OKohTN9NSRno4tiNnArYDyubk6inGH9AW6edUZ2ucWOFjGG3Yd_fXuhfDrIxsC3B6Hd_TQMvggYQZIej3nzUDuA1WaLUyZwhI0eVya_-2sB-hSuIftHp1fQ0uQ-Gog01fTLmYaEhzOMYtT7IkJFYSBAcx2O7SLHvuZfvqwW8MqwNP0CqAxAuoywtA1uFkFw2lBFKCA7m7-kk9gD8EMb0kGGqiuA-0-WharwqVmwombYeIhstH1M20tvIIsz4iQMNGJkQOgTvKHHg4rjNvu8dcz-G7D8Qxo6d2oX9JOx5to7bV8vXz1Q_51N6vPqzhlpHnSHGWXaZTkvVhUaD09vzTHF8UxufvjkpVSGwkZ-t_vXZoWz-efE2SO58xXWNUbpTGZbq1AVq80Br9WpKtOPKCW1OFD_YZlLfxLheltJFjAV__FGfPvv16uHfjYrgxvJ2W38PWFDKGNilEh6AWQJRFHOBoYWv4kQ9U26gsFQoXJQztYwL0RK8GpciSYHBY_Q7_BkzHfgGMsnCRvhsJxB64EKigy2wsrUoitcwkGJMeeqFqPnHsZLSYuPp34gusRlSmqxiXS6kz4C5zu7w_VPAOuqVg6bcMZ9Y2Ql25za-brv2Jwkg-Hjz2gZm6wPQcLqJZLooqfLSfT6pFBdn1CEUq9ZhihpEF9SXBC3RkeUu1c_N5bVDb5_-75yLIqo6bU8G2z4qWO-kj4pAAN9UWhXqYK-DYPW9O-CGtSq13joW5m9kfpYPSwVU0zil5rUm2Z-_ugmUJGjfELw6H46vhtz9u63vl5Uay3U9nS4zVXpPiiy1JmO87dwRYnftATm5V6gr-4DQZmCC1tj9W2UfCZpgJKML_xNst7jlSH3q1FodE4Fq2r0BWFfBRZ95rVQR3jiobrr55V_rHa8mwR8_H-kBInhq_FFNi42A993yWHM9L7nltdyJIUm0_Q7e270IlIcZAoHdqVLcNafw==",
  "id": "rs_030c8e8db579091b016ab4445da13887d083aeba850120e567",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.04,\"left_z\":0.07},\"note\":\"The plush remains just ahead of the grasp point and slightly right, with the safe wall close on its other side. I am making one final small outward and rightward alignment while staying above the table.\"}",
  "call_id": "call_vKCH3q8JzuNFn1UUzh4pTR84",
  "id": "fc_030c8e8db579091b016ab4445e5ad487d0a46e954f2a6aaad6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vKCH3q8JzuNFn1UUzh4pTR84",
  "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]: [-0.268, 0.8604, 0.4473, -0.5201, -0.1532, -0.2035, 0.9992, -0.0208, 0.8181, 0.6014, -0.6147, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2414 left_y=-0.0346 left_z=0.0723 left_yaw=-0.0309 left_pitch=-0.3356 left_roll=0.0121 left_gripper=0.9992 right_x=0.2581 right_y=0.0017 right_z=0.1285 right_yaw=0.0008 right_pitch=-0.2456 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.3197, 6.5846, 1.4725, -0.2027, -0.1001, -0.0122, -0.0479, -0.6085, 6.8444, 1.6728, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e01fd54c313a38ffc49ec2bbeb4defdd83a7e20970daec91e0a0b3feb895cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a2469cfbcc7a513bc3c0b6e15d6f2a887bc18b6cca5c2a06a3ba3852a69e8a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f86e3fce984c4d0a270b6a8e440aabace98650b97dd8573c527623ce5b3dac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 4.544 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]: [-0.0731, 0.527, 0.4557, -0.7242, -0.049, -0.0834, 0.9992, -0.0212, 0.8116, 0.6018, -0.5533, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2134 left_y=-0.0033 left_z=0.1112 left_yaw=-0.0006 left_pitch=-0.2121 left_roll=-0.0095 left_gripper=0.9992 right_x=0.2688 right_y=0.0014 right_z=0.1408 right_yaw=0.0001 right_pitch=-0.1773 right_roll=0.0041 right_gripper=0.9995\nstate[joint_eff]: [-0.3487, 0.7179, 7.2137, 1.7949, -0.0904, -0.0366, -0.0122, -0.0342, -1.2786, 7.2, 1.8535, -0.0464, -0.0659, -0.0122]",
      "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]: [-0.2642, 0.7948, 0.4538, -0.5922, -0.1635, -0.2142, 0.9992, -0.0212, 0.8173, 0.6018, -0.5945, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2319 left_y=-0.0292 left_z=0.0788 left_yaw=-0.012 left_pitch=-0.3335 left_roll=0.0137 left_gripper=0.9992 right_x=0.2618 right_y=0.0015 right_z=0.1322 right_yaw=0.0003 right_pitch=-0.2243 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7829, 6.9675, 1.7509, -0.0513, 0.149, -0.0122, -0.0342, -1.4427, 7.0222, 1.7851, -0.0513, -0.0317, -0.0073]",
      "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]: [-0.268, 0.8604, 0.4473, -0.5201, -0.1532, -0.2035, 0.9992, -0.0208, 0.8181, 0.6014, -0.6147, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2414 left_y=-0.0346 left_z=0.0723 left_yaw=-0.0309 left_pitch=-0.3356 left_roll=0.0121 left_gripper=0.9992 right_x=0.2581 right_y=0.0017 right_z=0.1285 right_yaw=0.0008 right_pitch=-0.2456 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.3197, 6.5846, 1.4725, -0.2027, -0.1001, -0.0122, -0.0479, -0.6085, 6.8444, 1.6728, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e01fd54c313a38ffc49ec2bbeb4defdd83a7e20970daec91e0a0b3feb895cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a2469cfbcc7a513bc3c0b6e15d6f2a887bc18b6cca5c2a06a3ba3852a69e8a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86f86e3fce984c4d0a270b6a8e440aabace98650b97dd8573c527623ce5b3dac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERi78TWwBI--KvlzZvtFwWrkxNAJ4qm-IRuBnxe_4sVKdYOOruqxJO9EDp48k58IrO6ADmCmLuY0inA5xEsFsNYQ-Kp_qVdgan2dvtfHjcpxG9tDNqwkr5clLSQ3QesFi10t1Wqb0-eB1XO7rvNvapLRrIkHcgK86UL9fn45RQtPdRwn3QRdQgSzbmAhRf5zslpVVYVuWsK35x8TxC81AD1YbEEMe5A-ZCVifsJQSZIfbDm_NFOKyOzS5-5JBaIN1w_OaRh4CSnP385M3y7SRS5451eBMUbpdfdnC6M1725fX95phToZg3Z0y97bAJUkqSS57e8iFXcGdb2yZkR76tsx3yNbj_9LS4xVNJubs2fDTbZ_T3bp-kjPNx1ZGYupV51i70tqJIa18AFrLa-8jKCF3SdA8Xh9o4Eitz0Oa6Qt2Nn02Qwx37qden58qOVm6Mtq0XVHj3mTO-1hWYEsWgEMZ6SIZksxHRy-sS0ttItK5Pb0Kk4hXhBKTXDuA8-zdXn6XzseF-O1nu_SCJ97RpCUO6gOrBtevqpDqlxdpB-RDC75cZsZyUFjPAYHDvhr2sZJlHjW9SwVBH7pXKlCC2cc9xqvrLzphXfxcica9WJ3SHgYSm2H3cgZQpYjNBR0MZ9AzmkBQ-8IMka_ooJf0jjbCl64vxxKoPHam58pLx15-pEsUKFOqpL3Sa-0G7b2aL5UpeaDudLy2PUW25bXLWcPZ0aw2ynJyC7rYyLj8GQzGdxZcM2D84U0-Xfl38AzI1-NMN06VW5jS31QjSOOk4IMphNvp9N9S3-E5zUniV_dpilx7tMqAoVHtaLvK2q_QG9_bLDsLXx8iByXhvsKtlJ38cYWQSlr2UwlJsFFkJwcJ59v3eRpjsJv1mYz-lO4Qu57ZAB3us8ABzgES6WRVxnYdxftn01EVWoA2LfDRYNvB105TykDiYSZy5lUEHXGzZiOQLoXiadJQ0bO4dGekqrQ9mDo0wm98MkSQdcaVtKqd8sTzUHL9J0RSLHRPGCzVxxtIZPffwytbeeMqPCZl9biX14zUdz5KuDggwDfiNFrakok43KxE-14L3Ls_oiawsVgg-Gg34aPlorNsgFUU-r9Xn0s2SzSfrsQuVNm3pwBJG6T_wk_nJon3kQgUqtKbFsblmf8kJX5hgo5yBvfYaqp64cwIvTz6bMVpJDquXVznn9idZIHtHCKWiVpwP-U1SZVcu_JpizHAHtGhdtg3a2xxzF9yhMfHG8QwnB7fBwpdGbHXufdQFPNoghzqqeYMy9LdPSD7M8pjV0BQE-ZJf1ItLii-XlqbkRaUG7-NGJHlkH559pP3FX-K9AbS7PGXKqSZ9Vn7V-fmWGTvngBS90INOAbMVpkcNPY8DsdackVvuzb9pcICRwVrvYxMHZLu9GlP-z5SQLG1x1AcjFiEf7fhpZR4klneQyu1PetV_mfYK5dcb3nepW0LzmQlXcSjfa-d_3uGJbHTrn3tBltih9i0V9_udyYfeM2Px0rAfd14b6hws4JPy6I7_m6wJr0oBX",
  "id": "rs_030c8e8db579091b016ab44461575487d0967d4573cb2b5d82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.045,\"left_z\":0.07},\"note\":\"The plush is still fully visible ahead of the fingertips, so the previous small move was not enough to put the grasp point over it. I am advancing another few centimetres while preserving the lateral alignment.\"}",
  "call_id": "call_Xf3Mk40OpXjFRQvjWOqSuNZd",
  "id": "fc_030c8e8db579091b016ab44462019487d087a2127c89a81101",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xf3Mk40OpXjFRQvjWOqSuNZd",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.268, 0.86, 0.4473, -0.5198, -0.1619, -0.218, 0.9992, -0.0212, 0.8177, 0.6014, -0.635, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2418 left_y=-0.0331 left_z=0.0726 left_yaw=-0.0149 left_pitch=-0.333 left_roll=0.0098 left_gripper=0.9992 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.2654 right_roll=0.006 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -1.7983, 6.5709, 1.453, -0.2271, -0.0464, -0.0122, -0.0479, -1.0735, 6.7761, 1.6239, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f08a13a584f767d7ac949637e25b7b38998f7ea5ca81e978254f08658b525e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876c8fdd32f7417d0f11a7cd8066ff529cfa938b66b97881f7fc13387de00d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c3753504b93c686e9247eb06f751b73785b4e9ddd403365c88f4e2e6e9d3db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 2.332 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]: [-0.3443, 0.6067, 0.4679, -0.7132, -0.1757, -0.2253, 0.9992, -0.0212, 0.8131, 0.6018, -0.5716, -0.0193, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2138 left_y=-0.0401 left_z=0.1045 left_yaw=-0.0815 left_pitch=-0.2524 left_roll=-0.0057 left_gripper=0.9992 right_x=0.2657 right_y=0.0014 right_z=0.1372 right_yaw=-0.0001 right_pitch=-0.1972 right_roll=0.0042 right_gripper=0.9995\nstate[joint_eff]: [0.3897, 0.1436, 9.6068, 1.5214, -0.398, -0.0366, -0.0122, -0.1162, -0.7863, 6.8991, 1.7118, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.268, 0.8604, 0.4473, -0.5201, -0.1532, -0.2035, 0.9992, -0.0208, 0.8181, 0.6014, -0.6147, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2414 left_y=-0.0346 left_z=0.0723 left_yaw=-0.0309 left_pitch=-0.3356 left_roll=0.0121 left_gripper=0.9992 right_x=0.2581 right_y=0.0017 right_z=0.1285 right_yaw=0.0008 right_pitch=-0.2456 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.3197, 6.5846, 1.4725, -0.2027, -0.1001, -0.0122, -0.0479, -0.6085, 6.8444, 1.6728, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.268, 0.86, 0.4473, -0.5198, -0.1619, -0.218, 0.9992, -0.0212, 0.8177, 0.6014, -0.635, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2418 left_y=-0.0331 left_z=0.0726 left_yaw=-0.0149 left_pitch=-0.333 left_roll=0.0098 left_gripper=0.9992 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.2654 right_roll=0.006 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -1.7983, 6.5709, 1.453, -0.2271, -0.0464, -0.0122, -0.0479, -1.0735, 6.7761, 1.6239, -0.0659, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f08a13a584f767d7ac949637e25b7b38998f7ea5ca81e978254f08658b525e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:876c8fdd32f7417d0f11a7cd8066ff529cfa938b66b97881f7fc13387de00d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c3753504b93c686e9247eb06f751b73785b4e9ddd403365c88f4e2e6e9d3db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERncY-aT5hj58UYy8pZ7G2roSC9wZ_r63KIRx-RTa7Dd6vhQa5MIYIQGmPz8NRhmTSOgh6eGZAH8j3YaKP4fOhVV1SU5gZMw4DpwpuM7wAQx5HTavI78p4sucbV4fOXPijLc4_Ce1ENElViryWfZrzeJiY47afGEoia82hpFRYBM6lPfMvgCUVpVjniYCh3ZITNkmKxRGAcJo_kBg7pGCwnuL4fUbDc4D1nXUYWIo7ju4mSaoOquAKvquLDby7k6UGVPbTYTRb5OrSTN7FhMbRke9-PFSAe6e5Q33XmvOYECC0G51pBqXlCRcYg3yNHtoHCm8W-Kp_B8fdDyPYvW8DMEeB8t_iDh0TolvFHQi9tly6bLmWQ1xEK_GjkyLVQ0WcIPQrUcYrhDTL4EKuE1ndM9FVKt08jhjaArOZJYesbakk9t2J0gMKx3-b2SiTHo84cLJmdFC5JlX3Yjyp_MNDSglL-LXNlsk_yB5Ww7j92qnyl8QoyTeB-0OQlNp3hRewEFmyV54kOLT4gF-5z30a6EM287vzz6I74rHl7O0Hbe_paOsyMFoJUqjAYiHNqHx8r1KFRz4g-Q6gMj1ZV0huZdSSC6cOshFSY7iqunhUCfTB9AuoBSJ6rH0RUZi26YZnvTr6gfD_LUSVgTUhLoowc64qBSUIc35APtJ2jYk0w8hFO6Bz8V8_cpB7ucBc7nfzBiAdOg6vR7UiUBZ9Li-6rYRrKIUVIQPBhqKgce_MBnvqDT-XWtL8S764t4S54wWxG-A2SUrNNbOFNs2RAh_Nw-ds7-imRoXhI4z6ts14HXft2FiFK2I7mWQ1K2tQyM6hMBRg95vBsx8pYS0TGlekIxgRcE6j6sXgAHHwf4vtaeBumG8FK_9DrHFpehCYYvYquhetq4vTx5VeOjDmUDcmMt-9Uul_V2LDDJALNzc0bb1w7wUBPgbSNfm9Z4xz77082RdkN5tnTuNtjekwVpHvu_yU3wMAB_qC8owbV8Jq5xr6H4KnFyXN7znqWCoyU2akzd8zGqWnnH5LcHron1yIIyg-HOx_YHBz15kvYjBIp9PzZDh8o5sF1SLRFqI0hbcecw_irGTkpJC8jpYVNKUmeAVIJxqsnRhdnJwhsQDKLTNz7g4Bsm43t_shnQtxy8M83SUYB5nmAejpL1YaBqW1AYFlRPt4aYjrQPSnAjB7TpysXPBSRZvXCWtUluf70ITUcJHI_GDnRbnyz-dPiDstgcxPRosvSrVJ1fso6KwHGi_PcNlGJgfo3I92hF2dNMYRM80wo2ZZnd2_vCq9Rk5jisGCH1mvRpiTAtpXwlIlcQxMid5rcVHl8x0vYf0S0qfbl14FDZ8vOLhn4UoU8esbhcmBSp0LkdIm6T0wvHWXL-zG_u-dEsUBNK-0zwKozA7v232wSPXrJcm9WZwEPBlr1_vyZ207UxW5xUK30SfWfAn07fmZRfe_fh_0SwV_sRB9QwTm0QpXMAGjol6kg_aduqx4SlvVzmVJ7wjzOjIC3Fp2RBdkTxMuzC31CMsmVap--m4Rak75Efz-n0At9eAhBz3mBa0F7nSutzt8-OP5ggxTvU6hanWRQ3ZgXd1pZC5HGhAOgHEZgUeiO77a_xD530fowyKjGxr97YGh9KLm9ZrX1-O1fjHBp_qNu4_gnnwGc6E9-DHWLWHNF8-U2mozhrgT4_uthI45-3kOPKqzZfX9_-2OGmWM3JJ4DL3-KrEREbBbLLc-QSyPn6ErP82x1hx3K2scbYBcmLlQJBUlyl6fufAqsB_blBs3GzgGthATG2-Ul_tRprPRFTEYYW-nrAlM0O-IoLdjOsZJIaGYmHRIWDDVCfaNTHlVWCCUpWJzr_ZK0rbJJyf5IosK0eu9QWcUUaCbvlbeLBlyXJOso1X4wrXG99JJmiZKlZ2xEY8BUhybA75o2DkMxIWhpI4Nigew7sR0yRML_il0k6k8ga-1UalZdOiFcxQK2xX2yG-OiqpilqiJw-plH9Aei-RF7Zg7EhasV8loYUlf5MyMHdUBCntrd5SudIcuRiG7J0WMGlqZd9Szfq9vZ_peTZ2WezGncGFPb1AxYF6tcDUPZ9wx9ydnsN7bpRNkPvvM933W9mVCgId8xvKQKzpvauIj-rYhiSjZeHkRit7dqilDNGmMg_uEzfs5ojJhTPqiWhIp668ltEFG-6snE8d5xO7WsNXmDkJmQOV3ZXHZGElT_Khc=",
  "id": "rs_030c8e8db579091b016ab4446524e887d0811a0144b1d88a6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_z\":0.16},\"note\":\"The arm did not track the extra reach at this low height, and the plush remains short of the fingertips. I am raising to a freer pose while keeping the outward target so the arm can extend before the next descent.\"}",
  "call_id": "call_ZI1rsg2tYtRGUver6QqgBcS8",
  "id": "fc_030c8e8db579091b016ab4446704f087d0ace59f23673d861d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZI1rsg2tYtRGUver6QqgBcS8",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 1.0927, 0.8444, -0.6849, -0.1265, -0.1825, 0.9992, -0.0208, 0.8188, 0.601, -0.6579, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2962 left_y=-0.0322 left_z=0.1473 left_yaw=0.0065 left_pitch=-0.3404 left_roll=0.0034 left_gripper=0.9992 right_x=0.25 right_y=0.0019 right_z=0.1211 right_yaw=0.0014 right_pitch=-0.2899 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.6496, -2.1538, 6.8171, 0.9695, -0.0366, 0.232, -0.0122, -0.0479, -1.1419, 6.7761, 1.6239, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056a2bbd084ac4c30bdb1ffab3559c6f5deeb1212e7d529ed66861377e3e026b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ba57da175a17e7e0750f6f7147afb5664261a170a8c57c64f81379bb1fd283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737a777ff8d990bf99cc62c28dd7772a416c5b6f7e19d029a32c0cb364d1ca62",
      "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 · 1.994 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]: [-0.2642, 0.7948, 0.4538, -0.5922, -0.1635, -0.2142, 0.9992, -0.0212, 0.8173, 0.6018, -0.5945, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2319 left_y=-0.0292 left_z=0.0788 left_yaw=-0.012 left_pitch=-0.3335 left_roll=0.0137 left_gripper=0.9992 right_x=0.2618 right_y=0.0015 right_z=0.1322 right_yaw=0.0003 right_pitch=-0.2243 right_roll=0.0051 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -2.7829, 6.9675, 1.7509, -0.0513, 0.149, -0.0122, -0.0342, -1.4427, 7.0222, 1.7851, -0.0513, -0.0317, -0.0073]",
      "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]: [-0.268, 0.86, 0.4473, -0.5198, -0.1619, -0.218, 0.9992, -0.0212, 0.8177, 0.6014, -0.635, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2418 left_y=-0.0331 left_z=0.0726 left_yaw=-0.0149 left_pitch=-0.333 left_roll=0.0098 left_gripper=0.9992 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.2654 right_roll=0.006 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -1.7983, 6.5709, 1.453, -0.2271, -0.0464, -0.0122, -0.0479, -1.0735, 6.7761, 1.6239, -0.0659, -0.0269, -0.0122]",
      "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]: [-0.1951, 1.0927, 0.8444, -0.6849, -0.1265, -0.1825, 0.9992, -0.0208, 0.8188, 0.601, -0.6579, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2962 left_y=-0.0322 left_z=0.1473 left_yaw=0.0065 left_pitch=-0.3404 left_roll=0.0034 left_gripper=0.9992 right_x=0.25 right_y=0.0019 right_z=0.1211 right_yaw=0.0014 right_pitch=-0.2899 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.6496, -2.1538, 6.8171, 0.9695, -0.0366, 0.232, -0.0122, -0.0479, -1.1419, 6.7761, 1.6239, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056a2bbd084ac4c30bdb1ffab3559c6f5deeb1212e7d529ed66861377e3e026b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ba57da175a17e7e0750f6f7147afb5664261a170a8c57c64f81379bb1fd283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:737a777ff8d990bf99cc62c28dd7772a416c5b6f7e19d029a32c0cb364d1ca62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERqEu7ViPh2Swj3O_6OaLiwCJfaanmX34omUl8nEwYL_noEM6g3WvqAjhnAYH71vkRXrnjDiGo2zGCK5taKxA0OhPzmMCglDyWx8rZxnWNyaVnYdYi_UVBVBQxUDfoJOdXAe5-eIHwicnQHC_tyFkt8XaRjVT2G8ZRGvwrXvC8rIBlGxcTlZgtUdtkjGfortPWfEXorajFeBUf94ZFF7PN5t8k2Um4Rs7KX9yGeX3Wc3Wf_ZArGh8ytocB19WaWD9rAdN255PmXMxju7aRuQwB5GuJ1NARJyAviB1VdiV0lYtrYKQJUJBkPz4LGJhLvT5afL9pdh1HF3zLi4rtp36oMpNeG1TORkmAgI5Nt4qT2Q-5pvIz6__zKCq1I5AQskSEn2UynY9b1eKmG_DTDiVnau_yw5Et1l3sgaWSpZvPM2dqNE6Opk8YZk96OE1bsk0inHLX9mIcIjxtkQ14cMpuLLcsXpNNLFX8eJG9wg1NbRUSM5xGf1Ph9OAqTrzmlip3C3Iu0Y5VNG9eESaf7rAfkf_bkbx0nNiehZJPEu527aYSKoQJ2imMMxKUihl8_woslHCLevMiDJhiJINx5W9RcmpiSOzyPJhZMyFzOyMLqLvj7nXdi_YseFDzty-ouPezYXkfdXmgLvqB3PtW1n631qtFco0PBwcvbQnpVE490sNH1YuxnPEUClnhjw1jeUMW2K7Tc-shvuz_EG1bf1rJbiBIvdgdHNgDsw6v42Sf6fu4zpM9CHUlrmJkPL2D8eC71vfCUCezck7nDpocOzzrQxKA5elXHJow-StXhBcb6oUh6FiBKIthPGiq5LJ-ABhbyQ7DrDO_YbqSLMOVdTPkAL3CCyUP9ze2ObEJaUIaFuzMTJh9RsXpEJ5AQydCa5-e0mdYLrfsJNcSE4777moGR_aF9GgUoeXEFaWIIXVCAzsxpkhnOH6qx-uZZ1woVncrqg1GZXjZeGVXD-OMMMhwzsD7RqV8D6GhkGXiJCmMziwiLkk-20dJHSA4f72O9ZsaCYvs4jhNIcB_O3MZlud_LlseqwaUscj3uEZEDBioB3Lt09sBcA9Ry0WCy3zvyeL7H3aEDSSA33tRShxGDv0sKy-5P4Sv8LstZADAlYhYo0RrlrW3P5ciWJDlEJUagklT3aEizLwtrmxnscuSQWw2H4wS3cU6hl6ITPmpel6dKkZPl44tnc5hDEdyEjhXV4hFfof2iIAcnPmWL0_4bb7qmNJNJ29-rCGTsWafTC6NvW-G2oK6294JkRF7uGdCU4i2GRvOHfVMo8xANiBuELmjBlsBQ2TdWOlMoPwPvbmY6D0ziUZNOiP1Gx2gHAdrhTgRaxU8aw_4jPglUAhYeKbwARlqKiGpa7vVQJFwqSAZg0frPW88M3orJkgz90HB3OKiX",
  "id": "rs_030c8e8db579091b016ab44469553887d0b090d8015c17c91a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"At the higher extension, the arm reached correctly and the white plush is now centered directly ahead with its body near the jaw convergence. I am descending vertically to grasping height without changing the good horizontal pose.\"}",
  "call_id": "call_9VJUoyKJAdmOQgcfyIodE0UI",
  "id": "fc_030c8e8db579091b016ab44469c2a887d0b828408fa0fb6708",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9VJUoyKJAdmOQgcfyIodE0UI",
  "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]: [-0.1955, 1.2121, 0.4969, -0.2913, -0.1242, -0.1814, 0.9992, -0.0208, 0.82, 0.601, -0.6762, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2824 left_y=-0.03 left_z=0.0366 left_yaw=0.0092 left_pitch=-0.4125 left_roll=0.018 left_gripper=0.9992 right_x=0.2465 right_y=0.002 right_z=0.118 right_yaw=0.0013 right_pitch=-0.3093 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -3.6855, 6.2154, 1.5018, -0.1343, -0.0415, -0.0171, -0.0205, -1.1966, 6.9402, 1.58, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81ae7ef6564f8272c084e005fc499ea4e900ce3f69606a6408c8848baead914",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e45686a42b5df44404c5ad600a450315fa3d1d4aa32d7f094737b940ddfd5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad11036eb449a698afa6cec93f30443cbd9c52818e35af37fff21f91bd7b2dd",
      "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 · 2.585 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]: [-0.268, 0.8604, 0.4473, -0.5201, -0.1532, -0.2035, 0.9992, -0.0208, 0.8181, 0.6014, -0.6147, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2414 left_y=-0.0346 left_z=0.0723 left_yaw=-0.0309 left_pitch=-0.3356 left_roll=0.0121 left_gripper=0.9992 right_x=0.2581 right_y=0.0017 right_z=0.1285 right_yaw=0.0008 right_pitch=-0.2456 right_roll=0.0056 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -1.3197, 6.5846, 1.4725, -0.2027, -0.1001, -0.0122, -0.0479, -0.6085, 6.8444, 1.6728, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 1.0927, 0.8444, -0.6849, -0.1265, -0.1825, 0.9992, -0.0208, 0.8188, 0.601, -0.6579, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2962 left_y=-0.0322 left_z=0.1473 left_yaw=0.0065 left_pitch=-0.3404 left_roll=0.0034 left_gripper=0.9992 right_x=0.25 right_y=0.0019 right_z=0.1211 right_yaw=0.0014 right_pitch=-0.2899 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.6496, -2.1538, 6.8171, 0.9695, -0.0366, 0.232, -0.0122, -0.0479, -1.1419, 6.7761, 1.6239, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1955, 1.2121, 0.4969, -0.2913, -0.1242, -0.1814, 0.9992, -0.0208, 0.82, 0.601, -0.6762, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2824 left_y=-0.03 left_z=0.0366 left_yaw=0.0092 left_pitch=-0.4125 left_roll=0.018 left_gripper=0.9992 right_x=0.2465 right_y=0.002 right_z=0.118 right_yaw=0.0013 right_pitch=-0.3093 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -3.6855, 6.2154, 1.5018, -0.1343, -0.0415, -0.0171, -0.0205, -1.1966, 6.9402, 1.58, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b81ae7ef6564f8272c084e005fc499ea4e900ce3f69606a6408c8848baead914",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e45686a42b5df44404c5ad600a450315fa3d1d4aa32d7f094737b940ddfd5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ad11036eb449a698afa6cec93f30443cbd9c52818e35af37fff21f91bd7b2dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERtPYA6-ea1moEucBR-94iQVzJyRKk4F-YNiJ2DSC1OY27Zntwb15bRZHaQRTZEBT50YFCIYbhwSfot9GmrQd9YPuN27Mef6VoOYqST2nkih7ukD4AqqpNdb7Y4cPEcOKAaKBEBSQjSPSl_9puDou7GNhiyMJLS4NLmzW8fsCaRRWYuX8x6GKeEnLlOvaIjn9YgYgYXGmDYUshjAtlSTymvdZ6_X6UQXuxx5mnfkhApEXR-17peQqUR9_3TOEIgKz54Kj-nZfddRa4NWfD4crZxG6Gvy2RhfcW2Ys51F4jUEivifjVLPAPc83s3KQsmHDW6ByfWZwxgVwxD07Ou6pov3hDT6ICZeE-h5uQ27Ml0NiZGeDR7jiKElD1gLKNU5uA1QjHsxU66zeHSQAOdcEwq1oViZzZ2ZGqBpfc5VdjTa83n227R9cddHrWg2suz5hWWiwZ1wEXpo1Fe_Z9a4IavR8_4sDQFsO_X-xgDzdPvEDa9gDvDKZkml6hWwMeMBfY_OUU3DDvqs9HaowweRe5-JDYuMDmZegemZj__pdKWEyiR0Qz3RRvIVzq9NOmliFEUILbPb1SYGcuuX5gIqeHHf949YYMLcCCTweyD9mVHur2nJShBDGmfQFKNBWErkxc3Hyx-Gb6EZWYjVryb0CNgPHJO_E140ck69xoNPr8_tlrM6iOnfb6rfqWbg07aaqr1V3qSxDiZU1p0CDBJCwGFe-yYeqK59REFPp40CubY3deCibQTdHOCqsWAz1s1cSnWDcss0zcnRc5SDJloAUZmCVq2YEDhQ0rZ0ygVqniXpikG5suaztghCFDRZJbT9TVMhcfZ5YWpyfNVI3LvjT9QwCd_rFdYmHVQCINuYBf4gnx2ttuM1MXQJfonFDNPVXPxdu6972jlWV3zXXBT8oW-CrWs2QROrXvucf5soNXzgiiRcNZv2gmSxFjiyqCE5WV3zo30e-YWPPipeAZPalF22kvty-G_2hudn6YouRkXniySqbNCldWaXuFFWYVhQrf7R7R0IV72wf9GTzluZXG5pRr10hFBQqX0avHHVMvVvuvHSHgHkUGfIeI6EfC0hACnxxCUcplTpFGQu2OVCHanXbmUP4YJ9RJ8IKZsaXPaJJXV8wkf0ZVzx-J5VLA04lgIXIvZrl1Pkv4lcisfnf65zor7J6Lwe36zLaNI6iGQ5kxrGSzgPGVjeWwKnfhdvH5bGyG_hF4UAyWLE_LHQ__o59NfHClxiYzEuCLBc-C-fqLTKazk13d_ae813K5ZUh8Ai_z_8GuhmgAXeruL5fnV_g==",
  "id": "rs_030c8e8db579091b016ab4446c5c1087d0ac5dc0dffbb05b46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white plush now extends into the fingertip region and its torso is between the jaw sides at table height. I am closing the gripper fully to secure it.\"}",
  "call_id": "call_OysgYcip9CBKm6f9uzeZEK3I",
  "id": "fc_030c8e8db579091b016ab4446c8b6087d087d56eeb4796b506",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OysgYcip9CBKm6f9uzeZEK3I",
  "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]: [-0.1955, 1.2266, 0.4763, -0.2962, -0.1242, -0.1879, 0.0119, -0.0208, 0.8211, 0.601, -0.6804, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2736 left_y=-0.0282 left_z=0.0251 left_yaw=0.017 left_pitch=-0.4516 left_roll=0.0233 left_gripper=0.0119 right_x=0.2457 right_y=0.002 right_z=0.1171 right_yaw=0.0016 right_pitch=-0.3146 right_roll=0.0075 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -4.6701, 7.5692, 1.2479, -0.1148, 0.0269, 1.0183, -0.1573, -1.1282, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188f7041e955204b94d90be6e0f09dd6568374c5b9c520452112893062bcc502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ad96048c9a3daddb64781044d8990f99937e4f5ccae7b705c4849a6b46fe65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3127ed88d9659aab05c5897ad1e3d4662aab121bf8a2d26bb4b35533118d2c",
      "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 · 2.174 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]: [-0.268, 0.86, 0.4473, -0.5198, -0.1619, -0.218, 0.9992, -0.0212, 0.8177, 0.6014, -0.635, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2418 left_y=-0.0331 left_z=0.0726 left_yaw=-0.0149 left_pitch=-0.333 left_roll=0.0098 left_gripper=0.9992 right_x=0.2543 right_y=0.0017 right_z=0.1252 right_yaw=0.0005 right_pitch=-0.2654 right_roll=0.006 right_gripper=0.9995\nstate[joint_eff]: [-0.3761, -1.7983, 6.5709, 1.453, -0.2271, -0.0464, -0.0122, -0.0479, -1.0735, 6.7761, 1.6239, -0.0659, -0.0269, -0.0122]",
      "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]: [-0.1955, 1.2121, 0.4969, -0.2913, -0.1242, -0.1814, 0.9992, -0.0208, 0.82, 0.601, -0.6762, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2824 left_y=-0.03 left_z=0.0366 left_yaw=0.0092 left_pitch=-0.4125 left_roll=0.018 left_gripper=0.9992 right_x=0.2465 right_y=0.002 right_z=0.118 right_yaw=0.0013 right_pitch=-0.3093 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -3.6855, 6.2154, 1.5018, -0.1343, -0.0415, -0.0171, -0.0205, -1.1966, 6.9402, 1.58, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1955, 1.2266, 0.4763, -0.2962, -0.1242, -0.1879, 0.0119, -0.0208, 0.8211, 0.601, -0.6804, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2736 left_y=-0.0282 left_z=0.0251 left_yaw=0.017 left_pitch=-0.4516 left_roll=0.0233 left_gripper=0.0119 right_x=0.2457 right_y=0.002 right_z=0.1171 right_yaw=0.0016 right_pitch=-0.3146 right_roll=0.0075 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -4.6701, 7.5692, 1.2479, -0.1148, 0.0269, 1.0183, -0.1573, -1.1282, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188f7041e955204b94d90be6e0f09dd6568374c5b9c520452112893062bcc502",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ad96048c9a3daddb64781044d8990f99937e4f5ccae7b705c4849a6b46fe65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df3127ed88d9659aab05c5897ad1e3d4662aab121bf8a2d26bb4b35533118d2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERwjWhSvRD2GITUqJs4H7xRZMNyhpOdNWT9NB9jWiWkss3NHr1SGEAN3NxvO4tnPMF3RATQWtILl813_ybtr8y4SrIGazIrpOq24QBEFJg1SewIOjQImStTA3WEuHqOOGTyx8DDbg4MjEKvcyJaqsLwuga0jjMRwnOSsRubIcOTlOxptjRwILgORv5UpTfTdz_UEvMABFS3hMHZe0OjppBblJ1f6evLfPCFTEvvavSUGR03Q6YOtF2ERPbc1395ZKtNfXQ71mgDIb7Eg5ua5OR5oZ0FgQjOMvRZ5aoUBmkRAilfXI6AOq2jwwBoqMWq3HZ-l6-hk9hFtSwEqpxjYyctX4Nsb0gSBcZ15NSySn_OY-T33qjIFlUlMHm_zkEmGmElVQ65QhzBHl2Yu9GeVZ0ZyEBX02GaKKgFPAMk53O5fQwP_sDJv8h3LRlOfMlcuaAgU7YyTxrYM7l6Ys1zsPNkdW2O27uGPdSKoXIR2371rZCIbovuuhggaUOPpe6gS1BpJyi8vUZj8QOx1hIUNyABhOYk5_FOg4rV-TilL17AYy3-qeAuD4KDoDSLL0piuknNin77MDQ2YUQqKUBCZmom4JNZLQJQT0UDBfwLpHLz1ODlWWc4GNTuDGtlxC9f0_k3sCpHky1R3hgWbubfYiwQh44b5W1nkZsKZ4rsBVdH-acHflXFfDzNmCAgtAqF-Dr_--uw2b3NvAQDHaFeEvv44VM4x5Fd761J1LmQWdNvVhgWCgshbJ1_HxC6kZSIQOKGN_2pT3ZXbyhYl_5DoRpY07Bi_b-pGlr6PD_YK7YnjWiNai2DUjnjrsPRlrrfc1c_oN08-q47OY9ELYli31WhXbNG6iyB4FSW7BokPVgweBSev5vBN72g-453T_-WPWpmhm3_Qece1ptPGgVz2GrUexjlATCSMRJXk_u1HgPxFmrGbUh-rgP3ZWvgcWalco1lgsNybdyf1C-9m4C3L6YenEV1lNz1P29kQBhejIZyuC8gNf4MAT87E2OmfjDaFwe_ChRJU-RV29kEs2ahctvrVNjWx109vATvwj2aob9grUdNGQAVBq_-OYyHxsKlVtsVMI-ewJdxxzoTsuXWoOzneir24cV-C299X6FCcKB5mmoiGwRA6PxnQWjVFm6CMjJCr02LZfapUgRr883xouxXfSrA1DPOsRaw34QjgrGsD83YUJDoX__x3x4pjGZn_sA9izaSNW9IRdvTzLvvR_o86QH7GC4_5bE87-WYeYWFtYu0Q4aB1gBfd56s1k3qyo61y9cIzSoCOIKXXTbgte9dmXMJut4tY2hGAQjt-lzE-HQ832JryYcjrYmi8QVWST4YZlhYmBMaadSxl_QiCVKWe0SM-ZjdNwkB2M9OYrLNmudX3b9dlGBCPGHSKM1bsgdPGGlEDAwSV2jv6BuV0POkUG0hOuNtnlsUZEs2wgDUA_HnqBw3sSmb2BcgHgjb3vB1xEbYbBJxZ5_IYBbvF_xPUmaT1Ueb9fKcYXPzi-Cj90xJTQfuxW0CZ0NfNHpzM4hsdmmfoAMzdO2IwA7SsLu3Ej4w7cKBK1a2HVo6tSG_dwyaZfAhWkmKC0HAp4ZoSRG4kMviNPXRHC01lPLilZqC5Q==",
  "id": "rs_030c8e8db579091b016ab4446f4f3c87d09cc686d58e18f948",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.14,\"left_x\":0.32,\"left_y\":-0.045},\"note\":\"The gripper settled at 0.012, confirming an empty close; the jaws landed just behind/left of the plush. I am opening, lifting, and applying the prescribed outward retry with a small rightward correction.\"}",
  "call_id": "call_Bnmm8XPvhb098QF5SgnD8Q89",
  "id": "fc_030c8e8db579091b016ab4446ff0d087d0a1ecb21b2204d5fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bnmm8XPvhb098QF5SgnD8Q89",
  "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]: [-0.2245, 1.2919, 0.9512, -0.7334, -0.1276, -0.2245, 0.9953, -0.0212, 0.823, 0.601, -0.6937, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.313 left_y=-0.0447 left_z=0.125 left_yaw=0.0167 left_pitch=-0.4772 left_roll=0.013 left_gripper=0.9953 right_x=0.2431 right_y=0.002 right_z=0.1147 right_yaw=0.0013 right_pitch=-0.3299 right_roll=0.0078 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -4.3966, 8.9368, 1.199, -0.2271, 0.0855, -0.149, -0.0205, -1.2376, 6.9812, 1.5311, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e199907961cb0b841eef9acd2177860c50fe5ac1833b40b950a11d50df5a7ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4cfcbcf4d7ae3383768bae415f81cb484352cfe833aa46af3a1c2c828a99f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7bf49e68ddd7b38eb343760c6e6a1e0aa47ea17167b5bfb407b09a4b56b277",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 1.861 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]: [-0.1951, 1.0927, 0.8444, -0.6849, -0.1265, -0.1825, 0.9992, -0.0208, 0.8188, 0.601, -0.6579, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2962 left_y=-0.0322 left_z=0.1473 left_yaw=0.0065 left_pitch=-0.3404 left_roll=0.0034 left_gripper=0.9992 right_x=0.25 right_y=0.0019 right_z=0.1211 right_yaw=0.0014 right_pitch=-0.2899 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.6496, -2.1538, 6.8171, 0.9695, -0.0366, 0.232, -0.0122, -0.0479, -1.1419, 6.7761, 1.6239, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1955, 1.2266, 0.4763, -0.2962, -0.1242, -0.1879, 0.0119, -0.0208, 0.8211, 0.601, -0.6804, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2736 left_y=-0.0282 left_z=0.0251 left_yaw=0.017 left_pitch=-0.4516 left_roll=0.0233 left_gripper=0.0119 right_x=0.2457 right_y=0.002 right_z=0.1171 right_yaw=0.0016 right_pitch=-0.3146 right_roll=0.0075 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -4.6701, 7.5692, 1.2479, -0.1148, 0.0269, 1.0183, -0.1573, -1.1282, 6.8308, 1.4042, -0.0366, -0.0366, -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 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2245, 1.2919, 0.9512, -0.7334, -0.1276, -0.2245, 0.9953, -0.0212, 0.823, 0.601, -0.6937, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.313 left_y=-0.0447 left_z=0.125 left_yaw=0.0167 left_pitch=-0.4772 left_roll=0.013 left_gripper=0.9953 right_x=0.2431 right_y=0.002 right_z=0.1147 right_yaw=0.0013 right_pitch=-0.3299 right_roll=0.0078 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -4.3966, 8.9368, 1.199, -0.2271, 0.0855, -0.149, -0.0205, -1.2376, 6.9812, 1.5311, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e199907961cb0b841eef9acd2177860c50fe5ac1833b40b950a11d50df5a7ded",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4cfcbcf4d7ae3383768bae415f81cb484352cfe833aa46af3a1c2c828a99f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a7bf49e68ddd7b38eb343760c6e6a1e0aa47ea17167b5bfb407b09a4b56b277",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtERzch0b_y0EtoKGvtDKnz1p_wNSwTWkDsUByXd8cQT3locqNgSj17KwC3FnNx0TVvIrLIEL0rVNz7TnhGA9Jgz7wDgY6Kkrl9kipW8QtrKaNKDCTuQs7d69Tb7FbYSpmZQAXlYTv8b3UyRw_7TVgkRmXLN0ksatLuvxDCsYkYHdxvQ1qfZXlcqM0GjDUfHGSwBEX3JmX0_PGjteaJ94PrXFFZSdgaefcJHbetj_GmxY_yQGoTY5bR5oQiUsc_3asVq0auNU9OO0N7jRh9MlwsGwZ6b3nOV1vtjm3u_foSETSVvF9LeIKOL_ZtwYj0XKFEQqmPVrJog0rVbUyWBNTrQ2hDfsvJYKjGv6AbAJFPzzDPTr_Ycbfwqm2EwzieAF4yInvjQ8xqcQ7LORVBZjm24CvjlGKfTvQ1CxyCL7oWXxLbuOiyLzUsZsb95FS15iVCslC2cykIS30BjFg4Yx2RKsp6XKva6hs1gse5W5ND2HTIarQOmq6rOsQHFq5QtjcrN9KmqcJpXDSxDUGNGx4aP6_MR0JgiaWVUNYjKrOI-A2U9JoUvBFHGQOPAxCJ5GX6APb00772tneBS7N4mCn3GvRzxd1_WBuEMRBGN_2aH_iT88tMJv0pn_Xnq5_mMV908cLXjP2_g4x3TfNl49nwDyRdbyvUYUcOsGeoF65gvpbxFsPTyOgpAESoptfQDQ9UY15x_wkNB03fEACGcw99xqd4EVxTYI6fMCxu4aQ5mQvgI1CoSjfZYdK7jd0KLTEOrObxnjYm35XGFMCwU0hNBBYaU3P_PgZIdwlktB2FMoa-0-_w_MVoSJY6Ys1dbhwPgNCpnJ3-67FYfUtHwanViPuEFmkGq9Kl0UQyVsCx87goMkhNTg1vjYmDIgQvg1pz_fuAMXKhhPAbMbkgrtTDlyrn0-GIb3ksc3i2p-0n5_3jbhChIHYuP7jz9McDxnnrPGs6zNxFE8xwoz1dXSkwHshAtlkZNBcryECr4qU8ZRaZdE7IzXlYSM3zUj3Rz4jGnRIgIiPw1drb_8Cczua3XA61L4ckteSaBtmd-xQL6pCoIJayMdwI6dMaTezc9G3IzGv5F6qhEDj-9-J5cm5Ydlu2LU59CSuHQS8oNbP6xOj8CjsN6iRntDINGUJe1_FFi3jzOlVkYvnar_yJItxV1NqEux_CNmAhpZl7vSCH5jlFJKslpHOns-rwLEkyC_qpSGFV5W3CwGxOau5KcdReKxkPH-adkkY6l3dMA5gLo0ln1la6YGTqCE5aAWUBZF1TZZ5ulK1v_NQngDp1Pa4YoNXw==",
  "id": "rs_030c8e8db579091b016ab44472dba487d09c18547065fc3862",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The retry pose places the white plush squarely on the jaw column, with the safe wall immediately to its right. I am descending straight down for the second grasp attempt.\"}",
  "call_id": "call_4Oxig9pKOF37lS89GOKfLomU",
  "id": "fc_030c8e8db579091b016ab44473139c87d0864fdd4218c55b76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Oxig9pKOF37lS89GOKfLomU",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2276, 1.3941, 0.6834, -0.4301, -0.1272, -0.2253, 0.9964, -0.0212, 0.823, 0.601, -0.7094, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2987 left_y=-0.0425 left_z=0.0347 left_yaw=0.0229 left_pitch=-0.542 left_roll=0.0308 left_gripper=0.9964 right_x=0.24 right_y=0.002 right_z=0.1123 right_yaw=0.0014 right_pitch=-0.3455 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -4.2735, 5.8598, 1.2039, -0.0806, -0.0269, 0.0952, -0.0752, -0.9915, 6.8308, 1.5165, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3002bece71951d891efb660f9c10e44c09f70162064df3aca93bfc7c604751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab4692f003608ac5c67c65f4137c1bd233179a68baf74b5c4d58b5018f78f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519cd4f989bd22fd128523e1b4053b0e6a77095e3b5b7b2425ec1ff4b69a96a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 6.638 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]: [-0.1955, 1.2121, 0.4969, -0.2913, -0.1242, -0.1814, 0.9992, -0.0208, 0.82, 0.601, -0.6762, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2824 left_y=-0.03 left_z=0.0366 left_yaw=0.0092 left_pitch=-0.4125 left_roll=0.018 left_gripper=0.9992 right_x=0.2465 right_y=0.002 right_z=0.118 right_yaw=0.0013 right_pitch=-0.3093 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -3.6855, 6.2154, 1.5018, -0.1343, -0.0415, -0.0171, -0.0205, -1.1966, 6.9402, 1.58, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2245, 1.2919, 0.9512, -0.7334, -0.1276, -0.2245, 0.9953, -0.0212, 0.823, 0.601, -0.6937, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.313 left_y=-0.0447 left_z=0.125 left_yaw=0.0167 left_pitch=-0.4772 left_roll=0.013 left_gripper=0.9953 right_x=0.2431 right_y=0.002 right_z=0.1147 right_yaw=0.0013 right_pitch=-0.3299 right_roll=0.0078 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -4.3966, 8.9368, 1.199, -0.2271, 0.0855, -0.149, -0.0205, -1.2376, 6.9812, 1.5311, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2276, 1.3941, 0.6834, -0.4301, -0.1272, -0.2253, 0.9964, -0.0212, 0.823, 0.601, -0.7094, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2987 left_y=-0.0425 left_z=0.0347 left_yaw=0.0229 left_pitch=-0.542 left_roll=0.0308 left_gripper=0.9964 right_x=0.24 right_y=0.002 right_z=0.1123 right_yaw=0.0014 right_pitch=-0.3455 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -4.2735, 5.8598, 1.2039, -0.0806, -0.0269, 0.0952, -0.0752, -0.9915, 6.8308, 1.5165, -0.0806, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3002bece71951d891efb660f9c10e44c09f70162064df3aca93bfc7c604751",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab4692f003608ac5c67c65f4137c1bd233179a68baf74b5c4d58b5018f78f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:519cd4f989bd22fd128523e1b4053b0e6a77095e3b5b7b2425ec1ff4b69a96a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtER2avsD_PlVqCQcwlE764iqWKEVjGxgYvYyH9M5f5G6XLOc2cC591E297-S4uI6wQq74gtYvFArqR2segFAgg_plo1OKS8CM4SAx5GXubQzcjWEgyF6_o7fp0JIJTFrUIJty-Ho3xrVafWpkDbw8BZZfG0ukC2Ux906LJXy2IGGr1APbDYCPemI0prAEoVkSAkEHc-tj_3iSGlCJeYcgckU82ZRUfO-rP-ySNpm9JY5mp5_SL93HW9jp4LvXvXAbf-TkM3yzYpZY8WyYO4SORDhoOocoO8IaE6jYsAGOAsUpNjvBjTA-SbBpq0SKaBkjqby0R0Ptgz2rEFbdjuxGpo6N9sFnq1niG-hP-OpddKQnTl_v1nGHs99HOrzJKHa3I-OkeU_prjhl9LbnPPw_UnSTKwf-MsWfDaZU5gLhycD_R61flf3YwU0x3s7Fy6xaZpXPG3HeMJKMmSHG-11IcpmOlwWwwyM1BJ-k_r_PMX6RFfVzmgDxRbaI2xSyiKY7qYiIJZkTKfn8byS5CKzwUSORLAvZOtefA-bO-bvQHxkg8GpJXAXEY_01214BNolAsC_bhXIXXbwMzUB4dpjOSSf5uDjp55WFYo4Vzttcx3AvkV_l-OT37CSATM22Bn7bOHBR37kR0ayxI4AzU7SZ4hqCqCY4lLBHixGdFH2PQYqLcZd1umMTNAUNt40f1tuY2M6RTmEoWMqoKEHnh84dzJWAa-rqDGcTwYmEPVqgpdhuoSxlDZQVEH6IO5FT9H1rY5fTg-mSqSCjV9eV3bj2JiD17QyPQ5n4M5fZNVm27gzjYGMxlEfRUWjjVWQHh2JyxTi570kPg8crWHlv96H1utGBntoQCas6N-cJXD-yn3CcGO9nwFb9XxdZ-ClLQYh-mFeCMzgW9z4Fsc-S-5tVSR9HvVCqKw0sNLLOUK9cJRpQAGnUxL7KRV84mW7ixy0fQVXcO3-j4fvnQVg6vwo1FFHeCLTLTyTPDqc0fCTGsnNUD9AEVFhbslfJiL9vEI-krWH7emrA9CRxPg6TB6I4iGg7jHXkgB3lis7hO5wKzAAo0w9-vs5OSuMEg-c80kZx75JZ64Rt74cJBTFRFUAwEsICrDfBCd4FmcVLR4OXgeLypctjNvpqtwkOnt8UoqkuujncA-x_HhbyN_4M_GtapFNzvl1fsiwYALwxOG7YXTrC0WBqzBsXl5v48UKnq56m9lj6vpldQpTResKwawqawxz1A==",
  "id": "rs_030c8e8db579091b016ab44475954887d0ad45468334ccea84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The second descent puts the plush torso deep between the jaw sides, unlike the first attempt. I am closing now to capture the body.\"}",
  "call_id": "call_Cm3w4HHbavFkhUgvlJuL1kXb",
  "id": "fc_030c8e8db579091b016ab44475add087d08ea64f3c0d8971a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cm3w4HHbavFkhUgvlJuL1kXb",
  "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]: [-0.2276, 1.4063, 0.6666, -0.437, -0.1268, -0.2329, 0.0109, -0.0212, 0.828, 0.6003, -0.7288, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2906 left_y=-0.0407 left_z=0.0253 left_yaw=0.0331 left_pitch=-0.5767 left_roll=0.0374 left_gripper=0.0109 right_x=0.236 right_y=0.0021 right_z=0.1081 right_yaw=0.0013 right_pitch=-0.3707 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -5.8188, 7.0906, 1.0574, -0.0562, 0.0611, 0.9695, -0.0752, -1.4838, 6.735, 1.453, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e33cdae00e4514cbd04e8656d494f5834f5871611fb76e43287b3357611144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01acc6d715385105bdf91a9d4f6b34f9c5efd0b2bc2229ab32237f4dfd450854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd358354d53316e3404697f2cc16f0f5fd142f7be370d0685f96dca2b156430",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 2.347 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]: [-0.1955, 1.2266, 0.4763, -0.2962, -0.1242, -0.1879, 0.0119, -0.0208, 0.8211, 0.601, -0.6804, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2736 left_y=-0.0282 left_z=0.0251 left_yaw=0.017 left_pitch=-0.4516 left_roll=0.0233 left_gripper=0.0119 right_x=0.2457 right_y=0.002 right_z=0.1171 right_yaw=0.0016 right_pitch=-0.3146 right_roll=0.0075 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -4.6701, 7.5692, 1.2479, -0.1148, 0.0269, 1.0183, -0.1573, -1.1282, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2276, 1.3941, 0.6834, -0.4301, -0.1272, -0.2253, 0.9964, -0.0212, 0.823, 0.601, -0.7094, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2987 left_y=-0.0425 left_z=0.0347 left_yaw=0.0229 left_pitch=-0.542 left_roll=0.0308 left_gripper=0.9964 right_x=0.24 right_y=0.002 right_z=0.1123 right_yaw=0.0014 right_pitch=-0.3455 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -4.2735, 5.8598, 1.2039, -0.0806, -0.0269, 0.0952, -0.0752, -0.9915, 6.8308, 1.5165, -0.0806, -0.0415, -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]: [-0.2276, 1.4063, 0.6666, -0.437, -0.1268, -0.2329, 0.0109, -0.0212, 0.828, 0.6003, -0.7288, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2906 left_y=-0.0407 left_z=0.0253 left_yaw=0.0331 left_pitch=-0.5767 left_roll=0.0374 left_gripper=0.0109 right_x=0.236 right_y=0.0021 right_z=0.1081 right_yaw=0.0013 right_pitch=-0.3707 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -5.8188, 7.0906, 1.0574, -0.0562, 0.0611, 0.9695, -0.0752, -1.4838, 6.735, 1.453, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e33cdae00e4514cbd04e8656d494f5834f5871611fb76e43287b3357611144",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01acc6d715385105bdf91a9d4f6b34f9c5efd0b2bc2229ab32237f4dfd450854",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fd358354d53316e3404697f2cc16f0f5fd142f7be370d0685f96dca2b156430",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtER9UnsPl_RjEswlDpEf8PB3zMgl_rdxuIk7HNjAFvQkdf_tZ3FKc91aUMomMgAAZatta55OiD7rFLPu8KUBcMsz9kjJ2vqXX4_OyPqfNaVV1fnGSqTO4r0HrG_kU3fL1sblzwaEdP3oTy6MArsEWForOLCw8NLirlT4nHs4K6P_XO8WHcEHTIbaT6l8ozSc_dJyuBF7PBvWRlYo7b1-Fz_q-DWJnYa_BUDzZdBqrZRp4O0ZFbIMqi-eWxlQyWqNXasC6biahx01Zwbx9-iX5xvG_COmafzSu7du13fR4_Z9HG-4Q0SrYtgNKKgzsoNlYADmXH9CGR4c1DNeVrfbS1womeoDYJh8hCZAh2GtSnuEcCSTqX_4WQfM0sXo6nESZpQQN7GHa8oHVO78ILEnSCp5lfqhYDv2UMY3lktScfgALGbG2WpfbNeKjMVUGmRZireENzzyJ28EIv3vG-2TC8txkIa4oixfFzyk0Hj3nuThc5ztF7RkgXCf4iaeY4fC2fpaKlHYImw8sHB3Vm3FXAfawf2c9Qe8BBHrCvXrPL0zFVbq3wGNqes6DOUyFkZQuAgH4EHh6-A0UEbaK261Prkts4pbGCb2Gf1dTfknVPpxvuur6oKfkChf9f9Rgyu5_kHooFq41XysdjkYWBgG4SUntznISxZevSD-S48b9yz-yYmdDfTdPMyGNU0fVxmpFOrx80TcWTY6oRl2oUXEuYN0kdshs1jpWQOkDgXU-ZzoTWEC5cJU3EGUcH6BuV54XLQHBCwXzOy5VCQE4R4q5tkuFTH3zKOEUeDb4jKkqE7IALMlgmw9hbrXFASsK70V1JN-sRwykZTT7_Ej6p6hapGtCvrYrOTcmtI4wT-PCi9w4Ak-iEf46gThQl_MhyO_oXkNC1ys_xdRGx9A5LomKdapaAX5K9lNHD1hAwQMYuBpMLappLtQ1CwM214u_yHGYA6OsxfdRpWaRJqY73PzKm6kB2cdPiQ2J-yO1kMV_uON84VsFqy9gAn57bV3g9GqtqzTIttni8OuRgHp_NDhu1HB9jDZleBHnBQpDBvt4MvtuNEVBP4AGgT1it9ohBBKgB6a7x9TyGD5qEColJFvLr0HJNvkQfOtg_IvUE5iqUWfPqNVRLF1fbV-ZDH2Y1zHSFBcciZIKXQJFC6zi--4H1kW6ql0-UxHwGipVklkkfo-31bFvzntvIJ1Or3EWcO_VqhpfvVcdVlk-pvHiwBQdyRtIegYHORBcYOG8bgdMy5Geb4StjmeDUyDs_cSMli5BnFWhR_vk7QqCbuxjUMuqNo3TBIACby3SWMhZ4am3IGiynyGner1VdES9GBizZ-N31rMV7OiVDmZ9iKs5jYVA4A0BbMZ01JM7Nl0nLuirlL5Ws8UVdjuYHZXWocsDxNixpNsxJGKLerUv0qWiLryEuQuvNy2lIBJvNV3JdqUj-OWmiagxdZ4_oOTQjz2p-nkw0EyhO0rIu8CAYabEBge8UVncbfDw_U0vdsAolP_IVkPFHhz0IQynSC0_tIlPsdnxDdvRtehel7KRJjCQ2ArO3cyGP1yvxDfjmuFdrU6vrWLgmfdnuo15FUEfliWv2qpvlpgaX0DoQj4YKJEILc7oJdzanRBkbzHW5uKX3sMxqrhsmTJslQdNdcD1D96zkETlawIpIRyR3x7e1M9gG69SYoejnIKGwNJo1VgOzsiUj4lpc5LlB6emt_UR2U1ptU5VwMHLHx-e4lqY3R4rof1NJyQj68mndmC5r31YSxFI4MVEM9Jhb15tenfisIazcjUPHzckKN7WwqdR9_rajkxyT0KACXRJEBkWt6QUZf79CxnqZnoCaaJIpMBy8w1thnyw9CQi7FnTgnWpkEM43oxOkcsT-U1lHkdEhS2jswbfNMlwQGy9UVe-oUNkEmzapqaliRAaIMtEdLdneVF-36q_K3AJinrO_65f9n7qQ2zHhSipyVSuat4KfXSQD3WQksydWp-NTem2wAkRHEeNXwJ5oc-6kqX_0MWrTwll5aPlYXRd1ZwpVWBvbl2iTqd98lzsX1_AOXsdcJIoT97KqOLEC6WsPexcty78znvi5Vhg8QhSNG97SMUfP1aI7mw_7xFsaJKQ3jojHRmK6dV2bFzG0_TPMuMCV-_kn1l1f073Ct9GQItY0RnHHDfQIyrr0mEfLbL8MYKxA51bHs9AAo9F0FfLqLjMSyz1sMCFsLgBiR_IFX2ZfdaSjDmb4Ohbq2SEFhW6CdML5ueuZhjU1vrZfND_g4fAca4Hn24Dm0uCWJt_VTzhpYe8lyFl197GhjrG-mq3W-o9N_CElrnJgkHnK_dx7GatCmprkoo2KGTTev1hbkWrjX99io5XSII8ieybQVSIgOfx2dNVJFObOzeVWwKIAbYxh5eUN79YZmkg4XaWlBRz3u0bVXGqa6hOiW0dYFikxftg20C7tsx7HhXlkRXvDB8U3AxTw-mB1ZgFuoSfj3DGHITLujM4kfRZ2gADaTCrL0XWFwEQwbGSpvlg0hN291JRd4TdjfqOHmdIf4kPag5BWk36F1xpnVWMbqJbqsqHJv8m_Parnya2ysdBoCDwv4zJsvAteXZlPs-C9wYl4Q7f8VV6BATnqmAWT4hlBGB3wsoyUKGMFuOM_VGdIEHrpGh4RMCzIN_YNOgJP7lHTVsWic_clzP3I60AVNGzkZB4HRYtm6CY-NVmuH5wM2WkMJ71WDGtfXTqaM9XCVVb-hRwHTp7u-SFWE1fCznl9mS",
  "id": "rs_030c8e8db579091b016ab44478fb3487d0a47f31d462277011",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_z\":0.14,\"left_x\":0.36,\"left_y\":-0.04},\"note\":\"The second close was also empty, and the post-close wrist view shows the plush still entirely ahead of the closed fingertip point rather than ejecting sideways. I am re-measuring from that view and moving the grasp point a further 5–6 cm outward before one carefully aligned attempt.\"}",
  "call_id": "call_lYfBVRmetpTrdzVIarGBhS9F",
  "id": "fc_030c8e8db579091b016ab4447c397087d080967b47c483f435",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lYfBVRmetpTrdzVIarGBhS9F",
  "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]: [-0.1791, 1.5398, 1.2179, -0.8658, -0.112, -0.2058, 0.9956, -0.0212, 0.8288, 0.5999, -0.7433, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3534 left_y=-0.0403 left_z=0.1276 left_yaw=0.0511 left_pitch=-0.5914 left_roll=0.0374 left_gripper=0.9956 right_x=0.2329 right_y=0.0021 right_z=0.1058 right_yaw=0.0015 right_pitch=-0.3863 right_roll=0.0088 right_gripper=0.9995\nstate[joint_eff]: [0.5128, -6.1197, 8.5402, 0.9695, -0.0611, 0.232, -0.1343, -0.1436, -0.9368, 6.7761, 1.4042, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1234d71608cffecf7bb9f3f499191301873a8dbc18c74409415c33c3d6eff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f6ecc052efacb8100200173d65b2943d42569cac6f8aa13cc799257b880f03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1140d4e7c76494041dc5c09444e0da76d9e7cbbf6de84bf6707eb775bf897a0f",
      "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 · 2.289 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]: [-0.2245, 1.2919, 0.9512, -0.7334, -0.1276, -0.2245, 0.9953, -0.0212, 0.823, 0.601, -0.6937, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.313 left_y=-0.0447 left_z=0.125 left_yaw=0.0167 left_pitch=-0.4772 left_roll=0.013 left_gripper=0.9953 right_x=0.2431 right_y=0.002 right_z=0.1147 right_yaw=0.0013 right_pitch=-0.3299 right_roll=0.0078 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -4.3966, 8.9368, 1.199, -0.2271, 0.0855, -0.149, -0.0205, -1.2376, 6.9812, 1.5311, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2276, 1.4063, 0.6666, -0.437, -0.1268, -0.2329, 0.0109, -0.0212, 0.828, 0.6003, -0.7288, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2906 left_y=-0.0407 left_z=0.0253 left_yaw=0.0331 left_pitch=-0.5767 left_roll=0.0374 left_gripper=0.0109 right_x=0.236 right_y=0.0021 right_z=0.1081 right_yaw=0.0013 right_pitch=-0.3707 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -5.8188, 7.0906, 1.0574, -0.0562, 0.0611, 0.9695, -0.0752, -1.4838, 6.735, 1.453, -0.0171, -0.0611, -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 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1791, 1.5398, 1.2179, -0.8658, -0.112, -0.2058, 0.9956, -0.0212, 0.8288, 0.5999, -0.7433, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3534 left_y=-0.0403 left_z=0.1276 left_yaw=0.0511 left_pitch=-0.5914 left_roll=0.0374 left_gripper=0.9956 right_x=0.2329 right_y=0.0021 right_z=0.1058 right_yaw=0.0015 right_pitch=-0.3863 right_roll=0.0088 right_gripper=0.9995\nstate[joint_eff]: [0.5128, -6.1197, 8.5402, 0.9695, -0.0611, 0.232, -0.1343, -0.1436, -0.9368, 6.7761, 1.4042, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c1234d71608cffecf7bb9f3f499191301873a8dbc18c74409415c33c3d6eff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3f6ecc052efacb8100200173d65b2943d42569cac6f8aa13cc799257b880f03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1140d4e7c76494041dc5c09444e0da76d9e7cbbf6de84bf6707eb775bf897a0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESB-8cgqES985iWV77qZ056gacZkTTHfll6_HyQXHk_Yq4WxU_b_SDrxJABy80IjOx0UZhkTtBkVzX7SlFAWelE6EfokH1mDXH2nEnKI81JcV-BMbZPDiePfm3Bf2j_u73A-UybbNx3RfkQ7N9UfkvL1FBZ8-Tw0ymMn1-HhTIhlZep3tmVXk1ilz_jaL-aJGf1UB67BybHg_OjV5frtBW3Ow0EwRyZxl80n2aRyDY_ct5BcxIf7YOTuLxdrFA-Q90f4sMbCAUM-X03gdJpbZ10JJw5fw-0f2a4p1x5AmRqgCUZx46qvyFgmnSzQD1ExsDAu9Tla46aS4Hz-Hqm4cRZK5sF0F8YYOSbJj9k4j8rNOnjJBxypJIb8UvvQvZk7Balkfd1KWxWFT0B_ut56Iy_dBDFsRebA4DkR3L65fAnUf6zNPBiXAGRbuWsWbQKAha4p0kLXcZ2zmZRwe_Kpu773VcTc12edDhVn86MSIqPNUMGToOdd4y8CIzNcC6wR-uEiu1ebOIOM_2Baa2neK3AtkeIRqSBd7kOArLWzAdz5DCS_s417WWUjpPjd-DpmuzTUB42DqopJ3W6egq9uFBIbj8LBHYVIEZpa2AdNfZNWOfap3fg7CUDy8BmnuxDsq3PSpg884MahmkFCtBZ6PxkXRhAcukvZKGNbcctFLlD7lmDfvDTXKPo_jCXaP281eGJTULUJF1SznjXRC1fGax9k_OcQZDg55YviEl1syLVkDmRV2HnSODlbEFaRZEopgyZFmJJaQdtdxHn2uW-iMPE7PDJxNs4YDQvsKvHRbBSy3See66Leo5LlcP2Svd0OLKNP7CdxGpTrZzmfM9nPHmygQ1deyiIREWXzQqhFM1uFw76bWsLpQq4H1vKzIyIIo2eM9oriDxlrvtsmq6ETBXU-u9nR3bHD7FQ_rfYJuD709YDnLtzkTnMrcX_Zt8H47lVr7nt_dpkyXbI_1sn42YA_C6FVhrgIOI4b4ugzu0ZZWhkZeasZ7gCPoibkK9QfBpejERx04o0idS7sKQpiVWthiJoI0tLMePUXw5X4Bu2YMvafsHsqfxWiTuBIQTz9bm56kdp8WjKzH7qwmpHuGURALr74a1SzVdiXzBJDDPB-yIJJIKjmJ4qHrGAMMa-oOVllBQBfnrshwwUIa_H9us1BOBWwSo5tM9WSrcoBNZmihPKhxZfwWLeqTF5DjD4GLKzCK-oZXCYP5QWbbffdYDzCwBPFu6shniZ3jMG0H5vc7vCyRGwgz2gmq6q6TYgqzL8Nr6aYdrNYOHsTgr8TJmo9_F6CB_4iTCS0OKAdbNh8R2rk3Wr99bxqHTpyrGUllfyNeY-ko1mO5371-eXf53_3i-4x4ANErSlfHIRSLkJbrt7CblKSHwtIooFRG5nNWV6DKhdwhgyGz5Vg1jPJLQU2A==",
  "id": "rs_030c8e8db579091b016ab4447fcb1c87d089c6023327e3249f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_z\":0.11},\"note\":\"The larger outward correction now brings the plush close to the fingertip line; its feet are just above the jaw convergence and it remains centered. I am advancing the final 2 cm while beginning a controlled descent.\"}",
  "call_id": "call_h9mUpJEcDOc6DpYzzBtRODRH",
  "id": "fc_030c8e8db579091b016ab444804ad487d0800ed9483663eb96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h9mUpJEcDOc6DpYzzBtRODRH",
  "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]: [-0.1719, 1.6337, 1.2449, -0.849, -0.1112, -0.1989, 0.9969, -0.0212, 0.8307, 0.5999, -0.7471, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3648 left_y=-0.0398 left_z=0.1062 left_yaw=0.0611 left_pitch=-0.6404 left_roll=0.0537 left_gripper=0.9969 right_x=0.2321 right_y=0.0022 right_z=0.1048 right_yaw=0.0016 right_pitch=-0.3921 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -8.3897, 7.2, 1.116, -0.0415, 0.0415, 0.1197, -0.0889, -0.8, 6.7897, 1.3114, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5414b7ae992986e300ae2f5abfebe5b097533c04b82b21f76bc82fbe653882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ed05dfa2c0379ddffe095f26695ae3005d7109b37b142bf6a850fdd6a56710",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6590fc87467d988f3c7a8a9af444509255bd3f4471b739f487d5cd0dcdf1a4e",
      "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 · 4.56 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]: [-0.2276, 1.3941, 0.6834, -0.4301, -0.1272, -0.2253, 0.9964, -0.0212, 0.823, 0.601, -0.7094, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2987 left_y=-0.0425 left_z=0.0347 left_yaw=0.0229 left_pitch=-0.542 left_roll=0.0308 left_gripper=0.9964 right_x=0.24 right_y=0.002 right_z=0.1123 right_yaw=0.0014 right_pitch=-0.3455 right_roll=0.0082 right_gripper=0.9995\nstate[joint_eff]: [0.0479, -4.2735, 5.8598, 1.2039, -0.0806, -0.0269, 0.0952, -0.0752, -0.9915, 6.8308, 1.5165, -0.0806, -0.0415, -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]: [-0.1791, 1.5398, 1.2179, -0.8658, -0.112, -0.2058, 0.9956, -0.0212, 0.8288, 0.5999, -0.7433, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3534 left_y=-0.0403 left_z=0.1276 left_yaw=0.0511 left_pitch=-0.5914 left_roll=0.0374 left_gripper=0.9956 right_x=0.2329 right_y=0.0021 right_z=0.1058 right_yaw=0.0015 right_pitch=-0.3863 right_roll=0.0088 right_gripper=0.9995\nstate[joint_eff]: [0.5128, -6.1197, 8.5402, 0.9695, -0.0611, 0.232, -0.1343, -0.1436, -0.9368, 6.7761, 1.4042, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1719, 1.6337, 1.2449, -0.849, -0.1112, -0.1989, 0.9969, -0.0212, 0.8307, 0.5999, -0.7471, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3648 left_y=-0.0398 left_z=0.1062 left_yaw=0.0611 left_pitch=-0.6404 left_roll=0.0537 left_gripper=0.9969 right_x=0.2321 right_y=0.0022 right_z=0.1048 right_yaw=0.0016 right_pitch=-0.3921 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -8.3897, 7.2, 1.116, -0.0415, 0.0415, 0.1197, -0.0889, -0.8, 6.7897, 1.3114, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c5414b7ae992986e300ae2f5abfebe5b097533c04b82b21f76bc82fbe653882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ed05dfa2c0379ddffe095f26695ae3005d7109b37b142bf6a850fdd6a56710",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6590fc87467d988f3c7a8a9af444509255bd3f4471b739f487d5cd0dcdf1a4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESDWwwKwtir5OBQE3V9J4GUpzTcdlcGuuQapkOGsEzVR1i4kBPz0emQKl3fRrmwXNaigeQ6FbrH2DK3AdK0XIaKHt0m7bKl7PTyC7nDn_DlfHD0rLxE9Uo4Wuxwpo0LHUh6xxD-xE9pn47adA7okFQ3y-OgpHvBmzR1yGf3nWkBjkTdwzG1Mhqr92FzDBnSVP-d2zmQGakBF_QmC5Le2EwvPPqcUseSn1E0eapfT2xaxTiTevnC4DM_f6hFWVskWC_uxkmWW2Pj4U5B44cI8MEAieniJlBYkgA4Dgzk-9VtJETEa2l60KB7ApX7vlpKAnvZ60JL2X9svuyPlYXWQUix_zRMFvWbLLfihKroeuNaLsVDSwNZlJjeQ7tx7W-jjSrmgdMx3q3anwrd7VS27S7xm4X8NYv_wtQsBLi0_lgo5xZELSkEIH6xfJkEtPx1hypx14Y5Lb3WRS3VM9-fv1Ab5jUV1c44IyCyBfMf-OieBGyi5bvgIJ4WvOaSOgmNo20-1_5B0N38WgwRl7lYFdN23nt8Gz7FmaBa84ebc5CXmi0vTQDKCNg_8AeDSO9q95cxbmTrIV_GKRMhTuZuX5himAsL22qUvx-qJbFHZqOD69skuOV86d2a_C3aTF19MD0fKR5U7A_94vv395osrvH7PijWQWzM-faw5DK_1CDIbt9mLSGTy4AFxLUpfeyJB2y7M4lBW8aZ2giVMJ6MVp9Ec2DTqmRP79r7WPtjPLZOBRJnG5JgTSwx7ClSGbfNZwddJO9z_x_JVJAy_QVVxAbTOA1Zh28W_vgJQtc6m9NTb-rIycB8jPtkdwzZCUaipUg05nYll8XTR0UfjebdAxivnm1A7UKxdLWL3hvQngdWFFZVHt9zxAgV6lXGicl31TgEOBDJ0SPZA0xQRxm4R1FEKIYpUqhjAElIOcnuvqSnHbiTbaL_yvP14yr63itv8p64frI1M3K3MgM3F_pHb8GFIUxH-wv3ZyltL9M7X1s90RwOnZmszYHkZzxUSzf98Bw4piH4sN967XoXItZ3lxa4OKElCL0_18zu-NhH-nteLIgvis6_bjmGsfKtIvPM7SsZsfofomLgAQcAn62FJACi38-PVIyYp_9Yb37_wwlEonMYgoPZ6I80IjUJQVynqXSNLtreO8D0G_SC8mEBpDO4Uz8-IdrLWqpEh12LQMBR0fuEnTvWSqe4ZrenrAsZiWCS0K2bxRu2NBQbvYA6N-32RFGf-mIoXNmYUyICbts0nDA=",
  "id": "rs_030c8e8db579091b016ab444828cbc87d0900b3d3b36f948b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The plush feet now reach the jaw convergence and the torso is centered between the fingers, confirming the radial alignment at last. I am descending vertically to body height for the grasp.\"}",
  "call_id": "call_Nk3cA97cciw3xAnwtP336RTu",
  "id": "fc_030c8e8db579091b016ab44482bd2087d09aa7f991322e4856",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nk3cA97cciw3xAnwtP336RTu",
  "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]: [-0.1684, 1.6623, 1.2442, -0.8265, -0.1085, -0.1993, 0.9971, -0.0212, 0.8307, 0.5999, -0.7479, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3696 left_y=-0.0398 left_z=0.0977 left_yaw=0.0632 left_pitch=-0.6476 left_roll=0.0524 left_gripper=0.9971 right_x=0.232 right_y=0.0021 right_z=0.1047 right_yaw=0.0015 right_pitch=-0.3928 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0325, 7.2137, 1.1648, -0.1099, 0.0073, 0.0073, -0.2256, -0.9641, 6.6393, 1.2625, -0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15329b28b74b575ed1cf78e865a7515c494b5ea57e44a4ea3736e4c099cd80b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280c278d16b2e3e52d314b6315b06667f1a182f1ed0c7c7570e9e17ae5510adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc04ba7b29d908ead6d64ae7985c2f857799d3983aa7d654ea2a05ff6597dd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.379 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]: [-0.2276, 1.4063, 0.6666, -0.437, -0.1268, -0.2329, 0.0109, -0.0212, 0.828, 0.6003, -0.7288, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2906 left_y=-0.0407 left_z=0.0253 left_yaw=0.0331 left_pitch=-0.5767 left_roll=0.0374 left_gripper=0.0109 right_x=0.236 right_y=0.0021 right_z=0.1081 right_yaw=0.0013 right_pitch=-0.3707 right_roll=0.0085 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -5.8188, 7.0906, 1.0574, -0.0562, 0.0611, 0.9695, -0.0752, -1.4838, 6.735, 1.453, -0.0171, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1719, 1.6337, 1.2449, -0.849, -0.1112, -0.1989, 0.9969, -0.0212, 0.8307, 0.5999, -0.7471, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3648 left_y=-0.0398 left_z=0.1062 left_yaw=0.0611 left_pitch=-0.6404 left_roll=0.0537 left_gripper=0.9969 right_x=0.2321 right_y=0.0022 right_z=0.1048 right_yaw=0.0016 right_pitch=-0.3921 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -8.3897, 7.2, 1.116, -0.0415, 0.0415, 0.1197, -0.0889, -0.8, 6.7897, 1.3114, -0.0464, -0.022, -0.0122]",
      "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]: [-0.1684, 1.6623, 1.2442, -0.8265, -0.1085, -0.1993, 0.9971, -0.0212, 0.8307, 0.5999, -0.7479, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3696 left_y=-0.0398 left_z=0.0977 left_yaw=0.0632 left_pitch=-0.6476 left_roll=0.0524 left_gripper=0.9971 right_x=0.232 right_y=0.0021 right_z=0.1047 right_yaw=0.0015 right_pitch=-0.3928 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0325, 7.2137, 1.1648, -0.1099, 0.0073, 0.0073, -0.2256, -0.9641, 6.6393, 1.2625, -0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15329b28b74b575ed1cf78e865a7515c494b5ea57e44a4ea3736e4c099cd80b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:280c278d16b2e3e52d314b6315b06667f1a182f1ed0c7c7570e9e17ae5510adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebc04ba7b29d908ead6d64ae7985c2f857799d3983aa7d654ea2a05ff6597dd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESIQ3pbXJnQrhvLxLf_fFR1ymlmENIDS-6ZvrtHrMwTc2JaADk3pKzYGntFrer9nCAhMtiymtvFy-nEpqxZ_IPv0T3UQXI3jAe9rISPUL399A2BGuYjs9r9REM85Ca7XR-gYFrAXY3s_5cG6MoFJQ46if4ZYJrTMqneh4UlMklhCMHKT4n-6gouFRXgxRN_KPWjbYo7QB5QIm3VAx9wb8R0y6s9B0lLkoTG8E8mGXMEOn5LapOCDD_rSigdtOkro85SUpMHg6zeyd0pE_8a5Fxc3dnNzH4KA1711SmO3M62JVItLe4YdjKt-lZCGRe95ZdFkcJHjNLTC5bM-ArOY1XckibUvABxQA_7jzJ52SQkXCoD5clt1f6dnJW7xwUqnmgTN85e1yVaYsFf3NwGIuCAHeUiSzlPXP9GHT6SMki5GiphHZmYpXGdGhvSfK2lctGvZvG716hBpCInQM_EJvHnUbWh_zkp-lCD11aFcA1tIlkLdvICYLIAk2WyyzKp44garOukEVHkd5vjFEjaUWW-evRYa7tYzSy5JEkAGy3VHV5vAU-kR0i4Hbett00XfF-SwrUbBkVzcvQI9YcZrNTaxptI_DPk0OiUqHUQtRMt4ww8VEVw4XSN0Fs28jiEeffnbOUZ8V--oF3yDnf7cxqw2SHDsL5-WXsIQ1xcXP9q9kkHY9YboUDjxeD55-p6ahJsBfhgX1Ttjj_q1zy-Sn6j4wvpi_yCx1lNT1L-QjPZhKKmHpWqHjuJ5SA47QUve-RBuON8ApdVqj8BmkLSDvpntuqzlPzdM_DqBbTAibp_g6gRRydKYjSV39ru2LMWGVFSSzeBkixhlfr6WjEOfjqKU5zaSBIINWOCrjcBmX35i8x2k4czXsS4HFMGU1G1914-hw-OpzMv-cT5QCV5gZPFxTrARNUqDolaUq8yPNzFFZLBSiS7CZw8vRT6AsQJSXit9iiJHsaN7xZu7Uy7y1Z-1YRu4J_AU-Lwd7aLH-_8Y_jljwYnm9bSmxqtgBTD6J6f7a66dwtii5RZndrjmv2_OeL_zmQXDNXX78Yp_2JAyzLtIcE494UxO9pZx8Iz93_I7AtkIlANl4ljKKuMnfU6QEhCiDvta7uIWd13rF3_tAAsh1PGMfp8ZL9kb5vhHASNxSOjan2X2YEdNUStdngw0I78GiR1RbDbFNsWdEKJpBFl4Iqw50Nxo74-9yuimPoFqjHb01GkY4EkavwLCDgNYoOrSsETDB3mBezeivYRw2RH-Myp874Er6gKil09mkF0M6XFFBA0295OZzCPCTNY59QBPBLzihJy0h5-dj8g0CG6nUVF9fdLenfU0vKvINykmwzwoA_M1P57037HAFhEfisxUxv-Y7M9P0BUwIdT-g6JXhitKhQduG5i6yY6qqJcU8AEHK0RVKjMBk-y0KUkFL19r4vzhmClboAThExkx3kYSkybbGzznACyjwWGJMs6M1VE95NTfoo0Lo0bD56waVaLGfY6aIixDdO1cqkItUzjuRP6kMd96M1YOrRZJIrctmxft1o98_wMTcJHqF1vGqfCXHBCqcpdNS_Lo8W9h_Yznz-2j7ykEC1vpTSMun5rM97sspDUngQkMRfoGDqdmY2a6wQtA3Ca5mhPrGwlAC2tCM0GRWAETurzgaPL9bYqly56m5eLps3akB4kcwJGAWT9kCYFO0XusYBVs0Yr3QvHpoXvIK6P1fIrfmimezEuHCkKm6ur3dyVrUU5nC314vxcLDl9DD0DT3NI9U3gO88cpjcLn7GLCwTTPsemoy4YntBCyVo91PcwGHuo45gRt19kDz4klUSzYtUYCjvdcs5gFNxY0BT77yH6gbzHAlM8hmdEjzB3FT3C-LZaOOjEEBbNX2-OMf9c-iLGdCZDMiLAFNaMiZkLLvdEXlAEd3rEOpekgMs3h4jxnyoa81rR9tXwlc9C4higC1w8hkXzWCNH13BxP-qKCMULK_zsugNkBPHx7vflCqq1RZLWrr3Oe8YNHhyFKTx0XfWuFfTZns0=",
  "id": "rs_030c8e8db579091b016ab444851c0887d097efab8919ebc8a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_pitch\":0.5,\"left_z\":0.06,\"left_x\":0.37},\"note\":\"The arm stopped at about 10 cm instead of descending, showing this extended vertical-tool pose is at an awkward reach limit. I am pitching the tool forward, which this rig uses to regain low-table reach, while maintaining the centered grasp point.\"}",
  "call_id": "call_ACyQ7pMm4EbX82kJFal8fxFk",
  "id": "fc_030c8e8db579091b016ab444867f6087d0b8cfa1f292ee1e16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ACyQ7pMm4EbX82kJFal8fxFk",
  "output": [
    {
      "text": "executing move_to over 39 steps (3.9s)",
      "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]: [-0.3019, 1.9369, 0.218, 1.5139, -0.3943, -0.0368, 0.9971, -0.0212, 0.8341, 0.5999, -0.7689, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3709 left_y=-0.0407 left_z=0.0601 left_yaw=0.0571 left_pitch=0.3916 left_roll=0.0701 left_gripper=0.9971 right_x=0.2276 right_y=0.0022 right_z=0.1012 right_yaw=0.0015 right_pitch=-0.4172 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -7.7333, 4.2598, 2.2491, -0.0855, 0.1734, -0.0122, -0.0615, -1.3744, 6.5983, 1.4286, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc78114214bc5614b9b814ba635f37c9064f57ee2565eaa7236276300074e8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63a6ea7133977ca451f17a63c3a9296b5b2a7e4edb82b34b25c14d4d3511c57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9381baa8e4df1aa94aec50e693531164d08d2ae0e90fbd0f2c629e3ea2b1d938",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.191 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 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1791, 1.5398, 1.2179, -0.8658, -0.112, -0.2058, 0.9956, -0.0212, 0.8288, 0.5999, -0.7433, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3534 left_y=-0.0403 left_z=0.1276 left_yaw=0.0511 left_pitch=-0.5914 left_roll=0.0374 left_gripper=0.9956 right_x=0.2329 right_y=0.0021 right_z=0.1058 right_yaw=0.0015 right_pitch=-0.3863 right_roll=0.0088 right_gripper=0.9995\nstate[joint_eff]: [0.5128, -6.1197, 8.5402, 0.9695, -0.0611, 0.232, -0.1343, -0.1436, -0.9368, 6.7761, 1.4042, -0.0073, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1684, 1.6623, 1.2442, -0.8265, -0.1085, -0.1993, 0.9971, -0.0212, 0.8307, 0.5999, -0.7479, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3696 left_y=-0.0398 left_z=0.0977 left_yaw=0.0632 left_pitch=-0.6476 left_roll=0.0524 left_gripper=0.9971 right_x=0.232 right_y=0.0021 right_z=0.1047 right_yaw=0.0015 right_pitch=-0.3928 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0325, 7.2137, 1.1648, -0.1099, 0.0073, 0.0073, -0.2256, -0.9641, 6.6393, 1.2625, -0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3019, 1.9369, 0.218, 1.5139, -0.3943, -0.0368, 0.9971, -0.0212, 0.8341, 0.5999, -0.7689, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3709 left_y=-0.0407 left_z=0.0601 left_yaw=0.0571 left_pitch=0.3916 left_roll=0.0701 left_gripper=0.9971 right_x=0.2276 right_y=0.0022 right_z=0.1012 right_yaw=0.0015 right_pitch=-0.4172 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -7.7333, 4.2598, 2.2491, -0.0855, 0.1734, -0.0122, -0.0615, -1.3744, 6.5983, 1.4286, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc78114214bc5614b9b814ba635f37c9064f57ee2565eaa7236276300074e8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63a6ea7133977ca451f17a63c3a9296b5b2a7e4edb82b34b25c14d4d3511c57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9381baa8e4df1aa94aec50e693531164d08d2ae0e90fbd0f2c629e3ea2b1d938",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESO2cUvrzwo6zgYInsI--E2s4Fav-4FbkLcHdWWTMNXwjVLCu047L-cbWb6cpiXfWF6x8Vh_-4bM20LGPnZq41Mvwl-xxrJgV8bm9PALqmNmMmlV8iWGW8uahy0M3ij9O3BfnzxLC3Mh5cYBCFPB8KU6KTnofuHbqY0Owyy6e5Abw-McB4G4aPmPGYldmG9XDgIBvyxc3QG6zNSbZHMxh5iY5U9gPJuD7xE9JjuEO3-_N2H2H7TsBr2alvj65q2BHttEiBeeMJOsGw5qYZQ6IoPBXPnnvWUv2ED-OdCDkfp9wOvrSMFq7yv7oqAXLof-znFs7fd_TDH6_lvc2Cy7i_GITwCeyhgCStCGYtVD8pwGGoMJBv3D-tnlxwCM6qb7MlTmXX5seLIRHr5HpVSIFUBdGV2IIx-1QwhD-562cLv34ge_paeatOKMOSG9U6Th8rFbYaa5MNkYnVBNy_OwAC_UPVUCxWIXCNoxFlTAIrUNdXH-1qOJEN-1QWNuT-keGU_XqRXUFHTPWEd2on4K18kVpgbGdl6nR-5vPbv6UhxEgwrpNAV4yjLCiK3KiACzDLksoF8iS1xmEelQeStKrjwcyjoVs9K10fFGyobfttBSxBAaUC95k8TvmvQmyuAiD-FT4YmyfPmcGXtjttrQJ50qjqsi2v_vydleZa5gEWOxaEiVPOLS2DFQi8PL6PsMNpBCf1vUXZeK_Oocl-_JwCxzDg65tdlEQ0dX6ZWuMON1m1yz0OfrKNg8_lU_b2ULZ1j8SyeE8SEczTZ_q1p8_3-dlTI1JSFdigzWLcLGWZKOA3_Wvh0xnSBPzyh24c0A71PInWZUKwwAULd5YoKWRf-f5nRvPFalSHW0DDAaw8KUyX-3s7lOKaKRdL4g1U3z4GHplpSGTlyZt5uFK3Lq1JHk8BGJA1czUKjXEFj6gnyl-O0m42fELpfYyZ0Akj-EAU4IC5BkmSTj6eENql80OIG6p2RNIuT773Nmf1jSXQ6oA2FKtQDObHuyGc24K3hE_7CPAOqlsArHGsaICxSlbUDzd6iyE4AHZWS8I85se_o-D2dooZ8DYwD34cn9wjM7u3S5LBwRSr4xUTtAlAzF0lRM7EevfcCz9w7duX6IAK2cfknfRObxI6ytVnjeBVDw7GrcxEflDngQyNh1URkEzfQPbbklNW-bnOj05gq-TNgIqDk8FPYoDUcgXvTtrBCGzONqxBJ5zytQqY2hYV_sZVV08eDH4n0gGIwD2v8cSBnt7k1EvFBONk5TjETpYD5nbfChfGeRO0kz5bG15rlKufQSA==",
  "id": "rs_030c8e8db579091b016ab4448d9b8087d0a2a957acf792d105",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025},\"note\":\"Pitching forward restored tracking; the plush is now immediately under the fingertip line and centered beside the safe wall. I am making the short final descent to compress the plush slightly before closing.\"}",
  "call_id": "call_jVta9CQBEDvGpYR1yGKDMR6D",
  "id": "fc_030c8e8db579091b016ab4448dc9e487d0b9683040dcbfe16d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jVta9CQBEDvGpYR1yGKDMR6D",
  "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]: [-0.3042, 2.0438, 0.2493, 1.5452, -0.3988, -0.038, 0.9971, -0.0212, 0.8352, 0.5999, -0.775, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.375 left_y=-0.0421 left_z=0.0376 left_yaw=0.0535 left_pitch=0.3506 left_roll=0.0866 left_gripper=0.9971 right_x=0.2263 right_y=0.0023 right_z=0.1001 right_yaw=0.0018 right_pitch=-0.4245 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -7.0085, 3.0154, 2.2344, -0.1343, -0.0904, -0.0122, -0.0342, -1.0462, 6.8034, 1.3651, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfa28220278abc90e2d11c44158add3896a500843c25578dff874d5fd21f93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31caef053d5a6c82d2e2f1f070467f4923246ce67c0761e199a656688b1dc781",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df477b584b0fa231d9c963472e04c7f519c1b094aa0e7c610d9d4a4c600b6a08",
      "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 · 2.054 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1719, 1.6337, 1.2449, -0.849, -0.1112, -0.1989, 0.9969, -0.0212, 0.8307, 0.5999, -0.7471, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3648 left_y=-0.0398 left_z=0.1062 left_yaw=0.0611 left_pitch=-0.6404 left_roll=0.0537 left_gripper=0.9969 right_x=0.2321 right_y=0.0022 right_z=0.1048 right_yaw=0.0016 right_pitch=-0.3921 right_roll=0.0096 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -8.3897, 7.2, 1.116, -0.0415, 0.0415, 0.1197, -0.0889, -0.8, 6.7897, 1.3114, -0.0464, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3019, 1.9369, 0.218, 1.5139, -0.3943, -0.0368, 0.9971, -0.0212, 0.8341, 0.5999, -0.7689, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3709 left_y=-0.0407 left_z=0.0601 left_yaw=0.0571 left_pitch=0.3916 left_roll=0.0701 left_gripper=0.9971 right_x=0.2276 right_y=0.0022 right_z=0.1012 right_yaw=0.0015 right_pitch=-0.4172 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -7.7333, 4.2598, 2.2491, -0.0855, 0.1734, -0.0122, -0.0615, -1.3744, 6.5983, 1.4286, -0.0513, -0.0366, -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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3042, 2.0438, 0.2493, 1.5452, -0.3988, -0.038, 0.9971, -0.0212, 0.8352, 0.5999, -0.775, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.375 left_y=-0.0421 left_z=0.0376 left_yaw=0.0535 left_pitch=0.3506 left_roll=0.0866 left_gripper=0.9971 right_x=0.2263 right_y=0.0023 right_z=0.1001 right_yaw=0.0018 right_pitch=-0.4245 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -7.0085, 3.0154, 2.2344, -0.1343, -0.0904, -0.0122, -0.0342, -1.0462, 6.8034, 1.3651, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dfa28220278abc90e2d11c44158add3896a500843c25578dff874d5fd21f93f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31caef053d5a6c82d2e2f1f070467f4923246ce67c0761e199a656688b1dc781",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df477b584b0fa231d9c963472e04c7f519c1b094aa0e7c610d9d4a4c600b6a08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESRAy-t78i2ZV85eLKPr1CyE19pflfsRgdVV8pwJHJgO71bqvpSghAPmM-ihfnnB8HMuY8-ofEL2CwHQJhpAmTh-nAyTRHkBOVK06efJESUyv27keyA2nAIG7v2qL-vH7-95EnLUGnNkJvz2FA1py6Iey9L6S9OCZjkdPJN8EnOpFBhwzmCmDQlAOYSSfP1oOQrkC0XafmnErcqiFn4W3jDIqgdBmNBz6BDGa7OfK0_4c0Md6a4ceLbvHDygIDXjy6EgT2Mbf0IFVf9kYPZPhKrnX-K2KsHUK7yAVeyifW940jEWsRfNS27BX1kVd1qRz6KtInqmxtl2ZyeMwcvQdaqp6Ga92YLNSLlApuoGJ574CBWa6pWHATF2BQBN08z3BMr7ZC39hwyCzAC324mSXUSvqCvZqj2D_ws3seV17MoN2ysKphzQFCdL73o69CfGNF8GDOQJhfdH6S2rDAu98plMVufDUeTkFx3MTzU0gYrqvazw1oa94y6z7BWcaIlHNdKwlpAeLfdrDuYfPsDa8pcy0WIJdoL1n3tLgAgJlnQbMQncFRq0cgBO_Dza7rNxRxHdOJqmCsgb0d5QRVu99uzKWGiR6r-wGYpgHknhJbs93IWO7QjN2KirvXBtN67wwpzqTTvPhPaOyoAmAX2uEPoQ3HzWGzCMox1mn7c9_KRVkazy8NRFF7_hkPBBX2ouSrgxRgUGmr7GzJIBo20kDnSjux3c5LKz-I0o8jBkKN3TW-ewDqw17_V8HyBu1Nx_qrL6-yriNHZ_0aqR2ZEnKq9mDAFwj3kY642lYuVRNfiAfJFFEn4k60zobKem87-bYlrWnvt-GR-RLxtTb5s7s4auzCPry8XEIJ1WwjTQmIZUayZSmoYibvHaAqH5OteNT3aeKfI6_bbNkIM_dXDDmK7ZB6Lgi9UgsXagmRKqPMz35J6_h9G3nJWzDh3roWD-PwwRqM39fk3ipNS_-za8s0-jhcVZqD4LvN3823O7OyoVsdlqcn3PeiD335A8m2pg9vlFO7RI2UBxzu-AYM9yKOkNtQwmnD9Bek9NRD0zGvCyHqaHsWszD-UIUA4nLw219grw5gMiAJ5n55jK_StYKNCEhIRQWA4Z0YrKcxcNbIteR8v6rKyJWBMkswbL9p1W_sTRc8RdrrKmDloJONHzqpMP5Qv3iQBZaTIYnY9Oa1mWUk=",
  "id": "rs_030c8e8db579091b016ab4449057e487d0bec335a97e407441",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The gripper is now low enough that the plush face and torso fill the space directly between the fingertips. I am closing for the grasp.\"}",
  "call_id": "call_7l1jiBjBekrjDbRuuX0CSXiH",
  "id": "fc_030c8e8db579091b016ab4449061e887d0b9ebfe402023d3c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7l1jiBjBekrjDbRuuX0CSXiH",
  "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]: [-0.3073, 2.0514, 0.2535, 1.5429, -0.4019, -0.0406, 0.0409, -0.0212, 0.836, 0.5999, -0.7883, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3753 left_y=-0.0429 left_z=0.0354 left_yaw=0.054 left_pitch=0.3456 left_roll=0.0868 left_gripper=0.0409 right_x=0.2235 right_y=0.0023 right_z=0.0983 right_yaw=0.002 right_pitch=-0.4386 right_roll=0.0102 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -7.2957, 1.347, 1.8095, -0.0317, 0.0562, 1.1453, -0.0205, -1.1419, 6.5709, 1.3358, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e844a0da1abc985ae876870fa44521d2b2b52ea51275ffbf9d540632518014f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d96b05ef062cadd6161fdc4d38f3e3e0ba5dde0d9d503f300060a3718a8ecd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26b9b2bb3bf53617239b22250022f973f17676505775319fe1aaa1d1d6a5e19",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.668 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1684, 1.6623, 1.2442, -0.8265, -0.1085, -0.1993, 0.9971, -0.0212, 0.8307, 0.5999, -0.7479, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3696 left_y=-0.0398 left_z=0.0977 left_yaw=0.0632 left_pitch=-0.6476 left_roll=0.0524 left_gripper=0.9971 right_x=0.232 right_y=0.0021 right_z=0.1047 right_yaw=0.0015 right_pitch=-0.3928 right_roll=0.009 right_gripper=0.9995\nstate[joint_eff]: [0.3077, -9.0325, 7.2137, 1.1648, -0.1099, 0.0073, 0.0073, -0.2256, -0.9641, 6.6393, 1.2625, -0.0464, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3042, 2.0438, 0.2493, 1.5452, -0.3988, -0.038, 0.9971, -0.0212, 0.8352, 0.5999, -0.775, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.375 left_y=-0.0421 left_z=0.0376 left_yaw=0.0535 left_pitch=0.3506 left_roll=0.0866 left_gripper=0.9971 right_x=0.2263 right_y=0.0023 right_z=0.1001 right_yaw=0.0018 right_pitch=-0.4245 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -7.0085, 3.0154, 2.2344, -0.1343, -0.0904, -0.0122, -0.0342, -1.0462, 6.8034, 1.3651, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3073, 2.0514, 0.2535, 1.5429, -0.4019, -0.0406, 0.0409, -0.0212, 0.836, 0.5999, -0.7883, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3753 left_y=-0.0429 left_z=0.0354 left_yaw=0.054 left_pitch=0.3456 left_roll=0.0868 left_gripper=0.0409 right_x=0.2235 right_y=0.0023 right_z=0.0983 right_yaw=0.002 right_pitch=-0.4386 right_roll=0.0102 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -7.2957, 1.347, 1.8095, -0.0317, 0.0562, 1.1453, -0.0205, -1.1419, 6.5709, 1.3358, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e844a0da1abc985ae876870fa44521d2b2b52ea51275ffbf9d540632518014f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d96b05ef062cadd6161fdc4d38f3e3e0ba5dde0d9d503f300060a3718a8ecd1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26b9b2bb3bf53617239b22250022f973f17676505775319fe1aaa1d1d6a5e19",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESULKcx-Y6oIR3z_mvoO736m5MZmMBF2BPlUkotet0j2HtgAovTCDQnj0hlW93fQxIudD3MxS9PCoQ9I_UDQAM2DAlGg7hYLZdLJdUAfg5h0exuZJuxczDis6r3UGoEwtQkWkv9ndL-EsKjVztBPpFsiIPMEUeW5zYIBDuWF3BK42zYmV8-aiaBM7E0bUwS8bAJh_VL4g3-BARfMVrfhDEPR3lJVI_VoSAz5u1UwJUxGjHjdcPB6AybNseOHD7h4ge9RZp3glLeY8bJdR_Whne4PFj0Oi8ycJdvi_2dvJcU10EvE2qbt32UhQaPZT81TrJR8SSzH-MMDx5T2BLkhlTNolR8dEBEJKHyNKrgcOabR97MQwZUp_g0iYwhCs3D_EgYNAU4_L83KtcCItdj2Mgum54zIRS24LrdiC9Kkdf7P9kL5dZf3r67F4HOFwUvo0HVj5VwVPC-0WCh25yDi-FIafQBUiqvq5bv4_1tIXTFsFQDJaezfIIAmqB2GmHdl-o-8Mn2pYid4gr-TzxLJNOOUUEg5Lna68a4f7ohDSMPR4XGICvDWnpUWG4bms9IyVYsNVJ2TLsemrEYk5VbKpgGQYnBfmgyKT5_WUjHqhe-PZ2t3Wl9xiKuNNcGojcAtB-T_X8m96hDfilhGd4r49t9QUZGpE4vYlPROUQbZxuAa3qWIunm2EL7pR4FYMwaDnPRhWYrNHSWCb6g-V9qsDGzL_46kqW6jXaW2ssLcw_gLrdAicXPJWPZqM0V--cOBZMygEpSYMfIdPFtig_tuGO-MOn5eblOnhZmgWBOVQUVC_b3zQOYnyOhH9ZG0YMeujlPdh4d8OuImvgtPJ_BRxez80Pg2nVrh5YNE6cIMQBrk34j5_ABoVZLvcnAGM9R3XmK3y9ydQUb13hO0ALG42d5pYotEnCd8NlqwxPctYzTB05PqqbT0hhYstU0Wal-J33oYq_TD5WpcvRxE3ixM8Tc3kp-J8XB3lu8Bzej7seBe6W5io_cKXr2lVfmeVZ6SoJkGr5RZPozYjAQdLaFfQgBzyFSjz98gqMJYSPgSm0z4qPWMSJj_CSo3ZQ7QsP1u-oFZzmGch75svYOABoSTj2yJJTNSwYijwCYCjaTQXibPFYJc4gzQQ6WbtVCqOj6ZQjwmcnEP8_VrL-stGofXP3XSH4MCuWNOnULuIDhR-EMLQWcMghD62lTfBDaxOKiQU7jTw1LET5zQ9VMuJOdZfqDDavItLk3YualOZc4RNpvwCi4ggt17Z3ys6nd87MwreEz4fI8UXH1s8xZpvT1GT3FIw==",
  "id": "rs_030c8e8db579091b016ab444933e7087d0921c4257430c6778",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The gripper settled at 0.041, just above the empty threshold, so it may have caught compressed fabric. I am lifting to verify whether the white plush moves with the gripper.\"}",
  "call_id": "call_o3dru1lORQfeBAmXPekKtljY",
  "id": "fc_030c8e8db579091b016ab44493898887d0acbdf07a38a30736",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o3dru1lORQfeBAmXPekKtljY",
  "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]: [-0.3073, 1.4296, 0.2955, 0.8948, -0.4057, -0.0463, 0.0424, -0.0212, 0.8398, 0.5999, -0.7959, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3718 left_y=-0.0411 left_z=0.1219 left_yaw=0.0628 left_pitch=0.3608 left_roll=0.0758 left_gripper=0.0424 right_x=0.2218 right_y=0.0024 right_z=0.0965 right_yaw=0.0021 right_pitch=-0.45 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.0256, 7.9795, 2.083, 0.0024, -0.0073, 1.0281, -0.1846, -1.306, 6.5573, 1.326, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688a151ca60111ce44c07ab5e360beea97ecd991e4627398c412a0fe6741cc02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e85f4b0e17fe01328c1583b0858bf24e95a35b6a0c511a5c08882fcf51abd6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcfdc9363d5621147dafc1e1ce2a105b8be76133bf21949db95fcfd5697d0852",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 2.912 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3019, 1.9369, 0.218, 1.5139, -0.3943, -0.0368, 0.9971, -0.0212, 0.8341, 0.5999, -0.7689, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3709 left_y=-0.0407 left_z=0.0601 left_yaw=0.0571 left_pitch=0.3916 left_roll=0.0701 left_gripper=0.9971 right_x=0.2276 right_y=0.0022 right_z=0.1012 right_yaw=0.0015 right_pitch=-0.4172 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6496, -7.7333, 4.2598, 2.2491, -0.0855, 0.1734, -0.0122, -0.0615, -1.3744, 6.5983, 1.4286, -0.0513, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3073, 2.0514, 0.2535, 1.5429, -0.4019, -0.0406, 0.0409, -0.0212, 0.836, 0.5999, -0.7883, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3753 left_y=-0.0429 left_z=0.0354 left_yaw=0.054 left_pitch=0.3456 left_roll=0.0868 left_gripper=0.0409 right_x=0.2235 right_y=0.0023 right_z=0.0983 right_yaw=0.002 right_pitch=-0.4386 right_roll=0.0102 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -7.2957, 1.347, 1.8095, -0.0317, 0.0562, 1.1453, -0.0205, -1.1419, 6.5709, 1.3358, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3073, 1.4296, 0.2955, 0.8948, -0.4057, -0.0463, 0.0424, -0.0212, 0.8398, 0.5999, -0.7959, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3718 left_y=-0.0411 left_z=0.1219 left_yaw=0.0628 left_pitch=0.3608 left_roll=0.0758 left_gripper=0.0424 right_x=0.2218 right_y=0.0024 right_z=0.0965 right_yaw=0.0021 right_pitch=-0.45 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.0256, 7.9795, 2.083, 0.0024, -0.0073, 1.0281, -0.1846, -1.306, 6.5573, 1.326, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:688a151ca60111ce44c07ab5e360beea97ecd991e4627398c412a0fe6741cc02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e85f4b0e17fe01328c1583b0858bf24e95a35b6a0c511a5c08882fcf51abd6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcfdc9363d5621147dafc1e1ce2a105b8be76133bf21949db95fcfd5697d0852",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtESYXxcihz7_Orada9A2SQmc3j729bil5SXat9twZ7ffJsLxVHCqOPG76mL8LSl-g9Rvk2hOxwFJlg1_hC9m2ETtlyEvZRtAhx5cGsjRUfcEcbzoLiXw1b6ykI8Mnkb3YTEGDIu0M1oWBrDAmWM3D0c42QVRr_Na-zSl1mE3AiuquyVBKyztHYkZ-3uvfGUSn3rqI74ZYZ0XMFKVgRpkgVITdaGaIBs0nTCDfxLvN8bXf4y7BZAefrYEzRG0wsUr1x36YTKkBhHDpMV4dJy1JqnqPGv6ZthCyi7OTlBxke--ouA1gycl0N-JHPKok1VPeCLJntX-ZykhdSfV9NMpY0Wx2qK1Bp3c9rUAZrFWfvRsqQkAaf6Cfd7AokqKvwGMW41hKskfRYVkJsGfFbbOCMALD-iyDEMcaTJlahgMbJdc6-msjXDj2cUmOPf_29O2JPhE-erEAftY58EFTxBrPIhs6LpupYrg94iTXJbRUEBr_ijLX-3a_y9lRj_iajnEKtIjhi7him5VObqrwazufFJbNvCzIZX-rzAJGff84zNGT1YHs_KKiYRb-R3ihRpftUnphVbxMl5iAf5kfT0Tqm6-nE6hjPAaaSfvakANwlE6TyPmxd6VLkXpS9fXtomoSas-1SZAtKRwyDx0u3NVkv-jUZ4jkHWvl-MkXCPzHe7rAu85zLWqRMt9UaLxAWtQmMDSfcGVKMkG08je8W-6WsquoGNQpmQZ1Oy-aJxetM3uhHUKDhL2O5ZUdSY7ayegtqORYA1rlPQg2z1mqsy4pCJ5zQEFTGdUwmH_mU48M015TmyKhvs5-C-U-IVZ-tHJ3gkTjvtEYVKvyAaz5tdzJQEuL-0Uz1kt39rHxweHlpOHWg_etHqId5jAXku7OaVYQn4BuqLTNL2aiipCm1sTsg5OR-fXNYCFxH8ZZ0Gv1N5k587hifTbwOl_kb-0bptaoHU1rIqJHJaJm7kt_lpfBGvki7WxRCFO88pr6r7-6ztuvHW7xoYDQDARcwZw5f98TLc28gUeQ7Kj2HnuYABVDvcOU_hXqYapWcZFP5todz9HRlwe6KlItLRFi6n21q5Sy8ZppZ_om10eYLZA1KdlVPHdcDHZCwqB8NtgaVxLWzuJb5s6lC7yAqxwHDq2Emyc8mZfIYyKjcBZNhAliujGRadcFq_sLByZC5xdn-U_GEz9plS03jGkIoO-NcHQXPNItaybJqQPUoBskCN6aW5qg7meOJSLoOSzsuh6w56MaTQuSjinl1uzQIPKjKzFx648z7tt1wBB6xnYd11N52pfqjZL3uaSCiaORpffBWdGDq7xyuyJKYPc02Sj7bcOa2vdk478mGO-Jx_D7ToUqYxsk2ILt4tkTIWNVSAlru5orE96APMi1jWRtwO8_WFD89G-utZ456eSm1Fyl6JhheQ5wfXe-0c6R7VxCUOdQr9q3ldumNP2iGcwqg2TKTRb4m0FVaNrY0Qlt7Tev13rqWZ-MJKpwWkn9axBbbuQd-36-s6V01vUPN3KaGNfpRvnkOksss8B9DjH44iIYhqSeXcm32EsyJqQZCaau_a5iizCbPDx8tNoWMnu7qyZ2Fvns9kZjYWUq2pc7dn-zK2C-_g90ZO7S1kN0jrNP4viw7K3XzvYqqFgthJLkA7c6Ei_CtrGblgmKY11wEWevELl29II3rqTmeLvCcVy5-jsDdYYJsh8yON8ZQoJHnSJ81m6N-jhWV6dNYSL8xFpy-0olfFFt5ufnsjV-sBzYsLcTLqJYwTStxSUgYhjFEaoQxorbnEkeHr3poWREPv1p1qCqNSqgUhQEUbAobxGBpu2EUFmlBeUDb4Cy2BZjt36MMffXAC4nVMVn0xt20TJwqu7_XZF7kz-3G9bRi50WB855IDzh81hZx11x2gOPxD6SOiM6nHFxXrCLhTd6reuxCVNST4wXjzBuRxzgDMcehTD7ez_Wm_pE6Q=",
  "id": "rs_030c8e8db579091b016ab44496069487d0be13bc2968f58222",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.12,\"left_z\":0.2},\"note\":\"The white plush disappeared from its table location when lifted and the gripper remains above the empty threshold, confirming a grasp. I am carrying it high over the open safe, moving forward and toward the safe's interior center.\"}",
  "call_id": "call_NQ9gwW7nZWQz0UXEzPtVg1NL",
  "id": "fc_030c8e8db579091b016ab44497a32087d09503676304111273",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NQ9gwW7nZWQz0UXEzPtVg1NL",
  "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]: [-0.4961, 1.499, 0.7235, 0.4915, -0.5743, -0.1066, 0.0424, -0.0212, 0.8429, 0.5999, -0.8078, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.1161 left_z=0.1857 left_yaw=0.0505 left_pitch=0.3429 left_roll=0.0759 left_gripper=0.0424 right_x=0.2193 right_y=0.0024 right_z=0.0944 right_yaw=0.0023 right_pitch=-0.4649 right_roll=0.0108 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -6.2564, 8.5265, 2.0342, -0.3492, 0.0317, 1.0281, -0.2256, -0.841, 6.5983, 1.3114, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21703b9073300109d86c2dd1812ce29d254aac4042fed86318f82dbfdaf6e41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27598bbb999a965c34d546e6631fb336e4e7edd6ff487712c1a5189e59a26ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a65733b1ca5c7e00dccfb5ffa3045361a7533e8023508a1455a31f119d77749",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 2.012 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3042, 2.0438, 0.2493, 1.5452, -0.3988, -0.038, 0.9971, -0.0212, 0.8352, 0.5999, -0.775, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.375 left_y=-0.0421 left_z=0.0376 left_yaw=0.0535 left_pitch=0.3506 left_roll=0.0866 left_gripper=0.9971 right_x=0.2263 right_y=0.0023 right_z=0.1001 right_yaw=0.0018 right_pitch=-0.4245 right_roll=0.0098 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -7.0085, 3.0154, 2.2344, -0.1343, -0.0904, -0.0122, -0.0342, -1.0462, 6.8034, 1.3651, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3073, 1.4296, 0.2955, 0.8948, -0.4057, -0.0463, 0.0424, -0.0212, 0.8398, 0.5999, -0.7959, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3718 left_y=-0.0411 left_z=0.1219 left_yaw=0.0628 left_pitch=0.3608 left_roll=0.0758 left_gripper=0.0424 right_x=0.2218 right_y=0.0024 right_z=0.0965 right_yaw=0.0021 right_pitch=-0.45 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.0256, 7.9795, 2.083, 0.0024, -0.0073, 1.0281, -0.1846, -1.306, 6.5573, 1.326, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4961, 1.499, 0.7235, 0.4915, -0.5743, -0.1066, 0.0424, -0.0212, 0.8429, 0.5999, -0.8078, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.1161 left_z=0.1857 left_yaw=0.0505 left_pitch=0.3429 left_roll=0.0759 left_gripper=0.0424 right_x=0.2193 right_y=0.0024 right_z=0.0944 right_yaw=0.0023 right_pitch=-0.4649 right_roll=0.0108 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -6.2564, 8.5265, 2.0342, -0.3492, 0.0317, 1.0281, -0.2256, -0.841, 6.5983, 1.3114, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21703b9073300109d86c2dd1812ce29d254aac4042fed86318f82dbfdaf6e41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27598bbb999a965c34d546e6631fb336e4e7edd6ff487712c1a5189e59a26ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a65733b1ca5c7e00dccfb5ffa3045361a7533e8023508a1455a31f119d77749",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESc8XnJ_esUan6uQBLWL4AyLw5sd7u6nC1oSs1k4QR7BSgOfxdViKzVMXKfE9BY0U8OVksKP2RWTjVVyLMZCiKIS9vUuMWXPSXkpQT5BNDN0GCYW6B_KgcEOklmxAv6a07TOILOrCpSKYXTsBtmEjNDrpg6jvh1Qi8iPL08sa6yvL7DxcBJJDRnpv6STmoMvhjrfc4t4xW-FnRJZveVhyqEwnfghjMl_a-v96xxRq75DP5Tm6Tr-bbZRJFhRDh5Cbcpx7zPT_3gW75rC65XhSNe0rsgFN8q55BlZAY4GvZ2mvk85ADxqSPXaUDy5cg2ZlNdfhLLw-Ni4Cn3dPhruMWEViEYUe3gnB1tFQ5gsbE2eV6CPtIyk-Ll2PN9XUbpZdj169UtFqsssiAOHqCpeLIQx-dQG97GpI1FyAwSkZM7bJ9jmCXdOaajGSttTQr2BU88we4u2bGCkSktFUxltSHq_I4B5YQ2acJ_YXEmVfG0AoP9vxzRC-1pZp8WIZP1Zup-AzMSEiciiX1yR4KD0zTdmCjEkoBFPHr3TtWbLy5RDwerkt4XJ7VgoRuvBw5cr99H7ia2U8GkSTZEs8aNMGTn476sX6G-76XlJc4SKvWhvT4w2XFWx_4PCeurLFOuxmH4ut_fba0VYQAD-UHTSa7LKL9UKhb2e-i2jLqIV7KseOSjd-C96PU3VO7ZHfJPET0xycgyp5il61G6iqH5bpJD7c7CaA5hwrz9g_VO3mh_6lm_l6QmjiqMdSeV3yquBF2iLv6XnNIBb1w0jAYMa4j2hJ4RvzVqJwYQI9vqSlZACMeZOuri5WuKnrFocITGB-dpu8V09nDVKZBvWqYN5w32ISBL-G14cP4bUo8l62gxiBKNqwcyXWpxW-KN130Jm16IZFXdbfl0tU1uabWLm1t4wOLxlXeZ6qWf91TvwqMOhNdhf7HJevEedBK7Q40nVG27KD4CzAZBl97hNDTPfA9h6cBxX4UvvsmHhYse1IF_RGaLKgj9Mk57pFeZB-rDp4oUin5CfBSVitZ9eT1D8Pphc2J1dCzF-5T8NopVFVEkaz6TG4gRo8zAV8Ji0_Pr3R3ks9rGp3qegbeXHLSqSx73QK9GZ5bvaZZbAVV2wI-kKKioAd0xe7SUvYet-yKFlyBV1Gs15GqexA76F7d0rergLlEh2mbNuzigcvmBEBu0WroZVFk7Rq2c-bVPxYfjnPIguIb-FkkQTzR-oM2A4tEBdwRidQc9UjniTvTjkrg0Je-4cFaIvbJYgC5YOgt7SOM65jl38EhIodCSgp2v-DfQUeed5dJZGVTOeCvQ3lbUm-9T_tGNJnAMtqFBafi053ka407daYAkZ2WfDrxDKXYGech7SHUoDZ06Bmvqr-fOpVX9rdCOZntDffifohb96MTh3Y3GvlLkofNkfi9lmmjmmgQFpOFUtUZyd4m3KUwnRWQO7e3INhfetMKutn-Q5LLotwl_q0xcodcfKi60jw46-7FEqKe9UkjB408PYPf0JKNH_hpWCozxvAViQYuLm_p18KS5TndS3PhtFVOztDEwu9BlYnRTgdIVuq-dIwItq-E=",
  "id": "rs_030c8e8db579091b016ab4449a578887d0818c50310d92bd8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07},\"note\":\"The held plush and gripper are now over the open red compartment, with the wrist view dominated by the safe's inner walls. I am lowering into the cavity before release.\"}",
  "call_id": "call_nGx2jNWolHlliD3etBgE8xYK",
  "id": "fc_030c8e8db579091b016ab4449b2a2087d083752476c40f5254",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nGx2jNWolHlliD3etBgE8xYK",
  "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]: [-0.5018, 1.8931, 0.5632, 0.9958, -0.58, -0.1089, 0.0424, -0.0212, 0.8444, 0.5999, -0.8185, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4221 left_y=-0.1171 left_z=0.0676 left_yaw=0.0424 left_pitch=0.3012 left_roll=0.1025 left_gripper=0.0424 right_x=0.2169 right_y=0.0025 right_z=0.0928 right_yaw=0.0025 right_pitch=-0.4771 right_roll=0.0117 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -7.0496, 3.2068, 1.6337, -0.0855, -0.0024, 1.0281, -0.1299, -0.8821, 6.5299, 1.2576, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df96f31330546be69d9b048adb85659414b182ea4a008e77d394a4e9a9f4508e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20bf4f03062a21599acbcb8c89bbb52cd93fc617261d6d789060505e34aa7d06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373416e6089304363f890abd9d97c87415c9393e06d8a0974d97d2f429a0462e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.005 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3073, 2.0514, 0.2535, 1.5429, -0.4019, -0.0406, 0.0409, -0.0212, 0.836, 0.5999, -0.7883, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3753 left_y=-0.0429 left_z=0.0354 left_yaw=0.054 left_pitch=0.3456 left_roll=0.0868 left_gripper=0.0409 right_x=0.2235 right_y=0.0023 right_z=0.0983 right_yaw=0.002 right_pitch=-0.4386 right_roll=0.0102 right_gripper=0.9995\nstate[joint_eff]: [0.1299, -7.2957, 1.347, 1.8095, -0.0317, 0.0562, 1.1453, -0.0205, -1.1419, 6.5709, 1.3358, -0.0659, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4961, 1.499, 0.7235, 0.4915, -0.5743, -0.1066, 0.0424, -0.0212, 0.8429, 0.5999, -0.8078, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.1161 left_z=0.1857 left_yaw=0.0505 left_pitch=0.3429 left_roll=0.0759 left_gripper=0.0424 right_x=0.2193 right_y=0.0024 right_z=0.0944 right_yaw=0.0023 right_pitch=-0.4649 right_roll=0.0108 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -6.2564, 8.5265, 2.0342, -0.3492, 0.0317, 1.0281, -0.2256, -0.841, 6.5983, 1.3114, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5018, 1.8931, 0.5632, 0.9958, -0.58, -0.1089, 0.0424, -0.0212, 0.8444, 0.5999, -0.8185, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4221 left_y=-0.1171 left_z=0.0676 left_yaw=0.0424 left_pitch=0.3012 left_roll=0.1025 left_gripper=0.0424 right_x=0.2169 right_y=0.0025 right_z=0.0928 right_yaw=0.0025 right_pitch=-0.4771 right_roll=0.0117 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -7.0496, 3.2068, 1.6337, -0.0855, -0.0024, 1.0281, -0.1299, -0.8821, 6.5299, 1.2576, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df96f31330546be69d9b048adb85659414b182ea4a008e77d394a4e9a9f4508e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20bf4f03062a21599acbcb8c89bbb52cd93fc617261d6d789060505e34aa7d06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373416e6089304363f890abd9d97c87415c9393e06d8a0974d97d2f429a0462e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESe7nujlcXvnD8ewy_dH2JdTaBQLQDiPaB3ZMQkqIifjAbx1BxdhA7p4PswUmK04UAERDTKEybAkXCKOuViJtUTAcN4upEPL-BvwnNgafVUKaJGgS8pKRt5VfBk3FoXZpOcPwQG3FMZSx4D6kpTkPwfFx9GN2zC-n9lsHgf1DfXkj7skNUKcTsOtToe0ZshEp3gVupnS9iLdBSLvzRlUG8rNafAdXWDCsTQVxHBiGNiwgKgW75X1uAUR29A07w1uGZhOyn6ibShqnJOq96sA0061piYUDkXQUPCKJYMqJKAQggolq_E1MM33HlsW_TXzoKrF3gNdkweD56ZtABg07xxL6Yv_XKHWsLp-N55UlBr7pZZavT9dPr11D10BWd67cElFlPHkoQqHgGrreog_rrGBkr25bx8Rj0z_BIDIyXyBRaf42sDcWVGZQ3GmqQOv1wROTntXPmz58fNBPhTG9fgT6JsDnWZegOSUDpaVFKuNPOAnAzi9prWmud5o4VzworzbAziRvmoe765IEEvciP_9LPz-STkIpWbIqdtAetP7AaITUEUsCcyhoejzKGc-SUODaOdnDPDJ_0ACS48Pef9sevyU_j70pHKTiFnmWeY6ZoMAAuBDYFJCZf2n9cXgUWx9-j3lRN5lJRQv_tY-G30r16Rymy9YNnhyz-xJhD1HRg9NvEBH8JHCuk22qnlEaeJ9EXHzHAC_jRoqwwGX5vPzm1Mu5gRntqPEJYra-MzygZbBxagxzecTU8dCNDuGAmvFpyFskPVrppV86Do58hnsg5tBkf0n0FSHUGcxBxjdOP1UXjRRYBu9E3jQ4sqq6mAzld6JSVfSxpgnf9wsWd0i3iMSFStSFrMaDdUY7HJRiVsvUnvFmPSpDltt0DsYtaZqGeT4eILdQyHVRjgzrzO-Zxj0nwnVrVt2M034nnsOJw2jCIes697FNF-yoJmDAffXeyWLDpEnm-zjwnZANma8hzTcC3Hn0t_Gtz4HDF-zQUKH4u0a35sy3_mv0AL6HE4_V1qWxnbwuaL7F4T5SCVCQijrUea9dndRKasbyDQsdtix2URRHic1VmDCI8IFsIgi1rmHOVSSWhCNg-bA5CI_-2jsYICIkoAyAaS107Zoco-1uVlWyaHbqXTfBefXLRZMMig-cVv0fDGmx7_5fa6VHefnh8rL_ImQi3kKFeDYao=",
  "id": "rs_030c8e8db579091b016ab4449e255887d0889e5bc63f018366",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gripper has descended inside the red compartment near its bottom, clear of the rim. I am opening to release the white plush into the safe.\"}",
  "call_id": "call_jRoanmThFz9ToNxk4VS5Tym8",
  "id": "fc_030c8e8db579091b016ab4449e34e087d0b09b374159231c95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jRoanmThFz9ToNxk4VS5Tym8",
  "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]: [-0.5026, 1.9091, 0.5568, 0.9863, -0.5804, -0.1135, 0.9952, -0.0208, 0.8444, 0.5999, -0.836, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.419 left_y=-0.1157 left_z=0.0571 left_yaw=0.0397 left_pitch=0.2742 left_roll=0.1153 left_gripper=0.9952 right_x=0.2131 right_y=0.0026 right_z=0.0908 right_yaw=0.0028 right_pitch=-0.4947 right_roll=0.0118 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -9.1282, 4.5607, 1.8632, -0.1587, -0.0122, 0.0024, -0.0479, -0.8137, 6.7624, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0879a4afef5a19549ea6f0faebfa7dc6c5d3b80b8a77c9fb68cb329c3a2a31f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267cc6ece44433f8eebdd4b47edd478fe87c7e0003ebe00be831c0ce6162a0b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0e7c18aa5a4a12fbe92edcbed564a8d81e996b04ce70a400d9d9dcfc8b2b33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 3.429 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3073, 1.4296, 0.2955, 0.8948, -0.4057, -0.0463, 0.0424, -0.0212, 0.8398, 0.5999, -0.7959, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3718 left_y=-0.0411 left_z=0.1219 left_yaw=0.0628 left_pitch=0.3608 left_roll=0.0758 left_gripper=0.0424 right_x=0.2218 right_y=0.0024 right_z=0.0965 right_yaw=0.0021 right_pitch=-0.45 right_roll=0.0104 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -5.0256, 7.9795, 2.083, 0.0024, -0.0073, 1.0281, -0.1846, -1.306, 6.5573, 1.326, -0.0122, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5018, 1.8931, 0.5632, 0.9958, -0.58, -0.1089, 0.0424, -0.0212, 0.8444, 0.5999, -0.8185, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4221 left_y=-0.1171 left_z=0.0676 left_yaw=0.0424 left_pitch=0.3012 left_roll=0.1025 left_gripper=0.0424 right_x=0.2169 right_y=0.0025 right_z=0.0928 right_yaw=0.0025 right_pitch=-0.4771 right_roll=0.0117 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -7.0496, 3.2068, 1.6337, -0.0855, -0.0024, 1.0281, -0.1299, -0.8821, 6.5299, 1.2576, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5026, 1.9091, 0.5568, 0.9863, -0.5804, -0.1135, 0.9952, -0.0208, 0.8444, 0.5999, -0.836, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.419 left_y=-0.1157 left_z=0.0571 left_yaw=0.0397 left_pitch=0.2742 left_roll=0.1153 left_gripper=0.9952 right_x=0.2131 right_y=0.0026 right_z=0.0908 right_yaw=0.0028 right_pitch=-0.4947 right_roll=0.0118 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -9.1282, 4.5607, 1.8632, -0.1587, -0.0122, 0.0024, -0.0479, -0.8137, 6.7624, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0879a4afef5a19549ea6f0faebfa7dc6c5d3b80b8a77c9fb68cb329c3a2a31f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267cc6ece44433f8eebdd4b47edd478fe87c7e0003ebe00be831c0ce6162a0b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a0e7c18aa5a4a12fbe92edcbed564a8d81e996b04ce70a400d9d9dcfc8b2b33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESj0PDdJKaqZJhrlGVc8g0LlTyvoKd-CXVGtBwDB-v55cvObG-xUpLaY2YEob5cSVQArv-adOUAvehiJq1jlo3r0FmzfmlGpzPRTSOumaX8x8dIl5wSTjYdu6cou9Pg8-EE2yfx8r3iCUOchp7V_JJ00-tTL2NQJiOryfYSD3FK5ZXnMBvIdRThyx3bxQcGt9Nd4ZAFNsh7dhfyDoPkDLDOXfbgpb9U2XgJXCG5uIaygGAZ6aFNtvw_9mQSRyWgLxEf9ob6Bgk1Dzx18zu0qDiVswuIok4hY8-JwLDNQ2EqdVMDGnsPLUiCyIea8MjtTUGZlqzba-w1YDS_aqCXeykMlcuTQnaSylEm47hgxl16SOukJi_TqY4jjtSBvn4TTaI5Vnp7vwSNx_lQoMjeiRD2enVBAX4yDDDC74hcABDB4EU9yX6sThuPu0yBwWngum-botYyao3vLM1wgX8084os9w0uaQJOgjTpiGA0v7kTsWNeQZB_eNabjA5IFxRBB7Azz6IeC8W6qhedYfH6UtGwzxd9yyHUpQa3_ST7Uwt0yqdkxiuYU7F9fvLqEzth0H9sFaCnuH3LWa1DGUO2aQHok8HdPXWyuryo6DA9iz_TFiduovb9H8iugbxvyutnyoBAULymmXntLS6pJMBOtdFThCyW5cy1PlnsWFwgE5ymiMdwjT-m5E68yR61PIVbl5W0JNKid2ai1a7UthGXiO9IQjCidzontSDP5ygZFNovkhVuijhRJ_jwb9oimRXPB988qJcwndyZs51fwLwyyNAgDMztiCA-ThvI8UkHLGjiYAeMob0NFtDvEE84wFNkxkGYuczLgkn0uQW2xQKWoHj79ty6iaqUDHVxIK70Yj_yOrHRBw7AhV9a7PXftuIz0a1Rg1nD_4kHH5VwxpT5UpvfPXl2V243nDFnJ9P3ErerIkv-mF1kZVtSuoc2b48tz7CQqG9Flsy6TVPzIkIH02ug-sLyRKYAMNihyoiP-C5LlcRWfex9T-GDGwL4-Z8l7iMy6rBXtygzi9kHI-0hsHu5N60SnnvLnQr5ZEsecbceeFDmWg5wVSnSKwDE2RyYTrsfo58UriBj7Cp6Xl4MbhY1srSyyIgcfe-qDivHHj1cCdTINn41iW_FjYORnzXpZ8sscSOTjDfWqjT5njl84mCqPkgMVWv07pBH5OB9V1Z3Uwpp9m3RYWIzlM_ycTB8DkmhJfC8M_kFFDRdU-YK4Zr8BCiwHa93gsDoNhA6fBVnvvNor69Q3guQhbtEX-EOhVHp7Lblgr7GLDU5Y5POZqrqLmhl40h-nvH9UGwjYtxv_bHKG63S-h25b-PHsmOUCcrv-CzmUst4zl3ASVeZgSQyCGpAHZy3LhzaqE5VIm43WMh-WjM5h2aqNXLfs7rdboGVQa-uc0G1vKrKTxUVyFTAgU6T1ZYlLIKv1rKon0QYHjuD4gMhORcmN60tkrwklCzBXzqUcPotfFdsk-OmeciBtkDQuz907HQ4e-cKlfjf0Lv6NBP1EewwSf1UOZAvB0UdaTO5-YWvcynlVign6K7v4QugtcZC8ONqSN4oJXTS4FM38q3f__eTDXFuJDv9FPvwVCHa2qIDcqatOytmDQXYqPJ9ysKmkdnXg9bSxHPhZeyhhLw5Ykwh2fq_5Gw_TLwYvZ4S_AR_9bw3lJjQU6c6Wv2xoswsX8sAWhO3Gc1y8AmPquGFMPtsWRj06Iw7XXdsOxATZ06E8-Qoymt0xyaQS0Bcd1cm6FjZESUO4wg3alVbNofYMpyPWkjpfwdN7LiFONtfRjGhd-2eXrRW158eg2Ntw1t6bp5jbwkdGrkCrYKwKeiU0SGj776uwy4lmCtVFs2M8Gz-jfGpZhflGyvK9i5gg5Srcwpvot11ZiFsbaQMQyL4B7VwtpP7pNEiXVPV4RfKd4l9rybvrbMeFh-3IkqcEwDlGP6NK_5nZsHpfyXmb78rZOsQAOgsjxJPW21NWtRtADKe8aPPZDgSWqvye6r5NUFEL43NyCwDwXjgHyPOfKkp6AedDJwhJSuhGZb1fqzH0dKA3Ntv2obFF99_EytC_3PIpUernlIw5F91g16WLzerCLVj5qgfBaWizFJoMY_ROK2EnisPm_DRC4dnWZALvYXlPKG23Ftoh1iuAWwYMuQpzdI8tNnPYn4dGnq1iozRS9uryawgKSCYpjr5gbmcxsWwUwe7sYHvrRW8L0bCpKlDaB2f_XvCf8X0GkqFB3-R4FsQgel3PDY7l-dNfqkF2Zyo0KyiIJj0eJVuKhM=",
  "id": "rs_030c8e8db579091b016ab444a0de3887d0a619df11f86a9bef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.16,\"left_z\":0.16,\"left_pitch\":0.5,\"left_gripper\":1.0},\"note\":\"The white plush is visibly released inside the safe. The brown plush lies directly in front of the safe, so I am lifting out and moving to a high grasp pose over its broad body.\"}",
  "call_id": "call_Ku3RPKJPMWh3EHokgQXS8RPd",
  "id": "fc_030c8e8db579091b016ab444a2f43c87d09caac320e2ee3b0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ku3RPKJPMWh3EHokgQXS8RPd",
  "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]: [-0.9192, 1.4796, 0.3676, 0.9344, -0.9607, -0.0811, 0.9984, -0.0208, 0.849, 0.5999, -0.8547, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1701 left_z=0.1518 left_yaw=-0.0092 left_pitch=0.4781 left_roll=0.0991 left_gripper=0.9984 right_x=0.2089 right_y=0.0027 right_z=0.0878 right_yaw=0.0033 right_pitch=-0.5179 right_roll=0.0123 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -5.4632, 4.5197, 1.6679, -0.2711, 0.1685, -0.1734, -0.0342, -1.4427, 6.4615, 1.3358, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc5c3bbecd77027b87effed9e6d6cf775d95674cd413fec73c16e799a4715a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38d3c324258b80476e13fcec6b946242ae0699df0bad407efb7f507acd8a872",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d451337f1c5000dae9dc2b927cb59e5fc7790a7f6af1e80b2273a36e8636979",
      "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 28 attempt 0 · /responses · status 200 · 2.389 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4961, 1.499, 0.7235, 0.4915, -0.5743, -0.1066, 0.0424, -0.0212, 0.8429, 0.5999, -0.8078, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4237 left_y=-0.1161 left_z=0.1857 left_yaw=0.0505 left_pitch=0.3429 left_roll=0.0759 left_gripper=0.0424 right_x=0.2193 right_y=0.0024 right_z=0.0944 right_yaw=0.0023 right_pitch=-0.4649 right_roll=0.0108 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -6.2564, 8.5265, 2.0342, -0.3492, 0.0317, 1.0281, -0.2256, -0.841, 6.5983, 1.3114, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5026, 1.9091, 0.5568, 0.9863, -0.5804, -0.1135, 0.9952, -0.0208, 0.8444, 0.5999, -0.836, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.419 left_y=-0.1157 left_z=0.0571 left_yaw=0.0397 left_pitch=0.2742 left_roll=0.1153 left_gripper=0.9952 right_x=0.2131 right_y=0.0026 right_z=0.0908 right_yaw=0.0028 right_pitch=-0.4947 right_roll=0.0118 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -9.1282, 4.5607, 1.8632, -0.1587, -0.0122, 0.0024, -0.0479, -0.8137, 6.7624, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9192, 1.4796, 0.3676, 0.9344, -0.9607, -0.0811, 0.9984, -0.0208, 0.849, 0.5999, -0.8547, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1701 left_z=0.1518 left_yaw=-0.0092 left_pitch=0.4781 left_roll=0.0991 left_gripper=0.9984 right_x=0.2089 right_y=0.0027 right_z=0.0878 right_yaw=0.0033 right_pitch=-0.5179 right_roll=0.0123 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -5.4632, 4.5197, 1.6679, -0.2711, 0.1685, -0.1734, -0.0342, -1.4427, 6.4615, 1.3358, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc5c3bbecd77027b87effed9e6d6cf775d95674cd413fec73c16e799a4715a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38d3c324258b80476e13fcec6b946242ae0699df0bad407efb7f507acd8a872",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d451337f1c5000dae9dc2b927cb59e5fc7790a7f6af1e80b2273a36e8636979",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtESoRgfLfhL7GbKxeW7Ie28iK1kmcjDXzl5mkApG26fMWOgTdp6T2wCD42bw71XPeukr7zoh6LIJgbcMoDHJ7tf0scVQOtC1PDM2LoVBFQ1qUFpBHNLssivy7oiJpHnTPIQPLEjxEMTumkPADum7UejlA7PU05bPqTvU0AVokIQ1SlMMH3HwpYphayqkzNcSAmp9L7E9r18Djk86zaQsgnL3WbLwyeq01gzCXVeXns9nfrN3bw97t6jvgqDpHJKKU8AzW4SxEdbJLId68aTPEn-qzpS4AikG2sxtta9Itp4WBWOdj7Wdt0rnAWTCEWZMunbN7N7A2rYpJ4Rx7SXn5AgjZu-iizB72GKXyiqW_ySi2ByFC74qFbaHiIdlWCHW_4sZWfF2TEDZGaRT3tNeUm574Y4d_YyqdpUabuEDEZsA41otDP6egP1PRoo6jEJzLyx6LlMYoI9JlXVLw4ccF2IzyPvH-qKEZ7iNqGmpoGla-3ItFf0g1EgycfZudW9vqHIeeEMqQCqRRWA36rogLsE0bBryjAffeWhkJ5KtedRjbCDva8-Bg24uVj94JNB_iGFbZWJ_X2OATDjsZG-dkh6B0HrFGY9gKyk-lxFMthTINRuLmjF4i40CL1lP7wrVDTdDVvGkz02Xt_S1GJ_Nk-ElZsh4gx67ijuOn1uuvW3p3s47I1AICWqjpLWeLTChO2WcPVJrCzeBJ5GvVLOJczI34v00SP2cF0gi5kFFAOfXP8ViLRIr8Y1JIwFZEbrIpyozieOe57GbAnIptCeiY7szZ8mgCO5-yDauBwRBGPWoweemJeeCPDRB-UZB6q85Su4oDorTJzctIUpdTKHv48YCx0IFO1esRiu7BXpN8h3E3HTLHq4_jqPrxChGBfJee0WLkOqZs3Ze5YRefjHGc4_TfetrZ_W9gSYXB0P8K3laTPdGr3i-3bTCG8zlvXWySbZfS2i2xRZlVoC9HlOHC0UYDQ-6KYDsurNtI0hPfhgl1ibbMes-xPyMZXBQGbEXmoVxAuFEyYhbr6gokmwAUI6_teqVcGdrqyrFQ6uVYmdfgsZ0crBgVyEP4YvTHFZ2wsTtj2vKlUnmpdvgpR-8YfwjnNID29nQhYIN3h-3cJr9FpAlxdOA_TmLjs2YgNHdxKFgNDumL3FSSSsVvIAz59ZOFkvo0ljVZ2WynjBbo0wkAKWtJdDKJs4dawGjgPMGmEhbbDmPKYnRQz9w7-Snwk9e8jKaCBNcLtEaq5BGlqzbLR1VVZNvRRLhE0VSzRDQXBtaUPPnScM3fMekvn56Ud-zBH91IjW7L0PJJlgKC3oprYnBj9bM6XipxkPu-P8l-js_dbOZ2vXFW1DCZJQOMJI5i7PC9RJX-L37U19SP6C9BgVLtmj2wv6mBMH_b0r9NzmTF4Q5PFTXZoCY1TIM6ZKDZhPDfrGLa0RzUP-WKCMz0A2wuB71xs75Avo6Skm9lYPCo347XSWgckME9IJOw4WywqN8Hw2Mdu8mP8P9XvCWIhOWwmQp4SSRo2vrKLygnY1p-qqMyZ47tGtEqytm5twvxgeJx4viMn7syzM86f1tHUbmZJuHERX6Dbah_TenYmlYXQ1fN9X5dBW7Y4tLOBB3rP7_twEEOeLVHX5KenMNowY=",
  "id": "rs_030c8e8db579091b016ab444a5cdd887d091387595663f0e86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.25,\"left_z\":0.13},\"note\":\"The overhead view shows my first brown-plush estimate landed on the safe's front-left rim; the plush is several centimetres closer to the base and to the right. I am correcting to the center of its broad torso at hover height.\"}",
  "call_id": "call_T5oPz0Q2DH82XovyY73bOztR",
  "id": "fc_030c8e8db579091b016ab444a7021087d0a47ceeef6a22b354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T5oPz0Q2DH82XovyY73bOztR",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2194, 1.7027, 0.514, 0.8486, -1.2266, -0.2405, 0.998, -0.0212, 0.849, 0.5999, -0.8597, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2711 left_y=-0.2459 left_z=0.1257 left_yaw=-0.0421 left_pitch=0.4657 left_roll=0.1161 left_gripper=0.998 right_x=0.2078 right_y=0.0027 right_z=0.0872 right_yaw=0.0028 right_pitch=-0.5229 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.9009, 6.653, 1.4237, -0.2857, 0.1343, -0.0562, -0.1436, -1.0735, 6.4615, 1.1062, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0103f2d424b8886a35a34a1f80179e746c0d6a78b159355ae9d407d66f9b76c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0d5eb1e317d8a0f0c9feb40cfccd4486e67cd8e5ba113b43f8640efb25f2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1d1a95663955cc0c31b6c6fdfdc1006c4547ca0e695cc3041b241947308daa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 1.784 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5018, 1.8931, 0.5632, 0.9958, -0.58, -0.1089, 0.0424, -0.0212, 0.8444, 0.5999, -0.8185, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4221 left_y=-0.1171 left_z=0.0676 left_yaw=0.0424 left_pitch=0.3012 left_roll=0.1025 left_gripper=0.0424 right_x=0.2169 right_y=0.0025 right_z=0.0928 right_yaw=0.0025 right_pitch=-0.4771 right_roll=0.0117 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -7.0496, 3.2068, 1.6337, -0.0855, -0.0024, 1.0281, -0.1299, -0.8821, 6.5299, 1.2576, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9192, 1.4796, 0.3676, 0.9344, -0.9607, -0.0811, 0.9984, -0.0208, 0.849, 0.5999, -0.8547, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1701 left_z=0.1518 left_yaw=-0.0092 left_pitch=0.4781 left_roll=0.0991 left_gripper=0.9984 right_x=0.2089 right_y=0.0027 right_z=0.0878 right_yaw=0.0033 right_pitch=-0.5179 right_roll=0.0123 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -5.4632, 4.5197, 1.6679, -0.2711, 0.1685, -0.1734, -0.0342, -1.4427, 6.4615, 1.3358, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2194, 1.7027, 0.514, 0.8486, -1.2266, -0.2405, 0.998, -0.0212, 0.849, 0.5999, -0.8597, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2711 left_y=-0.2459 left_z=0.1257 left_yaw=-0.0421 left_pitch=0.4657 left_roll=0.1161 left_gripper=0.998 right_x=0.2078 right_y=0.0027 right_z=0.0872 right_yaw=0.0028 right_pitch=-0.5229 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.9009, 6.653, 1.4237, -0.2857, 0.1343, -0.0562, -0.1436, -1.0735, 6.4615, 1.1062, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0103f2d424b8886a35a34a1f80179e746c0d6a78b159355ae9d407d66f9b76c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0d5eb1e317d8a0f0c9feb40cfccd4486e67cd8e5ba113b43f8640efb25f2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1d1a95663955cc0c31b6c6fdfdc1006c4547ca0e695cc3041b241947308daa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESrp-SIt2TlzLaAYEPpLj8Z70VO_d13FRkokZXgB5L78VyUaoV8uSF40dEmext0wmHT6qorl2h6_Z_psePrb2-cXo8jr7X_0JamYeKx_Sm-osWJXMm5P16HVgG6icC8BBmGtdMMB9eVVx0JZdq5YjjYSXAuuB89xJx0onlyV459HaHx0uoIr6dqtErifT0Hvn5JVpucPrxgG-m7qdQXC0eAMvCG7LpT21uLayFSw88OAvV-FXygbzb2o3IKvjiuBOtF1yL7qI9Owt8BUfMaCilneG_LQr3J4Nyvysn4ynaQzyXCT65Z8fmQ8CyZR1i-Oo7XyaGuDg0hebQCuhuAMUMKCZMDs2EI9zCkln2c4fnR0tP0mO0Y9xQYYJKye87Hatpv6Jqc8hWyH3Xe0Wq9zOShw2ZdretPoHXxHgW3M8sy4sOEbLH_dAMGnkAMIliEBpSsMqrwUbZ-V_UWCXUDsgCpSBNSBHoEehb6P2rjItrqnSPL5J5FS7rD5yajPpGdPkpkIpyvYKch6DqDcbhXemnBiEAjR7sFSG2zKRml0Ajnaam7h7dUkhcQ2KA-2zfj8GCPG_E_Pg_XGJDnROLEiuMLM4zB-GGwNKHOvQrxgkhsYZFcUsq2l0BLtC-AOol-fjMP0Yk87iym-2zE0PqpdTFMUEwhq8PgRgZnoQdqTz9DT-ab_W7ft3S6dIR_3FsHiansco3yiAe14Ea3fkEa8GeVSf1cQ8UJjGZ0G8y0ClJDiayY5rdY3kzTp0fNHNpzkS01361idjkB8SBBWbUFL8Xweb1lfgfFcXEN-11oykCI7v8GzN5aVDpEmfB39al9Pq9uyybnZX40O99cvkhttPU5XjeS0Gn1xRwjP7NK_rUJFc6NmvxpNU4BEdhuckFkRAVotgCo7_7R-1i3waWGiP6R4Ra4zFVdHsyR7Mute3Cli4sNtjrFY7wYGt8Dm2ZeeCWVZ0b9BW7mUfWZjdNUwwy6RqXwqbOxvcqEtFMRKDEdLTkjoDEZX5j6ua6lYgTaiWm--6eLKIOsQETqNo7AXq7fzEtl_L4lsv9DNZr9c2iBM1jmcmc2nKk_CVOek9cMbbkvhQaV6-hiYRXKR3Z0bSk1DHJbUdKp-zUKf0wfMQBMIGG3tGb-EA0DHGoS8tkmHvjBMlz04rBtnNLJYTndl3dj1Jj-Lb2sYUn4FtaB7lLcFXjI-IiLmn36pYfdd1tMWDfAKL02LPNeihkfonRxKqG_xiee-WDGObwQRJJ7SweTFHdTkDofux9v8c59zmk2xfNfEbjTN_D20biYS_-GntcBxA==",
  "id": "rs_030c8e8db579091b016ab444aa054c87d0b74500a54d33bc9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.04},\"note\":\"The brown plush now fills the lower wrist view and its broad torso lies between the jaws. I am descending to compressible body height before closing.\"}",
  "call_id": "call_4kGx9cgp8eic5NGzj7JLVOPG",
  "id": "fc_030c8e8db579091b016ab444aa65a487d0b27058125c1590a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4kGx9cgp8eic5NGzj7JLVOPG",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.122, 0.4843, 1.2224, -1.2278, -0.2394, 0.9979, -0.0212, 0.8509, 0.5999, -0.8677, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2691 left_y=-0.2432 left_z=0.0364 left_yaw=-0.0782 left_pitch=0.436 left_roll=0.1941 left_gripper=0.9979 right_x=0.206 right_y=0.0027 right_z=0.086 right_yaw=0.0029 right_pitch=-0.5328 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -7.6103, 2.8103, 1.6435, -0.2222, -0.0317, -0.022, -0.2393, -1.2239, 6.5709, 1.1306, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af5f1a7ace2c9b190803bed2a02fd5accf9cd957042ed1fb1eb8cdca290baf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea926f25a69e252a946c338116ee8ab499fe8751fd66135db95867cb30c3989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632a41f6b36c48e7af12a7c8ae28f16062437269040233de8f0be3bc32a3a77",
      "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 30 attempt 0 · /responses · status 200 · 4.247 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5026, 1.9091, 0.5568, 0.9863, -0.5804, -0.1135, 0.9952, -0.0208, 0.8444, 0.5999, -0.836, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.419 left_y=-0.1157 left_z=0.0571 left_yaw=0.0397 left_pitch=0.2742 left_roll=0.1153 left_gripper=0.9952 right_x=0.2131 right_y=0.0026 right_z=0.0908 right_yaw=0.0028 right_pitch=-0.4947 right_roll=0.0118 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -9.1282, 4.5607, 1.8632, -0.1587, -0.0122, 0.0024, -0.0479, -0.8137, 6.7624, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2194, 1.7027, 0.514, 0.8486, -1.2266, -0.2405, 0.998, -0.0212, 0.849, 0.5999, -0.8597, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2711 left_y=-0.2459 left_z=0.1257 left_yaw=-0.0421 left_pitch=0.4657 left_roll=0.1161 left_gripper=0.998 right_x=0.2078 right_y=0.0027 right_z=0.0872 right_yaw=0.0028 right_pitch=-0.5229 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.9009, 6.653, 1.4237, -0.2857, 0.1343, -0.0562, -0.1436, -1.0735, 6.4615, 1.1062, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.122, 0.4843, 1.2224, -1.2278, -0.2394, 0.9979, -0.0212, 0.8509, 0.5999, -0.8677, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2691 left_y=-0.2432 left_z=0.0364 left_yaw=-0.0782 left_pitch=0.436 left_roll=0.1941 left_gripper=0.9979 right_x=0.206 right_y=0.0027 right_z=0.086 right_yaw=0.0029 right_pitch=-0.5328 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -7.6103, 2.8103, 1.6435, -0.2222, -0.0317, -0.022, -0.2393, -1.2239, 6.5709, 1.1306, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af5f1a7ace2c9b190803bed2a02fd5accf9cd957042ed1fb1eb8cdca290baf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ea926f25a69e252a946c338116ee8ab499fe8751fd66135db95867cb30c3989",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632a41f6b36c48e7af12a7c8ae28f16062437269040233de8f0be3bc32a3a77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEStnt9wtyV9wi-nY-DApWSfoBsDF-TrgZe-qkYf0kgOq2dTDdzQsho4dFgHJCxJwcglBs2jE9ETLwUkYMOp73jLNprFyvnCi-FhGTXM4H950amYsBh38AIBfpJi4rPDjNKUGp7eVRAM4Tr92b4FXWU_dMTkQaYjX2cNRRw8VFXiYbu0uUkrWpz4p5K5nXhN-JKNbdVHg46Lud30kyy99tlxTi6URYThbEeOYY_Jo9ly_npW8sI6UJw47wG6DMoerS25ibz1ozaJTqKWry-yxmLstGggWNSn95-iWca-1IxEg5e2HVsPtsn7vhNiawaDDGNNtBmaqFNkYpo8xRx09Pu0DAAnX5wWhn6OiZzH5OWqXtCUUBrNuEd6psLqvwYt7Ur0j1jBR1ZYKu41JADjXBYaJcrHtjWWboX-Wn1rFn3_MVTISu1es3q9Y7ndTJ6h5Io47E5hDFcvXtNUQ_6mw6u-CQL9GppaNsQUDIvHsNBlfdl8vNW5oBdpzP4iTTTGhR5tnfP9H0da0ebUtQq30ZYYW2ZZ7f-2eAhJA_FHYxY8IrEYmRQ012aluxC2yNuRqIeZoL0eAiJk91hkwNU1nFOo5HpXp5jEXqG9E8t5UZfx9MPq-esLhJY67p8GP5bTyDLnV6UTEilovZ02vEbBymYIo-Zh1z69O3jdXC5Co2PjIurWrbWTUvjelZPgbw63aMVmhdWWyw-NA0yZ6-u081kVSnaltiudtse86SMwLiSyDalyFOJtwtf5f-PvpcDJVLTHcPBGtgPLIbciTDvOxQfgpTxXVsw_z3tfMbvFj0OmM1Er7froQHB3oG7kxn9g1PrcPOXjlbajUW5cAHNOUtxL22afulOZM6lI8jp54VfFrG7T8gu5uYxikueYkeriI8Nl0lgzSKrvzYzZA-9Fy3Bqwv9KJVEHYDhfCu6rNQ4K0yFRf5PrWD0Wjn8jnWJR8EyHAVL_R7V257-pkXAb0ocH-5IZkkY89-XvN3kYyoC28wqf--vV2aXi0uPXhrfva23UfvqudK8heP9RI5PUdQ9UttyQ8kSKOQkS0gqrWYA5s9ndk4SHq8cYqzVMo0mCUZiwws-40SpZOvjA3YvLndIycwnlpRHQCwwHCoxg03ayDiUEIdAtXrzqBcj3yZNg1DP7YRln5FJVY0nz0htbanPbBratfBWPbYzJBrco_EaZbxk=",
  "id": "rs_030c8e8db579091b016ab444acb3c487d0a4fe44d90306a16a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the brown plush torso is visibly between both fingers, with substantial material across the closing axis. I am closing to grasp it.\"}",
  "call_id": "call_zMmD3sb2YGfvZ2qtnElxG2Lp",
  "id": "fc_030c8e8db579091b016ab444acc4d887d091bc7f67dd7ece42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zMmD3sb2YGfvZ2qtnElxG2Lp",
  "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]: [-1.2236, 2.1357, 0.4839, 1.2255, -1.2312, -0.2413, 0.0122, -0.0212, 0.8509, 0.5999, -0.8818, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2685 left_y=-0.242 left_z=0.0328 left_yaw=-0.0801 left_pitch=0.4329 left_roll=0.2038 left_gripper=0.0122 right_x=0.2028 right_y=0.0028 right_z=0.0845 right_yaw=0.0037 right_pitch=-0.5469 right_roll=0.0135 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -8.8821, 2.1402, 1.3748, -0.1734, 0.022, 1.0623, -0.1299, -1.0325, 6.4205, 1.2088, -0.0904, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c272f9d73d95c42e0cd867f089dfa6bf3b3f9f6e2107cfc72140e76fa3a88a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61486414b38bf023979c9992e7b8f51992f75d683e0648db7f3ace81a3a8f6f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc81f493251d8a0eff1afcf10bae5e389cd7c697e41bc0436f5c2fcef31d6342",
      "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 · 2.385 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9192, 1.4796, 0.3676, 0.9344, -0.9607, -0.0811, 0.9984, -0.0208, 0.849, 0.5999, -0.8547, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1701 left_z=0.1518 left_yaw=-0.0092 left_pitch=0.4781 left_roll=0.0991 left_gripper=0.9984 right_x=0.2089 right_y=0.0027 right_z=0.0878 right_yaw=0.0033 right_pitch=-0.5179 right_roll=0.0123 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, -5.4632, 4.5197, 1.6679, -0.2711, 0.1685, -0.1734, -0.0342, -1.4427, 6.4615, 1.3358, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.122, 0.4843, 1.2224, -1.2278, -0.2394, 0.9979, -0.0212, 0.8509, 0.5999, -0.8677, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2691 left_y=-0.2432 left_z=0.0364 left_yaw=-0.0782 left_pitch=0.436 left_roll=0.1941 left_gripper=0.9979 right_x=0.206 right_y=0.0027 right_z=0.086 right_yaw=0.0029 right_pitch=-0.5328 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -7.6103, 2.8103, 1.6435, -0.2222, -0.0317, -0.022, -0.2393, -1.2239, 6.5709, 1.1306, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2236, 2.1357, 0.4839, 1.2255, -1.2312, -0.2413, 0.0122, -0.0212, 0.8509, 0.5999, -0.8818, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2685 left_y=-0.242 left_z=0.0328 left_yaw=-0.0801 left_pitch=0.4329 left_roll=0.2038 left_gripper=0.0122 right_x=0.2028 right_y=0.0028 right_z=0.0845 right_yaw=0.0037 right_pitch=-0.5469 right_roll=0.0135 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -8.8821, 2.1402, 1.3748, -0.1734, 0.022, 1.0623, -0.1299, -1.0325, 6.4205, 1.2088, -0.0904, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c272f9d73d95c42e0cd867f089dfa6bf3b3f9f6e2107cfc72140e76fa3a88a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61486414b38bf023979c9992e7b8f51992f75d683e0648db7f3ace81a3a8f6f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc81f493251d8a0eff1afcf10bae5e389cd7c697e41bc0436f5c2fcef31d6342",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtESyU_pLtQTfQnP5UYsju8w8-Qzb1kKzC7K7c4f7dV1ZW_tWuZHuYvntXQnyTGGPpR2cxdGqAtLDPgpPXDf8g9OdfkAy-WZ_RcyjY7ZBsDtGb9lA84UmTVfCOnXFPdC46js__uuttVMe46lqNctMW8pPm3eIKY5vU4KPHh3nGsobh_MjaW5yUBVtE35na4-TXGlM7kNP8BYwtMLCOgkb9OUAYVQTVl5kLmqYO2KIaEttUkvf0FMzdCVwn2Qla1BvnffR2T8duyP30ISygjR7UvG-vM78KJX3-_jUQbGmZrg3ZmNAQNJvTPIn4JR4V2JPHleWbxdFzCs7YHN3Hx8BBEotla6MCvRCIX8ikQ8OIjkVib8RsFS_BC-ee0fhoKZeTlGiSKCUTNXdmsHipPLlQcDhd2gqLV6oPdhwuGjUxtdmBIcdnUSp3v7p5xC7zDFQLAKKLqcq2MhNRFtTOwlDxqQYfL0NJyq79boTPaLpjeUIMcndWiHGS4n66b5yPthjtpHzvB1b9hri7bJF9AS4Rufpd4yz_-S3Hxn3aRnruF-4H-6XTP278IIjUa9KwvNJ3BQ9klNnNtdC5drf9LmAaEZgpWa9Ho69UQBOLEN_DfLTRl88Qr3o3kRyg9-9gVaokU-6kXdYo8z1gZaRqbpC7r4B7mVL6Vp4-q21zE3QCO1cHW2DMgzKCWlb9cg4vZDg4F4Z5mPoKnwh_a67orEN_1FRkNJwhYS5xlPLM6KSLS3KEheGDD244ApTUHJ6nAN3kYm-0T7B80FAlf6OQfZjm8uIaXHDG7al5l2PG8Q9Kuhd6PSWY6_l2ChkaCVfyARe1Gzcbmfrsx8qW1f3gihgcyNJFZCS-HbL7U4yieJKhv4T_RGvqNM19fWMLb-jl0BjnvsxyTUTJdO6TGMjZchJpCWxLH5Rl7gy4PaDn3yjkNp7P9GSkqA_xqPvSNRM6y9HylpXhmTfdYDHT_PvAXqeilTp9ZVOhYtI0-ZjsBlDzMkiYh_QjTlC5aJW1iWnw8e1_0M9MKRI-8SifwujVlm7Hegshjs92TOJEa12LqbBxdPwW5yd44vZDO1DxOYOdoSyVa23jKffd24w8uPJSwSOvk67QR_CX6pEE7vCZSaHL-ouFRUU4-YOf6mGRMV1U6876zdJOMe_hb54S0onG3Lqeq4kdUVbfMeJ_Z0VItAop9bgr_deNG43viXFTP4w3FPT2jJ2YHS9ScJq15Ew7GKy1OStBS80f96QJ-0mjdG5cQM8T0L6HuGlSqbEjcCYQ9FA9B5heg6gM3nf3TzVTL3PlbIazPUMwjv34qxblQ2ic6hvAeHvCxwXOiWkb185Lh4qRDkM7K3bLIrFBgBjjmzsTh1ZL36Jk0b7OpiVl8XaizimB91T4X3BgQZuRO2XNWwxhxWldYvrUdvLP9NHAKlumfcKJwgWWcmikmZ2Hch-xU-sluFUEtSaqeDbAUCY-_CxG8Y82V7N6RUXlAa1TQ5OGYxPvJal1MZI24DRQYusuyAzQ23uCTEErAsbt0y0W8FgJq-xivDZTmQ-low-cq-pLZY4rVPxiUDsqxTitRRhdoA-ZLji6e-xcFhrXzGVQ6Vp4HBwiUG1Uzff_ccgP06T_3k1TsqsYzGLWg3nk_OGoloasGZexjJ3uI-hY83jA18nzLdnhFNHK4OB-RxdCvAwGb6wDVabPQJsoUjMdd1FVvbx-5xIY40d7mYGHXb1_-_WMF6DBzJZXG8tFQjqzTzKr2PXajlb-TR5jW8TThy75mAw7sPQqhOQiyX4cqmyt_05vto8M2jSd84rfbfNcPsyihxT4bQjqPQoa3T1BXx0010CspezGhzQlH36tjm7BVZzf80LpWjb8z1naSV3EZVjklONGFAT4wrFEAtJoqNyOmEYzCC5988Cc5Tcck83dhWPQ9FVmbd6D2DcjTURuhFMJgK-UK1TPy60nnQH4KoPfneDpANqhr2Bd3v8nhZhbWuVctBGqMm3AE5WaFjncuMmrg__51VPzr9JhZNcg3L_or3y7MJvqXQhegF6fAa9zTwUIAgrZOH8bhXPjPsshY05wmyTs4jA_qnH5E_48MwU3UQ1AcIl8tqwNTDTPChZH3JDTO3d9MV68onjMfKshEPHi91gz3X3OjsZ43tTgN9Iotlzcs3STP3jZ_TD2uZsFsQ94hH2472WMvRENp-8lvcPjqPLxy7F0tqgER4vz1yWm1jl91VNWXpf5lJq9YfCZkhsMtYneU1T4i4kFDXeAZjUazIVoMrqhYQCfV16IB83ZVOE2jC1e2VPOiSsVYfNLy57ckrVVOhDsUAC4oSwKUFYXJ5Bcttx10P-WE7evAtYE0B8cRg=",
  "id": "rs_030c8e8db579091b016ab444af8f2087d0b6ebaaff8f444c06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.2,\"left_z\":0.06,\"left_gripper\":0.0,\"left_pitch\":0.5},\"note\":\"The brown plush again produced an empty close, but it is directly in front of the safe and the closed jaws are against its near side. Rather than spend another grasp cycle, I am using the low closed gripper to push the bulky plush forward over the low front rim into the compartment.\"}",
  "call_id": "call_ayXMWxYsT770P2RuvIGoN7wz",
  "id": "fc_030c8e8db579091b016ab444b1972087d09b00db32b633b279",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ayXMWxYsT770P2RuvIGoN7wz",
  "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]: [-0.7303, 2.207, 0.6579, 1.4246, -0.8101, 0.0574, 0.0103, -0.0212, 0.8547, 0.5999, -0.9012, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4102 left_y=-0.1907 left_z=0.0571 left_yaw=-0.0261 left_pitch=0.4868 left_roll=0.1934 left_gripper=0.0103 right_x=0.1984 right_y=0.0029 right_z=0.0818 right_yaw=0.0041 right_pitch=-0.5702 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.253, -7.4462, 4.9162, 1.8926, 0.1783, 0.2515, 1.033, -0.1162, -1.2513, 6.3932, 1.1844, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ee0957350ae621a983ccd0353e6d6286a6eddd6abfd18a62d0779caa1ff8ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b77676d4a5034faa0ae15b18b9fb8c7fc616cb733e571997c4d887b3e2b87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8305eb5111e7e939c2aa25e7104beba8b29ae9a937271a0fed11746fc7e29ef4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.391 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2194, 1.7027, 0.514, 0.8486, -1.2266, -0.2405, 0.998, -0.0212, 0.849, 0.5999, -0.8597, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2711 left_y=-0.2459 left_z=0.1257 left_yaw=-0.0421 left_pitch=0.4657 left_roll=0.1161 left_gripper=0.998 right_x=0.2078 right_y=0.0027 right_z=0.0872 right_yaw=0.0028 right_pitch=-0.5229 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -5.9009, 6.653, 1.4237, -0.2857, 0.1343, -0.0562, -0.1436, -1.0735, 6.4615, 1.1062, -0.0317, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2236, 2.1357, 0.4839, 1.2255, -1.2312, -0.2413, 0.0122, -0.0212, 0.8509, 0.5999, -0.8818, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2685 left_y=-0.242 left_z=0.0328 left_yaw=-0.0801 left_pitch=0.4329 left_roll=0.2038 left_gripper=0.0122 right_x=0.2028 right_y=0.0028 right_z=0.0845 right_yaw=0.0037 right_pitch=-0.5469 right_roll=0.0135 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -8.8821, 2.1402, 1.3748, -0.1734, 0.022, 1.0623, -0.1299, -1.0325, 6.4205, 1.2088, -0.0904, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7303, 2.207, 0.6579, 1.4246, -0.8101, 0.0574, 0.0103, -0.0212, 0.8547, 0.5999, -0.9012, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4102 left_y=-0.1907 left_z=0.0571 left_yaw=-0.0261 left_pitch=0.4868 left_roll=0.1934 left_gripper=0.0103 right_x=0.1984 right_y=0.0029 right_z=0.0818 right_yaw=0.0041 right_pitch=-0.5702 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.253, -7.4462, 4.9162, 1.8926, 0.1783, 0.2515, 1.033, -0.1162, -1.2513, 6.3932, 1.1844, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ee0957350ae621a983ccd0353e6d6286a6eddd6abfd18a62d0779caa1ff8ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5b77676d4a5034faa0ae15b18b9fb8c7fc616cb733e571997c4d887b3e2b87f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8305eb5111e7e939c2aa25e7104beba8b29ae9a937271a0fed11746fc7e29ef4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtES262oOzITvUsAoB9uvliG4R7ndoSMZwsAHfmZWT4pgfBD6l19zAn_Kp_AgSMdhecUEq1qhokYnTcqfpUoEKqPAlN2vQz_cXACPO2cy9Q9wyNq_iA4f8M2eDdUzLOavAfctZ-4Owh_5xszOwjitoka7u3pxfM0mj9UCv_MH-d1CacKCAcckIo1rQVIdaHoAGzQB_alXznBMS-l7vKGNIjdp0vcOLfk-6SD2VdEXPq9MPlllJ4K9PHRwov24HmiwvNDm7njMBkltQLMtAngyow1FxGHta8_fg6EWe1zlsabk44iW1Nd3yDBJ4AOTFSTOZ7-7QUZjtnpUwuQ42ri9NbW1VjxcQqHOHsCvVyt7rGEpbRrJ9GTZUV8ohk7f35ZDjYokeb3qfY0Hocd_jbd-l0bqw5mCZKR58yUc6WQXlWW4lz7bEf1zpSTNJgvEGQr5WmEDV9P15VocLudxDdOZW06ZyX_ax0ZFGfEU8UKdERLmMYttYNUAP376sbk52UpktXooEBPyhXj5-I0PpZPgOnazL_dT9Z8nLuJ2gCYdDjgiNAa-Wp8t_XWxEd2bLm8trpQsMZH-pjYIDX9OQ9V77GVz7N4Krk1BqKpEArdWjqGv9fqyar8kVesvqD4aiMrsAEjmsjok2w6jUtW0vI6HRWbiy3-2PO_up0A0GeCTM0UZLot8aSpdH8zxCkQyRewt2ra0I8z8yWf25sdh0C_KrHgdfFcrLGFfC6QvIXJnlA9rIkEZZ23c8dn-wW8Jcjzq80cevsPscF07n8Irmx0sPrAKYxg3LdBmUmZn0K6Ym2ynd1yXQjzUIVtVcYdY0fmlAqtopv5KzCyeit4FrmQEl3LIcgawCHGdX8yaU_5ugLeov-2g6hFdU4W0kqrKp-vYQE2hw-DiOQfBJX0QDFq-3iRsWXCe7ijMrNEwDQgPM_btZM2QiI09yr4Yz1fr8awL9a-OSgT6HtSdMHoNuJU1UVx_rAS6aOrc_H1sU3-k39RS3iuZ8fIEyNq1Ely54eyO14trdTnkiGQIpFdCQ6__GrxSt7A00Vx9nMigyjQRASKQYpioRWAccM5psjplLcndR-6sJ87m7Y2NxXKfgHEK287OUYAcpz5P0BL_gYYo-RaEdNIyiebzDu5YZnqdcSkZnUBpT7CSoJPT5kEan7xxnaGWhARMhTMsoeneelbj_6VhjRwWtO95EoqVLR52mgmDd4mNal3frf_winu2xo54HtcnmdlvoZxCAjruaGo50QXZF0GLxh2ufX9AKYuwA3CURf84v5vf-Mx54w4BlGxITfl4vJxlMRnn-dWtLq6u9n1bf-nf0v3nDHSiHOvcmp7csxBWhL32b8rhZI8JKLNUQjwRBdmvye97j6z4j4TnNlhsvUEbUyZNRZAihK9PpborVHL9f5iTLoN7pxodyi5DmTyJM6KgjDi0Wh2LKuUQGvOUBX4F76HvSbPZJp20W3HOfBS-vL6TMiEfJc2B2yoFeV0qXAX2Duduo-JAUNBx5yVE7SQ=",
  "id": "rs_030c8e8db579091b016ab444b4d64487d0b90f22c8ae879e50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.18,\"left_z\":0.05,\"left_gripper\":0.0,\"left_pitch\":0.5},\"note\":\"The first shove moved the brown plush toward the safe but left it at the front edge; the closed jaws remain on its near side. I am continuing the same straight push farther into the open cavity.\"}",
  "call_id": "call_DLMiL2VrmwA6LRRX85akmmC0",
  "id": "fc_030c8e8db579091b016ab444b569b887d0a7fa4c8841a852d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DLMiL2VrmwA6LRRX85akmmC0",
  "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]: [-0.5655, 2.3363, 0.9207, 1.3289, -0.6846, 0.0719, 0.0103, -0.0212, 0.8566, 0.5999, -0.9089, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4894 left_y=-0.1741 left_z=0.0519 left_yaw=0.023 left_pitch=0.5074 left_roll=0.1719 left_gripper=0.0103 right_x=0.1966 right_y=0.0029 right_z=0.0807 right_yaw=0.0039 right_pitch=-0.5797 right_roll=0.014 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.0171, 5.2855, 1.6923, 0.2271, 0.1538, 1.033, -0.0615, -1.0735, 6.3795, 1.0965, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:617565bb87e020008eb44b637b1e20f4d156e282ef0b971509a1275861c1b390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6b959f05b33d720de87328b544eb79eb9cbbc8b7016d0eb6e1a99f67ce85d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2a3ed9385278081d7aece7a31f6ad59c94f8e42dbb9a905f0620e75b0eb267",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 8.152 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2224, 2.122, 0.4843, 1.2224, -1.2278, -0.2394, 0.9979, -0.0212, 0.8509, 0.5999, -0.8677, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.2691 left_y=-0.2432 left_z=0.0364 left_yaw=-0.0782 left_pitch=0.436 left_roll=0.1941 left_gripper=0.9979 right_x=0.206 right_y=0.0027 right_z=0.086 right_yaw=0.0029 right_pitch=-0.5328 right_roll=0.0129 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -7.6103, 2.8103, 1.6435, -0.2222, -0.0317, -0.022, -0.2393, -1.2239, 6.5709, 1.1306, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7303, 2.207, 0.6579, 1.4246, -0.8101, 0.0574, 0.0103, -0.0212, 0.8547, 0.5999, -0.9012, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4102 left_y=-0.1907 left_z=0.0571 left_yaw=-0.0261 left_pitch=0.4868 left_roll=0.1934 left_gripper=0.0103 right_x=0.1984 right_y=0.0029 right_z=0.0818 right_yaw=0.0041 right_pitch=-0.5702 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.253, -7.4462, 4.9162, 1.8926, 0.1783, 0.2515, 1.033, -0.1162, -1.2513, 6.3932, 1.1844, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5655, 2.3363, 0.9207, 1.3289, -0.6846, 0.0719, 0.0103, -0.0212, 0.8566, 0.5999, -0.9089, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4894 left_y=-0.1741 left_z=0.0519 left_yaw=0.023 left_pitch=0.5074 left_roll=0.1719 left_gripper=0.0103 right_x=0.1966 right_y=0.0029 right_z=0.0807 right_yaw=0.0039 right_pitch=-0.5797 right_roll=0.014 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.0171, 5.2855, 1.6923, 0.2271, 0.1538, 1.033, -0.0615, -1.0735, 6.3795, 1.0965, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:617565bb87e020008eb44b637b1e20f4d156e282ef0b971509a1275861c1b390",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6b959f05b33d720de87328b544eb79eb9cbbc8b7016d0eb6e1a99f67ce85d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2a3ed9385278081d7aece7a31f6ad59c94f8e42dbb9a905f0620e75b0eb267",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtES79OsEd4NCi7O62D-FWKSzwdgGH9eh6AxBgOfTwM12g41Ei0jYtcL9cfrB-XouELRNU8l-ck8vfg9dH4UZBeuBgnk9nmql6YiQDesOsCJN_PqXNs3lJ0_zpTKDVqzudcx2wapvYlpdBXA8DVhPf-5idxtMXQvN02XZLwEH34e8KUSWw_tIifMK40ZtBqeUVGIjWHVE11eQzWsTbfVRk-OaHPvEUD_lHRphy20JkS8h7Po_PKD57gNRSQEZP3b8JhWiUOXijqXcd0exTC88ll32OvgrGSuOK1f6NBR0sJBAyuWzWeqAnISdWtep-kC-a6EKsXZy_2MeklqhIIeuEVxj1JUh9bvQB5r4-cJtXj357VfvZuHWjlBgC_1YD_0-BwbErHedbq54NjAKQXmoV93fsNRJ8gCpM-2Ue6nYyOwyYdU3P8dnSCCHc1gimAhar2FyJPl1nN5XYgly1LpHvQyop4QVVpzBrSsDWlkR3aaTDYJ2uVEHuQ-jfsP6zfpPextksl4JvXXb_un57wfHQ5YLNWsNeT3KhP9Sby1VL30AGnJIChmWM10nhCYpCYOwocAJzQgiFyvdvwDfe-ugEoQLCu5SfxHdURKx2LWxDTCPuJ6s_C_SBdIX5ZelEVb2QuS8pV2ZVTexLZ27i3hmpO_7b69Hi-gsplCDZiptecZtYLXEpO44fmMlBa5KG3DzQXF9QvfsN1oa8OBlcCqwokIO97n7qLc3gAQxN6M1KqZKXeUgoSfcujm_DbNp0C1NAtHjTCDBxcREM2a_SJcTraK-l6oOKZwYFo7LEMeM6DpHCs-LQ-EEF9j5HT_-s4UlFvVk4TWMMn-7VAer7KRPgiloRUoGm9IrPcHCcwT_LiMvjCDU9ELq581TdBSFEMmdZSLknvVDvgn6D6O19wLGg1pJVIxEzk8rDYjWIZntqYTEDr9hu04Vjnam2RyrTsjV2UOmEh8tIGz9ZHC_BUmqO-zMjtje3PHi8v3TXO8JJGcJwMlGYiqspq3_dFUs7DbxQoyCEKgZECmhRfAD2ImUOsn8DAwcqFYbbx8TTSBi-g0F-KOlgBtwcGDvCW6DrL0ibYoIySXqEyGTH3QnPG4Ic7ww9FK3To4u8cMLTbOeKrSdPK21Vcwk553KDr2-nmpHQrPnWFgfVSRrOGGzzRE2mqS2SMBRkqOfBgL6N0T_OlF0l98T69rqo0HVfTBuRkx9uEZ3T9yb7GlV_JHahCbXSAeh-TXMt_RE-WM0t7IijFh2R55NObGcAcABmcauZQugMs6kfAemnBKaKig3MSZ0EZw681hN_6kvnkCDK42BltJWQ2UcQObkWRQMaQawSYjZgJZHQ-Ko8KR1GPqeDe-cOxlYUIE8_bXr1AtEju_xOBzfU9TXE40puoRrFRuxLoAdVVmpiPvPDF1WD7fLJfoi27sWiUjwW5-2eXCTDTKF-n8PUA3UjzH6e-Za1m5UbU20N91F1BtUaGRMGGs5q7AmWI2_qiebBkNQ5R8SB-R8blfRZMbdjXBZ94Vbl2brY0McH_14dR9fv8oirfnnjv3UNu48TDHvFKUBVc2tsc2gMbEF4UDU8IrL_2GAoDpBP-SPHQuine4yDwutUevfl0g_rVU3HALH3CBoItasQ3EGmMJTONce7bzfDpzFcWIMo72OvV-iH6qzbqmViVtqurNpKPFi82QnprckZXQ25B9GybzK7PUNSApXSEJMd7jHAYYSi8nuHRia-quuFvvHhB7X6UQ5QLrrfKWsAaHpa6l43-v5_FMADeewbus1WMHFLLRZs-mbPHIWTVtNr7kAuNZ_5R2lpT0NF1LWXVL-x04PMw2FMUkS3tvU43615zlZ9OPYZ5ml6rD8-UMdS71BgFUTVoUU3TaO00-_HaELmEkmHrpUQJZkTvTY7fBedf8n8W4fGueIVw0aH3sirR9g8zsoXtjtmLvNkVN4jX7_8HvkzDzvyznCanXSucNjM7qX0vu5sQ2sURMnx7S2F2ug9A2WbP-LcQbZp8_c7zhQ-qr1BKbEAM0oTEf7AFC7eC5xGQoGYJ3kOMVd_0AIDRdgNU_Ft2XSme2YhO2IVVDzm15qZ9BQopgS7tVdPsEpt7v3TCkiC3DRKhARNCiTwD26RgpQ_ibKSh-m0lCDvxSx53JKqwawFODnfb0xOYvH21MlXvIrAu4oNjazOixMVy6bCNtjFHUPiWig-kQyAv9NHVEyf1VzqbHLgJU8YQKd-tvakKdD_7dUj7_g8kapDvWvLO3dhyXyZe2FVubqxVobOnpWaRjc9r0=",
  "id": "rs_030c8e8db579091b016ab444b8009887d08e580742b61da521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.17,\"left_z\":0.11,\"left_gripper\":0.0,\"left_pitch\":0.5},\"note\":\"The brown plush is caught against the safe's front lip rather than sliding inside. I am raising the pushing point above the lip while continuing forward so the plush rolls over the rim into the compartment.\"}",
  "call_id": "call_hHgGJcNHCjvo55vlOzIgsdDs",
  "id": "fc_030c8e8db579091b016ab444ba2a9087d08f7447bab9006a93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hHgGJcNHCjvo55vlOzIgsdDs",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5278, 2.2345, 0.981, 1.1084, -0.6636, 0.0662, 0.0102, -0.0208, 0.8566, 0.5999, -0.9123, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.5088 left_y=-0.1665 left_z=0.0759 left_yaw=0.0279 left_pitch=0.4576 left_roll=0.1988 left_gripper=0.0102 right_x=0.1958 right_y=0.003 right_z=0.0804 right_yaw=0.0043 right_pitch=-0.5831 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -14.1744, 6.9402, 1.8828, 0.2076, 0.022, 1.033, -0.1162, -0.8, 6.3795, 1.0232, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79231b0112526bf2b6b4f962c4e17cb536c0385b8b7e94f55a864ec3e03cef49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63dc1535ee45c178a86603300d9ec53cd9de231f47bec76cba71bf1fcc0915c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e90316796a4a8ced259152f72261abd6156e7aefa06b9167c8031c593f6bfec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.33 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2236, 2.1357, 0.4839, 1.2255, -1.2312, -0.2413, 0.0122, -0.0212, 0.8509, 0.5999, -0.8818, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.2685 left_y=-0.242 left_z=0.0328 left_yaw=-0.0801 left_pitch=0.4329 left_roll=0.2038 left_gripper=0.0122 right_x=0.2028 right_y=0.0028 right_z=0.0845 right_yaw=0.0037 right_pitch=-0.5469 right_roll=0.0135 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -8.8821, 2.1402, 1.3748, -0.1734, 0.022, 1.0623, -0.1299, -1.0325, 6.4205, 1.2088, -0.0904, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5655, 2.3363, 0.9207, 1.3289, -0.6846, 0.0719, 0.0103, -0.0212, 0.8566, 0.5999, -0.9089, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4894 left_y=-0.1741 left_z=0.0519 left_yaw=0.023 left_pitch=0.5074 left_roll=0.1719 left_gripper=0.0103 right_x=0.1966 right_y=0.0029 right_z=0.0807 right_yaw=0.0039 right_pitch=-0.5797 right_roll=0.014 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.0171, 5.2855, 1.6923, 0.2271, 0.1538, 1.033, -0.0615, -1.0735, 6.3795, 1.0965, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5278, 2.2345, 0.981, 1.1084, -0.6636, 0.0662, 0.0102, -0.0208, 0.8566, 0.5999, -0.9123, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.5088 left_y=-0.1665 left_z=0.0759 left_yaw=0.0279 left_pitch=0.4576 left_roll=0.1988 left_gripper=0.0102 right_x=0.1958 right_y=0.003 right_z=0.0804 right_yaw=0.0043 right_pitch=-0.5831 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -14.1744, 6.9402, 1.8828, 0.2076, 0.022, 1.033, -0.1162, -0.8, 6.3795, 1.0232, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79231b0112526bf2b6b4f962c4e17cb536c0385b8b7e94f55a864ec3e03cef49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e63dc1535ee45c178a86603300d9ec53cd9de231f47bec76cba71bf1fcc0915c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e90316796a4a8ced259152f72261abd6156e7aefa06b9167c8031c593f6bfec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETDWy03DgE_u8A1j4zdy7J2Z1-33byAYHzAQ1DfFXIiqLsVWV1VGfRomo7u8Yy4mzGq1tUFsEPnZp9RZLPLnedhlor_4LJAwR9tZ19YTcnjHkmueN5uE_mWLgQbxyEIqe2xQueL0vHvargIqq2KkYlgw4DQN2M1LA-XsEeUxp26KkoFI3lIZdzrE4M3raF6l6ZLDUvHz6s7GhQ3-TAwg7gMqLjbdlLXhSSff0Lzz-ixK4yI1Uy3xgW7XWEmJMqRyJHWvS5rWTpQW20dyc5d0n--BBy2_v6dQEIv8iZmypG8lZAo7cd0Nk6vnTTcOxreMAmFpjC0-NK1GciCirclCLr_VyZwObDxNOXvSQ73Rk2-3zwMJmcnNqOmB7tydrV9SbKNrVhurOJZOkHjyETho-oUj5KKwpvAX5MuyOXP6ICTMR6IqX1gBmLTj8NFJuhOOMfC9avsMhtGaQ2JKf3a_-dOa9GL2qRMyzstlvzEdmQQ3fvK3ZNoleqeECJ08Ra91tINPEZ1g-NgXWIKuwTnbtGTh2pX4l_Y3AwQPZtfb1mXPbe1-tKrXwOYkVNtz3GiObC95b8D6Tv68yiMh2mmSTdDKY5mDcraw-mo_bMoWNzVS2veSwYqOqzxZJsSmcGEuoCoWcKAHY41nGTFsoLK-7fDv_BDTWSpcg2uq3743uUn1FewB5oOY_AA3zewFU1EnORotw5c8ZgX459yGxjHV-AIembY6J4-b_FFJiunHygvmTJuVrWfyoUZKaUia4Gz6AfoyPt0arJTlJqJdoYP_Np4MtiPQ5OYeeN7mQOXWQE1tkiJx6GQR86hEZ6KrZ0K1GaWM_hCivO4zqqv15jUc-4W8vCR0kvzHoelVURwGYXWBKdCTp9zf22gRQqxd9vq1VgdKplx3zROUM5wDUyn8jBV4Xxtxeg4pbNQtnVAZ_RaIsbFvzRLJst-Eq24K9fBCfXGDzVat4VIhZEZnmskuKYVEiPfrR6uXYMtkh682UoUKMjG0y4CBbJPXy66gTd50VlfjBEn5xIW2PPxIJLd75FQicdgkjhGCHtRxFKUciIqXcu9k0UAsFUWayYK4SIdFYtxTH0WgqFdnj6A-lue-KVCBHuwQxg-7c6J3F0tj0JgAVbNH3Rz7RqlV0Ed-vfUui6FmvsoNXWwAp8s-8AxLxg7qCCbSXlvQF1jTh8sxA9-Xw6cs69OAtcQc1aNW6FOYFS1DIh8Tk8pzbwooQS_ID3K0jB3L-jBwQncT7JrmR_HzjawnheLwGuRPYhWcjNk3V7dvbVvGQppkddmo5htPd1-6xbz3rO6KEm7woHkWAbuP1QkjqD1xHJ4I335ENLbeF5dlb3S-0MG-spbM1UIDgA4EXErQJ_eSMS6ZEl5DXCYLo_7twgxXP1kuKClDYW_E8UleDPG2noGX88Rpv7F2MyRlAy3XNtbawfHJU4mIQOtrtIWWYg43hZ6oZXZ3G8BHxja6hRmERvVD5LBSP8JCJ7nQv9RoK0g44q3I-_EEPmbG5wZBtBW54DquFS8hfwPLudQzarXuBD-fE0Nye0yf2770Rk5aVqIkS6QVT6OHXRDvZkACS6_ZxrdZgoGJLbQdYWBNuIP2RUycEB4yq_T3uvxOUiZs99_RgvpULLUhTY8O5EFS5w0MrGRd8Bf2VgZCVO0naWsGOnE8hI-aln0MlG2Hp5m1VG3l9VQvu8j6XG-KCRhoQm04nNY5J_ZLeb27YpNfJ4z21kDdRkzWSJzNu5TCdHmok7i8f-0A1-e3TWUa3t8S4AWKdMF58efu6EEaPweU3CmvcowyYWJAuuvoynJyHnS8VxqmDt90bBSZJXxhoYVscRBGu3RRlGJk13pgVM0w77mfWEZo1v0IWm4apKCGvbpPRi4yc_pAvVHcKcdNjLlapxlDyVw8LRTyZUKJgOK7ORiy5Sjrd55tdGnM-Ek1PhD4joJ_1_i_KhZVu1j5XUxsciAqPWgTjMLqTBaV6kg5i5-RZoQvwmfbAO0KNF-EVYxlPBQLDe9q4M7xMgxmsmHaKxyO9GAL66wwCwyEiZrT8ASFioaivFn-fso7ERsxtD9AdncWEDMYUK1ugSjvknSEMIDR8nRS64NyAYzu_gkCM185QxgrOgQokadpDqj-7JB7yTcUgDHLgfRilDY75HhT6Ovi56FxOV9QX9pW-SYeteyauH3KAcsOzvlVZgKEq7QvN6gJcQV3cqCj1wjGP7fgV-V9gncl2YznYeJ6iIBJarB7NtNL_RZ0qU_p4aBviFdTYMhZf3oHc9oGZGJWyBfcjKKqaoHQMMnNmJYWITzA_bkM5Ps_Nzs8eVnTmWoqdR1tN40g40XQ-j5B_iOUeSrFoi_HGI6ZeQkNSrMyK_Z18s7ABo_1GcNz4e-aE25xMW-tx2JX36r-E6trCKq8ex9cFzSeJPdaxqqEanVFaB_FReGdBFI9UFbfaWw7temqxxme9a642_0OJfSP1EkCfPZkXxSwKS91jTW8FCTm7zYxleyFRZVKDv4Mp9qFNyMqvIW6nBdWiXM7f1wNaevA0K_l0-2xkdgBvkTthxoGbuhc60fVonuCOINZy3BworHr20Mk_taiI2nq2q50IiqBeUer3ksUnrP5YH0ldf1TygM_b3bXiDcsqxlCB_N1TB6PS6799ZT1kwr23IIMCiUgG6zQyOensoPXNzHE5dO6LB19W0gp_zgFOT-qAA3zb9zSYyGcciRjyScL2-ATw30i04qQTMADppwASzWKjwaHa6u8t_qvSQJzbS35ezfXWmiecDiTTJ5Qt7T__LrZzxwsevY2XCcZkxYtbKDmYcLpPLN_5WbLz-_jdsFZzxTlr6h2LNXD-o4anZs3WFkJuJF7MH8iXHOEtSq3pynVHtQY5SOOCRvfQY_Zg1N2egDeJp0qVgxizXMK5AhGQLn4FmA9i_7HEGwl_I9YWbsrqX53XugyWgnA5NIrGcRb9xthA-bker0_dJXG0BQ16TnWqSQcOXAcvRXWYQTKq1MhzctM83D-xQbghyXSezHnh_FzXRuplcA0LsGIwHsdsY_BablOKlYhE801HaW-75OsBPd5wgh7jbjIIqP5mVo3AheePddhxaPrMSSLPXcENTI294eoS71JRu0-fjo6MyJjNzkBrlSAFsuBEt53iOPyA_b1DDIf9G4K4NqzJouDeyVZrSiiL5sMYVGEE1AK8TY15LscyW77RNfZx4bBPomkZp6_9Oeju4S8ZdDLyJQq_n8V80FjmcG-1J9Uur1PLjQcDGEQWxHeC4IUQeeFiUWETkWkv4Ykx4z5TznNWGttIBblvfkCWC91m4LLW1nCjCSrQ2B4FlmAQeEDFY0JUE5DeWim2LwR1vNIO7y1BWUGmOBwaMSuAJcYJyWy67F3tAc1z-vCYR0BRK-wRvJfps0VF_jFPg-mtt-Fc3o7MSfF8F4hnxRx9dESfJ9CWkVVnv4fIHbMrQr3JTXcg2rx6UnyPaAImURAtWD-IftQzXXTgpQSx5JwO4nZYalFKin0gEzky358xhTzSpWjFM3Mvgt2zXECbVv6uxOT-VAHvZItXS06ZK-cO7nmlhNTu0xZmpnpAXW6SkIJD3bOwPxiuf0ZNE-ye0CWQ==",
  "id": "rs_030c8e8db579091b016ab444bdac4887d0981b0efe6f5dac4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.25,\"left_z\":0.09,\"left_gripper\":1.0,\"left_pitch\":0.5},\"note\":\"The high effort and unchanged plush show the gripper had passed over the front lip and was pressing the safe, not the toy. I am retracting to the brown plush and raising the jaws to torso height, since the earlier empty close was likely underneath the bulky body.\"}",
  "call_id": "call_gx8yXwQ9cMM0kcyEfLAM6zUm",
  "id": "fc_030c8e8db579091b016ab444c1ff5487d094772ca15a78a326",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gx8yXwQ9cMM0kcyEfLAM6zUm",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1072, 2.0544, 0.6373, 1.1618, -1.1553, -0.0441, 0.9972, -0.0208, 0.8616, 0.5999, -0.926, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3162 left_y=-0.263 left_z=0.0773 left_yaw=-0.0743 left_pitch=0.4653 left_roll=0.2385 left_gripper=0.9972 right_x=0.1925 right_y=0.0031 right_z=0.0782 right_yaw=0.0046 right_pitch=-0.6018 right_roll=0.0147 right_gripper=0.9995\nstate[joint_eff]: [-0.9915, -10.5504, 3.1385, 1.453, -0.2906, -0.105, -0.0562, -0.0615, -0.8684, 6.3385, 1.1502, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c53e8c1b978398b88301eb1b4c3e224542c686ee86fc802ce892d633706e7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53bc4b16552f8423e06c013cb0f0dcb12597ba25a307fc30d24bf0833f04c7c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56e816dce3c95a2bb14ede712c19abc5e9048e5c1e7334510652987cd10db8b",
      "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 · 4.191 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7303, 2.207, 0.6579, 1.4246, -0.8101, 0.0574, 0.0103, -0.0212, 0.8547, 0.5999, -0.9012, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4102 left_y=-0.1907 left_z=0.0571 left_yaw=-0.0261 left_pitch=0.4868 left_roll=0.1934 left_gripper=0.0103 right_x=0.1984 right_y=0.0029 right_z=0.0818 right_yaw=0.0041 right_pitch=-0.5702 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.253, -7.4462, 4.9162, 1.8926, 0.1783, 0.2515, 1.033, -0.1162, -1.2513, 6.3932, 1.1844, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5278, 2.2345, 0.981, 1.1084, -0.6636, 0.0662, 0.0102, -0.0208, 0.8566, 0.5999, -0.9123, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.5088 left_y=-0.1665 left_z=0.0759 left_yaw=0.0279 left_pitch=0.4576 left_roll=0.1988 left_gripper=0.0102 right_x=0.1958 right_y=0.003 right_z=0.0804 right_yaw=0.0043 right_pitch=-0.5831 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -14.1744, 6.9402, 1.8828, 0.2076, 0.022, 1.033, -0.1162, -0.8, 6.3795, 1.0232, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1072, 2.0544, 0.6373, 1.1618, -1.1553, -0.0441, 0.9972, -0.0208, 0.8616, 0.5999, -0.926, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3162 left_y=-0.263 left_z=0.0773 left_yaw=-0.0743 left_pitch=0.4653 left_roll=0.2385 left_gripper=0.9972 right_x=0.1925 right_y=0.0031 right_z=0.0782 right_yaw=0.0046 right_pitch=-0.6018 right_roll=0.0147 right_gripper=0.9995\nstate[joint_eff]: [-0.9915, -10.5504, 3.1385, 1.453, -0.2906, -0.105, -0.0562, -0.0615, -0.8684, 6.3385, 1.1502, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c53e8c1b978398b88301eb1b4c3e224542c686ee86fc802ce892d633706e7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53bc4b16552f8423e06c013cb0f0dcb12597ba25a307fc30d24bf0833f04c7c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56e816dce3c95a2bb14ede712c19abc5e9048e5c1e7334510652987cd10db8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETHoWWagrs_oH_RhJLiuCK5utYbbSfU9U2W6W44PCGYCNjtNPsfwI_C60fj0t_O5LA7vBH0THXZJ5shxajGr9zX8peHq1ib_W4eBkc3iUMBi5R-7bIN3oc75RyWiZT580oFT2XIcL-aP-VZXZKKMNhJW3VpbMZF0gLSNkQJtCRGACOqhY64q9UquI_FqTKS9aBkXIvlcVoFvtQDEk8-8klyjgmXFnRA157M7tgYGeyFhUv9wdMrPAds2AkGDvmHtQEcf8TEgVqK9ldXrWps3PjPfld51lFLDsZ3rmSjzn_DVydnLw1SAf_JrvEqqhuHiBxRTXPQPRbmmKDvaRHOqySxMck6t96wSMjf-fKv9Se-rII_XzWQhrJjD_uHzNt6KmAG_ttCs1SAaE8ybpjemrc1UDoABjmWoKIJYRb9iol2pPafZTSWLHGOqOTb-aZW6dm9nWDbXNb7426bhxVPS2DDxwtiJu8vDOfw9fmiPcixKRBF3va0gp858J-TkK_hmBu5gx4iueY-2x0lbYQJkqskvi90EVii31LK6lt8y3AYbK8NPgKiuJQiqXyM0mt4cPUemRmRKsA_PZyi7XUPhUzBsBbmpOZ67gDSQ6-8Wlz0xIZJKNQivROXFdg9IlYZl7eZwIGTnGmdhMISvbdlW3BxiNxWAt1EKIMJkYkQjkLjfTRGWy6xJ0sW3YVavLedlMoByh_AWEUMKiTUgWPHNVNF4tV6PcsPlSX3jAwhC0J41T-gzeEnQvL_9jVIi-L_rAN2VtcIamQ2ySEcMYZ-6F3qDNDEzz_LVTKuJZLKRdymvxWGU5EZsafZ1399q2YT2hFKGFuhUuxD7-FAlGJuM0WA6IwQYwWN31ebO-NeviOlkEMqidGgaYZdevtPdo4_IVOQWcgD29TM7pljLM_ELZ9wkPMxyd6TBXk1McriWxBFKFwbBe5dYmtsTMRbMoXWY6YZVdOYhdCPxJyVP1lu5bNWEYn6M5TlTuThmYDYlUgDIXvZmGPkWMkzjJHCdBaBqjjIW9tZdnnPjDWRJjvQJSUBTPAmWEY-TQ_e71JtrhLTCkC-ojtCsDVlfFG_9dGjJj-E6vAZD7R4o9Z1wJx0CTLXFeEh6h3uQH74n9WcKqysz3J7igejGBxg7mA96uL-HzimsRBK3Nbun7KVtgJ-OZTsVX3bvFOJTjq9OgeTWdP7YVOlMzEpQBh-3_1gt7fy_S42cZazvwpWp5VAcBGaJCMLXqIV583nTCxtbzLqbIyttoFLOtTaa9sKhnVOfp8mjgisiqRC454772ylKrtXtDATI3qlb1ZMoh2pmWKEX0xzyAoQEZvFgb3Bb4lYY0G9xSKFao6Ox-eDUTDt6dtEG1qfXO3f0Fa83BDXHPyvQD4spXPbjVVNeubThmYy1aybYwQM8Xl493PluAFHambUVFo1aw==",
  "id": "rs_030c8e8db579091b016ab444c6635c87d09bd8c504e28974f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the corrected 8 cm height, the brown plush's thick torso is clearly centered between the jaw sides rather than below them. I am closing now on the body.\"}",
  "call_id": "call_F5aPXFpfGfaN20tZoyM3ZnHr",
  "id": "fc_030c8e8db579091b016ab444c6cee487d0896572990b32c62c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F5aPXFpfGfaN20tZoyM3ZnHr",
  "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]: [-1.1095, 2.0487, 0.6346, 1.1442, -1.1637, -0.0536, 0.0112, -0.0212, 0.8616, 0.5999, -0.9272, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.315 left_y=-0.2612 left_z=0.0767 left_yaw=-0.0696 left_pitch=0.4611 left_roll=0.2431 left_gripper=0.0112 right_x=0.1922 right_y=0.003 right_z=0.0781 right_yaw=0.004 right_pitch=-0.603 right_roll=0.0149 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -7.9932, 3.7265, 1.663, -0.0513, 0.1148, 0.9548, -0.1983, -0.8957, 6.2564, 0.9451, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d217c76a3c8dab781d736f4fddc4a96b36e9c80e8d3b300357e9045302f500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f5c239b5b451d6e96f2dd3b7b1049288162bf227833357c4e0b4540e8d452c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92e39de000c8320692e6272b13d613056e22c2a51454fa2a646ab199ddcf2b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 2.601 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5655, 2.3363, 0.9207, 1.3289, -0.6846, 0.0719, 0.0103, -0.0212, 0.8566, 0.5999, -0.9089, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4894 left_y=-0.1741 left_z=0.0519 left_yaw=0.023 left_pitch=0.5074 left_roll=0.1719 left_gripper=0.0103 right_x=0.1966 right_y=0.0029 right_z=0.0807 right_yaw=0.0039 right_pitch=-0.5797 right_roll=0.014 right_gripper=0.9995\nstate[joint_eff]: [0.6632, -10.0171, 5.2855, 1.6923, 0.2271, 0.1538, 1.033, -0.0615, -1.0735, 6.3795, 1.0965, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1072, 2.0544, 0.6373, 1.1618, -1.1553, -0.0441, 0.9972, -0.0208, 0.8616, 0.5999, -0.926, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3162 left_y=-0.263 left_z=0.0773 left_yaw=-0.0743 left_pitch=0.4653 left_roll=0.2385 left_gripper=0.9972 right_x=0.1925 right_y=0.0031 right_z=0.0782 right_yaw=0.0046 right_pitch=-0.6018 right_roll=0.0147 right_gripper=0.9995\nstate[joint_eff]: [-0.9915, -10.5504, 3.1385, 1.453, -0.2906, -0.105, -0.0562, -0.0615, -0.8684, 6.3385, 1.1502, -0.0708, -0.0757, -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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1095, 2.0487, 0.6346, 1.1442, -1.1637, -0.0536, 0.0112, -0.0212, 0.8616, 0.5999, -0.9272, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.315 left_y=-0.2612 left_z=0.0767 left_yaw=-0.0696 left_pitch=0.4611 left_roll=0.2431 left_gripper=0.0112 right_x=0.1922 right_y=0.003 right_z=0.0781 right_yaw=0.004 right_pitch=-0.603 right_roll=0.0149 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -7.9932, 3.7265, 1.663, -0.0513, 0.1148, 0.9548, -0.1983, -0.8957, 6.2564, 0.9451, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d217c76a3c8dab781d736f4fddc4a96b36e9c80e8d3b300357e9045302f500",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f5c239b5b451d6e96f2dd3b7b1049288162bf227833357c4e0b4540e8d452c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92e39de000c8320692e6272b13d613056e22c2a51454fa2a646ab199ddcf2b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETM4R0J_2veBF8pbjRyR07jXZLfCYqoOlwAgZ1Lj8GZJ7Y-2hkLTTpwRwPSb_OADlUM9tcbmDN__20HnlmLLHBdRfk3B-3sUaV9VTnL4o-bMFqJiIZ5_55iobiY3W8YBU4L2Ow7OWOS1xxDdC2-2mAUZC1hRnWXLkvSUGj2STQBGBCEMUgTWkrgzfquiKNFZUFTaRt5hOotZjTzgrs13JBr-_YJ9pjmPrc_Htic_XWkWK4OzqKaH0pcyyab5eH3DEkHbAa9xlGlWZdF50Vwv6tv5wjpZ3DSrYZbLRVJWgKF6sZ_GOWh7xwL1p97uhCAvdiPlkidF2_TZKG2dISB4xjfVFqLDHvzWF3Xj2w5YViQZHCCY0u1nuN_SmJAxUE80ueKBDWkBwLY-ynaYPcbffY7_TWORCrbiF7KDYOCpEnal50jz9UkqildPhcCmO6JstW3_a_FsZ1rwTK5H_JNDBW3K3BwcGK89q1nRfOvP-76p_nErDqU556aQCKm6KgF7aJ2VDJ54N9mte9PRDHuxWpuKfMq_cyzTHojVysUN8l9s085sD9BODyFCk6Q7uVwyLCac__tPoAUIKOgS_qGEE43dTBqf2OkBRPcw7u2tFhx9T3F72x5urm62ItR71P9qg4gqjJpb0Im56OsMrA-yaXBmub8h8dTuCr8DDqhLCpLkPBeiHIeA5LA6RnrvvABFlB0WVp0u2ZOVbiV21y-vMUMaNG04Qw4NC6_0DNijokGFaxCOUpYI6wp3S1e4BUrAm47mLoRL6HKtCsrHkghgdsEQd-QYJ1MDluhOA7svK2enRkNBtoDPTcMz9Taou6kP5j-hYQ657plQrRnvXoMrx2L-Ny68p1MwTZy6OVMr4C9RmlikgL4qCPmTfmQznrIPocJR-1wRAVJw3bzUPMeDfRZvOBxy8oq8FGUa77IV62IMNQQyMaVf3j84Rt2NRv-GCeRhCS_gNe9lTDISxWIOqMnECBFFZI-9DdD29HuRSCT7TvUXkAzFK9bU3sETJIRlGFzH9W_-33KeIP5CmtouwkDffi51pCWfrBwx8zruE_FynA7J_QdjJNCaUx1GQYuGDlJLLAinzfDHym_dHwSyuKpjRpnyS-XmyoONAZaVt20myevIofqBcZbvPbAVNJ449vDIJw6Oi8HUji5zcCFhM8EnpznKepAQHTgPArKRhwS794pL4OR2SRXH9FfpxrjXQexfDOrZDHqEsqZSw-4q6ZvsjnBEIqXXY_Q9YpeibBrN6ZyFVoci18i2T5KuZ-cvTLkdrd69LZLt6fsmfSsv0bhH6FoQo-Au22U4WPMTGyUsLxyoVDZMYCj3_TY0nFBo57RpoQXVY_gA2hCL72ypU3W9ZzZGHlDD2nYujeosqh4uP4OJ-vT2HH4Rsldzxhhp0r-pHr5aV5l8Y_GJX2nMwnO3wwGN41WBIYgDz0MHwEmYJ4Htaon4KUSVnv-1mo9X5KKzcydf21-J6tgm0ZuGt9phDeoITbI5mvPIRNfOg9yZWpCFpdw11jQGfLa3FNymPVrXN-nVN3CkjGHrRrVvuHP14ikuKaB_YbSnllIGx6avc5oXRzoVEslOeCVmFZraYVXsFUaWStcl8I-PT0Es5wgVqLOEY5w6W5HC89HwMIJzDdKeuNIqedE5ywzw4JIAOHKwNiblGEJ8QfrPwtY5MF6t4CRNsrjQkFwYH-SJDMloBGs6T6jvwcO2q8VK79MyxCzBVGwKStuGMAOFiDm8GGBfN6I3d7dVSASoZsguWhtLl1Z6ptHskWKrmhvDaNWcPJh3IlZOhRhsl2s1sRWftRnvtP_oVLcwohsIpqA_19umu4SrNc2wA-LO_r-OifbfWjvWVlwLm0OrA3I1iprT56XvAikN0BgtyiSjzJTkCoQfHTMhVDjdj1gzAEVCNbiexp0BSfnYVCdvvPqpCWtrELOzLvkwBGHzzjWU0Q7Q2LMlw60u2X3-UeqkOB10nAjkfxUllyw0i95A6thqtIxCuAlUl-VVY70qMAgrl1nNiVPOe0z7Wbzs0JD3wBaJP5ICKchUavSnfOsyaCLy_jp2vHVQuj1X2ESFmdNg-05Xb9CjzAD4ZH99rM8wp3pgP-KhWtQ0tsCUgq3JqGiSe_7N_sgBcWr6SIoOuROwK0GSbQu7kOxKep05WvfdhT1BhQ6zNooo1sETMCsa6lNBsxarjpZrZIVbhBVx1_jIhdp_LHi6XJGICcu9qezgP4b_x6HWSgnnfc7ryNlLN1k44yCD-CDp0J-Nj-1ZKBbsYCxGnkrg0eKfhW3D56YL9HkhVgSFwHGtD33HGBrI8qmJeE4Oxz_4qY4hp2nraIPptv9_9gZZ9ZKfY72AB5WHiH0fF6xuU5yfUcm2NKXAvir7lBdDcMWdCot-bRLVFrtfmMePJFExT0y0a1tMETC8dY2f0tussVC",
  "id": "rs_030c8e8db579091b016ab444c9990487d0a16c843766065ccf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0,\"left_x\":0.37,\"left_y\":-0.21,\"left_z\":0.08},\"note\":\"The close was empty because the wrist view now shows the closed fingertips behind and to the right of the plush. I am opening and correcting outward toward the body and several centimetres left for a direct torso grasp.\"}",
  "call_id": "call_2jIpFxabdPPdQ1KV4XxbUOLx",
  "id": "fc_030c8e8db579091b016ab444cbb97c87d08c01027a0f8f476d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2jIpFxabdPPdQ1KV4XxbUOLx",
  "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]: [-0.873, 2.0487, 0.5819, 1.2518, -0.9634, 0.0341, 0.9952, -0.0212, 0.8616, 0.5999, -0.9344, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3669 left_y=-0.2062 left_z=0.0728 left_yaw=-0.0442 left_pitch=0.4427 left_roll=0.2585 left_gripper=0.9952 right_x=0.1906 right_y=0.003 right_z=0.0775 right_yaw=0.0044 right_pitch=-0.6102 right_roll=0.015 right_gripper=0.9995\nstate[joint_eff]: [0.212, -8.9231, 3.2889, 1.8632, 0.0171, 0.1587, -0.1099, -0.1846, -1.0325, 6.1744, 1.0672, -0.0269, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938596d9857331588e6defe17e458705771e6b92166927d1ad0b1ec6aa65a354",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b744971fde8dc89d0f48a1231cf1b48b66d438d7ac17a4bc1af07d91ab2a8f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1659ad3466ba08a9b183051a841a6adbeff3063d0561dc911d57303f5270707",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.594 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5278, 2.2345, 0.981, 1.1084, -0.6636, 0.0662, 0.0102, -0.0208, 0.8566, 0.5999, -0.9123, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.5088 left_y=-0.1665 left_z=0.0759 left_yaw=0.0279 left_pitch=0.4576 left_roll=0.1988 left_gripper=0.0102 right_x=0.1958 right_y=0.003 right_z=0.0804 right_yaw=0.0043 right_pitch=-0.5831 right_roll=0.0142 right_gripper=0.9995\nstate[joint_eff]: [0.7043, -14.1744, 6.9402, 1.8828, 0.2076, 0.022, 1.033, -0.1162, -0.8, 6.3795, 1.0232, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1095, 2.0487, 0.6346, 1.1442, -1.1637, -0.0536, 0.0112, -0.0212, 0.8616, 0.5999, -0.9272, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.315 left_y=-0.2612 left_z=0.0767 left_yaw=-0.0696 left_pitch=0.4611 left_roll=0.2431 left_gripper=0.0112 right_x=0.1922 right_y=0.003 right_z=0.0781 right_yaw=0.004 right_pitch=-0.603 right_roll=0.0149 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -7.9932, 3.7265, 1.663, -0.0513, 0.1148, 0.9548, -0.1983, -0.8957, 6.2564, 0.9451, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.873, 2.0487, 0.5819, 1.2518, -0.9634, 0.0341, 0.9952, -0.0212, 0.8616, 0.5999, -0.9344, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3669 left_y=-0.2062 left_z=0.0728 left_yaw=-0.0442 left_pitch=0.4427 left_roll=0.2585 left_gripper=0.9952 right_x=0.1906 right_y=0.003 right_z=0.0775 right_yaw=0.0044 right_pitch=-0.6102 right_roll=0.015 right_gripper=0.9995\nstate[joint_eff]: [0.212, -8.9231, 3.2889, 1.8632, 0.0171, 0.1587, -0.1099, -0.1846, -1.0325, 6.1744, 1.0672, -0.0269, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:938596d9857331588e6defe17e458705771e6b92166927d1ad0b1ec6aa65a354",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b744971fde8dc89d0f48a1231cf1b48b66d438d7ac17a4bc1af07d91ab2a8f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1659ad3466ba08a9b183051a841a6adbeff3063d0561dc911d57303f5270707",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETQgsXoIdpjiMQZ6bNZTEifU5GLMOc7dDeJM1THB7IFJtFo0gphpaVc0YsT7KV_2LRPp1VhhU3-2FcVuE71ZwpsB8GPPcoCQlifzlvPs1AuP8MFLcGIQsUKHVY2ig18jzMryQZ58A6F_P4ssZI_6OzvSZIX103RUhkbna3v5u9XfV3tBnRiAHuL6qs8_hSoGQSd0jDXnaeDoLlXSyeVkYv6obgdpmSdzEp6XMBqOblohLQUn9_tJIEm5uauj1c5u1Nts_MxwEyPZjBplbxp9iTy701Lu-AKnRRUgVqILleHsZlKkmFd4HGhls5lUe_9Ur6qBPTMrDCt9baWZQTkwcm7YDpXP4LPel3FUS2k4KZbi1EwXCjfICsy5MThbUOLyjrknI7g9VHwHy-IXmi3gbGC9-G6PEZtbXvAU571t7sBDywVbpLUKmCtUzIvzzeby9vCcFy3OZhDfMXsPkG3N9z_Tm8aW9xqOoKe9IknPt6lqauiD7R68UXIXW3Z4Lv4pE45OEHWrwQl0CgHMkRLLwnYePIuy4ulSjw9Ii5uepYwPfMkqMBTVJuiKkN7K3P4pe2QUZ5KzPqDNUYbGb7fXzjoO3G8RAiw0sJqM8Q05bAPGDcmcAwOFg1u5eAEHFj59aXzDz0Bd30ANnZh_b62XXm-YBA5jmjQLUEmTDau5GpWhO4CV9T3cSui-qByh0gjmfj5eorgEUkmh6gr7R5ICLMpO4AQfpOVJ_dGLk2Xl90GSZQDIhkvUyNIev-t-0_XXCFhYBrVMcxMdlURmKqucCqzkZ4QiTcBUX7Gs492vFr6JZppsXLMVxhF7I0ULVC2TABePZ1l9uWBCsS1c6lK1BztZunVEbgzDokroa37fF9nCDyLBcM52vBpFWwsPYLGbCTYODW5zgT-xhmDBx5UFybSg2MN6TPZNBQ3CEqeNThAvkxDIQsM0RSv3FC8nKxKL1PIll4duzuWqYUUT8iljp__ha72KgP28dRB0e1VCj87-6koRTsKVkAFxhfhV5nV7Awxm-7Jl_sdrEp1QUMALyYy-4UocacLfFwBMrJrD8qUu6Ye0fExs0gey3lh9gojg_G-kHkfED9k8KmMDME2LyHhE5hK0bbZiZmV1YKR5eiK803Nex9hts2LTvWWZunCegbURCc4bVkDzR5Km2VMHfZeeTn3d9DCFB_eR9JEAADjvSOd_Smdjalz9XEJ-LYlDQLSV1EPeLo2YeAD8vheBh7NAO1yQAQkuaODLFgHLXQme5E=",
  "id": "rs_030c8e8db579091b016ab444cf2a7c87d0b91556cacc9c78c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The corrected pose puts the brown plush squarely between both fingers, filling the lower wrist view. I am closing on the thick torso.\"}",
  "call_id": "call_fAEbdE4kD2FZM29LRg0Lqxri",
  "id": "fc_030c8e8db579091b016ab444cf657087d0b59bb002f5d018fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fAEbdE4kD2FZM29LRg0Lqxri",
  "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]: [-0.8707, 2.0487, 0.5804, 1.2484, -0.9619, 0.0292, 0.0117, -0.0212, 0.8566, 0.5991, -0.9455, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.367 left_y=-0.2052 left_z=0.0718 left_yaw=-0.0422 left_pitch=0.4398 left_roll=0.2569 left_gripper=0.0117 right_x=0.188 right_y=0.0031 right_z=0.0771 right_yaw=0.0043 right_pitch=-0.6171 right_roll=0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -8.253, 3.4393, 1.6825, -0.2271, 0.0073, 0.8669, -0.1709, -1.5111, 5.8051, 1.1013, -0.0464, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09963912e924ec873595df756261aa388fb746f9d19dd53a05a9a4aa416bffdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c754078e06c5b52d5474745da6468fbf417711719b3b2f1c7edf726bcaf1aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c526bb072e2c7a3f2ef62fc0788ac390dae01a90852420e60a12dd13be12b65",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 5.51 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1072, 2.0544, 0.6373, 1.1618, -1.1553, -0.0441, 0.9972, -0.0208, 0.8616, 0.5999, -0.926, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3162 left_y=-0.263 left_z=0.0773 left_yaw=-0.0743 left_pitch=0.4653 left_roll=0.2385 left_gripper=0.9972 right_x=0.1925 right_y=0.0031 right_z=0.0782 right_yaw=0.0046 right_pitch=-0.6018 right_roll=0.0147 right_gripper=0.9995\nstate[joint_eff]: [-0.9915, -10.5504, 3.1385, 1.453, -0.2906, -0.105, -0.0562, -0.0615, -0.8684, 6.3385, 1.1502, -0.0708, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.873, 2.0487, 0.5819, 1.2518, -0.9634, 0.0341, 0.9952, -0.0212, 0.8616, 0.5999, -0.9344, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3669 left_y=-0.2062 left_z=0.0728 left_yaw=-0.0442 left_pitch=0.4427 left_roll=0.2585 left_gripper=0.9952 right_x=0.1906 right_y=0.003 right_z=0.0775 right_yaw=0.0044 right_pitch=-0.6102 right_roll=0.015 right_gripper=0.9995\nstate[joint_eff]: [0.212, -8.9231, 3.2889, 1.8632, 0.0171, 0.1587, -0.1099, -0.1846, -1.0325, 6.1744, 1.0672, -0.0269, -0.0317, -0.0122]\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 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8707, 2.0487, 0.5804, 1.2484, -0.9619, 0.0292, 0.0117, -0.0212, 0.8566, 0.5991, -0.9455, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.367 left_y=-0.2052 left_z=0.0718 left_yaw=-0.0422 left_pitch=0.4398 left_roll=0.2569 left_gripper=0.0117 right_x=0.188 right_y=0.0031 right_z=0.0771 right_yaw=0.0043 right_pitch=-0.6171 right_roll=0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -8.253, 3.4393, 1.6825, -0.2271, 0.0073, 0.8669, -0.1709, -1.5111, 5.8051, 1.1013, -0.0464, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09963912e924ec873595df756261aa388fb746f9d19dd53a05a9a4aa416bffdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c754078e06c5b52d5474745da6468fbf417711719b3b2f1c7edf726bcaf1aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c526bb072e2c7a3f2ef62fc0788ac390dae01a90852420e60a12dd13be12b65",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtETVAecLUtCOpPkCqTO-WDa0p75WJoLNVj2DeSrA99boCx-dU7vyRsUh3_Hq3MdCZCnrJ4JELUL2RrdcBnZBTito3jST0HS0ap7qvmR2ILqAC2bP_ileanaAT1w3fNFg8y_E5St63sfWCwXFso0xyjp6u4CKVnujg8Vv94JHf0BHya3SZhTWMpDg0Rp4nY7DWQhLRpXSMsLfpNQjVJSkq8Grvm1vPI0sbdIniZu_JNQCSe0kzXIQ550O9Rj3ZZDcWN7XuJ_UVNb06d8jMBwOlrkKTealnpEXIXrmh751B5K-FDhjDK845S8jeLnBY4CcGu8c1_JDgehMIgePqDv_7jaTEd0EUTHc3tFVI07X4LXdLs8UnDbTL5IeXhFBqQDeOR-n5KBmvJbALqeJ-016DCdxO3y5lqovEi_YEqvjzThd5-LcGbUvjomkUWZHz2Rq2iP60-3vipF0N9OWsfc7P8j5-7aVvD0_r9CdqcOGO4A464v6TcaPEHProCUarqjO_mp90TiinfsSkth2mTFUxxDIxPACtAO6anKAPnakoIKN--80KGzUzi72K-q6wSWl1NTUkeq6dDovJA9jw3A_jbgZcNf5xhxB5WkLDbLfenC3808hbaCzJAwPTCS4bwzj9ET0nS9sHs-e6Ry-qOVnk4RvRjWV0tGzpJs5LLUePLJGByG5MVBvcBomsK8AveCc9-6cXQaVWOA25TKLV5MM3f9kL_Xt83oncG08bwbccAKhTZzoM3feuc8cGdzB8edS56xnkWvUpU3G35WOHoUAudDqT2UTUW5HqSbit1KNweqckTyzhWGXHSiTgGwRH6Q3dRufSrsk1j-K43Mrd0QSGsFKHWd6siIs2v3KDpCgEHgMUweBMeZySSWw6S8BmGV6qnMOshAyQhX9c0oSA0vyX_j92WdxqWEj7ngBanGAF3e2DGF6IQFtaicCvvVQEGtPrLp20UfQz9PebyWESNJuMBZx2m4xjj4cg2mszbJh02XWA5yz9NyhV4ryqyVKcLuu_3f2qHyA-j9wqaRm3cqPxSLFZx09P_1PBOhKgKimng5tZyzcb6ixiitYHB8SWqDHtdSoL8m9GXOsHUpjMket61Vro-mSwO2wUqmGPyzHsH7ixJDE3J199RELt-5ozEQOWP0p2JQwReYCQaH4jZ75C8B-kudd45dm8PNGguXsWCp-1YYj-9Z0RMvbaosu9nK5IvJvIi6JySldnaBm4n4HMsaxqnOzr-MmTIzZUy2Co51-YQTw5YJ2Mm6Q4IPbTPzGMo_97ZYEXBu9mwlsxu4AD-lN1uhe_EjDABXGB13cknKUGlk6UW3YRW3vPuJhUd_O6TWFdjTioxOpL0zZDMYlkuXkGkmn2v_EgYHiw2ZGwYoNIDhDvRypfR_bWg7T3n4oB0gmQFwwa6mJatj--ZsIg3gxprKPcBZqVwN3NYlGng3IPgtfwIYrASlpXEGU8HJLBRg0IcOe5DcKT0RsdBdct8kVPyjygTjB1nTz55XXdnb6ZT0sLSfFyzz0abUt3-_SJUBhr2ZTOFcnvFw_GrMBvbdQMYqo9ru3wDVxjHkMiyFE86pR8kYa-t6GQOqIvsPihcuQ64uWU9k4HKv4j3TjgESXBAP_odScwIjYRYP2rDks5aZpsx5L2s3YPJ-m7tTkyZ9T-GzUfYN-I1gm-WGuLRJ5mL27k4j0JXuoYZc4YbBW8n22w7FxaY4hshtJVlS2gC6eb9TapUAJ9ma1EGVeaNi6Z-Jbpe9rRWO5xTVJeozmjKLG4wDYwTu0Ypx1ty6ijmMDfBMpgsXojgBo11gXteiMGhV06RESnPGxeBN1rtooPgV4nD7tXa6bQZgVj5nunM1XCCBXgZ0FYOZ2mmWl92EYv47XdjtX5tbdQiLwT5aIvPBHbyNK7XlPjVq_PHgkSWCs9IJida5ccjpa4xRWeSx1hEdiOwBrQUV7XrTBhoV7YvmaTxOrFua-VXqnkqZhu2qkofwFFY1zWN11Cfq_ZHm-Wv1Z4EOt5e6DPoYSiIWhKTZCJFQRtv0Z_PtVkl4hu2CfnOlOlTsjyH2wuHrXi_LFBMNmbc9VHPTIq0Z4INx2PmyDWFSqYHHpQFpe7-f8ZWLmBN4FPLQlM2CfvmOdjA805GVneKL2bfBxlajuAlWoTYE-lzFzyxA12fIxvI4dMY4tNQFPJoa_4V-KFRuUMqN-VLzzsdnnor3EmZvzV88BVHyrEKZK5r0ebLk1C9Zyo8f4TBlGSM3qRblvTFrtti_ypaB6CF29wODkmDqswIg0ZXrphpK193iZJxTZn_sdpGYR",
  "id": "rs_030c8e8db579091b016ab444d28c5487d08bff73684c232858",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.18,\"left_z\":0.12,\"left_gripper\":0.0,\"left_pitch\":0.5},\"note\":\"The jaws again closed underneath the plush, confirming it is too soft and elevated for this finger geometry. I am using the raised closed gripper body as a broad pusher to roll the brown plush—and potentially the adjacent yellow object—over the front lip into the safe.\"}",
  "call_id": "call_k7Z9aYrU8Jt5alBBACFP20uD",
  "id": "fc_030c8e8db579091b016ab444d4ba6087d0824f472147d3f53f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k7Z9aYrU8Jt5alBBACFP20uD",
  "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]: [-0.5987, 2.0594, 0.8406, 1.1259, -0.7418, 0.12, 0.0087, -0.0212, 0.8413, 0.5884, -0.9493, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4695 left_y=-0.1715 left_z=0.1175 left_yaw=0.0131 left_pitch=0.4997 left_roll=0.235 left_gripper=0.0087 right_x=0.1852 right_y=0.0031 right_z=0.0756 right_yaw=0.0045 right_pitch=-0.6163 right_roll=0.0152 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -8.0752, 6.612, 1.873, 0.2173, 0.2222, 0.8962, -0.1846, -1.1966, 6.1744, 1.0281, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506454e19c4970209b90ed6144287c3f94e251ff25568e45cac58a3a370f6356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f672f3ff8f2ec8c642704d340eeb764069d1dd62bf891d53cbd5fcc9e770f22e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8206a8d032e8c80cea3e0d3203a660fba40d68a5d0af905337f01100a8c0b54f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.287 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1095, 2.0487, 0.6346, 1.1442, -1.1637, -0.0536, 0.0112, -0.0212, 0.8616, 0.5999, -0.9272, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.315 left_y=-0.2612 left_z=0.0767 left_yaw=-0.0696 left_pitch=0.4611 left_roll=0.2431 left_gripper=0.0112 right_x=0.1922 right_y=0.003 right_z=0.0781 right_yaw=0.004 right_pitch=-0.603 right_roll=0.0149 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -7.9932, 3.7265, 1.663, -0.0513, 0.1148, 0.9548, -0.1983, -0.8957, 6.2564, 0.9451, -0.0269, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8707, 2.0487, 0.5804, 1.2484, -0.9619, 0.0292, 0.0117, -0.0212, 0.8566, 0.5991, -0.9455, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.367 left_y=-0.2052 left_z=0.0718 left_yaw=-0.0422 left_pitch=0.4398 left_roll=0.2569 left_gripper=0.0117 right_x=0.188 right_y=0.0031 right_z=0.0771 right_yaw=0.0043 right_pitch=-0.6171 right_roll=0.0154 right_gripper=0.9995\nstate[joint_eff]: [-0.2667, -8.253, 3.4393, 1.6825, -0.2271, 0.0073, 0.8669, -0.1709, -1.5111, 5.8051, 1.1013, -0.0464, -0.0171, -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 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5987, 2.0594, 0.8406, 1.1259, -0.7418, 0.12, 0.0087, -0.0212, 0.8413, 0.5884, -0.9493, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4695 left_y=-0.1715 left_z=0.1175 left_yaw=0.0131 left_pitch=0.4997 left_roll=0.235 left_gripper=0.0087 right_x=0.1852 right_y=0.0031 right_z=0.0756 right_yaw=0.0045 right_pitch=-0.6163 right_roll=0.0152 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -8.0752, 6.612, 1.873, 0.2173, 0.2222, 0.8962, -0.1846, -1.1966, 6.1744, 1.0281, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:506454e19c4970209b90ed6144287c3f94e251ff25568e45cac58a3a370f6356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f672f3ff8f2ec8c642704d340eeb764069d1dd62bf891d53cbd5fcc9e770f22e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8206a8d032e8c80cea3e0d3203a660fba40d68a5d0af905337f01100a8c0b54f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtETbgeOX5dTsHtRaNFMctpvd8JPrzkjX8r4XuwqxaSnbIpVrYI-H1dZkShGlEJWnjghWAyVXAwp6SO60-_uClqk7usTDFsc_0kE8WUdrbsT4VyvchTM6hJZqF5U_g9lYL1nX_ApjyjIduHgTXdM1VLpFziO-G08Lg3YCUnqvgJfxUvQUCtUqo7xEDr77on8orBZxOLfynNO0i1nga5rFp1ZOaRWgdaXqLDnClrE6cjWUvqUExjc9hTV87avv0pgiC1LkUCyGCySrYzKVfbtzhK_ZG2Je9AALWQJyXB7rhaJaN7D3sy5qBQ8rA8wzuGNrF_KFnri6Kv6N0vpUFYrx9r_SiPVi89Djh3jEvMHGBC8M3esSafpai1IjrMvAh9GSIQyIFIqwHR8CcBrGuriEceWjrOhB7vvwHZ2vv04FtxcLc1u6mL3WZYGWQl4dKKXaJ-WB9_A10w7q__cWNS80Mt90i-S_65ApANfgVsGMssztsDsHr_ufBaN0C1GcCDSEZw1sUmAfGn7jx0bLdECv2KckRoAcnihU_HDGzl2RyLUmHR8SSI6QrlcrCRFeTczxCnMEqbCRdpn-l4DG9DWX3taqvtIAmhDn3IZ2MwGyoyQmwt_IaQ97MlpnXnJAefo-fVr3P2CmBEqQSyhly20_3X_2ZdH69ZTXLrB5ElArTT-2BWQE6vQk6jhbnMgvqcraClt5zcmU8QGR51n59LO3_3DvqXpOvW36pH_zrYP7Wi2BRGcB6vrV_cXvgqOKL3Yr2Yt928BlhkEsUa-sj9OYoQkUxoRXDTXtz8ljhfPhOPfWuuoOteToLNcDYaT9XsrbIRg27Do1vcCMbv46T0cjxLTbK0-lNxRlZ5M-5kQ5LiOHVU3gpWVzRvTRvf4FZpHh2k-JuQOKm0qGXfmhrqsvLs-5mCL49NAn6ADFbDbOpI-mtAGp3v5WuiEEmBrKuGMzwFNdfJbGOyUZw1W7YNxo_JXpvKu51UOEj8HjKRygPqBskAkaUWWVtyUWriI4KpEhyxHcQpev32yisaA7E16J3Hg9KCOg7irp_cYAZRyrI86ka4Z6lVl3SfScJC9N3Fa6TfhnyzM2n--nfw3HkyK6zZUmuBdWvy1JfgA8jgXc3TztEFx1d8VB5M1RO306FRnHuJp3Wv3CnnpOsl6h3xLNEPzqANb6IXCKatoDCPP1AuOdUuiIEuiR2gVast8TXreKYIfIE01QxLvXbpgEz2crNgdO358IuazC7-09UsqMQzHjyT8WuqIy5r7qz6oII0YLNeUVsKm9D49-LFtmqASzl2plg3nV16w7qyxk1dFqmfF1n_P9dfNgXkOwbZAeIiMpokB_sVto566QvOxo2LC_U1v0HVGnzG49D4FJdI4F070Q51NGU2m8TJ14B0vvNhVq1pkP2aH7VhHGwcMVIP5ELblVaUcsvSfpk09wzWyDXqPHKW3aQbbm82Bmc6d3k5I93GS-Evrgxr6NOeTKwxKRfUDYp9dHTRSnrLom15ToxmoFbyYD-IbU3IU6KoHzeHYT30xKFxgWqQQ1d1TKap8lzJtLupRDRaApHxiwPKSgo0-iwdzsjVm3ezWEP-es7O4KFxpMd9b0PANrwrnydGdjVDyXkfX0AbGGd_H-wqx6JHvPhwV9qeODY50BvKia_eb38T3BDMBf1R4ycGXb49wPBjfcDh9AWuvW2QKbVI3jG--391Ovvg8U1ZIg_Dq26iesuJzx-MbE7HeZUsD_BrfeJpAvumYgZZO7c3lcUkWqegWJ5OAgQQmZThKMW7Rfic7T7FQ1RAjr_IdOod1mm4pdOuUE8_v7VJ2V_y75ijkB5WXCsT7xknpaBDAX0wtoz1IuIWLu4x7WXiD1Cpzxsh_a2MLC8jbjvu_ZAuunlfD6cCjRqw2IaNhZ5SQYfDdxlumssVARHWm3dSHAYcB-_lt6g-t9D0HQUE8w1DVC8pfcf5yOkPmWpptpyuhMcPzwNlBD9PNjCnTNQmsT_O1jQ3OUeF3FZpLp34brRIyyesL56UfJp2ia04J2ru7MM1EmM0IX7umHf4AbCm1R064_k8QsI33SvseC4ZjWU1FVVzRPXCOVVp289eO5U9dpWqpImtLj2cpTvKcKbXSmJH1QyXdJK1ZPyZNl3FfAp08StZ-9yr6ZY-q1e5HRSgcYdb5ixyOFM6P3h0Sx_N45slPl2BIL87QskCX8P7-JHneP2NlBvRJewZ-7d9egohKaI2mAeOBP2Tk1kEGykwOQ0CCYrH6t2gdS-JwJrLvXSjMCB24hVa92qenvuuAIrpljRHuJCq6c8DZJzgCbTcmwq5u-t9EqNvnSrMaaqXzEqhKFkaFnKpWigcUWc0swodMsKu1BJIoyIE3gXDrMS-qkdRSkMWjQ67qRtW2pEx9CKLR6BmyhSUe28V5O6olV69oBozoTnxBBxGJDqIcVQKnyceQQrryQRGcRExjj0_1DAAGbFuK3P1PP4P6Zot2J0PgI1H3asWgdMdnv7IaNP2HbKfp9LVscz28JzWGRMBidUzXBiJaXbQ5eVut5vtlLM9K5TgpJK_C-yGBx5-oWDqbholudA1Y21b-XjvtCoGEAI90SCkkWAqeoNbFy-yeaH_vTnsb9T6pusf9SdjcZOwlAAPDLNcZGCW0GnxYz23BafvKKwL_vVWKYa8pBgGCymuZh7Mu5IR0iMHXHFo9NW7NqxLxHqKf8twSM6cQOHhV-6773B8Zgl9tyz4r-TFA1zj-WZyBSknShMF3n1jlhe5IgJPhVw6jU76-euKzZzm6zvl-XYJ1CGrfQsaQmKp-ljGQgs13SWXpvXshT_1urqcW_1xdP2IyH4w4HVyGdjrq8HnNWYePQWgee7ShhIwwIfJYv6m5HSp0LgRGa",
  "id": "rs_030c8e8db579091b016ab444d7bcc087d0934e5b7307f9633f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.14,\"left_z\":0.12,\"left_gripper\":0.0,\"right_x\":0.4,\"right_y\":0.38,\"right_z\":0.09,\"right_gripper\":0.0,\"right_pitch\":0.5},\"note\":\"The raised push rolled the brown plush up to the safe's front edge, while the yellow object remains to the right. I am continuing the left-arm push into the cavity and simultaneously bringing the right arm behind the yellow object to drive it toward the safe.\"}",
  "call_id": "call_pezGqQDYmP8xnfJRh06Hd4uA",
  "id": "fc_030c8e8db579091b016ab444db1b1487d0bcfd3cf8b302ab9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pezGqQDYmP8xnfJRh06Hd4uA",
  "output": [
    {
      "text": "executing move_to over 38 steps (3.8s)",
      "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]: [-0.4107, 2.1605, 1.0245, 1.0138, -0.5972, 0.1207, 0.0087, 1.0218, 2.3016, 1.1919, 0.8265, 1.0111, 0.2188, 0.0063]\nstate[eef_state]: left_x=0.5355 left_y=-0.1209 left_z=0.1084 left_yaw=0.056 left_pitch=0.4665 left_roll=0.2378 left_gripper=0.0087 right_x=0.3942 right_y=0.3644 right_z=0.0703 right_yaw=0.0043 right_pitch=0.4366 right_roll=-0.0247 right_gripper=0.0063\nstate[joint_eff]: [-2.1812, -9.8667, 8.0615, 1.9365, 0.0904, 0.1197, 0.8962, 0.6085, -11.1385, 8.4581, 1.7558, -0.1197, -0.3883, 0.6081]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:718594e1f5e13e1b5808422dac49849753240c9ef96edebbea298eddc6b78054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa5485714409b6cfc7c4b57283350c3cff5be3d58187df823ffbf772168af2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a79cfb7a5540d975b9bdd00d872c5e440eb75335c413909edc78bda571655961",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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