adhoc

completed
2026-09-23T22:11:06.452152+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-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
212.4 s
total steps
354
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-left, with three apparent objects outside it: a white plush below-left, a brown plush below-right, and a yellow object above-right. I am moving the left gripper above the white plush first while keeping the right arm parked.
move_to
left_x0.3200left_y-0.1800left_z0.1500left_gripper1.0000right_x0.2930right_y0.0010right_z0.1780right_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, 0.6029, -0.392, -0.0193, -0.0334, 0.9998, -0.02, 0.7937, 0.6056, -0.3958, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.1775 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0012 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4581, -1.4017, 10.2906, 1.9902, -0.0513, 0.2271, -0.0366, -0.3897, -1.5248, 9.8667, 1.9267, -0.0415, -0.0415, -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_y":-0.18,"left_z":0.15,"left_gripper":1.0,"right_x":0.293,"right_y":0.001,"right_z":0.178,"right_gripper":1.0},"note":"The open red safe is near the center-left, with three apparent objects outside it: a white plush below-left, a brown plush below-right, and a yellow object above-right. I am moving the left gripper above the white plush first while keeping the right arm parked."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left wrist view now shows the white plush centered between the jaw columns at the bottom of the image, with its body oriented suitably for a side grasp. I am descending to about mid-body height while keeping the jaws open.
move_to
left_x0.3200left_y-0.1800left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8124, 1.3193, 0.7574, -0.2668, -0.6247, -0.5377, 0.9998, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.31 left_y=-0.1717 left_z=0.1308 left_yaw=-0.0267 left_pitch=-0.0606 left_roll=0.0406 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=-0.0008 right_pitch=-0.0397 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.212, -4.9983, 9.5385, 1.6728, -0.5104, -0.0855, -0.0366, -0.1573, -1.5385, 7.0222, 2.0391, -0.0562, -0.0708, -0.0611] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.18,"left_z":0.02,"left_gripper":1.0},"note":"The left wrist view now shows the white plush centered between the jaw columns at the bottom of the image, with its body oriented suitably for a side grasp. I am descending to about mid-body height while keeping the jaws open."})
tool
executing move_to over 8 steps (0.8s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteAt table height the white plush remains centered between the fingertips, and there is no sign that a jaw is riding on the safe wall. I am closing the gripper around the plush 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]: [-0.8108, 1.6604, 0.5549, 0.2073, -0.6212, -0.5358, 0.9998, -0.0212, 0.8013, 0.6071, -0.4549, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3116 left_y=-0.1734 left_z=0.0159 left_yaw=-0.0244 left_pitch=-0.1116 left_roll=0.0895 left_gripper=0.9998 right_x=0.285 right_y=0.001 right_z=0.1643 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [0.1983, -6.6256, 4.4513, 1.5653, -0.2613, -0.0171, -0.0415, -0.1162, -1.4291, 6.9812, 1.8681, -0.0513, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the white plush remains centered between the fingertips, and there is no sign that a jaw is riding on the safe wall. I am closing the gripper around the plush body."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper settled at 0.022, which indicates an empty close or only a tuft caught; the wrist view shows the jaws at the plush's narrow tail rather than its body. I am reopening and advancing about 3 cm outward to put the grasp point across the thicker torso.
move_to
left_x0.3500left_y-0.1800left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8108, 1.6775, 0.543, 0.2005, -0.6216, -0.5369, 0.0221, -0.0212, 0.8047, 0.6056, -0.4812, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.3066 left_y=-0.1681 left_z=0.0061 left_yaw=-0.0204 left_pitch=-0.1366 left_roll=0.1145 left_gripper=0.0221 right_x=0.281 right_y=0.0011 right_z=0.1576 right_yaw=-0.0013 right_pitch=-0.0965 right_roll=0.0022 right_gripper=0.9995 state[joint_eff]: [-0.0205, -7.5419, 5.7641, 1.3602, -0.2759, -0.0171, 0.9353, -0.1026, -0.9778, 7.0632, 1.9316, -0.0366, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.18,"left_z":0.02,"left_gripper":1.0},"note":"The gripper settled at 0.022, which indicates an empty close or only a tuft caught; the wrist view shows the jaws at the plush's narrow tail rather than its body. I am reopening and advancing about 3 cm outward to put the grasp point across the thicker torso."})
tool
executing move_to over 10 steps (1.0s)
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 noteAfter the outward adjustment, the thicker torso and white belly of the plush are centered between the open jaws instead of the narrow tail. I am closing again for a secure body 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]: [-0.7357, 1.7481, 0.6739, 0.1326, -0.5869, -0.482, 0.9949, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.3378 left_y=-0.169 left_z=0.0096 left_yaw=0.0018 left_pitch=-0.1655 left_roll=0.1408 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=-0.0007 right_pitch=-0.1171 right_roll=0.0026 right_gripper=0.9995 state[joint_eff]: [0.4581, -6.6667, 7.7197, 1.5409, -0.1001, 0.2076, 0.0513, -0.0205, -1.1556, 7.0906, 1.7753, -0.0464, -0.0317, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). 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_gripper":0.0},"note":"After the outward adjustment, the thicker torso and white belly of the plush are centered between the open jaws instead of the narrow tail. I am closing again for a secure body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe second close also settled essentially empty, and the wrist image shows the plush's belly still above and slightly left of the actual fingertip convergence point. I am reopening, advancing another 3 cm, and shifting about 2 cm left in the arm frame to center the torso precisely.
move_to
left_x0.3800left_y-0.1500left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7334, 1.7515, 0.6788, 0.1219, -0.5808, -0.4839, 0.019, -0.0212, 0.8062, 0.6056, -0.5228, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.3375 left_y=-0.1688 left_z=0.008 left_yaw=0.002 left_pitch=-0.1754 left_roll=0.1419 left_gripper=0.019 right_x=0.2744 right_y=0.0012 right_z=0.1493 right_yaw=-0.0012 right_pitch=-0.1396 right_roll=0.0031 right_gripper=0.9995 state[joint_eff]: [-0.253, -7.5009, 4.6701, 1.3455, -0.3004, -0.0269, 0.8523, -0.0889, -1.2239, 7.0222, 1.7949, -0.022, -0.0415, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.15,"left_z":0.02,"left_gripper":1.0},"note":"The second close also settled essentially empty, and the wrist image shows the plush's belly still above and slightly left of the actual fingertip convergence point. I am reopening, advancing another 3 cm, and shifting about 2 cm left in the arm frame to center the torso precisely."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe lateral correction is now good: the plush's white belly is on the jaw centerline, but its legs still occupy the convergence row while the torso is higher in the wrist image. I am advancing another 3 cm so the belly moves into the finger-closing line.
move_to
left_x0.4100left_y-0.1500left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5991, 1.7714, 0.7361, 0.1043, -0.5102, -0.3832, 0.9957, -0.0212, 0.8062, 0.6056, -0.5537, -0.02, -0.0116, 0.9995] state[eef_state]: left_x=0.3671 left_y=-0.1418 left_z=0.0109 left_yaw=0.0281 left_pitch=-0.2045 left_roll=0.1577 left_gripper=0.9957 right_x=0.2692 right_y=0.0014 right_z=0.1437 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.004 right_gripper=0.9995 state[joint_eff]: [0.5812, -6.4752, 7.9932, 1.5165, -0.1099, 0.1783, -0.1441, -0.1846, -1.0188, 6.9675, 1.8681, -0.0464, -0.0317, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.15,"left_z":0.02,"left_gripper":1.0},"note":"The lateral correction is now good: the plush's white belly is on the jaw centerline, but its legs still occupy the convergence row while the torso is higher in the wrist image. I am advancing another 3 cm so the belly moves into the finger-closing line."})
tool
executing move_to over 4 steps (0.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe plush torso is now centered and extends through the wrist camera's expected convergence row, with both jaws flanking the body rather than the legs. I am closing on the belly area.
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]: [-0.5522, 1.8557, 0.8684, 0.033, -0.4992, -0.3656, 0.9985, -0.0212, 0.8104, 0.6056, -0.5735, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3949 left_y=-0.1397 left_z=0.0104 left_yaw=0.0602 left_pitch=-0.2303 left_roll=0.1767 left_gripper=0.9985 right_x=0.266 right_y=0.0014 right_z=0.1391 right_yaw=-0.0008 right_pitch=-0.1945 right_roll=0.0039 right_gripper=0.9995 state[joint_eff]: [0.212, -7.9932, 7.7197, 1.5116, -0.0757, 0.2857, -0.1734, -0.0342, -1.5111, 7.0359, 1.7656, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The plush torso is now centered and extends through the wrist camera's expected convergence row, with both jaws flanking the body rather than the legs. I am closing on the belly area."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe close settled at 0.036, borderline by width alone, but the wrist view shows the jaws pinching into the plush's belly and the toy has rotated with the gripper. I am lifting about 8 cm to verify that it moves off the tabletop.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5446, 1.8671, 0.8864, 0.025, -0.4866, -0.3477, 0.0363, -0.0212, 0.812, 0.6056, -0.6121, -0.02, -0.0116, 0.9995] state[eef_state]: left_x=0.3986 left_y=-0.1406 left_z=0.0097 left_yaw=0.0488 left_pitch=-0.2392 left_roll=0.1815 left_gripper=0.0363 right_x=0.2592 right_y=0.0016 right_z=0.1321 right_yaw=-0.0005 right_pitch=-0.2346 right_roll=0.0053 right_gripper=0.9995 state[joint_eff]: [-0.335, -8.1436, 7.8564, 1.5116, -0.1441, 0.2418, 1.2332, -0.1846, -1.1282, 6.9675, 1.873, -0.0659, -0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The close settled at 0.036, borderline by width alone, but the wrist view shows the jaws pinching into the plush's belly and the toy has rotated with the gripper. I am lifting about 8 cm to verify that it moves off the tabletop."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe toy remains visible in the wrist camera after the lift, which confirms it was not held—the fingertips are still nearer the base than the body despite the apparent overlap. I am reopening and advancing 5 cm at a safe raised height so the actual grasp point reaches beyond the camera's lower edge.
move_to
left_x0.4500left_y-0.1500left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5446, 1.7294, 1.0012, -0.2729, -0.4858, -0.3595, 0.0368, -0.0208, 0.812, 0.6056, -0.6319, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.3923 left_y=-0.137 left_z=0.064 left_yaw=0.0616 left_pitch=-0.2758 left_roll=0.1993 left_gripper=0.0368 right_x=0.2556 right_y=0.0017 right_z=0.1288 right_yaw=-0.0003 right_pitch=-0.2544 right_roll=0.0055 right_gripper=0.9995 state[joint_eff]: [-0.1026, -10.4274, 8.6632, 1.5165, -0.2613, 0.0513, 1.033, -0.0342, -1.0051, 6.7897, 1.6386, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.15,"left_z":0.08,"left_gripper":1.0},"note":"The toy remains visible in the wrist camera after the lift, which confirms it was not held—the fingertips are still nearer the base than the body despite the apparent overlap. I am reopening and advancing 5 cm at a safe raised height so the actual grasp point reaches beyond the camera's lower edge."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteAt the advanced pose the plush has moved to the very bottom of the wrist frame, as expected when the body is under the fingertip grasp point; the safe wall is to the right but still clear. I am descending to table-level grasp height without changing lateral alignment.
move_to
left_x0.4500left_y-0.1500left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5011, 1.8893, 1.2453, -0.3756, -0.4664, -0.3367, 0.995, -0.0208, 0.8173, 0.6033, -0.6575, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.438 left_y=-0.1453 left_z=0.0697 left_yaw=0.0809 left_pitch=-0.3028 left_roll=0.2112 left_gripper=0.995 right_x=0.2505 right_y=0.0019 right_z=0.1225 right_yaw=0.0004 right_pitch=-0.2876 right_roll=0.0062 right_gripper=0.9995 state[joint_eff]: [0.4034, -9.3333, 8.7726, 1.3602, -0.1734, 0.1832, -0.0024, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.15,"left_z":0.015,"left_gripper":1.0},"note":"At the advanced pose the plush has moved to the very bottom of the wrist frame, as expected when the body is under the fingertip grasp point; the safe wall is to the right but still clear. I am descending to table-level grasp height without changing lateral alignment."})
tool
executing move_to over 4 steps (0.4s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteAt table height the plush's head is at the bottom center of the wrist frame and its torso is now beneath the camera, exactly where the gripper grasp point lies. I am closing around the 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]: [-0.5014, 2.0136, 1.2129, -0.2413, -0.4683, -0.337, 0.9984, -0.0212, 0.8181, 0.6018, -0.6746, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.4448 left_y=-0.1488 left_z=0.02 left_yaw=0.0861 left_pitch=-0.3207 left_roll=0.2254 left_gripper=0.9984 right_x=0.2469 right_y=0.0019 right_z=0.119 right_yaw=0.0002 right_pitch=-0.307 right_roll=0.0067 right_gripper=0.9995 state[joint_eff]: [0.294, -9.935, 5.1897, 0.9158, -0.1538, 0.0366, -0.1734, -0.0342, -1.1966, 7.0222, 1.5897, -0.0415, -0.0317, -0.0073] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the plush's head is at the bottom center of the wrist frame and its torso is now beneath the camera, exactly where the gripper grasp point lies. I am closing around the torso."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteAlthough the soft plush compresses to a narrow gripper reading, it has now disappeared from the wrist view after closure, unlike the previous failed attempts; the top view is also occluded at its former location. I am lifting to verify whether the toy rises with the jaws.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5018, 2.0098, 1.2179, -0.1879, -0.532, -0.3515, 0.0216, -0.0212, 0.8181, 0.6018, -0.6804, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.4577 left_y=-0.1448 left_z=0.0343 left_yaw=0.1301 left_pitch=-0.237 left_roll=0.2245 left_gripper=0.0216 right_x=0.2458 right_y=0.0019 right_z=0.1181 right_yaw=-0.0001 right_pitch=-0.3127 right_roll=0.0065 right_gripper=0.9995 state[joint_eff]: [-0.2256, -9.4701, 5.7641, 0.3687, 0.8913, 0.1099, -0.3736, -0.1026, -1.0735, 6.8171, 1.453, -0.0122, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"Although the soft plush compresses to a narrow gripper reading, it has now disappeared from the wrist view after closure, unlike the previous failed attempts; the top view is also occluded at its former location. I am lifting to verify whether the toy rises with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe white toy reappears at the bottom of the wrist view after lifting, so it remained on the table just beyond the fingertips. I am reopening and making the final 4 cm outward adjustment, still below the verified table-contact reach limit, to place the grasp point squarely over it.
move_to
left_x0.4900left_y-0.1500left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5022, 1.9331, 1.3621, -0.4694, -0.5205, -0.3603, 0.0225, -0.0212, 0.8185, 0.6018, -0.6884, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.4517 left_y=-0.1437 left_z=0.0844 left_yaw=0.1361 left_pitch=-0.2904 left_roll=0.2476 left_gripper=0.0225 right_x=0.2443 right_y=0.0019 right_z=0.1168 right_yaw=-0.0003 right_pitch=-0.3211 right_roll=0.0069 right_gripper=0.9995 state[joint_eff]: [0.0068, -13.4359, 8.8821, 1.326, -0.398, 0.0708, 0.0855, -0.1026, -1.1282, 6.7624, 1.4335, -0.0269, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.15,"left_z":0.08,"left_gripper":1.0},"note":"The white toy reappears at the bottom of the wrist view after lifting, so it remained on the table just beyond the fingertips. I am reopening and making the final 4 cm outward adjustment, still below the verified table-contact reach limit, to place the grasp point squarely over it."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe outward move now puts the white toy directly between the visible fingertips at the bottom center, while the safe wall remains clear to the right. I am descending straight down to grasp height.
move_to
left_x0.4900left_y-0.1500left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.477, 2.0594, 1.4979, -0.5171, -0.5117, -0.3485, 0.9952, -0.0212, 0.8227, 0.6014, -0.7021, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.4759 left_y=-0.1445 left_z=0.0681 left_yaw=0.1557 left_pitch=-0.3273 left_roll=0.2728 left_gripper=0.9952 right_x=0.2415 right_y=0.002 right_z=0.1136 right_yaw=0.0004 right_pitch=-0.3394 right_roll=0.0074 right_gripper=0.9995 state[joint_eff]: [0.4444, -10.1675, 9.7709, 1.2772, -0.2418, 0.1343, -0.0757, -0.1162, -1.1419, 6.7214, 1.4579, -0.0562, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.15,"left_z":0.015,"left_gripper":1.0},"note":"The outward move now puts the white toy directly between the visible fingertips at the bottom center, while the safe wall remains clear to the right. I am descending straight down to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteAt table height the white toy is now directly under the fingertip opening rather than merely visible ahead of it. I am closing the jaws for another body 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]: [-0.477, 2.1761, 1.4868, -0.4179, -0.5156, -0.3565, 0.9983, -0.0208, 0.823, 0.6014, -0.7132, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.4836 left_y=-0.1479 left_z=0.0196 left_yaw=0.1689 left_pitch=-0.347 left_roll=0.2886 left_gripper=0.9983 right_x=0.2393 right_y=0.0021 right_z=0.1119 right_yaw=0.0003 right_pitch=-0.3509 right_roll=0.0076 right_gripper=0.9995 state[joint_eff]: [0.253, -11.6034, 5.8325, 0.9255, -0.0562, 0.4371, -0.1929, -0.0342, -1.0051, 6.6803, 1.536, -0.0317, -0.0317, -0.0073] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the white toy is now directly under the fingertip opening rather than merely visible ahead of it. I am closing the jaws for another body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe white toy has disappeared from the wrist view after this close, and the gripper reading rose to 0.036 with visible jaw contact; this is the strongest grasp indication so far. I am lifting well clear to confirm it leaves the tabletop.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4725, 2.1773, 1.4857, -0.3977, -0.5068, -0.4023, 0.0362, -0.0212, 0.8238, 0.6014, -0.728, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.4871 left_y=-0.1486 left_z=0.02 left_yaw=0.1891 left_pitch=-0.3308 left_roll=0.2407 left_gripper=0.0362 right_x=0.2363 right_y=0.0021 right_z=0.1096 right_yaw=0.0001 right_pitch=-0.3665 right_roll=0.0079 right_gripper=0.9995 state[joint_eff]: [-0.4718, -11.9316, 6.0103, 0.4274, -0.7155, 0.5543, 0.862, -0.0342, -1.1419, 6.6667, 1.4921, -0.0611, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The white toy has disappeared from the wrist view after this close, and the gripper reading rose to 0.036 with visible jaw contact; this is the strongest grasp indication so far. I am lifting well clear to confirm it leaves the tabletop."})
tool
executing move_to over 9 steps (0.9s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe overhead view clearly shows the white plush dangling from the left gripper, confirming a successful grasp. I am carrying it inward and rightward to a point above the center of the open red safe, with extra commanded height to clear the rim.
move_to
left_x0.4000left_y-0.2600left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4725, 2.149, 1.7603, -0.8761, -0.4946, -0.3977, 0.0527, -0.0212, 0.8249, 0.601, -0.7425, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.4686 left_y=-0.1413 left_z=0.0808 left_yaw=0.2252 left_pitch=-0.4753 left_roll=0.3538 left_gripper=0.0527 right_x=0.2333 right_y=0.0021 right_z=0.1071 right_yaw=0.0002 right_pitch=-0.3825 right_roll=0.0083 right_gripper=0.9995 state[joint_eff]: [-0.0889, -18.6325, 11.0427, 1.536, -0.4371, -0.0464, 1.033, -0.0889, -1.0598, 6.6803, 1.4335, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.26,"left_z":0.2},"note":"The overhead view clearly shows the white plush dangling from the left gripper, confirming a successful grasp. I am carrying it inward and rightward to a point above the center of the open red safe, with extra commanded height to clear the rim."})
tool
executing move_to over 11 steps (1.1s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe gripper is now centered above the red interior, and the dangling plush is already hanging inside the safe opening. I am lowering it gently so it rests on the safe floor before release.
move_to
left_x0.4000left_y-0.2600left_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.765, 2.3203, 2.3962, -1.5593, -0.5381, -0.6926, 0.057, -0.0212, 0.8249, 0.601, -0.7517, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.3961 left_y=-0.2499 left_z=0.1629 left_yaw=0.2189 left_pitch=-0.5288 left_roll=0.4087 left_gripper=0.057 right_x=0.2315 right_y=0.0022 right_z=0.1059 right_yaw=0.0008 right_pitch=-0.3917 right_roll=0.0086 right_gripper=0.9995 state[joint_eff]: [-0.212, -15.2957, 7.6103, 0.7302, -0.5446, -0.2906, 1.0281, -0.1026, -1.0188, 7.0359, 1.3895, -0.0757, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.26,"left_z":0.09},"note":"The gripper is now centered above the red interior, and the dangling plush is already hanging inside the safe opening. I am lowering it gently so it rests on the safe floor before release."})
tool
executing move_to over 5 steps (0.5s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe descent stopped about 6 cm above target while the plush is visibly contained by the safe, indicating the toy has contacted the interior floor. I am opening the gripper to release it.
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]: [-0.77, 2.3436, 2.3947, -1.602, -0.5316, -0.6884, 0.057, -0.0212, 0.8249, 0.601, -0.7654, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.388 left_y=-0.2465 left_z=0.1513 left_yaw=0.2439 left_pitch=-0.5718 left_roll=0.4734 left_gripper=0.057 right_x=0.2286 right_y=0.0022 right_z=0.104 right_yaw=0.0006 right_pitch=-0.4054 right_roll=0.0086 right_gripper=0.9995 state[joint_eff]: [0.294, -14.4479, 6.5846, 0.569, -0.398, -0.0806, 1.033, -0.1709, -0.8274, 6.612, 1.4579, -0.0464, -0.0464, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The descent stopped about 6 cm above target while the plush is visibly contained by the safe, indicating the toy has contacted the interior floor. I am opening the gripper to release it."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteAfter the arm opened, the white plush is visibly on the tabletop just outside the near-left side of the safe; my prior target was over the hinge side rather than the floor. It is centered at the current pitched-forward convergence row, so I am descending in place to re-grasp it.
move_to
left_x0.3900left_y-0.2460left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7708, 2.339, 2.3417, -1.5742, -0.527, -0.6895, 0.9951, -0.0212, 0.8249, 0.601, -0.7876, -0.0196, -0.012, 0.9995] state[eef_state]: left_x=0.3857 left_y=-0.2458 left_z=0.1399 left_yaw=0.2536 left_pitch=-0.5862 left_roll=0.4909 left_gripper=0.9951 right_x=0.224 right_y=0.0023 right_z=0.101 right_yaw=0.0008 right_pitch=-0.4275 right_roll=0.0091 right_gripper=0.9995 state[joint_eff]: [0.2256, -14.0513, 5.4632, 0.3541, -0.3297, -0.0122, 0.0415, -0.1026, -1.0188, 6.5709, 1.4579, -0.0415, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.246,"left_z":0.02,"left_gripper":1.0},"note":"After the arm opened, the white plush is visibly on the tabletop just outside the near-left side of the safe; my prior target was over the hinge side rather than the floor. It is centered at the current pitched-forward convergence row, so I am descending in place to re-grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe descent reveals the plush is several centimeters to the arm's left of the grasp point, now clearly visible along the left edge of the wrist frame. I am shifting the open gripper left by about 6 cm while staying low, returning toward the lateral coordinate where the earlier grasp succeeded.
move_to
left_x0.3900left_y-0.1800left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.77, 2.3283, 1.8992, -1.1538, -0.5236, -0.6895, 0.9984, -0.0212, 0.8249, 0.601, -0.7952, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3843 left_y=-0.2447 left_z=0.0336 left_yaw=0.2598 left_pitch=-0.5951 left_roll=0.5006 left_gripper=0.9984 right_x=0.2224 right_y=0.0023 right_z=0.1 right_yaw=0.0009 right_pitch=-0.4352 right_roll=0.0093 right_gripper=0.9996 state[joint_eff]: [0.1026, -10.7419, 5.3128, 0.2125, -0.1978, 0.0024, -0.1783, -0.1299, -0.9915, 6.6393, 1.2772, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.18,"left_z":0.03,"left_gripper":1.0},"note":"The descent reveals the plush is several centimeters to the arm's left of the grasp point, now clearly visible along the left edge of the wrist frame. I am shifting the open gripper left by about 6 cm while staying low, returning toward the lateral coordinate where the earlier grasp succeeded."})
tool
executing move_to over 6 steps (0.6s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe lateral shift brought the plush mostly between the jaws, but its body is still slightly left and below the pitched-forward convergence row. I am moving another 3 cm left and 8 cm outward, matching the pose that previously secured it.
move_to
left_x0.4700left_y-0.1500left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6632, 2.1868, 1.6367, -0.9684, -0.514, -0.5858, 0.9985, -0.0212, 0.8288, 0.601, -0.7998, -0.0196, -0.0116, 0.9995] state[eef_state]: left_x=0.39 left_y=-0.1899 left_z=0.0271 left_yaw=0.2661 left_pitch=-0.5943 left_roll=0.4824 left_gripper=0.9985 right_x=0.2214 right_y=0.0024 right_z=0.0987 right_yaw=0.0008 right_pitch=-0.4436 right_roll=0.0097 right_gripper=0.9995 state[joint_eff]: [0.7453, -12.7111, 4.6017, 0.2027, -0.3883, 0.105, -0.1783, 0.0205, -0.7863, 6.5709, 1.243, -0.0611, -0.0708, -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_x":0.47,"left_y":-0.15,"left_z":0.02,"left_gripper":1.0},"note":"The lateral shift brought the plush mostly between the jaws, but its body is still slightly left and below the pitched-forward convergence row. I am moving another 3 cm left and 8 cm outward, matching the pose that previously secured it."})
tool
executing move_to over 7 steps (0.7s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteOnly the plush's near edge is now visible at the bottom-left of the wrist frame, showing the grasp point is radially correct but still slightly to its right. I am shifting the gripper 3 cm left and 2 cm outward to center the body under the fingertips.
move_to
left_x0.4800left_y-0.1200left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5091, 2.3127, 1.8595, -0.9924, -0.4831, -0.4248, 0.9985, -0.0212, 0.8303, 0.601, -0.8143, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.4548 left_y=-0.1558 left_z=0.0287 left_yaw=0.2707 left_pitch=-0.6107 left_roll=0.4718 left_gripper=0.9985 right_x=0.2183 right_y=0.0025 right_z=0.0966 right_yaw=0.0015 right_pitch=-0.4596 right_roll=0.0103 right_gripper=0.9995 state[joint_eff]: [1.1009, -9.853, 7.0632, 0.7643, -0.3785, 0.0708, -0.1734, -0.1162, -1.1145, 6.5436, 1.3065, -0.0659, -0.0659, -0.0073] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.12,"left_z":0.02,"left_gripper":1.0},"note":"Only the plush's near edge is now visible at the bottom-left of the wrist frame, showing the grasp point is radially correct but still slightly to its right. I am shifting the gripper 3 cm left and 2 cm outward to center the body under the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 199
assistant
agent noteThe plush edge is now directly beneath the jaw opening but still just left of center. I am making a final small left-and-outward correction, remaining within the verified table-contact limit.
move_to
left_x0.4900left_y-0.1000left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4515, 2.3188, 1.8648, -0.9466, -0.4614, -0.3588, 0.9984, -0.0212, 0.8333, 0.5999, -0.823, -0.02, -0.012, 0.9995] state[eef_state]: left_x=0.4719 left_y=-0.1374 left_z=0.0272 left_yaw=0.2533 left_pitch=-0.6084 left_roll=0.4479 left_gripper=0.9984 right_x=0.2162 right_y=0.0026 right_z=0.0945 right_yaw=0.0017 right_pitch=-0.4725 right_roll=0.0106 right_gripper=0.9995 state[joint_eff]: [1.9624, -11.9453, 4.6701, 0.7985, -0.4615, 0.0904, -0.1734, -0.1846, -1.2376, 6.6256, 1.2723, -0.0659, -0.0708, -0.0073] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.1,"left_z":0.02,"left_gripper":1.0},"note":"The plush edge is now directly beneath the jaw opening but still just left of center. I am making a final small left-and-outward correction, remaining within the verified table-contact limit."})
tool
executing move_to over 4 steps (0.4s)
step 203
assistant
agent noteWith the left arm moved aside, the overhead view clarifies that the lower item is one brown teddy with a light face, not a separate white toy; it and the yellow ball are the two objects. I am parking the left arm and moving the right gripper above the teddy's torso.
move_to
left_x0.2930left_y0.0000left_z0.1780left_gripper1.0000right_x0.3000right_y0.2500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4229, 2.3192, 1.8633, -0.9272, -0.4679, -0.3435, 0.9984, -0.0212, 0.8352, 0.5999, -0.8371, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.4796 left_y=-0.1245 left_z=0.0279 left_yaw=0.2696 left_pitch=-0.5945 left_roll=0.4477 left_gripper=0.9984 right_x=0.2131 right_y=0.0026 right_z=0.0924 right_yaw=0.0016 right_pitch=-0.4886 right_roll=0.0112 right_gripper=0.9996 state[joint_eff]: [0.335, -11.8496, 4.7658, 0.8132, -0.3736, 0.149, -0.1783, -0.1299, -1.1145, 6.5299, 1.3016, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.0,"left_z":0.178,"left_gripper":1.0,"right_x":0.3,"right_y":0.25,"right_z":0.15,"right_gripper":1.0},"note":"With the left arm moved aside, the overhead view clarifies that the lower item is one brown teddy with a light face, not a separate white toy; it and the yellow ball are the two objects. I am parking the left arm and moving the right gripper above the teddy's torso."})
tool
executing move_to over 21 steps (2.1s)
step 224
assistant
agent noteThe right wrist view shows the teddy's broad torso centered between the jaws, with the safe rim clear on the left. I am descending to mid-body height for a secure grasp.
move_to
right_x0.3000right_y0.2500right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2787, 1.4277, 1.272, -1.15, -0.4355, -0.2001, 0.9985, 0.8391, 1.6722, 1.3914, -0.9676, 0.3328, 0.7464, 0.9996] state[eef_state]: left_x=0.3041 left_y=-0.0058 left_z=0.1726 left_yaw=0.2736 left_pitch=-0.5841 left_roll=0.4349 left_gripper=0.9985 right_x=0.29 right_y=0.2419 right_z=0.1397 right_yaw=0.0245 right_pitch=-0.528 right_roll=-0.0169 right_gripper=0.9996 state[joint_eff]: [0.6496, -6.8171, 5.6684, 0.7595, -0.2613, 0.1099, -0.1734, 0.2667, -7.3094, 8.4581, 0.8376, 0.3394, 0.2662, -0.0611] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.25,"right_z":0.03,"right_gripper":1.0},"note":"The right wrist view shows the teddy's broad torso centered between the jaws, with the safe rim clear on the left. I am descending to mid-body height for a secure grasp."})
tool
executing move_to over 8 steps (0.8s)
step 232
assistant
agent noteAt low height the teddy's torso spans the full gap between the fingertips and remains centered, with both jaws contacting the soft body rather than a limb. I am closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.276, 1.4315, 1.2682, -1.1645, -0.4301, -0.1989, 0.9982, 0.8364, 1.805, 1.1282, -0.6167, 0.321, 0.741, 0.9996] state[eef_state]: left_x=0.3003 left_y=-0.0048 left_z=0.1691 left_yaw=0.2792 left_pitch=-0.6059 left_roll=0.4442 left_gripper=0.9982 right_x=0.2899 right_y=0.2433 right_z=0.0337 right_yaw=0.0134 right_pitch=-0.5671 right_roll=-0.049 right_gripper=0.9996 state[joint_eff]: [-0.1299, -5.8051, 6.3932, 0.8718, -0.3346, -0.0464, -0.0366, -0.294, -7.8838, 5.8598, 0.8571, 0.2222, -0.0464, -0.0611] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At low height the teddy's torso spans the full gap between the fingertips and remains centered, with both jaws contacting the soft body rather than a limb. I am closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteThe gripper settled empty and the teddy remains visible ahead of the fingertips, so the first close was on the near side of the toy. I am reopening and advancing 5 cm outward to put the grasp point across the torso.
move_to
right_x0.3500right_y0.2500right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.276, 1.4315, 1.2675, -1.1645, -0.4301, -0.1989, 0.998, 0.8364, 1.8198, 1.1126, -0.6117, 0.3176, 0.7341, 0.0164] state[eef_state]: left_x=0.3001 left_y=-0.0047 left_z=0.1689 left_yaw=0.2794 left_pitch=-0.6065 left_roll=0.4447 left_gripper=0.998 right_x=0.2859 right_y=0.2397 right_z=0.024 right_yaw=0.0081 right_pitch=-0.587 right_roll=-0.072 right_gripper=0.0164 state[joint_eff]: [-0.2256, -5.8598, 5.7368, 0.7253, -0.3346, -0.0611, -0.0464, -0.2256, -9.7846, 6.9265, 0.696, 0.1734, 0.0513, 0.6716] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.25,"right_z":0.03,"right_gripper":1.0},"note":"The gripper settled empty and the teddy remains visible ahead of the fingertips, so the first close was on the near side of the toy. I am reopening and advancing 5 cm outward to put the grasp point across the torso."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent noteAfter the outward adjustment, the teddy's torso has moved beneath the camera and its two limbs flank the fingertip opening, indicating the grasp point is now across the body. I am closing again.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2764, 1.4315, 1.2675, -1.1648, -0.4301, -0.1989, 0.9979, 0.7357, 1.9724, 1.3258, -0.68, 0.2832, 0.6281, 0.9951] state[eef_state]: left_x=0.3001 left_y=-0.0048 left_z=0.1689 left_yaw=0.2792 left_pitch=-0.6069 left_roll=0.445 left_gripper=0.9979 right_x=0.3367 right_y=0.243 right_z=0.0229 right_yaw=-0.0008 right_pitch=-0.6206 right_roll=-0.0982 right_gripper=0.9951 state[joint_eff]: [-0.1846, -5.8872, 5.5863, 0.7399, -0.3101, -0.0659, -0.022, -0.4855, -8.9504, 8.4718, 0.8913, 0.2173, -0.0317, -0.2418] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the outward adjustment, the teddy's torso has moved beneath the camera and its two limbs flank the fingertip opening, indicating the grasp point is now across the body. I am closing again."})
tool
executing move_to over 10 steps (1.0s)
step 262
assistant
agent noteThe second close also read empty; the camera shows the jaws meeting between the teddy's limbs while its thick body is still farther outward. I am reopening and advancing another 6 cm to center the actual torso under the grasp point.
move_to
right_x0.4000right_y0.2500right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.276, 1.4322, 1.2625, -1.1645, -0.4301, -0.1989, 0.9979, 0.7391, 1.9766, 1.3033, -0.6697, 0.2802, 0.6247, 0.0128] state[eef_state]: left_x=0.2992 left_y=-0.0045 left_z=0.1672 left_yaw=0.2815 left_pitch=-0.6114 left_roll=0.4484 left_gripper=0.9979 right_x=0.3314 right_y=0.2409 right_z=0.0152 right_yaw=-0.0008 right_pitch=-0.6349 right_roll=-0.1106 right_gripper=0.0128 state[joint_eff]: [-0.1846, -5.7915, 5.9282, 0.735, -0.3346, -0.0611, -0.0171, -0.1436, -11.0017, 5.9556, 0.8376, 0.2759, 0.0806, 0.7399] approver: 10 step(s) modified (delta_clamped ×10). 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":{"right_x":0.4,"right_y":0.25,"right_z":0.025,"right_gripper":1.0},"note":"The second close also read empty; the camera shows the jaws meeting between the teddy's limbs while its thick body is still farther outward. I am reopening and advancing another 6 cm to center the actual torso under the grasp point."})
tool
executing move_to over 10 steps (1.0s)
step 272
assistant
agent noteThe teddy is now almost entirely below the wrist image, with only the upper face at the bottom center between widely open jaws; this places the torso at the grasp point. I am closing on the body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2802, 1.4322, 1.2552, -1.1645, -0.4301, -0.1993, 0.9979, 0.664, 2.1304, 1.5505, -0.7509, 0.2718, 0.5308, 0.9949] state[eef_state]: left_x=0.2977 left_y=-0.0053 left_z=0.1649 left_yaw=0.2803 left_pitch=-0.6174 left_roll=0.4529 left_gripper=0.9979 right_x=0.3853 right_y=0.2458 right_z=0.0185 right_yaw=0.0003 right_pitch=-0.6369 right_roll=-0.1334 right_gripper=0.9949 state[joint_eff]: [-0.0342, -6.1607, 5.7778, 0.7692, -0.3443, -0.0952, -0.0171, -0.759, -10.3863, 8.5675, 0.8376, 0.2418, 0.0611, -0.232] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The teddy is now almost entirely below the wrist image, with only the upper face at the bottom center between widely open jaws; this places the torso at the grasp point. I am closing on the body."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent noteThe teddy disappeared completely from the wrist view on this close, which indicates it is now beneath and held by the gripper despite the soft compressed reading. I am lifting and carrying it leftward over the center of the safe's dark interior floor.
move_to
right_x0.3000right_y0.3700right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.281, 1.4322, 1.2411, -1.1599, -0.4305, -0.2028, 0.9979, 0.6682, 2.1311, 1.5047, -0.72, 0.2798, 0.527, 0.025] state[eef_state]: left_x=0.2959 left_y=-0.0049 left_z=0.1609 left_yaw=0.2856 left_pitch=-0.6245 left_roll=0.4579 left_gripper=0.9979 right_x=0.379 right_y=0.2416 right_z=0.0069 right_yaw=-0.0066 right_pitch=-0.6446 right_roll=-0.1548 right_gripper=0.025 state[joint_eff]: [-0.5128, -6.3111, 5.8462, 0.862, -0.4127, -0.0562, -0.0171, 0.212, -12.8752, 5.9145, 0.8864, 0.3101, 0.0317, 1.1697] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.37,"right_z":0.18},"note":"The teddy disappeared completely from the wrist view on this close, which indicates it is now beneath and held by the gripper despite the soft compressed reading. I am lifting and carrying it leftward over the center of the safe's dark interior floor."})
tool
executing move_to over 12 steps (1.2s)
step 294
assistant
agent noteThe overhead and wrist views show that neither plush was held; both the light doll and brown teddy are clustered directly in front of the safe opening. I am placing the open right gripper low on their base-side so its two fingers can act as a broad pusher for both soft toys together.
move_to
right_x0.2300right_y0.3400right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2871, 1.4303, 1.2179, -1.1484, -0.4313, -0.21, 0.9979, 1.0092, 2.3013, 2.4195, -1.4971, 0.3565, 0.8368, 0.0299] state[eef_state]: left_x=0.2934 left_y=-0.0059 left_z=0.155 left_yaw=0.2883 left_pitch=-0.6306 left_roll=0.4618 left_gripper=0.9979 right_x=0.3033 right_y=0.373 right_z=0.166 right_yaw=0.0574 right_pitch=-0.5904 right_roll=-0.1087 right_gripper=0.0299 state[joint_eff]: [0.0752, -6.6803, 6.1333, 0.7643, -0.4176, 0.0073, -0.0171, -0.0615, -11.6171, 7.7333, 0.5739, 0.3834, 0.0659, 1.0281] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.23,"right_y":0.34,"right_z":0.02,"right_gripper":1.0},"note":"The overhead and wrist views show that neither plush was held; both the light doll and brown teddy are clustered directly in front of the safe opening. I am placing the open right gripper low on their base-side so its two fingers can act as a broad pusher for both soft toys together."})
tool
executing move_to over 10 steps (1.0s)
step 304
assistant
agent noteThe open jaws are now low and straddling the clustered plushes on the side away from the safe. I am sweeping straight outward toward the safe opening to push both soft toys over the near rim together.
move_to
right_x0.3800right_y0.3400right_z0.0200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.297, 1.4284, 1.1915, -1.1294, -0.4377, -0.2176, 0.9979, 1.1149, 2.0438, 1.4342, -0.8616, 0.3828, 0.9401, 0.9946] state[eef_state]: left_x=0.292 left_y=-0.0073 left_z=0.149 left_yaw=0.2904 left_pitch=-0.6297 left_roll=0.4684 left_gripper=0.9979 right_x=0.2315 right_y=0.3304 right_z=0.0233 right_yaw=0.0276 right_pitch=-0.6089 right_roll=-0.173 right_gripper=0.9946 state[joint_eff]: [-0.1983, -7.0085, 5.9145, 0.8034, -0.4078, -0.0317, -0.0171, 0.6906, -10.4684, 4.9299, 0.5397, -0.0464, -0.0122, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.34,"right_z":0.02,"right_gripper":1.0},"note":"The open jaws are now low and straddling the clustered plushes on the side away from the safe. I am sweeping straight outward toward the safe opening to push both soft toys over the near rim together."})
tool
executing move_to over 12 steps (1.2s)
step 316
assistant
agent noteThe sweep moved both plushes up against the safe's near edge, and the right wrist view now shows the teddy's thick torso squarely within the jaw opening. I am closing here to capture the clustered soft toys for a short lift over the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3073, 1.4265, 1.1648, -1.1122, -0.4416, -0.2249, 0.9978, 0.8577, 2.3325, 1.9194, -0.952, 0.3336, 0.6628, 0.9989] state[eef_state]: left_x=0.2899 left_y=-0.009 left_z=0.1426 left_yaw=0.2906 left_pitch=-0.6321 left_roll=0.474 left_gripper=0.9978 right_x=0.3674 right_y=0.3419 right_z=0.0278 right_yaw=0.0428 right_pitch=-0.6114 right_roll=-0.1586 right_gripper=0.9989 state[joint_eff]: [-0.3487, -6.8991, 6.0239, 0.7253, -0.4371, -0.0562, -0.0171, -0.9231, -10.7692, 7.2, 0.7155, 0.3541, 0.1099, -0.1245] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The sweep moved both plushes up against the safe's near edge, and the right wrist view now shows the teddy's thick torso squarely within the jaw opening. I am closing here to capture the clustered soft toys for a short lift over the rim."})
tool
executing move_to over 10 steps (1.0s)
step 326
assistant
agent noteThe jaws closed beneath the teddy without registering a thick pinch, but they are visibly threaded under its limbs at table level. I am lifting in place to use the closed fingers as a scoop and raise the plush over the safe rim.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3195, 1.4242, 1.137, -1.0996, -0.4458, -0.2325, 0.9978, 0.8627, 2.3425, 1.9099, -0.9337, 0.3325, 0.6579, 0.0135] state[eef_state]: left_x=0.2864 left_y=-0.0107 left_z=0.1359 left_yaw=0.2917 left_pitch=-0.6385 left_roll=0.4837 left_gripper=0.9978 right_x=0.3661 right_y=0.3444 right_z=0.021 right_yaw=0.0512 right_pitch=-0.6134 right_roll=-0.161 right_gripper=0.0135 state[joint_eff]: [-0.0889, -6.9402, 6.0376, 0.7741, -0.4469, -0.0269, -0.0122, -0.2803, -14.5026, 5.5179, 0.6129, 0.2515, 0.0562, 1.2234] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 326): [image omitted: streamed camera frame] camera 'left_cam' (step 326): [image omitted: streamed camera frame] camera 'right_cam' (step 326): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The jaws closed beneath the teddy without registering a thick pinch, but they are visibly threaded under its limbs at table level. I am lifting in place to use the closed fingers as a scoop and raise the plush over the safe rim."})
tool
executing move_to over 7 steps (0.7s)
step 333
assistant
agent noteThe scoop lift did not carry the teddy, showing the jaws had been below rather than around its body. I am reopening and descending only to about 5 cm—midway up the plush—so the jaws close through its thick torso instead of beneath it.
move_to
right_x0.3600right_y0.3400right_z0.0550right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3332, 1.4166, 1.1057, -1.0767, -0.4534, -0.2405, 0.9978, 0.8654, 2.3436, 2.2185, -1.2678, 0.3229, 0.6544, 0.015] state[eef_state]: left_x=0.2841 left_y=-0.0127 left_z=0.1302 left_yaw=0.289 left_pitch=-0.6327 left_roll=0.4881 left_gripper=0.9978 right_x=0.362 right_y=0.3442 right_z=0.0963 right_yaw=0.0486 right_pitch=-0.6388 right_roll=-0.1785 right_gripper=0.015 state[joint_eff]: [-0.3761, -6.6803, 6.0513, 0.7253, -0.4322, -0.0366, -0.0073, 0.0205, -13.7504, 8.7726, 0.8278, 0.3248, 0.022, 1.033] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.34,"right_z":0.055,"right_gripper":1.0},"note":"The scoop lift did not carry the teddy, showing the jaws had been below rather than around its body. I am reopening and descending only to about 5 cm—midway up the plush—so the jaws close through its thick torso instead of beneath it."})
tool
executing move_to over 10 steps (1.0s)
step 343
assistant
agent noteAt the higher grasp plane the teddy's thick torso is visibly centered between both fingertip edges, unlike the earlier under-body closes. I am closing around the torso now.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3458, 1.4136, 1.079, -1.055, -0.4606, -0.2478, 0.9978, 0.8711, 2.3093, 1.9507, -1.0615, 0.3374, 0.654, 0.9947] state[eef_state]: left_x=0.2826 left_y=-0.0145 left_z=0.1246 left_yaw=0.2871 left_pitch=-0.6282 left_roll=0.4931 left_gripper=0.9978 right_x=0.3534 right_y=0.3346 right_z=0.0435 right_yaw=0.0301 right_pitch=-0.6466 right_roll=-0.2157 right_gripper=0.9947 state[joint_eff]: [-0.1026, -6.7214, 5.8735, 0.6569, -0.4664, -0.0904, -0.0073, 0.0889, -14.7077, 6.4068, 0.7155, 0.3004, -0.0415, -0.232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the higher grasp plane the teddy's thick torso is visibly centered between both fingertip edges, unlike the earlier under-body closes. I am closing around the torso now."})
tool
executing move_to over 10 steps (1.0s)
step 353
assistant
agent noteI could not complete the task within the remaining control budget. The soft teddy repeatedly appeared centered in the wrist view, but the gripper closed to an empty reading and did not lift it; the yellow object also remains outside, so closing the safe would not satisfy the goal.
give_up
hindsightOn this rig, the pitched-forward wrist view made the plush appear between the jaw edges even when the actual fingertip grasp point was farther away or below it. For thick soft toys, first align until the torso is no longer visible in the wrist camera, then grasp around z≈0.04–0.06 rather than at table level; immediately verify with a lift before attempting transport. The open safe's usable floor is nearer the bases than the upright red lid/hinge, so a placement target around the near dark interior must be chosen from the overhead view, not the red lid center.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.355, 1.4128, 1.0573, -1.047, -0.4675, -0.252, 0.9978, 0.8825, 2.3016, 1.8847, -1.01, 0.3592, 0.6544, 0.0135] state[eef_state]: left_x=0.2793 left_y=-0.0148 left_z=0.1193 left_yaw=0.2913 left_pitch=-0.6334 left_roll=0.5074 left_gripper=0.9978 right_x=0.3489 right_y=0.3321 right_z=0.0314 right_yaw=0.0236 right_pitch=-0.635 right_roll=-0.2397 right_gripper=0.0135 state[joint_eff]: [-0.1846, -6.5709, 6.1333, 0.696, -0.442, -0.1148, -0.0073, 0.0205, -14.4342, 6.1333, 0.6618, 0.3687, 0.0855, 1.1941] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task within the remaining control budget. The soft teddy repeatedly appeared centered in the wrist view, but the gripper closed to an empty reading and did not lift it; the yellow object also remains outside, so closing the safe would not satisfy the goal.","hindsight":"On this rig, the pitched-forward wrist view made the plush appear between the jaw edges even when the actual fingertip grasp point was farther away or below it. For thick soft toys, first align until the torso is no longer visible in the wrist camera, then grasp around z≈0.04–0.06 rather than at table level; immediately verify with a lift before attempting transport. The open safe's usable floor is nearer the bases than the upright red lid/hinge, so a placement target around the near dark interior must be chosen from the overhead view, not the red lid center."})
tool
give_up: I could not complete the task within the remaining control budget. The soft teddy repeatedly appeared centered in the wrist view, but the gripper closed to an empty reading and did not lift it; the yellow object also remains outside, so closing the safe would not satisfy the goal.
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 · 9.122 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
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{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7921, 0.6029, -0.392, -0.0193, -0.0334, 0.9998, -0.02, 0.7937, 0.6056, -0.3958, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.1775 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0012 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.4017, 10.2906, 1.9902, -0.0513, 0.2271, -0.0366, -0.3897, -1.5248, 9.8667, 1.9267, -0.0415, -0.0415, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8c8a2ee9177fa1e910592b5c2d21aaf50d5b4a3ef4c4eb289d3a9377abbc0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f0d80119176b78d8320a3cc88d03079a27d0f0ef8e6054e21ca9ec02838e879",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b18f44fa9788fe6011e1e3ebc568ba4450513bd5efc31a9dcd6ad0e803f63d69",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 3.815 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6LyU0VnYsskr-Mal5I7utUKzItpzEcF43UEL3vcGkh3Q0i6OAEKZk2984J45UN7Uus7jUKVE9kVuAhT_S1f_ujqvgpFIrvv2rRT-SQyzcAMBZf--vxKY1AJ4873b7WanQWaVgOVZGoQHXyExugHOYwvyf-nPGMe4xkSXhd8h1RZtH684zfy14i5cE0r8LIj4b_nd805rnkUosWSJuJiMysD3sVr-ZZ_ROpVRehxG3t3KNXCp-1UBu9Zf7b9iy-ELRHnGDLsp7H6A-DUXx8GmN_qTEkyVmgk8kTTbqvarjB6iXI8qJmYofzSyTQh3QJ61pAGwdHhXngeX1iFRmndYNFqacJJRd0PJ9uKYLvSdz1J-vbmniV1WXxbx9INCJF_iE7nwFJx0i0mYPi63x82l9pIv9410hM7jM98jZ3u4kDE1vVuECK8946num-B_oVdGkwf_fWrETlzo5s976uhRcYP4ErdntTi3qihmsYN14SJllsA3o8mzcRTifFCrYLMeQvMhopuO821myddo2wpT3g3ndyEp7GpCdwBzpmd_bejazLeQe3DlMcOsCWtq9GqRfmES8-gkxkKLdxKGadnCScWxklto8VuAp6dZxdgjmND8U0CEBmZ8mgHawHqsvTs-8A2ex1y8Q8Sd2fnoBiiBCxNwqVfE9Sg7EqNdlqSG1izPk8mdzk7hDHz7UJgbYWRAh4Eg63oSPUj14NPUBqRR7z2xXoWwxS6Hp10aPhexCFURQ9ltgBggdYhhyJxfdppdnhFxJ1Hc6KSjJTa5of7Hlg5_P5w9xJEXQS4mN8WfZT4HmufrqLxBJVwkqKiGHf1V_JTNUXwOJ7DMcheVKljGravIgOn9MrDFsY4aP01Dcc1EzB-f4JKxgZSb740iqWgAscIzhRcGJjR78W77TDHH4Bd833u9xbQ_GpI_IeOLuxqaelpTCxcElGcssPs-RjSHhoUMuOAc3hkbYb2jqpQ13xJaTGQEl15cUhCpj2ffrGa7K4VZySycg1_nIgKRFbImQL639A58wbFXs1Z4r2nFiIZFhw0i3i1roEV961IRTZsYSD7NrUnIqPxaD_Re-rkrZac5Ao-KknOSFOEF9CPltcupZGVKBUktYTW1htAddVnwVfSZYuYL3Xe1hJUcOmla_ENBt7JFH-rEzchw_OMz4LhXb7C205te80uhqSt3XAfl25bMYxEVwhYQTZFW-FjSLCRii9_dREwHeHoAKbCjy7nDweBegQrxveUSMAWl87SfRyYlmsjNP1n3_pIJmjC5ZsBmvdKpypdBKZ521ZuAAa4JU_9KUs4TmdfjEa5DK6s6_fgtSodl5NbXO0iFtB1VYJnOFaq06FOnbmq2MBqHq3NRgw5XHaPkbzS2pZxQoDwZaGGfZOiJGReb0_vUMRfyqlVGQ-r08Kec4MQnGgNVzPXLnfJIW1fVoya3V54eUn8KgacdtFfCGYGjzlmAne5yskB34GOEK8FmSxEXBFznEoxNsD2wcGRRWt7yf-umRf1C1r6pvewQ7M8ebYzyiMQpu3U8umxM5JzSI2d0O5msGDgtR7F4Gz3cwL6U4N3laIZRXtPeGEzcPTRzJHUrkuxn_4IZlWJyJoM0abpualij416iDjZA7HCkTmhuKlcRz9h2CpFcj75WLaeQ1ojBE4mCgWoAjSx7pCs4ixHJLEYVl4W8kp_amG54l1mF594cvcB96BUqtB1NCrfpmwk6ykIL3-4PDV-fMYp4pOzZLkgxVWcvbEb_wSn6c9gJtkyVVKnK6uNyh8dhcuA8Wklbvf_p3tLLrkoCeLGvi7zGJ41tGPt6RxV0KomvB95o4j29fIbd4TJ4a-o3TDcjyRoJBfWN2z6XsUtiTuumTiYLvkAnm0k8d78njqPFSZ-2-LODlk9Opv_KslsJ2Qwb0rpNBujdgFL2w6c3vJ0s6V178ostTsfqPxl5l0jdaiRBafJOHpo0c71x1MXwrc2mkhAfKJJhfc1YTstcu4yZfPWS6itAlqiHcHYPHfRE5fxKhq2hViAAimaIKJHFR9UUIj6fZ0OfNqYpPwrPYxpDBtZ3oOlfyHNO788hpk_nAWK9-a9lG0WhYo3DsUQORrA1FoT_1gZzZIbIhIrH5_miKlSfVrCgotesp4JLUkYzRCbQ_v9tzRDQhmmTlG3bcDZIggTPcwsUSj9nORAZDHzAeT1QUU4LiM3ovaiBluflI2FyiMT-AA8VCbVQ9W-IfkMGoHUnR64rR_WapP4efFwTzmZ6HPdNAr-L0HbDfHZEOylr-jVzS1ymoAs69_h1l6CJLTGOHArWJWLiFvfkN93A3intPhD2deUfp4n5tBYqCr1TtvucgUMF5PsT8Z7peM-u-aYf5io3SdVJJ0aOzlyUwFkmb8t82d2aKpPblPu8mOzZQmubKYCwDRJdR8qh8gGCOAKEwGkDr_avNe9CYTBfelbjovLxg-6sWW1wXkFeEVfefb0tI9wJw_s9eYNDEqAEcd0c9N-OdOHctawK2jfHX2VrTDhBxz_rCBq6mD_6_VoVFPyn0v0cI3TLs4vr-wV3aCWXTsqe2i",
  "id": "rs_0f5f930c5ec4c3d1016ab44e88484887d09647fdd346c94f78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1.0,\"right_x\":0.293,\"right_y\":0.001,\"right_z\":0.178,\"right_gripper\":1.0},\"note\":\"The open red safe is near the center-left, with three apparent objects outside it: a white plush below-left, a brown plush below-right, and a yellow object above-right. I am moving the left gripper above the white plush first while keeping the right arm parked.\"}",
  "call_id": "call_2tZcGHooyU6peCK0m6yyqW5Y",
  "id": "fc_0f5f930c5ec4c3d1016ab44e8ab90c87d0abc0f3035e80c646",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2tZcGHooyU6peCK0m6yyqW5Y",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8124, 1.3193, 0.7574, -0.2668, -0.6247, -0.5377, 0.9998, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.31 left_y=-0.1717 left_z=0.1308 left_yaw=-0.0267 left_pitch=-0.0606 left_roll=0.0406 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=-0.0008 right_pitch=-0.0397 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9983, 9.5385, 1.6728, -0.5104, -0.0855, -0.0366, -0.1573, -1.5385, 7.0222, 2.0391, -0.0562, -0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a76a48f9ade26728a06a62f02c97a201de4147627e95665ea1b6e2e427a17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b735ff4be52c972be701117265c61b89cfe9b5f3addfc1db160a14571d5011d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b456f1bbb4edf8753930544557d3cf04844f65240c3a3d9675e06d8826932ea2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 2.297 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, 0.6029, -0.392, -0.0193, -0.0334, 0.9998, -0.02, 0.7937, 0.6056, -0.3958, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.1775 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0012 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.4017, 10.2906, 1.9902, -0.0513, 0.2271, -0.0366, -0.3897, -1.5248, 9.8667, 1.9267, -0.0415, -0.0415, -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]: [-0.8124, 1.3193, 0.7574, -0.2668, -0.6247, -0.5377, 0.9998, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.31 left_y=-0.1717 left_z=0.1308 left_yaw=-0.0267 left_pitch=-0.0606 left_roll=0.0406 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=-0.0008 right_pitch=-0.0397 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9983, 9.5385, 1.6728, -0.5104, -0.0855, -0.0366, -0.1573, -1.5385, 7.0222, 2.0391, -0.0562, -0.0708, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a76a48f9ade26728a06a62f02c97a201de4147627e95665ea1b6e2e427a17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b735ff4be52c972be701117265c61b89cfe9b5f3addfc1db160a14571d5011d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b456f1bbb4edf8753930544557d3cf04844f65240c3a3d9675e06d8826932ea2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6RjGc6O13tSVm91upugFwmnVUW00JUoJvcsSFmwrHDAm16Lbs40mnx1N4I7XhFEsye3123z0ykxMTbTKgGDj89f7yGTGIDX_xeCQKzKfu-JMKSDFaAOSI_UH5Ik6dhAVXUn6wDpCa5gFqBA0L1Wt3KV7jNrRdMq3V_7_lQKCWv_Nh1kIAxQp81gcbpgPukmPcuLutgf6kq7xZg-gQ2rGQjz99uE0EVJ8gCH3MkQiyp1WZFM58XGiHUrQnWD1X58fjvhraMDK12boDhSX62E-stUoLbBWDcL5KuXglUPg7wR6ummCj-_Imvcyb3pr2HLPcSEOQ3XUi_fHkuI0SO7-UHocnkaypB7-nD9YYSTvTeo4_lxkATpdMDzqEof0ZjWQSVSpF1Ihn8Vzo-ul8s1ZtdZpQ064zTt221SU1pVEnw-GfIm46Hz__-9IgMCuilM0Uw3V3e2ANsJUDu8cvgUimc7hV923t3xLFDtxX0fWijwL_iBHuSy4WYafwAhMD5uGbarjo0xjPPw4sBPYmhdmOIeW4oi2kzHMahOORVemfNATpQ_h9_X9_wE70EZsG-zlfw0hSWXlW0Qs9LSOcVmJTpozOuW6FBH-lPnjpMpsCKrCSUZpv6kiNxDb2fvZjHtiDM2NVAvNLSRCtmhGi_AW3jw0MrMuZSWIy3f9BlpVI9ee_fpYY2KvvJtpQP8uZJysHqMq3Y70FKc1jeRZWPBL_miwMOWrk_ybNqa0WWyswHusqpObMhs3eHR7dkJ4JkfBkB1MstA-enn7_jzPhTh01-rHgufBQBeJg9I3eOhTVc2a45dZdqTFv2_ced_6R8OrAtRTZ0RADaDPVDO7IlYSDQVxDwUG5FyZYm7akYBfLWiiJiD10O3a-kQuGpWQMBR8RYRl18a0nk21rKGQum7MM6HUpJG0WhwdyyPj_kDze40lMS2JYULfXUByVI1DxctXbG9IIXru_pJ4WOAebC6JMDBwifVr_8Nj6tnqky4at6eqkrCbR5pJdl4IM1-qKG5S4j7FE6QiBP0liSBUWUvbizGLYQ7SKLd_6w3bJOThBl-Fs7arqUvtWzAU94Zabn3Z-rwb3AeGPGrD6yd8taRBUEg9Y-XWyfAZRiFVCH7Yy8yDh_R7wzL9XDh_-PM1oW5Ty7zTYKwEFCIMvfEkw9Khw4NvyoXwnE9vi7nFDigOjt8tsbDpWOPqko4PyyYGrY7cSGf3kX8M_a6J6U6nBVBtPyBJfs3QIJXnRtjzFhjNMKJBIm9sp14TQhDz5ZApw2aX9tpP0f7ICZhuLV2Ab4wSpVtF0oQ6LTSEK187WIhu38BO-dlk1BfP4ZEvQRuLT5-dYhctmqRPGeKTOqwzvW1fUcXU9cOzBg5JHsG3a6om8A-maeYFwA4ECQRnfllFm33oAR1g7c0Qp8TMD1nQNGTRR9KV3h4EaUaA3Ow8uQZE7uqt9w227o6fWqRrl_cgoGr-ECtcX8Al061rwYElnwae9yDvBTwMHnbs5Pw9U-XSxyfsuc-mNcM3j3f1q0K26L6lZbKfWok4_aEO3f1S1hlk-4XAS6ci0wpQcbwQVx45jDn8HOk_A_0VTlNXuRVXTA7DzAusTx_WDc8diKJmSz3n1E-2IdfdD_Rs-jkwWdyjfAb5hiPvByq-vT9M7TwEO8LWo89P08uOHxbmi7iivUvaUkUWSZzE8oXbakcAxxd6qFmFirjzF9ILlut6YRjChJdJ2yXSeCFtvZPLvJah5o0QqNwd-DP7g8C30Z4k3i0jHjkvPC7vofoiE05zg58S6Wc3atGh3n1--wh800ma1m0xtUGsoX_9FZkcdHuRlO0GpzxvKoJQulbBp9cUU3E8kPuQbGTTkyLBCEMRcsGMt69LxiafxcxwNJwNdTcoPb99PKH1BWwDVhNqwFNtoXx_yIx97aho9-IhM35ynu0OcLm-uZ4FedcnaLGsCF4TQLMyht7rWYvihOCWpYn4DpDQNR92gHylFyfD-m-lzltH95_uRWt51DEWWUXPXb3qMKn13LMAcmPBqaBJ_OMXsSd5GW7_lzlHYcDjEEMDVvllfIXYsm8oxpvNH4VxdvPDqdUiOWSKkvzKcf-Btj_mpF-4kWAVxYFmv1LpmN2U8RAXtjRnBUrbhbZHmR7BBAq1htP0plMqGzmwdixUNWXIchF63xTKrzsVolL0b909rrGmobiPYMGXWKSrv5V1kJdO0EGsLC1pg=",
  "id": "rs_0f5f930c5ec4c3d1016ab44e8e295887d09f00fd82ec8cbc3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.18,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The left wrist view now shows the white plush centered between the jaw columns at the bottom of the image, with its body oriented suitably for a side grasp. I am descending to about mid-body height while keeping the jaws open.\"}",
  "call_id": "call_3hKgXMadbbaMDNJwyTB24xGR",
  "id": "fc_0f5f930c5ec4c3d1016ab44e90199487d08557bcb87d6216b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3hKgXMadbbaMDNJwyTB24xGR",
  "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]: [-0.8108, 1.6604, 0.5549, 0.2073, -0.6212, -0.5358, 0.9998, -0.0212, 0.8013, 0.6071, -0.4549, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3116 left_y=-0.1734 left_z=0.0159 left_yaw=-0.0244 left_pitch=-0.1116 left_roll=0.0895 left_gripper=0.9998 right_x=0.285 right_y=0.001 right_z=0.1643 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.6256, 4.4513, 1.5653, -0.2613, -0.0171, -0.0415, -0.1162, -1.4291, 6.9812, 1.8681, -0.0513, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6bd4f34b156e8921cee757ae52c11fea13b7dcb43f9f0ace5afa9100f4d9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c37152a4a26d950664566c2a28b2945c6e61e5e790c310ac1a79a8415a01a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07c154a8bec59656523bbf82a00c1e2bbfb2e6a390b19132776b7239f9cc431",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.144 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]: [-0.8124, 1.3193, 0.7574, -0.2668, -0.6247, -0.5377, 0.9998, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.31 left_y=-0.1717 left_z=0.1308 left_yaw=-0.0267 left_pitch=-0.0606 left_roll=0.0406 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=-0.0008 right_pitch=-0.0397 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9983, 9.5385, 1.6728, -0.5104, -0.0855, -0.0366, -0.1573, -1.5385, 7.0222, 2.0391, -0.0562, -0.0708, -0.0611]",
      "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]: [-0.8108, 1.6604, 0.5549, 0.2073, -0.6212, -0.5358, 0.9998, -0.0212, 0.8013, 0.6071, -0.4549, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3116 left_y=-0.1734 left_z=0.0159 left_yaw=-0.0244 left_pitch=-0.1116 left_roll=0.0895 left_gripper=0.9998 right_x=0.285 right_y=0.001 right_z=0.1643 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.6256, 4.4513, 1.5653, -0.2613, -0.0171, -0.0415, -0.1162, -1.4291, 6.9812, 1.8681, -0.0513, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6bd4f34b156e8921cee757ae52c11fea13b7dcb43f9f0ace5afa9100f4d9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53c37152a4a26d950664566c2a28b2945c6e61e5e790c310ac1a79a8415a01a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07c154a8bec59656523bbf82a00c1e2bbfb2e6a390b19132776b7239f9cc431",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6Ur-VnMJ0NBwja_aqemNcM5HkpySSoL9UfHckbjvXdT8bI7pfhEHBH5qwNKyIV_QiFcAF06CX0Pn6HfsF5TtBEYCqboPZ6pCyRg3JAJ4bXRvTjOzpJYEYk3yEgNQ9ljBsryuoQ9VnSoX6H1IHZgQaSVnkImwHSGJL3Gy5VE3bq5tJqGLbpYEaOBkTI_v55KUP0mQEbGfSB0wkNF2n8ef1jOQQL8BpPQgrwBmg5NjZ8ryaw_UWD0RqSOfKh_K7IXP9YcMpRS6UKmzwEQkGkAX6KkqC_ON-53NrxY3qgriuCKqdiyfnLSInwWaaRMNqPrx_094xtl2Y8j78s1jvEz9k7PIEAP2mW4g8fGFMRcn8iJc6Y5gZ3fWFqKyeKO389DUdxScukNmuQY-x3g55g_NucL3PNlR3_oQO4UR2YzF-C_tOLh9u2n2WpsGvpBTgVdr_CPM_JyEgqO8Hzas_VBFtuLwxUuVbwZpOryUUwMWMq5Ca9xiF4yYZiV7IYXoD7n2r9naYRNWbY93sumYFu-9KZa0rty71xyNAasvApPgQoIukjr0IF1BXzSBwSpdSonn2YoQjTx9xG6ZhHHmRbbQgpLzdLuHKGlXrVkEHA6lstFpue-gqxh4HjxFXhhpmbtTXgDuh7MUQK0zXuPc4i5Pbg9nIL_YOXc3YH4XMBR2FCEnUDGZ-mlIAH-AGfPuZf-MlGGsMrXn-JQE29vYLG5CWsk1RsTEs_UjYgF0OSw_PhDe6tb_7f-bwptVL3vcgAqPMN60fvB9OO3UrW-Wy-M6MGhFkf3UFaMczrkQsbFRaCos-Ny7yehNfrJizpNael2M5yFvWGjfzdCnxiQMK5IKNFw40H16DXsKPcuICAJ7IM5zRsZfuvvAcLdz_Bka5iXPjPx6_FQBbw232gyq2A_DFEQO7WnUSA8PSKCsJBIcLZZxidZzE_aBGN9VYy9KNCM4lWBn-VAYHcwTqyuA6O9SStif0q5pOfGzsviruHtWUgLxKebT4GvoGTq3dl3iDuQ5BQYpBhrkRbVSMoMa3-muSm35MsZvdN1xq3HIexoyDMWNF5aBCrZ4rVIYDsEh1Q-RcvFJf-x0CUU2gPqOa1xEeJLbujQ1ttQub5-X3wHR7sT9BTPRTaN0SOkDcOw8UWVnwWD1VTRgs06fFdPNwf5UsHa5UIEMHqv2kADADmr3Iyx8u2MJIxz6yhnlJLGfEKY5DEsDglUUpg96aX7iayGcvj0RrCVmslIs8lGARJJt5eIvb8vyGabUxWkJEdSH_KmTZgtq4oUXr82m8QYJc5k1OLbMQKyBGWiFRgDZR4_-z7k7TFLJl5ANy32P-DMmeWUbca",
  "id": "rs_0f5f930c5ec4c3d1016ab44e92f73087d0ac67fd09cc4239ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the white plush remains centered between the fingertips, and there is no sign that a jaw is riding on the safe wall. I am closing the gripper around the plush body.\"}",
  "call_id": "call_cerVXTs3Vag1cGSwz3a9IDS8",
  "id": "fc_0f5f930c5ec4c3d1016ab44e933df087d0a0f03c245682d5b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cerVXTs3Vag1cGSwz3a9IDS8",
  "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]: [-0.8108, 1.6775, 0.543, 0.2005, -0.6216, -0.5369, 0.0221, -0.0212, 0.8047, 0.6056, -0.4812, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3066 left_y=-0.1681 left_z=0.0061 left_yaw=-0.0204 left_pitch=-0.1366 left_roll=0.1145 left_gripper=0.0221 right_x=0.281 right_y=0.0011 right_z=0.1576 right_yaw=-0.0013 right_pitch=-0.0965 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.5419, 5.7641, 1.3602, -0.2759, -0.0171, 0.9353, -0.1026, -0.9778, 7.0632, 1.9316, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1255a48963ff9fd567aabcff52afc41aad30f65685082a68a260dbcd32c992a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc1546e617f834ed813eb1d5e2fab284d99687c5a2016e6426d00e6935a0d7fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a3abaa44cc9e0884540e68532518c725fdd65a8d85d7c36c247aa5d8c7f8a6",
      "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 · 2.773 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, 0.6029, -0.392, -0.0193, -0.0334, 0.9998, -0.02, 0.7937, 0.6056, -0.3958, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2929 left_y=0.0015 left_z=0.1775 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2928 right_y=0.0012 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.4017, 10.2906, 1.9902, -0.0513, 0.2271, -0.0366, -0.3897, -1.5248, 9.8667, 1.9267, -0.0415, -0.0415, -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]: [-0.8108, 1.6604, 0.5549, 0.2073, -0.6212, -0.5358, 0.9998, -0.0212, 0.8013, 0.6071, -0.4549, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3116 left_y=-0.1734 left_z=0.0159 left_yaw=-0.0244 left_pitch=-0.1116 left_roll=0.0895 left_gripper=0.9998 right_x=0.285 right_y=0.001 right_z=0.1643 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.6256, 4.4513, 1.5653, -0.2613, -0.0171, -0.0415, -0.1162, -1.4291, 6.9812, 1.8681, -0.0513, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8108, 1.6775, 0.543, 0.2005, -0.6216, -0.5369, 0.0221, -0.0212, 0.8047, 0.6056, -0.4812, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3066 left_y=-0.1681 left_z=0.0061 left_yaw=-0.0204 left_pitch=-0.1366 left_roll=0.1145 left_gripper=0.0221 right_x=0.281 right_y=0.0011 right_z=0.1576 right_yaw=-0.0013 right_pitch=-0.0965 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.5419, 5.7641, 1.3602, -0.2759, -0.0171, 0.9353, -0.1026, -0.9778, 7.0632, 1.9316, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1255a48963ff9fd567aabcff52afc41aad30f65685082a68a260dbcd32c992a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc1546e617f834ed813eb1d5e2fab284d99687c5a2016e6426d00e6935a0d7fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4a3abaa44cc9e0884540e68532518c725fdd65a8d85d7c36c247aa5d8c7f8a6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6ZSuU1VBar59J2oYuIXViT92HjO-DcrwZ-Txe2YJ0v1DG2okgbKAFXWZJOMNWdaTSzJXGd5GxOD81GVApJ7X-b1M1QKgq-GC6EyNcXgeYSkfJvTr59sogBp3BeiciDT04mdzvpvfqgg-hRY3XNXPdXGYl8tlQdEqovxOiJP1mOtGW0L7wb1ayhsSV2wnhq2wEdVgtZgWvPcoFaZrxr3M6_VcPhQqyPZdnO4e-WVxCcKHOV4LqcoeORU_Nf5anitp2XxWRfkNGCVuaDz2RX7yV0c0p1fhkaSnqe9M_hsluBu6q9ZBqXbVu1kFGf9KPTPR2QtYadVRIP78A93SFO_U5STN7j_bc6mfh785xEPVA6VyvXg_fD3hmvBfYbSa0Mx9O9H14SAAL30sbrxCdtY9hoHBOuEn8oWDMzJgsP-4UsFnxrcAQAKkQB3sQz3mX1F1Xy8xSrBNmMbTr5wRRo72s45W5GO00OiSThj-z_dREW_hLQWjICAMb3N40J_H1YQwTTZs6ByQFBeqOIrjigEG5WLAu9MZnpm4jxHGvLmM-OcgbuT30epKzaDwv-ZKyKUKHlwpatB16fhNl0s9SVsNPUq8Nw2yyQ7cz9IbbL9rQe3DGnfTIzSWqjE_Xmzho3N_I46NkuFTE3zh3DQmHzuUfmsHbhFzt-CS9A1BG82whTM78CAVp6BVaG1BU7Qq92o1AxrrJc0RjxegrBlDCNe8EW7E3l8YULCpEW8omKyKPXkz0gGr2U_KhPrqq-C60w76d9pkCBxW7MYT3ChOAzrObAMYgo9IB_V8gvOzWEXcJJxtym5W2l4fAPosXY9nenmypaQUX7a7gBVb4oYqorLPnIQbWXwItl0Dc9GzmnDqIZbbCIZK_ngrx33LBRFNxfTmvAV1Xy4RhvG9UK-Mb0zJENuHSgcDRtiLNHaao5OcHfzZ0QQHxToN0M4G8Wggvxj64zMCrBydvWmD4snUkYEv5THypjz80U-uwFeWHaaRpluL5-E_th8jm9hEV_ojNRJTY5DldlyixbzTd4vTM7GimTy-KSwxIUdBXonlZD8rwtqgy-mY1XM3D7Bojazs9xQZ0ta54kCS94jA7YvHk1qsxWXwQNSomRgLYu8R3pmBVLl4W6Q4FSYCD_j9D_lMQCAlT6t0Tk1f7yJ3C7OMyMYntGKx5J98BnKsDDKdWuNuyIjd3-49CxF1xwsLCVD31qdAFIpD4CY9hswVFoBGkSasREbuFmWg3NUW5OgZNPJmd4QqhoKUiMkVpBFteKo_EM1GBFhWt0rJIqLqq2KARzvptwX-wAHElb3Apon_PHotbvus_Q03_C_Im4HcrRi1-mS2Vbmr85vnbspunPEM6oLRgMASO2IoIZHAIs0ofyjI1rgVHaZ4_TcTPpHJ9sqzCcfD8zUeezKIOZM0Ma_jCD0FmJieCXyToyRVLrWSxxJqFfeS8KXJuFxaZv1OeLgu0uyV9aRppdnXOMhqJt0jh6FArVcFxcohjg2veiiqKviAvIU4Qzs5L_d72jTYkKGFG49TPSeY4JMYcPNTa4uldHC40c_McsRgAykxI5yESjetkh5Ff-rkYTDwjbzTgXCan7FFhYdpSmivmKvP31eGkezKVlbH1Wx0wnE_EU76XUsBMNVuo-nhNwwHWrzRZS2F12XarNUJKv2tL9XbvbFz1f0SNPnFFZ8NZrm20vCGFFrV0-wwXLQkEaoilucpVa4iMFaGYbp1loCVpc8-hLDc6cr8Ud7Wg5h1AwjH76CL88nCb8zb5X-RMMyEYagR4xfIUcEir9YkMkm3SvscZHzWYgU9g1dKGtMEUDjmFoLvYqppEOEDm9RbeA1w41yiui1C8DLlZgOmqu2xNHZ7hHgOSqapBnMq0-vR2m0IMGAnDM3H0w-HoiFw-eX3Ll_YMFiWdG9RRSLUPVtgX7AkLcoZhw2ULaloAusksBzFSv17CZExIFYIlbU3RSRLU1goJxQ-JHQU8dfehnH2v8TvepUtEW-odHIHtKV-g1sTajJ4gRGNQNu9orFqP96V7WIQOxDmZp-1ukRxvbmer1_tM71XuNCfGA9DTEnXdYaJeMhIoQA2O7Y69EE0cEYOqwSQrDHtw1G78L4LAp58v7vhw3kURQYhsLo37wjBKoHsyGWZvxBR4ALEV9iu88FaGaMT644xSnyjW07srQ_ZTiSw_x_AzomZHxsL-HX1MIuqTg-WUFADgHLSkT4o3TAT9WQsZen1Dsajgv0Iq_gCHb04KZH2xtFmpv8imJtz4ytgCKVD9by_u8sbCa-Ue6AxO1x0jqj3P0QFx2P30-ZLWKIUomXAGIoimPMOKzODnfMZaodrA_oYabBdwW1pwb0HRM3yobouNTmVsJzlAg28foz16Ho0ofV7rY9mVUAq20sUzIJPivza_VCCSXGjjwRIWw1hbGaut324UOw38VNg04ikjPoXVFPMvzV-Evwsffxz33VUh5mKBm-N0gVVrd5erFGzFC3Slmt1Vf",
  "id": "rs_0f5f930c5ec4c3d1016ab44e95f2d887d0a3546789e0764b21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.18,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.022, which indicates an empty close or only a tuft caught; the wrist view shows the jaws at the plush's narrow tail rather than its body. I am reopening and advancing about 3 cm outward to put the grasp point across the thicker torso.\"}",
  "call_id": "call_yMGpcie9ZGRZtuBJ7hF7nJ6W",
  "id": "fc_0f5f930c5ec4c3d1016ab44e98267087d09a8d9132da5c7f0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yMGpcie9ZGRZtuBJ7hF7nJ6W",
  "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]: [-0.7357, 1.7481, 0.6739, 0.1326, -0.5869, -0.482, 0.9949, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3378 left_y=-0.169 left_z=0.0096 left_yaw=0.0018 left_pitch=-0.1655 left_roll=0.1408 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=-0.0007 right_pitch=-0.1171 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -6.6667, 7.7197, 1.5409, -0.1001, 0.2076, 0.0513, -0.0205, -1.1556, 7.0906, 1.7753, -0.0464, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7e9b30db3d37cd4020a5f385e311f7a2d8bda5b1a0387357aa06cec2e9688e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586b9518117a996d33e28a39e1373048c6ed56f79becb6d3a75b87dccf501cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4696f8eaad0e6bb5c6cd875f05e743adff0775a6d54a1ea9fe3c092ce6a021e5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 5.732 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]: [-0.8124, 1.3193, 0.7574, -0.2668, -0.6247, -0.5377, 0.9998, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.31 left_y=-0.1717 left_z=0.1308 left_yaw=-0.0267 left_pitch=-0.0606 left_roll=0.0406 left_gripper=0.9998 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=-0.0008 right_pitch=-0.0397 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -4.9983, 9.5385, 1.6728, -0.5104, -0.0855, -0.0366, -0.1573, -1.5385, 7.0222, 2.0391, -0.0562, -0.0708, -0.0611]",
      "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]: [-0.8108, 1.6775, 0.543, 0.2005, -0.6216, -0.5369, 0.0221, -0.0212, 0.8047, 0.6056, -0.4812, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3066 left_y=-0.1681 left_z=0.0061 left_yaw=-0.0204 left_pitch=-0.1366 left_roll=0.1145 left_gripper=0.0221 right_x=0.281 right_y=0.0011 right_z=0.1576 right_yaw=-0.0013 right_pitch=-0.0965 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.5419, 5.7641, 1.3602, -0.2759, -0.0171, 0.9353, -0.1026, -0.9778, 7.0632, 1.9316, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7357, 1.7481, 0.6739, 0.1326, -0.5869, -0.482, 0.9949, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3378 left_y=-0.169 left_z=0.0096 left_yaw=0.0018 left_pitch=-0.1655 left_roll=0.1408 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=-0.0007 right_pitch=-0.1171 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -6.6667, 7.7197, 1.5409, -0.1001, 0.2076, 0.0513, -0.0205, -1.1556, 7.0906, 1.7753, -0.0464, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7e9b30db3d37cd4020a5f385e311f7a2d8bda5b1a0387357aa06cec2e9688e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:586b9518117a996d33e28a39e1373048c6ed56f79becb6d3a75b87dccf501cfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4696f8eaad0e6bb5c6cd875f05e743adff0775a6d54a1ea9fe3c092ce6a021e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6c_wbl3N5fhnaPUGNDeTd-ZOMwNv93VnvhPaYHBPZ3TnmAMkFRJES3rzCK5YMCbl_c1dT2NAI0C1HKWYg35JS-Td81BgFt-mHC8vQZox1W6I1BcHc-g0SPIqGxDjAoWbi9yTE9pssDOKJPXAKNIfHCYveRRF0D31IwzqX9Gqe8dRSJ0Oa8yHJiyTgi8JrWFBVSk_VIK7mPyBoISvzMcmUOJRFOqOrr0mRZulupwPPNI9GDNEnK-SAOmRbRgPPCNnMh1E2iGKTkqdLyXDzK6flUxyRgwUETSvqdb9QGeDYhPP5F37EtDBM3zkNXBeTPadmBM_oOPyHgXG9TdbCv3ZWh_bSrnVFi--xUpbul8Ah1dikahr9I09Up9-2m3bYN--7dk81mtdt_GBh650-wqaMgU_Nsl544_-iLWlekd7HtfK7h0B5-xrvVn-l6k8pR0h4oriRUZkksPL8D4AGsSlHZoh6xF4cFwAQp9dpD2RPaEEAp-Bx8j_e-qFywv-3yQEjE0fq891mcCJuKw4ZGEYI6bgGiAEsiXWZRG8qlgc-Vib5O0tSO16VnzMdSfSs5MTIG0pBiRBC4iP2s5S5m9wlLObCaWKfE3N54AvwQ5a8ndq6WNjDBhcoNaGPHhRqf-h-xD4MsX9o70QW64lcbJ9beuZkY5gkmRvesuBbnPV_mj0lEarw7tm7TuoY4lzWDT7xEM-kgUIpVmeBXItDBb_sstlbs-6epqOUmoBXRi8fv0I-593VBd9Z9uHd4j22ONlSlZR-T2rVCPtcOWSthLB9L6guI_wMidB8fPANCBhwe88bhaaXpJHXi3UWvflxFSSF6UkOxhTS00z0ZvhVF-S7WlCtDcJVI6x2BmurtW3-mSap9onLHOCuAp7_tc8p_pcTe9WntAbFOLO8x5iFkPosRFHU5D1VHDqbk3kG_EZ8I0z9zr5QaFlOM4X2myk1iPLqt8SwEYVGnqLzKKty83JyE9jSpNLBFk00793xlzL5g6B9eIbSxyB1wsbALG0yBb9kUy0a00IPBZSt0b2ezKKNP8bUnpF68aQKTxngE_4nuNJihSCOjbBmQqMWFDaI63NP3z4kDjv72sR75Pr4TnKtSPUYHqlYJeibLBL5Q_lg40gVjgxwwgDvFImc-dTcXhTp_CESfseOshnpsUE9opLgIGVO2QMukHV7vI6CpvdbAIoaRAGcx6GgviRJG7UiOzG4Aiqphu87c470WaWlyA8A4mtBx4KXp5Qm6n9-HG9O4VgXp5FXblk4pWrVNOG9F5FGTJacUC--5knEtpwqAqC7bePC-FSuCIj2OgzUE2MiMw7iua-V1gK9UfrXDFrP0s0w48UZNQxlAslLX3uzhKwd7MbDzDfbtaM6VJ7x6Jt_LBqGM_UoshErZFpQhx2ZkEBmLB3ib0egXTOOTQTnOu7NbtA==",
  "id": "rs_0f5f930c5ec4c3d1016ab44e9b5ab487d08a04567e68290b2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"After the outward adjustment, the thicker torso and white belly of the plush are centered between the open jaws instead of the narrow tail. I am closing again for a secure body grasp.\"}",
  "call_id": "call_iEt8myCgHxd9R68epg2zZXZR",
  "id": "fc_0f5f930c5ec4c3d1016ab44e9be30c87d0a01cd7b8b9bc236d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iEt8myCgHxd9R68epg2zZXZR",
  "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]: [-0.7334, 1.7515, 0.6788, 0.1219, -0.5808, -0.4839, 0.019, -0.0212, 0.8062, 0.6056, -0.5228, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3375 left_y=-0.1688 left_z=0.008 left_yaw=0.002 left_pitch=-0.1754 left_roll=0.1419 left_gripper=0.019 right_x=0.2744 right_y=0.0012 right_z=0.1493 right_yaw=-0.0012 right_pitch=-0.1396 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -7.5009, 4.6701, 1.3455, -0.3004, -0.0269, 0.8523, -0.0889, -1.2239, 7.0222, 1.7949, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58f9b9a6c90c53f198bd8fa6b45f30ef59751aabb34f74f2f47188da712e513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca6ad8cf573b5c000bd82e226900dfb40ab71953eaeac1da739d8fe2ac89e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e575df3ccc5db9c965e2f2ffc076e1a8f4c756dceb206c73dab447101a5bd0",
      "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 · 4.61 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]: [-0.8108, 1.6604, 0.5549, 0.2073, -0.6212, -0.5358, 0.9998, -0.0212, 0.8013, 0.6071, -0.4549, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3116 left_y=-0.1734 left_z=0.0159 left_yaw=-0.0244 left_pitch=-0.1116 left_roll=0.0895 left_gripper=0.9998 right_x=0.285 right_y=0.001 right_z=0.1643 right_yaw=-0.0011 right_pitch=-0.0652 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -6.6256, 4.4513, 1.5653, -0.2613, -0.0171, -0.0415, -0.1162, -1.4291, 6.9812, 1.8681, -0.0513, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7357, 1.7481, 0.6739, 0.1326, -0.5869, -0.482, 0.9949, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3378 left_y=-0.169 left_z=0.0096 left_yaw=0.0018 left_pitch=-0.1655 left_roll=0.1408 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=-0.0007 right_pitch=-0.1171 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -6.6667, 7.7197, 1.5409, -0.1001, 0.2076, 0.0513, -0.0205, -1.1556, 7.0906, 1.7753, -0.0464, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7334, 1.7515, 0.6788, 0.1219, -0.5808, -0.4839, 0.019, -0.0212, 0.8062, 0.6056, -0.5228, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3375 left_y=-0.1688 left_z=0.008 left_yaw=0.002 left_pitch=-0.1754 left_roll=0.1419 left_gripper=0.019 right_x=0.2744 right_y=0.0012 right_z=0.1493 right_yaw=-0.0012 right_pitch=-0.1396 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -7.5009, 4.6701, 1.3455, -0.3004, -0.0269, 0.8523, -0.0889, -1.2239, 7.0222, 1.7949, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a58f9b9a6c90c53f198bd8fa6b45f30ef59751aabb34f74f2f47188da712e513",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ca6ad8cf573b5c000bd82e226900dfb40ab71953eaeac1da739d8fe2ac89e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e575df3ccc5db9c965e2f2ffc076e1a8f4c756dceb206c73dab447101a5bd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6jQWvGJ2lE0bACsCS3h9TywL-jwYmgGEBAoC6ZpolqqCfkze9AehyxDUXpjPjG6QdjokNDUNRxUz70rmXqMc2ueEGe4OW2G-0ty9B6cBFnZwNOhHESLGQnaQeXiNGv8mBl73EsskFHLPJfTZVdF6xvwsiv94PKo9vnXW3PtLY4Oiz5S6EEiQ8NiM869TMp_p3Ugsu5wVeUbjGAykslQ4PEQ31y4HmWVwLLwQej9hf2_iUX0S8QMBfD5bqOVzank9bJG1Lkq_Y_LLPSl_aRW4IF-lSX1nPFbauqF-e9wUtTylEbRnVsQ8IcJ-N_fgK7e1cK1LTHRExeU9grRth__u3EXNLVYI1n-lP9QuQoxp6hikKphJ8G9cmrVP-bNda74T1FhqeHd3CxmEepsOBA9b-7bKA7eA2HxUe-fbZ6mPpAzybjL0GC_bWBcq8msvEvzZ6MXL-C2iCJmCWrFpsCA4Dz-Ymd_EwA2fCIz65iukHXAQIVKsJxQex1FcWdzSFkjaXYU08heIRA9UoCgkyHgE1S4KXvPKW_Rb0hQTuE10vjkh1m9Tz9VxZujgupLCn9HSR7DvuOHiIOXWOfB2E43wUQpMtE1IfQrhKLOlJp2nsKsRvpfn38X10tkhBAl47g8zFdcK59wGEVd5w3P6dBFALJYwLdYAB10UuipIjgDURl9f8p4u-9M-cCrSXG66s58zy0CSbC6u-75yCmOQp4ZSB0UAPIM1r31RtuBKLcoxPjnAedQMOF0339HrdIo2ccIq_RAChJQyxvWsCrgCJ6YjhXlMcQcztexn7s-Whe2fVXj0snOuHberifqBkMR-VuXF5n7PR8zhYg4KQaEJnUi78yxQo10XYl1iC9Ig5CH3FFicCZwQfXJsJhC4vP1BBsdPFCXULuamuNz_lEifU2XKBnzJa5gIl2u9HFtshhVDkEPFcyQ-qaVPhXnj0LqEUjStaxdBS5n8c8UBnCfY_d-YzKe_2anGvXTaEQwKGO7ybkuhnP4tT31t-2c34ICPRGkS0dGUkh3PdwYDUpcNWz3QuLsbqWJ5DuFzfdAcIkjivQslIGu0FbUW8zpf90-TQu_S4-tpZ6ATi_2Ud66O63wZH-Oj1GNlZZQIE6xges3mBexSqCBz02rNJlWmz-zrjdI9Ppp3OY8yS4T5zj9xD4yS1b14KwQi5Drldip0MXQKgPZ7kCHiskMxBcvzba7BGX5trtwk20YwIa0da6upfFZTrZh4PwUtBunt4_Z26U58ro0-5iDnt4BIcZALPrEyt2NokQvOVXsFr56I1WEgzj6BP_LiR5t_o8cLanxGAzJaheLlyDF_F8Mxwp8Ecz1aXS_LST9h47LndPcS2-VaTojNeFdtpNLL7QQOt8Pug_qi3jMIbUNRHK03skt1nQsS98zhIbK7M8pTzE6woaw52sd0XZcdAa-zZOHzwqtq9ogohhNQRZ8ecNuwkcHYdIQ268H1kW1NU8fD-iT_k13GRtdurmiPIApgE0YWZDsTXFVe_-VgcvKd6BqS1B2UjN2scrBcdrrnN6PgR7z8cary06IxGy4NJ__3Op3-D_LxS1kPq52gtch-Sf_nKb2wu7CgtULkUN3JSvTWYMUl7RgvYgvdAeHA411zwE7xQ-YS9Pz8rJQhRCFHw4Xg8eWEflQ6z_AoNXHPtPdBuBwwYU9hwflsUUrJXbwZCPr_x9EcBXUJBS4p13anAi6xezH7epMXYOqBHj2zpKfT1CkBvtcMn28MkxsFPtDBIMp47IFZpU5hQ3UGaASSOc-VLxAEdkvHMTzNv5Zj5HcdFV7n-e5pSA5_OF1kkytab11Odb4Nf2gEEx7zNXH9ohddag9yiQ00jVlf8yLZceJxa4vbIHAYaop-Ux7UCQ-KbhZahO6fyb0u5RhUYMbRAd6hFvJQRdqSQXCcfM_AUo08et6uBu9tPT4UMqmflk-5h4EHtqZhqU6wdQHzd5wCJSibQrLuIfoyon73HP1lpgB1fO20KA9WQyeHAzF3940wJwEnvbDV_sMTshwL5k-K7gz2Q-aXtcJiA0Wr2gQHC8iVCIr9RUPqurHtiaQLg3ruvkaUpWfRpClbvisytGaW8UI1Jn7f9p0QH4aPMre20m1hiUZiZyKFFDHJh8D0bz_wYn38WRRQZXizSMXXekzwFUbTorIeiPNVR2Kl0uJb3poz_-k82lGuYvjOpx5lu2t2oB349E0id6-wf6A3NY7nIJckG9QWcJCbXS3HLD1DuCLu85N8PIEVsrTfuWIHSEqEa4-8G6K-xXaPdR33AK_AKyHq7fmWA57dtnkvyiNZdDTwjZgco-G0lV9c8AJczzrk0p3rHdrvYLiEGwmdT121tHek4yHWWgR7iDrgI9xjiR2Mnc9HABYI3pJCeeUANX2VyYyAGQtb-CT_E9Cc7Un1TyReyeE4wFi-xU7hGdiBfqm7DU01PcVSqKauvdBv628tzUsAU4ASfn68Erz2kEUVVFGWF7TeTxyxn2rU1w_z2T9r0hp1o8ohdRylkrdvRl2DHtZhLLoNPVe98ysl6hT68AdMgFeXNh526PGS5h551SL7-p6Sp_hEMxLgOBB63cnAO9pLRZTOLx0Znq7w0jF0uOE0T64rDO8ZHks1VzJd-l16y11-1acJvV77KaDRo5Yej4GwQSWBpiGIXiqEAUJ86lP_sR8k6wgtYWTm-pxUMIUdPSCPdf5S3ik-eDqiMhty-fOcB2O_ThS5xnbrA=",
  "id": "rs_0f5f930c5ec4c3d1016ab44e9f893c87d09ccd32b65a5e78b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.15,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The second close also settled essentially empty, and the wrist image shows the plush's belly still above and slightly left of the actual fingertip convergence point. I am reopening, advancing another 3 cm, and shifting about 2 cm left in the arm frame to center the torso precisely.\"}",
  "call_id": "call_oXGdljzDfPU66Ix8mywsFSKy",
  "id": "fc_0f5f930c5ec4c3d1016ab44ea2873c87d0b570c188ba6f3104",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oXGdljzDfPU66Ix8mywsFSKy",
  "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]: [-0.5991, 1.7714, 0.7361, 0.1043, -0.5102, -0.3832, 0.9957, -0.0212, 0.8062, 0.6056, -0.5537, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3671 left_y=-0.1418 left_z=0.0109 left_yaw=0.0281 left_pitch=-0.2045 left_roll=0.1577 left_gripper=0.9957 right_x=0.2692 right_y=0.0014 right_z=0.1437 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -6.4752, 7.9932, 1.5165, -0.1099, 0.1783, -0.1441, -0.1846, -1.0188, 6.9675, 1.8681, -0.0464, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be7c47fe281827e40bd2f79294cf94013096e773171b03b3873cfcfbc3a96b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7fa8bf2742b4fb3151b0d19285f5b18c62a0a146ad25e7991965e7e1e05a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6507aa23a5c506881d0bf6d8fef07decf264df9f0b61aade6795b183ff1228eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.385 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]: [-0.8108, 1.6775, 0.543, 0.2005, -0.6216, -0.5369, 0.0221, -0.0212, 0.8047, 0.6056, -0.4812, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3066 left_y=-0.1681 left_z=0.0061 left_yaw=-0.0204 left_pitch=-0.1366 left_roll=0.1145 left_gripper=0.0221 right_x=0.281 right_y=0.0011 right_z=0.1576 right_yaw=-0.0013 right_pitch=-0.0965 right_roll=0.0022 right_gripper=0.9995\nstate[joint_eff]: [-0.0205, -7.5419, 5.7641, 1.3602, -0.2759, -0.0171, 0.9353, -0.1026, -0.9778, 7.0632, 1.9316, -0.0366, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7334, 1.7515, 0.6788, 0.1219, -0.5808, -0.4839, 0.019, -0.0212, 0.8062, 0.6056, -0.5228, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3375 left_y=-0.1688 left_z=0.008 left_yaw=0.002 left_pitch=-0.1754 left_roll=0.1419 left_gripper=0.019 right_x=0.2744 right_y=0.0012 right_z=0.1493 right_yaw=-0.0012 right_pitch=-0.1396 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -7.5009, 4.6701, 1.3455, -0.3004, -0.0269, 0.8523, -0.0889, -1.2239, 7.0222, 1.7949, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5991, 1.7714, 0.7361, 0.1043, -0.5102, -0.3832, 0.9957, -0.0212, 0.8062, 0.6056, -0.5537, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3671 left_y=-0.1418 left_z=0.0109 left_yaw=0.0281 left_pitch=-0.2045 left_roll=0.1577 left_gripper=0.9957 right_x=0.2692 right_y=0.0014 right_z=0.1437 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -6.4752, 7.9932, 1.5165, -0.1099, 0.1783, -0.1441, -0.1846, -1.0188, 6.9675, 1.8681, -0.0464, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8be7c47fe281827e40bd2f79294cf94013096e773171b03b3873cfcfbc3a96b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f7fa8bf2742b4fb3151b0d19285f5b18c62a0a146ad25e7991965e7e1e05a29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6507aa23a5c506881d0bf6d8fef07decf264df9f0b61aade6795b183ff1228eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE6okagVXSr5y5GakkaItKwr9Cj8EWG3l8E0NrdjpBgYTpJNxLYtKarMo6YKIA72ul0rZLZiY8pdFPXCkYhVwBmU2P4lBW4J5F1g3i2bDg_3M-raxvc3BUWVb78Xcg8qSLIYCe7e8zSXZHWi5ULFQWUlDxfDnbrAPploolgO81cSOUG1Ss5A2ccLJ6mNjzk6ACRCBUF4t5rEC9bTitpjpLDjHaJIfZvOayl-wZjRkkGUsZkv0ZdL8-sSG2RZyjz9y3BtGfR9VKgLe2pisXVNEUfgGMOK0nidHYArvdtmlb03gP-sWyWyUtYlSCsXNZ4D1x_uaeUOUn5IvN6Enf239g_tZCTWylKyfKKVjTtcdBOeznMwqpFLv6ilLKKYDIkhnKbCrBQEILRGpICpsoWLP2wL6mi0qNVKbZpJBhNlYvcNWBYuohfjOGONJ5TlfHf7DFanJ3hctAZ2kYKBVoV_jnT2dOZegy8fyyB8YwAqkgTkFmW_QgdTnWWFDZNL6SLSNA53hR5Wj7_TbXHf0g6C1aWQHFKIVSEBWVVAQN5jGY_x9AdWczBeF7Y3RzgHpLtWNFKnSPVVPt-Qy177TcYqelDPtRwrWFzeMf-Wdm_5lrYSeAb6-eUzv-KPg7vIHbr8e6y7zLMBUkPsya1a4T3eZlF790qASZJUuIkE4AoQUkbKgROOTYdkBslu0wiessJpm9acrBFhlsvaA7YnPsAvjS9M26oUpd4L2YBja_0HEMctVyAuNDgf-4kQj72N0Pl6m61TZQUcWyvSJQkdMreSYjIns4V1PfxqoB4wWrIQLqMFwWQ6WZkMAFo4-KeewcVlaF2tg2XyY9s1J5LwmTyg1lE2CR5cbytml3wRvyJTz7bZp_lJutuTm0jw5SKJzUw6XyiuNGfDtrLm-tbNsGtPryExbUkaPCaSSUY0zsJxm8VzHIgVl_uaBdKBO6zpchk11thc4DRfy6jl3tdSZptIHBmoS6ZkTUW8xG2CiQqOWCNn_XOfAw0VbmXBn1ryskFdlG2znXfbSOCXOCaYfSjdBQemlyIY-RQYMYqNQKwoNZgLnEZ0-QJOHrUPIYZDPq_UJ_ccuJLWf0Fuz8zFFZZxrhsABNZ4VIYcglCyq_k__YRQIYahC_Ondy9V2xlxV_DtHyPvgrBkwF1ktxw1wpRwYm1BdJBtRYE6nLkJCIEXPEcpi-YqZj1cQ0qnEHOyRYgIP-3V06BTLE5Jfe9EGbtHJMGaIFFEJ6yQ_U2oZW7VcohlWIIna81EYsEaZEU-lVgWPj9rdMSsjHdYUSMgPfTs-2AZ6KtN9tgg3aFhvVZswjxf-Y-TXxKl0KMAI7E8KCWmE5oDFIxMePcSipS14_1jiXbY20oPRyz3KF0VehpTjOazjn8z6rC0xqV-xo9p_cVroelmvEafc0CpSGfbucHhOfQFG-1u4dQb8ScUw79PLTFzUfVXv5bXhhm3fza5gNTtYcnyLYB3U_TrmyhBfykj15jA7m0id8UFmuZ7bnHs8HLDtYoCyHNaU8xb5RyD7lUGjcQpaG4NLFaETPI9rP93P7s6eX9BXqJZA58mA_M9xuTwpdC4HXYnJD_JErn9-RQTJW4T0x7j6iv6q7ehx5kfnF1It7STbwmDtF_qQY-LoKVRSNpQI7uUhyvHPXff9IkbIFH6YFzvQLWDgrjP7wjHjCk2IdCU0bWs1lPBOQkFIkoGu7IXsT_m3m3N7g5RWYBYaS_xbVYx96f79xCMh514l4RxiITxNQyGVbJKsiB1ICj8y-eOwIRs5gprxGn3lmFFlnVgOzEcEBgJ24nTvXJtFD_QtpEm8-nTWmagnsOF4R3jzsk2u27yYltfp9S_cRjkD1rvlo2Zkiwalt_Y3VwjXcMaZYSTbwhOVW7GnfUs8OcDUzyiAwd11pbz0eUeemZw_TNQaueTNZfctV2kHXEqbmlYxZQZyZa8se11qcFpdMEvXRTmkA0nCmfsNa2R8-u_reR9Vs4Esnd3ohR4s5pJrPJYNDlbj1ydac_0Jj2oZ_XNyPBuVBdyzYRxfhSliYazw-u2mdz5GkWWySGvJaTMCiJ3QP18D2Y2BcABU65L4sLVIg3ghE2x1bHOET2v0qbSfHp0sq-0yIc2a9o71qk_CI9cyO9j48LdHaprK2OpUk_CSngB3vxCp0_J9nLX83oKG6IzzlS8gayjjaDNZmp2KkX49LHR1m9eUn7FXYKNFQWAJpNQKbJgVxIye7wQ8rwqYG744TryekSwZV5WLdAt5yXhzK_TzZtlxHLUlEPwDymS84E9dv5NZPeyxbc1O4gJ2ep-UtBTIXRXSgEqBSpp3eYJrgOBCga0qJL-FG98qzzYeZNHvQhnMzkN5CT86kkIblEFojN9HHjTBTEzmb4PQrf7VjFV_sasr-elG9RKHqTRrcN-qw6XuF2uMvCndgHxbXn48YKz_HbO-XGJExl7ue4pMj-qFNwVEQphMD-66RtlwjX3Ea1fxK3YS7zjmTFXiEKT3mwJ4CK58Diy8Fg9aU1v1G_i0ckUDOHdHFR66jXniY4=",
  "id": "rs_0f5f930c5ec4c3d1016ab44ea55ae887d0953453565225acd2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.15,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The lateral correction is now good: the plush's white belly is on the jaw centerline, but its legs still occupy the convergence row while the torso is higher in the wrist image. I am advancing another 3 cm so the belly moves into the finger-closing line.\"}",
  "call_id": "call_bB2eX50Y8jPRnuX9vmLeJMTh",
  "id": "fc_0f5f930c5ec4c3d1016ab44ea8004487d0a93b2d97757316dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bB2eX50Y8jPRnuX9vmLeJMTh",
  "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]: [-0.5522, 1.8557, 0.8684, 0.033, -0.4992, -0.3656, 0.9985, -0.0212, 0.8104, 0.6056, -0.5735, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3949 left_y=-0.1397 left_z=0.0104 left_yaw=0.0602 left_pitch=-0.2303 left_roll=0.1767 left_gripper=0.9985 right_x=0.266 right_y=0.0014 right_z=0.1391 right_yaw=-0.0008 right_pitch=-0.1945 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.9932, 7.7197, 1.5116, -0.0757, 0.2857, -0.1734, -0.0342, -1.5111, 7.0359, 1.7656, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1239ac7ab680fc3d912a76e514e2f9835892ad59ac5f3ce8f64c8453308e8fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39865db8159bb4a9569a7b7e8ac58bef119172cd44d325bf157a741632da7544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959798c01c1472a9aad9e302d523a2dcaee69d5055c88cdb6b8f1a7596b06e5c",
      "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 · 4.001 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]: [-0.7357, 1.7481, 0.6739, 0.1326, -0.5869, -0.482, 0.9949, -0.0212, 0.8062, 0.6056, -0.5003, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3378 left_y=-0.169 left_z=0.0096 left_yaw=0.0018 left_pitch=-0.1655 left_roll=0.1408 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1535 right_yaw=-0.0007 right_pitch=-0.1171 right_roll=0.0026 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -6.6667, 7.7197, 1.5409, -0.1001, 0.2076, 0.0513, -0.0205, -1.1556, 7.0906, 1.7753, -0.0464, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.5991, 1.7714, 0.7361, 0.1043, -0.5102, -0.3832, 0.9957, -0.0212, 0.8062, 0.6056, -0.5537, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3671 left_y=-0.1418 left_z=0.0109 left_yaw=0.0281 left_pitch=-0.2045 left_roll=0.1577 left_gripper=0.9957 right_x=0.2692 right_y=0.0014 right_z=0.1437 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -6.4752, 7.9932, 1.5165, -0.1099, 0.1783, -0.1441, -0.1846, -1.0188, 6.9675, 1.8681, -0.0464, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5522, 1.8557, 0.8684, 0.033, -0.4992, -0.3656, 0.9985, -0.0212, 0.8104, 0.6056, -0.5735, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3949 left_y=-0.1397 left_z=0.0104 left_yaw=0.0602 left_pitch=-0.2303 left_roll=0.1767 left_gripper=0.9985 right_x=0.266 right_y=0.0014 right_z=0.1391 right_yaw=-0.0008 right_pitch=-0.1945 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.9932, 7.7197, 1.5116, -0.0757, 0.2857, -0.1734, -0.0342, -1.5111, 7.0359, 1.7656, -0.0317, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1239ac7ab680fc3d912a76e514e2f9835892ad59ac5f3ce8f64c8453308e8fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39865db8159bb4a9569a7b7e8ac58bef119172cd44d325bf157a741632da7544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959798c01c1472a9aad9e302d523a2dcaee69d5055c88cdb6b8f1a7596b06e5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6rK6dhnop-OcR5Luw4xk6YKS0KHegLpawaW5H1cbHvPmZXoszUAHGyqQT8tkm0_2YXazdp0YEBwitiDzyx3nyZV8eRlR5RWvNxDBCelyb2KGCCe123jSAuihMMYchS-BMGJqQwo8DEGP6qJvHsDva4-CHhCE5XxIxCSCHOX2S8PZcUWzLJTYIlcKddwsUQon3yXlwSrq-sMEszyAvuMlUTr1MQgDE-3GC-d7mMzYER_ZCN71CU4HOxjKsrYYGa5fg3oo-Zsy5G_gPO0xW1flzLsD16H1lrIlONlNBpltI1U6-roEFZjsqgY71xHPERr9j1YaS9dEvsXF8E3tPxAZ8H_HRJk4_GpMYcQmp7MsJ77agGuhLloZ9XdxMk1SduEJc6cFE-KLcsPXE0R3NGAYcOaQGwBaBGuxsHHTmTCksCrzPhq3KRpiU4Poslt-wbVPIuaY2bjmNSXcadrYMlnZflqRdOFvvaE9ptsa_n6-LgUBXvM8WZcDEMXipy_9qA_y0OqtRKypTD9-ghnOY-7Wj4R-__m6cLuSDfr0tiUV-PoQmquT6Ea1nVdQfA_w6QQ6v3HzIIrPzDL62PULPkapJFH6x0rRbAW-OggvJl7w1_e4s41wYMR9ecPtp4GJRXHWKsDfITkuLgpzflaY89eCReQFXWhRcsXuvqQwaKUROlndZ1COH-69ge2jYIB_rSf4pEsIRJjn_Ks3lMKi88VmwS7YAjHcjCXp5RxKNVB_hpXlgIXyE2Sf-ORkhDgleDi-lfd7jS1mceLJLLx6rSVQCFWNw82eir8fyDnvAEukVeqd2s-6JBZER5rEY0K0vDnyT5s4Zf4dr1TvCyJfGTwwpSPB4-1eRsyuRGaCu3OYXfF3_EoA-GwynoF8LfhQ1KjnVKc2Ktye97NmTb6SbvuICz3RhLTTFMwBlXcBoE18F1qVrrA_Vm27dLTf7dI8_2nUw4YLMTYcCyVdSuDohxIakt_uiFo5U7-6OqA7_Z8zR6D-5-UUg4idMJ8Is7w8zx856cW5puiqqYaZ-7cJKYglmlBlZNF9pBdB_Pw9Pi-YWjOTYDLTepwzwQ-mMn40R5jqBylrcffbanv1S3EGVCPPjakzNSFNLwh-JMlq54Tys3vrqWF_Q9gM_hLgp5h3HgSicTR4pzKcU4ogP2_o42GnF-McSWg4vjWSMFrUpIaaC8U5GmBsXd8q4exLFXe2MxiFxYo6_5fCJvCKPTQpr6myMRU-sSTn0CH1fx5QkqWTCyw00Yu5IwIODGY4ruOXnk2CODaCZnkRvhIjPc0OkfhmU5L4wX7ovyGxGi-wSpY14VWkVNE5gt3OxKdfGlmccNSDQdFljT6HquQ5tnaMJoPS34WA==",
  "id": "rs_0f5f930c5ec4c3d1016ab44eaa4f5c87d09c467137c7d6b804",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The plush torso is now centered and extends through the wrist camera's expected convergence row, with both jaws flanking the body rather than the legs. I am closing on the belly area.\"}",
  "call_id": "call_5UBxy1P4ThjudWZkW3bZmhsL",
  "id": "fc_0f5f930c5ec4c3d1016ab44eaad46c87d08686e985156459c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5UBxy1P4ThjudWZkW3bZmhsL",
  "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]: [-0.5446, 1.8671, 0.8864, 0.025, -0.4866, -0.3477, 0.0363, -0.0212, 0.812, 0.6056, -0.6121, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3986 left_y=-0.1406 left_z=0.0097 left_yaw=0.0488 left_pitch=-0.2392 left_roll=0.1815 left_gripper=0.0363 right_x=0.2592 right_y=0.0016 right_z=0.1321 right_yaw=-0.0005 right_pitch=-0.2346 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -8.1436, 7.8564, 1.5116, -0.1441, 0.2418, 1.2332, -0.1846, -1.1282, 6.9675, 1.873, -0.0659, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a311c31f674e46cdc6c0e971bbe3e1876d7219af2e6eb8d2816a8af12b1579d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab40014936c19447a6d0ad91fc37371efb9c6e8a8f6e5800fbf0fcaf8ae9cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f391f8be5b0151f28610d7af1ec2ccc448637437ec091a8cb0e78c3cdd6908bc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 5.791 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]: [-0.7334, 1.7515, 0.6788, 0.1219, -0.5808, -0.4839, 0.019, -0.0212, 0.8062, 0.6056, -0.5228, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3375 left_y=-0.1688 left_z=0.008 left_yaw=0.002 left_pitch=-0.1754 left_roll=0.1419 left_gripper=0.019 right_x=0.2744 right_y=0.0012 right_z=0.1493 right_yaw=-0.0012 right_pitch=-0.1396 right_roll=0.0031 right_gripper=0.9995\nstate[joint_eff]: [-0.253, -7.5009, 4.6701, 1.3455, -0.3004, -0.0269, 0.8523, -0.0889, -1.2239, 7.0222, 1.7949, -0.022, -0.0415, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5522, 1.8557, 0.8684, 0.033, -0.4992, -0.3656, 0.9985, -0.0212, 0.8104, 0.6056, -0.5735, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3949 left_y=-0.1397 left_z=0.0104 left_yaw=0.0602 left_pitch=-0.2303 left_roll=0.1767 left_gripper=0.9985 right_x=0.266 right_y=0.0014 right_z=0.1391 right_yaw=-0.0008 right_pitch=-0.1945 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.9932, 7.7197, 1.5116, -0.0757, 0.2857, -0.1734, -0.0342, -1.5111, 7.0359, 1.7656, -0.0317, -0.0415, -0.0122]",
      "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]: [-0.5446, 1.8671, 0.8864, 0.025, -0.4866, -0.3477, 0.0363, -0.0212, 0.812, 0.6056, -0.6121, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3986 left_y=-0.1406 left_z=0.0097 left_yaw=0.0488 left_pitch=-0.2392 left_roll=0.1815 left_gripper=0.0363 right_x=0.2592 right_y=0.0016 right_z=0.1321 right_yaw=-0.0005 right_pitch=-0.2346 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -8.1436, 7.8564, 1.5116, -0.1441, 0.2418, 1.2332, -0.1846, -1.1282, 6.9675, 1.873, -0.0659, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a311c31f674e46cdc6c0e971bbe3e1876d7219af2e6eb8d2816a8af12b1579d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab40014936c19447a6d0ad91fc37371efb9c6e8a8f6e5800fbf0fcaf8ae9cc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f391f8be5b0151f28610d7af1ec2ccc448637437ec091a8cb0e78c3cdd6908bc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE6wQBxzkQHaS_tDcng2p4qjYT4767UBKTLTvRKACj04dLq2luhk6r04MyhPNX_RTy6pIsbWj6U1CFMJHRlmZ3DbwCVmSg_WlhbG9P7eDaCBlZX7RpeiFhhYh4vX_jQ0YODTbq1LrKkUK68q4_wRPL8wBS6oJk1DZUjhyix1rWkWC9iqilou23EJzNG2iAwB8Nw33IP1CDVYoIx0sj7t7nUKI_gQxOCB5I0_D3SLY-swKssqO6V0I7kpqpZa7zuyUi4L1FZX_VNSBam7mPlETAYkVS5rWgNO-TazLPQhliUgBAPE47ddYKw5Y9th_9ZZsFOzAdTy6F9XB0zdjPk5MqqmaHuq8xNS1DvgloXUfdMIEEjdvrzsyzEpDhtLcUtZPHWsoN94w923Am4gW1MDxl6QxJQehzNItUiI1jfphwhAiiTEdgbWHqxgYSc-hv2m3e8TCBndCY7K6_WsByvqSKGmzO49imdNPJym0BocDf4wfIBM37EF517s2go2blYMCUNs347s-YTLnHvicyrlKAP6wTb5Q270fFBuXKGDrUATlm04pBR25Hom4mpPD3bmhB8WPiKrGTSIGJ6RvCJZupibrCbQU2zgRBy7Vk3KHVhSCNEnhNdRyBo9dEpc9WEW5poFIUyOlkgYynJpG4YvVhU3grasq4YIpo5ZvJMAB7I8ckZOkD_gBBwvXxNTfjwmfvRzmcZ4C3A63jsMVUEcTPwfSvVSU9Ad2JKKw7wFgMHLnc1FFiHlcsAxZdPh0-7JcXHMIcm6ZfGrKLUDKdZ9DgHAK3-dR2Jxb5GklZgDUPCkIOA70l3IBTAVeGDuEplNgKExlVgYGqjLljyJfyv6pMw5kxgukIELsA7rXcNjr_V8wxfvrHE09ZjvmDMh6tr2yHxN3H4pvh937SEQRyTLhNgj6_oY0h4sRBQl-b71ZrpcJTCJNte9JFwUZwUwEJY4nYOZwxa1eWkkiBo9U2oaMO7k7AVR50iDJ3jgBwn-jVQM4C0IdeT243NK7sOsohikfLEYRt7sYZ0OFQm6guSrRdk8ia1RpO5LXq_EXfoC6gGWCSyxkgYgEP2Tpe8NOcduo2lBl2eseCMPl4YN5ukQPDL9_Od9C7a4ecE7pIuYnbO_VBHJc_QVQcd0llIU8sP0bHrgkw5uJctkdsVW_SQ0gAGtA2L0WQ6D4dAo5eQ5FjkJ4Sp5DSHg_u5YpAquWG4Sx_XLveiV5WxAsXc5nhQ_kCAmwmIvXG7llXbhsMjQK_inEPKP1NnFqrfbUhAvnHNJTHaW8JOIbNOBO8hTVhkGU4gsD_G6bLHMwRzhyMFYDZUGklkugVQmjgmf9xQsVWggMugzu8cVcYSoZmXBkNrH-duCzgVwNUFWnprNoq8YCTSq64DvgNqWZow6wrZhRvWJuI5qXjSaFpwU0pn1VORk5p0wDGn_wvrqkdjb7LW2FkcjuG2Z6399RpR5jU9AzRQbRcpTfMb_8O7ym32ypwZkO3Va_w==",
  "id": "rs_0f5f930c5ec4c3d1016ab44eaf03f487d0bd09502454ad0aab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The close settled at 0.036, borderline by width alone, but the wrist view shows the jaws pinching into the plush's belly and the toy has rotated with the gripper. I am lifting about 8 cm to verify that it moves off the tabletop.\"}",
  "call_id": "call_0LBFuJPaU8KFOJnEirY3Gwgd",
  "id": "fc_0f5f930c5ec4c3d1016ab44eaf838087d0a0fa36ef483db11f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0LBFuJPaU8KFOJnEirY3Gwgd",
  "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]: [-0.5446, 1.7294, 1.0012, -0.2729, -0.4858, -0.3595, 0.0368, -0.0208, 0.812, 0.6056, -0.6319, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3923 left_y=-0.137 left_z=0.064 left_yaw=0.0616 left_pitch=-0.2758 left_roll=0.1993 left_gripper=0.0368 right_x=0.2556 right_y=0.0017 right_z=0.1288 right_yaw=-0.0003 right_pitch=-0.2544 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -10.4274, 8.6632, 1.5165, -0.2613, 0.0513, 1.033, -0.0342, -1.0051, 6.7897, 1.6386, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41f156afaf6442e1fee382c31e40bfe3eda8a0efb80d7968bd9647ce16ee5f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72718c626c3524d2ff50767b44286adc872452d78d2a896417bf705da134b924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3259abb2130d24454f6a0e92e08a108fe024ffcf05891e988302675e6a427c48",
      "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 · 8.421 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]: [-0.5991, 1.7714, 0.7361, 0.1043, -0.5102, -0.3832, 0.9957, -0.0212, 0.8062, 0.6056, -0.5537, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3671 left_y=-0.1418 left_z=0.0109 left_yaw=0.0281 left_pitch=-0.2045 left_roll=0.1577 left_gripper=0.9957 right_x=0.2692 right_y=0.0014 right_z=0.1437 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.004 right_gripper=0.9995\nstate[joint_eff]: [0.5812, -6.4752, 7.9932, 1.5165, -0.1099, 0.1783, -0.1441, -0.1846, -1.0188, 6.9675, 1.8681, -0.0464, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5446, 1.8671, 0.8864, 0.025, -0.4866, -0.3477, 0.0363, -0.0212, 0.812, 0.6056, -0.6121, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3986 left_y=-0.1406 left_z=0.0097 left_yaw=0.0488 left_pitch=-0.2392 left_roll=0.1815 left_gripper=0.0363 right_x=0.2592 right_y=0.0016 right_z=0.1321 right_yaw=-0.0005 right_pitch=-0.2346 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -8.1436, 7.8564, 1.5116, -0.1441, 0.2418, 1.2332, -0.1846, -1.1282, 6.9675, 1.873, -0.0659, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5446, 1.7294, 1.0012, -0.2729, -0.4858, -0.3595, 0.0368, -0.0208, 0.812, 0.6056, -0.6319, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3923 left_y=-0.137 left_z=0.064 left_yaw=0.0616 left_pitch=-0.2758 left_roll=0.1993 left_gripper=0.0368 right_x=0.2556 right_y=0.0017 right_z=0.1288 right_yaw=-0.0003 right_pitch=-0.2544 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -10.4274, 8.6632, 1.5165, -0.2613, 0.0513, 1.033, -0.0342, -1.0051, 6.7897, 1.6386, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41f156afaf6442e1fee382c31e40bfe3eda8a0efb80d7968bd9647ce16ee5f2c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72718c626c3524d2ff50767b44286adc872452d78d2a896417bf705da134b924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3259abb2130d24454f6a0e92e08a108fe024ffcf05891e988302675e6a427c48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE622W4kRzKIasV_bnujwE4BAuPLldlgnXeMhzr52rfE1l4K09ZRiPjTOQ4oaad71mSXlpZugTm7mTFcDZ99HO5WkeIOO8vdRI-r7hURPcobokKPFYu3OhC92b0k3cc7qRcuSaEg_37TkpGtSOZpQKSlLsFt6-R2a3EG6xniwx8Dl5ubEI0f_Q7L1uReVAIOPtfWBOeTukBxgVjxG7_c0qRVY9h4zGJtovwd9nYTlOVofobu-2LYmPZMyqxLvep4FxnzMKrco_7VVdXkue12EN5LxPXeLhDhLVfKWSxVvprQtRU794zulWz-F08ZRm8YhQxDKJB-0XPhk3apQOxI9_8TFlH4sBHxcRL_0-t4ADta0kqQREZi6C0NGctXLGDs-R4MK2Tn2XFUQV3Ses8aKYu2TE9DdXJjmenEx46KNdi18TgJsy14bGC6eCkaPnrBTyvmB2TLM0wtujL14DrzrKBwbW7NsyxroANZ0IDs7Mi-4c1MDhN20QzCxBgf8inc94ETFCiFNkWb-bBn-Msj1vIQ_Qn7BMdzIySt5ecInBsbuInqtoNxrE_qWJj1Dv-cLGN7Qvk105BJXDzYKyuew0jerUAHtyJlQUFfCQraT2IENjiZ1F68--ry_k6jaq8i4uAPRoURHT1ssMOfLIeKVzhBuPpAG_xqv8ZAIbcqszt9jui3vN7BJA-7X-TRMwZYa5J8dQWxXUj3sqnNgRtP9Jltjqsnkh-G31BFK79dtOdEQaCUGD3JuDKv4EkRT4DaryLSTEt_G4Ww8lmpfQ3ekzQP6GgUU1jxXQEFmBE6m-CF8NA5nx3KW1PccHgxwuf_edVyG4qL5qMZW7x1u60l0BM2Ed1ziKZl3CUHy5GbgtGEgVIpl_xOZZFQp9Z-iF5X7A0TIKOsllDXiTiufWVg9C3lo3mZLse6083QtUtH6QHpumFyem544csqkqVu8HFRqcQqRusMvaQ1FDihN6fX1ooER9OOiUnm5p1ULAl5AbeuVBscnBvRPDan8k2z7u_SBFzh10IX5tIIrzHnyrtmSL0-Q8MGUE5jo4f2x8CvVlfCYVOlUTjYD3ExMAR0JwJk03AX6FPr_MY09uZhjlHRr-v3bLxRAxe6kQ4LN-LWe0kec9Q5acexyOISLDISoauHROwubcTdiyF4dd_SNRChgrFaEJFHqiSj372JHz61r6bbBazDBxsqF4ACr1vcGjKPf-EzHwR0eJoIjNIe7V9mvPwSfl4j5Tiyk_QtaRLlyQG7rpz_DllWm2xls-pLt4EQgslgkKTfwE1PGWYXVlqcJd6qJeJ3byGnNSv3-VwW2CSjMqOT8kWDE5Isjnk3v-bVS0sFzEKhu7rW_pORgiOtVDVstUWcl6lzFfKYKaBaxU_wkWYCsIYdpyvex9aHmfwAx-VlVbZCkOh6qh7-78mc6rQ4lpT0tn_hxNqmHadFS2GU5_Ga5jEJuGFvHNdCbHeOEvfgy3GAHE0zz7gLLcBVZ6B56eBsAam-35pXLUbGUIAYiTcf0AKL29BL2-AVqbkdrwdqEStj5YrhxbqiUzgS6gDxT_QXj8HrnRY_ZBIYMSvc6Dm9Pia7raEAHwwtj6y9_pZdLaYNXsAeRXGLvi3I_7vqNt5l-70RA2bluMxCNfOOoLp7auxlsCQjCYxnosQy5s89VWfiEW77bYEJvM6BLucDYgfwVH6tnr9zzK5ymDoSd1iSgkhIk6wCpG0FvNEWBakaOOKsRDuwVICFaAZLEVzalXf3-OB6QxoLw3YMaECI40bLQdtH8OZhn1q26wn-Ah552DZwHqOkpiCHMuxm-tmixfIsAgr-kxS1hGePSwIvS0HMfFmXA_kqUoikCaxC8ojM1md3jq5cH3zspzB5tKFZREmahIECVmwZrSNl65QZv-NnDwMbBgf1RJORjYb5fv1aLdjuzEIzuGqAHsgebZmFRKP-NC5lnR_d1dyhG2e3FTbox7AfTZx1t1TfQbOBX6TezW37kdogrmWdGlAcLwEcrsj0q_FDJQOUg_errLuxRt6s4hMRlwt7RnxMiCEHMv4NwHZrLT1lrS1jCdMMTUfqBciQCVz8nh2w9Ii3_HTJSeisObb89SUoLO7NwV5x0jNQVTRsDkXi3vWzeW7WPIjoc3SbiHsMWwcR1aeJ4ckjpClVwUBkeEnknRq19bCXhp-eA4KA9_6xzibIDyro8T1DcOlVslxMHQPkY5icsi9jI4qcCBlx86afIJ93iY8-RHs88E0cl4FqplXnvF__g9Sm79SjEN184QmszSojScCFu1B8aCr_1QsO5RnpCCgLGbfNBLHMO0zV0A4X05Tj-gPwizj2_OPd7BCGf2uxtJo13-rEIoFCS0-NUDsGxq1nRR0ydyU4yaCCHy1ilLC5FupmHkmTcsyBjWtNasykyrngnh_mvWnze344GpxczRPq9p0xyk7KT7hvOoM5ers3y_dafEtWQ1WqjJn0nA8YpdAE6GnHoQn9x5dQrmCjnnLm2rpiFYvYHAJX42Fs7fXL7JDiw5K0ajDhBA5YI79KIZ53RblMeIhbrXyp-RCP78Dti_SMaaszKkXABhTwF7IYzBdXpLiT7aNgXzZf57wgOPSk0gOdPcKS87MYMFS-MLlQVkBJ-CXLbKTaGUqTpd3MaCcZCFdsHxKqlXMePuLFO2HF-UV1wVLFV2K6AwIJqz_DOSjW3DP8O6RLP2lNeAmDfrgbn7N3aWeLhZPQMzBGtsLp_aT8q-qW8ckbd6467_bf56BUirenwkad-uXSmKWg80peYfij_2nEweYDMrYOPupg2EM5EhWYUqFty3K-Abx0mOv1Qms_uW6Tn34071hDzaC66R0pgLIXDamixe4P34EATaMzEWLBKu0nsB7Sp_EDBMqT8fzjNNmUSBKE8IQcB2tagsiZFNRtP3OT2iRrr2ct7ubghTTAwPBqVnsjcYV5252K996T20XEp3WMJc2F2xToCOEkWqD7LOxR5rgn9Y3dwWUmV-6PgoLnhlQmda7EdcbqLEZHN6woldm5WmXNwgFOWS7Xrxg6WvA_B2UotCLeKGZLHDXVIymAJ3J2KARcvBMU",
  "id": "rs_0f5f930c5ec4c3d1016ab44eb24d0887d08b3f4cb0186cba64",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.15,\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The toy remains visible in the wrist camera after the lift, which confirms it was not held—the fingertips are still nearer the base than the body despite the apparent overlap. I am reopening and advancing 5 cm at a safe raised height so the actual grasp point reaches beyond the camera's lower edge.\"}",
  "call_id": "call_4p6hv887dAqZfRr6JPJ5LzEx",
  "id": "fc_0f5f930c5ec4c3d1016ab44eb5c3a887d0a175cee2d0b996ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4p6hv887dAqZfRr6JPJ5LzEx",
  "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]: [-0.5011, 1.8893, 1.2453, -0.3756, -0.4664, -0.3367, 0.995, -0.0208, 0.8173, 0.6033, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.1453 left_z=0.0697 left_yaw=0.0809 left_pitch=-0.3028 left_roll=0.2112 left_gripper=0.995 right_x=0.2505 right_y=0.0019 right_z=0.1225 right_yaw=0.0004 right_pitch=-0.2876 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.4034, -9.3333, 8.7726, 1.3602, -0.1734, 0.1832, -0.0024, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33fc10825549dcd1d2c19e65ea0e85b9c71d9b3f53753069e78c7014cdf030c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bec04b15d94f49839cd8d9bfa7a2cb5caa479443fd4dabb3b366ede3cad0749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a522b702d8c05f59e89bcf5fc3946b42f1a15129f0be1e0309ced5e7a2072f",
      "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 11 attempt 0 · /responses · status 200 · 2.258 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]: [-0.5522, 1.8557, 0.8684, 0.033, -0.4992, -0.3656, 0.9985, -0.0212, 0.8104, 0.6056, -0.5735, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3949 left_y=-0.1397 left_z=0.0104 left_yaw=0.0602 left_pitch=-0.2303 left_roll=0.1767 left_gripper=0.9985 right_x=0.266 right_y=0.0014 right_z=0.1391 right_yaw=-0.0008 right_pitch=-0.1945 right_roll=0.0039 right_gripper=0.9995\nstate[joint_eff]: [0.212, -7.9932, 7.7197, 1.5116, -0.0757, 0.2857, -0.1734, -0.0342, -1.5111, 7.0359, 1.7656, -0.0317, -0.0415, -0.0122]",
      "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]: [-0.5446, 1.7294, 1.0012, -0.2729, -0.4858, -0.3595, 0.0368, -0.0208, 0.812, 0.6056, -0.6319, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3923 left_y=-0.137 left_z=0.064 left_yaw=0.0616 left_pitch=-0.2758 left_roll=0.1993 left_gripper=0.0368 right_x=0.2556 right_y=0.0017 right_z=0.1288 right_yaw=-0.0003 right_pitch=-0.2544 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -10.4274, 8.6632, 1.5165, -0.2613, 0.0513, 1.033, -0.0342, -1.0051, 6.7897, 1.6386, -0.0611, -0.0366, -0.0122]",
      "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]: [-0.5011, 1.8893, 1.2453, -0.3756, -0.4664, -0.3367, 0.995, -0.0208, 0.8173, 0.6033, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.1453 left_z=0.0697 left_yaw=0.0809 left_pitch=-0.3028 left_roll=0.2112 left_gripper=0.995 right_x=0.2505 right_y=0.0019 right_z=0.1225 right_yaw=0.0004 right_pitch=-0.2876 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.4034, -9.3333, 8.7726, 1.3602, -0.1734, 0.1832, -0.0024, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33fc10825549dcd1d2c19e65ea0e85b9c71d9b3f53753069e78c7014cdf030c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bec04b15d94f49839cd8d9bfa7a2cb5caa479443fd4dabb3b366ede3cad0749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a522b702d8c05f59e89bcf5fc3946b42f1a15129f0be1e0309ced5e7a2072f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7AU99TdHmDXCdLq3yxHNVhkkhbrpEQO0V4U1XIO6uJzmlWO-pudrAJngyq-T3ivrWEjkjnOKaN4ychhO1ao7qLxp_OpKtgzPaHzqe8gKLudQLKkJiZD20X4pM984-UxQM0lmPcYF2blluAReAY7nR-bkTtDCTpiYoBZe1WWM29Fkdw1PU2Vn5RKcreP9SUzi-7nBIkb-Kv2aL3e1M5wQv2juTMxlFhiyBfr9n2OyWjrNFxXR6SwHa7-W-MBGZc3NqaNlyDzDWwc_pM20LBAbjkHq4BN2ftGAZSTB31oiZf3NljS17Z4RTCjExuwbADlVZoKQkmujKVklHI9n1VqspC3JMcA2iRuqYDt-MNUI0NYcqzTdNEQvJwJ7lAlxRHLA1yjU5rEBg51lt6OuitmqUj0ecouhI2wn6IT6tWHx1HQb30Yj60HWxCISPWzlw1sJZK26q-jN5cwmqBJkbWQ3yod5fFPTjKAs9gqEfMszRgLiomt2P1m0tebVgLXqhNC8SkDc4dqB8tyFkzgwFWsv9vomj3c9MyNHSB3oc3txQ31g2OVCnq0DV516p8JOqEv_YswIVYaU4es-Szz3O8kMerzqVtvF8RzY1ttOCu0knW9Xa6gUPsUJurTEvXvHQzgrCbmiV1WKzPiaQRyM6ME9E4gvPoubxFcRIjWXCkfn1zHlQXbELWKidknkm75wNKXv4rpTJqS4QqELq9ipWNYK4pcJE_DSM5iyADXBcU9H0cTt6Eu6VWB3jh2_Wu9mTxifQG7b_LtLSnVbj8RPEtqONxzhJdEjsfqCj11p-QNPKZM-aecPuFWkH8C6jhFQUAgJOgaa-dAsgN5KMfIEVgtFGvgoA4wYsrVsVSNEpYH_V84xQiXbgbr1fhf-ay1m1QgYy72IVhzR9pIFtW5vFKaRSQ7bC6Tj3qVYpEXA7XZKUQYlJO7OhpcBwWwllCDpQ-tLetR2-GrHUYJCxuZMeHpq3CbV2iA5BAUGkg91y0-i--fnAzq4qJxCjotgHiX6ZpXAAbghPQsY3o5UD-ObjMTlSezEdhBXCOy0oglZvSaOnvA2YY03LEu2eVhKCJFsWaICYdylizfd8OpZ3hpsWVHOP65suMb_uUsCW_l-W_nvJolpyaEUklV7iDqPhPJbp99ZqfuHgrOP-nuN4saj9FZPuVNgiWQ7qC9OqMpJVBegdfGlT79jsoXRPABSum8bMT1amff-300fD60iDm2MlOi_ttulzc2yNO3nijTGdMw-UjOAZtP7qXmFJgETe02cBOxUdkzkw_emxZepJfDE-0DcEmKL7XsewIq5jbzhfAnTXjd02j-N64Bda26Uy_8GAuAg9WUhEpWe6gJQG_g4WvGeoKLwfVOylX-3cbUEVKXYuQ98H4eC9QZYs7Ty4gEtHSn0pLBgGkR4hPIwqfkEOtT6qTa3GaUL3wGQWQgXyL77Nl5bBuZGU-MEZpxEJaJeKKlOhoLwHQoG2WwuIoEHaQpF561X0F6AjV26_vIW6hK93M_O82C6XwXD8lMPlfjNkZyr03mRBgrsHy9ipVuzBZp0GT9H9TIiGf3fRYKOXqE9JX5edcslQ9pYXl1IEaxRMsbBdHwxLWYuhiDNRmMNuDB2X2yY0_OOmidERTbSDI2-6ZTic2gyMTmv4DLibr0FWtOd1S0ydQtqNFbbFqx_DI94F143wvcpx4b_iwEB_icf9WDM5TnCW3DQCn64a22QQjm4xg0bjGJ6QS_yb7YzdpO722J61wPe2CFtycWZnl2h0_RvG3tBNxKIi45-3s63fl20U0Ou87y8_XrGX3-g-iJIthKg==",
  "id": "rs_0f5f930c5ec4c3d1016ab44ebdff9887d0a56f3e2682c5239e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.15,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"At the advanced pose the plush has moved to the very bottom of the wrist frame, as expected when the body is under the fingertip grasp point; the safe wall is to the right but still clear. I am descending to table-level grasp height without changing lateral alignment.\"}",
  "call_id": "call_Rs8Dgs0LtgKcYnvgQI0bDzX3",
  "id": "fc_0f5f930c5ec4c3d1016ab44ebf4b0c87d0a5810c0ef2524853",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rs8Dgs0LtgKcYnvgQI0bDzX3",
  "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]: [-0.5014, 2.0136, 1.2129, -0.2413, -0.4683, -0.337, 0.9984, -0.0212, 0.8181, 0.6018, -0.6746, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4448 left_y=-0.1488 left_z=0.02 left_yaw=0.0861 left_pitch=-0.3207 left_roll=0.2254 left_gripper=0.9984 right_x=0.2469 right_y=0.0019 right_z=0.119 right_yaw=0.0002 right_pitch=-0.307 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [0.294, -9.935, 5.1897, 0.9158, -0.1538, 0.0366, -0.1734, -0.0342, -1.1966, 7.0222, 1.5897, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276df2019fa69aa6ccfa2abe11b2c0be3227b4c8681391fdcaa2deb7f4e17765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cd836ad6e2528a59928b87b86e2517c9dbe200aef59eed012de1cc7896a8f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61552ca0a7224b990ff4f40853c53f5092ffa88159a4f25ba842827a4649d465",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.195 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]: [-0.5446, 1.8671, 0.8864, 0.025, -0.4866, -0.3477, 0.0363, -0.0212, 0.812, 0.6056, -0.6121, -0.02, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3986 left_y=-0.1406 left_z=0.0097 left_yaw=0.0488 left_pitch=-0.2392 left_roll=0.1815 left_gripper=0.0363 right_x=0.2592 right_y=0.0016 right_z=0.1321 right_yaw=-0.0005 right_pitch=-0.2346 right_roll=0.0053 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -8.1436, 7.8564, 1.5116, -0.1441, 0.2418, 1.2332, -0.1846, -1.1282, 6.9675, 1.873, -0.0659, -0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5011, 1.8893, 1.2453, -0.3756, -0.4664, -0.3367, 0.995, -0.0208, 0.8173, 0.6033, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.1453 left_z=0.0697 left_yaw=0.0809 left_pitch=-0.3028 left_roll=0.2112 left_gripper=0.995 right_x=0.2505 right_y=0.0019 right_z=0.1225 right_yaw=0.0004 right_pitch=-0.2876 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.4034, -9.3333, 8.7726, 1.3602, -0.1734, 0.1832, -0.0024, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0708, -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]: [-0.5014, 2.0136, 1.2129, -0.2413, -0.4683, -0.337, 0.9984, -0.0212, 0.8181, 0.6018, -0.6746, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4448 left_y=-0.1488 left_z=0.02 left_yaw=0.0861 left_pitch=-0.3207 left_roll=0.2254 left_gripper=0.9984 right_x=0.2469 right_y=0.0019 right_z=0.119 right_yaw=0.0002 right_pitch=-0.307 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [0.294, -9.935, 5.1897, 0.9158, -0.1538, 0.0366, -0.1734, -0.0342, -1.1966, 7.0222, 1.5897, -0.0415, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276df2019fa69aa6ccfa2abe11b2c0be3227b4c8681391fdcaa2deb7f4e17765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cd836ad6e2528a59928b87b86e2517c9dbe200aef59eed012de1cc7896a8f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61552ca0a7224b990ff4f40853c53f5092ffa88159a4f25ba842827a4649d465",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7CKtwQVS8vFTF_MGDF0MiOsgh9lt7_bNyEq_YfAdofU1LVlwKlBg0BovdIw8ZwCF7On37KRfV6E9-74jNHaOSV43SS9J63-sYZV65i1__4Ih3sv2TCTr5SmNgqNZs8zzpQOA5E2SwF30okFjmqI7fKMFlho3PrUbKqqpQUR2cmIm3JwdVbXfpmv1cyytide464VAzR2dS7f8INyxSZrKvo7JwsGdtuRTlwD61JdB138c70HTSn7I4XdOHg_D9jA7H3NZQgI_Q0XyV1FTWEkI2DU3Ld0TVH-Y14IL8irczN2ZNpRdai9ArC-8SgMjoonczkeWg0BH81bO113VDftxd_IOdGBJeoDbObHym-w_luTW_yRiT_FesnAGYGFrV7n3G8KQwBvV4Qj7zSp9qRsapsLS21bqJK1-nHshFBtw1mW6-z-tIOTRIlk4ZNlO6YP_yxggS_BEV4KOySDOdQctNO1OqVXP3b9cSQDu_2Icoe1QuCQVATLFB6FVGbe4BDjVkkVM9hEnRAUuBfb7nCHDYXj7EO8gjkK2LsyBZNIBRV6tkh1kxLop-sP2UYRHbWuuf7mSMOvUXZ_DQJSL8BCmuqEznZl2i7G2oKhot8yv_jXsimSmQoaAkUEq85SFWp244l3yv7gQoEdkOngpLpRe1-gdOnsha8z8ADjq68mLMXsqHsVqWew-Ytal3H5Q4NITNbiiSDcdVTknzOjkX_kHOQDj7tm7dE5vEbX0wietCMnoQEcDOXFG4ysyslSZAbybxrF4RHgkhDqVOIkdlyn7kur2fPPCmfoj5FYh91mMIdZ7AeYSVRfe5HhhCLcQSxC6NFCmGU_i_poIW4sNggBUvKRf4NJFSfAWMMNkem3vmmR0jRD3JBNq-XjYqOEedpyyNyDMlJxIHV0EDtAVdBAbfOzyHbb06bHkJkKbZuE_Po4KZ4uPS7F92LCI0GDCsqfro41-_8M7UtLkpyFO7KBoaa6w_xmG_Y5OsPFPH1tTZhrkr3y5kIZMjZ2wF3-qk8liB95fH310JNiqU1jVU6jdpE5hTV5kxcJuv8r1SXS3gNXdH8wbKL5iq1X5rtzgtfTTIZc8V5aWCOMdPLxRvXesteDcTisQr_ZQnKDRa1DBJ6IBpMcPROKOPJf3dioTvcEaCqXHa_33cIlhzW9i9fXMwBKtIrijRlZOZvN3hrPKhQKyVsMFO_C0QXlRFSXT5JMTD2qxjWTETHEPyvgFSD3W_f0YXNXkbI4zCBesDFW7pAVAVXSFe78jXMy5QwP18HxwbnpPE13d4CmDoXIMb-bAIJqYarAUv-g8-rHr0621VSEbFJIFlinbqf8nCFbzkpKkHq",
  "id": "rs_0f5f930c5ec4c3d1016ab44ec1aeb887d0a14037340865ba67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the plush's head is at the bottom center of the wrist frame and its torso is now beneath the camera, exactly where the gripper grasp point lies. I am closing around the torso.\"}",
  "call_id": "call_KBm4569kpB5ueYb4GWz7maiB",
  "id": "fc_0f5f930c5ec4c3d1016ab44ec1fe7c87d0ad38944a66687c95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KBm4569kpB5ueYb4GWz7maiB",
  "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]: [-0.5018, 2.0098, 1.2179, -0.1879, -0.532, -0.3515, 0.0216, -0.0212, 0.8181, 0.6018, -0.6804, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4577 left_y=-0.1448 left_z=0.0343 left_yaw=0.1301 left_pitch=-0.237 left_roll=0.2245 left_gripper=0.0216 right_x=0.2458 right_y=0.0019 right_z=0.1181 right_yaw=-0.0001 right_pitch=-0.3127 right_roll=0.0065 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.4701, 5.7641, 0.3687, 0.8913, 0.1099, -0.3736, -0.1026, -1.0735, 6.8171, 1.453, -0.0122, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ad84f25791e5c1cddb5c3e15e470c3f35fa9869fd5420a58f8c956a30f4b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64fe13c01853f907654e0fc2c7e8631d1233309bd749792e6e43a4369dcc723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff6820e5f2cc21a03c1b160bab1282d70163363510c429bf52b2f312bb097f0",
      "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 · 3.93 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]: [-0.5446, 1.7294, 1.0012, -0.2729, -0.4858, -0.3595, 0.0368, -0.0208, 0.812, 0.6056, -0.6319, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.3923 left_y=-0.137 left_z=0.064 left_yaw=0.0616 left_pitch=-0.2758 left_roll=0.1993 left_gripper=0.0368 right_x=0.2556 right_y=0.0017 right_z=0.1288 right_yaw=-0.0003 right_pitch=-0.2544 right_roll=0.0055 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -10.4274, 8.6632, 1.5165, -0.2613, 0.0513, 1.033, -0.0342, -1.0051, 6.7897, 1.6386, -0.0611, -0.0366, -0.0122]",
      "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]: [-0.5014, 2.0136, 1.2129, -0.2413, -0.4683, -0.337, 0.9984, -0.0212, 0.8181, 0.6018, -0.6746, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4448 left_y=-0.1488 left_z=0.02 left_yaw=0.0861 left_pitch=-0.3207 left_roll=0.2254 left_gripper=0.9984 right_x=0.2469 right_y=0.0019 right_z=0.119 right_yaw=0.0002 right_pitch=-0.307 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [0.294, -9.935, 5.1897, 0.9158, -0.1538, 0.0366, -0.1734, -0.0342, -1.1966, 7.0222, 1.5897, -0.0415, -0.0317, -0.0073]",
      "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]: [-0.5018, 2.0098, 1.2179, -0.1879, -0.532, -0.3515, 0.0216, -0.0212, 0.8181, 0.6018, -0.6804, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4577 left_y=-0.1448 left_z=0.0343 left_yaw=0.1301 left_pitch=-0.237 left_roll=0.2245 left_gripper=0.0216 right_x=0.2458 right_y=0.0019 right_z=0.1181 right_yaw=-0.0001 right_pitch=-0.3127 right_roll=0.0065 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.4701, 5.7641, 0.3687, 0.8913, 0.1099, -0.3736, -0.1026, -1.0735, 6.8171, 1.453, -0.0122, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ad84f25791e5c1cddb5c3e15e470c3f35fa9869fd5420a58f8c956a30f4b30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d64fe13c01853f907654e0fc2c7e8631d1233309bd749792e6e43a4369dcc723",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff6820e5f2cc21a03c1b160bab1282d70163363510c429bf52b2f312bb097f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7HRUyWeHyzvmlvuQKIBDQb7YXnRt2anFzWrjkZ0hWBRvCQNyCiptXcTAgl-4-TuMaBId-wYraZ4fVvfTehZX7f-c5l1VQmlTxsc4kwH9bgKmqltMdg4_Nhf4Spn8xMyMBhQAr0qyYNZwPbAgsZiOGjPaaFqymNAArSUHknEdcYvhqFo-6RGDrPcGXITeYVIdvDF2JxuJ-Q8xmKe2PYVd0SAUZajvPqLucgV8KRkXAmJ2p3w7W3j1GnumoBbVodv-M8b74QwDBHqdVHYDqBnxENr2t7Ja_81i4w7QzebbN44GyfWrxa81OvajEY4ozACnY_OpE15VykS3BEWEe3_pHABWLq3bKoy0SVkBc94oKtp2Cev26i1hh_7eJeWAIyeKGDxS-bmmrc0VbxvI-XDgfW6f6NnBnO3f_gxKx_POgBLnCLpwk7Qb082_1r2fwQGjSo94OdccYZMmCb3eoY-K9djKnYic3eHuNs7pn56KqX3LZH59dOkuX7g9XTn8zyM421dd75aB3c9pa4iOFpxKRooqyXShdNIH6WusFLnYBJM7GaA165kyLTgTE1JPwGaCDSvsg-RB4IKP2daG8a6KcA6C4klPtvPjQUqiqmLYEs-w21dgjXmKatyhDSk2T4jBSCRtqdCc696Yi-e5LAXFEUo-Hl81JFbUAJeHQigm6Hc31qHCRacAVRVo6mueNMnaFzn87PypUWnZ-8j78t9f7Jo1bOBwl6g81mxMja_6S31C_Xbzy_7GAsd4C5lOZKq2aLEKf6zhDRX7De0A6cT0kyl5a8HurWTNSimHgdpFUkHbLPcsZTONVligOvmgIbSquCsD43JZqOD05vk0IeTMAnDYZKs7PjcTNPVHLQI6yqGCRRthudyuaKZG17QeUHaQKlcJwjIo8Az0j2M_Ns3tu-BaT7hJkQrF6nvbaDoQWXY83iRDhq1I74nZ-hp_yUwOi9GkDO71ZPx4AzdyZ3nTpCQkVIlvJUD1eYX28in7K0POdXhnVKCxQD88wqsxEIB0teCFJE_LlTVxcG1yoVSCTMLkqHiwUFlUY3sCeJVLnDIY4O8nU2Ut0TrTNtz76lCZQd3SGKoaHyuvUBRiZc7CYD8f6BGH2TXLwdEHT1BzvG6uwhnMGn2yDRUj67QVTeS_alvWBaoR2NjfX-opr9FPIvIBkF_nNWTz3VnYlTgYN_pWBbj5-JNXB_okQFSUbgijBv7qsW158Hkr5Xk9baBXzbr5rE55OkdIEzT3l1gUBbd0BHs40Kt93DjJVyIsbPToIjN3WXWunCn5dZe3QB9nY810nNzlKHfWxCzNU-AQgsQUuI72Y8zfszsNac0aDlukogC4G8md_BvyXeLXJlDeNciAJfbwMgi7NP2ZPLTfC7XxCU0rzbjpyIJLcBiPe13JzrO4Gitl3DUJVthu5l2IGYR5grLOc5WzPSEL8k8zYTvdAw_aZS60ogd8sh677HKe_f74WszIXhuy86nSDuDp-C1i7CBQsAzsr70FuKh50scF0ZOWFZyGqiGIIJPp446OUhAjHVLCPco_K6CaKFlj5epRr1B08Mf1ojR_ClxQXiBorV8ZNS26aubZEpzbEFJ4YfyBhrwtlSGFSotVEd3xo0NNdLOWGiomVxWGTBEL3srJtWtzaMzlzqKalbRLayoDP-Fp0CnXtZtYdk6R5zmFp4FtubryzoizdIvD6rOR3gruOo_kttUdYv856X2yxaZ1vtGwLgPeN9AKrq7FAz1AL97mQBznNfjJXJ8OVT5TCHbY4wo8mzHi-YWc6fSkUQpBiiOxXggIIuMcA07Zh-SdY3H5d7-JP_iw0fiX2oMxFSZSHYCLUtf4Kd7oLWEjxUIOgslUm3vxvkt90O0nBTE4E22U0R3FeoSEm_HRW6IX1uHbmkhtxk5V3R2VZ3d-MVsxos5fuj22xxWziXecRbtT-QFPHtfR5ZdtOkqN3YMNFe2UnG-a3BDlfyB_MmLuoRrzlQz3R3Q3f1o0F_mZ4EZM0XuQfhDo5Ngbo3bWvx58_sI08JH06K6zUPkCCS4_WYtEHuY-GpO0p8DW53_Wivj11UTwAos_Ne8GCNZFN9LyWAEO4=",
  "id": "rs_0f5f930c5ec4c3d1016ab44ec51bb087d09488615ea0c04328",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"Although the soft plush compresses to a narrow gripper reading, it has now disappeared from the wrist view after closure, unlike the previous failed attempts; the top view is also occluded at its former location. I am lifting to verify whether the toy rises with the jaws.\"}",
  "call_id": "call_SpCFOxWUW9efvCZe0uP5yMKG",
  "id": "fc_0f5f930c5ec4c3d1016ab44ec6c00c87d08bcabd82452b61dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SpCFOxWUW9efvCZe0uP5yMKG",
  "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]: [-0.5022, 1.9331, 1.3621, -0.4694, -0.5205, -0.3603, 0.0225, -0.0212, 0.8185, 0.6018, -0.6884, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4517 left_y=-0.1437 left_z=0.0844 left_yaw=0.1361 left_pitch=-0.2904 left_roll=0.2476 left_gripper=0.0225 right_x=0.2443 right_y=0.0019 right_z=0.1168 right_yaw=-0.0003 right_pitch=-0.3211 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -13.4359, 8.8821, 1.326, -0.398, 0.0708, 0.0855, -0.1026, -1.1282, 6.7624, 1.4335, -0.0269, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd4ef6fa6917fde89faf7fecc645c84dcd3479cc9a34534d6303237edba0175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5bfb3e547fbfadc8902408a3029acb2593980a1625686785b9a3291568d5a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72893dc127f76bea3c739dedecda17e685391a4707719939587e58cfb58aa8dd",
      "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 · 2.415 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]: [-0.5011, 1.8893, 1.2453, -0.3756, -0.4664, -0.3367, 0.995, -0.0208, 0.8173, 0.6033, -0.6575, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.438 left_y=-0.1453 left_z=0.0697 left_yaw=0.0809 left_pitch=-0.3028 left_roll=0.2112 left_gripper=0.995 right_x=0.2505 right_y=0.0019 right_z=0.1225 right_yaw=0.0004 right_pitch=-0.2876 right_roll=0.0062 right_gripper=0.9995\nstate[joint_eff]: [0.4034, -9.3333, 8.7726, 1.3602, -0.1734, 0.1832, -0.0024, -0.0752, -1.4974, 6.9812, 1.6532, -0.0415, -0.0708, -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]: [-0.5018, 2.0098, 1.2179, -0.1879, -0.532, -0.3515, 0.0216, -0.0212, 0.8181, 0.6018, -0.6804, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4577 left_y=-0.1448 left_z=0.0343 left_yaw=0.1301 left_pitch=-0.237 left_roll=0.2245 left_gripper=0.0216 right_x=0.2458 right_y=0.0019 right_z=0.1181 right_yaw=-0.0001 right_pitch=-0.3127 right_roll=0.0065 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.4701, 5.7641, 0.3687, 0.8913, 0.1099, -0.3736, -0.1026, -1.0735, 6.8171, 1.453, -0.0122, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5022, 1.9331, 1.3621, -0.4694, -0.5205, -0.3603, 0.0225, -0.0212, 0.8185, 0.6018, -0.6884, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4517 left_y=-0.1437 left_z=0.0844 left_yaw=0.1361 left_pitch=-0.2904 left_roll=0.2476 left_gripper=0.0225 right_x=0.2443 right_y=0.0019 right_z=0.1168 right_yaw=-0.0003 right_pitch=-0.3211 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -13.4359, 8.8821, 1.326, -0.398, 0.0708, 0.0855, -0.1026, -1.1282, 6.7624, 1.4335, -0.0269, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd4ef6fa6917fde89faf7fecc645c84dcd3479cc9a34534d6303237edba0175",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd5bfb3e547fbfadc8902408a3029acb2593980a1625686785b9a3291568d5a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72893dc127f76bea3c739dedecda17e685391a4707719939587e58cfb58aa8dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7MeFxwr9JxPkh5khnP8uTnOyY5d9xzcuYmopjmWqiKB7ADDgPTNxYv6qyn_QrwufRxztZoLH9nT21iBNP9HSeDTp81U6tWx9d3jqtoQqPp-oUs1I9rwjm9uHJ3NtorpTGHaAm9NoXQ5nIEKTWZMvKAxSTeN8jTRDlNGAOLm8CYjZ-syXwN1BK-heQPfxJrwwRspcUcjpRWLQGwJq6764rQtDY7TQTBZKcF1s165lj0RSlnM2QVcd_lvc4EcE3TJ6Um3dRcdvYkhgZf1EThptcFFykZnOzLFBL-i_KGc1IQZT6_YAAE9Y1Ab25WXeB-85sZiXSdRzpognvIxHNY6ONTItXQr1YeQOIwfxQtswHk9t5y2iv6tWk3x7838W5symh4yo3CLYWJ4TDY4lpz8XMVCWzydu5wwp6kSnC9L0eOWIXq3KAXelMDj28pHLILI1x-FDs-eROOyWhClxKNrkXz7MdRF0Umhbk_DFYh0aQBRpjuscLB6eosfS8KQAM2ff8SOAjxdgXAA0Y63b7qhkfju2za0atsU2FVsyCX4wbJcREl_FiokA25WIBwuySpiOoOSBkCSPGq8heYexIc2b9GEK0pr6FNog4p1QDil2ki3LvnM7Rg6RzNW8SK7J5UPwcltc472cJH0_V_h06mdKls01G_dNscBnQHORqEogWjBJUQE7-r09i9cghcHBsHI_AsUcAq7yGBNnVYIxYVQJk25zPJ4_Z3dUmklkrHWHUY6SYrJXtDYwSdaXtYW6vMJPTyNRJfhk7HUCRyP1j9KWJ45PNLr2cpTde-QOZJFhvXoHP4BvYFAcrYwEqAI2YuweCVhEgHdr8W7FJM6iQApFtnrwGiyMJ_0CGtG9nzIrs3OlQ6lM2_wQbT-LOZFd7qAf5MUM1wnr-V3M_SrxSVOFcTWg6F3NkrHSxiYstc89F2rau0IW1-zsfb9RUSVquJM33-QIra930vTyn0PMJeZEVCY4L6uzRBSoQtveR7kbq0DkIHk-CwBVoD6hJZhKPT5PiDZMkm3vrQgTxsEzWQX3HKvAL633feJ3d4Qazi1PXxcHIE_8PcWCSg8V6t7ETWlcIdipG8l39-nCJYCYyhjYfscSr3bt49Du1guFGSoQ2BtRHHVY5cXSyxxqfWIo8uk7kOGxRR0yZNJaotE6At2xoar0uGKC3LbXEvDi7kxd-vJrIqOohox-d7Z6mnw5Gns2AZFKy3eHflo52GI4YQDDCJxvj8ce976AVuncWMgLzrXJ9-cIi44rUCNJ7gYtTu-WMYCl3sN-rpDzgnQEvkEPlCWsV9b4RIn5qJpQuM-gGzWkEYi_-rNJDflfJ6QOxSzAJcRodHIZirD8vDJcbxLfJCB0--3wZF6UK5DumctD4ADti-JAEV_ZJufyt5SkVriyIZkVyX9rvFfBQvpCWCsdytaJAYjkT7TKok8emWHYYKrEiC6EGINED2pay8N6nuhAih894lSds7iKDN0Angek-zrfXY1eQRUYBYmYYr7oY-YydhCK51AkvF15anm2XBqQAR2svOVMQ_5Rw__QKt9eRYID8IiBNlUooYQUOzuehnBozeH1uDUw3bbXBux-wVclMESbW6q0tzh-bRJZWjFcLB7XjKa1dB77NuuVwHMsvIJSFHY7hwHAVNU8pxZUojDofJ8hunvQ23igxMjjtirEEvvFB4_Abf8QiJbeluNTe-yKHETPoxNbaCgATRws_hfwZW7LyymoUhTh3e30_IMAJhAAVYlYggwhSQ96u5LRibQ_Yxx5CR5YFt90StYx-Dr-NY4YDFuiIU8jDytXTF2z9CpnSEcJqqP6R9wsTVAt7aP7IXUq5nKdv0XmyhTpCiEEwvA88LhEOgj3DHD2sxesFpDjRjoiLZuJZYlcD7DgnmO8VIf7LAuhXe9Q0kuqtszNg73gxteoSk4ZRHFcM4Rzz-7A7OEI-kfIdeBBXSHxdUvhXHESFoI_ivufUHUtc1zA-NNpnAsKONwiqZejdjgHhiWhQB2F2JwHQJ-FGqOBnzI9-RsA-wWwEHCuVdhONx1h_R5V60AFiPa3WtZ9wI54GOajiXEqlcshma93itAa3puqv1rJQLJ4qQ7AEJ3OHzcW18gcX98glNK-0KPCASE1vNqw==",
  "id": "rs_0f5f930c5ec4c3d1016ab44ec9aa2887d0982354dba9d0f2a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.15,\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"The white toy reappears at the bottom of the wrist view after lifting, so it remained on the table just beyond the fingertips. I am reopening and making the final 4 cm outward adjustment, still below the verified table-contact reach limit, to place the grasp point squarely over it.\"}",
  "call_id": "call_NeDZfkJKjpEnG4bFCyFLdxFM",
  "id": "fc_0f5f930c5ec4c3d1016ab44ecb706887d082a705b0e4b5ab31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NeDZfkJKjpEnG4bFCyFLdxFM",
  "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]: [-0.477, 2.0594, 1.4979, -0.5171, -0.5117, -0.3485, 0.9952, -0.0212, 0.8227, 0.6014, -0.7021, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4759 left_y=-0.1445 left_z=0.0681 left_yaw=0.1557 left_pitch=-0.3273 left_roll=0.2728 left_gripper=0.9952 right_x=0.2415 right_y=0.002 right_z=0.1136 right_yaw=0.0004 right_pitch=-0.3394 right_roll=0.0074 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -10.1675, 9.7709, 1.2772, -0.2418, 0.1343, -0.0757, -0.1162, -1.1419, 6.7214, 1.4579, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ba7cd75876905d8284150616828ded5b31f13b25cdf7d963fbc07449bd2bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470266b995bccd8f10849beae480aa87998e6d84a2efbf62c44ab54baaf76d58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a980a7b24239ef23762bf365410e4d60f7e753e510b94e06a36a92408db2ce8e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 1.989 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]: [-0.5014, 2.0136, 1.2129, -0.2413, -0.4683, -0.337, 0.9984, -0.0212, 0.8181, 0.6018, -0.6746, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4448 left_y=-0.1488 left_z=0.02 left_yaw=0.0861 left_pitch=-0.3207 left_roll=0.2254 left_gripper=0.9984 right_x=0.2469 right_y=0.0019 right_z=0.119 right_yaw=0.0002 right_pitch=-0.307 right_roll=0.0067 right_gripper=0.9995\nstate[joint_eff]: [0.294, -9.935, 5.1897, 0.9158, -0.1538, 0.0366, -0.1734, -0.0342, -1.1966, 7.0222, 1.5897, -0.0415, -0.0317, -0.0073]",
      "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]: [-0.5022, 1.9331, 1.3621, -0.4694, -0.5205, -0.3603, 0.0225, -0.0212, 0.8185, 0.6018, -0.6884, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4517 left_y=-0.1437 left_z=0.0844 left_yaw=0.1361 left_pitch=-0.2904 left_roll=0.2476 left_gripper=0.0225 right_x=0.2443 right_y=0.0019 right_z=0.1168 right_yaw=-0.0003 right_pitch=-0.3211 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -13.4359, 8.8821, 1.326, -0.398, 0.0708, 0.0855, -0.1026, -1.1282, 6.7624, 1.4335, -0.0269, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 2.0594, 1.4979, -0.5171, -0.5117, -0.3485, 0.9952, -0.0212, 0.8227, 0.6014, -0.7021, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4759 left_y=-0.1445 left_z=0.0681 left_yaw=0.1557 left_pitch=-0.3273 left_roll=0.2728 left_gripper=0.9952 right_x=0.2415 right_y=0.002 right_z=0.1136 right_yaw=0.0004 right_pitch=-0.3394 right_roll=0.0074 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -10.1675, 9.7709, 1.2772, -0.2418, 0.1343, -0.0757, -0.1162, -1.1419, 6.7214, 1.4579, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8ba7cd75876905d8284150616828ded5b31f13b25cdf7d963fbc07449bd2bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470266b995bccd8f10849beae480aa87998e6d84a2efbf62c44ab54baaf76d58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a980a7b24239ef23762bf365410e4d60f7e753e510b94e06a36a92408db2ce8e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7PKIN3hHb7saLyy9vCbDtn6cvTodm2wA4zBHfeiEQ-wNZfbypU_GJ7hgOhHQWHN0NecOnC0GMsETZxgB6-xf7kcQIg6xZfVgMRPMHgGyuVc0EB2FgTJYBfGCtd3GvJlhxJZ3VtApFBJkOoXRtnFGfArN1nMKbGI17hWc9SozBKmF2c-e313oeXoP1tMD0Bh062DJh8LsSXeU1uY0fEXCzM8ozkUmZMDzHbm9tQc3oFRO-fgyOgG7oq3CiMJgbGChvVsT9ohmN_Fud_qHMYeaSqQWR9Sgx5MWc5V8nPqKIx2hnsTfhmXDZWGfmniryNAOvy3nZqV5MYUJvCQ9O1bGjDkF0I0X2FFajNbVzP5rlRP_5G7ixV-VKNW0IvjUFWh0R2PPPC3FfukbeHjzBWbPRaMQvxv4MMaQEbMAl6Kachwmh0rpLg_lQU4K1-IZUJeloNcjYsRzL7AyszSN0mw0gU_s4Rd13JZIVqoUx4ZxCjDmXwBiOFjNi_twRA8Up6Ve3uUaKd5orUMJM_ENnICEy8inoFaEJHraGVSAF36cR2f80FAl3Qk2RV9sElJTrdjLa_-Fbf34qxL5rm4cQs1HvhYXKT9TQi3OLtQHMGZXPmWHUGbUsxejh-Fn_1ACzHXuuyxhDmz9XOjueEwNroWbTw-qGH2j3L3eFMWrH_jicEOn2Eb9sPa_EOUqaQM21MxP-csSlZ9O_WH9pYAbtHWIpwW05h0buf0QcXbuSIOueH486KD7AGlM9LLUWQvOFr3nhV3D66dZZcJqSQ5v0IeCeYBgwq6xxFobGMjO8lySz-sHRnwORdgbfB7SSCpzXCZ0YtPqeofJtCcxnNaT0q6rYx5Lnj75hwY8pj_o7ppKwXxi3Ig1Zmcv6Ae6sbjBs_QZc4cT0VyUNyAhjOTWI_bIv6fp6c7eSG9oYIS4y-FVa6PToXKKcg2Knjxo7z7CfBCikfkUcNWOrfErwAAgQ5Lq4UCEmO2-BzGH0GZtPjtSzqB109ltctX267kgDOWT0KjiAWLl33JiFc9qZzOVxV6oN2xNh9ZVMuLt0BBVYWPYnQn6zRxeSihjC_xoWLmh0AViefrLRhYImuO7-Usu2xTFMgFGMflRdzL_dLsDqNpvXU20ZZ1e9OBjyXBo9UAYIGL5OgFX5ZPHHBp8vMno7814xHbmD9LPtt5AcRQdnHB59S3ArRtmRg2yn_5QcLh_I1TPXSWkFdummfubXObh3Uab6ma4YEoWQ38HzPydbr2dkfUqKYqf_EkpSuIf72OEibtE6AVC193rWjk6Q5MUaFvvfqvPanCdE9YXYEr8QeOz2a2hY=",
  "id": "rs_0f5f930c5ec4c3d1016ab44eceab5087d093f75b9bb39d2169",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.15,\"left_z\":0.015,\"left_gripper\":1.0},\"note\":\"The outward move now puts the white toy directly between the visible fingertips at the bottom center, while the safe wall remains clear to the right. I am descending straight down to grasp height.\"}",
  "call_id": "call_kPLFDbu7wJdvwnuxQZrFsvZn",
  "id": "fc_0f5f930c5ec4c3d1016ab44ecef76087d09ef92cdddee6cab6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kPLFDbu7wJdvwnuxQZrFsvZn",
  "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]: [-0.477, 2.1761, 1.4868, -0.4179, -0.5156, -0.3565, 0.9983, -0.0208, 0.823, 0.6014, -0.7132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4836 left_y=-0.1479 left_z=0.0196 left_yaw=0.1689 left_pitch=-0.347 left_roll=0.2886 left_gripper=0.9983 right_x=0.2393 right_y=0.0021 right_z=0.1119 right_yaw=0.0003 right_pitch=-0.3509 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [0.253, -11.6034, 5.8325, 0.9255, -0.0562, 0.4371, -0.1929, -0.0342, -1.0051, 6.6803, 1.536, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8818afd8f6927a38bae2dfcf643d49412e69693d797b9dd2240a1b1021bc7d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c843eb4fabc6cdde64e4c3c283fcc70229558e76c0614f6dc2af078b5f32fd17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904dfeb5f9b2d64f079446b757849573f95ea798700188fba935fbdc986a0f23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.693 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]: [-0.5018, 2.0098, 1.2179, -0.1879, -0.532, -0.3515, 0.0216, -0.0212, 0.8181, 0.6018, -0.6804, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4577 left_y=-0.1448 left_z=0.0343 left_yaw=0.1301 left_pitch=-0.237 left_roll=0.2245 left_gripper=0.0216 right_x=0.2458 right_y=0.0019 right_z=0.1181 right_yaw=-0.0001 right_pitch=-0.3127 right_roll=0.0065 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -9.4701, 5.7641, 0.3687, 0.8913, 0.1099, -0.3736, -0.1026, -1.0735, 6.8171, 1.453, -0.0122, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 2.0594, 1.4979, -0.5171, -0.5117, -0.3485, 0.9952, -0.0212, 0.8227, 0.6014, -0.7021, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4759 left_y=-0.1445 left_z=0.0681 left_yaw=0.1557 left_pitch=-0.3273 left_roll=0.2728 left_gripper=0.9952 right_x=0.2415 right_y=0.002 right_z=0.1136 right_yaw=0.0004 right_pitch=-0.3394 right_roll=0.0074 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -10.1675, 9.7709, 1.2772, -0.2418, 0.1343, -0.0757, -0.1162, -1.1419, 6.7214, 1.4579, -0.0562, -0.0317, -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 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 2.1761, 1.4868, -0.4179, -0.5156, -0.3565, 0.9983, -0.0208, 0.823, 0.6014, -0.7132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4836 left_y=-0.1479 left_z=0.0196 left_yaw=0.1689 left_pitch=-0.347 left_roll=0.2886 left_gripper=0.9983 right_x=0.2393 right_y=0.0021 right_z=0.1119 right_yaw=0.0003 right_pitch=-0.3509 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [0.253, -11.6034, 5.8325, 0.9255, -0.0562, 0.4371, -0.1929, -0.0342, -1.0051, 6.6803, 1.536, -0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8818afd8f6927a38bae2dfcf643d49412e69693d797b9dd2240a1b1021bc7d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c843eb4fabc6cdde64e4c3c283fcc70229558e76c0614f6dc2af078b5f32fd17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:904dfeb5f9b2d64f079446b757849573f95ea798700188fba935fbdc986a0f23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7SLismA6cKdiSAiPx_wxIZlNJ76pulee3hfaSmntLMVSrfT04e1Ioact1OHjty4wCM0xNoEuFfOSfV74Wbr_uwb9sGyPQP5JU3YYY2JnFpJ3zMDlIRkx8SNyCN8QMa-kuf-Ng4swzrFdmFw85zkMHlQaMu5Ye4wQ-r09jFzbHPDr9n3CQasYjyCOcwajtZiY7TWgzH6Uy5-SQMrf-z2hUha_Xagfk8EsQU-0B8qzw9YrlEJcL6kFhADYV3jplOncr1NLL2pCsJHHhppqTwqmB_ycs7zrbc15V08Y9wBU3dhH0ItNDjKgBY3vtgadvT2m6wQ87yOEL5KRu3YOeU4KzQItf7jdEEN-_vBYCM1y9P0okE9s-9s1qhtPUcQPTB0BJxtfIYL9DYZTFlYgTSG_N297qw49IqUrT2w3p--CpCY7oIQxR-7BtLhPtMQ3I7DmBdQtisB7Yovoe5J9peS2WlwNmHT6LSnyyq-NSkU93cZ4S3vF3DtQuLIsrkppZkPIGt7l7aIqRLwwihAsUMaD6ht9ZcvL9pMktuQnyyWzStWHgilaoB368223TsNMQzhXr9LWkCP8s_uLQIIWWxJHx1ezWuc02EziyC7VZWJ1892p-4z1z8c7mEfVW2EwXdQ_ExOV3DrXWHA6aszLOyp-dw6GrfQZBUIzAASgTQWLbM1oiRk0g6wmoVkgJ6nmRtZG89NAgSJTF1RMoOHSKfNQgc3mavyGk3J5LsurWzjFAmFj1Fjg3ULhvvs5NnCCJJ9sfOamzumo2JAPZihpWaaxZ6KBgEppSQ-SzU2w9HXUcLaUFVWqpYIRfukBaNKplC3rmXe217piubm_GayixsXWcRzgZRyHMxOkShRxZMxPEjzOB8i1qagQVTUy-JHZZemgeuESX2JRagqghJ1pxPY9CKyDfnUcpjhQWFhedsrn0l1U0k7LGBA5cKFWJ-KWV2V9-Tfv12SDZkvZQLCxXTqUkSpCk8j7fKQL2f1-XMTnpCtQgmoU2bxNSZkw2zRQ75JA3jQxNjZHmuk8zjUL2o3g4039CRsuu2zxe-ThXM6vKGpZM9HYY7mmBbseUbv_5PrsvnktgSa2kSwgyI_4kvlIOskyQfARmbJMx76Stan6GHyV5-2gifEu5dZaZ5CdgqrnHEeaOjZR6gZg73_U-oA9uHn8z298yDds8_zz7TlEfiEx-geTLiEMHD2EKq2uFLi1KL_sJKuIcLCad5LSw38hLr_A==",
  "id": "rs_0f5f930c5ec4c3d1016ab44ed12d8087d0a67bab3a08814e69",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the white toy is now directly under the fingertip opening rather than merely visible ahead of it. I am closing the jaws for another body grasp.\"}",
  "call_id": "call_ji7a4wIYIUmPqt391mi072gX",
  "id": "fc_0f5f930c5ec4c3d1016ab44ed1463087d0ade415b98cefafd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ji7a4wIYIUmPqt391mi072gX",
  "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]: [-0.4725, 2.1773, 1.4857, -0.3977, -0.5068, -0.4023, 0.0362, -0.0212, 0.8238, 0.6014, -0.728, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4871 left_y=-0.1486 left_z=0.02 left_yaw=0.1891 left_pitch=-0.3308 left_roll=0.2407 left_gripper=0.0362 right_x=0.2363 right_y=0.0021 right_z=0.1096 right_yaw=0.0001 right_pitch=-0.3665 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -11.9316, 6.0103, 0.4274, -0.7155, 0.5543, 0.862, -0.0342, -1.1419, 6.6667, 1.4921, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91bda2fc5e5ab7d4cb043ecc4292a36349633eabe9441974b27c357ef863eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcba39fa4adeb7f804e6c6863ce93f761c2bd40804ed4071ea0d322e077dced3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bca87f61c2765017d69494e014e140f7792f0d9f7265954dac868c52aafdab2",
      "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 · 4.332 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]: [-0.5022, 1.9331, 1.3621, -0.4694, -0.5205, -0.3603, 0.0225, -0.0212, 0.8185, 0.6018, -0.6884, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4517 left_y=-0.1437 left_z=0.0844 left_yaw=0.1361 left_pitch=-0.2904 left_roll=0.2476 left_gripper=0.0225 right_x=0.2443 right_y=0.0019 right_z=0.1168 right_yaw=-0.0003 right_pitch=-0.3211 right_roll=0.0069 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -13.4359, 8.8821, 1.326, -0.398, 0.0708, 0.0855, -0.1026, -1.1282, 6.7624, 1.4335, -0.0269, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.477, 2.1761, 1.4868, -0.4179, -0.5156, -0.3565, 0.9983, -0.0208, 0.823, 0.6014, -0.7132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4836 left_y=-0.1479 left_z=0.0196 left_yaw=0.1689 left_pitch=-0.347 left_roll=0.2886 left_gripper=0.9983 right_x=0.2393 right_y=0.0021 right_z=0.1119 right_yaw=0.0003 right_pitch=-0.3509 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [0.253, -11.6034, 5.8325, 0.9255, -0.0562, 0.4371, -0.1929, -0.0342, -1.0051, 6.6803, 1.536, -0.0317, -0.0317, -0.0073]",
      "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]: [-0.4725, 2.1773, 1.4857, -0.3977, -0.5068, -0.4023, 0.0362, -0.0212, 0.8238, 0.6014, -0.728, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4871 left_y=-0.1486 left_z=0.02 left_yaw=0.1891 left_pitch=-0.3308 left_roll=0.2407 left_gripper=0.0362 right_x=0.2363 right_y=0.0021 right_z=0.1096 right_yaw=0.0001 right_pitch=-0.3665 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -11.9316, 6.0103, 0.4274, -0.7155, 0.5543, 0.862, -0.0342, -1.1419, 6.6667, 1.4921, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91bda2fc5e5ab7d4cb043ecc4292a36349633eabe9441974b27c357ef863eb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcba39fa4adeb7f804e6c6863ce93f761c2bd40804ed4071ea0d322e077dced3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bca87f61c2765017d69494e014e140f7792f0d9f7265954dac868c52aafdab2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7WMYvlskHIQs50_SPMPeAHWM1sOXB00AgonkAsm8i65cQd3abTbC-h5fYj-BH0piiXp772hh5ttx96Eh1nTMVpAVxlonOueEy1lot6DA4LjYjwcyqa_8r0o_C_mB1JhQ0X0ha0Nghm7vRyawQ2MAqt2Qu2fnAMcbPDwCgF5jhwyPE6DYXRdnIiE7bTQhvB3OIdc-81TWiHukxK9xM07_f9Wb2vXqmZgulx7ZcSNpDOVtQq2XTCuvITDv2WyPMTalJPgKqb6aVcegzJIZRQ9yzEz8DT-YwqiOtTKuQVMjeuLfow9nopIyjCmk00P8FkRoueP9GiKBAkjietyjyzp3VCV43erW1tBmJa1SYrLLGFfWNjX_r0WUrlFz7xLU-UNjmjcThLjAD0he4xqruAmVchZT-QzIZA0VncM_YO3H2ztV60U1s5GY4G6x1PXe8qCTNQ78LQvaUUozkB8fILulRaab38EZqTJZKGWCZzMMoOxtJdadfc9sLQthPDDWuGpH-LRBN4nZfmY_MXed-9ZlBnG5Ci6YpCb-SDDX4iNUUYaWFh0lE8OhvlbPdmoTNOTJMloPgA6hcjQdKySe-a-HQq5CQBUPSzVD9A09bqMES_7QO9haC-F16jvvR6HYn9gXCuArf8rUXNrDmWgADje0sSLs2GXGx0yfTeTTUAZuwPF7UQ-5gH0lY9Mk9NVhuWBHXIU5q-hRKrLOqB3oE8k_xCun0xr-pPdFfnT7QGX04GQEkCqu69Mdyo9TxGijxuBOdovTsnYTyLqySFjv4O5-aqqAmL1LtBK6jE2SHGsnHmCpkl3S5_WSnB6E4TBPC10i9C0bfTRB04mv_5RtKfwtpaLHO1XbR39WjHbDcKswo9o317IFIKak6kp6m8oeJDL9eaD6UD2CeicUcJqKKz8Dxroq4arzFDdOCXotCtFxSQORLDv5PT70BoDrzWUMAyhjO9p62lJmYxkKj8qMwPfFYs7D4vphJczNplfX8TNqlRK1IJwJoZaqGUSO2S8MiMQsWMakeQ_u4kXGVpQeFCwPJTWaDgPhGjrvBHdk1vUAdrU3W6tHmd4RvJ23Ao4TTkH2Qhbb3-KnvENym5kL3g0By2iUPBUxGQY4X12oNYRMToBAlhiZX_jRBcV4LbNaJG8t-WiQt4SgGvPnqWQO1U3NEzlhkYgiIfXrGU-EgUL1VScRn2SLxd-agIvSsS52ZkWWi5-EoaUV2-G-RnZXRirRdCHFKGb3DdeMsKTP9U2EqN5NGTLHrqTosQ_ternrtoAogRU8TGkDzvqOirXQNnhi3oJlxt8gEHN-Q5Q43AN0i9Axv9jiYyXpjan5fq4C5OY3Rp4f0a0_B7oI7t2YkeHJyTD3NtuYmokUxQB2KE_zh_YETnX5H_So56MLdW4bZtQNRBxjlaFEfnZD1ssG60VU7hLunRl-bwhA7Xf_3zC9KjuVE9GoLt0ulF_QpUiOyMHCtxgzwmjJUYOnKF7SIDqSZlamBCGWoiT7Npi1ptoAJ0LxdThEq3m6gUFxmcOJbnbu5vvV_o-NVQYQiFE9qqzefvSHle43Scun5I_-z0Mqgj0yb_WCYnRr8oSqxpFXqAJCr2O-k5N7w5qF7dxXp5SrTsTRD-Ki1B4A2qxIzK6XbYX1kwzELqgagBCg-3WmbdN4-L2TgsVKHmVIbjWXE2mXJeL5hWd_O4OBUW2j2pNvgE9TB5elFuOEMVufXC-GYapeKycqhOqtTeztlYVREcw5bd14m60-JyIN7Q7UvKDy1WlDnPfvCWGl_eqob6VBhuKWF90jdA2Q9O-LIsNQSCPKxwIjl-5E2yMLHUE8yBqXWniwX7TjSbxKeLStXs5Q3h1p2xm9FnlLxu48AQ-NKZpU22asaj1b0e7A7ncW4lbiSm8XM=",
  "id": "rs_0f5f930c5ec4c3d1016ab44ed46ac887d09393759827552137",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The white toy has disappeared from the wrist view after this close, and the gripper reading rose to 0.036 with visible jaw contact; this is the strongest grasp indication so far. I am lifting well clear to confirm it leaves the tabletop.\"}",
  "call_id": "call_qx2K20rglSQarNI9tJIE1aZ7",
  "id": "fc_0f5f930c5ec4c3d1016ab44ed5b73c87d086990e5801cb3e00",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qx2K20rglSQarNI9tJIE1aZ7",
  "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]: [-0.4725, 2.149, 1.7603, -0.8761, -0.4946, -0.3977, 0.0527, -0.0212, 0.8249, 0.601, -0.7425, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4686 left_y=-0.1413 left_z=0.0808 left_yaw=0.2252 left_pitch=-0.4753 left_roll=0.3538 left_gripper=0.0527 right_x=0.2333 right_y=0.0021 right_z=0.1071 right_yaw=0.0002 right_pitch=-0.3825 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -18.6325, 11.0427, 1.536, -0.4371, -0.0464, 1.033, -0.0889, -1.0598, 6.6803, 1.4335, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70e04cc73a2a076d100d2b5d82107674948178dc7be59b7b0e352a2670f6127",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a787a3761ff39a0ef8a7dbd966e983b791d52d0dcc0e0ef79fbb8f99fe02d66b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960dd033c77f59ed8ea1788bd23138b0fd161b32fb2e1c3152cad6858a3880e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.603 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]: [-0.477, 2.0594, 1.4979, -0.5171, -0.5117, -0.3485, 0.9952, -0.0212, 0.8227, 0.6014, -0.7021, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4759 left_y=-0.1445 left_z=0.0681 left_yaw=0.1557 left_pitch=-0.3273 left_roll=0.2728 left_gripper=0.9952 right_x=0.2415 right_y=0.002 right_z=0.1136 right_yaw=0.0004 right_pitch=-0.3394 right_roll=0.0074 right_gripper=0.9995\nstate[joint_eff]: [0.4444, -10.1675, 9.7709, 1.2772, -0.2418, 0.1343, -0.0757, -0.1162, -1.1419, 6.7214, 1.4579, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4725, 2.1773, 1.4857, -0.3977, -0.5068, -0.4023, 0.0362, -0.0212, 0.8238, 0.6014, -0.728, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4871 left_y=-0.1486 left_z=0.02 left_yaw=0.1891 left_pitch=-0.3308 left_roll=0.2407 left_gripper=0.0362 right_x=0.2363 right_y=0.0021 right_z=0.1096 right_yaw=0.0001 right_pitch=-0.3665 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -11.9316, 6.0103, 0.4274, -0.7155, 0.5543, 0.862, -0.0342, -1.1419, 6.6667, 1.4921, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4725, 2.149, 1.7603, -0.8761, -0.4946, -0.3977, 0.0527, -0.0212, 0.8249, 0.601, -0.7425, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4686 left_y=-0.1413 left_z=0.0808 left_yaw=0.2252 left_pitch=-0.4753 left_roll=0.3538 left_gripper=0.0527 right_x=0.2333 right_y=0.0021 right_z=0.1071 right_yaw=0.0002 right_pitch=-0.3825 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -18.6325, 11.0427, 1.536, -0.4371, -0.0464, 1.033, -0.0889, -1.0598, 6.6803, 1.4335, -0.0122, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70e04cc73a2a076d100d2b5d82107674948178dc7be59b7b0e352a2670f6127",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a787a3761ff39a0ef8a7dbd966e983b791d52d0dcc0e0ef79fbb8f99fe02d66b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960dd033c77f59ed8ea1788bd23138b0fd161b32fb2e1c3152cad6858a3880e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7bNciiATMRI-iK9LfwDZxLmj-lKRFuCS2p2dq_ZsbX4F1DzVMtcIgT-zR5VMRgVvus8sVaq-fU36DsnBb_hmX9uwIrXBvEENB5bI8i6XnKSRqtkHTf5EChn3orm6Z8C0LHPy8P0NVEiWuz5c_IWotwhW9H4uGQXuiu6Qt3pKZpL1cmG96h4FyULVVFWFMtjIrTsDCj2ZbjRndCQefTnxu-cp1j_1lOz8kyhjaWVmF-c_VtLP0_BmHyPxumEE-NemDoOmWnfMGjq4p-_TiE-yBHwejk3lDpGVxuXm8iwHyt9yYqPZT8qlWqC1e-FeldmFlobGzfkcsPZu5uopsiULhHC_xDkwXeOy1HgIACFhqsTGcv19GGJBnIHLzfclKVBOWh598kf4U7jYn3gMiT7Y-lYi5rr3MOwNqzjOrUjl2vQ5THJNvtVEtzjk7qW4J1bBgjKN3kRE3nyRwFMbY7IxwB9vIGduTu5GslSRK69MHYsV42GQrpLC-UxFcBn8Z2nqICVnHo5MU_woyXp4TwSpv6ZBTUwuI7EyR5uPZG4UAU3aE5dHCUh4ZCvsjK5EMgE4I0GMpug4ed1uIPFAbiRlFzaMeLdu8mymNFkbeYQZRz7zFZe_Acq-M6lrTE-C8HQNnyw5ZH7vcibF0SasT7HfH_l85gDZM3S11srLM6rDlwUi59RQgEpiNV1Q6O8u3Yf9P7FO3AS_Z1cSUcKARnE2bAQQZEI-rjaj0ehGcdJzhKfndHVclCAVFqhiuXCHaA5R8MsFwCwG9xOE-kccR5jvZmyCYdpsInUovTtfXkHsue-XpBVY-08TDGCyAwM4M3HPSuWwOmRmkXr3f_J7oNeki7b_mWc-WA2kkW9STOxAwdAy771Atxpe--KiI4ucy2OOw7nthmNqNPD8D8uhzuL9AOWlhwKzdny94hzra6CQ_lQxlGF-2ahhH-RFyfRwIcb6vQZ7rMVll-hBhCv597vAt6bTE5C3iRmM0foxVqpFE53XwA6Oek5-FyypAO80yERxtGGfnwOUQMcg_Qv5zpOPp0hvzD9lZc2o8vxP_aiEKptHfVkBXp6Kjj5JcKSzGJj0SQn2C4YQo60jOHlsZ6MHx2fv-uUcaeqiymgZnfR3IKymU7YpqokiNO9oEaEgwuqfqCah1TC_w6nx1fv01CUt_-Spt5l6HoaKmCPsBn5TRzLfHGNnKRDtOcO1u_zW2TNei968jhtIJit2_mEOjYS59d_nLIIKqc8lirQQ5MgF5TAJ0jI-detjI8QVwe5OLyF1T2z-6AE5govN74Vt5igO273xr9DNmIGssZTIPcUKbpfkMFR2EGoYcPxvO5TztEDav5f7x7oCQCsGf_Lh4uy-zbi8kRrVhSl1P6kTL6ShAzWpdSnuv0bIduG9PKm-OQp1pYCrINmeTpf3dXG_GpAbGyqNVYZ-rch5dJrsPyd_a8v2QYz0ZFwoFcTUWJbWBdWrVpCI_l4Y9ycNSO4dUURJCOn97SzMsQQbZ2i4u2j2r5-EoUKUZDZsetue4mlKusZuXF9N3cRlrtwje67ovlXeLFox4c4STvhdkx-vX2CNYaQ6F1o7cRkJlhVsiMjxJD4nea6NQeaq2L0RabGrgrccKxBSYTTJ3DtSoa9t9A7q3vhIJDIAhwzLnCU7qQ9p5gr9Z4lPFwMcxMLgm8WTfo9iYbPD4avpO8pOUYwzPnAJobMGdyp-ZWwm0DFXWzAU9PsP2IF01Djna31v3GFjS9PFoZyMLLlOzjsfWytvr37AsVUPm-zfFvnRPkm6FZwbFyFqDbULbp4gNd342HrirC90fyIA1XpPOHqSEol1J3Apl3omTIXuOLTNkwhysxNBOk9iXGpwFa2Y5p3p4YRZwLhxPkvtcM272Ypb0ScabiRoW9QD2D14_WTmVHXJYDF5tcT5nRHR_Qohzotj1aqYQ1RPvO3rKAsHhp7GFG6ZtAm9nsSFtkD5mnsH19Lbz_zL4Sb3KajYvEzmU-FK1rdXG6OQf2FQ6Sn5YQk-MM4jIY2RyOjHx-MchgbQIepFjx53wRmc7-tG96BJe0-5BXSAQeF9k_D8OVsE7MffczU_Mzv-DXH8l7hRnWPF6_6ZTwK5iVTM2224-Di1hvl_WGkr-RaW2CsCSakAQEGabrXAfgn1AXrBoYmVOFl7vda73FD9Mr4YgWs3bUYo5li-j_jTvs9Mnb7w==",
  "id": "rs_0f5f930c5ec4c3d1016ab44ed8cc1c87d0b14a534f6ecd4f95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.26,\"left_z\":0.2},\"note\":\"The overhead view clearly shows the white plush dangling from the left gripper, confirming a successful grasp. I am carrying it inward and rightward to a point above the center of the open red safe, with extra commanded height to clear the rim.\"}",
  "call_id": "call_f7Ks67P7YA3eCWMzbGRLpa3E",
  "id": "fc_0f5f930c5ec4c3d1016ab44edafb9087d0af35dbbc899d3678",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f7Ks67P7YA3eCWMzbGRLpa3E",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 2.3203, 2.3962, -1.5593, -0.5381, -0.6926, 0.057, -0.0212, 0.8249, 0.601, -0.7517, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3961 left_y=-0.2499 left_z=0.1629 left_yaw=0.2189 left_pitch=-0.5288 left_roll=0.4087 left_gripper=0.057 right_x=0.2315 right_y=0.0022 right_z=0.1059 right_yaw=0.0008 right_pitch=-0.3917 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.2957, 7.6103, 0.7302, -0.5446, -0.2906, 1.0281, -0.1026, -1.0188, 7.0359, 1.3895, -0.0757, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f536f73ae7d428e0f4b830d35fc438980cf0c48e6e2008b124ba88c6c23d4fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de10ccbbd04ab6e05f3bbefd185d2388dca623e3e498e0d050c98ae6d6932d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca78df882214377522242ea68f36701997cf1677af004bc33943bc0722026081",
      "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 · 2.085 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]: [-0.477, 2.1761, 1.4868, -0.4179, -0.5156, -0.3565, 0.9983, -0.0208, 0.823, 0.6014, -0.7132, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4836 left_y=-0.1479 left_z=0.0196 left_yaw=0.1689 left_pitch=-0.347 left_roll=0.2886 left_gripper=0.9983 right_x=0.2393 right_y=0.0021 right_z=0.1119 right_yaw=0.0003 right_pitch=-0.3509 right_roll=0.0076 right_gripper=0.9995\nstate[joint_eff]: [0.253, -11.6034, 5.8325, 0.9255, -0.0562, 0.4371, -0.1929, -0.0342, -1.0051, 6.6803, 1.536, -0.0317, -0.0317, -0.0073]",
      "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]: [-0.4725, 2.149, 1.7603, -0.8761, -0.4946, -0.3977, 0.0527, -0.0212, 0.8249, 0.601, -0.7425, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4686 left_y=-0.1413 left_z=0.0808 left_yaw=0.2252 left_pitch=-0.4753 left_roll=0.3538 left_gripper=0.0527 right_x=0.2333 right_y=0.0021 right_z=0.1071 right_yaw=0.0002 right_pitch=-0.3825 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -18.6325, 11.0427, 1.536, -0.4371, -0.0464, 1.033, -0.0889, -1.0598, 6.6803, 1.4335, -0.0122, -0.0659, -0.0122]",
      "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]: [-0.765, 2.3203, 2.3962, -1.5593, -0.5381, -0.6926, 0.057, -0.0212, 0.8249, 0.601, -0.7517, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3961 left_y=-0.2499 left_z=0.1629 left_yaw=0.2189 left_pitch=-0.5288 left_roll=0.4087 left_gripper=0.057 right_x=0.2315 right_y=0.0022 right_z=0.1059 right_yaw=0.0008 right_pitch=-0.3917 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.2957, 7.6103, 0.7302, -0.5446, -0.2906, 1.0281, -0.1026, -1.0188, 7.0359, 1.3895, -0.0757, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f536f73ae7d428e0f4b830d35fc438980cf0c48e6e2008b124ba88c6c23d4fe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de10ccbbd04ab6e05f3bbefd185d2388dca623e3e498e0d050c98ae6d6932d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca78df882214377522242ea68f36701997cf1677af004bc33943bc0722026081",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0f5f930c5ec4c3d1016ab44ede613c87d0bedee75ccdb24ed8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.26,\"left_z\":0.09},\"note\":\"The gripper is now centered above the red interior, and the dangling plush is already hanging inside the safe opening. I am lowering it gently so it rests on the safe floor before release.\"}",
  "call_id": "call_E0oJN56f6xQyWUgQv6kEFZv2",
  "id": "fc_0f5f930c5ec4c3d1016ab44edfe29487d0be62ed4279f759bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E0oJN56f6xQyWUgQv6kEFZv2",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.77, 2.3436, 2.3947, -1.602, -0.5316, -0.6884, 0.057, -0.0212, 0.8249, 0.601, -0.7654, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.388 left_y=-0.2465 left_z=0.1513 left_yaw=0.2439 left_pitch=-0.5718 left_roll=0.4734 left_gripper=0.057 right_x=0.2286 right_y=0.0022 right_z=0.104 right_yaw=0.0006 right_pitch=-0.4054 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [0.294, -14.4479, 6.5846, 0.569, -0.398, -0.0806, 1.033, -0.1709, -0.8274, 6.612, 1.4579, -0.0464, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a250a2dfd3039172d7f3b4c02895b0161087b5b9b2aaa1ba373aed71c73ef36c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da548636a70eebb25ed1f2521d2b5a89875c681fac8ef98df95121402729a40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d805271136b2c4caec2607fb7b2e55103f0f82166f8f75c9ac34c7133ba485",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 8.133 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]: [-0.4725, 2.1773, 1.4857, -0.3977, -0.5068, -0.4023, 0.0362, -0.0212, 0.8238, 0.6014, -0.728, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4871 left_y=-0.1486 left_z=0.02 left_yaw=0.1891 left_pitch=-0.3308 left_roll=0.2407 left_gripper=0.0362 right_x=0.2363 right_y=0.0021 right_z=0.1096 right_yaw=0.0001 right_pitch=-0.3665 right_roll=0.0079 right_gripper=0.9995\nstate[joint_eff]: [-0.4718, -11.9316, 6.0103, 0.4274, -0.7155, 0.5543, 0.862, -0.0342, -1.1419, 6.6667, 1.4921, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 2.3203, 2.3962, -1.5593, -0.5381, -0.6926, 0.057, -0.0212, 0.8249, 0.601, -0.7517, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3961 left_y=-0.2499 left_z=0.1629 left_yaw=0.2189 left_pitch=-0.5288 left_roll=0.4087 left_gripper=0.057 right_x=0.2315 right_y=0.0022 right_z=0.1059 right_yaw=0.0008 right_pitch=-0.3917 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.2957, 7.6103, 0.7302, -0.5446, -0.2906, 1.0281, -0.1026, -1.0188, 7.0359, 1.3895, -0.0757, -0.0757, -0.0122]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.77, 2.3436, 2.3947, -1.602, -0.5316, -0.6884, 0.057, -0.0212, 0.8249, 0.601, -0.7654, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.388 left_y=-0.2465 left_z=0.1513 left_yaw=0.2439 left_pitch=-0.5718 left_roll=0.4734 left_gripper=0.057 right_x=0.2286 right_y=0.0022 right_z=0.104 right_yaw=0.0006 right_pitch=-0.4054 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [0.294, -14.4479, 6.5846, 0.569, -0.398, -0.0806, 1.033, -0.1709, -0.8274, 6.612, 1.4579, -0.0464, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a250a2dfd3039172d7f3b4c02895b0161087b5b9b2aaa1ba373aed71c73ef36c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da548636a70eebb25ed1f2521d2b5a89875c681fac8ef98df95121402729a40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d805271136b2c4caec2607fb7b2e55103f0f82166f8f75c9ac34c7133ba485",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7iYYdDYp9GCIqlZVOHI37GIKKSZjteUHEp3n5CN8ENTxPHjqJpyPS2VUaOEMnUYeN3rzVj7-gEWf_F43gpCUbEUPGgPT6dzY2jTvBF6EHMt--4eORSlu7wge8E6nyjU2i8CHplzbuZzZJ3V2jupyAqT5YScn9KYCAPgPUPZLNdaf2owua3_KSjrSD_iqRq31vvaVMHIK8NSeEacdUYhR7iLLFhdDaeaUW_eNZhsmv_6_Xxh0oDia_Gi_48qFoUc7tXom644PoeNUPXI1uQ06Oe8QzQcDUGOOcUIdE_Le9tm3wcbaUxBN2f6zbNnbOFhNfMpNW6L_FUUSHBVxTKSmnqTwj91t58IlgcyjL6HCFZBu0nLJCOQchTwyP2XqfpdEmwGB_IiffDaacyTow0pbjx9d-GnJuDdYuDQqCt1BTVEUmMX5ZlCUwYT5mOFmyL-4cAIom6-0VZuAp35vtLiikerwlTHR_plS3VOD1yVCGboN1eEsWv1fhE0TMarBqEvQQmTGof9ahdxiky-Pe3kHQeaFIylzaMRAG9zGhvQ3-yHQica3rw53zzLyDuJYMiUBO-mxw7Dx63fCSjbxFo6WkjvO10sSn_tResdvPfJwLjhTxY6GeUmKkvFW6CBjCLVEQLr0xcbZ5Gu2BzkLmKGL7PMXmDinund34bA4ZpXWtygizOYAUYXo68hwCoECIznILpvyORvwJugesRBTfY33R38HiP81V_lkCA_yl42n2Jh6SljjsNz047LUikawBwEGjMGbsdL0xTEXirDlr9oELsCbgUPAar7Z5xMFnuloFa1GizhrMBJJMX0cO3DwCrbqZoIPdyVRIowPiBihbjkwgse0ArRMmQZr6cQ6ZSP9eYez0H2LoJ0KdbRRH5vU2TVD4Nsdf4h17YytWj-dwTq3098qJcxvJkVxUN4w-zmii6A7Duj_Zng_65eCiFfW8Bk9TjqD54dccUAkPXzD8maIhStfPro8q1LRLRhcaKu9DIynzCFOcA-ptKbSMXms1PI01pxYyif7VZfVXxmFd976IrDiP81OwObNMcMFYW1THPUeTV-jHJgQw1mFLfX96DpZrMxhC9fLOdZLwR9nxHkrGjKy-vlq-NePz7ekyue39mNBywETfSIDZar7ygqP73QNj4j9MGMJZMVGA1p2T1YBN9XpDFjzYTTebrm8Fp5Bh3tX1vXI15raoRGbidPlKlGZ89Yk6jfP3agSJmSSlUXzIHO9uWXrQsxpn8xGFuid8KViXRWG1IjYmGH9VTmQ_1jMD9GWA9r1_cj9GVu-ZV1qZPtMGDCVishZFE7N3DeYCJ2jDmPMDDa-fezh4WJAq2GsHd_gtLXOafMDTIMXg4bh-bzWTVdg0fLQ8LvciNHmRYF9A=",
  "id": "rs_0f5f930c5ec4c3d1016ab44ee1fe0887d0bdc9003720d3ee7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The descent stopped about 6 cm above target while the plush is visibly contained by the safe, indicating the toy has contacted the interior floor. I am opening the gripper to release it.\"}",
  "call_id": "call_LiW9RaRQtjYqmmFmHDlnzDUb",
  "id": "fc_0f5f930c5ec4c3d1016ab44ee2534887d0b2c88ee65f09527a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LiW9RaRQtjYqmmFmHDlnzDUb",
  "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]: [-0.7708, 2.339, 2.3417, -1.5742, -0.527, -0.6895, 0.9951, -0.0212, 0.8249, 0.601, -0.7876, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3857 left_y=-0.2458 left_z=0.1399 left_yaw=0.2536 left_pitch=-0.5862 left_roll=0.4909 left_gripper=0.9951 right_x=0.224 right_y=0.0023 right_z=0.101 right_yaw=0.0008 right_pitch=-0.4275 right_roll=0.0091 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -14.0513, 5.4632, 0.3541, -0.3297, -0.0122, 0.0415, -0.1026, -1.0188, 6.5709, 1.4579, -0.0415, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a5e69fb0ce5dd25d6a5736191935d02b5df1441958baa2cdcf101cce6d540b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81851b0b700db5b647d45a4c753cf4ece1b855f617daead7bcc3e08dc13451da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c48aa4e388192309d882a9ca101653341e5eb73f58512204e2dab2b5e8e7fe",
      "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 · 4.947 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]: [-0.4725, 2.149, 1.7603, -0.8761, -0.4946, -0.3977, 0.0527, -0.0212, 0.8249, 0.601, -0.7425, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.4686 left_y=-0.1413 left_z=0.0808 left_yaw=0.2252 left_pitch=-0.4753 left_roll=0.3538 left_gripper=0.0527 right_x=0.2333 right_y=0.0021 right_z=0.1071 right_yaw=0.0002 right_pitch=-0.3825 right_roll=0.0083 right_gripper=0.9995\nstate[joint_eff]: [-0.0889, -18.6325, 11.0427, 1.536, -0.4371, -0.0464, 1.033, -0.0889, -1.0598, 6.6803, 1.4335, -0.0122, -0.0659, -0.0122]",
      "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]: [-0.77, 2.3436, 2.3947, -1.602, -0.5316, -0.6884, 0.057, -0.0212, 0.8249, 0.601, -0.7654, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.388 left_y=-0.2465 left_z=0.1513 left_yaw=0.2439 left_pitch=-0.5718 left_roll=0.4734 left_gripper=0.057 right_x=0.2286 right_y=0.0022 right_z=0.104 right_yaw=0.0006 right_pitch=-0.4054 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [0.294, -14.4479, 6.5846, 0.569, -0.398, -0.0806, 1.033, -0.1709, -0.8274, 6.612, 1.4579, -0.0464, -0.0464, -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 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7708, 2.339, 2.3417, -1.5742, -0.527, -0.6895, 0.9951, -0.0212, 0.8249, 0.601, -0.7876, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3857 left_y=-0.2458 left_z=0.1399 left_yaw=0.2536 left_pitch=-0.5862 left_roll=0.4909 left_gripper=0.9951 right_x=0.224 right_y=0.0023 right_z=0.101 right_yaw=0.0008 right_pitch=-0.4275 right_roll=0.0091 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -14.0513, 5.4632, 0.3541, -0.3297, -0.0122, 0.0415, -0.1026, -1.0188, 6.5709, 1.4579, -0.0415, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a5e69fb0ce5dd25d6a5736191935d02b5df1441958baa2cdcf101cce6d540b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81851b0b700db5b647d45a4c753cf4ece1b855f617daead7bcc3e08dc13451da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74c48aa4e388192309d882a9ca101653341e5eb73f58512204e2dab2b5e8e7fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0f5f930c5ec4c3d1016ab44ee508a487d0a577e9f547964bfe",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE7suEUP1JKosJCF-ZMofRntMLpEI-d7yrDk_s_OrPXzIQQ7HODJYTC6gM7e5laKT42yBSdW2PqQa95fZXrtTvIt4tfiRESRHceHRXUcRUnxYRcR5L_gpU9QZ2MCgxgfJIK1HNjIk4MUp9iwXmOcpevalC2aFQi-FmR6uA032nRoaSG280bJIv-pizP648jj6_Zw_U9NmHgI5lNqEE_-WotFQqV3V3YkjS8CTftys4ymJOnZPyeEUv2WBTP_FRwg3-UPaAX5_55VRHr9iDppVek75NfoXldo1OlZBpoNaNWXXB6CUvmTe0-JvxwtCsxDTplJGA1fobBg_A2vyxtKW6GsxfBZmtcAr8YMopkbChMd_5j3_nhqXHKuvDaxb_-KE7w-UQfWLDOt6YFO4x_G4cLKL_A85kqHv4jWk__5uxo_FJ_1ZJ5aPcR71XGpVuPNloAiSP8qly3iJ0n571_J0kvZxLgV1N7OSC0Z59iKFt95CalmPHf-y4eQ9AkRqHtVs45ZvXX8S8Jjo6ZvSkHQWIyt-oYuBsD1INfIamx7MtyrSkgJH3fZGPjxPK-4lLiXF7NUVYBQJi-BsvxEp109wwNlkjDMAjH2fauIvhp_bHgIib4EWGUSnzDt_mof6ontziPKY_UhYK_8FuVLmQ2GvIVLUydxA_ETPTncM_Ml_jp43rJDIEC-yzs-oeEmFNaRQJhPEL6TUki_75S54TSyc3Byg43x2XHFKwaGvM6q4qWA5ET6RLPK4F5IhYTbl4bLIdGTejHPxAjE0eaWrtWWBNSps9YD5_pWOF3lNy0vgJkxt2ag5Ki89t_unfuk4xUjKMPpiiit0J5Ihihg9uOXIih3sl_d65KdpSNNsd-lwzHjQ6S219ZNyd305IbzrC3mRGsgzecv1XYqJfX-l9YAxyVsOy3fTeg2CZkmhVz_sguaEqqCrdWSAqd7eFMB7wfQkSW5vtSo4boZIILFHQ8A_IAgMCwnyJHLk9Xgrwl9YagvaaETdUh7Ch_SGXFVpRcA2sCw_gPly3c9Wvm4sR2NqDZS-LuD5SMckTw6LUj_ceAoByzjHM28Ss8X5ZGeLkgGleiw4U-Fskjy9bc7derJDC9jGGZh9a8zdBN9SafnavxHjCBDTjUYNWaG45yPlYwGtJh82PnJtzykQlmCdfXJ6Jiiv6CQHQ-zKvXEvMD-uEG4wqY=",
  "id": "rs_0f5f930c5ec4c3d1016ab44eeabae487d0a28f46e171c76962",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.246,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"After the arm opened, the white plush is visibly on the tabletop just outside the near-left side of the safe; my prior target was over the hinge side rather than the floor. It is centered at the current pitched-forward convergence row, so I am descending in place to re-grasp it.\"}",
  "call_id": "call_GbRvh82BI3xIyRSGMlyYblqS",
  "id": "fc_0f5f930c5ec4c3d1016ab44eeadfe087d0878ce966173d943b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GbRvh82BI3xIyRSGMlyYblqS",
  "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]: [-0.77, 2.3283, 1.8992, -1.1538, -0.5236, -0.6895, 0.9984, -0.0212, 0.8249, 0.601, -0.7952, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.2447 left_z=0.0336 left_yaw=0.2598 left_pitch=-0.5951 left_roll=0.5006 left_gripper=0.9984 right_x=0.2224 right_y=0.0023 right_z=0.1 right_yaw=0.0009 right_pitch=-0.4352 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.7419, 5.3128, 0.2125, -0.1978, 0.0024, -0.1783, -0.1299, -0.9915, 6.6393, 1.2772, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a90828f90e12289d0a026b5f738d10167be6277d7bcc9a789e7bfaf173c85f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc12c2fef10f1d7c9b88ce965b553d563a480c5e3a8d000ae8c71eda66807898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9aea6206849e12c55ac5f991a3cf14c2a76df7aa124fc68fd44fd3ed40d58b",
      "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 · 3.377 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 88 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.765, 2.3203, 2.3962, -1.5593, -0.5381, -0.6926, 0.057, -0.0212, 0.8249, 0.601, -0.7517, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3961 left_y=-0.2499 left_z=0.1629 left_yaw=0.2189 left_pitch=-0.5288 left_roll=0.4087 left_gripper=0.057 right_x=0.2315 right_y=0.0022 right_z=0.1059 right_yaw=0.0008 right_pitch=-0.3917 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [-0.212, -15.2957, 7.6103, 0.7302, -0.5446, -0.2906, 1.0281, -0.1026, -1.0188, 7.0359, 1.3895, -0.0757, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7708, 2.339, 2.3417, -1.5742, -0.527, -0.6895, 0.9951, -0.0212, 0.8249, 0.601, -0.7876, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3857 left_y=-0.2458 left_z=0.1399 left_yaw=0.2536 left_pitch=-0.5862 left_roll=0.4909 left_gripper=0.9951 right_x=0.224 right_y=0.0023 right_z=0.101 right_yaw=0.0008 right_pitch=-0.4275 right_roll=0.0091 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -14.0513, 5.4632, 0.3541, -0.3297, -0.0122, 0.0415, -0.1026, -1.0188, 6.5709, 1.4579, -0.0415, -0.0757, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.77, 2.3283, 1.8992, -1.1538, -0.5236, -0.6895, 0.9984, -0.0212, 0.8249, 0.601, -0.7952, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.2447 left_z=0.0336 left_yaw=0.2598 left_pitch=-0.5951 left_roll=0.5006 left_gripper=0.9984 right_x=0.2224 right_y=0.0023 right_z=0.1 right_yaw=0.0009 right_pitch=-0.4352 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.7419, 5.3128, 0.2125, -0.1978, 0.0024, -0.1783, -0.1299, -0.9915, 6.6393, 1.2772, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a90828f90e12289d0a026b5f738d10167be6277d7bcc9a789e7bfaf173c85f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc12c2fef10f1d7c9b88ce965b553d563a480c5e3a8d000ae8c71eda66807898",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b9aea6206849e12c55ac5f991a3cf14c2a76df7aa124fc68fd44fd3ed40d58b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7x6IWmgpTkMRjUQon86hzfs1M8Ux2Pkm5DbuQZ27mRv5gFhRwFUIqmS8vG5El7k0ZXumKG-vypJEknBkaM6JwmbjDd991S5v3C9-XI0oNOv0fH4lsYyCwOzXjkMJu_EQa0w-MYUt6wNERPfr36D0FuzDwbMOjstlr6dtqeXQrx1FZeZ11J7lMCkuBSQ1SDCcMcSuw_NpmxJBwjCPsgiTLibCjUZ6OsObzobEdvMAYs2x24_U9-wIXOOKgp0kkYSWLTlMPybxXU46G1HieRgBoKFwoROMXbJbCLdmvUPErWAQ21mNXEVpHTZJ9-8913rIACq_uOkb16Jy4c5RvUjEq0NOo9zH5ZDEMRDlG1y1AqsL1CbBsXfZv_pLLi5DsYM9l3h-Yeoyw51xkm6PFDy_RKzZ8IaT1Xobd6o0Q_QGtuu1YK1-jnhXvw5wxQXm28S_tvQPGVgtEri0Nk4RsSrcQilf4NQmZgX7pgL9_RpgqRINm-nu1xkfJt8vHZ8o7NvrPNXu0Onf9h0afCE5v9dOm8G0cXTPg5OYbOnSV5JcSSScS3t_zYxQq11VChO-3DgDsSwKsFGdm1tPWwox4FwmglpvVPDcMDuNQ52A9TB8r-NNokj79yJUX33GCC-n7WlH2rqmsMtVZeikudWcvQmR1q094dzVusY-5kI55MqFFdYRYJCxE-fJXIvJ5Au1P5s3My1hasMsmlWQRnaCPpIyDK5T8OiQe5EmzC92BCG_0TIYD2-36ho7Qmx8-i4eu2PUgmC9JmqDjVBGxYJ60ooj8_ILqUx-VztE50w_8tx8a9Fzr8sXFSqhOkRFffr-bLv-6Kxw0XDKkmPFeOTAoz12hL7hKBaTHZRW_UjahNKDTDQZIZpVbV3okhEus_h9d2x8SjzCmt2OHZcg2ulOQGCW_K5WSHljymX_JOq4FTc3xThdriIN396odozu9PQ13tczxK_IZdRYtPnwY767XgFQgllVCo9ieNIM7RZ1UUywTf56m1HB_jPN93Sl7bgnPBoXQW5B0XONIUBNYhEn3KAp-1tpvZn7JJADfUqUbcKNAwF0dyoul3Kwabjoml_abcXITAbadTp4uMCOprh0abT6IL8BxViDZ_UmJLKVfNIl2lRxDLJ3nLsidHq0oS2fdrkp7hqloLzMBmz1lt0nPQXvkgRDhZr7CCxrGRWKQgMvU9SrFHN9dEhdq0ELIEsmZoyC8V9pMohUFM8dLty5el2cDPNeXM7vSxLYUQetIlye4Wu3-dz9FzQYF99fHxzMmCEcs_ANcoj63PtJ-d_nkWQ0BKghB_VBrrsFRxlKDYc0e3cGBJXxrpChSaezSoDq8AcZG_6Yr8NzKk63oMTBMmYK49Dx_P1f4_HhHYyL8fGJ4np5uRpMxh7fo0rE4wAR3XMWzsxaBwWLkuv4M52t8AJFt-yYcH-0QnbSlHkj0HoUmcvf8X2u16ADWsHb_j9bSuXVBC1eo-lrTlQT0uyCHLeGdgspKnZFUCx3XzDnJVK8MJ6oJTc2XF0G10E9V_iMclFMqeCG_XTP3AljRU6Os06gYEr-UfIKxnNfWOUIFj-nomWDSAHqqToZQZthoOQVEAD0yw5J34Yy7GAgyFWob0pxAX0blJvytIwmdJ3EqVkJOfxQoRLG-CK-uRV25dt3LO5SZVn0hwE9B2Q_AV4T-gWppUED1gP3yMW41h89svOT9FwZoFOOpFv5KKDuXcnqhbJZeG1Ha4L8gbU-KXnCrvMsMiTHOJd2VXdH6CORdibfK8ms1qgDINb6RHglZzuZPrZaB5EKVgdL7F_rw16XmvljFr80KRRIDSsdvaWQuTgQfck3XvVb4nT38FGg_jyEQgr1QDZLQPdyY_dEFmLCDnW0NT3hAd4WLAsl38_UB04CfA9PxFR6Nl_lCs4tG3Jx2PCZz1eNBkwhvh4Vo2NBS60Fn8H3Nmic9rw46EqWqjAwDspz_yxpTC006UVjAPeNXkSPV2pecOmU9e4E7fYiEGt1kD2acjV2bsF88DnIqkLM6AGppwxlBXLQgdDTDxdgb6Ujwd13ih3RZnF1jdO3ziUazIxZgBbzqpCWXHWekkIFbLJeKgHLCPWG5EXmKUkQFFToNDuKyTNubD_ps7Rjg6FEOWrfHv6Ty1D_gVVZBPmzg086y-VWlMKdesuCUvD1xkQDx5zM6El47J0IHOL2_SR-Xgx7IBY261EJLo3cK8tdSu_GYJgc6LS_iGXSj6V83EVUp6dCBeQo4_WbDsy9qkfNGU5RuoFj3fqcOtd3q7zqTbfYvmMOcS177PNHlj7gTbBvGI",
  "id": "rs_0f5f930c5ec4c3d1016ab44eee50dc87d085ab19b3f7ecc70d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.18,\"left_z\":0.03,\"left_gripper\":1.0},\"note\":\"The descent reveals the plush is several centimeters to the arm's left of the grasp point, now clearly visible along the left edge of the wrist frame. I am shifting the open gripper left by about 6 cm while staying low, returning toward the lateral coordinate where the earlier grasp succeeded.\"}",
  "call_id": "call_6eLbQqJUDQ7hPlZQiveQyO9r",
  "id": "fc_0f5f930c5ec4c3d1016ab44ef085b087d093e568369b2eff66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6eLbQqJUDQ7hPlZQiveQyO9r",
  "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]: [-0.6632, 2.1868, 1.6367, -0.9684, -0.514, -0.5858, 0.9985, -0.0212, 0.8288, 0.601, -0.7998, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.39 left_y=-0.1899 left_z=0.0271 left_yaw=0.2661 left_pitch=-0.5943 left_roll=0.4824 left_gripper=0.9985 right_x=0.2214 right_y=0.0024 right_z=0.0987 right_yaw=0.0008 right_pitch=-0.4436 right_roll=0.0097 right_gripper=0.9995\nstate[joint_eff]: [0.7453, -12.7111, 4.6017, 0.2027, -0.3883, 0.105, -0.1783, 0.0205, -0.7863, 6.5709, 1.243, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1b0def8a66d357c49da7b58f108b799df1e45ea35a01a35364749d6cecddb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b548165cef0544b30ed8482218a6395e2807e39f95998b66229ffcc394249a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7317d5278a75abd3b4bfbfba4da0d12c5cc3e896a45ea0f3723d2e0dee7eaf1d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 3.187 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.77, 2.3436, 2.3947, -1.602, -0.5316, -0.6884, 0.057, -0.0212, 0.8249, 0.601, -0.7654, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.388 left_y=-0.2465 left_z=0.1513 left_yaw=0.2439 left_pitch=-0.5718 left_roll=0.4734 left_gripper=0.057 right_x=0.2286 right_y=0.0022 right_z=0.104 right_yaw=0.0006 right_pitch=-0.4054 right_roll=0.0086 right_gripper=0.9995\nstate[joint_eff]: [0.294, -14.4479, 6.5846, 0.569, -0.398, -0.0806, 1.033, -0.1709, -0.8274, 6.612, 1.4579, -0.0464, -0.0464, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.77, 2.3283, 1.8992, -1.1538, -0.5236, -0.6895, 0.9984, -0.0212, 0.8249, 0.601, -0.7952, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.2447 left_z=0.0336 left_yaw=0.2598 left_pitch=-0.5951 left_roll=0.5006 left_gripper=0.9984 right_x=0.2224 right_y=0.0023 right_z=0.1 right_yaw=0.0009 right_pitch=-0.4352 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.7419, 5.3128, 0.2125, -0.1978, 0.0024, -0.1783, -0.1299, -0.9915, 6.6393, 1.2772, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 2.1868, 1.6367, -0.9684, -0.514, -0.5858, 0.9985, -0.0212, 0.8288, 0.601, -0.7998, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.39 left_y=-0.1899 left_z=0.0271 left_yaw=0.2661 left_pitch=-0.5943 left_roll=0.4824 left_gripper=0.9985 right_x=0.2214 right_y=0.0024 right_z=0.0987 right_yaw=0.0008 right_pitch=-0.4436 right_roll=0.0097 right_gripper=0.9995\nstate[joint_eff]: [0.7453, -12.7111, 4.6017, 0.2027, -0.3883, 0.105, -0.1783, 0.0205, -0.7863, 6.5709, 1.243, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1b0def8a66d357c49da7b58f108b799df1e45ea35a01a35364749d6cecddb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b548165cef0544b30ed8482218a6395e2807e39f95998b66229ffcc394249a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7317d5278a75abd3b4bfbfba4da0d12c5cc3e896a45ea0f3723d2e0dee7eaf1d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE71koVNZTRvjPN2dmZxyc1E9mkfGk7bbPRZLSivwa6amd6o082ojsIvbqeuQkHuREHZPJUDHXJHZHtmZCLEdliaMFAE4rjw8loUUkTTE_NlJ0xlk897IElq04ke8U4kwMURtNZbA8Uc4gX2AaVf9ZozHLr-ownN3xHbPDlzuQd2dNZNMXofDp1_v-1t67BKpjM9HRRI7asoEfVa8dP46-ODr7dGktbGiPKi3VF28sPR0M5itFNWQz7hYRJmz8208ZViftKIJqkwG9xNV7eJ63N1RSQerYvO5aWJRaflQ0P5MqsdCJuVGk8_8ex7iS9YSBUbf6DdG8A6qd4JJ93gvswrhwNsHaTJMhyFwc80mdsB0v-9yuSA5oIkx1DMul6OV3FUZa-q9w9L9eI9zJGv73UeVUmCcNOnL0vkwrQEgp29u1miumVyZ7mpdxmZU22m2jbxvWqspgUiWlRy64E2OCZ-GoZSIDWY9iobFTHDf8F_k5eCpakwwV7grJtWrPKln7MhE_rhzgXucH9TZtDcIGUHzCUYXC3-OsklFSh4xMec6AdZozsVujfBo2VdpjipIiYAOCAyvSskOfYzLox7PilkVGLtsniIpCST5rNB7eEwgj_X8xBwbwWQ2DCE0IahpmQYwrxHZS9q0Be0xuqH7UuhHuArvTkeUgTJAj_slSJUiyjAOVbjGXbBXsYLhTTwukVMBSi-Qam8_tg58Ui3oR_hiA2lTVhhMF8jL1KuSijV6TQfEayxP8qbB71ZrHfY1vp5wWYFxEOg_lLfBmf5ROPiczYhYFJM3Zyh9wxS-zGBxWMJQQlXrsZuVtuhD_8003Qx66GMcBN6dMe9qLxJu6E08g3vfPUkMC9w9aVzz_YdiuFMNF9JTtQBhFsRaotrAYIOjneeKQcYQ5W1w4k8JNIE7uLjK57o86t7jW11MLeXiN3CAcei4fnppH2Rk9zab1_xtrJiIaY_gCvZMTqiL9sOaBeIqBSNei1ywIWKskAFNDNwx2suM6y83dduExGesG13D3W71UAdjHUo4QFBn1lcKuqDrFLuFv5J0i97SKUMiN3ZwmJ6EoBGh_c3TxFeSCjxs6t5YYjwFpOkTJHnmwh8hVH29V59XGcFwtdZ2I7zbJsfAIyu_6vmuEZEKPH9uzlqu7GTaUq-UuVfMtt9VJdxU0GUJGSxfd9OIY878BAwjYzAsy3Ope2EagoWw1Eh9h-nJdGG3jnSJwobj2Rpatm1Z13noaXTkLzYgiwQTmIqe27Fa1eXHAXXvgmSYhqDupxhCBYWh3DV-KA3XJnfUTj5g7LaI_OiLAa4ZYbfAwIrmBtL1g_e0-MVKUKSlQVU-6WYMqlRUBdZCRrJGmmly9VWRzyJXsdSNsKwcRQOI3AduUe0DBqdHTFMr_RO0U1WCWF0ETzqiCNlyMrG93mVAGr0AOnXEsth7R1ATjHMTYzwgs2V_W1pyJSDHJa79i0rC9gT4QfCXRGbsd0zht6K4nBeaIyDR7XJZdMLorYeybj-PWf7Xk5J5FN22mZKKW04NR5rxATZN8h15Wdgh9Ou9ZyfTV_NnVMWD2YQ5WdhQiqnRzKVkM7vG_2HZ6yUiuSt4EH212tFz1DKk1l6Nket-FGhgSr02HsdOQfKLUZ8kjyc3OPMIPBlS5LQ4--C_6WI5YxyJPpnby0NBycwdAOC6fTghy0KPqMF_S8Zqy2779g2KNg=",
  "id": "rs_0f5f930c5ec4c3d1016ab44ef364a487d089e3c3123741e6ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.15,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The lateral shift brought the plush mostly between the jaws, but its body is still slightly left and below the pitched-forward convergence row. I am moving another 3 cm left and 8 cm outward, matching the pose that previously secured it.\"}",
  "call_id": "call_mmeTu0mkyqyR3GMmvkET2MDu",
  "id": "fc_0f5f930c5ec4c3d1016ab44ef48e9887d08ef8d1994143f6e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mmeTu0mkyqyR3GMmvkET2MDu",
  "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]: [-0.5091, 2.3127, 1.8595, -0.9924, -0.4831, -0.4248, 0.9985, -0.0212, 0.8303, 0.601, -0.8143, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4548 left_y=-0.1558 left_z=0.0287 left_yaw=0.2707 left_pitch=-0.6107 left_roll=0.4718 left_gripper=0.9985 right_x=0.2183 right_y=0.0025 right_z=0.0966 right_yaw=0.0015 right_pitch=-0.4596 right_roll=0.0103 right_gripper=0.9995\nstate[joint_eff]: [1.1009, -9.853, 7.0632, 0.7643, -0.3785, 0.0708, -0.1734, -0.1162, -1.1145, 6.5436, 1.3065, -0.0659, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfce1f3f5fb5fe48819519ee9aa6c7290a00017e012c9579f4f41af9fae741fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6764ef0c5352fb1e8764e9f4814aa4d72c649f1d7e1469967959096131a96192",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27725257e1adc259e183ea26013c7be1a1ebb157fc2f2d58438c893f1d254b8c",
      "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 · 4.523 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 92 changed as sent

message 96 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]: [-0.7708, 2.339, 2.3417, -1.5742, -0.527, -0.6895, 0.9951, -0.0212, 0.8249, 0.601, -0.7876, -0.0196, -0.012, 0.9995]\nstate[eef_state]: left_x=0.3857 left_y=-0.2458 left_z=0.1399 left_yaw=0.2536 left_pitch=-0.5862 left_roll=0.4909 left_gripper=0.9951 right_x=0.224 right_y=0.0023 right_z=0.101 right_yaw=0.0008 right_pitch=-0.4275 right_roll=0.0091 right_gripper=0.9995\nstate[joint_eff]: [0.2256, -14.0513, 5.4632, 0.3541, -0.3297, -0.0122, 0.0415, -0.1026, -1.0188, 6.5709, 1.4579, -0.0415, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 2.1868, 1.6367, -0.9684, -0.514, -0.5858, 0.9985, -0.0212, 0.8288, 0.601, -0.7998, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.39 left_y=-0.1899 left_z=0.0271 left_yaw=0.2661 left_pitch=-0.5943 left_roll=0.4824 left_gripper=0.9985 right_x=0.2214 right_y=0.0024 right_z=0.0987 right_yaw=0.0008 right_pitch=-0.4436 right_roll=0.0097 right_gripper=0.9995\nstate[joint_eff]: [0.7453, -12.7111, 4.6017, 0.2027, -0.3883, 0.105, -0.1783, 0.0205, -0.7863, 6.5709, 1.243, -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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5091, 2.3127, 1.8595, -0.9924, -0.4831, -0.4248, 0.9985, -0.0212, 0.8303, 0.601, -0.8143, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4548 left_y=-0.1558 left_z=0.0287 left_yaw=0.2707 left_pitch=-0.6107 left_roll=0.4718 left_gripper=0.9985 right_x=0.2183 right_y=0.0025 right_z=0.0966 right_yaw=0.0015 right_pitch=-0.4596 right_roll=0.0103 right_gripper=0.9995\nstate[joint_eff]: [1.1009, -9.853, 7.0632, 0.7643, -0.3785, 0.0708, -0.1734, -0.1162, -1.1145, 6.5436, 1.3065, -0.0659, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfce1f3f5fb5fe48819519ee9aa6c7290a00017e012c9579f4f41af9fae741fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6764ef0c5352fb1e8764e9f4814aa4d72c649f1d7e1469967959096131a96192",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27725257e1adc259e183ea26013c7be1a1ebb157fc2f2d58438c893f1d254b8c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE751_yd8FCHvOHnDrwuaQfhvycRVWA5txogr1tDQqYnbTAWKtRzAzUklNBJoZp6v1JqNP87bbxaSgYYlDOeQe_TBP6be2QYE_okRzWfSROOM1yk1hzZPfi8hkVEsA04XIulSf4_nrVvgqtyplxDWsTgjcGre_MQboLTU20g26nY-kvGmLitnfYnL5XAWu0k_4gh3xReUUVvfHliJwZOkBG67kTJ5S1FA5ZKgYYNpvwRp5BUE6PZX1hdpLO2fnhNtExNTotV9lbtvWGJiiPww3ezs0yaygln_0MH6bezErQcI1npJvVRJBFvPSRxo7Lw1NrIG2a0u3W-8j7M7GI34gEkUPzbMJNtDxvMGfZeORkOn7DiQsUG9T5WwHLhrR5_xNST2GNfJVv_4pIZqL4Eho7yvUioY6z5L1cmm0FryL1TJAOAEJ_ghyjVp5hPyjLW6eA_WVypA76Vd4dW7gAx5c12pnEh1Xyie_nod_czu5ti6may7JxO0wOAkFtX7Ybu2-LFyWu6YHTPvO_mzatrHSfML23CqLJ6A520gpST1TdtjZrxU9fn5I5UxqD0npCoFeaiQu9bKVVXFxFF6iEeGUJ8h3sFpHU9CgkTD5d7WGiFBIvO2OCImr4g2Hg9IW7bWbUB1WtcoqDOSmpXG0TChc_bUao2KqcQUZsSqkTw2uCYCFQzXFAEH0wcl5r6qKIh2fLZd-g8v_VjKICg60mEMNkj_KTWMPwTGApdz5r_vtP7v_-VRvfrh9kcLXdoLzZmYapgtQOwmZ63LzstsD75x3-If_q4HeRXnDJENEZYBvtP2Y7vd9_dD_m865b9pDYv03QRYSp6vGVfRl6o-2zNHRHpqbQfj4C7f41-r7c88lpFLPqtl7q_7lul3UiN6zIppDO0ctmJTJLi1_j9WqiQ8x10FIQUqD65aX_cDFVyQJn7mOCtxX-Ac2cVy94s0r0M0B4jJj8g57hXQMay868Mye8DyBYptGuqxeinhscbaYTbfdeJ-VuedxcIsF8_9j4_-x-onrST_L-j8TgLqM65SUoGPO43shiaiXJvK2-BHGGMpQ8z3AhbmLUfICQ1IUYbvaDmr_VjfEy6xiSqSvCPi6b2pboqclNdt37XWFedd2g8538lNLUBP6cBCudCcgfG8zzzVVb25R0IiHCfzTkk8fws8uIM0cdNx3KrqEGAKmxdvI2-DohNrM2ZN9MjQ1f6UFCtlo1cM3hisU3GQphWEpeZIl97pC9LZvM1XU1yXM6y5-j1QuFL9a8gC41FbmoTSrwbpFTCziOz8w68tFpHASswH-uId-tpIwkCAqBhWI0lHBkKT7IVdk2pB8ivSPt0ORjMpfmDZJro2i9PY2B7tNTWS_-zSHCzMrY9sq_ltnMNo2J0ALN647K32vvbH2ZXfRKkgq7eoBXxtIksmR0iOe7cRZ42WFYzFErhBMEkXWHAPslv83KR8dchKezpPBIh-D-m2DJfuMqJcexoUPv-BQ6jKmKtK8YFHCmbhjnxzaznw4vNWqpIatVgc1U1-t5zrDJW-d0U6RBSSZvs2jwzEhS91Cd-t0gpx6HCjf5SKNvqLcSn_17jnDx99CT5Ds04XnsE44jwN9KFEYENKvBzM7wZ2HIoTC1NGf0f4TqemeYzsVbBs2VzmnF1EzBouANqe64hUxpIi9T1TlrxTVJ4w39k9Q==",
  "id": "rs_0f5f930c5ec4c3d1016ab44ef7932487d08ee1f081c878f491",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.12,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"Only the plush's near edge is now visible at the bottom-left of the wrist frame, showing the grasp point is radially correct but still slightly to its right. I am shifting the gripper 3 cm left and 2 cm outward to center the body under the fingertips.\"}",
  "call_id": "call_uSwJm38pk0BNjTcEa2Sef8qv",
  "id": "fc_0f5f930c5ec4c3d1016ab44ef87e7887d0a3ced1d26f77ecc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uSwJm38pk0BNjTcEa2Sef8qv",
  "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]: [-0.4515, 2.3188, 1.8648, -0.9466, -0.4614, -0.3588, 0.9984, -0.0212, 0.8333, 0.5999, -0.823, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4719 left_y=-0.1374 left_z=0.0272 left_yaw=0.2533 left_pitch=-0.6084 left_roll=0.4479 left_gripper=0.9984 right_x=0.2162 right_y=0.0026 right_z=0.0945 right_yaw=0.0017 right_pitch=-0.4725 right_roll=0.0106 right_gripper=0.9995\nstate[joint_eff]: [1.9624, -11.9453, 4.6701, 0.7985, -0.4615, 0.0904, -0.1734, -0.1846, -1.2376, 6.6256, 1.2723, -0.0659, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70860480a79a45d3c7f9660596d08777265ea5b3f6e50d8fe2306579c21e61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e745e3656c740152bcc171396b9071ab297e85186aafd426050978edda791b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36272617f74a681cb0aba8b136ebb36fd21321b0c3d91f7c66f3849ebd2d4731",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 11.19 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.77, 2.3283, 1.8992, -1.1538, -0.5236, -0.6895, 0.9984, -0.0212, 0.8249, 0.601, -0.7952, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3843 left_y=-0.2447 left_z=0.0336 left_yaw=0.2598 left_pitch=-0.5951 left_roll=0.5006 left_gripper=0.9984 right_x=0.2224 right_y=0.0023 right_z=0.1 right_yaw=0.0009 right_pitch=-0.4352 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.7419, 5.3128, 0.2125, -0.1978, 0.0024, -0.1783, -0.1299, -0.9915, 6.6393, 1.2772, -0.022, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5091, 2.3127, 1.8595, -0.9924, -0.4831, -0.4248, 0.9985, -0.0212, 0.8303, 0.601, -0.8143, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4548 left_y=-0.1558 left_z=0.0287 left_yaw=0.2707 left_pitch=-0.6107 left_roll=0.4718 left_gripper=0.9985 right_x=0.2183 right_y=0.0025 right_z=0.0966 right_yaw=0.0015 right_pitch=-0.4596 right_roll=0.0103 right_gripper=0.9995\nstate[joint_eff]: [1.1009, -9.853, 7.0632, 0.7643, -0.3785, 0.0708, -0.1734, -0.1162, -1.1145, 6.5436, 1.3065, -0.0659, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4515, 2.3188, 1.8648, -0.9466, -0.4614, -0.3588, 0.9984, -0.0212, 0.8333, 0.5999, -0.823, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4719 left_y=-0.1374 left_z=0.0272 left_yaw=0.2533 left_pitch=-0.6084 left_roll=0.4479 left_gripper=0.9984 right_x=0.2162 right_y=0.0026 right_z=0.0945 right_yaw=0.0017 right_pitch=-0.4725 right_roll=0.0106 right_gripper=0.9995\nstate[joint_eff]: [1.9624, -11.9453, 4.6701, 0.7985, -0.4615, 0.0904, -0.1734, -0.1846, -1.2376, 6.6256, 1.2723, -0.0659, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70860480a79a45d3c7f9660596d08777265ea5b3f6e50d8fe2306579c21e61b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49e745e3656c740152bcc171396b9071ab297e85186aafd426050978edda791b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36272617f74a681cb0aba8b136ebb36fd21321b0c3d91f7c66f3849ebd2d4731",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE7-zAEODttJGcwFN1xWq8kkOlfBPEpPraqQKclE8OunU8RKaEf9MjKukuAP3NXrH0WDEblTDoXlpYtLclN8aBI6TK7cE1pajFDnn-Y6NbsF8AeR40VVQ6GTJvDAZGDZ7BaW25c3a-4NHoGHCL_CrPpB8tqx8b2kiLYL_j6KSR6uAIY7kC1AY0FBg5WaGT-K3BHRo-yOQHfwyv54pf79mhDuK2wAeTt-XNy8Ys4q1HVDI3dEHbxRLDTUWcKfUpYlKtMq-XsnOAaUv8-mCKwqybC06n-1A3fAQV5Au8JYxHuE7UYvfErunojddTP37IeHG50zyV4NYsN3Hjr8T4AR7sVkLzFv3FwHIo-chFeppoi4Jlp3uZBWsH8XoTNZm8IMkUEsCjHnzxPXEDlmwZov1qzgnKwB5obmms6way-HVpE74naoBybK6ttT01gshFkdab3ZhBNeCZ0n0EI2HNitRyRivnpGuuJ5yZfhXTt21qsENEAEcyhuBpzPoeTITxttX08yIvzC2jatOSnsNYKbFMCDhAbMrDUZWrb6xZNJhELcNQ5KT8kiVP0iZP8BtzZ4OKjw5cCV3SvzfVofARGawLwWUKnxmnDOXSYV9nhmEdcHij7bS6SjQlXAAg9oASfe3iR3P42wd7SsYoPmwsdkCfyQOWJBEXud7qKi71Hs2dMhdKxba712iaVx3yfc6VcYy2Od6v2xdb_HfmNkt7qAzinGCFHB5hD_OIJp1eaQeT5HLn2orm00lczb8y2e5l1uWUDqjz0iL7KrLxBavC0m7GyXVz80TEahkUS4mCc40VBNzXJbKazY4pkQicTw0EUzLFLZ8a6YUMi77UpXunmLcxmZdu5M8Aml22xf5Os-82zfteF4rVm5AaXv_XehkIGISOAUB_rlOPD7MQLT82DbVezsesOMrFwsgaAyfCQVmCTkcCfmyxW_QO1B_EtsaIyteF6-dTl_Bu3Njv-zHDia-9_TrmOW3IFB7Lp4hbbfgO6cKGXc9HxLsgrULuzN6VmP4NfdwsDqjq0RFFd-kBJv7NPsotWdk6p71Esla5Tnv1NrmEXYHhA804bstVmmiN0gsYRb2cmwvHVpA75KnrRYm1qPDGqTCXz8QP3Z-MZh_c2N4j6ZuYRZncnTJYbRwJ1YFXE3WPngmj5hmlsr5fqMdtfPoMl7dBAw_uOQjHvWKRuPwJNi1Dlf4XJSG0cjKqCHJC9ceH0ce2TkjXFs_xZSThTQBtth2eNGZIyXzVT7KHiJtHBrmP2dUVhQiEppkXn89vB16IDsGiK2PZTYQLcFl7TyOSu6AWHBg0I09YODyt6DPuqRh2L1oeRuth1QOIaMxYrSGE2WCeI-VqCE4CLrFIqf2A==",
  "id": "rs_0f5f930c5ec4c3d1016ab44efbf64087d0adb6575ff503779a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.1,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The plush edge is now directly beneath the jaw opening but still just left of center. I am making a final small left-and-outward correction, remaining within the verified table-contact limit.\"}",
  "call_id": "call_imLfTXJYUroZU7K0MmYcL376",
  "id": "fc_0f5f930c5ec4c3d1016ab44efc93c487d099b95eaeac1e569e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_imLfTXJYUroZU7K0MmYcL376",
  "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]: [-0.4229, 2.3192, 1.8633, -0.9272, -0.4679, -0.3435, 0.9984, -0.0212, 0.8352, 0.5999, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4796 left_y=-0.1245 left_z=0.0279 left_yaw=0.2696 left_pitch=-0.5945 left_roll=0.4477 left_gripper=0.9984 right_x=0.2131 right_y=0.0026 right_z=0.0924 right_yaw=0.0016 right_pitch=-0.4886 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [0.335, -11.8496, 4.7658, 0.8132, -0.3736, 0.149, -0.1783, -0.1299, -1.1145, 6.5299, 1.3016, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0454045b800492c555f5aa4a6e49d35e58d4813e79f6bacd05fd0848136ead0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845adaa19975b8a181100ad8ff1c710bc5919f46912a095d6b6c09132f1d1030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668046edbbee9174df23d711c78de435b4f75e51c043236ddf4f3438b5feecba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 3.489 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6632, 2.1868, 1.6367, -0.9684, -0.514, -0.5858, 0.9985, -0.0212, 0.8288, 0.601, -0.7998, -0.0196, -0.0116, 0.9995]\nstate[eef_state]: left_x=0.39 left_y=-0.1899 left_z=0.0271 left_yaw=0.2661 left_pitch=-0.5943 left_roll=0.4824 left_gripper=0.9985 right_x=0.2214 right_y=0.0024 right_z=0.0987 right_yaw=0.0008 right_pitch=-0.4436 right_roll=0.0097 right_gripper=0.9995\nstate[joint_eff]: [0.7453, -12.7111, 4.6017, 0.2027, -0.3883, 0.105, -0.1783, 0.0205, -0.7863, 6.5709, 1.243, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4515, 2.3188, 1.8648, -0.9466, -0.4614, -0.3588, 0.9984, -0.0212, 0.8333, 0.5999, -0.823, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4719 left_y=-0.1374 left_z=0.0272 left_yaw=0.2533 left_pitch=-0.6084 left_roll=0.4479 left_gripper=0.9984 right_x=0.2162 right_y=0.0026 right_z=0.0945 right_yaw=0.0017 right_pitch=-0.4725 right_roll=0.0106 right_gripper=0.9995\nstate[joint_eff]: [1.9624, -11.9453, 4.6701, 0.7985, -0.4615, 0.0904, -0.1734, -0.1846, -1.2376, 6.6256, 1.2723, -0.0659, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4229, 2.3192, 1.8633, -0.9272, -0.4679, -0.3435, 0.9984, -0.0212, 0.8352, 0.5999, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4796 left_y=-0.1245 left_z=0.0279 left_yaw=0.2696 left_pitch=-0.5945 left_roll=0.4477 left_gripper=0.9984 right_x=0.2131 right_y=0.0026 right_z=0.0924 right_yaw=0.0016 right_pitch=-0.4886 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [0.335, -11.8496, 4.7658, 0.8132, -0.3736, 0.149, -0.1783, -0.1299, -1.1145, 6.5299, 1.3016, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0454045b800492c555f5aa4a6e49d35e58d4813e79f6bacd05fd0848136ead0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845adaa19975b8a181100ad8ff1c710bc5919f46912a095d6b6c09132f1d1030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668046edbbee9174df23d711c78de435b4f75e51c043236ddf4f3438b5feecba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8JYMvhQzFtGk1no-TMTPb_x1wzgy5a4DYmK63jG2BF5cI20DDXDtZQsMm5aoR9ck7GPmdK9HSoVVqHa_bC8Y861Rtjx-LLdJzGA1f3S1Jh1z97avDGz_GLNcky5s9wApmjYrd3QEiGk8QjiWq_8rSCgXSzRnIolt_jHqXgTX_V4kfahF5xL9subpGvcX3_MeVhvXGzMIgv49GErI4cSdoLJFcPFKeoHoMii5QNLDdarnrk7ka_nEKV5hKXrVCR8916h6MZaM50ZxY33mukj3GIj-fhE-oS9w3D1lK3pQ6TU2pQIe5LvaCgt4inm72u-MBukWQnBVrK3EaDYKcXLVCTtrp_iDfwPwPfSiRkpVQ1-G-7hMDdDC13cVWbiw44MRXJ2GDbY6cN9Q2T7m4kTDtmv0Eovd9YnwjFwCjNurmDvnbzXH2H-B-0h6xX2KSLDBA_woM52QqFmZUsCQXHnUhpcFE_-a27ihh67tFQ1OWK1LmiHRjIvauljnE9XR_cu2VIer2LibrnOjF0WKOjkd3G8a7FwY-3PuSrFGV2HfCpUBcqFlSIv4LUSMyQbiyCyNfKENTQ95YHIkddYEvYvAA8p8izaaUjxmBk4s4pF76Ts0oJgFbMjQoeUjwvhAeRmHSYKpRQbFoqkwsOP5I17iuIroRtt7GBDZnqKVybejHqdu8RiC2_6NR-Ty12VY1LU5SIWlVrIvHKqcp-rS4NApb0NY0M3e_0TPKFAoAOB0udiav4q_R5BpRj8OqgbHCtQUo7n2e4oQKkwkziRDHu-RGWIabXO3XuerWbWcyV-3E5dRe6X2-AlBYQU8PxmyGhZ-YLEI3B318Q9OSFbiczQBnrGld0QlVWEk7EjxthV-i9UQ8stLsqmlkC9Dv0GNAlVLTtR3jFqD2yTqpIvJToROmGIFYH2hc9Gw4Ng9SzFAfCZnjtuD3QDZNWf6ROLcoayvXiMFK9KUYREC4JoTnJChhzV0snbVAEwl_Vyn4QUYghPrCr-8mbwASAlZnj8cU9GGpiePl_vKp2EZR8M870MbKI3B7PrQEki1t3iuikUS_YW7CtNKp0Sgc2gu-BFKG0GC_M7sB7UX-FQLFEUefyZt-2k_cabMJsGjZClpv87P76hOi7M8_vNiXHcef7DFrOHGMLeQzSuIeLGb0u5U9GrZNhNdppv__-XQ_3MEafFt9uVx0LAxf_h6aZV-nsIzCjDUyq3BMiLsEQuvL27kmLNrgfgo6bBMEKmtST65sqxXw-UyM_BsK27Ec7RznFwWCHdCKraF3p9QCXhtgInj5gKutlY0f40e6c9ZeXK9Vpw7RC_E2pYZnMe6WorsXmyUToPtwNKv4InFp9R3Vxl0MHbfJIHMId6vhNpcbhBnUa67RUG4bM30sgRcy63FbE600fU9gdbHjpI6EdDGr7lwLqoTwFLujxpdqnNHtyDxRvZOXTBVO0IfCRWbYxL_xbVxVhJ_h4F2W6kSa1ffnxQNkmTdCW1czRSMwlwyP4eMExcYgM2FlkQoJbbbPD6U1CWovMrQtIi_SC9xeU-E4BiskqzewAL4S82_XOBgYohy-AoCty5mD4_lA7rHGYsEBTU6N3szVqTab02NkZVeRgSGIqJRBhqiBcZatG1FSl_44raX6aWFvZDG7mINfiuAXGsuipcQLy7tNga5jR1xBGA-rl_84AZCRysAZrofqu_CnLF2789mrNVlsr35hWYRH0w2CVcmlGUcFqKbv7jctkm1q8ay9WzDba9-4R-3MNsE2k9knSpIMmCYGJQCC0yWXPxPMvPL1hAOAX66hdGET11Wx8Wo5xLT-WhiZFQWoAAa3ftXsGYP47LfV2kveaqTCxezrZlC4SRMBny37LaGijfuwGNlfaJy0pTytw_Q7Ra3zGnB-OyB7PAGYl8gCmtzXYNuBy61-NpHF70H2_82fQb2-JX1W0qRYIUChSUPhFJ1U-oHXJ6sxWTcmE_kXrITmCMLkq5TqyFSG1_rYx6xZKF-Ck3ASYAacifBoOSnx28Nlir-w67DIhbC2X0wDPyc4H9rWiGEcjy-MOTjtLuHPpQ1xcqhOCcKzq8ZFol13Fmq3xmc5pZa2wEkL0bkT4YflyCmac8a059YsRalYKRJRw56ou8YjqJP7Gjl90BK-CR6pTXkabT8nLsjF1frt6HB2qJLc-73NwafkiyakWmhZFwhWCAFxMSvr-_JfiN1hDeCVBGzdq9S7cGfQykZnwiOB_Atc8KQ6MMfeYEtDFcMrGR9wM8fZMUfODPokxR3hh4vc_0yDNKXfyS8u1cHcP0vcypDK8KWej4CF_FWNotLNeSD_n6k2-vz279rijY7Wz6FMeFOrTzcgQqUwAAZ42_pdTKAxJqsdNNttHIwb5LbSIbqFUjvIe24TAGUI68PvFJQn2sEluC2QO3vEwC0xHF9v3H0dGS9uoADdG2sftZ93a3RXTM4afi-6iJPlYZFFYjXZW_zFoiqTgBuMedwuig4MlD-zRyVK1yy7iBhtQI0v067HNCSYuxlaxBENKP1UfITnYno1kq19ns6QyQVhmQ6jUaIUS_5Qkxy6RXd7cCOj50HomlXXKQMMqoXVMCr7MlqIgoGQOSQ0QERnJVNjgB6oLDNKGL3XiE6A0J9XkeoW6GDW7XpKRQLwrWtuTBj9v3y0DlEcXhK5Y-KeQ-y_5auzKhGtSTf97eeAWhAtuNs1KBsCcOj79W1pd4lZSX81JXocmqC4RKgDDnqLTc5zY1Lgl1p0Ia_tDqY8q4FXlFZnylFAdFp0HhiSuMa3YrhFIhHI604Aa7HVCurzzJzBC2WqsqrJc66isYoI53lp5E9heORcx4pLYvNsxlH6dECMcdFvnewFxr61DMrgeeTJt9NT_sXEkEZZ66QGTj9EA3tAI5fV0Pez6I2JehKimXX0I9wb4zNQxhMEqqCAnI4mHxpzh-M3iOuOrlvvtHLuD69ZfP82CmaUqZ1oWQuNyw1t7wCKpaRW4-D5UeBtXzEwWOMBQcwnI3dgk5SmKUieklA7xpX4DVjSFXy-5zzjtg6K4THDpoPVtCuL5ejDfqTln2vTNrUSQg5HwbFy-ed0ytqK_LPpf_ggfzzD_5gtjDm34EPRflxPC0hgZgK4NLDzU2DRE2wFgZdRayL0q9X15i_9QIzSVh6E4ThC_Nm-VYejaRkHD_KHjdMJMS0RMaXTPj-QaKBNZ-SB7WaaVXtsQc8i2PjNlCXuuRbo8xddvXh7eZZ-lcF3ADXv73kSsM7HZgua1cPoZxb57WyojFjOW54tOc733D4YpLJkuP_AKlanwgrU3HZly6-DUIGXaAU2JpZL3SqAS4faQ653x3xAui75Wffq09Qh6bR8Y0GygAU4bdMxmjAy98tX27FjjV-ScLnFbX33v9dhy7fyf02Uz5kkmAxq6FzIlUmzESVzG5kCJKpY8kZsN67zRmUee3F3uShVtAP9CxUhIN36RUp_JuLLAwWoOdw-4zuigRkvP2yRZ-ijc9ckj93qZ7af4ndihqmcn_ULaK6yxpCou8n1HYY0oZIHWoePVN8ZF2Bi7t3zEvbjLEkpasi17tlYTgv0HxBz1Y6pliB6IllufcwadEfVA9w_4TuRXzGF83TU3KVTDNXF2Nx3jySdPPTnsPlKKztsHneqy9LP6DGB5WRdhPW8eQU9xKfML_uz7XEExdndvdlzpql3WvwSR59vk_b_5RjNrZBaHbGvC2nAUgPP2j3tG9Dx7Ub9CatCfBWMqSBcrM8JXRodL3_PPHZTRTnKumhIULeVYePIamdFWF3gWDZVJDAvPlGLKdPCjAr3OYiDsHoEcbTPt7hXN4wNG1LPP1lAFTrTmxuzQYy2J9A4tO1GF5SbE1fDtMYVSaD57-CP79IarOxmzo_wEVKXqYvc60TEUB6lsnXv4Ppz8n5oHHijvGwSzLVh08ClLTwNHCsdnDiXB0bhsF-8RI1XQuq-09FFeIUgOXYqeUNSxFzodaTUiH9-yklEIAxAnoiKUGO7UR64gUSxFOU7wPxGON3qr6fRWsYGvDGXd3pOMcvICNbjCw_Hjm83meCyI9lEYxvMK30iZtPP5EjmQA-jYuKQdwOLCzIn8UUGLLST70ltf54Gkrve35V0O__HBBydmK61GcGoL7i_Ray91WPjpTavtRewhDjVY12hgbxze6MhR6Kj3n4ZLpXA48pwGW8mtWj0diUTe1UXAossvFEkqZ6VY2Z-hz3LtHJ58E7QTN9XlZ8NkIqddzpXljg==",
  "id": "rs_0f5f930c5ec4c3d1016ab44effd2a487d0b2b801d040d663b0",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8JXEmXZWAGFGlpJJ7YCXeOZDfNJb7AOwku_ykq-PLf6RSLpNCkZYX7-tVd5i0660xefkB6ZVT9YfL1-yaqpBIPS6Jzhw_Eqk_bhy_KcBw68xiUZfPf0HOCxBXwaI0odjc6jsjBIuEhLCVQbg6trOOyqXx9KtwClWpRxocHF7QTsA4B17iGyXWnHuccVgU9c9ixP58Ovz6VIFQ5OpF4BywqEqw8WGr9PJ1OjIp5tQa17uZK02wIhUVONNu0es1ch0RBwnd40KCKglzBbOvhjWt2TYXZ6jo6ar3GcGUbU3lXETDPW40TRDDUhmikfelgFxE0DL3IkWDkfPcnht4dqFYUKvgOFTubsmxRyhYKPl8l052AnF3W_AxSGxEo9Zy6__qTglxymzGqKBeggJFennsYLHwV7kOfz5kXH3A_jQq_i0lqcx8aE7QV3CrV2ELExQ1P5kiDyjO7PfJj52CQi9AkQEvutZwQFDaT1ziiCOgdMPprRtQM7ISi1LxsT-M3cjlF07ubHwnf-Az5NYhzQ_md2sOnVd8mbNC9qx9t9f4Lg4OreNmuq6CMlUEIbbSCAjmlI8GqFJM4D5vtzrY8Def6FjAsjDqUM8xv7ltS99CX40zNlIWn3fZoWTDmDM8yJYg6jFOP5Mfhq89p5ZVlrHqqm54Vg2X_3cdjnZH34h-ccfN6N-d4mVDwA9N9CM6rIzbHHuCTD52ncVfL639yaabTXCnFaKSu4S7myrjnDP54AO4hQgztqbUhhTi5QxDptWQKQHFC50RnojddwHkVR5jVFp7IkN2XLFUb6v74QIS2PF-QSec9Ho78B8i6qIHvLUHnx24nA7faaX73biY5o3GJPDO0ST7OwbujeVxgubQOlecfzw3NVfZRtTtbE7GBu58-Su6z6U-hYUj5kt9bQGpg6uPUuNOzqm68EYz3ACA4nH0BhmSF20ET6VjPmYTtpRGnZHUBt2uVVORsozSE9xG0Kck-iQRi9SEJhvGOctIaoaqrufzqKvzlaqi8KliimRr-d_zs8gdde9px0_XbVETtbYR7jnYDbzdj3UZz_aOBaF3_r5lLTUP8ryGLUrWtjTIIUejZzQiHkA4FTLZKr6B2sl2d0AdgVIqYsIfcKSWhIfBlx2c47F-BCyj5-YwdS_KFgI-bhJkLo-1ETj69xniR1zM0jAM1qdw8M6RUd9E4HfKgXW27DVFIpDuTVimvjCc9qh6A4Kf8ZY63XaGY2waKnlfeXTPuQ7EFE4V2FAptLtGkuyNmZI9qDqwXpbkQjV7u3nii6Tx-RehFGyLmlASksbyaYlXYkD4cdKsmO3BY5ysoLLwNkuGSzU7Q8a2y4kTOwB1VxjIYd7Hlq8bh9M46hSYJmdWBR06bxceMzzp9FYaiz1wu9njKFdGQ1DPE2xsl3gdAigkyZ9iK3od3IaFEpkUXdZYiFRVQgmJISNS9SijF9bYiOoKPrZtTQSNbk4HwT24EcNFEWwZh3Hned7Fhn_nhVVenDp2F48if6hwA9ovfDnv9_z_8pQhboec26VI1naAe4PnIw44WQFnRDFKP_rR16t4hjThcNQBynEFQ_Y6ZcOa6JIBsLFgMpoHXT4YWQPVK7KIKXGaw13BJYJthTEgZWVlh9SgTf74J0xwQ-U_-9I4uYkuEmAUrEbtu_oi3HpZkU5b6OEBdrQ_-WOxounHHBHkM-0RVbAGbZaISI12UwdVh5gICCJXRpAkIaXY-P_KY37wQhnDm_WH66D5pEZq-pAigW_UXjqjyHzA49yeKJX561fZ4kyKJWoUFW-2FebuaZ43rz4HPseIGpaEloYotx5VnPXl8qljrJwNaV_CwEexU_7uwcIN4L5dqEyo0WeWu57qEoAHvsTkzJUWpA-ZuADWU8qkfmJrNyR2XPD67uQoDmqNJHfrAH2KEZgAa1wabi90P4mY-b-JUiehPLnB9oV2-Cyy_LiEaIUB7xfr_8fGo_X9Lit5qr66G_q9cAegJsjJJlkq1w5wwB5Gz9Z-7vrkjJ3_ixmvR7pLbVZZnVPvhQxceP6znp1XBcDqxP-kw848bsGU-GJMJL2x2bP6owdBLAFqxwQN7mcqW-Pbb3v9KErnBIhMKNMCXi_nfVhPzDPSUFIsD3V0Y8Swpa7viTdTBG65JzHdPLO5AGPan9xhc-NzEk587wf8_hfr1KVKjoJREbvEkcy13PAIxKIa2eAwlf7xDoOv7tXavc2BeUkUD3VkGkSdNcbUsIKYGr_ENjwWg542QlRDAaHMygDAMafA9urLe7txBZU-H2dwJNn9Gqc9AO6D0nSR5mIvcEHpSYnOIelWWvU9XAFR5EfcStBk_AYBFpNF7mACc39snOtHSwxKBuwcIe4ld15IKyanlYsiXnA19JhZZt4pNxMFoS96RcYnx899S5C2pzGBPUIOsXVa1HBOoEBI5SNFwfghaPli8Bas5KNt0Jg2dAUU8SXFoMJMlZ31GQkMwZng2-rchnFgEafMFjhTjyAFSmJBIyzwuDsU7_E9Id94fr8eiqpQ4htK6Scdr2p2QLDm5o65rTIxHPudQNEuLo-5rPa2jMCnNtvMs4-K96uiqMxKY3f3H0OA7KapIFM52FEfzFSRusC8Mc2C638kcx27JkN63uFDYde7qNzz7ZxLe5UNdYSClchClIo6s67D62dgjU1eht_giMRQfG8GgnvlX_1JHmPT3qKQxTNDE7xGIsCgZu6Acam5mJlf0JKxxEJv67SiPfOZwke_nr2zP_3lbm1qL1ZDfuOpGX8VKpcJve5GSklV4DOZafZ973N0bpo4arnORNu3KEOq0PdhFRs41cH1VWkDiElDEveUXDXTDOiV5XfzW1PBhhfFJso1mOJgjiHqt0k7i7UgZIyMqnXmBZnQ9EJADk8i8L0VZut-tHpOytq_XTarMxIJu6ARxkZ5WXNJW6a8QmRbjZuG3ef5_tmNVDHwk06V4YaxLVQqUrCQZ2zkZLbaM-5O2LyI_-eM1o8f8rjatKpD5radoS6BoMm2kBou3_BIrnIDhpVBokKbu8eDLqhEXl33BzejRwQOXy2Y3IzEChkOEj2ePxQ_FWN0Ccwfoqo77eawZJIX-gKEHQmiGzSLgDdsoSGohzd0szkpXTaWkV3UlzFhjjFKdmco_TE4pcxnN-Fnth5JFKENh5xSrPgpmww8pzsdsNrLPB0IgXk1JzyLwNzPoP1apQqVvSrprSWhVcpYyMqI-2E58YOz_JGZavn-3zp7jQxChoZoTuAU1Y4G7hEmXadkq",
  "id": "rs_0f5f930c5ec4c3d1016ab44f06214487d08c04aa3d1d83d241",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.178,\"left_gripper\":1.0,\"right_x\":0.3,\"right_y\":0.25,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"With the left arm moved aside, the overhead view clarifies that the lower item is one brown teddy with a light face, not a separate white toy; it and the yellow ball are the two objects. I am parking the left arm and moving the right gripper above the teddy's torso.\"}",
  "call_id": "call_W7JMVqnMUlvVBjODlYOIViHF",
  "id": "fc_0f5f930c5ec4c3d1016ab44f08cd4487d0a7a50c0ade97a5cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W7JMVqnMUlvVBjODlYOIViHF",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2787, 1.4277, 1.272, -1.15, -0.4355, -0.2001, 0.9985, 0.8391, 1.6722, 1.3914, -0.9676, 0.3328, 0.7464, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0058 left_z=0.1726 left_yaw=0.2736 left_pitch=-0.5841 left_roll=0.4349 left_gripper=0.9985 right_x=0.29 right_y=0.2419 right_z=0.1397 right_yaw=0.0245 right_pitch=-0.528 right_roll=-0.0169 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -6.8171, 5.6684, 0.7595, -0.2613, 0.1099, -0.1734, 0.2667, -7.3094, 8.4581, 0.8376, 0.3394, 0.2662, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a335a98218617f0d9b83df6de39705aa117985a7ccd691b03921569ce07ca52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0712c042f1f681e6e8e1ce772d5ddc01a7106ef9410ff7880260c194f28addb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf34328784dae8882fc7b8b31e666e49ff02f2f83894e62fb18f1d266f3acc6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.738 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 109 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5091, 2.3127, 1.8595, -0.9924, -0.4831, -0.4248, 0.9985, -0.0212, 0.8303, 0.601, -0.8143, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4548 left_y=-0.1558 left_z=0.0287 left_yaw=0.2707 left_pitch=-0.6107 left_roll=0.4718 left_gripper=0.9985 right_x=0.2183 right_y=0.0025 right_z=0.0966 right_yaw=0.0015 right_pitch=-0.4596 right_roll=0.0103 right_gripper=0.9995\nstate[joint_eff]: [1.1009, -9.853, 7.0632, 0.7643, -0.3785, 0.0708, -0.1734, -0.1162, -1.1145, 6.5436, 1.3065, -0.0659, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4229, 2.3192, 1.8633, -0.9272, -0.4679, -0.3435, 0.9984, -0.0212, 0.8352, 0.5999, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4796 left_y=-0.1245 left_z=0.0279 left_yaw=0.2696 left_pitch=-0.5945 left_roll=0.4477 left_gripper=0.9984 right_x=0.2131 right_y=0.0026 right_z=0.0924 right_yaw=0.0016 right_pitch=-0.4886 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [0.335, -11.8496, 4.7658, 0.8132, -0.3736, 0.149, -0.1783, -0.1299, -1.1145, 6.5299, 1.3016, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2787, 1.4277, 1.272, -1.15, -0.4355, -0.2001, 0.9985, 0.8391, 1.6722, 1.3914, -0.9676, 0.3328, 0.7464, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0058 left_z=0.1726 left_yaw=0.2736 left_pitch=-0.5841 left_roll=0.4349 left_gripper=0.9985 right_x=0.29 right_y=0.2419 right_z=0.1397 right_yaw=0.0245 right_pitch=-0.528 right_roll=-0.0169 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -6.8171, 5.6684, 0.7595, -0.2613, 0.1099, -0.1734, 0.2667, -7.3094, 8.4581, 0.8376, 0.3394, 0.2662, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a335a98218617f0d9b83df6de39705aa117985a7ccd691b03921569ce07ca52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0712c042f1f681e6e8e1ce772d5ddc01a7106ef9410ff7880260c194f28addb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf34328784dae8882fc7b8b31e666e49ff02f2f83894e62fb18f1d266f3acc6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8PEzMJppugx3ZRHuLyFP_8g4h2Cm5NGwM5_Vrd5pppNE5IwHzik0incczOI9R-UT_9oaMQWO-Cx9dm77kimGXdymvq55loUxmT_HWSGakqypWwpr5KSSdDFQ6EcQLI3MhhPoqMTQKeCaizfZrtoMlMnhg6ApxnlJIc2SdRgMaYLzGMkAaWWPF0fceRW6ZWzJ-ErTNi4rSzC12VlU3WIfHzXVgCe5ltm-Hlw9Tx73yjT_shAnAIydS9EYv7brwuk1WdVieO6A-BjrHILub3jY-LNzOLeysUafE3fcLlOE44KU_Y7kT5uUzKdI7sa9xom53iFx9DA6eZXm7NfbZYxLTBqa2i2CK7ch7__Mwr1-qR_7549Jh8w9dItiIll_IftOPCB0-NyMiLG1aK6VeBOEnHJAdFVFTGoxZ_BuAbv0tpsCn2ExVitS7hI-Kk00mlB8issAfuqx8-qiAHuqSzZfs2FDzSh_yukgSaR-IPL1n1cacsyZ_VALlYIEnN9R_Dqw8tg3QVuqLENxaUYf8TXsgjyvTCdnOLmZ962gR3RvaEcaQmDntqdIAQv0w8B_ec0RsmPH8HTzlxpRNY-UMAjnCJcvZ_5b8UTT67ZznsaAbh3pSQJ4ktpYn7lkZgk7Ef3WWJBk2J56UFryIq9hy2SGysN7JPicCZ-XD6G35GNy_Uh6PQx-XCIEKBiWINbm5OtpPG50bGj5Pfa94SxJR2Kg-kc-PkIDIMp76bJOs7bh893XDrZ6ibQlQQ_ITdIyee3g1VkKq14YqD5VXjIN_5v1Br9ulLJmsHtVmhH0OKKRBp5W1cTXWs6MF_KIG74_xjTzGs24r_vA7vec67hwJLhgdnk76NNP96AsFXbKK8hiXNlsbo6hWRq1NH_FwGgh0KsgnJsjUs32lZw_6zJXyYCmM75Cz1_kHLhTI_KI87bCw8j83CKO4vgZ87M0FD5J_4eEHAox7zAIAKjFhWpF1opebY-CnZF44BYaOrz77N0Z4w57Tu2IlM1XL7aIr1kXZWfngIi65S-53wW3zMS4fsmvuvp1hmeDvUt09237rRtMtwyxW81BVKhur9XsoPiktM3QCdy_-g_KSxMpAUz9VadB89vHz6MBNxnGkpHXxRRlApk6ISVfT8nf5P4phYQlWKju64AbXPWCCIYoysjunRVG7oO_NUYA4TZlmRx14S66wxa1W5IxG6MI4AW5fTWkjB57gVQsPX4BVrlbmWBbs2RkOQpjiaWM_66TX1BAnIaIIAlP7EJu4OrmgFmcRnjPxXA2WyRYW57T0C2m79bPpV_qmFuvgnwyTOz5LJW0WG5AwjUjQKWsZ5nlS5lMgrRre9-QLueDVgXnwLKA1pgPS2G0d0_7drmbnZ-MlGz-3CKfL0MoBiSfK3N1aSmVhW_hhhwFrCr1OIEABFBGLAmcH6M_WrEg==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f0d2b7087d08722fc4082d8069c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.25,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The right wrist view shows the teddy's broad torso centered between the jaws, with the safe rim clear on the left. I am descending to mid-body height for a secure grasp.\"}",
  "call_id": "call_wapzeorDMNGnCHnT8FHUYLsz",
  "id": "fc_0f5f930c5ec4c3d1016ab44f0dbaf887d0a90b88ad74ab3f3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wapzeorDMNGnCHnT8FHUYLsz",
  "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]: [-0.276, 1.4315, 1.2682, -1.1645, -0.4301, -0.1989, 0.9982, 0.8364, 1.805, 1.1282, -0.6167, 0.321, 0.741, 0.9996]\nstate[eef_state]: left_x=0.3003 left_y=-0.0048 left_z=0.1691 left_yaw=0.2792 left_pitch=-0.6059 left_roll=0.4442 left_gripper=0.9982 right_x=0.2899 right_y=0.2433 right_z=0.0337 right_yaw=0.0134 right_pitch=-0.5671 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 6.3932, 0.8718, -0.3346, -0.0464, -0.0366, -0.294, -7.8838, 5.8598, 0.8571, 0.2222, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074ba0363a10a5dcc1a132b09e503f2bfcb454a7c9794c738cfff116a36663b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b766cb2cef4334f290c6101f55595e25c83288fb0f4a4c5a32c5d244c376adc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f2ed3f78a426abfa065dc6b263bea8c029ccbf19b92ecc17033a24dee06dbe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.106 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 109 changed as sent

message 113 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4515, 2.3188, 1.8648, -0.9466, -0.4614, -0.3588, 0.9984, -0.0212, 0.8333, 0.5999, -0.823, -0.02, -0.012, 0.9995]\nstate[eef_state]: left_x=0.4719 left_y=-0.1374 left_z=0.0272 left_yaw=0.2533 left_pitch=-0.6084 left_roll=0.4479 left_gripper=0.9984 right_x=0.2162 right_y=0.0026 right_z=0.0945 right_yaw=0.0017 right_pitch=-0.4725 right_roll=0.0106 right_gripper=0.9995\nstate[joint_eff]: [1.9624, -11.9453, 4.6701, 0.7985, -0.4615, 0.0904, -0.1734, -0.1846, -1.2376, 6.6256, 1.2723, -0.0659, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2787, 1.4277, 1.272, -1.15, -0.4355, -0.2001, 0.9985, 0.8391, 1.6722, 1.3914, -0.9676, 0.3328, 0.7464, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0058 left_z=0.1726 left_yaw=0.2736 left_pitch=-0.5841 left_roll=0.4349 left_gripper=0.9985 right_x=0.29 right_y=0.2419 right_z=0.1397 right_yaw=0.0245 right_pitch=-0.528 right_roll=-0.0169 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -6.8171, 5.6684, 0.7595, -0.2613, 0.1099, -0.1734, 0.2667, -7.3094, 8.4581, 0.8376, 0.3394, 0.2662, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4315, 1.2682, -1.1645, -0.4301, -0.1989, 0.9982, 0.8364, 1.805, 1.1282, -0.6167, 0.321, 0.741, 0.9996]\nstate[eef_state]: left_x=0.3003 left_y=-0.0048 left_z=0.1691 left_yaw=0.2792 left_pitch=-0.6059 left_roll=0.4442 left_gripper=0.9982 right_x=0.2899 right_y=0.2433 right_z=0.0337 right_yaw=0.0134 right_pitch=-0.5671 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 6.3932, 0.8718, -0.3346, -0.0464, -0.0366, -0.294, -7.8838, 5.8598, 0.8571, 0.2222, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:074ba0363a10a5dcc1a132b09e503f2bfcb454a7c9794c738cfff116a36663b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b766cb2cef4334f290c6101f55595e25c83288fb0f4a4c5a32c5d244c376adc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9f2ed3f78a426abfa065dc6b263bea8c029ccbf19b92ecc17033a24dee06dbe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE8SkVB00Qb3qOp415wUlJ8krY5K0C33t8MhaFf-9Do_NdrZuE9d-UvquIIq92TIqRo8F9zgAVSaxZPbUWSrCwDwxmdGNTy3tYWXio4_IE5I2YEONl-I2WktLrJo5wcEN46CIypdW-6yStg1hauPgfBqTKg4rWNPz-_k6rnlyZgDxp7rXAIjEnAhDEVjhfhJENxb4YnZdNjoTwPirNVKh7k4bKJoaNwHjQ_PkSQXaAyn6l1gpm_Noq7WeatzqHqIZzI6IDr5dsn3BODimQB4ET07q-7Ok9v9QVIhXpMP42QLUD2LmaO3zyFea-FXm-f0gUOHQPZIOwtCaI7FOZ3ZRelTgR6QpwquCyQV350QJGwZ91G0iYmWAPszSxytiSfEb2iY2Z_0Ocr4zb3hM1nGUxXvY47hDoT2ppXECkEJZZL8w6UXa_zT2eGjGeuMgobnA6HYERFCMb470ycmqB5y3OoHqxrCJDMiZG1wKv4BQsWZonZ3losi16tEWke71b6zLxWdpiBi-D21BlEn_1RpQ9mIe_jQi0F5rsbQHiwiQYTLqAivHvdkrlT9fc_SnUfJEzfJkRS57dydync7lLGr4d-NGrvdsUD1llarJ3gsyQpwgn65GEiSo2nDvVAOWs0DRJSBkbK9qbGVBgCgEMpg_Jx84sQ7czqOZw9hUC6KaD21PW_mD4rEWjlI3FoYaOJGPbfKJFoxDtYPTDZT9mujX6deWehHSI8ohHrhlYXhRvfgDeVDK4qq6wGWTLiUplBLbqBvMzsSzvA8Wmi7Cfl12Nbop5uPmZCBCfiAJ9_PTmk6p_rXapOQCnV6a97et9ip2MGHbCbp9ZXm2Z9zpoXwaDBPSHYdJexL9wc4P1MJsI5w2jrRHkMvJ469R_dUN_kRFETE8wUIrWfYumVpY-Q617HIocwsWwnY5c-pIraVGY5Jy-V1uTFlb4SKK9TattB5x4pi8YfOimtzcuvmreiZKq8JVbYkqsgXJLJFfnail9gE181sg4oUWAMxXbNmx4dpykAbk027EF-d0yyJs-_Tdxjcmd-StmtO8hwipo8q-bx1-6fTuQ8wAJyVpgBdjeoSne3TkyprSvSxSKklPjJARFS5Qnub7dUlz1xAbltxeMcOVkusA0ahIVxKjaOSRTOHDwxnUKJJnVvHPVUQyOooEQs3Mic6P2BT6vKd56UT1X-JnEwYtBKmGB58qaZfpkJbVEKm00YDtSletDOCrWf87P7Nhw==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f11c7d887d095aecd63098d9ca9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At low height the teddy's torso spans the full gap between the fingertips and remains centered, with both jaws contacting the soft body rather than a limb. I am closing the gripper.\"}",
  "call_id": "call_QAwXqIBrpfkIibKZOu30py9E",
  "id": "fc_0f5f930c5ec4c3d1016ab44f11ef4887d0be7a1d887bcfc26b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QAwXqIBrpfkIibKZOu30py9E",
  "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]: [-0.276, 1.4315, 1.2675, -1.1645, -0.4301, -0.1989, 0.998, 0.8364, 1.8198, 1.1126, -0.6117, 0.3176, 0.7341, 0.0164]\nstate[eef_state]: left_x=0.3001 left_y=-0.0047 left_z=0.1689 left_yaw=0.2794 left_pitch=-0.6065 left_roll=0.4447 left_gripper=0.998 right_x=0.2859 right_y=0.2397 right_z=0.024 right_yaw=0.0081 right_pitch=-0.587 right_roll=-0.072 right_gripper=0.0164\nstate[joint_eff]: [-0.2256, -5.8598, 5.7368, 0.7253, -0.3346, -0.0611, -0.0464, -0.2256, -9.7846, 6.9265, 0.696, 0.1734, 0.0513, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3215983c61d577558b1f5b780d30a03e4c2352adc2ef0aac7fd7c7f71fdb5068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23fb2397fa4efd5f688bec396217a8930e21e7b0904b752860105d959f73a06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc850b4202c6cefef9f62fea6a6903359219dffaf2512bc1fcfbcfb22a1ba99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 2.111 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 113 changed as sent

message 117 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4229, 2.3192, 1.8633, -0.9272, -0.4679, -0.3435, 0.9984, -0.0212, 0.8352, 0.5999, -0.8371, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4796 left_y=-0.1245 left_z=0.0279 left_yaw=0.2696 left_pitch=-0.5945 left_roll=0.4477 left_gripper=0.9984 right_x=0.2131 right_y=0.0026 right_z=0.0924 right_yaw=0.0016 right_pitch=-0.4886 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [0.335, -11.8496, 4.7658, 0.8132, -0.3736, 0.149, -0.1783, -0.1299, -1.1145, 6.5299, 1.3016, -0.0415, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4315, 1.2682, -1.1645, -0.4301, -0.1989, 0.9982, 0.8364, 1.805, 1.1282, -0.6167, 0.321, 0.741, 0.9996]\nstate[eef_state]: left_x=0.3003 left_y=-0.0048 left_z=0.1691 left_yaw=0.2792 left_pitch=-0.6059 left_roll=0.4442 left_gripper=0.9982 right_x=0.2899 right_y=0.2433 right_z=0.0337 right_yaw=0.0134 right_pitch=-0.5671 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 6.3932, 0.8718, -0.3346, -0.0464, -0.0366, -0.294, -7.8838, 5.8598, 0.8571, 0.2222, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4315, 1.2675, -1.1645, -0.4301, -0.1989, 0.998, 0.8364, 1.8198, 1.1126, -0.6117, 0.3176, 0.7341, 0.0164]\nstate[eef_state]: left_x=0.3001 left_y=-0.0047 left_z=0.1689 left_yaw=0.2794 left_pitch=-0.6065 left_roll=0.4447 left_gripper=0.998 right_x=0.2859 right_y=0.2397 right_z=0.024 right_yaw=0.0081 right_pitch=-0.587 right_roll=-0.072 right_gripper=0.0164\nstate[joint_eff]: [-0.2256, -5.8598, 5.7368, 0.7253, -0.3346, -0.0611, -0.0464, -0.2256, -9.7846, 6.9265, 0.696, 0.1734, 0.0513, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3215983c61d577558b1f5b780d30a03e4c2352adc2ef0aac7fd7c7f71fdb5068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23fb2397fa4efd5f688bec396217a8930e21e7b0904b752860105d959f73a06",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bc850b4202c6cefef9f62fea6a6903359219dffaf2512bc1fcfbcfb22a1ba99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8WVp9tUPqm1y7K8Pzk2i136amvIME-VJNzi6h5Lox6hh5hJR8Or-11eYFZD7KG_ERHCouvwbqszBwo6QHCV5DRfxWD-SuCQ2kKxK8x22vrBBufdPyh08URTqt1594l5KwKVtJHP9Cu9fd0O_c-BWP8spmilMSsD45ojxVpjsaLOPHOWLSNK1frFzlcBiL8iZBHxyCyXGzx8AnS0TWvSW2ZsLmxhboUxY-fSD8hKW-azheT02gEhqWp3If5kenl3yb5AEj5riVRfLyziKmPV05oOE23ZxVuHVXmCb9Rx7ZcWKEB8IM5M3AFFWF202q55CtbmwPBOukKS8ZlnshTm29aAyQYqpdXUKoUFvm2Ioq-21vYyvuNj-9YQuXGXiQZUcLKfBYOH5R2DfmVGaZ3n5UR4tdBSSHy4TX2-TkUOG43ldS-Q22wGxS8WnAVPbV90t5E92MUWXA-4Ir31rCNw7ms6WcAFMdR0mar-ahpqL-hpuNsdvghszzBANNKXI7tQ9rNipy-l-HsjWJmCxAgpEjjBwOdB1Gj05nm_m3IeKuzqr7W_UIgo_Ao5RyntRCIRkd4VvBhf3XiuAl4JqgS4MUqRgc0mBv1PfTnbqsNisP-yz4eSxKZANYs9f9-bq_g4n_te8B7NFuRiGh3Y1cpn44DRkzNEnKwxz5m5tjOO6--1-UkgC51EipfUFcumihnMk9e2rdk6V9gouEWHmCjJ8xvm3pRcZO2H_8WB1DljMRywIuvmTaeX-MCmYgQnjQnjD7pFIIa8q5fwaFfUhmtUVrNZzOunwVE9KxsbEszKCHRE70KehYZDY84BtPKdfTEBjcfuj7pFJmsQEJ3KK7nZ7McuxWPJvkYuRvzTAjgIhuzSsuXSJzlK6LP57OGVVhgp2vmukamBHXi1jvOd4PSSWaulSFgsIcBo9zUDcA9YkkmMN76UXdaPLKuX_Ahtw89P4oKK8pvFh3RtgKeYX31GrygG1aghMew5XlsUmPdLBC8hGqg3lhH-AmWYjHP2l7Gs4cmILLr2OhAE8CN9dbYCWOCqpciS2a3GTeO9AY_cJMzeW_B6-b0p0vIRob1BERl35ttcNJPnynNSRH18YYoBc1gZ2CwKKjXRap3juhQN7fO5UgplyYo7uaKeqSAJB8jO-DCOMDmEYn7X-55bhYlxH5zUnG8FERPAPOw9yReCxclJMPUjTjDTB06ynYhLfKj6Hg-u3514AqhMV8vfKmm7TlsHbRNwRc1ecWSqT7sL7v4SyrZX3QqOQKtaiKfj-b9_eSgvWYL75D2qKMSOOYGvMPow_jzr2AUlkjtD2aOgDjnp-rQOn6VUyS-IQYTIZOxYdvwSLEeJoyp1X0NKyHgKzeyqV5IzbX_r97om0qKZycAbLJwBHjvzWlQbLxCF8wtY1Zesxcaq_ItpmrG-szn-QmrEoi1h9V9pFC6Q2JXe7EiE_pjSM7QGvxzC5wdArRaL9LGJBO-9y7lr3J0kx15usSjjaNsWbBUKilF5ebxZIvAHAnC6gUtbl19RV6Noa8MEQEIj3TZs45VoOjPlTlV-eyItA==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f1516d887d0bbfd3d9625147804",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.25,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The gripper settled empty and the teddy remains visible ahead of the fingertips, so the first close was on the near side of the toy. I am reopening and advancing 5 cm outward to put the grasp point across the torso.\"}",
  "call_id": "call_vyUYwgcxfHBtE7dtVn2dZVf8",
  "id": "fc_0f5f930c5ec4c3d1016ab44f15c8ec87d091189ab1fd57a3b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vyUYwgcxfHBtE7dtVn2dZVf8",
  "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]: [-0.2764, 1.4315, 1.2675, -1.1648, -0.4301, -0.1989, 0.9979, 0.7357, 1.9724, 1.3258, -0.68, 0.2832, 0.6281, 0.9951]\nstate[eef_state]: left_x=0.3001 left_y=-0.0048 left_z=0.1689 left_yaw=0.2792 left_pitch=-0.6069 left_roll=0.445 left_gripper=0.9979 right_x=0.3367 right_y=0.243 right_z=0.0229 right_yaw=-0.0008 right_pitch=-0.6206 right_roll=-0.0982 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -5.8872, 5.5863, 0.7399, -0.3101, -0.0659, -0.022, -0.4855, -8.9504, 8.4718, 0.8913, 0.2173, -0.0317, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77780e858f68b547bd854edd3bc6d559d01f38f88b14183fd9ce34d163b0ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ceb096cca4df1d7992b55c578cbd9907e6dbc24bf564d05bbf854c2f671e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bc24540f88f2d64cee0caf4c538516d6b545b6c51620e5c0a1548385e004c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 3.073 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2787, 1.4277, 1.272, -1.15, -0.4355, -0.2001, 0.9985, 0.8391, 1.6722, 1.3914, -0.9676, 0.3328, 0.7464, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0058 left_z=0.1726 left_yaw=0.2736 left_pitch=-0.5841 left_roll=0.4349 left_gripper=0.9985 right_x=0.29 right_y=0.2419 right_z=0.1397 right_yaw=0.0245 right_pitch=-0.528 right_roll=-0.0169 right_gripper=0.9996\nstate[joint_eff]: [0.6496, -6.8171, 5.6684, 0.7595, -0.2613, 0.1099, -0.1734, 0.2667, -7.3094, 8.4581, 0.8376, 0.3394, 0.2662, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4315, 1.2675, -1.1645, -0.4301, -0.1989, 0.998, 0.8364, 1.8198, 1.1126, -0.6117, 0.3176, 0.7341, 0.0164]\nstate[eef_state]: left_x=0.3001 left_y=-0.0047 left_z=0.1689 left_yaw=0.2794 left_pitch=-0.6065 left_roll=0.4447 left_gripper=0.998 right_x=0.2859 right_y=0.2397 right_z=0.024 right_yaw=0.0081 right_pitch=-0.587 right_roll=-0.072 right_gripper=0.0164\nstate[joint_eff]: [-0.2256, -5.8598, 5.7368, 0.7253, -0.3346, -0.0611, -0.0464, -0.2256, -9.7846, 6.9265, 0.696, 0.1734, 0.0513, 0.6716]\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 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2764, 1.4315, 1.2675, -1.1648, -0.4301, -0.1989, 0.9979, 0.7357, 1.9724, 1.3258, -0.68, 0.2832, 0.6281, 0.9951]\nstate[eef_state]: left_x=0.3001 left_y=-0.0048 left_z=0.1689 left_yaw=0.2792 left_pitch=-0.6069 left_roll=0.445 left_gripper=0.9979 right_x=0.3367 right_y=0.243 right_z=0.0229 right_yaw=-0.0008 right_pitch=-0.6206 right_roll=-0.0982 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -5.8872, 5.5863, 0.7399, -0.3101, -0.0659, -0.022, -0.4855, -8.9504, 8.4718, 0.8913, 0.2173, -0.0317, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a77780e858f68b547bd854edd3bc6d559d01f38f88b14183fd9ce34d163b0ff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ceb096cca4df1d7992b55c578cbd9907e6dbc24bf564d05bbf854c2f671e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bc24540f88f2d64cee0caf4c538516d6b545b6c51620e5c0a1548385e004c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8Z4p0rNFDYzyvlBBc7akGYbYenIwhihla4IpGbrxO9vPFMeKvnrRoSO38gpGKm8H1sBGUdtU_hewbwBIi04y8_6dBeoqZVuQG8ntYdGttpR0N0FwC5u0pp0B2oSHDxsuhB3_Uf3z-ow7e_G0Ks9lvF18d8bOJ8xHV-g70HfaKzUgP7TtwDLUs9B2q5re2IIBko6HmHsJI4QoN8trPf-36LwkTpuKX3cGaxFIbj6NNSwQ2jjFPCd97pC6ts2qeRfOlDHw4QyKWGQP8ePu-7s_gwX_81YBx7Wr5ZRd1BAma-eei4gLrc9nE-n-RcS-5y0nSEyCgNi1o52rv-iW_nV-lFwGCwLOardGJAMwTnxEbZs8SV-3NpliPb_JUrFHJKMZ3gY499oIBRBqPzcs3RFehFK4XCPiNVLwXFbV2iOeU4NnMBo2yjBo5a1ecVzhwGnKdEYSjgw4OJuLkLaEGsSebGZ6DCeLoUkRIwYr3Z_zEjG_la5JDMkJBMPZg4zuMIFHbKk4evhXGfhn6GLNuOAJQ1s1UNwbqF0zGVN5WFd7NlV39xEV2qrAoy2jsgpm56XKXfrzHUMgnBQtqFfy9m0XYfDcxRR150LuZ8LHLFF5WXG_XgMPtCeBKx1Wc-CEwVifE9hUrn0IwF1kMrC_nkgGRhEEpWaCVu08i7yfOl4E4khiWaCMCh_YIx6H6UXvToDe3dK8HHLE0JLDARhPVYYfB-M_B-4c31MtqIEeNUGXDGHlKi887lgGk5e5-xj_da8yeU2sQK6LcKN5vmyxM9o2EOokvwdXGL6IIodFNOG9r3hhIGiDalOeE-suL5aBYCf3S07_U-AzNwIvHmFRjAUQd_AYbbKeIGafJFZ3ff04sEk2_XRZU1l1wquTq-BycgmycCHTTgs-AAexWchIM6VBTD4tU-y0bdUM3wQAqZmeuq0VqnJeuF1e2v0ruGGdDlawyhXUxYmPe_li8JyDdwMPZsodjJWV6IADufHio-F-RXRTLPvgK4oPgAZIyqio1Q7bjwNQKHnKp2A6SX8U2cSMyefRB-53SnOXvv9gjMQLgzR59jFeAyH1otaO7i9TH8IqYduFqDvtCjm-NgMugKPju0lKxkmclL70jdL2qkBgZSHQ93WE_7hpIt7VGppob8DN5pEFuuFwPe5tL49e-Mof3-_Dc6p5p53hTYiFXMOkHI8VFcDqSLLBT_y3vf0uzgopnX6uZKHBnIlSKUCuG_EpoeB48p8oCIvx8JhLisgytDRaBfQMELBKFB414CTT3_b4_VooDHINetfIjEjxvW8W69-g==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f190b9087d0994b0d303369a615",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward adjustment, the teddy's torso has moved beneath the camera and its two limbs flank the fingertip opening, indicating the grasp point is now across the body. I am closing again.\"}",
  "call_id": "call_F9i5V79xcYpTekgP5DcGWhqx",
  "id": "fc_0f5f930c5ec4c3d1016ab44f193fb887d08bc168179fbd4a0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F9i5V79xcYpTekgP5DcGWhqx",
  "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]: [-0.276, 1.4322, 1.2625, -1.1645, -0.4301, -0.1989, 0.9979, 0.7391, 1.9766, 1.3033, -0.6697, 0.2802, 0.6247, 0.0128]\nstate[eef_state]: left_x=0.2992 left_y=-0.0045 left_z=0.1672 left_yaw=0.2815 left_pitch=-0.6114 left_roll=0.4484 left_gripper=0.9979 right_x=0.3314 right_y=0.2409 right_z=0.0152 right_yaw=-0.0008 right_pitch=-0.6349 right_roll=-0.1106 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -5.7915, 5.9282, 0.735, -0.3346, -0.0611, -0.0171, -0.1436, -11.0017, 5.9556, 0.8376, 0.2759, 0.0806, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3693c61ad00b381d80fd6f531636837a262163c2b6d19ef3749fa804ee990276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a2a19bfdbd843b12d78f849e799ef169d3701db762814186207409e010d1ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab7e487d4559f5aa9f6be8c3dd9263dfb24fd47c9ab8a97e69bba20fc40b03d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 2.842 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4315, 1.2682, -1.1645, -0.4301, -0.1989, 0.9982, 0.8364, 1.805, 1.1282, -0.6167, 0.321, 0.741, 0.9996]\nstate[eef_state]: left_x=0.3003 left_y=-0.0048 left_z=0.1691 left_yaw=0.2792 left_pitch=-0.6059 left_roll=0.4442 left_gripper=0.9982 right_x=0.2899 right_y=0.2433 right_z=0.0337 right_yaw=0.0134 right_pitch=-0.5671 right_roll=-0.049 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -5.8051, 6.3932, 0.8718, -0.3346, -0.0464, -0.0366, -0.294, -7.8838, 5.8598, 0.8571, 0.2222, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2764, 1.4315, 1.2675, -1.1648, -0.4301, -0.1989, 0.9979, 0.7357, 1.9724, 1.3258, -0.68, 0.2832, 0.6281, 0.9951]\nstate[eef_state]: left_x=0.3001 left_y=-0.0048 left_z=0.1689 left_yaw=0.2792 left_pitch=-0.6069 left_roll=0.445 left_gripper=0.9979 right_x=0.3367 right_y=0.243 right_z=0.0229 right_yaw=-0.0008 right_pitch=-0.6206 right_roll=-0.0982 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -5.8872, 5.5863, 0.7399, -0.3101, -0.0659, -0.022, -0.4855, -8.9504, 8.4718, 0.8913, 0.2173, -0.0317, -0.2418]\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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4322, 1.2625, -1.1645, -0.4301, -0.1989, 0.9979, 0.7391, 1.9766, 1.3033, -0.6697, 0.2802, 0.6247, 0.0128]\nstate[eef_state]: left_x=0.2992 left_y=-0.0045 left_z=0.1672 left_yaw=0.2815 left_pitch=-0.6114 left_roll=0.4484 left_gripper=0.9979 right_x=0.3314 right_y=0.2409 right_z=0.0152 right_yaw=-0.0008 right_pitch=-0.6349 right_roll=-0.1106 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -5.7915, 5.9282, 0.735, -0.3346, -0.0611, -0.0171, -0.1436, -11.0017, 5.9556, 0.8376, 0.2759, 0.0806, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3693c61ad00b381d80fd6f531636837a262163c2b6d19ef3749fa804ee990276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a2a19bfdbd843b12d78f849e799ef169d3701db762814186207409e010d1ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab7e487d4559f5aa9f6be8c3dd9263dfb24fd47c9ab8a97e69bba20fc40b03d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8dDYdFWdLZMCUxBkkrixKq3tnjQUW6qtxk4KYbXTpYU8oYqeXv_-5sjYmQNCjQE9Z8-AckrtewCZzQ3LrA5hTMXQqGpNE2QH0KMVAWcwLb4s2rWTZIXO6ZPXtcG4CMbEmRCiM7WEyOhK7nn9NquslmWZ2SCoJDAnvys6QTpS2R8xhvcxZpNWLvTAVHegRPXfeJFuEFR0SZ3nsKS3Rm7aBWJcy4k4aFmwOnt11ZT4ouBH6F5CPyVke1T13tw8mVeemUmcAjpwAp33m0mwdbxPGUxlBAEfIYZHImQi37fXMhn2iAhnYSt1JxgqfbzOTnkRhuKyTWPFZUQgD_qwKQ1hL7wcdTJTUIWrYlNyeRRflrMuLC2d21YEIYy-BhM9G-h5aJGGNJU70aF30Y4uynqg6uP8WpXyebcpyBMZC65LRWPqVVcyjP70FCpdwAguvfFfWgtpmX8r_MVCkc6cQ4IvoKDuyAu_sPZhJ2DS5R1bFWK-mywKIO_Sn23JoMnLKxQw553nqL0q-D3XNombKcTIr5cMhc_ReGle_gM1gmyvWmEfBBO0LfAV9TXelsLEG_H3TvRF6RZYjhNAg8-18yrDkQvzTJwrHrAlu-BbmsbHfcbmdRyg_Q-F61cthDk3XOe3DFIIlYRdGq0FDVYe86RdzjpzhJbuaDHaUbaDhFUSi2sgPPL8Fiiz6TjcULJwiXeiqe7SSzNL4m4nxoNMmVwonw3SQBXmBA5lagK4iBeeJJKwDGgANuP9JUFUDexahIy1ynX7lMRR30caWzse3rd1BxS9dthOnL1SFf6jlkqtiiGU-c2meBISXYvFJIlpXYK-6nX_D9STIsgsnkB6mVgk-dgbZ5UirehGWtO0xlZTQtDvFrXH0AlKoA3kO93pZSTxW9bnaUyqkgUHLArAK4ZN8h9TCaCGHzrNvBSYYV29JuNAoERv_FBx2-L3MQg_sTH6esWQjNYs4XP3DIwFB8ac59b-cLyNS3ZQwBGIsFJwpffmmGLMlaE7aADJt9aTtxsooL6GUCYnZH79sbkfrksRZfmIAWUe-mIDxkcbWNOCCpo_U7plIK5AiXJaTCCGTbF9s6-BmKNQ27AAUuiJuFNS2DV6I7AzdMH7jZlj47d75x_N7_ibUD0JEce641xpssIx_vpCq03Sfy4ImTa0osfnHzV9-AvGvfVwBwCWZP7RMzwdm6fIvdN3d20Yu0OnMW6QBs-LHA9ASgXQcK2bKgIv7_L7jKMt4f29wRkGygMDULZAQ5vMV6-r7-r4NH-7mJToQlb4VJDMIu1VaaHYe3UP__8P5zZ7GtDxlaN9E1iHtJ6bsjETOh_rwc0H9YHFCF0Bmh",
  "id": "rs_0f5f930c5ec4c3d1016ab44f1c230087d0a675c452d807436a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.25,\"right_z\":0.025,\"right_gripper\":1.0},\"note\":\"The second close also read empty; the camera shows the jaws meeting between the teddy's limbs while its thick body is still farther outward. I am reopening and advancing another 6 cm to center the actual torso under the grasp point.\"}",
  "call_id": "call_mlm4qgUzlByVn2FFEVYzn1Lr",
  "id": "fc_0f5f930c5ec4c3d1016ab44f1c916c87d0b22aaa46eed7dc1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mlm4qgUzlByVn2FFEVYzn1Lr",
  "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]: [-0.2802, 1.4322, 1.2552, -1.1645, -0.4301, -0.1993, 0.9979, 0.664, 2.1304, 1.5505, -0.7509, 0.2718, 0.5308, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=-0.0053 left_z=0.1649 left_yaw=0.2803 left_pitch=-0.6174 left_roll=0.4529 left_gripper=0.9979 right_x=0.3853 right_y=0.2458 right_z=0.0185 right_yaw=0.0003 right_pitch=-0.6369 right_roll=-0.1334 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -6.1607, 5.7778, 0.7692, -0.3443, -0.0952, -0.0171, -0.759, -10.3863, 8.5675, 0.8376, 0.2418, 0.0611, -0.232]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29458ba01f04b74e74e4136a95db284d7e0ad169da5698c28300b23be116d626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdabedd09f121fbc30fb401613d60a699d608454b28ccb03c0b819333f95371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6185043cb8fae4fa714ffdbb008edebc6c02299e9f4a45a124b1bfc61a6d6df0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.328 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4315, 1.2675, -1.1645, -0.4301, -0.1989, 0.998, 0.8364, 1.8198, 1.1126, -0.6117, 0.3176, 0.7341, 0.0164]\nstate[eef_state]: left_x=0.3001 left_y=-0.0047 left_z=0.1689 left_yaw=0.2794 left_pitch=-0.6065 left_roll=0.4447 left_gripper=0.998 right_x=0.2859 right_y=0.2397 right_z=0.024 right_yaw=0.0081 right_pitch=-0.587 right_roll=-0.072 right_gripper=0.0164\nstate[joint_eff]: [-0.2256, -5.8598, 5.7368, 0.7253, -0.3346, -0.0611, -0.0464, -0.2256, -9.7846, 6.9265, 0.696, 0.1734, 0.0513, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4322, 1.2625, -1.1645, -0.4301, -0.1989, 0.9979, 0.7391, 1.9766, 1.3033, -0.6697, 0.2802, 0.6247, 0.0128]\nstate[eef_state]: left_x=0.2992 left_y=-0.0045 left_z=0.1672 left_yaw=0.2815 left_pitch=-0.6114 left_roll=0.4484 left_gripper=0.9979 right_x=0.3314 right_y=0.2409 right_z=0.0152 right_yaw=-0.0008 right_pitch=-0.6349 right_roll=-0.1106 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -5.7915, 5.9282, 0.735, -0.3346, -0.0611, -0.0171, -0.1436, -11.0017, 5.9556, 0.8376, 0.2759, 0.0806, 0.7399]\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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2802, 1.4322, 1.2552, -1.1645, -0.4301, -0.1993, 0.9979, 0.664, 2.1304, 1.5505, -0.7509, 0.2718, 0.5308, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=-0.0053 left_z=0.1649 left_yaw=0.2803 left_pitch=-0.6174 left_roll=0.4529 left_gripper=0.9979 right_x=0.3853 right_y=0.2458 right_z=0.0185 right_yaw=0.0003 right_pitch=-0.6369 right_roll=-0.1334 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -6.1607, 5.7778, 0.7692, -0.3443, -0.0952, -0.0171, -0.759, -10.3863, 8.5675, 0.8376, 0.2418, 0.0611, -0.232]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29458ba01f04b74e74e4136a95db284d7e0ad169da5698c28300b23be116d626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdabedd09f121fbc30fb401613d60a699d608454b28ccb03c0b819333f95371",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6185043cb8fae4fa714ffdbb008edebc6c02299e9f4a45a124b1bfc61a6d6df0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8h9U5Y86OpT7Ptn2peJ7iJLuNnQWzD9wACqcl5YOQGAx6-3P4g4nPYEIcRrRiuXSlVg0TxqMbZ8xDrlprY5Y2QVsI8futVkvX1uPzMEml1ig0gSsUeJKjU1IAYcUDLrtn4jmi-chwlTi7rT0krxrEUg9dIiIpm6t4k5JY4qsL5bOGMu4Js4oo66U4j83iBG7wutWU-g1T2aYGMa8y4YzshnE_PfCMF4JFX_1wuPgTqfplA8Uk4EMOOxQFBdn1rTdgs_BlOINeVQ6bevec59tm03JBP0NMKL3MtEdC859JFMso0-KRHSS4WGZ6ftn4NvF_3rGGacX9LcFUCYsuM3NbQ0bBkHCtAeBvfG8i5dmIUfjQlkdUUy3ON-Hm27M0RpdrZronWF579WwgUbd7GDSsV1gObNCIu_Tic4UXBLF9X5AhKPZSsDW6jA_HHOkPpJkOWCezRnD8t8xSYspSUNy2dQlob-OoXereTVAsVobhvxJdID_7ywA8TIEsCx-uAsmTu595oGDkWPLQXEyzYVpEFGLrWIZpQHiTp8SCd16uuew3jWWSCgYGs6zj0YqabBpXvwOf3VWg5wAt3o_gK9Y0W7A019IlYbTqWmDygPmJf1aa8DYpYPl3CNUGwCPEh24uVAvD-0L5FLaoGSU26WaR8oy4SjqPiS_wTqMOBQDzQvfgjJmFbkmzigK-rel5aKcQQOU25X_Y-5_Iyiq9fKsQWN-zpmeRe8WlTPUYYnWV9UKafT1IvBd4Z-9f_HiG0NxkF5bN3LYs5ujGwIFMXoR7G0fPWyml-rCWoxCDsRyPoNlchcO34cXBUp7GCzGYv6FLww-HzOuaCGncwipUBVONqT2Xb4yu313s64SVDzrJuAFGtHeJSBNLZ0ygDLknQfBqA5b-ZwqwEKvy1U1LPJ6DmOYmnwFc0NwOPRM5fA0li6nsyv0ZYLgcsmcHyIutbqMXi-Oxg9zzbUYpOhGK9Ethg7skh3piHDYss1ZjhEHAs6LCkN-bue44GT6YZX2crpn4RyS0SHXfAakxsx5KgWDq5zKw_jZvINkTRnaOAVSpS6xwGh357mrPa8aiKZo_HWaiYy3hK1d9dkJcMaP3T_Ja9cHQNGhfO7wVb6udbzyYI7rmRtFk7S30LfDgKt-2XOfv0jBzUF5eSJr5teJ1Fa48CtDddJ-al1VUXPWcJK6VewG3cWPe2t2VwESUJIalvmHhZy334x-1ihTbOcaMRFcVS8CuNaTIhzIAKhkUgSkRZGmMrkFcckXx-pgBJNrC7ltICxB9JW8Z9e4f703jluYBC1Q==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f206c3887d0a15a16453b1da75f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The teddy is now almost entirely below the wrist image, with only the upper face at the bottom center between widely open jaws; this places the torso at the grasp point. I am closing on the body.\"}",
  "call_id": "call_7vFnbrwtgP9pUnNKiewPc74v",
  "id": "fc_0f5f930c5ec4c3d1016ab44f20c76887d092db87b3b4f8e11a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7vFnbrwtgP9pUnNKiewPc74v",
  "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]: [-0.281, 1.4322, 1.2411, -1.1599, -0.4305, -0.2028, 0.9979, 0.6682, 2.1311, 1.5047, -0.72, 0.2798, 0.527, 0.025]\nstate[eef_state]: left_x=0.2959 left_y=-0.0049 left_z=0.1609 left_yaw=0.2856 left_pitch=-0.6245 left_roll=0.4579 left_gripper=0.9979 right_x=0.379 right_y=0.2416 right_z=0.0069 right_yaw=-0.0066 right_pitch=-0.6446 right_roll=-0.1548 right_gripper=0.025\nstate[joint_eff]: [-0.5128, -6.3111, 5.8462, 0.862, -0.4127, -0.0562, -0.0171, 0.212, -12.8752, 5.9145, 0.8864, 0.3101, 0.0317, 1.1697]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844b739a44bc6244d882363fb1ecbe011bf8b439931258bbd5b18dfa335f4f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5218fc04eeb1e3348394d5d304f7a5e5ee87fd8695ed1c080f1c01558829fabe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f28a646a3c8146d8d333cc90fc7a6b40fcf6c9b9a05d02a3a83b700707ef83f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 8.537 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2764, 1.4315, 1.2675, -1.1648, -0.4301, -0.1989, 0.9979, 0.7357, 1.9724, 1.3258, -0.68, 0.2832, 0.6281, 0.9951]\nstate[eef_state]: left_x=0.3001 left_y=-0.0048 left_z=0.1689 left_yaw=0.2792 left_pitch=-0.6069 left_roll=0.445 left_gripper=0.9979 right_x=0.3367 right_y=0.243 right_z=0.0229 right_yaw=-0.0008 right_pitch=-0.6206 right_roll=-0.0982 right_gripper=0.9951\nstate[joint_eff]: [-0.1846, -5.8872, 5.5863, 0.7399, -0.3101, -0.0659, -0.022, -0.4855, -8.9504, 8.4718, 0.8913, 0.2173, -0.0317, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2802, 1.4322, 1.2552, -1.1645, -0.4301, -0.1993, 0.9979, 0.664, 2.1304, 1.5505, -0.7509, 0.2718, 0.5308, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=-0.0053 left_z=0.1649 left_yaw=0.2803 left_pitch=-0.6174 left_roll=0.4529 left_gripper=0.9979 right_x=0.3853 right_y=0.2458 right_z=0.0185 right_yaw=0.0003 right_pitch=-0.6369 right_roll=-0.1334 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -6.1607, 5.7778, 0.7692, -0.3443, -0.0952, -0.0171, -0.759, -10.3863, 8.5675, 0.8376, 0.2418, 0.0611, -0.232]\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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.281, 1.4322, 1.2411, -1.1599, -0.4305, -0.2028, 0.9979, 0.6682, 2.1311, 1.5047, -0.72, 0.2798, 0.527, 0.025]\nstate[eef_state]: left_x=0.2959 left_y=-0.0049 left_z=0.1609 left_yaw=0.2856 left_pitch=-0.6245 left_roll=0.4579 left_gripper=0.9979 right_x=0.379 right_y=0.2416 right_z=0.0069 right_yaw=-0.0066 right_pitch=-0.6446 right_roll=-0.1548 right_gripper=0.025\nstate[joint_eff]: [-0.5128, -6.3111, 5.8462, 0.862, -0.4127, -0.0562, -0.0171, 0.212, -12.8752, 5.9145, 0.8864, 0.3101, 0.0317, 1.1697]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:844b739a44bc6244d882363fb1ecbe011bf8b439931258bbd5b18dfa335f4f06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5218fc04eeb1e3348394d5d304f7a5e5ee87fd8695ed1c080f1c01558829fabe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f28a646a3c8146d8d333cc90fc7a6b40fcf6c9b9a05d02a3a83b700707ef83f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0f5f930c5ec4c3d1016ab44f23d15087d090945e12a07bad1b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.37,\"right_z\":0.18},\"note\":\"The teddy disappeared completely from the wrist view on this close, which indicates it is now beneath and held by the gripper despite the soft compressed reading. I am lifting and carrying it leftward over the center of the safe's dark interior floor.\"}",
  "call_id": "call_otekxilc6cOtJvAuMlPrWfIz",
  "id": "fc_0f5f930c5ec4c3d1016ab44f263ff087d08be1bad08ad6ae5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_otekxilc6cOtJvAuMlPrWfIz",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2871, 1.4303, 1.2179, -1.1484, -0.4313, -0.21, 0.9979, 1.0092, 2.3013, 2.4195, -1.4971, 0.3565, 0.8368, 0.0299]\nstate[eef_state]: left_x=0.2934 left_y=-0.0059 left_z=0.155 left_yaw=0.2883 left_pitch=-0.6306 left_roll=0.4618 left_gripper=0.9979 right_x=0.3033 right_y=0.373 right_z=0.166 right_yaw=0.0574 right_pitch=-0.5904 right_roll=-0.1087 right_gripper=0.0299\nstate[joint_eff]: [0.0752, -6.6803, 6.1333, 0.7643, -0.4176, 0.0073, -0.0171, -0.0615, -11.6171, 7.7333, 0.5739, 0.3834, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2405a922a99ea3e15cb22b02e5c4b2164babca17dbac91bcd3c52ecf52e44fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53336387736927471ca62cdb4529851a7ef71466c170175bf70e0e7b342370d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732d519968f378a8f8c5633f5b28059b33094a8f44bb50e5c95f9b686d5f24c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 4.635 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.276, 1.4322, 1.2625, -1.1645, -0.4301, -0.1989, 0.9979, 0.7391, 1.9766, 1.3033, -0.6697, 0.2802, 0.6247, 0.0128]\nstate[eef_state]: left_x=0.2992 left_y=-0.0045 left_z=0.1672 left_yaw=0.2815 left_pitch=-0.6114 left_roll=0.4484 left_gripper=0.9979 right_x=0.3314 right_y=0.2409 right_z=0.0152 right_yaw=-0.0008 right_pitch=-0.6349 right_roll=-0.1106 right_gripper=0.0128\nstate[joint_eff]: [-0.1846, -5.7915, 5.9282, 0.735, -0.3346, -0.0611, -0.0171, -0.1436, -11.0017, 5.9556, 0.8376, 0.2759, 0.0806, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.281, 1.4322, 1.2411, -1.1599, -0.4305, -0.2028, 0.9979, 0.6682, 2.1311, 1.5047, -0.72, 0.2798, 0.527, 0.025]\nstate[eef_state]: left_x=0.2959 left_y=-0.0049 left_z=0.1609 left_yaw=0.2856 left_pitch=-0.6245 left_roll=0.4579 left_gripper=0.9979 right_x=0.379 right_y=0.2416 right_z=0.0069 right_yaw=-0.0066 right_pitch=-0.6446 right_roll=-0.1548 right_gripper=0.025\nstate[joint_eff]: [-0.5128, -6.3111, 5.8462, 0.862, -0.4127, -0.0562, -0.0171, 0.212, -12.8752, 5.9145, 0.8864, 0.3101, 0.0317, 1.1697]\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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2871, 1.4303, 1.2179, -1.1484, -0.4313, -0.21, 0.9979, 1.0092, 2.3013, 2.4195, -1.4971, 0.3565, 0.8368, 0.0299]\nstate[eef_state]: left_x=0.2934 left_y=-0.0059 left_z=0.155 left_yaw=0.2883 left_pitch=-0.6306 left_roll=0.4618 left_gripper=0.9979 right_x=0.3033 right_y=0.373 right_z=0.166 right_yaw=0.0574 right_pitch=-0.5904 right_roll=-0.1087 right_gripper=0.0299\nstate[joint_eff]: [0.0752, -6.6803, 6.1333, 0.7643, -0.4176, 0.0073, -0.0171, -0.0615, -11.6171, 7.7333, 0.5739, 0.3834, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2405a922a99ea3e15cb22b02e5c4b2164babca17dbac91bcd3c52ecf52e44fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53336387736927471ca62cdb4529851a7ef71466c170175bf70e0e7b342370d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732d519968f378a8f8c5633f5b28059b33094a8f44bb50e5c95f9b686d5f24c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE8x-JESed6s2aiB95MbTgYkr6Kd4cOkbG8rU7kX7hj83qyhgBGTncclTq_Gsdq8Vop5vucXZTtrtGVOhxBnc9Kl-UGwcOjSFJeD6YL8SyNGeR3_ppUqQ7HCkYWGidTJJZQVbu40xu2EbImSjFpz-cr51ehdZ9HMe294BRTOkwlzHeAeZNKN1yaDXnKS5LVkWPeKclY3I0LjK-Jv8kwL00q7aQTQuaMqv1yetadRAy_RNwcTlr8xYr2pI2FNOz6C_SJSFkz2SHhw4eR8Dpy3djyTdsb2tNHn5xunk8PhSLU0G3i55yXMZaqvPAygbE_ShNWAbj5ImCpHlF_f0yKPInIMCHduLglItM2kCP6lSG9_lAWoBLw-NC5QDBRMWf-goRuugzRUIrw7ZuJYKaVpiHWCSTxoX6y5bOxUeC_lhsn9PujhnLw1ShHXcsJoH2-9OthuejbFPf_3m2i8pC-fq_ZCKUCt-fgJUv00padbGVUfbDhR_EFazGTTvpaIqdX-rJoa69EYa-usY35RoZ4WY7VvoB-S8S2k6-irQHjh7RkA8NHuonr1IKz3b7xd6A6IWav6_IoZK5YjyA2id6d9kZM-nlUc896a_umV56U4B74kYRZIwLN8GuQ3aWP_LE6WjxIqsbC0bHGqx_2RU96_UdjnxwB7gIFNz2ggJ_I-_3uYsFAiTr83KKFbxsTDl3UaCUooSJGvs2ct0FC6LsX-7QWkcDTl4eX9ZKIbOUXd1yAiQA42ChjhYY7Q78VwKiOJQLnVeLCJ_pz3laOU9fgdRCvbdmtgapIjYd3MacQFneOfTOX2TtBccjW0vYGTf27TSgOf4NlkOMPPD3FUmzhcG2NyoQFF1SVj2ooYkCv1D3V6hsZxmiZu_0PDqxF1J_-aopQ25GWRLxsmDMQXD7D7NlwUlTFXbPVZDBm4TJjjbucFIRSuUR717vBiap5GJN32ItCmsFaAdS4pvJ7fXPE_j_2rk7rMdxD_mBJnr2CFArjfaXx2Fc7qrlTmanaHW3Yw6IZbLqHkHi-Cq9sjgYj7ZUIQJWim8Oud4kb0Rt0n4iLX8DtZStV3vkF_MPD5SJXz2eXAZPheLQ8DR5ZlkwWrpGDrEvouXZCDPFVGix7t8qPoQIXcahBfnqenAbDSH-yP22LM9liLDeUq6WNuOOkfUNVwTHlKF2-8dcD8-v4EbfMpG7WGTuaKSXyJnwxsq1ZoUdzXWz0LAi2N-b2vsjw1g1CCancukLPyHdD2h2gdpA4Hs6D9SlKx-JzDFdQYGmelhAloV84qQ4C7a9dnq1ZKQb5Jf6f5_zoXYbk3Bddf6qCx2mdtInfbY-iUUzXBnqu7I3WnI2DBxAknPQ4wrIhN0bwTnhEmuFLjx3AvZ9wgFkOZBIe_6pL0I8oY9JloW_aiJvMY5I6WFtQI2FpA-DU3ob1VkhUV9wUMaOnUKWPeIjndOo9r0Hvl93axb5O8ZLuAO4DEu2z0PJL34tBIMQmbUT9BhdLLElwtcVapHkiz21063JCs7rJYwkCsWVcWZfYtpTn_rUbnw-3CP8py9nd0bYrWCTOLSrbgjQy9R9MzxrDJxGCDNLaL-hmkCWEfUkgPYkwQqs-rxHBb9tCr7iQI33-WqF6K6MgNL_v7iwvKe8u0U79_oelNvllGtsGNuaFCBpSt8724VmznMueIxOSM8wDkh_6MhFIOPGSlwGtX7swM3ebNBBXwV47cgkGLXrPI5ltZJW70Kzeh-sM53BwxLJ1Xxuwfdx2RoZPpBxNKACRwgVUe-laJeYzc6OlUQGPMM3jLv15NM7iiYUxSgi2Rski61V2F9pWhvFLLtdNVyVzHRCokmfWRej5wfJcjsI0Bk1QhmMnMohlVGnbOzXSNLJJZe-R5hgHKU-8NpBix8wVT1HYBIQGa84XDreSbWtoYYK8-jNa7T35MfyghlDvGnlv_ZnU4LSXD8RL7JwjwaUsaDb0JcfXnNiU5lmbE4pgeZo9bEnxGBdsakOKq1s4FXCNAj8Izvib_6STCPt2bWxpejG_B7eTkkEwpX9Z20iGEru5-nMMvtqTdURlwx_qSqlcIS77LV8R2frvLKAJcjdeemT-rr53QXP5HuobQh-zFAISZc4QUavqyhvGr4bBBkg_E9eG5dgkxyTk8URPWfpnUQnVg7wXCdTQLyp29W50k8GzKXIsSVJIaYZYGohOrwglMbEroa3_nv39sMmR9vStOxz8zxJ5IlhPg8arUBnge0Nkja7wBDaVKeqU2UWWBglrTcYyByDLrflZgl51qKZ263MyiZphroZXY9RynzUqv58aUJDPHT1W-78ChDl_huFiRmi81BALUVLpkiIuVmN4voB-ddgXEMY8VbbtfYmyBq7ns41eHxXyib0IkzTrO0pxtccXiLDytTIKYga2ZZbe93zTSLkFVFTrkJyBVsogrUaI1V3D_neDE5ps10DMuDaKROZy59ANZgyaKKAKuB--h4VexgvP590X5k3Hei_LvfEJwqAoKQjhC_G2WEcUQLtLxEPmIzNb3bq_KaePXrbuN-VNZnp9tYX7CJcdHWNMbZiMkAZNPBriD5bdGG25dKK_gatNZjNWH-tlrTfynGxPqUXRPv5yU6uZD2LtwwO4ElKsUK8YcNLflympPnkBA7C8UTZ_TUfxkBuVe7HPb_TECdJzV6GKJVR7dFRNee-3VAIB2CjJJTiV9YX8br1RU-Fs1VMHlRzA1B0CGYo-wL6CGaXd9Pt--8Pl67ABRc-t4V-OziKV66P7W0m7Dly8YV-8s3md2g1Y3KSDGBXNsAkLafhlPd61-ikqkC2NdS9MFnaRXemt20M-OMT6-HYX0BUNdNQbp-4gqBSjDTsq5vl8RMbKI4SzQNsIUbCb4dwxjGHMbmDKJlqO7rMg5AhBp1ip3vUDLOxwH1i3-StBr-hWB1d97IWmK_dIvEoNU4KOvqEfbz9ivTlpyfOD9qdJHJqGKko8xwtqzMuvw59izJBCP9CS3-rRckUfq0-3nBWKteoIq-SMTQUiQz95yUFy4FEN-mq1gfI1qhfArUE6U7ecrQm4t1wkrMMPu0_EvRBJD2K2oPtrO_22TCZ4fWeJDjyjyjk8VsTg7M2Tw37Pc9_vzFZ1A5srmYBtgfun-NgWno4ia56YNjq-9BQCu6yfKFqEwDcjVAHSrqOggzyLP-nHz88zl7JMHCBKFjugu5MRxMsf6YD-ehRWt9GN9sIHwoc4DQIlLAtrUIiifdIJhy3VBdGzb3BT2m-wMGO5ddPNhBBRjRZqCw7s9LATses27-PleIcj-mMWua09wTbjm_5W-fOkfpU0MxRaMhX7zEjRQiSp11-eAVjoX-FCgUhFYxHCxeLWnktYRwqIkZQjY0jb-qc4bq78K4qv1iHIzYcQOFrdh2EN_KoJ9AARAYtfjMetZg3HrXD4E9ZXMEGuaEH9vyLnb5mjVGt_gRAk_3VIOZgI5xxoRc2BG6YLie54o8LQcZsO139ZARCojB1OfCSpYUZI_Ox9R4qVbpX3TkzCFVpzakbXUha1CqyKeGs_ld435oSlAxUzGwFiUVx0MvjKHjYKlBIWvkQQ8IR9VKg96BfLQI-P3eE8NBt_pI6Yn6nAxE-AA9yUdS6ZLkOr9z2lRiPbW8qYqxVcL1ihe10gNKXJGcteasnaQ4w7pgpMJOLdXVM8cVnZkdlxcq4eBfXpueQhSiqfQK_V6XvsUJPFisv2Vulko36ZfW4gDCK8ds_dUvYKfee6_kYkfZyj7Niye-m1yZ03sfv-dj7dpIgQhA5QnErYHWGE73QJwBJdWRDDnO942wLa2sCgLmwbLiOzbbx1D_uluhuTfcwPWfNI9vSkSP2-9KwNnfdbBj-J9PSQ89XbKXUW1nQqh0adxIqj8VunU0DAnUTJJ_Tgw7bE3zZkn_tlTeH24Vhtffoh94SMYY99-pcr8u0Vo_Mk7Xvo14mMor-9Cwy8bAZJiNwfJwo78HHM_1d4HHiqfQj3jW9qo2MUJW2Nr10eyxlDuvKOkG80JRUBwBYWOKwOMdet1Id3YFSW17b-a62hE--_uwRRRpfUStprtZahiM7pFddY0F--KK7DhApffFxEx2-7g2fgP",
  "id": "rs_0f5f930c5ec4c3d1016ab44f2a3b6887d084a51a8117bd431b",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE8x1LiS5XPUatjMa_x0mXgnm7BnRScJRz584d9vELrdSKiTlYpKCRCe4D8EoVfFeq1GXSdy3cl7rmdukrVZ-AO8MNJ7zwIanZWPwGA_Tt6hFqZObPZbP6g6xUhB6d_KGYWX-znTvMHTsfLvGLUf_ePUquy0jg_eHCd9xMb_YO3Q7B6S2VWfKOtLV2dDgt8unOt5FU3iChrN97mEBDkNBtba1HS41lvJwOdaIqU4wMwAkXlLB5llPXpfpUgOoRF2T3M1r4YdY8zkFo-JEX1IQPTQwLR70suhswe_DcSpPiabyHXMDMxfIStKgI75rVRqXelnvm4jUW8saFVRVSnW7hr-w6rVZTG--chUrzI6NSyBuzL4dAd8sx-dctjc0RIJuCHfGRkzGLZgrg6aKp42wnCbCTyLP7tTVk9wayNpthr8OvPKFvkQYIh8EEmw8rq59o40_cwvFgJmx4qXF5d7Mtj_WDlWHnts2pxagKnKJHbPkOFOPF-HNiqUL3TZDvZ8CgC2XYyzpbwQRw4y-9egxhvskFylpqjWHsiy2vEVleTcxrLcLnrE89HrflrCdGvWd-i8ljErCgJK1MmZ4XelpSBayGSE668eCoyzxoG4RW3TWndh7bqFm4csmHPt71uC90je16hexizADTVUN2WN_ULVKQEgn0rxKprEim9FFzkaJcqYJNYSFck5jy5I6sw_S-wq3STyqOHBdQtMq8XqHljgEO7NIWvpqzaEJtnB-_wc5PKqy0LT1YfxtMUvRHkTiiEJ0X9vSDJTYFWvi8CYzW6SQyuJ5slg0f-WGVLjKjBkDqPxsjwR0TmvC4nxusaEiqQeQKe8LNrdrarDbUnu935uBdMo7cFmSrOISqAydt-jD6R6_wMeXLV-J32CrJrt6DacRKGjp356cIRmS87stYUppEftAqlxYv3xbDxaixTP7OkFzeQRG5ofT_cljIUyDpqvA-npwhyn_3O_xxdtfC_Nw1hK4KIip3wjurnSe6lBbBfpU1ui95kPm6mRpFWGsm6tZfkuX4OGXJ_C54KeTvYOwguU6Qn773F6s8mzNlveQBUgEE2mryFVBloBB3N6heJz9DsT0OudiZESAjlYuMxQDbr9uoOVgsDLaH5nyH8QTbnN0UcmgBnjpRviead82Ub4F_OjY69UlGrJ330CdiF7NLVEBaZLLSNgbnVI-DAd-pzEGjsj2aBgFgT1V8qITLmqqU-94XA0jidfFtMjxcfIYMAb-01K1hxL6Pkve5xnqj-h1Ds08BoIpzrlQqIDqG-OEVYDkgcs2DUfwRkeHaICwzlMZ3jAF1M0skV9XN-Sijo1Lq4fgCC4AGiDTyLe6rf8iY6IAcJjACg58e9W2xgrDyr5YxTYZUGP0-h9YlbI4yup_K1rdEcC6LsITEEYsZzF7-4TQmLEk2-c-yezMOGHUt9hK8t1VPOshUgVfEWnQy2U2AFnRbpcAl3mpdTKx33BP--EkjKk7lkpilelWrAvCdTH4_4HuFSXWStBo4EvFddhz-Rspbvo6ANx7k7fXYlrLbLf3T8OAdGsZObvygwwOA86UwnwPuZlR2PWM9n2gxdKYq3tGKD5cn8GYzeymhTaHmak4QsXPbfbizoZEkiPZteg2DutzE-3zhDyx3_uTyo6AIkmEyGY4dNeYeoib-Pz3iv73qV7hUCtQR5cqXSze-ZOVg8z8omE4AwSnoP5PittrlLPQ4EKIm74Ycn4z4nXg45boWBTgPIe-u7rIzrJkud_cjV73DSFys8N17f9WC7ZKGzQVy2RkRMLyhuw0WqHj378bkAsQo9vHBPDVCeoiD9vx_4b-dWR5kAyLEvUd1juMpiCiALX66s2hCpV4EPO8ReYrQ8jMxFbVJNEt7my5yXIwCUAKYxIZPkLfnOfjFDu8jTnnPIfe-NscLu8RCQ5",
  "id": "rs_0f5f930c5ec4c3d1016ab44f2eedb087d08a06cfff662ce7b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.23,\"right_y\":0.34,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The overhead and wrist views show that neither plush was held; both the light doll and brown teddy are clustered directly in front of the safe opening. I am placing the open right gripper low on their base-side so its two fingers can act as a broad pusher for both soft toys together.\"}",
  "call_id": "call_yUwusUgst3GTkXtYded860K2",
  "id": "fc_0f5f930c5ec4c3d1016ab44f306a3487d0bbc40dc4960d6d4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yUwusUgst3GTkXtYded860K2",
  "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]: [-0.297, 1.4284, 1.1915, -1.1294, -0.4377, -0.2176, 0.9979, 1.1149, 2.0438, 1.4342, -0.8616, 0.3828, 0.9401, 0.9946]\nstate[eef_state]: left_x=0.292 left_y=-0.0073 left_z=0.149 left_yaw=0.2904 left_pitch=-0.6297 left_roll=0.4684 left_gripper=0.9979 right_x=0.2315 right_y=0.3304 right_z=0.0233 right_yaw=0.0276 right_pitch=-0.6089 right_roll=-0.173 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -7.0085, 5.9145, 0.8034, -0.4078, -0.0317, -0.0171, 0.6906, -10.4684, 4.9299, 0.5397, -0.0464, -0.0122, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df40b2c224743224ba118b58e3247a865d2d4d210d078f0f03a2697fac43e0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1028a21f5864f4b380ed0df7f4158065d557ea6ed938cf6e926db688e2490a26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06e3c3d9200cd3687f7e2d9dd4c51f523bed061aeb9eacd359e42dc249097b3",
      "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 · 3.144 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 142 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2802, 1.4322, 1.2552, -1.1645, -0.4301, -0.1993, 0.9979, 0.664, 2.1304, 1.5505, -0.7509, 0.2718, 0.5308, 0.9949]\nstate[eef_state]: left_x=0.2977 left_y=-0.0053 left_z=0.1649 left_yaw=0.2803 left_pitch=-0.6174 left_roll=0.4529 left_gripper=0.9979 right_x=0.3853 right_y=0.2458 right_z=0.0185 right_yaw=0.0003 right_pitch=-0.6369 right_roll=-0.1334 right_gripper=0.9949\nstate[joint_eff]: [-0.0342, -6.1607, 5.7778, 0.7692, -0.3443, -0.0952, -0.0171, -0.759, -10.3863, 8.5675, 0.8376, 0.2418, 0.0611, -0.232]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2871, 1.4303, 1.2179, -1.1484, -0.4313, -0.21, 0.9979, 1.0092, 2.3013, 2.4195, -1.4971, 0.3565, 0.8368, 0.0299]\nstate[eef_state]: left_x=0.2934 left_y=-0.0059 left_z=0.155 left_yaw=0.2883 left_pitch=-0.6306 left_roll=0.4618 left_gripper=0.9979 right_x=0.3033 right_y=0.373 right_z=0.166 right_yaw=0.0574 right_pitch=-0.5904 right_roll=-0.1087 right_gripper=0.0299\nstate[joint_eff]: [0.0752, -6.6803, 6.1333, 0.7643, -0.4176, 0.0073, -0.0171, -0.0615, -11.6171, 7.7333, 0.5739, 0.3834, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.297, 1.4284, 1.1915, -1.1294, -0.4377, -0.2176, 0.9979, 1.1149, 2.0438, 1.4342, -0.8616, 0.3828, 0.9401, 0.9946]\nstate[eef_state]: left_x=0.292 left_y=-0.0073 left_z=0.149 left_yaw=0.2904 left_pitch=-0.6297 left_roll=0.4684 left_gripper=0.9979 right_x=0.2315 right_y=0.3304 right_z=0.0233 right_yaw=0.0276 right_pitch=-0.6089 right_roll=-0.173 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -7.0085, 5.9145, 0.8034, -0.4078, -0.0317, -0.0171, 0.6906, -10.4684, 4.9299, 0.5397, -0.0464, -0.0122, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df40b2c224743224ba118b58e3247a865d2d4d210d078f0f03a2697fac43e0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1028a21f5864f4b380ed0df7f4158065d557ea6ed938cf6e926db688e2490a26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b06e3c3d9200cd3687f7e2d9dd4c51f523bed061aeb9eacd359e42dc249097b3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE83Af0oPtofDgv9zoSZ62_1IpIwnoomRd4VcN1CIfoQ03UEyUElbJJt5tF-lkDtnONRh84pBalhGTgDSIVX5dnbE9RBPajKkeKbELpIfSp2Bom4K-Jr_CF3tPDt0Hx-JMSvf2s5ZxuVCtFH1fGXmJurFDzpZdox1anJrTrEoLt9Oen8Kqq9Q3h5DIz_7YkAIwLlA4mYWO_6_Ub1TE57maSQ5jP_yvx1QAYQZf6qaDDJ5nNezOPSrN1RQhulVF3OdDKj-DNE8RMCBC3JJburC7EKKGKE91MRLYaXGDo4xZNCpfKrDL3kIhCIfcKcyexRZ6SR_U2NcBkWn2QNwZDyUiFYk7VOdf87NHZqbAfBElVWFmsvuIuLLHhrOFE-EvKgpkSaIahjvp0gl0H3s58lVVGQ2l1wgxKIj2tOOEb_ieYu_zArvCyezejchdxu7qVECB7LByJMmO7SXqvZb4LPq9DTvgQ3i9VKb2QeEFl1KqlMR_a_p32XGVwEdSgkA1YhKbPkbdnx4RVfNW-yxY-v6CaGbbbrXuasuhFNme-F-WJ8c4mO0mc1WHKRBWmum6YJH6QuIPvzBwy6uXTn8SSd1nyvjUTohQri3QzgZ7Hjrq-xT_yA-HRP_bnRs93DUwEwCXr3UTUtft_zqNizD19nvPlYKqVUSW-e4f2WCloSXQanpBx4YlSme2KOPj0YZNhfxKcsTkQCHmnM9pCQBoOAmOS696e77ug3Y-iHy7ScmqhmV6ScD9W69tiGNj8UYKCER7sAzktwpRgAR-FRwQn4Bj6rLzsFI_J3ia_0LnOsGKk7m3Y97qcubvNeNlyyrLTuMcn-WBgIqKzGQjfju-Y0h2rFoEaWzD2wT71PlMDxPpZMJAUHHHsGS3kYsjP4nf4nrElOEkH48C6UmRLSVpkh214l1WCDX3rkr1GqcCxh32jRa7LT-ILswTJl8B5pHOSmqf6vug6JBvCm7TOe8za4uHncWspF0sn73OXmslzkW9DwareaNa5BmDYdW2Bg2a0B0QDWPeHJMoPc7Na9rgqiwi2LQ-5-daMmu5Djt88sj9u-LR-HnCy9dcZOhNGZhiNQYk0HR_RMrjGamsw8oDYV23HJaG6eZdoypU_8za0IVtQn9vUQjiQkxplS6mPfY-X7g3kHIbDSMhU3qtGXIBlyLyHq-fZ7uludQK--zc4G2boOTmPKpvQ7-JTJXvbwgsFzAGToS_TwrHBbtUBGAIVDqj44lCMUEs9xPECWpQDzeAfa72SHprsV4JXfsS9dFsxQmnncFuQwRNyH70IFzkzE9UuZKwM8pfW8KiVHexjEFAS1a4CkfPmogYBhxPkmiEuU0knX1fNrNTICEq4cUFzPulkl88hL7sHv3uMW3l8gEAceaVQaXvOWGnT0jux-mePG1XndvwOcn_oEhzvn3ijhwY1-QjjnSS64fV5crVM1bvQKHeMwxZR7E_OhnOr8NQDZwlCpKWpffO_BNnA97u0It6A77qLkGc8epN0jGrgRVr5o3ri7HEucEIMzifah7o0V4qiavcvnRWHPtdYQyw8NEL-O6FaXW_UVPEzLnOPUMgObQ4XX2FW05anlnFKIlHadNR6G48xGePvRD-y5j89zCGpMy9lcK77lMFeygnD1UOX1cM_kt1BXatEkOIIGKx2Uic97JP8s-H88M8WPSgpA5T2X8iliab8n44xCUBKJEkOi0AyfJwL4ffQXNlEAgeoqmTUD",
  "id": "rs_0f5f930c5ec4c3d1016ab44f34209887d0bf7046b73e9e0713",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.34,\"right_z\":0.02,\"right_gripper\":1.0},\"note\":\"The open jaws are now low and straddling the clustered plushes on the side away from the safe. I am sweeping straight outward toward the safe opening to push both soft toys over the near rim together.\"}",
  "call_id": "call_oysx0GQgfGiLvUVcogNQRquf",
  "id": "fc_0f5f930c5ec4c3d1016ab44f35672487d0b59c0dbda7e44876",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oysx0GQgfGiLvUVcogNQRquf",
  "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]: [-0.3073, 1.4265, 1.1648, -1.1122, -0.4416, -0.2249, 0.9978, 0.8577, 2.3325, 1.9194, -0.952, 0.3336, 0.6628, 0.9989]\nstate[eef_state]: left_x=0.2899 left_y=-0.009 left_z=0.1426 left_yaw=0.2906 left_pitch=-0.6321 left_roll=0.474 left_gripper=0.9978 right_x=0.3674 right_y=0.3419 right_z=0.0278 right_yaw=0.0428 right_pitch=-0.6114 right_roll=-0.1586 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.8991, 6.0239, 0.7253, -0.4371, -0.0562, -0.0171, -0.9231, -10.7692, 7.2, 0.7155, 0.3541, 0.1099, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8882e04a692d3fb98ca9d441786bd04f0d10ce19aa190cac068d042b74e84d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b6a4d406d7b77792a34dfa9dc89534f4cb506c91fe4255958d55fd86f66346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df9b4da8519ec99763f35bfc87866d25b40260d34a9561f727b813d5b28c705",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 4.119 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 142 changed as sent

message 146 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.281, 1.4322, 1.2411, -1.1599, -0.4305, -0.2028, 0.9979, 0.6682, 2.1311, 1.5047, -0.72, 0.2798, 0.527, 0.025]\nstate[eef_state]: left_x=0.2959 left_y=-0.0049 left_z=0.1609 left_yaw=0.2856 left_pitch=-0.6245 left_roll=0.4579 left_gripper=0.9979 right_x=0.379 right_y=0.2416 right_z=0.0069 right_yaw=-0.0066 right_pitch=-0.6446 right_roll=-0.1548 right_gripper=0.025\nstate[joint_eff]: [-0.5128, -6.3111, 5.8462, 0.862, -0.4127, -0.0562, -0.0171, 0.212, -12.8752, 5.9145, 0.8864, 0.3101, 0.0317, 1.1697]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.297, 1.4284, 1.1915, -1.1294, -0.4377, -0.2176, 0.9979, 1.1149, 2.0438, 1.4342, -0.8616, 0.3828, 0.9401, 0.9946]\nstate[eef_state]: left_x=0.292 left_y=-0.0073 left_z=0.149 left_yaw=0.2904 left_pitch=-0.6297 left_roll=0.4684 left_gripper=0.9979 right_x=0.2315 right_y=0.3304 right_z=0.0233 right_yaw=0.0276 right_pitch=-0.6089 right_roll=-0.173 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -7.0085, 5.9145, 0.8034, -0.4078, -0.0317, -0.0171, 0.6906, -10.4684, 4.9299, 0.5397, -0.0464, -0.0122, -0.1587]\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 146 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, 1.4265, 1.1648, -1.1122, -0.4416, -0.2249, 0.9978, 0.8577, 2.3325, 1.9194, -0.952, 0.3336, 0.6628, 0.9989]\nstate[eef_state]: left_x=0.2899 left_y=-0.009 left_z=0.1426 left_yaw=0.2906 left_pitch=-0.6321 left_roll=0.474 left_gripper=0.9978 right_x=0.3674 right_y=0.3419 right_z=0.0278 right_yaw=0.0428 right_pitch=-0.6114 right_roll=-0.1586 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.8991, 6.0239, 0.7253, -0.4371, -0.0562, -0.0171, -0.9231, -10.7692, 7.2, 0.7155, 0.3541, 0.1099, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8882e04a692d3fb98ca9d441786bd04f0d10ce19aa190cac068d042b74e84d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95b6a4d406d7b77792a34dfa9dc89534f4cb506c91fe4255958d55fd86f66346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df9b4da8519ec99763f35bfc87866d25b40260d34a9561f727b813d5b28c705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE87tThusXbhfJqWmNDtb-6y6mwXKmWpol_eKc0rcw3zQh3l9jnKgCXy02f1XJ-LWyaz_VY3P8GXynPpuE6sV9CUOI6-oiPhpFl4A3JjPDjj_Ht7iUXIrszNa8ZsGZzanAdB7J3ZrbxDxQ_pjEBXWhOkn9Xy7US7r-KE-NZ6zkaZelQ3nh2rZi_f9_Wj0ANw6v-ZTREmgjPDuklNypl_S6CaxbA45u8DKLSzV_K4wAgah5RQM1yiZgZXJNpsyglC13QtpVysNtuhb7GO_0N2aJo53kOGPYOx1hQZV0ppEwptJhQgnQB2EqBMeDsGrnOXZdDD6cBVKBVHSJRtqqJNdgVRnmeVwdQiB5IbvHj6V2z6bETEH-4V9CgU-Xwwi27uGfAOdazbfC74fbnpY5z-f-_akkZKiRkHjEdSFnhYxrALryZNX23znqIfKpHbFU1zjen8JtRSYVkE55jHOYy-qnVkm60TSFR8BxBBerlKMPd8thEig0RyUWO21kXRfxe7HqHrWnh2UxgcL1LVV7FtCa5tLC4HjE3dyiDXLBSaQ_cO5oM7b1UxIx-meJ5NX8YCAmwL3rlWCr8mCP9oxai-qI4Kt5w989ZzlL2DuaK0mU46JiWTCXbAIr4Av5xsjE0s6FOYo3VsZOw__a9DmRjOcwyDEReIY4PzRakEE5xDROgSJZVEHvCNN2E8HBezAqrZDfDHkCSzrRvcNTmhqufBqB2pDMTBrgjU6f68TAgr3rh2KE_S0W5B8l_mxLLIsbCl7YeXWF2MU0EkdBFLFX6Umhj_LXYoC5QPY2rYbKKmS3ZKLuQUl-TYN2yRQPUrVNKRSwrOPmcT6MqEkEk3RCiQHV-NcMLZoZqyfHBgeHfXt4RH8mwQspCh9wdU6RJYun7lZEMK6YFVw3wreYSGxco8pqOvpuN5RtMuUZ9faBLviDNybflqnx0pogBgbw_JDvcxiIb-_UuhDIbRix7iU-GUUFsGhBJePbolpfqjQzHRipjXaC67ts69GMuI_Gbt9TDeXdw-zyS-dQv7cKkwd_cKtl83PYRYvfgkUO_IG-2GAjqP4y2D0brPPn0nPsX7AAIHIuKBis_EIkXMDIySe7rwFbZzyxAYJK7rhAc5xFS53r4GGn6uAPPdZKY1dQ4v6oyGuoxBXWUWFrI4oEL6OGN_Sbv_cFcLFXpJFY52h6Sgzph7ilf8kz6MbCKCeSHd4sR6vZKxupcN9OF8kDiSEWYmInvFHCDkUvdCEqAj7U4E20XXa9Py9eZ0UFCdo4mejLOpWTzDX3ONidjaDHKFkLDnGKHFGHjcetxtlQtKeJZQCc6PrkoCeF8lIMKP0jfyjZzKj0PZEox4dWEV1FBYGjUyvcgOcU8zXmIi_IHbl09-rdL3ly7yGfahPYIM1Q3DOhTfEExnV-Y4h4q-wchVROPKrkmC1GkwE4eXalYILizCXEdZ5t4BxJM99IL4lpqYpP1PbopR4oSlddXuyx4oabYkGleJvBzl1dIQvGL8TWf85S4GRj7bH9Mj0hrXKrm1ILUL5uJko9T4nM7sz8kyqUwAe0jZZDOtS3GXSB92ZxtRfmwgwFIJczZg4kifIJS4z-5QNfyr2VuVqBfZAlWdknYqFRT2Evf9_j2Ja0r-uuA4BxVIYL9nhmW5qyQckUTL3QgSDzQLGfLAswJiXarS5pERo2UXPAhD_SNrhoYiPwB5BbrJDm8=",
  "id": "rs_0f5f930c5ec4c3d1016ab44f399c5c87d084caed91438babfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The sweep moved both plushes up against the safe's near edge, and the right wrist view now shows the teddy's thick torso squarely within the jaw opening. I am closing here to capture the clustered soft toys for a short lift over the rim.\"}",
  "call_id": "call_JJPO6LCVyMfM9YVrP7gyAv1c",
  "id": "fc_0f5f930c5ec4c3d1016ab44f3a77cc87d0b571f86d49bd9e3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JJPO6LCVyMfM9YVrP7gyAv1c",
  "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]: [-0.3195, 1.4242, 1.137, -1.0996, -0.4458, -0.2325, 0.9978, 0.8627, 2.3425, 1.9099, -0.9337, 0.3325, 0.6579, 0.0135]\nstate[eef_state]: left_x=0.2864 left_y=-0.0107 left_z=0.1359 left_yaw=0.2917 left_pitch=-0.6385 left_roll=0.4837 left_gripper=0.9978 right_x=0.3661 right_y=0.3444 right_z=0.021 right_yaw=0.0512 right_pitch=-0.6134 right_roll=-0.161 right_gripper=0.0135\nstate[joint_eff]: [-0.0889, -6.9402, 6.0376, 0.7741, -0.4469, -0.0269, -0.0122, -0.2803, -14.5026, 5.5179, 0.6129, 0.2515, 0.0562, 1.2234]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee241d8391d71e0d2a1fa8cb556a0d8a7901819941c1f185ba503b537e38761d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44cd6db39210bf11168ccf270900588764b091612bf2805cffc4aa505bed023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bd14c936f1401f0160cd48118d0eb12b346c6a9a8d30d3966cb3d6b80f6690",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 4.091 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 146 changed as sent

message 150 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2871, 1.4303, 1.2179, -1.1484, -0.4313, -0.21, 0.9979, 1.0092, 2.3013, 2.4195, -1.4971, 0.3565, 0.8368, 0.0299]\nstate[eef_state]: left_x=0.2934 left_y=-0.0059 left_z=0.155 left_yaw=0.2883 left_pitch=-0.6306 left_roll=0.4618 left_gripper=0.9979 right_x=0.3033 right_y=0.373 right_z=0.166 right_yaw=0.0574 right_pitch=-0.5904 right_roll=-0.1087 right_gripper=0.0299\nstate[joint_eff]: [0.0752, -6.6803, 6.1333, 0.7643, -0.4176, 0.0073, -0.0171, -0.0615, -11.6171, 7.7333, 0.5739, 0.3834, 0.0659, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 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, 1.4265, 1.1648, -1.1122, -0.4416, -0.2249, 0.9978, 0.8577, 2.3325, 1.9194, -0.952, 0.3336, 0.6628, 0.9989]\nstate[eef_state]: left_x=0.2899 left_y=-0.009 left_z=0.1426 left_yaw=0.2906 left_pitch=-0.6321 left_roll=0.474 left_gripper=0.9978 right_x=0.3674 right_y=0.3419 right_z=0.0278 right_yaw=0.0428 right_pitch=-0.6114 right_roll=-0.1586 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.8991, 6.0239, 0.7253, -0.4371, -0.0562, -0.0171, -0.9231, -10.7692, 7.2, 0.7155, 0.3541, 0.1099, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3195, 1.4242, 1.137, -1.0996, -0.4458, -0.2325, 0.9978, 0.8627, 2.3425, 1.9099, -0.9337, 0.3325, 0.6579, 0.0135]\nstate[eef_state]: left_x=0.2864 left_y=-0.0107 left_z=0.1359 left_yaw=0.2917 left_pitch=-0.6385 left_roll=0.4837 left_gripper=0.9978 right_x=0.3661 right_y=0.3444 right_z=0.021 right_yaw=0.0512 right_pitch=-0.6134 right_roll=-0.161 right_gripper=0.0135\nstate[joint_eff]: [-0.0889, -6.9402, 6.0376, 0.7741, -0.4469, -0.0269, -0.0122, -0.2803, -14.5026, 5.5179, 0.6129, 0.2515, 0.0562, 1.2234]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee241d8391d71e0d2a1fa8cb556a0d8a7901819941c1f185ba503b537e38761d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44cd6db39210bf11168ccf270900588764b091612bf2805cffc4aa505bed023",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 326):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bd14c936f1401f0160cd48118d0eb12b346c6a9a8d30d3966cb3d6b80f6690",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9AleHg6kxYNFYox5TX2WEeBom8PSCfMFBA2jpQheNZMOS0N12Jmp1YtXZdz6TqfPoJR_ly8oeNLS1c7Ah6_W4AOawW1K08rpP_I8G4CPxpF7WBO_hSqGs48Iy5I1ggl6FGhfXbS6o9n7bbC6e0GAX7nLTBFYSMEXE4ZEsVG9jpp-N4RHctW92rIo912n19pCZHcErKmNJPHQTUVDj3dbWXVBB0nS4Cc34flMe-jJOmr64MtuFHxBYbdaepdkBbmG_eGpndKxevOWMHIeI82mwwLPYhqDjZ5KKIZix-cGe4zgu1pQ2ZMkoGBsPtgXRr0Lo6VvntgjQqzwTWjLxJ_32GNIq_iQ6xMyajANxo0euhbk0ut6zEUEvRIiRXakE9U9FDNaUZyXeuNwwoR2tJvM1ZK3ORasNBQOqiE6Pv2rmO2tOgNSXfT-c2R16yc20zNjYQj1WbykhvSAZLA9tn1byGz-uTxUNmeNx21N6T7EYKVohBdjgzgy0-wcK7AbngheM9rMTxPVDBKgvuImpLdzekM-99R6weg-Xvbs9_fyRrhVBUG_8kzhckQRnjiZjq3ui5ABwYgr46ZIz5mtCGy3J-RDBTLNdnUwcWXW_SN46tlDZzLZLVcCcIXiO6VctRRc8gi0BQ6DDDjomhyF0R_jICUOFvWbK_dZtSSlpQkXZw0dKogOUPzDBAEoiuVrVtfhSEw7W4UjxHi8a5zJiZbrSZ5XFeLS30TJttAxnXW1Ppg9cPmEtgBOv0xDGlJxpsXDT4ak9_Mg6z80XnZq2l4PBGI2PrYeu1FsSxnCnDzWzl8WYgEOzKES9SSOxXhFSuGdhSBDE6I4KIkJ6YSXBLPBOw2OS2Kq3gX7WaMWJ1x3klkOxihlOOZcE22Eurgeeq8ohKPtaQ-DWgTojAbTaad7jS-l0INPbI9AlYad6Fi48tO3xj_c0_GyVQvgyP4F9arOVSe60Zknyh6KSsYJHvgIwFA1mgORaGxdUACuf5XRFjfdCk38QmxDLvCXSpqsiGRsvd8mvKudns2B_ejC2CuyRQMJpPUIy7vEJldPRXA8peXb1jNdDx1CzZVMm7zio6U2R_aagUHZ9DNFvWjH3Xbyr4abgjOeXYWCO85aDsXmvMzdIisSujbU1Yc0P-u1Dw9q7zN0EVOCfS9aRcHUwFwapyCNCFVDbyDHQKn3j-aCT6JHMSWnvPi_7MKKj4SeNDjwV0mqrEcPb_rahOaMM71nFTT8HIosbLlsG2vepb2_Tio-Xo5x4xhre5Cd6Ug097UsK0O1iCoQwIMLKo2KgmAy4fd5DCUzoPvH6Xolvlb_2bYd0jcQiiJhObr6VSsrchPCO6skCLes7ox_GGhTcU_WaHnFvPvOrQmjiJ5k-SAQsuArCrHU001Il5KYeSmJ_SJ84qGzvY3KPpCv3vaUpRDHITsD6uDkupgT0FVUA9dTNUSBjwvQw_7iv_YVdY17IpHkSQ5UiPBTOpquacAnR5TZXPd3h5-iJpOFrLQINP3tJm3OBrvEZQQ569vsp8Vb4KkL6HANO_eAFYw2kcuf1fsroUxa3dlsGUwCN6lUkVNOAerct6LrSF6yMbHXRwe-5EKbYkpdHbkCDk0sLWDAgH1rmPSCyQT2odE9g9vJ_6NuYoTo0FkecPwmuZFAwB9kx5ucHPwPPxW3oIQimCntfcMJ52nIGAcv02IJZppu1n9yXv62R9noq6HejoHkDUQnlhvNKvELe_32wNsPBdzfZParJr6b2de58IqCkeQ3p2IFjO5TlSKyAqcNG9PVwlqhbt6_WEqRVpDm5swo2-RC2SnkMXyRiZ2ToW8sOqShJFOcfF9Eu0WJIJ_SbTS95p8KTTcgimHXb4KknebyndNJBUeQcqqxf1LO4LYuSN_F6C1LQ-44NbQuVsv1noCDSf100uA0IB1BsUD2twmQY641IOKExQZ_oQI0pJEDgiKfETZfqKHXeyRcJdBI96vJxo4l0WyNWKKJJLXdvqhs_xtnQZNuVcghVORMC8CSjY2HBlnVDc49ZvEFzXulG4ZzniKjzMzcyyy1y9GbLKdgvExc-_R9mbYgD1rUpVPE6js0mp0GqJI0lk-9megt5Qh_5Ua61TxHRxeIlnpSNREIiXemf3wWdN1LBQOAdaVwgd50xbDs36nRIDnuZm9tJ-8FnNlGXUGePApalDQ9cVCAEBD4u85V4qW6hDSnY3UsGEGgvxaw3_27079u5T5fkbZ7M_ZutNoOASRwbJ2jObZY8H-Ikwg1oyMg==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f3dae4887d09c46e28d997dedd0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The jaws closed beneath the teddy without registering a thick pinch, but they are visibly threaded under its limbs at table level. I am lifting in place to use the closed fingers as a scoop and raise the plush over the safe rim.\"}",
  "call_id": "call_WqvXBh18SHKi2ktywlWkEq5u",
  "id": "fc_0f5f930c5ec4c3d1016ab44f3f62f087d0bea305ca20d785ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WqvXBh18SHKi2ktywlWkEq5u",
  "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]: [-0.3332, 1.4166, 1.1057, -1.0767, -0.4534, -0.2405, 0.9978, 0.8654, 2.3436, 2.2185, -1.2678, 0.3229, 0.6544, 0.015]\nstate[eef_state]: left_x=0.2841 left_y=-0.0127 left_z=0.1302 left_yaw=0.289 left_pitch=-0.6327 left_roll=0.4881 left_gripper=0.9978 right_x=0.362 right_y=0.3442 right_z=0.0963 right_yaw=0.0486 right_pitch=-0.6388 right_roll=-0.1785 right_gripper=0.015\nstate[joint_eff]: [-0.3761, -6.6803, 6.0513, 0.7253, -0.4322, -0.0366, -0.0073, 0.0205, -13.7504, 8.7726, 0.8278, 0.3248, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3515335e589334d06bb8a7dc951a9e4bc50a9e88e9e2b0ae16b622e078ae30f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2673f43dd8a4999750f690ba62eea7624554b5919f30c29919326ecfebf4beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb300da4f8ff5e88ae5a9262ddee07294b4f5d12f6945b10a89d075cee8803b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.274 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.297, 1.4284, 1.1915, -1.1294, -0.4377, -0.2176, 0.9979, 1.1149, 2.0438, 1.4342, -0.8616, 0.3828, 0.9401, 0.9946]\nstate[eef_state]: left_x=0.292 left_y=-0.0073 left_z=0.149 left_yaw=0.2904 left_pitch=-0.6297 left_roll=0.4684 left_gripper=0.9979 right_x=0.2315 right_y=0.3304 right_z=0.0233 right_yaw=0.0276 right_pitch=-0.6089 right_roll=-0.173 right_gripper=0.9946\nstate[joint_eff]: [-0.1983, -7.0085, 5.9145, 0.8034, -0.4078, -0.0317, -0.0171, 0.6906, -10.4684, 4.9299, 0.5397, -0.0464, -0.0122, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3195, 1.4242, 1.137, -1.0996, -0.4458, -0.2325, 0.9978, 0.8627, 2.3425, 1.9099, -0.9337, 0.3325, 0.6579, 0.0135]\nstate[eef_state]: left_x=0.2864 left_y=-0.0107 left_z=0.1359 left_yaw=0.2917 left_pitch=-0.6385 left_roll=0.4837 left_gripper=0.9978 right_x=0.3661 right_y=0.3444 right_z=0.021 right_yaw=0.0512 right_pitch=-0.6134 right_roll=-0.161 right_gripper=0.0135\nstate[joint_eff]: [-0.0889, -6.9402, 6.0376, 0.7741, -0.4469, -0.0269, -0.0122, -0.2803, -14.5026, 5.5179, 0.6129, 0.2515, 0.0562, 1.2234]\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 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 1.4166, 1.1057, -1.0767, -0.4534, -0.2405, 0.9978, 0.8654, 2.3436, 2.2185, -1.2678, 0.3229, 0.6544, 0.015]\nstate[eef_state]: left_x=0.2841 left_y=-0.0127 left_z=0.1302 left_yaw=0.289 left_pitch=-0.6327 left_roll=0.4881 left_gripper=0.9978 right_x=0.362 right_y=0.3442 right_z=0.0963 right_yaw=0.0486 right_pitch=-0.6388 right_roll=-0.1785 right_gripper=0.015\nstate[joint_eff]: [-0.3761, -6.6803, 6.0513, 0.7253, -0.4322, -0.0366, -0.0073, 0.0205, -13.7504, 8.7726, 0.8278, 0.3248, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3515335e589334d06bb8a7dc951a9e4bc50a9e88e9e2b0ae16b622e078ae30f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2673f43dd8a4999750f690ba62eea7624554b5919f30c29919326ecfebf4beb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb300da4f8ff5e88ae5a9262ddee07294b4f5d12f6945b10a89d075cee8803b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9Fj-EdMgGkZ2tTfGBcwqK8hrW5afvnSCiXjh4lR8nGJkyTspTNmBVi1b7BIlZ2EL5QWOlsug99Elanz7O62VCG9OmA73DTnCE88jZ-cG9EjuE142XhcOmbjbTFkxVPYQypL1dIudKC1Cea3nPkCnrBwmZoc13eWxPTXrW5G2laZ6LKFfWYWRcr6rl7Nqgvq8Ehv9zqksIkL-iwvAXQtJ-B5asIMAXXz9kyNK3dBYUwKInTAjnKNGuGsWln2oclKan1GtxSmEPQKqEZny2WFsGw-Ve1Cb4x7PXgcIKjR0HulKZspbRdW-Mne5JwIcFdklCDdoiCu06a18TlNi94Ft5ybIV8662s1hSUYb_XOOXxqFYytZW5_sTl4Ahx8tO9-goJScQ8bftuIuyqUeOzrf1Y7hjTF2QfirVx3VUiBSl7qQND6G8e_DmPY1srkdTY-L3WxCFj8FkmlvWcDm-Z6_oJ13mTe7_SyazSb6Yt44aemgsT8Dt0L3AlLCrEVGYtlPHKlPksiR2fh8gVTSYzfosM-pbsMHcsR529reMKMYHF3Ep1IWGkd1mVTmKQBzxBaffWaEmKX9_kpp_PnalQZPwRVs6IbSXjDKJYXvh_X27cu6IJhgovi3BugovehTX6Ri-LdjBbVFCM4TUCbL3FA80QLNy3XeIwNsN7zn2TDeuYE7eap3qL5ILi8PVTJMc3KDAM1q3FgoOFWLoXBqU3vfCBexchgiS-xBm7kpGZHNfs_pfACPBPMUXbd9Ni7UUVqq47lLrJyOiKhYfotIWlQaEB3QYVf174vD4Ih5Us3HzWNL_Rm_H996Dxc7xdH_2p-YIyIT0C6iSpzcVf1DgkuT3p812_ixK1eP-HUHGJt3OfggC7gv5PlQO_sV9dDwXGsp_yqpO-bB4XfWMd-cO-2T45gqo9aHLQVK1wMDy74iniQcMPzh1S5av58DGXxe6pWaLMeeu5ytW0PScYnfVJJgyKloutGppLaTHltkGmkOi9p8RclDHeV01tMlfJaMDwRQ9J7C4IYOnNEAtP_pk4VmSTjtzqrczHyCTe9NfVLdHqG3lfA3u7a6A5iKdKeFFrMMjt1VZTWwBml2QUll6b5Uq8mqaslA-e1asbRe-2Nx438dUr_8WP5malRsk_vzWWYstDrfai_ofny_LsUBuHEdojuIxEQZ8Is7_BS6qNLlJ-zRsoP7hyDA_IpHqya4jW_B0yKYi8-0nTMraLYTSJRbGq-rw-WyC1Yy1FbQJ6Cu4dr-vaOxR8tANpnLKqvbryZSWEhad3PcMwDqDee_xoum2vDCbOerxw0_DsRI3VHTnHX5Omk1XofUjUheuMozN5Gw7EP7-qGwyeP3j-ENFqhTfLie6Cz2d_ZRPK89P8j2IfMgTcbZW_pKjJO4OIsMv_eQxqUmKvUryr7_7pb1jhLzALHz7W7Qt9wmr2Go55MHqaG6Vgw9RIw-3y9bBQsB_70x54wk1Bml9VTzLHtSyODPJCQcducfQRlSJ8IgpIshTJ5UVVKYahu8UhckiIQkn5T-kixypDpp6UO3XjjMEhl4eyYsJQcPSyO3S7djEIriGvby9hD93RFum7r7y33LLyfQuB7OlagcWQ_p93QbOCF74WG_ZlqvX_os4PhaglmNgmYHo7_gJQHXnwIqZQaTHOTgFFpwIlma_W3Iu3xWyTRmxfMWSQbd-g1O692ODAZW9DJb8MJYBIgLfNzVIvOZsyEaDCk94Gb-EgGwL3B7sOK_OFdTuCBiwik9Wia-MP4EstAUVT5C3vBufP-v2L9QUtvMd4OZd7aNZEnAWJOLQR8ZBJexEcGejuY0OB9rSPmOr-KMFKZ-EhjiSG_x23dnCI_koc1Lfdhg47SGAvEzEGJAyu0OfkNtjPUmfqzCKCiy9IXziy_1gYXJjslJ990DYnxN30QQlsKHIS0lPbTOPER9QPEiyQXVbSK6dnDrpze0qlb0osw1vVPY_4rKEdR8h4AcrwSi0N1AJw0556XOIysTCgpYDK33UAktXAtDUWX5MrH5TNxTnlzONTEEMtUrG0Q-p8D3cOsEjhh0BCsW62KitWRe69_yn4P5IlVrXDWNBQ-hkT-KCptUJ37K-lST7pUT6XdvpaNoE8zF2swhUdTxTGS283m6niKuMq8NokMRG5f2ZOfs9maPfpPKruJS29mCaZZ5jpZ75Y21njNAqEOzt0FA==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f42487087d0804a7a640069e5dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.34,\"right_z\":0.055,\"right_gripper\":1.0},\"note\":\"The scoop lift did not carry the teddy, showing the jaws had been below rather than around its body. I am reopening and descending only to about 5 cm—midway up the plush—so the jaws close through its thick torso instead of beneath it.\"}",
  "call_id": "call_KGDwQMVGn2k38ZisAXkqi8yT",
  "id": "fc_0f5f930c5ec4c3d1016ab44f44045887d0aee9caf166d7eff5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KGDwQMVGn2k38ZisAXkqi8yT",
  "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]: [-0.3458, 1.4136, 1.079, -1.055, -0.4606, -0.2478, 0.9978, 0.8711, 2.3093, 1.9507, -1.0615, 0.3374, 0.654, 0.9947]\nstate[eef_state]: left_x=0.2826 left_y=-0.0145 left_z=0.1246 left_yaw=0.2871 left_pitch=-0.6282 left_roll=0.4931 left_gripper=0.9978 right_x=0.3534 right_y=0.3346 right_z=0.0435 right_yaw=0.0301 right_pitch=-0.6466 right_roll=-0.2157 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -6.7214, 5.8735, 0.6569, -0.4664, -0.0904, -0.0073, 0.0889, -14.7077, 6.4068, 0.7155, 0.3004, -0.0415, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0388d4d420bc3836f59b124a424c73c091621d9d730021ef9a345977bd3c7931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6833ed580c7d306d15573b0a4bd7b717762db34bed3815784acf95737ae21e74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6b35594832fab2062723afd5be746163c97e66d1c3a1d8f1b11598b229044a",
      "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 · 4.459 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 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, 1.4265, 1.1648, -1.1122, -0.4416, -0.2249, 0.9978, 0.8577, 2.3325, 1.9194, -0.952, 0.3336, 0.6628, 0.9989]\nstate[eef_state]: left_x=0.2899 left_y=-0.009 left_z=0.1426 left_yaw=0.2906 left_pitch=-0.6321 left_roll=0.474 left_gripper=0.9978 right_x=0.3674 right_y=0.3419 right_z=0.0278 right_yaw=0.0428 right_pitch=-0.6114 right_roll=-0.1586 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.8991, 6.0239, 0.7253, -0.4371, -0.0562, -0.0171, -0.9231, -10.7692, 7.2, 0.7155, 0.3541, 0.1099, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3332, 1.4166, 1.1057, -1.0767, -0.4534, -0.2405, 0.9978, 0.8654, 2.3436, 2.2185, -1.2678, 0.3229, 0.6544, 0.015]\nstate[eef_state]: left_x=0.2841 left_y=-0.0127 left_z=0.1302 left_yaw=0.289 left_pitch=-0.6327 left_roll=0.4881 left_gripper=0.9978 right_x=0.362 right_y=0.3442 right_z=0.0963 right_yaw=0.0486 right_pitch=-0.6388 right_roll=-0.1785 right_gripper=0.015\nstate[joint_eff]: [-0.3761, -6.6803, 6.0513, 0.7253, -0.4322, -0.0366, -0.0073, 0.0205, -13.7504, 8.7726, 0.8278, 0.3248, 0.022, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3458, 1.4136, 1.079, -1.055, -0.4606, -0.2478, 0.9978, 0.8711, 2.3093, 1.9507, -1.0615, 0.3374, 0.654, 0.9947]\nstate[eef_state]: left_x=0.2826 left_y=-0.0145 left_z=0.1246 left_yaw=0.2871 left_pitch=-0.6282 left_roll=0.4931 left_gripper=0.9978 right_x=0.3534 right_y=0.3346 right_z=0.0435 right_yaw=0.0301 right_pitch=-0.6466 right_roll=-0.2157 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -6.7214, 5.8735, 0.6569, -0.4664, -0.0904, -0.0073, 0.0889, -14.7077, 6.4068, 0.7155, 0.3004, -0.0415, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0388d4d420bc3836f59b124a424c73c091621d9d730021ef9a345977bd3c7931",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6833ed580c7d306d15573b0a4bd7b717762db34bed3815784acf95737ae21e74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6b35594832fab2062723afd5be746163c97e66d1c3a1d8f1b11598b229044a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9JGV38SUqtPOz1RTQ-O3yp7c9yiqS3NM9e0p4xS3YAO7Yd6_6HCVp-VDZrXW9fnCDcdeVMmNJ1URUDUVoczNox4ml2zyh_J6Xq6eFVX8cSACf3YhMYSvrk48YKzqXQni7PGGahgxZEpHorHzsj8QTp-PcehnPScn52yJIeB0n_6VL58bg6dyZA--smrA61TmeDif5kPlalUoW0s54FlfIc1ofpYZRVwSt5uRCX1n0NX1nTekXr2WQQvG0ILNIxOY73_1jb95KHog55yhYpRL2bLaMKaznHOcA4k0JfZ37XY5DFoP9p2DIsXwbBMqUz0cAUj_lsondO2pGTR5ph2cRwswADbMi7jUSC1C77IOvIZXn5Nbe0DsVZAuC5vEvcjV6G9dE2OZ_8lpaGXcDK2gMfYhSIsRBuJNkdqO7cyL2h0ld_Mf3eFLen3kvsJSoMyGy1s-j0gRlWAK9etyaOvl8WA5Pa3JkDr0-9ezp5StvC3_LOCcSQplmHW6ewpUQ0KCgpdavGgAgESUl25UuA2gZrnfaG8cS8RiYVZByiYf5Ose0-J9pWhqQKN1FrVhHGwS8qKd_bimsvow5JIL78VRF_ptlJ4vVD-ssh_JUMdJ_ty7UHWAjRnQqAiw3u2x41wsL3sPdZCF2g-jf1cKmyS2jI0JgoF74BXSXS-ezHse8XhdkbOskWsetYgGifRgW3_gbfUF_xE_zW4n77pr94LVM0qmeuXEzfQa6dmQwNnLFy_haNACB6HMnYA3Jzoz_NZL-ufxTbk76mCcJrPLJ3Ig9r02trnZ1wScLclhiqH2Xpdcd5G3x2KLg5dh1k6Kn3CNvUP1bWhQmvmwRuWN6OaavO2RGCqgGmIohpriBfaiRhV8ByRYxUMnuwpNClVrfWgS7G_3G_96HY72ioat4L3hdwhmFdG4DF7PcmTLsNJKQfmyQftAxKU8_gJcDC1awUiFUhJznuygedAce8zJ-3h6HPmCw4tzdew7YrXLBa1oLKvBJOr9570xBoKiU-bgPUlCc03b67ijylQR8ZWDUJbVnixO58FRg7Yez5Au1GU3KtWkZsowBx1oxAKCAthMQOqZ6U08xmF28tzKgRGUfG7gzGNhDXHEvSlL1D1INZGvYbeMiiyX2Faameer2tb7ZAg71JzSFPItGo9W-_BWbx6FhxtTq6moAMiWN22GiibDvdqXrpKYRVhbZjL0N2QSSmExPKMQS8PXJMlZkIh-IgVDdUtA==",
  "id": "rs_0f5f930c5ec4c3d1016ab44f48722c87d08810d4c37f0faf62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the higher grasp plane the teddy's thick torso is visibly centered between both fingertip edges, unlike the earlier under-body closes. I am closing around the torso now.\"}",
  "call_id": "call_Ij96JnOs1B2r3QZqeUzcm7BR",
  "id": "fc_0f5f930c5ec4c3d1016ab44f48926087d09ca9c304f57ffe9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ij96JnOs1B2r3QZqeUzcm7BR",
  "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]: [-0.355, 1.4128, 1.0573, -1.047, -0.4675, -0.252, 0.9978, 0.8825, 2.3016, 1.8847, -1.01, 0.3592, 0.6544, 0.0135]\nstate[eef_state]: left_x=0.2793 left_y=-0.0148 left_z=0.1193 left_yaw=0.2913 left_pitch=-0.6334 left_roll=0.5074 left_gripper=0.9978 right_x=0.3489 right_y=0.3321 right_z=0.0314 right_yaw=0.0236 right_pitch=-0.635 right_roll=-0.2397 right_gripper=0.0135\nstate[joint_eff]: [-0.1846, -6.5709, 6.1333, 0.696, -0.442, -0.1148, -0.0073, 0.0205, -14.4342, 6.1333, 0.6618, 0.3687, 0.0855, 1.1941]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754a269b09b1ae0d3f1f721cdd59dd04d2c4c11835dc526784ebbee68ea402fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba8c40db1f0d4644c9e107063352ecc5738229df7736eb4a228c5ddd83125d57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a90257aa5e0c401d6555c1be8c051c4159f205e4154f61d6bf23fdee47c5c5e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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