adhoc

completed
2026-09-23T21:50:36.823857+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
202.5 s
total steps
360
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 safe is near the upper-left center, with a white plush below-left, a yellow object to its right, and a brown plush near the front. I’ll bring the left gripper above the white plush first, staying high and open so I can refine alignment from the wrist view.
move_to
left_x0.3900left_y-0.1400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7944, 0.6071, -0.3962, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2926 left_y=0.0014 left_z=0.177 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0009 right_z=0.1779 right_yaw=0.0001 right_pitch=0.0008 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.5949, -1.3744, 10.2359, 2.0488, -0.0659, 0.1783, -0.0464, -0.3487, -1.5111, 9.7162, 1.917, -0.0513, -0.0171, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.14,"left_z":0.15,"left_gripper":1.0},"note":"The open safe is near the upper-left center, with a white plush below-left, a yellow object to its right, and a brown plush near the front. I’ll bring the left gripper above the white plush first, staying high and open so I can refine alignment from the wrist view."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe white plush is now centered between the jaw columns and fills the bottom of the left wrist view, indicating the grasp point is directly over it. I’ll descend vertically to around its mid-height while keeping the jaws open.
move_to
left_x0.3900left_y-0.1400left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5289, 1.4292, 0.8211, -0.1272, -0.4171, -0.3325, 0.9997, -0.0208, 0.7994, 0.6075, -0.4328, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3746 left_y=-0.1319 left_z=0.1274 left_yaw=-0.0164 left_pitch=-0.0773 left_roll=0.0316 left_gripper=0.9997 right_x=0.2882 right_y=0.0011 right_z=0.1693 right_yaw=0.0008 right_pitch=-0.0404 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.1983, -6.2838, 9.2786, 1.8779, -0.3639, -0.0611, -0.0464, -0.1162, -1.5385, 6.9538, 2.0342, -0.0806, -0.0562, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.14,"left_z":0.035,"left_gripper":1.0},"note":"The white plush is now centered between the jaw columns and fills the bottom of the left wrist view, indicating the grasp point is directly over it. I’ll descend vertically to around its mid-height while keeping the jaws open."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteAt the lowered pose the white plush remains centered between the open fingertips, with the grasp point at about 3 cm above the table. I’ll close the left gripper to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5343, 1.7046, 0.6884, 0.2028, -0.4171, -0.3412, 0.9997, -0.0212, 0.804, 0.6056, -0.4572, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3777 left_y=-0.1361 left_z=0.0288 left_yaw=-0.0125 left_pitch=-0.1451 left_roll=0.0637 left_gripper=0.9997 right_x=0.2846 right_y=0.0011 right_z=0.1624 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [0.5402, -6.8581, 5.1214, 1.6386, -0.1099, 0.1099, -0.0415, -0.1299, -1.4838, 7.2274, 1.9267, -0.0464, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the lowered pose the white plush remains centered between the open fingertips, with the grasp point at about 3 cm above the table. I’ll close the left gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper closed to the empty value, and the overhead view shows the white plush was nudged several centimeters rightward and slightly toward the bases, beside the brown plush. I’ll reopen and reposition above its new visible location before making the one careful retry.
move_to
left_x0.3600left_y-0.2100left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5373, 1.71, 0.6888, 0.2501, -0.4225, -0.3466, 0.0101, -0.0208, 0.8036, 0.6056, -0.4858, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3839 left_y=-0.1403 left_z=0.0349 left_yaw=-0.0111 left_pitch=-0.1063 left_roll=0.0416 left_gripper=0.0101 right_x=0.2802 right_y=0.0012 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0995 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [0.0889, -7.7607, 5.8872, 1.0134, -0.1685, 0.0073, 0.8376, -0.1026, -1.1966, 6.9675, 1.9121, -0.0415, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.21,"left_z":0.1,"left_gripper":1.0},"note":"The gripper closed to the empty value, and the overhead view shows the white plush was nudged several centimeters rightward and slightly toward the bases, beside the brown plush. I’ll reopen and reposition above its new visible location before making the one careful retry."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteFrom the new wrist view the white plush is still visible at the lower-left edge, so my previous correction went too far toward the table center rather than centering it. I’ll shift the open gripper about 5 cm back toward the left arm’s own left side while holding height and radial distance.
move_to
left_x0.3550left_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]: [-0.7609, 1.6596, 0.8974, -0.1448, -0.5568, -0.5339, 0.9949, -0.0212, 0.8043, 0.6029, -0.5041, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3549 left_y=-0.204 left_z=0.076 left_yaw=-0.0197 left_pitch=-0.1507 left_roll=0.0608 left_gripper=0.9949 right_x=0.2769 right_y=0.0012 right_z=0.1521 right_yaw=0.0001 right_pitch=-0.1213 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.5812, -9.4974, 9.1692, 1.3944, -0.4371, 0.1294, -0.0659, -0.1709, -1.0598, 7.1316, 1.7802, -0.0464, -0.0611, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.15,"left_z":0.08,"left_gripper":1.0},"note":"From the new wrist view the white plush is still visible at the lower-left edge, so my previous correction went too far toward the table center rather than centering it. I’ll shift the open gripper about 5 cm back toward the left arm’s own left side while holding height and radial distance."})
tool
executing move_to over 5 steps (0.5s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe white plush is now clearly between the two open jaws at the bottom of the wrist view, just a little left of the jaw centerline. I’ll make a small final lateral correction and descend to its mid-height for the retry.
move_to
left_x0.3550left_y-0.1300left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6292, 1.5505, 0.7692, -0.1234, -0.4892, -0.445, 0.9983, -0.0212, 0.8082, 0.6018, -0.524, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3505 left_y=-0.1481 left_z=0.0685 left_yaw=0.0135 left_pitch=-0.1867 left_roll=0.0837 left_gripper=0.9983 right_x=0.2737 right_y=0.0013 right_z=0.147 right_yaw=0.0001 right_pitch=-0.1461 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [0.3077, -7.747, 6.0239, 1.6728, -0.0855, 0.149, -0.1832, -0.1573, -1.4017, 6.9949, 1.7607, -0.0317, -0.0415, -0.0073] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.13,"left_z":0.025,"left_gripper":1.0},"note":"The white plush is now clearly between the two open jaws at the bottom of the wrist view, just a little left of the jaw centerline. I’ll make a small final lateral correction and descend to its mid-height for the retry."})
tool
executing move_to over 3 steps (0.3s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe white plush remains broad and centered between the jaws at the lowered pose, with both fingertips flanking it. I’ll close now for the retry and check the settled opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5774, 1.6279, 0.6708, 0.0307, -0.4603, -0.4084, 0.9983, -0.0212, 0.8101, 0.6018, -0.5461, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3485 left_y=-0.1291 left_z=0.0274 left_yaw=0.026 left_pitch=-0.2198 left_roll=0.104 left_gripper=0.9983 right_x=0.27 right_y=0.0013 right_z=0.1425 right_yaw=0.0004 right_pitch=-0.1701 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [0.253, -6.9402, 5.8188, 1.7607, -0.1929, 0.0659, -0.188, -0.1026, -1.0598, 6.9538, 1.8535, -0.0562, -0.0464, -0.0073] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The white plush remains broad and centered between the jaws at the lowered pose, with both fingertips flanking it. I’ll close now for the retry and check the settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe left gripper settled at 0.107 rather than the empty value, so it is holding about a 1 cm-thick section of the white plush. I’ll lift it about 7 cm and verify that it moves with the gripper before transporting it.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5602, 1.6428, 0.6533, 0.1341, -0.4828, -0.3962, 0.1067, -0.0212, 0.8116, 0.6018, -0.5686, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.3609 left_y=-0.1253 left_z=0.0326 left_yaw=0.0456 left_pitch=-0.1521 left_roll=0.0866 left_gripper=0.1067 right_x=0.2662 right_y=0.0015 right_z=0.1381 right_yaw=0.0006 right_pitch=-0.1941 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.3214, -6.0103, 4.9299, 1.2674, 0.149, 0.0904, 0.4811, -0.1026, -1.3607, 7.0906, 1.7802, -0.0366, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The left gripper settled at 0.107 rather than the empty value, so it is holding about a 1 cm-thick section of the white plush. I’ll lift it about 7 cm and verify that it moves with the gripper before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe white plush rose with the gripper and is visible suspended at the left fingertip, confirming the grasp. I’ll carry it high to the center of the red safe compartment, clearing the raised rim.
move_to
left_x0.4250left_y-0.2000left_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.4841, 0.7929, -0.1738, -0.4755, -0.4053, 0.1078, -0.0212, 0.8173, 0.6014, -0.5976, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3595 left_y=-0.1263 left_z=0.0923 left_yaw=0.045 left_pitch=-0.1626 left_roll=0.0807 left_gripper=0.1078 right_x=0.2612 right_y=0.0015 right_z=0.1315 right_yaw=0.0007 right_pitch=-0.2292 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.0615, -7.5966, 8.5675, 1.3944, -0.3541, 0.0708, 0.1099, -0.1026, -1.2923, 6.8581, 1.8632, -0.0122, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.2,"left_z":0.17},"note":"The white plush rose with the gripper and is visible suspended at the left fingertip, confirming the grasp. I’ll carry it high to the center of the red safe compartment, clearing the raised rim."})
tool
executing move_to over 7 steps (0.7s)
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 carried plush is over the safe compartment, near its left interior edge; the red floor is clearly beneath the jaws and the rim is clear. I’ll shift a couple of centimeters inward and lower the plush onto the safe floor.
move_to
left_x0.4200left_y-0.2200left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6304, 1.7451, 1.3518, -0.5091, -0.5056, -0.4759, 0.1086, -0.0212, 0.8219, 0.5999, -0.6201, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.4195 left_y=-0.1958 left_z=0.1574 left_yaw=0.0414 left_pitch=-0.1756 left_roll=0.07 left_gripper=0.1086 right_x=0.2569 right_y=0.0017 right_z=0.126 right_yaw=0.0009 right_pitch=-0.2578 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.5265, -9.0462, 8.7179, 1.1844, -0.3639, 0.0855, 0.0708, -0.1162, -1.5385, 6.9675, 1.6777, -0.0562, -0.0415, -0.0073] 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_x":0.42,"left_y":-0.22,"left_z":0.055},"note":"The carried plush is over the safe compartment, near its left interior edge; the red floor is clearly beneath the jaws and the rim is clear. I’ll shift a couple of centimeters inward and lower the plush onto the safe floor."})
tool
executing move_to over 7 steps (0.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe plush is now lowered onto the red floor inside the metal rim, with the gripper centered safely within the compartment. I’ll open the jaws 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]: [-0.6765, 1.9148, 1.1763, -0.2352, -0.5205, -0.5125, 0.1093, -0.0212, 0.823, 0.5999, -0.6357, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.4129 left_y=-0.2143 left_z=0.0554 left_yaw=0.0355 left_pitch=-0.2211 left_roll=0.0993 left_gripper=0.1093 right_x=0.254 right_y=0.0017 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2746 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [-0.4581, -9.0598, 5.8188, 1.3895, -0.442, -0.1392, 0.0513, -0.1162, -1.2786, 6.8718, 1.5897, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The plush is now lowered onto the red floor inside the metal rim, with the gripper centered safely within the compartment. I’ll open the jaws to release it."})
tool
executing move_to over 9 steps (0.9s)
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 white plush is visibly resting inside the safe after release. I’ll park the left arm to clear the workspace while bringing the open right gripper high above the yellow object on the safe’s right side.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.4600right_y0.2000right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6792, 1.9331, 1.1652, -0.244, -0.5201, -0.5182, 0.9952, -0.0212, 0.823, 0.5999, -0.6575, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.4075 left_y=-0.2115 left_z=0.0426 left_yaw=0.0418 left_pitch=-0.2497 left_roll=0.1208 left_gripper=0.9952 right_x=0.2499 right_y=0.0018 right_z=0.1198 right_yaw=0.0012 right_pitch=-0.2963 right_roll=0.0076 right_gripper=0.9996 state[joint_eff]: [0.0615, -11.2889, 6.7897, 1.2821, -0.3101, 0.0024, -0.0513, -0.1299, -0.9915, 6.8855, 1.6044, -0.0757, -0.0513, -0.0073] 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":0.29,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.46,"right_y":0.2,"right_z":0.16,"right_gripper":1.0},"note":"The white plush is visibly resting inside the safe after release. I’ll park the left arm to clear the workspace while bringing the open right gripper high above the yellow object on the safe’s right side."})
tool
executing move_to over 19 steps (1.9s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe yellow object is centered in the right wrist view, but it sits only a few centimeters from the safe’s raised side wall. I’ll advance slightly and rotate the open jaws 90 degrees so their wide span runs along the wall rather than striking it during descent.
move_to
right_yaw1.5700right_x0.4700right_y0.2000right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0119, 0.8368, -0.688, -0.2207, -0.1028, 0.9984, 0.5079, 1.8858, 1.5829, -0.6819, 0.2852, 0.3824, 0.9996] state[eef_state]: left_x=0.2924 left_y=0.0004 left_z=0.1681 left_yaw=0.0887 left_pitch=-0.2577 left_roll=0.116 left_gripper=0.9984 right_x=0.4471 right_y=0.1961 right_z=0.1477 right_yaw=0.0295 right_pitch=-0.3424 right_roll=-0.0126 right_gripper=0.9996 state[joint_eff]: [0.0479, -2.6872, 9.2103, 1.6874, -0.0611, 0.1636, -0.1832, -0.0068, -10.0444, 8.0889, 1.3993, 0.3492, 0.1441, -0.0513] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":1.57,"right_x":0.47,"right_y":0.2,"right_z":0.14,"right_gripper":1.0},"note":"The yellow object is centered in the right wrist view, but it sits only a few centimeters from the safe’s raised side wall. I’ll advance slightly and rotate the open jaws 90 degrees so their wide span runs along the wall rather than striking it during descent."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteAfter the small advance and rotation, the yellow object has moved to the bottom center directly beneath the fingertips, and the jaws are oriented clear of the safe wall. I’ll descend vertically to grasp around the object’s lower-middle section.
move_to
right_x0.4700right_y0.2000right_z0.0350right_yaw1.5700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0149, 0.8364, -0.7136, -0.2066, -0.1055, 0.9982, 0.1936, 2.3821, 2.3199, -1.2114, -0.5571, -1.1076, 0.9996] state[eef_state]: left_x=0.2878 left_y=-0.0014 left_z=0.1628 left_yaw=0.0801 left_pitch=-0.2883 left_roll=0.1101 left_gripper=0.9982 right_x=0.4956 right_y=0.196 right_z=0.1282 right_yaw=1.3596 right_pitch=-0.3633 right_roll=-0.0396 right_gripper=0.9996 state[joint_eff]: [-0.1846, -2.6325, 6.735, 1.7314, -0.2808, 0.0122, -0.0366, -0.4991, -11.1111, 5.3265, -0.0806, -0.4078, -0.188, -0.0562] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.2,"right_z":0.035,"right_yaw":1.57,"right_gripper":1.0},"note":"After the small advance and rotation, the yellow object has moved to the bottom center directly beneath the fingertips, and the jaws are oriented clear of the safe wall. I’ll descend vertically to grasp around the object’s lower-middle section."})
tool
executing move_to over 7 steps (0.7s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe yellow object is now precisely centered between the low fingertips, with the safe wall above and clear of both jaws. Because it is smooth and rounded, I’ll close only to roughly a 3.3 cm opening to grip it without squeezing it sideways.
move_to
right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0153, 0.8364, -0.72, -0.2058, -0.1089, 0.9979, 0.1905, 2.4039, 2.0094, -1.0405, -0.5865, -1.3079, 0.9996] state[eef_state]: left_x=0.2866 left_y=-0.0013 left_z=0.1617 left_yaw=0.0819 left_pitch=-0.2949 left_roll=0.1087 left_gripper=0.9979 right_x=0.4657 right_y=0.1931 right_z=0.0358 right_yaw=1.546 right_pitch=-0.3865 right_roll=0.0117 right_gripper=0.9996 state[joint_eff]: [-0.1846, -2.4137, 6.7077, 1.4432, -0.1587, -0.0024, -0.0464, 0.5265, -13.1077, 6.3385, 0.6276, -0.4811, -0.1343, -0.0562] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.35},"note":"The yellow object is now precisely centered between the low fingertips, with the safe wall above and clear of both jaws. Because it is smooth and rounded, I’ll close only to roughly a 3.3 cm opening to grip it without squeezing it sideways."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe gripper stopped at 0.54 instead of reaching the commanded 0.35, which indicates a firm grasp around the approximately 5 cm-wide yellow object. I’ll lift it clear of the table and confirm it moves with the jaws.
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]: [-0.1432, 1.0153, 0.8364, -0.7395, -0.2058, -0.1097, 0.9978, 0.1925, 2.4046, 1.9976, -1.034, -0.5838, -1.309, 0.5397] state[eef_state]: left_x=0.2829 left_y=-0.0007 left_z=0.1588 left_yaw=0.0841 left_pitch=-0.3138 left_roll=0.1128 left_gripper=0.9978 right_x=0.4638 right_y=0.1932 right_z=0.0321 right_yaw=1.5505 right_pitch=-0.3904 right_roll=0.0168 right_gripper=0.5397 state[joint_eff]: [-0.0068, -2.5231, 6.6803, 1.5604, -0.1636, -0.0464, -0.022, -0.212, -13.5316, 6.8308, 0.4371, -0.3492, -0.0122, 0.8278] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The gripper stopped at 0.54 instead of reaching the commanded 0.35, which indicates a firm grasp around the approximately 5 cm-wide yellow object. I’ll lift it clear of the table and confirm it moves with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe yellow object lifted with the right gripper and remains held at the same 0.54 opening. I’ll carry it high over the right half of the safe compartment, leaving the white plush undisturbed on the left.
move_to
right_x0.4150right_y0.3100right_z0.1700right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0153, 0.8364, -0.7429, -0.2054, -0.1097, 0.9978, 0.1932, 2.4073, 2.3066, -1.3148, -0.5724, -1.3094, 0.5408] state[eef_state]: left_x=0.2822 left_y=-0.0008 left_z=0.1583 left_yaw=0.0836 left_pitch=-0.3172 left_roll=0.1133 left_gripper=0.9978 right_x=0.4711 right_y=0.1933 right_z=0.1082 right_yaw=1.5385 right_pitch=-0.3959 right_roll=-0.0131 right_gripper=0.5408 state[joint_eff]: [-0.1573, -2.3179, 6.6803, 1.4139, -0.1392, -0.0415, -0.0171, -0.0068, -13.0803, 7.5009, 0.4274, -0.4322, -0.0415, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.31,"right_z":0.17,"right_yaw":1.57},"note":"The yellow object lifted with the right gripper and remains held at the same 0.54 opening. I’ll carry it high over the right half of the safe compartment, leaving the white plush undisturbed on the left."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe yellow object is now directly over open red floor on the safe’s right side, while the white plush is visible clear on the left. I’ll lower the yellow object onto the safe floor, keeping the current jaw orientation.
move_to
right_x0.4150right_y0.3100right_z0.0550right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0153, 0.8364, -0.746, -0.2054, -0.1127, 0.9978, 0.453, 2.3791, 2.4207, -1.3624, -0.5117, -1.0782, 0.5422] state[eef_state]: left_x=0.2816 left_y=-0.0006 left_z=0.1578 left_yaw=0.086 left_pitch=-0.32 left_roll=0.112 left_gripper=0.9978 right_x=0.4178 right_y=0.3036 right_z=0.1475 right_yaw=1.5998 right_pitch=-0.4221 right_roll=0.006 right_gripper=0.5422 state[joint_eff]: [-0.0479, -2.3179, 6.6667, 1.3993, -0.1685, -0.0366, -0.0171, 0.212, -14.9949, 7.9658, 0.6422, -0.3394, 0.1343, 0.1294] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.31,"right_z":0.055,"right_yaw":1.57},"note":"The yellow object is now directly over open red floor on the safe’s right side, while the white plush is visible clear on the left. I’ll lower the yellow object onto the safe floor, keeping the current jaw orientation."})
tool
executing move_to over 6 steps (0.6s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe yellow object has been lowered into clear red space on the right side of the compartment, adjacent to but not on top of the white plush. I’ll open the right gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4664, 2.3299, 1.9572, -1.0084, -0.49, -1.0386, 0.5444] state[eef_state]: left_x=0.281 left_y=-0.0005 left_z=0.1573 left_yaw=0.0865 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.4024 right_y=0.2997 right_z=0.0485 right_yaw=1.6061 right_pitch=-0.4674 right_roll=0.0797 right_gripper=0.5444 state[joint_eff]: [-0.0205, -2.3316, 6.694, 1.3602, -0.1538, -0.0659, -0.0122, 0.0479, -14.0513, 6.4752, 0.7448, -0.4078, 0.0269, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The yellow object has been lowered into clear red space on the right side of the compartment, adjacent to but not on top of the white plush. I’ll open the right gripper to release it."})
tool
executing move_to over 5 steps (0.5s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe yellow object is visibly released on the red safe floor beside the white plush. I’ll lift the right arm out, restore its lateral jaw orientation, and hover above the brown plush’s torso near the front-center of the table.
move_to
right_x0.3450right_y0.2500right_z0.1700right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4652, 2.3302, 1.9354, -1.0012, -0.4858, -1.0393, 0.9948] state[eef_state]: left_x=0.281 left_y=-0.0006 left_z=0.1573 left_yaw=0.0861 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.3995 right_y=0.2968 right_z=0.0419 right_yaw=1.6107 right_pitch=-0.4773 right_roll=0.0925 right_gripper=0.9948 state[joint_eff]: [-0.1846, -2.3043, 6.6803, 1.3455, -0.1538, -0.0708, -0.0171, 0.0342, -12.9983, 7.8838, 0.5397, -0.3443, -0.0415, -0.1197] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.345,"right_y":0.25,"right_z":0.17,"right_yaw":0.0,"right_gripper":1.0},"note":"The yellow object is visibly released on the red safe floor beside the white plush. I’ll lift the right arm out, restore its lateral jaw orientation, and hover above the brown plush’s torso near the front-center of the table."})
tool
executing move_to over 11 steps (1.1s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe brown plush’s torso fills the bottom-center of the right wrist view, with the open fingertips flanking a narrower upper-body section. I’ll descend onto that section so the jaws can compress and grip the plush across its width.
move_to
right_x0.3350right_y0.2600right_z0.0450right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0172, 0.8364, -0.7643, -0.2054, -0.1135, 0.9978, 0.7292, 1.7882, 1.5375, -0.9119, 0.186, 0.5201, 0.999] state[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1547 left_yaw=0.088 left_pitch=-0.3396 left_roll=0.1164 left_gripper=0.9978 right_x=0.3369 right_y=0.262 right_z=0.1436 right_yaw=0.2099 right_pitch=-0.5422 right_roll=0.0571 right_gripper=0.999 state[joint_eff]: [-0.1573, -2.6462, 6.653, 1.4774, -0.1343, -0.0708, -0.0171, 0.1846, -10.1128, 9.306, 1.3016, 0.2027, 0.1832, -0.1148] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.335,"right_y":0.26,"right_z":0.045,"right_yaw":0.0,"right_gripper":1.0},"note":"The brown plush’s torso fills the bottom-center of the right wrist view, with the open fingertips flanking a narrower upper-body section. I’ll descend onto that section so the jaws can compress and grip the plush across its width."})
tool
executing move_to over 7 steps (0.7s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteAt the lowered pose the two jaws sit on opposite sides of the brown plush’s furry torso, below the safe rim and clear of the other objects. I’ll close fully so the soft body compresses into a secure grasp.
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]: [-0.1436, 1.0172, 0.8364, -0.7681, -0.2054, -0.1135, 0.9978, 0.7624, 1.8744, 1.2896, -0.6743, 0.2516, 0.709, 0.999] state[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0879 left_pitch=-0.3433 left_roll=0.1174 left_gripper=0.9978 right_x=0.3245 right_y=0.2541 right_z=0.0493 right_yaw=0.0288 right_pitch=-0.5891 right_roll=0.0224 right_gripper=0.999 state[joint_eff]: [-0.1436, -2.4821, 6.6393, 1.3211, -0.1245, -0.0757, -0.0122, 0.1846, -8.4171, 6.1197, 0.989, 0.3101, 0.0708, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lowered pose the two jaws sit on opposite sides of the brown plush’s furry torso, below the safe rim and clear of the other objects. I’ll close fully so the soft body compresses into a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe right gripper settled at the empty value, and the overhead view shows it had closed on the narrow gap just above the brown plush’s main torso. I’ll reopen, lift slightly, and shift several centimeters toward the bases to center the jaws over the thicker body for one retry.
move_to
right_x0.2800right_y0.2500right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0172, 0.8364, -0.7685, -0.2054, -0.1131, 0.9978, 0.7639, 1.8946, 1.2736, -0.675, 0.247, 0.7074, 0.0164] state[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0877 left_pitch=-0.3437 left_roll=0.1177 left_gripper=0.9978 right_x=0.3188 right_y=0.2505 right_z=0.0364 right_yaw=0.0177 right_pitch=-0.6193 right_roll=-0.0046 right_gripper=0.0164 state[joint_eff]: [-0.212, -2.4274, 6.6393, 1.2918, -0.1441, -0.0464, -0.0171, -0.2256, -11.1385, 7.1316, 0.8181, 0.1587, -0.0122, 0.7692] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.25,"right_z":0.1,"right_gripper":1.0},"note":"The right gripper settled at the empty value, and the overhead view shows it had closed on the narrow gap just above the brown plush’s main torso. I’ll reopen, lift slightly, and shift several centimeters toward the bases to center the jaws over the thicker body for one retry."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe repositioned wrist view now shows the brown plush’s thick furry torso centered squarely between the open jaws, rather than the neck gap. I’ll descend straight down to grasp across this broader section.
move_to
right_x0.2800right_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]: [-0.1436, 1.0172, 0.836, -0.775, -0.2054, -0.1131, 0.9978, 0.8463, 1.7569, 1.2907, -0.8726, 0.2634, 0.7708, 0.9945] state[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.153 left_yaw=0.0883 left_pitch=-0.3504 left_roll=0.1194 left_gripper=0.9978 right_x=0.2769 right_y=0.2489 right_z=0.0809 right_yaw=0.0227 right_pitch=-0.6379 right_roll=-0.0284 right_gripper=0.9945 state[joint_eff]: [-0.1162, -2.2769, 6.8581, 1.3993, -0.1587, -0.0611, -0.0171, 0.4718, -10.5094, 8.3487, 0.7643, 0.2955, 0.0855, 0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.25,"right_z":0.03,"right_gripper":1.0},"note":"The repositioned wrist view now shows the brown plush’s thick furry torso centered squarely between the open jaws, rather than the neck gap. I’ll descend straight down to grasp across this broader section."})
tool
executing move_to over 4 steps (0.4s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
assistant
agent noteAt table level the plush torso remains centered and visibly spans between the two fingertips, with each jaw alongside the fur. I’ll close fully for the torso grasp and check the resulting opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0172, 0.836, -0.7803, -0.2054, -0.1131, 0.9977, 0.8516, 1.8061, 1.1358, -0.7177, 0.276, 0.7746, 0.999] state[eef_state]: left_x=0.275 left_y=0.0004 left_z=0.1523 left_yaw=0.0891 left_pitch=-0.3556 left_roll=0.1207 left_gripper=0.9977 right_x=0.2669 right_y=0.2372 right_z=0.0277 right_yaw=-0.0113 right_pitch=-0.6613 right_roll=-0.0833 right_gripper=0.999 state[joint_eff]: [-0.0479, -2.4821, 6.612, 1.3797, -0.1538, -0.0171, -0.0171, 0.0889, -8.4308, 6.4615, 0.9402, 0.2808, -0.0513, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At table level the plush torso remains centered and visibly spans between the two fingertips, with each jaw alongside the fur. I’ll close fully for the torso grasp and check the resulting opening."})
tool
executing move_to over 10 steps (1.0s)
step 207
assistant
agent noteThe second close is also empty; the close-up reveals the brown toy has a loop-like torso, so both attempts closed through its central gap rather than on material. I’ll reopen and shift laterally over the thick furry left side of that loop, using the overhead and wrist views to target solid material.
move_to
right_x0.2650right_y0.2850right_z0.0900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7906, -0.2054, -0.1131, 0.9977, 0.8722, 1.8034, 1.0874, -0.6628, 0.3073, 0.7795, 0.0163] state[eef_state]: left_x=0.273 left_y=0.0006 left_z=0.1506 left_yaw=0.0898 left_pitch=-0.3667 left_roll=0.1235 left_gripper=0.9977 right_x=0.2635 right_y=0.2363 right_z=0.0194 right_yaw=-0.0096 right_pitch=-0.6316 right_roll=-0.0972 right_gripper=0.0163 state[joint_eff]: [-0.1436, -2.5504, 6.8171, 1.3748, -0.1294, -0.0513, -0.0073, 0.212, -9.894, 5.6821, 0.6813, 0.3492, 0.0952, 0.7106] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.285,"right_z":0.09,"right_gripper":1.0},"note":"The second close is also empty; the close-up reveals the brown toy has a loop-like torso, so both attempts closed through its central gap rather than on material. I’ll reopen and shift laterally over the thick furry left side of that loop, using the overhead and wrist views to target solid material."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteThe lifted wrist view now clearly shows the toy’s central opening and the thick furry branch on its left side; that solid branch is just left of the jaw centerline. I’ll shift about 2 cm farther onto that branch and descend for a material-only grasp.
move_to
right_x0.2650right_y0.3050right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7944, -0.2054, -0.1131, 0.9977, 0.9642, 1.8423, 1.4067, -0.9543, 0.3286, 0.8505, 0.9945] state[eef_state]: left_x=0.2722 left_y=0.0007 left_z=0.1501 left_yaw=0.0901 left_pitch=-0.3704 left_roll=0.1244 left_gripper=0.9977 right_x=0.261 right_y=0.2824 right_z=0.0841 right_yaw=0.0148 right_pitch=-0.6181 right_roll=-0.0927 right_gripper=0.9945 state[joint_eff]: [-0.1026, -2.441, 6.6256, 1.3016, -0.1441, 0.0024, -0.0073, 0.4855, -7.8701, 7.9795, 0.6178, 0.2808, 0.1636, -0.0513] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.305,"right_z":0.03,"right_gripper":1.0},"note":"The lifted wrist view now clearly shows the toy’s central opening and the thick furry branch on its left side; that solid branch is just left of the jaw centerline. I’ll shift about 2 cm farther onto that branch and descend for a material-only grasp."})
tool
executing move_to over 4 steps (0.4s)
step 221
assistant
agent noteAt the lowered pose the jaw centerline is now over dense brown fur on the toy’s solid side, while the central opening is displaced to the right. I’ll close on this branch and check for a non-empty opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9978, 0.9909, 1.9556, 1.356, -0.8398, 0.3328, 0.8623, 0.9991] state[eef_state]: left_x=0.2721 left_y=0.0008 left_z=0.15 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9978 right_x=0.2568 right_y=0.2933 right_z=0.0331 right_yaw=0.0013 right_pitch=-0.642 right_roll=-0.1411 right_gripper=0.9991 state[joint_eff]: [-0.0342, -2.4547, 6.612, 1.2869, -0.149, -0.0366, -0.0073, 0.4034, -9.853, 6.0103, 0.6276, 0.3004, 0.1538, -0.1099] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the lowered pose the jaw centerline is now over dense brown fur on the toy’s solid side, while the central opening is displaced to the right. I’ll close on this branch and check for a non-empty opening."})
tool
executing move_to over 10 steps (1.0s)
step 231
assistant
agent noteThe gripper is still empty even over solid fur, showing the brown toy is very thin and the fingertips have been closing above it rather than through the loop. I’ll reopen and press gently to 1 cm below table level at the same solid branch so the jaws slide alongside the flat material.
move_to
right_x0.2610right_y0.3020right_z-0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9977, 0.9939, 1.977, 1.3514, -0.7856, 0.3332, 0.8703, 0.0161] state[eef_state]: left_x=0.2721 left_y=0.0007 left_z=0.15 left_yaw=0.0901 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9977 right_x=0.2612 right_y=0.302 right_z=0.0258 right_yaw=0.0159 right_pitch=-0.6255 right_roll=-0.1087 right_gripper=0.0161 state[joint_eff]: [-0.1162, -2.2769, 6.5983, 1.2821, -0.1441, -0.0415, -0.0171, 0.1299, -10.3726, 5.9829, 0.7448, 0.2759, 0.1148, 0.823] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.261,"right_y":0.302,"right_z":-0.01,"right_gripper":1.0},"note":"The gripper is still empty even over solid fur, showing the brown toy is very thin and the fingertips have been closing above it rather than through the loop. I’ll reopen and press gently to 1 cm below table level at the same solid branch so the jaws slide alongside the flat material."})
tool
executing move_to over 10 steps (1.0s)
step 241
assistant
agent noteThe readback stopped at table contact around z=0.004, and the wrist view now shows the open fingertips actually flanking the thin furry branch at floor level. I’ll close while maintaining this contact depth.
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]: [-0.1436, 1.0195, 0.836, -0.7982, -0.2054, -0.1131, 0.9977, 1.0004, 2.0003, 1.277, -0.6586, 0.3546, 0.8684, 0.995] state[eef_state]: left_x=0.2715 left_y=0.0008 left_z=0.1493 left_yaw=0.0906 left_pitch=-0.3753 left_roll=0.1257 left_gripper=0.9977 right_x=0.2632 right_y=0.3033 right_z=0.0035 right_yaw=0.0287 right_pitch=-0.5918 right_roll=-0.0943 right_gripper=0.995 state[joint_eff]: [-0.0342, -2.2222, 6.612, 1.2967, -0.1245, -0.0562, -0.0073, 0.0615, -7.6376, 4.4376, 0.7253, 0.2027, 0.022, -0.2418] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The readback stopped at table contact around z=0.004, and the wrist view now shows the open fingertips actually flanking the thin furry branch at floor level. I’ll close while maintaining this contact depth."})
tool
executing move_to over 10 steps (1.0s)
step 251
assistant
agent noteThis table-level close settled at 0.044, just above the empty threshold and consistent with gripping a few millimeters of thin fabric. I’ll lift about 9 cm to verify that the brown toy rises with the jaws.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0195, 0.836, -0.8089, -0.2054, -0.1131, 0.9978, 1.0, 2.0003, 1.2751, -0.6559, 0.347, 0.865, 0.0441] state[eef_state]: left_x=0.2693 left_y=0.0011 left_z=0.1478 left_yaw=0.0915 left_pitch=-0.3857 left_roll=0.1284 left_gripper=0.9978 right_x=0.2623 right_y=0.304 right_z=0.0026 right_yaw=0.0353 right_pitch=-0.5977 right_roll=-0.09 right_gripper=0.0441 state[joint_eff]: [-0.2256, -2.441, 6.735, 1.3553, -0.149, -0.0562, -0.0073, -0.0752, -10.0581, 5.6137, 0.5641, 0.2222, -0.0415, 0.9109] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"This table-level close settled at 0.044, just above the empty threshold and consistent with gripping a few millimeters of thin fabric. I’ll lift about 9 cm to verify that the brown toy rises with the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 257
assistant
agent noteThe brown toy’s grasped branch rose with the gripper and the wrist view shows the rest of the toy hanging from it, confirming the thin-fabric grasp. I’ll lift higher so the trailing portions clear the tabletop and safe rim before transport.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8131, -0.2054, -0.1131, 0.9977, 1.0, 1.9297, 1.4559, -0.9279, 0.3397, 0.8642, 0.0467] state[eef_state]: left_x=0.2685 left_y=0.0013 left_z=0.1473 left_yaw=0.0923 left_pitch=-0.3897 left_roll=0.1294 left_gripper=0.9977 right_x=0.2614 right_y=0.3049 right_z=0.0677 right_yaw=0.0282 right_pitch=-0.6153 right_roll=-0.1061 right_gripper=0.0467 state[joint_eff]: [-0.0479, -2.2496, 6.5573, 1.2967, -0.1636, -0.0659, -0.0171, -0.0342, -12.0137, 7.8838, 0.5836, 0.1978, 0.0024, 1.0379] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The brown toy’s grasped branch rose with the gripper and the wrist view shows the rest of the toy hanging from it, confirming the thin-fabric grasp. I’ll lift higher so the trailing portions clear the tabletop and safe rim before transport."})
tool
executing move_to over 9 steps (0.9s)
step 266
assistant
agent noteAt the higher pose the entire brown toy is visibly dangling from the held branch and has cleared its original table position. I’ll carry it over the center of the safe at high clearance, where it can rest on top of the two smaller objects.
move_to
right_x0.4000right_y0.3600right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8165, -0.2054, -0.1131, 0.9978, 1.0023, 1.932, 1.9457, -1.3937, 0.3405, 0.865, 0.0467] state[eef_state]: left_x=0.2678 left_y=0.0014 left_z=0.1468 left_yaw=0.0927 left_pitch=-0.3931 left_roll=0.1303 left_gripper=0.9978 right_x=0.2632 right_y=0.3091 right_z=0.1902 right_yaw=0.042 right_pitch=-0.6022 right_roll=-0.0845 right_gripper=0.0467 state[joint_eff]: [-0.0068, -2.4137, 6.8171, 1.2576, -0.1783, -0.0464, -0.0073, -0.0479, -8.7316, 7.3641, 0.5446, 0.2808, 0.0171, 1.0281] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.36,"right_z":0.2},"note":"At the higher pose the entire brown toy is visibly dangling from the held branch and has cleared its original table position. I’ll carry it over the center of the safe at high clearance, where it can rest on top of the two smaller objects."})
tool
executing move_to over 11 steps (1.1s)
step 277
assistant
agent noteThe dangling brown toy is now centered over the red compartment, with its ears and body above the white and yellow objects. I’ll lower it until the toy settles into the safe while maintaining the thin branch grasp.
move_to
right_x0.3900right_y0.3400right_z0.0750
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8246, -0.2054, -0.1131, 0.9978, 0.8249, 2.4279, 2.6625, -1.599, 0.2943, 0.6823, 0.0467] state[eef_state]: left_x=0.2662 left_y=0.0016 left_z=0.1452 left_yaw=0.0937 left_pitch=-0.4031 left_roll=0.1329 left_gripper=0.9978 right_x=0.3694 right_y=0.3296 right_z=0.1662 right_yaw=0.0261 right_pitch=-0.637 right_roll=-0.1151 right_gripper=0.0467 state[joint_eff]: [0.0068, -2.5368, 6.5436, 1.2772, -0.1441, -0.0464, -0.0171, -0.335, -12.3282, 8.6496, 0.8767, 0.188, 0.0562, 1.0281] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.34,"right_z":0.075},"note":"The dangling brown toy is now centered over the red compartment, with its ears and body above the white and yellow objects. I’ll lower it until the toy settles into the safe while maintaining the thin branch grasp."})
tool
executing move_to over 6 steps (0.6s)
step 283
assistant
agent noteThe brown toy is now supported inside the red compartment, visibly resting atop the white plush and yellow object rather than hanging freely. I’ll open the gripper to release the thin branch.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8276, -0.2054, -0.1131, 0.9978, 0.8223, 2.3486, 2.1521, -1.2201, 0.3042, 0.6682, 0.0467] state[eef_state]: left_x=0.2656 left_y=0.0017 left_z=0.1448 left_yaw=0.094 left_pitch=-0.4061 left_roll=0.1337 left_gripper=0.9978 right_x=0.3722 right_y=0.3282 right_z=0.0755 right_yaw=-0.0028 right_pitch=-0.667 right_roll=-0.1772 right_gripper=0.0467 state[joint_eff]: [-0.1573, -2.4684, 6.8991, 1.2381, -0.1734, -0.0366, -0.0171, -0.7726, -12.1915, 6.7077, 0.9304, 0.3101, -0.0171, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The brown toy is now supported inside the red compartment, visibly resting atop the white plush and yellow object rather than hanging freely. I’ll open the gripper to release the thin branch."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteAll three objects are visibly released inside the safe: white on the left, yellow near the back, and brown resting across them. I’ll park the right arm and bring the open left gripper high to the upright lid’s upper edge so I can control its closing motion.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000left_x0.4600left_y-0.2100left_z0.2200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0218, 0.836, -0.8322, -0.2054, -0.1131, 0.9977, 0.8387, 2.326, 2.0342, -1.1423, 0.3408, 0.667, 0.9946] state[eef_state]: left_x=0.2647 left_y=0.0018 left_z=0.1442 left_yaw=0.0941 left_pitch=-0.4105 left_roll=0.1349 left_gripper=0.9977 right_x=0.3654 right_y=0.3236 right_z=0.057 right_yaw=-0.0197 right_pitch=-0.6518 right_roll=-0.2248 right_gripper=0.9946 state[joint_eff]: [-0.1573, -2.2222, 6.735, 1.3016, -0.1734, -0.0464, -0.0171, 0.0479, -15.5692, 6.4479, 0.7057, 0.3297, 0.0904, -0.0317] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.0,"right_z":0.18,"right_gripper":1.0,"left_x":0.46,"left_y":-0.21,"left_z":0.22,"left_gripper":1.0},"note":"All three objects are visibly released inside the safe: white on the left, yellow near the back, and brown resting across them. I’ll park the right arm and bring the open left gripper high to the upright lid’s upper edge so I can control its closing motion."})
tool
executing move_to over 27 steps (2.7s)
step 320
assistant
agent noteWith the arms moved away, the overhead view reveals the brown toy fell forward out of the compartment while the white and yellow objects stayed inside. I’ll postpone the lid and bring the right gripper above the now partly upright brown toy, which should allow a thicker body grasp.
move_to
left_x0.2900left_y0.0000left_z0.1800left_gripper1.0000right_x0.3100right_y0.2400right_z0.1300right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5694, 2.1662, 2.3062, -1.2896, -0.3904, -0.5179, 0.9983, 0.1051, 1.3178, 1.2049, -1.1091, 0.1818, -0.0368, 0.999] state[eef_state]: left_x=0.4573 left_y=-0.2086 left_z=0.2113 left_yaw=0.0899 left_pitch=-0.4286 left_roll=0.1202 left_gripper=0.9983 right_x=0.2887 right_y=0.002 right_z=0.1706 right_yaw=-0.0592 right_pitch=-0.626 right_roll=-0.2285 right_gripper=0.999 state[joint_eff]: [-0.6632, -11.7538, 7.8427, 0.696, -0.4225, 0.1343, -0.1832, -0.1436, -5.6137, 7.1726, 1.1355, 0.022, -0.0415, -0.1197] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.18,"left_gripper":1.0,"right_x":0.31,"right_y":0.24,"right_z":0.13,"right_yaw":0.0,"right_gripper":1.0},"note":"With the arms moved away, the overhead view reveals the brown toy fell forward out of the compartment while the white and yellow objects stayed inside. I’ll postpone the lid and bring the right gripper above the now partly upright brown toy, which should allow a thicker body grasp."})
tool
executing move_to over 20 steps (2.0s)
step 340
assistant
agent noteThe brown toy is close beneath the right gripper but its thick torso sits left of the jaw centerline, with a pink paw to the right. I’ll shift the open gripper about 5 cm toward the arm’s left to center the dense torso between the jaws.
move_to
right_x0.3000right_y0.2850right_z0.1100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1413, 1.1812, 1.0676, -0.944, -0.2047, -0.1566, 0.9984, 0.807, 1.8278, 1.5444, -1.1271, 0.355, 0.5735, 0.999] state[eef_state]: left_x=0.2919 left_y=-0.0017 left_z=0.1764 left_yaw=0.1263 left_pitch=-0.4459 left_roll=0.1196 left_gripper=0.9984 right_x=0.3022 right_y=0.232 right_z=0.1239 right_yaw=0.0151 right_pitch=-0.6375 right_roll=-0.2552 right_gripper=0.999 state[joint_eff]: [0.0752, -4.3282, 6.8581, 1.3602, -0.1294, 0.1441, -0.1783, 0.294, -8.5128, 8.2393, 0.5592, 0.3443, 0.1099, -0.1197] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.285,"right_z":0.11,"right_gripper":1.0},"note":"The brown toy is close beneath the right gripper but its thick torso sits left of the jaw centerline, with a pink paw to the right. I’ll shift the open gripper about 5 cm toward the arm’s left to center the dense torso between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 345
assistant
agent noteThe thick brown torso is now centered squarely between the open jaws and is partly propped upright against the safe, avoiding the flat-loop problem from before. I’ll descend to about 4–5 cm above the table to grasp around its body.
move_to
right_x0.3000right_y0.2850right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1835, 1.0584, -0.9497, -0.1955, -0.1547, 0.9982, 0.915, 1.9591, 1.6386, -1.1351, 0.3809, 0.6518, 0.999] state[eef_state]: left_x=0.2891 left_y=-0.0032 left_z=0.1715 left_yaw=0.118 left_pitch=-0.4647 left_roll=0.1171 left_gripper=0.9982 right_x=0.292 right_y=0.2777 right_z=0.1038 right_yaw=0.0302 right_pitch=-0.6372 right_roll=-0.2838 right_gripper=0.999 state[joint_eff]: [-0.1846, -3.8085, 7.1726, 1.16, -0.2369, -0.0562, -0.0366, -0.1573, -9.7026, 8.0889, 0.5543, 0.3297, 0.1392, -0.1197] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0.285,"right_z":0.045,"right_gripper":1.0},"note":"The thick brown torso is now centered squarely between the open jaws and is partly propped upright against the safe, avoiding the flat-loop problem from before. I’ll descend to about 4–5 cm above the table to grasp around its body."})
tool
executing move_to over 4 steps (0.4s)
step 349
assistant
agent noteThe descent stopped at z=0.102, well above the target, because the gripper contacted the propped-up toy; both jaws are visibly flanking its thick body. I’ll close here to capture the torso without pushing it flat.
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]: [-0.1425, 1.1835, 1.058, -0.9501, -0.1982, -0.1612, 0.9979, 0.9207, 1.9717, 1.6512, -1.1469, 0.382, 0.667, 0.999] state[eef_state]: left_x=0.289 left_y=-0.0027 left_z=0.1714 left_yaw=0.1244 left_pitch=-0.4644 left_roll=0.1162 left_gripper=0.9979 right_x=0.2907 right_y=0.2795 right_z=0.1023 right_yaw=0.0184 right_pitch=-0.6414 right_roll=-0.2895 right_gripper=0.999 state[joint_eff]: [-0.0342, -3.453, 6.4752, 1.116, -0.1587, -0.0122, -0.0415, -0.4171, -9.9487, 7.9248, 0.6374, 0.4176, 0.1343, -0.1148] camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The descent stopped at z=0.102, well above the target, because the gripper contacted the propped-up toy; both jaws are visibly flanking its thick body. I’ll close here to capture the torso without pushing it flat."})
tool
executing move_to over 10 steps (1.0s)
step 359
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1835, 1.058, -0.9501, -0.1982, -0.1619, 0.9978, 0.9302, 1.9694, 1.6108, -1.1248, 0.3939, 0.6731, 0.0155] state[eef_state]: left_x=0.289 left_y=-0.0027 left_z=0.1714 left_yaw=0.1249 left_pitch=-0.4643 left_roll=0.1157 left_gripper=0.9978 right_x=0.2864 right_y=0.2768 right_z=0.0934 right_yaw=0.0079 right_pitch=-0.6409 right_roll=-0.3116 right_gripper=0.0155 state[joint_eff]: [-0.0479, -3.6444, 6.5846, 1.116, -0.1343, -0.0562, -0.022, 0.2256, -11.6171, 5.8325, 0.6032, 0.4274, 0.0073, 1.0037] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
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]
call 0 attempt 0 · /responses · status 200 · 10.37 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"
    }
  ],
  "role": "system"
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{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7944, 0.6071, -0.3962, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2926 left_y=0.0014 left_z=0.177 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0009 right_z=0.1779 right_yaw=0.0001 right_pitch=0.0008 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.3744, 10.2359, 2.0488, -0.0659, 0.1783, -0.0464, -0.3487, -1.5111, 9.7162, 1.917, -0.0513, -0.0171, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc47b78305e8d1edf3b248098c006cfda20bbdaa935b80ada8385f6b4728521f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f9d66d6328e2c76dfb33dbb3d5815c52de1bfb187062fe22496b2393926279",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb82159f16c40e41bec71dc1258c012372154b2cc91089a91d2da35c830cad01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 5.011 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_00da056f2869ecf4016ab449b6a3b887d0a7280c75bc36b3f9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEm_2y2a80C6_iLoUdW_cPHfzKzZwdRsQPKLh9MCSD12GC2hcjspf4jQr9Y9xnbKmlIUJbJslsiWqaWVuqUnTRKd_ZOvYVjQNZVf3PSpv4m2PDwyqzoKYq8fMUif1mcKR8AKsY0V7P-yEC6bVX1u6hyeNivIe-pHwaBogT7ZMtN16FiN7KLyV6EKAdlpjgbM7csaOtwUnG46Kx-TqMZrMhpQp4CT6bNKZ2H1jXaKffKnBUaeuEtECG_uKNHC8Ti0UCs0fWYOGrVpV2xYz0agaz9ywAut513k7dbSoIw8fsz1TYaEXKCXtax3Tp_0u7OIsyjOiMSL-bVmDzKQyJ_GGRBh10nF62h_dR_m8DYml7c1PFwLhyUbGQGYDDI0VwfghG3rbk1GmyLFK8MEKLumiV5oFvJ23aDqNfNHQQc901i11ptb5_jcU1dojNbUUXn-ogAxPH3TpQWsHtjg3wD6YQ8eaKqjFBtiQ1peqKZOi0bYEBiiRn0yNO1IOtyfbZWzBpzG1dTLcLZM_7BRqDH4AQovtS-0BwAffSMVStnvvoJtMuh1bBtfsr3XeOkQJOmPAS--8ur8j_szZCVjLs2oR97tyiwic83NhDVYrCgYFpkwZK71_PFymlm_gI4ROAMNha98CSgvk-BGXzbb8wIZLrRkYE9rGSSSZTMRmMtEHGGHassnCAU6Fg7HUA_oXiTiW7eozo2IViKKpmHGz2kmjI_1TRcxB4WiHRJ0ATvr6WxN5zmUxs6GzQYJe4f154dP3-IhQ30V63IWrk8UoeEeLBhuJqmZ6aS5GpcA7fx7iA1FgNRoxbWfC9PMjdFJUOYYaA9Uuiz9V1GXhLsQ9KIZs486KVWsKzNm-uQayYGcHiemDLRheZZb0YjwmlJaupV3nSfuqnoEr3NXWsR0eNhhZt7MoN4w95bNbLBkXwaja3RO6DNyzgomssxK6kNPms0brnpp0uG81dh4oQ1T5ykAfkWN9nVeJsPjQ8F6sZjbFxzCPI5kLsTC9HfRwFKGPpIrJkYsPqvh5YL7uZCotLOc5F1UtQyZaLS-tkXpPlY6GH6LmlV2jpWj2KYubLtdhH4U4kScRqNm8CzZ-qBra4ramKD2GQPJsKsC7DZHPQJhbgYgL-AtjRKrJ9uWDsAzmGoaw4e6PZ3DF4cdEY-RY0U1A1WB6Cxasr-pYZ0vBGUZEAGyTdE3PeLgz91MyFGiaxzAqYt7cfdLtEb0U999EqcPuK8cqeTl3L_x6e4TdV3XRahDhgg7CV6Fkzg8Y6fvjdUT0knzdltXjmDElVVN5qRdml8ygseupvp4p04U8dwJn6yazZKzx2KptY6vfAjuvy3wBVyAkSFnZlDju2k7i-odyNB3oEgUGRCXmB5FUEW0dFxHRRBGact9fYAxYonQ0XB9HO6Mk_6g7RX5XrQiFmoATSZ7vFLfIJ3xYyzMpUdxSrkmAXWVO-skdgvCJ6WNwUNM_uGB2jpMV0oIlh96maEqsFg6fp4BaMP94E60Y49O1eJHShWGmt7Weht23Oy82rU_mc7mNMe_6GYdkN4MZefuL8Z-gqUG8ERiMBbw2U_iaAQvqAlbiIpvQnRPESLCwb2196E8e96yL54zw8_JH8o5YJLtPSJrGxfuOCGQ9WK-Oxx7aNyZ0esj3lbuV848eoquI3mQ37PNueIB1QzkAYcEXSc9abwl8DDTb1ZnTw2ygGh4mvam0FNVtxibRfIBd6v7djltS1Wf-YaykonnO0IHMn0kkxu0jiHHGtFtTGFXAMo2UHiVeU6mSKIyB2vU0BJPwgH54eJJ_yLE0Yzb5FPiaYY7Qm2niTzXuUfU0iMZTolyKnJVAi6PsAJaIslbWJMTvJwa0hzwqNxnJSkS18jc_dR2Jw==",
  "id": "rs_00da056f2869ecf4016ab449bc645887d0b07fc69317024a65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The open safe is near the upper-left center, with a white plush below-left, a yellow object to its right, and a brown plush near the front. I’ll bring the left gripper above the white plush first, staying high and open so I can refine alignment from the wrist view.\"}",
  "call_id": "call_4FBAeO0AWC9gpMXIC55CzUV2",
  "id": "fc_00da056f2869ecf4016ab449be1cac87d09aad7d414b863208",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4FBAeO0AWC9gpMXIC55CzUV2",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5289, 1.4292, 0.8211, -0.1272, -0.4171, -0.3325, 0.9997, -0.0208, 0.7994, 0.6075, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1319 left_z=0.1274 left_yaw=-0.0164 left_pitch=-0.0773 left_roll=0.0316 left_gripper=0.9997 right_x=0.2882 right_y=0.0011 right_z=0.1693 right_yaw=0.0008 right_pitch=-0.0404 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.2838, 9.2786, 1.8779, -0.3639, -0.0611, -0.0464, -0.1162, -1.5385, 6.9538, 2.0342, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea019d48a895d5e1ecb9c7e1598ae28353e579a7a050b00192db04e708cd7a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51eb5092f0158e8b031f2c4658b72537a1971131b346dd96ef7151d073354eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434ac6dc96199a7aa0cac370c2803489f9f8247359e3c1cc337b910670eac9a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 1.899 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7944, 0.6071, -0.3962, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2926 left_y=0.0014 left_z=0.177 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0009 right_z=0.1779 right_yaw=0.0001 right_pitch=0.0008 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.3744, 10.2359, 2.0488, -0.0659, 0.1783, -0.0464, -0.3487, -1.5111, 9.7162, 1.917, -0.0513, -0.0171, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5289, 1.4292, 0.8211, -0.1272, -0.4171, -0.3325, 0.9997, -0.0208, 0.7994, 0.6075, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1319 left_z=0.1274 left_yaw=-0.0164 left_pitch=-0.0773 left_roll=0.0316 left_gripper=0.9997 right_x=0.2882 right_y=0.0011 right_z=0.1693 right_yaw=0.0008 right_pitch=-0.0404 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.2838, 9.2786, 1.8779, -0.3639, -0.0611, -0.0464, -0.1162, -1.5385, 6.9538, 2.0342, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea019d48a895d5e1ecb9c7e1598ae28353e579a7a050b00192db04e708cd7a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51eb5092f0158e8b031f2c4658b72537a1971131b346dd96ef7151d073354eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434ac6dc96199a7aa0cac370c2803489f9f8247359e3c1cc337b910670eac9a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnF0BnBSBqF2lsoztlqHc3ghBLqZ2mdmWAQSGvzMrsXOmXaxm8fg0_xTKEP2oiSfUotAccMRRiqD6xJ9QTyPmnxXx-egiZxTOIaRzpCp3eV0A5eF7V38LTLw63OYIKSqHyXe6KfU4RuzvmqpLmF42xwuleBVi1qhTyDoyMG-yiRozZ5AcdQO3nHbxYpVMs-eye09fA1--DWf6DVqX87I8uhL30HQm7ukC4FC3s-OoYdUfMzhPC2pfIct-eCCPxhM4dDQISAV_b8sTZ2fPDoFwPD4_Aktuq5kLgYSxJgZss7lZoTUMvE_DW5JKoGHPhojk8xirhpdEMMq0jhcKitWx5ORqj9IufSYgxpCpBGaj_LlgpWWS-8VGKzCceF3ZXX155_sGzpjfQQr_7jMcBn45pmBMaJxnTLk3JOdWpP1FWYM5aeMaEbzJj7hc7Gz14StzvGSjFgP2fK9k8gg8QKU6938-k3HNtkxF7_uObaRTlneJTztwKBHMpWZ6iAY7aZFelv5_jLNe2gmd9G25eZ-rDuDprNvWFrR-2n4Jm22zAh7dN1bNY6Dp7WlcEhijsDaAQ1FL_MYz2xy1zSmOB9ZHKrVS8vjaDl47Bc35uNPqWgR_blMj1Asn-vnfYIoZy2V2pgLauTLzFYZYhE-YooJjL3FELcbN6CYqT4T17borpJyFUAfz86O3v1uMxtFL8beBPa8rdL1zjFAs7eoW_InRDhoOfJQsk5SmyjzOQc1XGbjDVzEIJCBz-0sWe-szHaHiyoRVBMqVOb0Sn_mvKBo4Fxl6zyQOjWgJYmVcACR2IFydsN874Zy0PrBbhK9ZRvGPdEJe9k8c5joT1aB7mFCCYayik5qnuGDuyuajsyGUSKIzl39tfZwelYnC7ZFZKYF87zQTUqLMkFjCTQkoEnCJnIE93z7HOHPSxcWcwkBA9K0TGYuVTxYMyVf7Ne7yJhhz8jv3eze9LYPbq_jbRFdRSp8-mgkWqYTCiqyIoc5j0PGYC6oq9U7RylVMuOjfZWc01FuO1R_8ZW2wyhEaF1K-z55cH8-rmA_0JUuLowsXaHA0-jt-uXBVevAY9MrPD24xlKdCwOXzys3zYVcnVWKjfUmJmUeOcssdxHksdwHyb0ho-e9fkEY3H5RRJof97dzfhwazRaZY7vZSRylQv9pYfi5P1ITy0VxgHel67hcwDWVtFZQVRKlQI8G35rMI_fkEMnSXRhdGnugNacsfXY_sU7B8q_mha16GHks1RU3aK2qMxswSL-ejt0fIZqloB-9hvdfRr5Vh9NrId5DrISoB7CJmvLeFN2EqFXGI7q7RREz3cnTIi0hNUKL4ZWDoPhBjsoHnBNQrkRVFalHLxZqXg63PiTzRaf9qM97FxuS9aWd7BW1Mj4MrE46Pi_QQ-zIrq22OAlbAaEkPu41Tl7gqJ4Ni5bfluheCH7Sj7ejNvpP89PZ-zeXJCqlMK6Gzz68EfhYe6ka9NCW2ZlA2kAnG2eQbJqb8iuAM6VI-Sn6gkcmriziOQEG0ZZnDhqbxn9HG1ZnRrW_MR6WZ0GsErj6hIb1zmzyOuifJEo_tm3hzyFbfYcbg16YN3Yt4pTRx6LOfb8bNb8ScnU1UoQ-W4rs-8_XSPe4Di7_ceknWc1yU8ZdHULfRDY2IOtorJQL99kuF0nwjoApDfTVOCm9-o2HI7HvfW-9KAjQ10yNY6k-GQKpw7TbARaUFnxedGejqnlxCgqJnlvJEIviTj7c2J8UMlOBHNdsDwdAxmJMvHzPcVFKWOv2sqmrypHR8Fp5lUis_r07-pkQk-aOJ_1EdW92PvidsQhg_HHb7p_PMfgZBios4bmrjbDFNqIv9MdjUWZrnn89jRyVcl9r8tuweoa8_dZa1i0Uu-GXkoxRP8D54uKwOqewkzmYmE9eKGNQMtxKbtC5laXL0wBhXOLI2-WZEqyV--xCl48w6ZhELMqXkKAU1-n32mvQZnM7S_5ngAivQ3xWm8oZodKFj9TWPbdlLw9jjHInBBv0T5wBwWYuLNtftmbbOU1_6Ffg4jsQcI9yoImiFDTXzSlUOo2tWvJ9Pj8LuRJCrSHcKl3RGIXRDZErsWKe0yq1Xgh8d2jcrs-hqP_",
  "id": "rs_00da056f2869ecf4016ab449c270f087d08c86391584349185",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.14,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"The white plush is now centered between the jaw columns and fills the bottom of the left wrist view, indicating the grasp point is directly over it. I’ll descend vertically to around its mid-height while keeping the jaws open.\"}",
  "call_id": "call_IVwC10gsK5Tt8l85H1cAUPBn",
  "id": "fc_00da056f2869ecf4016ab449c4542887d0a82d5d0c87542fbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IVwC10gsK5Tt8l85H1cAUPBn",
  "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]: [-0.5343, 1.7046, 0.6884, 0.2028, -0.4171, -0.3412, 0.9997, -0.0212, 0.804, 0.6056, -0.4572, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.1361 left_z=0.0288 left_yaw=-0.0125 left_pitch=-0.1451 left_roll=0.0637 left_gripper=0.9997 right_x=0.2846 right_y=0.0011 right_z=0.1624 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -6.8581, 5.1214, 1.6386, -0.1099, 0.1099, -0.0415, -0.1299, -1.4838, 7.2274, 1.9267, -0.0464, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960c986e2449e1ba31789ed78ec2e9b639f842131f78feb0b1391e08e8b6195b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9222d1bee10c5e153514ba87ff13503dd206286f1debf7a503cf8aff317c41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4d02a5a23b6a7433ee4e7b7173ba7605ffbf1dd9133730d0e2d3eea9bfe766",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 6.842 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]: [-0.5289, 1.4292, 0.8211, -0.1272, -0.4171, -0.3325, 0.9997, -0.0208, 0.7994, 0.6075, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1319 left_z=0.1274 left_yaw=-0.0164 left_pitch=-0.0773 left_roll=0.0316 left_gripper=0.9997 right_x=0.2882 right_y=0.0011 right_z=0.1693 right_yaw=0.0008 right_pitch=-0.0404 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.2838, 9.2786, 1.8779, -0.3639, -0.0611, -0.0464, -0.1162, -1.5385, 6.9538, 2.0342, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5343, 1.7046, 0.6884, 0.2028, -0.4171, -0.3412, 0.9997, -0.0212, 0.804, 0.6056, -0.4572, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.1361 left_z=0.0288 left_yaw=-0.0125 left_pitch=-0.1451 left_roll=0.0637 left_gripper=0.9997 right_x=0.2846 right_y=0.0011 right_z=0.1624 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -6.8581, 5.1214, 1.6386, -0.1099, 0.1099, -0.0415, -0.1299, -1.4838, 7.2274, 1.9267, -0.0464, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960c986e2449e1ba31789ed78ec2e9b639f842131f78feb0b1391e08e8b6195b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9222d1bee10c5e153514ba87ff13503dd206286f1debf7a503cf8aff317c41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4d02a5a23b6a7433ee4e7b7173ba7605ffbf1dd9133730d0e2d3eea9bfe766",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnHGoruPG8oAHKo-WhSuU2q9EjStRzlmAUcGnYL4-ukxsaVhf8iZTDfeckzAWTDkp5qo-tdHo8YgBK_5FhfVJ35T2XgsyawSm018Qp2uwbAIGvmcc3DMaR_WBa4sa4iEQJSfIbskgad6XZ0PcNdgxqnYPbzaFRBtBQjZNNo0goHlj9_94IllmMyh28je93d198hll6zICW4c19hBRH0yNqTr2bta1fISYjuycsOEPLBMtJvJ5-sa_KsziA7DqaY7NlpLJ059x2AVZWi0VTyGYOngh85zKFFPxYeforVZQCuKYo8SmkWdR2HHm6xXDdEcmHYVWs9TEAYMlBULMwgfMoaHa0Bp9rOm0go2a8Fn34lzXk3ccdhI9NLbaDganBR0v2M1Xs3G629cF4jn5MeynAd_tmfOEVsuPIpM-m2cWDLw-NWA0IOMQkurP19YBDgn6EI4UZy-Q8OxPDlKr73bEuKrlMcDfsBnoNJ9h2WT0dJ0e1CEQ816bTLrTx2dcV1wuQ4UoWgvAbcdjLfjzsGhY12QIvW3aVZN2Q-J4Dsf3HkAz3FiYmSmnFk8eTWM8bCZlcJX5fZwfPTYZcKnJY821HN5o50jRNUm_P0mt9SlUpURmMkbeDv-g5CC0RbQuBUgwYuAfjnZr3PybLeRzUeOqyZ-EX4GaqrJRwlCuRJR7YW9w0GwvHXlIm1OiCFeE0yZ7y5oelS1KZZ1YYBpPMBmbExBvtHz99G2j68QUPGA3h3NgvyqXCu1cz14M7w0NzNolQIqXoAVyTO_1heCZCibShRkhOc3kE3Ub1Z6C7AtB5MUow4xED-UltUjcNVrxg7-YcA0nCEgH71N138l3btvZGmfqpWXpEKsvw_auy-NDnfXlJmr76w7HD4l6dl8oDhi5tP5kfkIpdt404Kd2QzwP6pQH2l1bZ4QD2O0ZMo-fvwwc2UAHMZg0Uay0wBuc71Eo-jKIbJrWbMIfpY-nd7m9S_xFqn8MfwP0IFCJ-L2gKWKu5_kqpYildSZ9KuSgRJvdVX9F3iChHe3olDS2FblC9QZCpTJ-_vJNrRduxetrJ1Px1abDhnz3G7vz9Exf47_WXyTRlb1zWtLqmWliQt5uJt_a22K1GPdLCwqvWJtgG4-Zdh3Iolr0lr68Ci3B8kPgxe7gmxCe5H03Y0VW3UHU_Jq-8fR4VtsBQ5xONF2RitI-ZHZAewm8If49OBhqoV58AZ-3Fblsd-6edecWhVx1Glwjpl6692PGAGx3rjMN1OINU7p-vZuY1tzz8IHHHVNX67V-K5JJo-IAFCNtAzWLQR6Q==",
  "id": "rs_00da056f2869ecf4016ab449c6f2d087d087e956682aead6ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the lowered pose the white plush remains centered between the open fingertips, with the grasp point at about 3 cm above the table. I’ll close the left gripper to secure it.\"}",
  "call_id": "call_mPp7FJERr0jF6zRCVKeKRHSa",
  "id": "fc_00da056f2869ecf4016ab449c7296087d0a7957585512b8e5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mPp7FJERr0jF6zRCVKeKRHSa",
  "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]: [-0.5373, 1.71, 0.6888, 0.2501, -0.4225, -0.3466, 0.0101, -0.0208, 0.8036, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3839 left_y=-0.1403 left_z=0.0349 left_yaw=-0.0111 left_pitch=-0.1063 left_roll=0.0416 left_gripper=0.0101 right_x=0.2802 right_y=0.0012 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0995 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7607, 5.8872, 1.0134, -0.1685, 0.0073, 0.8376, -0.1026, -1.1966, 6.9675, 1.9121, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a21dbae821acc94935407c87870291bdea0a2d28eee938ce0c82127daff992",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30060ad5e5608270eba0481640f05ae9876bfbf3592fd08ce1cfb65d577077e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1569b890cc225be04119e1d7ba121144e16c7a76d34ed1e3d93a1418733ef78c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.09 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6029, -0.3943, -0.0193, -0.0341, 0.9997, -0.0212, 0.7944, 0.6071, -0.3962, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2926 left_y=0.0014 left_z=0.177 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.293 right_y=0.0009 right_z=0.1779 right_yaw=0.0001 right_pitch=0.0008 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.3744, 10.2359, 2.0488, -0.0659, 0.1783, -0.0464, -0.3487, -1.5111, 9.7162, 1.917, -0.0513, -0.0171, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5343, 1.7046, 0.6884, 0.2028, -0.4171, -0.3412, 0.9997, -0.0212, 0.804, 0.6056, -0.4572, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.1361 left_z=0.0288 left_yaw=-0.0125 left_pitch=-0.1451 left_roll=0.0637 left_gripper=0.9997 right_x=0.2846 right_y=0.0011 right_z=0.1624 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -6.8581, 5.1214, 1.6386, -0.1099, 0.1099, -0.0415, -0.1299, -1.4838, 7.2274, 1.9267, -0.0464, -0.0317, -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 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5373, 1.71, 0.6888, 0.2501, -0.4225, -0.3466, 0.0101, -0.0208, 0.8036, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3839 left_y=-0.1403 left_z=0.0349 left_yaw=-0.0111 left_pitch=-0.1063 left_roll=0.0416 left_gripper=0.0101 right_x=0.2802 right_y=0.0012 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0995 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7607, 5.8872, 1.0134, -0.1685, 0.0073, 0.8376, -0.1026, -1.1966, 6.9675, 1.9121, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a21dbae821acc94935407c87870291bdea0a2d28eee938ce0c82127daff992",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30060ad5e5608270eba0481640f05ae9876bfbf3592fd08ce1cfb65d577077e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1569b890cc225be04119e1d7ba121144e16c7a76d34ed1e3d93a1418733ef78c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEnPfKiGORp-WsE6vN28kH2jQjBro2lDi3UUvcchb7GDhqwSH6hctvVW4EO-Z0j19IWzEafcBkERO9qqhbbeZuPyWRP6rvpA8xknfwPFNeJs6ceZH06sUwBBdEi_sfLK5rCJRhgRS2MxTOkkRwSctjfc72rMcM4YQSsSM9EDxsdXgYAB_z9nobEkZkqUPKuVOjjBLbpkRsaKuZ_l02R295g-bDiGLxNV9qzdP9MfPUBhS-QEL0nlfWTVsFJ3hBvCmY7fAkEnY5QfExpv3dXlbatWQ4V9DC3vmMTYuhh_-EziP1N6M1zMoryvqCOKz-0_75HI94s1-UqEIFcltI3HSDfP07G1QeIxiGiNnHAX-Ov6RE4eZgvTVNLhrVxJH6ZgEropRTwCAvrB8l83QgqzbiTOjbl10GoMcIsGrXvy-fy6-5sfZs63kTBEGYHY5Iw6eY22oLZmdnuM0IW4ddERMGiKuVOKbJ-HaNmVaj0MStWIolOjRrvICk_V3XeXu8Fs_03NheGniO3-uD1ElAhdOMhXCO63PEI88wmX0MKfIv6tqTKMgGxwW0_6QlACia_7A8fLy97PYnrxVySFs4DUynhKDLjfmu8LcuIc8iv9nmZN5XbOCJTvb8fKGGI40MW7QKKpNLAzjtJ_J24eXXJYwbdf52xigDaXXdgipfCYCSrAtH_f-xNUTntFTQXxjkOA0gjj3BJcBzKumD3hRDd-AA7jVZPa3FngdxJy1csuMWuTco0Y2GDcqDRbkHRLlmQX__hx4uLl6qEbh3kLqRNE8Qgmu49xYLXe7N0PQe8JWcdTzZvlxb1Ki6yZn8y0lFFDrcggd_qczuWY2WHePw2w-tzFgNJcJ2Uckr__feKSxF8LjdfWd_DRGiDK_RGOwmStffSNn6Xlh8J21N3sSdJAu3VdXw7sOmvYbns_tQeQLsyHCaIsyrih2Z6lGJVnKhG3RQ7oWSFJrLBq6uxYWu-4Mv72xAk2FmaK5X7XfAQj4ErUoyrO0upfB3ljP-LpvuIRcY6W-GErPB0Pm9QBFIO4G0iT5xaYmhi_UAjvgP5H0eo4EGiKsB5MLSAGwXwgwmFk6wr4PQZv9VLp0Vf6Mf9D4nc1CcLqbrY0sP8oqKVEuihFlEvATGEX7ZLLe3vYqy_n8hBTmugifISU9OFtxMfNSmWAIt5-ja5MisgOMP5GYwKGAQN-m12asi43T4A7UbcEnNMiZhN6FBwayeKoHHCMSQ2Ht7EFSjcLeqNKrxBIv5eXZNSnwEfpAOx08Ahbo2yo5ttj6j7n1Fif5fSUbt50dz8lc4pLZko16-SHx-kGWJhUKU4wcRHpCFeAU2KIdmWrJUzhcT8hfbZ4NjaZ35SakS5JwjZH3AtH5fG7JZmFtvpaA8jr2qq8cgnwkTpaCiQBeTw3ZQTOXBg2igsOK3PaTYL3eAfilAr5iQYZcqWd57-Bu1qswHX_el5HBKydb3eHxMOZr-dBPHvwEMdAtrkA-nwTRYP-qWjont5M5Bvv9FUhEqOyCD8AcLR8dOY8PXuEnnydeu6a40C-YOHELnsShyEpvlsw_WRrADLVC8kQufEElXb2aIbcoOtTr29KdVAXmHxHbiliqAvfS1TktAE8ybNnV7c73nVG6RVyuND-foYA-AziaaYrr9nYEYgAYDQt43vW3lEkv-1ZDzE3CyBI7S7jQ1QCgVt6B4p24n0dUyFJ8uFV4UVl5R7R0oRkJR0tXSwO9lF-MvMtiuhFLFA2B9pJQmijBU3Fzbg6cqtxEWL5OY8NnE_-jRTdASQ1JnZvO1azccIbMnV7irjGavuxdOPY7_lJ4AXcRHG3N0uWbLP7JibDM26lDVhebHxg53kCoPMYQL2XLZKsUdPbmT4AaK7K_n0dbFptTQ3KerThtHa3hcvQGlhDfcGorwOMkYwtn4tcUazL3Nt0IBv8lkY0Rl6ttsPgWcKl8UVQHfXeVERkYZ9i55xaJl5uwg6rjwTGiTOyLPI6s3ZG3HXDWU0voueSvzA3QHoBCRO7-PEj3YRi_8PtSBx4DYcmUumnWP3N0fJ5hcwvptiC9mT6eaEUYN6iBDJd8_7s-J2k66Urx5ZnDu594CTc7lYCBl7558eGe_DIcyJbfuZ8287iUc9ZIuZ1K0iV57IcWU0G6tBdADg_EXwQB_ATdJ2_2twXe027Pvye7cwuf1KRsB7phZQD8pCEHdyWM0nMa-zs_0qgfdBKRTfU3qapyO6ubFBMcGNvuuHXDriZDQ5Nm-rbharyOXTRmPgUpBpLTZlE4ppMkqc-_y-m18HG1abwrBS46uPRTURrtbXn-YJ72Xe8tTq33gtAw_237vkWfLps35Sgz4VVQoBtqy99B0o_Ga-0gFqTqFo-eTWFIhX_dSMObbuOh2jCOuWhN9dWXqaGgaomngiPKoqzKylJ9umuQ0Q_KijYnrDX9UUpCme_b4SeSgo0zbF9jWLp9CTiqGob9mzu8JE-g4SBSCA_7VXzIbhV-z80nyv932v_CYTiM-rXIXVeCQfOHP_QjuEEMh5eKhn-WZLhxBKMpOEHNpCQ205ORf8GUHpLgjFaNR7EPe0_pkXZ8T15cG9HxFDdsDHYbc2vxsF6zvT6dJf4LWU_XT_G-VeP8KfiHnhnZyVZmF2dgsAstEj4hZVgeax-N7XUDtdRcnYdR47Qf9W98v0yYdrXc7jh8xW0ZHQN1GY0f0p8QlWg6Osw3aHyJ46IHKdFF-kcCqPd2zveqJpyOrdSHKdmty2eCzoCtE6mGDIlXNqVJWtqGpFQz1uyFfp0KVNTosNwzb0NUh-1-i_zMEMsBDjX2J8af4VFWfNHAhyRN1aH16aqM7fyJING2VCxGotnSl0lJmNfvAh-1ilL72baESCOLZbns9tuM-LbJrmcpaS3ztRlpN_K4nGCb-qSYpMSYlGKyHxwwAnSW4U-eCLW0rEFtmGZcdhXLPXPgUWwOHFpf8YTb2cfBzuGgMTKAo6W12HdVMOmgQJEgtohbu_xhGbsF09ZNrK4byKb_dUuN8ReC2h7bJo2BzFabwxhZ73PICShFaBmzQHwSP-ebwq0euwyX7J8--3X8YyvO4RJVKPzSVZIYjJPmblPKm3fuHW8n2_CsZ_mhSJvPmbfeQ0bWtVxJhyBmOIrgoOP0oaCvPUF-7X0xiwYgrAMGBZKgNy2ZtQvCalG8pw-aekq_QJ_jGLknOImS0mSfLHlqoUSV0Ej_ZyUdrB8cDCFJWGiMHZXETOpqQam16YIvQ8GueOiocnoM9dwYeRPFwASHMNmUot_s-DsBDGLN5_CIcBrnw5wwDVy0N5vDxJ2pE_RJrJIjGz_MDU0vSS0EFTYE8yNL_gsOH5SMsR_E6EhWHwDDEgvvBnF91D_PeJKazV1bbrp5Z57I8j6UrqdaMGgu9lVZ-DctRHmiVpmtAq0zjnExpS8973cJhv254A7xUjI1576AxdGJUdw-qjQDejq_f9rlswh-gbgwc73pdUmvwdAIcJKN5GPibOoxwNSuJQvdo2IXpTyQAFeJymr60nXoS6RzGFMzvJYCj3WGs_RWBKvNDRKhJsbq3UH7VL1KcTPJfU527x5H3c0RbqZXBHbttH1tMJXX_DNP1_hAjjGz_MdLrGXfR41HvtaV5V1hHgv0Z3dLJUdCD4hqnZbxovRJkdrJSZRPKUZIkdv7h14CGEvLw1GnH4aufQD2xk4YeO1iH2IdM6TYL05Iv2UbCC3NnNwKAb1vtM4R9rXdaIHnMaeSRQk4lj29jEzpZATTdisYCY45yGf9shFiLlGMbajzHKt4ErFMxcWg-oibIT6lcqJ8qmX_O6miA3CUacKvdC1KG3PeAQFtPMuPnTXE-pdJo0qzIixy6lX8x-NYB6AaVpNGowUaDeDq1g8OjOh0hBHDouooqKDVPYEckzwm6V_KcJbj8Cp5n4czE5dEQ==",
  "id": "rs_00da056f2869ecf4016ab449c9c21887d0bd04717d5647d08f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.21,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper closed to the empty value, and the overhead view shows the white plush was nudged several centimeters rightward and slightly toward the bases, beside the brown plush. I’ll reopen and reposition above its new visible location before making the one careful retry.\"}",
  "call_id": "call_6XRBHuliyAaLqurU8wB3CQJ7",
  "id": "fc_00da056f2869ecf4016ab449ce96c887d0a95977f60677b077",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6XRBHuliyAaLqurU8wB3CQJ7",
  "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]: [-0.7609, 1.6596, 0.8974, -0.1448, -0.5568, -0.5339, 0.9949, -0.0212, 0.8043, 0.6029, -0.5041, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3549 left_y=-0.204 left_z=0.076 left_yaw=-0.0197 left_pitch=-0.1507 left_roll=0.0608 left_gripper=0.9949 right_x=0.2769 right_y=0.0012 right_z=0.1521 right_yaw=0.0001 right_pitch=-0.1213 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -9.4974, 9.1692, 1.3944, -0.4371, 0.1294, -0.0659, -0.1709, -1.0598, 7.1316, 1.7802, -0.0464, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9b7c5bb3004a2e95713979946efec80eba1e7d33a7b52af90968e1646a74b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8192b417af3967ebcadf9549feca96eb840a785889ab51fe12e3bc71c4ed162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56a59308b5addf322b494b1d4861bf25f728796e2a4bfbd8f6e9a7d1bf885e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 3.46 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]: [-0.5289, 1.4292, 0.8211, -0.1272, -0.4171, -0.3325, 0.9997, -0.0208, 0.7994, 0.6075, -0.4328, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3746 left_y=-0.1319 left_z=0.1274 left_yaw=-0.0164 left_pitch=-0.0773 left_roll=0.0316 left_gripper=0.9997 right_x=0.2882 right_y=0.0011 right_z=0.1693 right_yaw=0.0008 right_pitch=-0.0404 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -6.2838, 9.2786, 1.8779, -0.3639, -0.0611, -0.0464, -0.1162, -1.5385, 6.9538, 2.0342, -0.0806, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5373, 1.71, 0.6888, 0.2501, -0.4225, -0.3466, 0.0101, -0.0208, 0.8036, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3839 left_y=-0.1403 left_z=0.0349 left_yaw=-0.0111 left_pitch=-0.1063 left_roll=0.0416 left_gripper=0.0101 right_x=0.2802 right_y=0.0012 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0995 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7607, 5.8872, 1.0134, -0.1685, 0.0073, 0.8376, -0.1026, -1.1966, 6.9675, 1.9121, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7609, 1.6596, 0.8974, -0.1448, -0.5568, -0.5339, 0.9949, -0.0212, 0.8043, 0.6029, -0.5041, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3549 left_y=-0.204 left_z=0.076 left_yaw=-0.0197 left_pitch=-0.1507 left_roll=0.0608 left_gripper=0.9949 right_x=0.2769 right_y=0.0012 right_z=0.1521 right_yaw=0.0001 right_pitch=-0.1213 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -9.4974, 9.1692, 1.3944, -0.4371, 0.1294, -0.0659, -0.1709, -1.0598, 7.1316, 1.7802, -0.0464, -0.0611, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9b7c5bb3004a2e95713979946efec80eba1e7d33a7b52af90968e1646a74b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8192b417af3967ebcadf9549feca96eb840a785889ab51fe12e3bc71c4ed162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56a59308b5addf322b494b1d4861bf25f728796e2a4bfbd8f6e9a7d1bf885e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEnVtevU9WkxkSN0dJ00-nCRcj4Ix5mAx7INvTb3tQuSs9L2Vq49ULmaoPhnFY0N00SVGtVa4OvlQiwCf-CO56Sy3luODDp5Kn7Mjfev4I-ztd8kCbqbcqyr1E395ejPdxm8iW34P00UfkGerpmHEV6C55aIEYltC0lp7BzVYTnTLg3Toxw0KGT1gqtuL9KDkq7Wqpg41zBP23jWstzR2jEuMAQhuvFjQHZ3NigA6XlwWogmnzIu1S3qLFb2aEX1uMVfxdskI3O9U6DgL3XEBfqtNVej6a9hqeOo9Kgslw_EkytgYB_NZs5ZMthytMwvgPbomynb0wp-Dfi9q_ijSNO3aZsEOdb50J7ec8n02HegcAmzy0DOymCNuQEGEwXgLEE4kE5AQcuz3rMoSaD9BCuXqUVvSartqXOn2w0xdWVHfb8tG4mqksHQ3V5IqE04h8pu8PdYS4_WegLG18AxexG9xESzG7k33wZ-NxhLPB8qTXv7c6d7OgCSc9MdWyG7-g0bG7BtnA6XyiTE1OOSEuiYGx8RYsxf9FsSwJGGZfMc_CekmfG-wjE4UWBiYJcD1E0u8sR7HGDpANkDw55xh8varbUJfM3puWzPQiZqaV7xQ-IbR5bDEwoT-4UqUp-n5cBHTCfFn7ftpG-2p06BK1SRdONipa4RArGHS85_pEevUQOD9rC_jXLlwjPgGsAIvt8L7Jp0BQGLJ0ZjifTfoOamwEy_xuEOarCcQv210aEV5aqmOC3vSpXgE0qthcUxXTe6QiH6UwAWo1VY8oeQY9rf5JAk6nHTlXtUxsH7qq-ObXAgrob4f3Cuf2mpedtzWAp3_pCAQs_g8kPQUtPCpMLQ7TcMtlWDhT2x1LM6IGIDswt5AYBFazQ7SMVT4xPF2J9CnmWlboBJHmg3rMojFRbJTTq3RSljOvLUb14dXf8Lqk6B0B88ZCDiAj-sNVjJ-elmZq1VOLjU4S8R8J6fye50f_y3UBSiCvUWS09ghFBMOolY7NKonDvzjNkpp6vyoraJ1H5fJ6ZIRt6lbB_mJbhVsOUJNp9a9F_KpEPuDQ--gQMfPnj1c_VNOCDtCXuarJYRZ0JIjpldHEld3EWPfRqvtOsL24qzQhv-BkQC1OYOMxPba-rSRPdvvAgCGOovUeu41qNBITUGZ0xjSfnp5WrKgLBYgHKmipVDp3g4nFiTwdptpvfMD7Ho97ZnBQCFxHZBp5XuU6Agk-OpkGonGMIgN90zWBnGdEcrEP0CT9QaSTf7_svI0-DpR_nlHbu24Vx39V-OSsUAbeW7v3NyENVszIUbCQHNYE3ciuLZ79ogymRXmedvm6MK3xhrp7iHRfwuCZvfGnM7JFWWZqnVb4IBgwabnfqG_3hvZRjyz9h3CIcnNtGTt6MoiLp4JXd76PZi5EK5c2ViJ1FaCFEANqCdLZpO6SguleNL3pvW0S3w1jOmyg3OIyHP-Bp6S5eFgRWkBuUOMtXlBQRuH2waLS1txrsOGXqimJd0crCO0UXnv3fcZQSVfKQZKWCDPhqpXbhEfjTB6QZIfqLpddZOL9i2aoKF6Fq6PrkpXGXWdIwmbozbKEV8EZIcAux9iTdxq_9Pyx7q7rGLwQ_QTiooGTV_I5CQpUobCE5j03towddVkbJ4P6ylxGwl6fweZZSnqMNpTgwtspO_LAO32Q-MZxg6SL202o50PI-4MAYTHME5VofVhFPGPdHBZCNIkZlJS94ubTfqdvEa3A48xKA-xWHxKCKOo9umzgLjEA6z4bxrxpk04EXvJgzxVIEdeeqJjAMJn6bKVjE0a0zj1pPwF0lA5sJ_uvJsJNC0T9QcLeYpY3sxQR4Xzt0rsp_3oKNL5UnrFXxGwgPWSl4J2MlBgk__wE3FlzqTMWxnSbFsTCuNLfPiDzlt60KLbDSWPwmZKwou2GAIew8zUoMDyD7iOIAcOQLa0mpjdLTJbiVulY2ohkSpiwEnNNs4u-Ks5ERNEwbc9V6iDjOqKtU_4NHdtLVt5kjtMKA6hh30Ly4U3FiS2anzDzaliLxQb9dRXQIYQJHmEgSj0cgtG5-A47Coh-RBzSI52fzC8xnQ4EMljvmJMbUJBZ3qVi3GTGAB4MXTgl0ekiIeQ_FoV1l5CcuuBclaqPGfZXlSizSdEKSgwPga6Jb5YhBVXr7h_Jcy357kFZF9wWFjq4abXZJFPpnwb5wAJN24JNTJw01vkQPU5VhhQsVFfUtPJO7g70ka6agHroeHFxl0EWX1idPaiPu8wRiEixLW-m16ZZaoYVOCQfKe4VCDVUZ8paZm93-H0C5rCjfn",
  "id": "rs_00da056f2869ecf4016ab449d22e3087d0ac9acfb7b4aa946e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.15,\"left_z\":0.08,\"left_gripper\":1.0},\"note\":\"From the new wrist view the white plush is still visible at the lower-left edge, so my previous correction went too far toward the table center rather than centering it. I’ll shift the open gripper about 5 cm back toward the left arm’s own left side while holding height and radial distance.\"}",
  "call_id": "call_gKPqP8YEBe9axF5bV7k5HbcB",
  "id": "fc_00da056f2869ecf4016ab449d4419087d0a7644c24d0338f16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gKPqP8YEBe9axF5bV7k5HbcB",
  "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]: [-0.6292, 1.5505, 0.7692, -0.1234, -0.4892, -0.445, 0.9983, -0.0212, 0.8082, 0.6018, -0.524, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1481 left_z=0.0685 left_yaw=0.0135 left_pitch=-0.1867 left_roll=0.0837 left_gripper=0.9983 right_x=0.2737 right_y=0.0013 right_z=0.147 right_yaw=0.0001 right_pitch=-0.1461 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.747, 6.0239, 1.6728, -0.0855, 0.149, -0.1832, -0.1573, -1.4017, 6.9949, 1.7607, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a84e22e88099a7b93f94b7ef647229b0754eb7fa1b7354ff5937c478a5ec7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:496b9b6729268af076176cad4b85e62328060a2c8cb749ae996f87e6a553de1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5aeaa5ed79aa9184ae0fefdae4b59796d660c104f6eff10f593925293b6082",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 2.503 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]: [-0.5343, 1.7046, 0.6884, 0.2028, -0.4171, -0.3412, 0.9997, -0.0212, 0.804, 0.6056, -0.4572, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3777 left_y=-0.1361 left_z=0.0288 left_yaw=-0.0125 left_pitch=-0.1451 left_roll=0.0637 left_gripper=0.9997 right_x=0.2846 right_y=0.0011 right_z=0.1624 right_yaw=0.0005 right_pitch=-0.0713 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -6.8581, 5.1214, 1.6386, -0.1099, 0.1099, -0.0415, -0.1299, -1.4838, 7.2274, 1.9267, -0.0464, -0.0317, -0.0073]\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]: [-0.7609, 1.6596, 0.8974, -0.1448, -0.5568, -0.5339, 0.9949, -0.0212, 0.8043, 0.6029, -0.5041, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3549 left_y=-0.204 left_z=0.076 left_yaw=-0.0197 left_pitch=-0.1507 left_roll=0.0608 left_gripper=0.9949 right_x=0.2769 right_y=0.0012 right_z=0.1521 right_yaw=0.0001 right_pitch=-0.1213 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -9.4974, 9.1692, 1.3944, -0.4371, 0.1294, -0.0659, -0.1709, -1.0598, 7.1316, 1.7802, -0.0464, -0.0611, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6292, 1.5505, 0.7692, -0.1234, -0.4892, -0.445, 0.9983, -0.0212, 0.8082, 0.6018, -0.524, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1481 left_z=0.0685 left_yaw=0.0135 left_pitch=-0.1867 left_roll=0.0837 left_gripper=0.9983 right_x=0.2737 right_y=0.0013 right_z=0.147 right_yaw=0.0001 right_pitch=-0.1461 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.747, 6.0239, 1.6728, -0.0855, 0.149, -0.1832, -0.1573, -1.4017, 6.9949, 1.7607, -0.0317, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a84e22e88099a7b93f94b7ef647229b0754eb7fa1b7354ff5937c478a5ec7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:496b9b6729268af076176cad4b85e62328060a2c8cb749ae996f87e6a553de1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5aeaa5ed79aa9184ae0fefdae4b59796d660c104f6eff10f593925293b6082",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnZykVzoXmvy49WR4C4cebo0uxyi_hBIpkBjxnK6I0thpFKWnKuF1KZ-NhJPDBAF6AVxPlxgfUMUlqFF-vJeULs7GqVnHXS6aaYw3lnkztwiq0XAjkXuI4SU3e0Kgh6xt46llpBM3osxuXOk-AA_mBvXaPlKPOU-wNCodCDXN5jA2iHK4OefkJzPviDEOuab7531QrN_7OrWRCp8uzn5NLQbnRN8P_S245aevOhQPKxgJBRy7037jWm2dIGvvYbuKu3BUh1XnuN7Yq7vuksYaHu9EZ6t_7U1D3KYsp6540nc9Nr5zwlfs0v7nCqB35dQsu-xFavoAjrfVi-LmGZfVMLJFgBA8uNhhfDPv2SHkXYQBeb9mdvQ2FrONEy2Onjs5Xrb5uXlIFc4ohAND-4mAOmxKE4kHOHDvGv31H8Nd_clNoV45QsnR-d8pNmKtDeOJ4KJjfE_QcThDspi0IkUX0l8IoIeUnTcHgmVraHYWClIY49YADY0mDIsqfAkPDokjW6GzJQCv3WUj_hOzbn-CQsbmddHvmxYZgHeANdtzqJ_j7uYmKS1VNuD054pW_kstVUaicpLbRVIqAYGmdjpgSzWTxd2jLyyBvv1sAXNOSdPhdwbuRe_MwMi_-nWEjsmaX2DFwQjUqMIbRcPnEoA48TegDxTFX3qSgevofD2cMJEdNBj-bDpbKShNCoQYAlb5ZSM4IC6se1jc2CkXqF-ogEWcMXBJE0Sc5TgXUKUDqacPAozkwodgjBXmRm7Y_RSNR183LWYfCkAyhd6WIbK_0OGvExb8XlcYARrbUrshGbXg7cISLtqBoGZSczvS76DoQVLuk5nzgCfBR_MVC_N95Onfve41am5z38LCe-pccxjSySk8jUdD3T0c2tlqo1hF8p9H5ya3PZZvCgXpBe_hML3yWWUE_NtW95eqNtEoL0IM2c5v5iLO-PMqmBJXy14F9ER6AsCwz26Tgid4VuhCDTMr9XShBP3U1ldH4utqS2-0hWF9p0_yiqzmt_QwiGZo7ioBujcp49VKFXaA1zga-wEkVTEzXKXcwigcahXAkiF-CZN7p7cFzVJKejzngad11b3QWz-VOOESn2bK9tChyNmvIaEIFnao21qXxyNRcgZ2ZbNWi5WcFU-PC8V99sQWlCPLTGBDjLItbr0LxBuh0KLWfLFEvR_DYmAuxyzw0T6BLQ15gT2bJYQlWNMwJK_7sJP880IU2S65ECdm6gvWM2TygGnlXbBarHSQGndorJBdiPHBHDOQLfT-fEB-R5Fu74uQp-SYlh4StJSwcXd-BeCF05xyF3d9t7GL8TAbPxZyV_Qo_AJ7U8bOSnWPpWIv6CC9T9ROEivA7kwApgVITu7e3o2l1JxuwwYwzXvELcxN7TAs-wdLDZFfiGrKsfK3IhTDaZUGq5Uzquz3wrH49G5RnwwasUZmk9NHbYNdTMckytUZjkMAHT8eXoG4KyVp4AbXczvkDd05ftQ23AOMk5lZ_yl7iszUoBNvqdn3sXy-lr3B4wQPL_wlMAglfiqszz3I68wHq6GpbCmMDI-_ymWyU7PM1sHIZzF5J348UmNBmm-XzP0EN73AgFKZsr0pt2bt5Vvp2pgYQ9EPcjOaaPOMFVtTpcFNs6qG_V7QEvn3rS_bP5xW8AFCYlHtSxxqWCr4dobaJq2LjnU_zyEfne-0FtcwPDqvPshdvDGSxGFJ62OP8pATNlJ3G1Z5GeEDeRCsbyGuGm68kT8mGzeOa9nQ0e0pJAS36uyGc0RhQsiL8cTGcjQ1NCsXsdHSRe1KxJyffM3CO_W0yISb49J9O3tdAGgc9YW9ZYg4_ko18aKuilSJl3Z46LCZn60xXkcfPEd1Snqqu2stkAPofmiuA4nLpfEXDtdJ1UmkjZB9LnJsQ6dgPhPPxoNsTOO8cixstmeokZY140KoEBcDjviX6UKDj7lZJdQh34S_nY8FuZzGD1PuUoGJtJAjVj1IqekGhKL_Jt_HLVu1uhXC6eedoCv6ZwpMmI_gD1hjT61JnsfYp2jYigPXW7pVsN-Gy-AMf02u31F-5P8h4QcVaJClyBwA9fUvJFgc7i1WS82i0H_l9SANQDyoeh-wS9BPgt0uDa1Mgsgoe0eHsFajtTVbRXgw==",
  "id": "rs_00da056f2869ecf4016ab449d7271087d09cf2809c1cca5f93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.13,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The white plush is now clearly between the two open jaws at the bottom of the wrist view, just a little left of the jaw centerline. I’ll make a small final lateral correction and descend to its mid-height for the retry.\"}",
  "call_id": "call_oTvX8OLayoZJ5UbzDMHE63n6",
  "id": "fc_00da056f2869ecf4016ab449d8cc6487d09636bb8e35680d9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oTvX8OLayoZJ5UbzDMHE63n6",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5774, 1.6279, 0.6708, 0.0307, -0.4603, -0.4084, 0.9983, -0.0212, 0.8101, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3485 left_y=-0.1291 left_z=0.0274 left_yaw=0.026 left_pitch=-0.2198 left_roll=0.104 left_gripper=0.9983 right_x=0.27 right_y=0.0013 right_z=0.1425 right_yaw=0.0004 right_pitch=-0.1701 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.9402, 5.8188, 1.7607, -0.1929, 0.0659, -0.188, -0.1026, -1.0598, 6.9538, 1.8535, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a545ab90fb619f7a56227334ac9797653b56a0992f25e578efea18e85493c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ac9bf21c45b2767a6fd9838b0c063813fce6dd4d64985cfea37ac4665a5b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e461d28d3ddeb7a9fe168726e2469f4c6c057297e4079f6d1b83acddbeccdc91",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 3.228 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]: [-0.5373, 1.71, 0.6888, 0.2501, -0.4225, -0.3466, 0.0101, -0.0208, 0.8036, 0.6056, -0.4858, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3839 left_y=-0.1403 left_z=0.0349 left_yaw=-0.0111 left_pitch=-0.1063 left_roll=0.0416 left_gripper=0.0101 right_x=0.2802 right_y=0.0012 right_z=0.157 right_yaw=0.0006 right_pitch=-0.0995 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -7.7607, 5.8872, 1.0134, -0.1685, 0.0073, 0.8376, -0.1026, -1.1966, 6.9675, 1.9121, -0.0415, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6292, 1.5505, 0.7692, -0.1234, -0.4892, -0.445, 0.9983, -0.0212, 0.8082, 0.6018, -0.524, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1481 left_z=0.0685 left_yaw=0.0135 left_pitch=-0.1867 left_roll=0.0837 left_gripper=0.9983 right_x=0.2737 right_y=0.0013 right_z=0.147 right_yaw=0.0001 right_pitch=-0.1461 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.747, 6.0239, 1.6728, -0.0855, 0.149, -0.1832, -0.1573, -1.4017, 6.9949, 1.7607, -0.0317, -0.0415, -0.0073]",
      "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]: [-0.5774, 1.6279, 0.6708, 0.0307, -0.4603, -0.4084, 0.9983, -0.0212, 0.8101, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3485 left_y=-0.1291 left_z=0.0274 left_yaw=0.026 left_pitch=-0.2198 left_roll=0.104 left_gripper=0.9983 right_x=0.27 right_y=0.0013 right_z=0.1425 right_yaw=0.0004 right_pitch=-0.1701 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.9402, 5.8188, 1.7607, -0.1929, 0.0659, -0.188, -0.1026, -1.0598, 6.9538, 1.8535, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a545ab90fb619f7a56227334ac9797653b56a0992f25e578efea18e85493c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ac9bf21c45b2767a6fd9838b0c063813fce6dd4d64985cfea37ac4665a5b9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e461d28d3ddeb7a9fe168726e2469f4c6c057297e4079f6d1b83acddbeccdc91",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEncZdlLv5A_HmghYRN2xObR53MVBGKdtGIDBXzxiJ53IqSOCNAfyPVVP9VIhgGJGQQ5YY_FtfESQe93sWMvHd0biPJ_ZKqbkPw2Stqr73-MYyrozcj0xNhk0x5-CMlwctkXLWOFdqvx3xrA9zGjzWR1VMOMQhGODuJxG5D-eEfqAfQbHbqS90Dg5KFzb31pCDyHyc66Sdxd7VIoM3AbzidMzOjm0-Ucy5vWgC_5qpR-g-lPIVn74Szv5nIhuxCj7zgWyffeA0euTTJuqMVXiyY0NAe7RvzDmpe03_DKRkO9apeea86DEkWmDEOfxljOdcmOP92neJcE1SkH2dDQHFzef6FMb47BM40DTcv_Gx3ZLKFHTRoYQvsNGMC1LUIGbu76gW2fJWvozgGuJTLb7Z8A-MMGsCijrU5kxpyTfbJVHFAY3s7dGAlISd42ydEr954povdbNyWMSULac52yYqvvZZw4lAPUhJTM0jRaZf99NV0aVEyfUhEHEf5Sydsxfe-dabaNrlzqo89BdjJaCsPnlPvi3fM_5UdN1886ZhkFFOkqlHv_8jRIrarU213m0f6U1_aoA4PQqywiLgKaU_86vvdZrixBgZLxXY9WWpOgVn134zLjOE1va0xbjVeiTiWO7d_9QN6OLms4hnF42rEwpyh7HS1EATwUdw1h9X-NR-nA-ds9nxRdd-_ESc90yOnLRcfF5eVEvUSITctovJ254DSBCh7BJ83DIGjG2k0mDUIFawRrS_FVK0_HUPTGPGI1dpP5gdNapnzPPHMJHeFNkDhbQKIEpZSOse80zF9hMl6jGguoTOGEC1VbUlOGLmZQwSFUEMkdl06-_TJrnRsG4HaKtQT53zj_Bl5w1c6U9KUZyNldw5uUBbW6q2mbgUpNIZdZXmqLi64Q8CidT9IZt7EKHjD5FjRfLlQCB_PAYQ-FbTLpDd0YMpMcoVONDOQYWWcxiv3Hlb7b7KMDaA7VK8jZln2KJPh4iUi2scE48U4Dqx01dR769V5bjyyi5GDwil9IWKG2dBAN-KGtrfUWlh5O7HJdyE4zE82ywlB46QqXo5BzqGvlfG7isvc2L3K4JTSo3SIbgXkJKdSVbAinMBJEvp5IFao4Futc1PAhisN-A_CSLt2sTk0JPp5oFjtK2KH_sHuumSsHIWPIL4Rlv5ks8pitTxbG94yiSJa4DeCLKjIqI86vLgyv6MZwuRJStqY3IhptnYPB0EMga2yJcJseh3ipgAUb_U-qNZZEKAL0SQLfhpQogjGerRPGxRWVDHrsLx4sbleKEv2sOWWi9TwxS0PX4FVjbZoGNAXdnw-ZfTTNDM7NDnm8G5jHOCva9z6nzGkfZju_O-NDPcPObKvEUgMDeaR2AgkiR5wCderkaM_ubrmSG3V4Zpdu2x_3Zh3cd-TMc2SGo5OtZ9ybacQl7abzgGw37innq-zwj8mGlBTZwCaeOxCDNbEKy_cnJd-DSKAeiuEqd1illYYXpcG_s8-vY0yy1F2U7x-V9u6yujjQr4ACYM0Pgq-mjxj7RmY-ly-Y8znAV4eC7lmP2tlENcFn7QeFb4Ut8QJD8b2Vg0oTGkEV-DEKb4hZ3EQe",
  "id": "rs_00da056f2869ecf4016ab449dae18887d096f7ec61fe700594",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white plush remains broad and centered between the jaws at the lowered pose, with both fingertips flanking it. I’ll close now for the retry and check the settled opening before lifting.\"}",
  "call_id": "call_obmNJy9CCRwqk3RTiMgVBQhz",
  "id": "fc_00da056f2869ecf4016ab449db726487d093fcc4eb1af07174",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_obmNJy9CCRwqk3RTiMgVBQhz",
  "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]: [-0.5602, 1.6428, 0.6533, 0.1341, -0.4828, -0.3962, 0.1067, -0.0212, 0.8116, 0.6018, -0.5686, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3609 left_y=-0.1253 left_z=0.0326 left_yaw=0.0456 left_pitch=-0.1521 left_roll=0.0866 left_gripper=0.1067 right_x=0.2662 right_y=0.0015 right_z=0.1381 right_yaw=0.0006 right_pitch=-0.1941 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.0103, 4.9299, 1.2674, 0.149, 0.0904, 0.4811, -0.1026, -1.3607, 7.0906, 1.7802, -0.0366, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c1db59b84dbc952e164655f8575202382932a1b0ee1d4e03fc055a82015005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6827219c1498fd68d82118f39c5a9baba1ea11a3685ad64b9f9c69f59e124b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d9fc6d50414a76aa602f141cfcd9fc1d1dd920e2e7abbb91cc09b07e1911e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.216 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]: [-0.7609, 1.6596, 0.8974, -0.1448, -0.5568, -0.5339, 0.9949, -0.0212, 0.8043, 0.6029, -0.5041, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3549 left_y=-0.204 left_z=0.076 left_yaw=-0.0197 left_pitch=-0.1507 left_roll=0.0608 left_gripper=0.9949 right_x=0.2769 right_y=0.0012 right_z=0.1521 right_yaw=0.0001 right_pitch=-0.1213 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -9.4974, 9.1692, 1.3944, -0.4371, 0.1294, -0.0659, -0.1709, -1.0598, 7.1316, 1.7802, -0.0464, -0.0611, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5774, 1.6279, 0.6708, 0.0307, -0.4603, -0.4084, 0.9983, -0.0212, 0.8101, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3485 left_y=-0.1291 left_z=0.0274 left_yaw=0.026 left_pitch=-0.2198 left_roll=0.104 left_gripper=0.9983 right_x=0.27 right_y=0.0013 right_z=0.1425 right_yaw=0.0004 right_pitch=-0.1701 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.9402, 5.8188, 1.7607, -0.1929, 0.0659, -0.188, -0.1026, -1.0598, 6.9538, 1.8535, -0.0562, -0.0464, -0.0073]",
      "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]: [-0.5602, 1.6428, 0.6533, 0.1341, -0.4828, -0.3962, 0.1067, -0.0212, 0.8116, 0.6018, -0.5686, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3609 left_y=-0.1253 left_z=0.0326 left_yaw=0.0456 left_pitch=-0.1521 left_roll=0.0866 left_gripper=0.1067 right_x=0.2662 right_y=0.0015 right_z=0.1381 right_yaw=0.0006 right_pitch=-0.1941 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.0103, 4.9299, 1.2674, 0.149, 0.0904, 0.4811, -0.1026, -1.3607, 7.0906, 1.7802, -0.0366, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c1db59b84dbc952e164655f8575202382932a1b0ee1d4e03fc055a82015005",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6827219c1498fd68d82118f39c5a9baba1ea11a3685ad64b9f9c69f59e124b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d9fc6d50414a76aa602f141cfcd9fc1d1dd920e2e7abbb91cc09b07e1911e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEngOowWVPeUpvpCC0MDqjaZ3l59i58ieXmJ3mSARAYsivobg4RsUKw0KvlNk5L2WyK_DracN_flNeuEX8NX06nSCi6EHl9oO0D7rQl_3jhwbjWvQF2Vnkag9bjBSZu-qNB5u02tquJhOZH4c_zWYcRMUtoZKox5OJ99b1qTGGia0vqhlQ33ixZs42D1G3HUVlD_0xxfITnyig6WYadBfcNMk6zlkQy78_kt4yNS5jQgl20ashMtLB8HdCCvjBCpw8imZyCUUxCgYUdagt3IF7cK-DvA37PyFX2yr9m76uDVq_zDeMn-UpTKsF5qnqHe4fUzL-V5dLV3Dv_OVx211qc42LYN72iG-ArhKsyhjSLXSSXQGHHt-M2cgtdZg6YRHAOuU18emj32lrPItdKIpC7iBo9BBbRSjfEOHm_nKhrsG3ZAHP9f3-PBtGueTwmCQKBnCiRrlIKpWuN5xMxYdfNYaIeO4XDLskBOSdVEFAAb0ekPb3lNuFDeS7v3XcX8SVbS0BqUzMN6DaHLeIMx3eVOWC_3wdTDm3iY8XOBxIiJPrZZruXUiGTOreDYoIHrmt-kJ1WLbsd7j4XwS7wlaN4k9LaxkzIVGgSk3T9Nvk3qOvIrEPxQfey0KvOgOxRoB_e7BtveoN_Htsx-fECgr8OAef0u4d7m8rtQFdHY7AEyXtovsT492B1sxz9Fgr4BNS4Oz4n0DOj3cJD1cddXVHSDxwc5rQLGXUDUMPeIsGedKOUvnQwh7w71nemNx02gMnJHA4QBLUSlDHJbJ2n-PkT5a3BdXXEkaYc6U67LKmEPFtWCpT5T_xGZccs9WvnvnefLgpMkBoXUSVVkjxXPztActDTHHmHNHDtdhWDB6SIwhioSkCb2nIF3no0LRF9nluOF-qLEcrLA7PRkOzC7KYgCKrna9y0s8ayH_miOwgeQjpeXPZ3-1xLIHoJ6mZEBw4wUdCY15aWqyQCCfi1kvCuTez5w9ioDoMw0VGrxfp12wQePEkyfvppoK_JwWDVikL1PRBleRSQ4CQ5JTqmmlmUeTJ8WsSfXPFGSs0TXOA-EnUFjBMgHcqQyChCxqw5SE1Mb5k9lNF7kWr_dYX6fPOyPO71eh2Hvh1NLKpJlFwqJf1WesMK3AvVyQabizf8EqWv5KY9nnAyGN_-3UZWXJxcRC1hMjEGirpE1vipoN5tt8uPx3F7Za6sv2wtL_SocMmI0Rkl5FQlMtNrPvtY2i8EHPCnQQygq_0WJCXeqdtv0Ez354iEldAu3FdBhFb8tRRM3",
  "id": "rs_00da056f2869ecf4016ab449def8c487d0b101c3f5591c6ab0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The left gripper settled at 0.107 rather than the empty value, so it is holding about a 1 cm-thick section of the white plush. I’ll lift it about 7 cm and verify that it moves with the gripper before transporting it.\"}",
  "call_id": "call_KpfeisyzVVOxRuM8TCVKVZcW",
  "id": "fc_00da056f2869ecf4016ab449df490887d0b1a64cd94d7158f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KpfeisyzVVOxRuM8TCVKVZcW",
  "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]: [-0.5613, 1.4841, 0.7929, -0.1738, -0.4755, -0.4053, 0.1078, -0.0212, 0.8173, 0.6014, -0.5976, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1263 left_z=0.0923 left_yaw=0.045 left_pitch=-0.1626 left_roll=0.0807 left_gripper=0.1078 right_x=0.2612 right_y=0.0015 right_z=0.1315 right_yaw=0.0007 right_pitch=-0.2292 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.5966, 8.5675, 1.3944, -0.3541, 0.0708, 0.1099, -0.1026, -1.2923, 6.8581, 1.8632, -0.0122, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb9b435679a7030e1e2fc331ef135fafa997c17056cd7c8b68535db8c7c2ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ea33d63a7bb9fd44e9c242c0d5a4ab90dea71b1ad6c9030c833b3dc8a9b3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57485b5b6715a1925abbb4ca96ed1ff06d0426c72600bca001e32c27b99ee89",
      "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 · 5.34 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]: [-0.6292, 1.5505, 0.7692, -0.1234, -0.4892, -0.445, 0.9983, -0.0212, 0.8082, 0.6018, -0.524, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3505 left_y=-0.1481 left_z=0.0685 left_yaw=0.0135 left_pitch=-0.1867 left_roll=0.0837 left_gripper=0.9983 right_x=0.2737 right_y=0.0013 right_z=0.147 right_yaw=0.0001 right_pitch=-0.1461 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.3077, -7.747, 6.0239, 1.6728, -0.0855, 0.149, -0.1832, -0.1573, -1.4017, 6.9949, 1.7607, -0.0317, -0.0415, -0.0073]",
      "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]: [-0.5602, 1.6428, 0.6533, 0.1341, -0.4828, -0.3962, 0.1067, -0.0212, 0.8116, 0.6018, -0.5686, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3609 left_y=-0.1253 left_z=0.0326 left_yaw=0.0456 left_pitch=-0.1521 left_roll=0.0866 left_gripper=0.1067 right_x=0.2662 right_y=0.0015 right_z=0.1381 right_yaw=0.0006 right_pitch=-0.1941 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.0103, 4.9299, 1.2674, 0.149, 0.0904, 0.4811, -0.1026, -1.3607, 7.0906, 1.7802, -0.0366, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.4841, 0.7929, -0.1738, -0.4755, -0.4053, 0.1078, -0.0212, 0.8173, 0.6014, -0.5976, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1263 left_z=0.0923 left_yaw=0.045 left_pitch=-0.1626 left_roll=0.0807 left_gripper=0.1078 right_x=0.2612 right_y=0.0015 right_z=0.1315 right_yaw=0.0007 right_pitch=-0.2292 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.5966, 8.5675, 1.3944, -0.3541, 0.0708, 0.1099, -0.1026, -1.2923, 6.8581, 1.8632, -0.0122, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb9b435679a7030e1e2fc331ef135fafa997c17056cd7c8b68535db8c7c2ce4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ea33d63a7bb9fd44e9c242c0d5a4ab90dea71b1ad6c9030c833b3dc8a9b3b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b57485b5b6715a1925abbb4ca96ed1ff06d0426c72600bca001e32c27b99ee89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnkTjLErtLFfBdbCxBiWdMABH66Bcxv2wkRdVNdfujjU7ONnmmrA9nbZiIbPTuyejAUlZXDHMp5__vewKT-G1wfHyOgQCzukwT4QeSVUmw3TXtGu3NxpX7j0QYZjG48rrZDsz21cHq-Pn_bsqMu0ZENpvqNaguvq1GoouAaa2QA94HdjIG9Pbr6MA9fG1Bt6OjwcnMLQYI6Qr-EYU53tzkmf1NnLoOHQzyRYvFtyaMLzVWvOqBlkW-UzxlBqF9ewtIXUEuEiI-eYKYTvgpGOvBtrxTdlecwyLVSy14vwOXm_BNT6MupypL96ZkFiJchC7js2hM-QQSQc2qDwZRUoA0WbkHS8bSyYkO6JgPrRLPptvDL9NhwUyO07gb6Nyla2UMsqYfdi37vIbvVshBzeuNfkFPpJECKdpRYxzyEBWj3uQdR4dHHaQv-Wnw7MYuvG6cdrAoYQi15NJ-PAzwG9Bn3wfk33b10ujvgtSXxqTjEuj2O_QiR7jG14-6u42c-nE5FqTeIaCOJf5NRDW88QG_jnb2UvJNDPM3JlkOGbuIFqSpOfvVT-bd_ET87_TJzcp4b9PjB2aVY03VQqJQEhZv82E1hZUeDIcvsbUeuN8BIrAoltWTAOcQb5vE8kR001zqnS5_vHauxAQJKZMRMNPlIP3Qn9uhoUbCRucb3r2hmUAUNyEszfxaHnDMUISlmfpT1tLJpCz3XKIzTqrDm5iu23t3NhURVN0W_u5W8kXc34e1dZdzimjlMWBlVX1eWUaHSFZHdophA6hUhJkf_lQPmGlTN772TKJM3H4lLfUkjfgqx9YoRINP7Kk4wLnL55DVqlwcG8HLGoCsOOsP_81sbcZCf3t8dmDDIp1G087laHsWcMnyr4KiUnw5ibDf6JfEKlJz3C7xLFc2moFuame850vFtrdgmx_iXtVSaeTjSNov5kfBsdAh0Pn9jYQ47Q0rVPxSGdxRHcG9vj-g4av_lNkdTqO3FdNSSpDpdDmGEfizAgIrZ1NU7VpysB8OtRucKtnQO519TnDJ5MW8E5hRIYEgEto7myUX0Vlo5F_41wcaswE2zKDxm6nN_biSrPu_KMYdjSZeidRhoX0zxVQpJEnNuL4er7cAtYghgUQSjiQOav5gSjvEkN4wgz0RehJya_acULXwqwvRUtkpoWAFWmRypz75bYr5Dkw2O5DGTFZRYzroq6O-wHDxju8spYmikBlaWKbDG--8ytzRYlmS10Y1jt6-F48gZgr9zrlf1D6MRSNYanqumOOc0lYq6Gkrd0EfZjOmbhTGJrRj0yNLoylJ455HHJ014FbqcHDNSggGeOzS7ZUH8LouhmQ-syzn4y26udegxweMat8kZ6-TjvodZoMCBsKMAmYETtrRsFUaBo53inI31khC9Yv5Yj_1VSv7bewcYBpgPWh64hfG1ZRcsYydBD_NissVs-UQ615izS9to5X7XB2q4A7XqZthCa3HnHjdHpgP0WlWBgOghoQZ417sC2HqxZCf5vsODeFT_T-Cd9Ibgru49kozm1QTCA2Smtk_PmBAO84iYNfgDLr44SogmrGOx_BRMHgOQint6E3_R854HzdDrgkv9UzcKApEAleqhH4Xky4DpFgOl_nODplzBaiBNLBTvY2WI1S-reKQDMl6PbHHZCS5BZWlUmxuW7RKv4QtgP4vfaKokre0yMqCFAVLwWwmWm4zBjBdqPxjCA-9wCqa03e1XjdUcVOrObacsr5xm5mlzGtZv7AhPK3aBqsK81BJ4reHNaW-FNyi7powY86F3hFvzS6m8P49rNG12YL3hDU_BpmT7ex5xoX2fEnFArHabARAfESGg9446XT_LM4p5lpP1p-YOTUog-qmSn_F1AZ7yYiP3jc0gXPDQ_L8G5K-GWYoDP38QRBwa7zKtQ4A7yac3CADBCHtiMt9aIYAb_rUUC608yzl42j0BQ420Wwk-p0rKONPHBoa5LAwyPy5RMvP9b2d_6b--Xvep6SHcbjHEI6MXylU_-7KSTXeR99aa79YR0HJBTasfrnWy2PzFGE3J0leo",
  "id": "rs_00da056f2869ecf4016ab449e1c7a487d0932b583dd6a063d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.2,\"left_z\":0.17},\"note\":\"The white plush rose with the gripper and is visible suspended at the left fingertip, confirming the grasp. I’ll carry it high to the center of the red safe compartment, clearing the raised rim.\"}",
  "call_id": "call_4rl62rqUxdUC9Pfre7gPE4KY",
  "id": "fc_00da056f2869ecf4016ab449e352d487d0b353778fc744da20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4rl62rqUxdUC9Pfre7gPE4KY",
  "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]: [-0.6304, 1.7451, 1.3518, -0.5091, -0.5056, -0.4759, 0.1086, -0.0212, 0.8219, 0.5999, -0.6201, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4195 left_y=-0.1958 left_z=0.1574 left_yaw=0.0414 left_pitch=-0.1756 left_roll=0.07 left_gripper=0.1086 right_x=0.2569 right_y=0.0017 right_z=0.126 right_yaw=0.0009 right_pitch=-0.2578 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -9.0462, 8.7179, 1.1844, -0.3639, 0.0855, 0.0708, -0.1162, -1.5385, 6.9675, 1.6777, -0.0562, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc86c488d08c61a6d1b443ef4fd67d4b88ef4cbce62d7ee79c3a0d7fbeca5c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4366644962a18a2ec5bd8394cd6edb74d608fd0846a799dcd5aa3652fbd20c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93483fcef42df76b1303434e0b5d8f09176d152a0c884141fdfc261a38267340",
      "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 · 1.894 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]: [-0.5774, 1.6279, 0.6708, 0.0307, -0.4603, -0.4084, 0.9983, -0.0212, 0.8101, 0.6018, -0.5461, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3485 left_y=-0.1291 left_z=0.0274 left_yaw=0.026 left_pitch=-0.2198 left_roll=0.104 left_gripper=0.9983 right_x=0.27 right_y=0.0013 right_z=0.1425 right_yaw=0.0004 right_pitch=-0.1701 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [0.253, -6.9402, 5.8188, 1.7607, -0.1929, 0.0659, -0.188, -0.1026, -1.0598, 6.9538, 1.8535, -0.0562, -0.0464, -0.0073]",
      "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]: [-0.5613, 1.4841, 0.7929, -0.1738, -0.4755, -0.4053, 0.1078, -0.0212, 0.8173, 0.6014, -0.5976, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1263 left_z=0.0923 left_yaw=0.045 left_pitch=-0.1626 left_roll=0.0807 left_gripper=0.1078 right_x=0.2612 right_y=0.0015 right_z=0.1315 right_yaw=0.0007 right_pitch=-0.2292 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.5966, 8.5675, 1.3944, -0.3541, 0.0708, 0.1099, -0.1026, -1.2923, 6.8581, 1.8632, -0.0122, -0.0659, -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 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6304, 1.7451, 1.3518, -0.5091, -0.5056, -0.4759, 0.1086, -0.0212, 0.8219, 0.5999, -0.6201, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4195 left_y=-0.1958 left_z=0.1574 left_yaw=0.0414 left_pitch=-0.1756 left_roll=0.07 left_gripper=0.1086 right_x=0.2569 right_y=0.0017 right_z=0.126 right_yaw=0.0009 right_pitch=-0.2578 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -9.0462, 8.7179, 1.1844, -0.3639, 0.0855, 0.0708, -0.1162, -1.5385, 6.9675, 1.6777, -0.0562, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc86c488d08c61a6d1b443ef4fd67d4b88ef4cbce62d7ee79c3a0d7fbeca5c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4366644962a18a2ec5bd8394cd6edb74d608fd0846a799dcd5aa3652fbd20c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93483fcef42df76b1303434e0b5d8f09176d152a0c884141fdfc261a38267340",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEnpF_57QoMKyRu932sMlbAHHPB1JoxON6PRFFLqOQe-S27EobD-9Ixzitm5BJFwAjCLP-C8CBMAfjAfq56gLr9SByUXSF69IAToifQSKUew6mtNZy59B5_Uft1IcpcKQsB-7NYieiXBJSe59onucYk4aR2DP8Ym4rL0h2-DQZLL8Xxt9OR0Q7owmbLKqtJH8kgObRep1FwnAxy4V9KPFh9vaeFer6k5iqF_bLeLr3PTH_7HtpK3QTG8tqdh1a0CPPn1wqjxyujHZbSym0EAseGwNgoX6cEVgz9T4W0l48bCqHArcuo8MTXzEjyT1kVsvQ5j9qCeKmUewfAaEGkWlMCnTVUpYJ8USptdQ3X9O52TDzgdznwK1eO3_7nmwPK9AoBTjxHSHwmeA55wHUHLniGSedfuafovnNdh28bhGrO590O0NSvdVm5xzdqxdFJpFw6p2LS5JxX7yW_5jL81WRDsZ__y20UEmRqRjLNWJsUR-bhcefu_HBjuzKxQ9LNdkmN_U67T3o5IZSEKNnwrO0pyhbgslsLg5XmsmtjQ7nXCYuhdcdjFDc32C4uJ0Q7fwWWqs2z5AvmhpKTn60TySZCH-hS-RK9ksOS7W48R-41DeknrYkDCxTcL55RH85dqBxv_q-4CicF2FK-GosDtiBuYP564lsd8hJOQ2cbON-4KP99MeHvfxDaMCY5p1Tw-NTjGG4LQ2_8iKNjJK1yZScjztBBk19Jr02DwLuq6rTmpGWbUAkoOMi7avsvf4_laZ8KastKeIQKE0IhzLfWGlzexOCKooq4GQN1Nd_-5BvRHHk-sxMznt_Gx6nkhn_4ZBW-Ia0bYcPeN5es91zW_iLnIghz9JUY-TWa3CDhgTkGTnvT2Za1xP1ul22eGjQrzmd-OPbhWix-cpb_abc7eFV1i--PsjqoefNJ8FVgIeYcf7Ky6_Gx42_1GPYTYsJzMO9x5V9nSep1ZrFUz4wmPvRJ5kshsIoPZgJ0_YiDGvHxGWwnsQZphaQzml1WaPQBQbNgfFX7UlDSqLrlwjJivQVp3J7c4Yg0LF8F13RudkFSx40wQwmuB3gTEa7Nbg5uAJ_kWoguChHgC3u--sOAXBFqrkudKUDIJWsIJ-oRWhegHej8-qa3CRe42t4koUmmzmDuIba9IgbcCm2XzNCf7U1NrkxyNK6OToKn3jsiusyc_cxEWYF98oxRt2Im35E6boczttUQzL1j2djKxR8Y0-fmkfGsGkVLafHDIII2H-L0DdWzJZu8kACJmf2qjxRLYWIQrtfB79R_oD-JnJjCHG_Zj9339yRBAath_0htYQ000bB3Fdpwxezrm6qATX4PrBaTMsD4rEvVLq1spfZZQIonojYI7-hY42WOh2JF01c0ZuNfJx_Fuodr7hQBcZvtgYaQiomYiCsDxEQ0-R69GmaJUQDt9kuzzGj_v3oKMfqD9niNrO601JbZkcv9_HL6GJ6lkx9WEEzexYj2WLxODSqs2Fbd2CtqtHDf46mY7ZVH8yQYd2tEdTRTys1SZOWH708cYg9YSb8RIupxBKN9S_ZLSFEdWFD1Wp4McCQu5WpepRvrzR4qEVcs6hu5Xxv9Ib-boqQXoocNxLCCTpWpmXPS2S4baxCirbvKViLYvOVN6sOvsiz5GftdMvziPk47ZSZjaATmGCT1aHVhUXugXwfwg7F7Zc3y8g-8n8xV9AbbiFQf7HFd-DF-f8-qDQYDi4aY61pKxWrGsHB64vY7ofM5SUPMvrJnH0fcAV2SD5w6y4z2qhO_mXzpHK7cdLGyOlTsfw32n9oUPQcNig4NVI9W3GSa_8CEnRBwcIuj8r6AemXkSgBQnrNyaJrwbk4A2aMXylt6CtWKPVATSo8SbzhB95Q9CJcie6f5zNv9oaaCNa0X13j_G1iq3PgJ4wuRHfox1Y9P4O7ruRPcpfroFtBawbh9NNNzOEiRyjbaHAhuKiytAlBv73Gx9h_dsJ1pKALVpj02nTtVOkPgpPwQ3S9uWJZec6GFMWltrCCpEMRKGvJZHB6GA_3xLE06S8V-cLxAV4-SNFRU-amanUQOFzD_roeMk3VOz97x-suAOXU64LEb_WHMCxVaWE6Pxj1q4_tzOhaGFf5L0usb_ViO9KeTuaHiSCckMXkHImfj5SaORIIHeo_lxaHBdWPARaGtdwKEvaES5z6Lj57LbqM9vm9pBRnOKhsVVnDhHaE1A06MKpXYP4V4in-ZHKIjmXe597JvzGJGHFtgj3c-cea8mVdXEgOmS1vOdhADYvI_Sv3WMItQ1BZMGPD9Zt1gaEnlNzgkOTFDcpLTUHbPN4fIBHxC_SqvVRxuVRnn7gdWMMDiC9r0OZUfVtwaoDyfefJK4vBbI_8LyDZi2lmq_OiCBfNYeatE8jWh618HgR_40YRL0pQlHR-kN-UyE9XMsS-4ia5AF8mSDi2V4O3D27hIxyKiT7cmL3qKJpn3RulByiV92IGFlIsDCeYfE8tazPp2jljFAnwKdgMGqR0y98OSQ1QSBDp8-hOdOXURf0QnnzOCmqckzHu_KEdvO_irC2vqtQd6ckWv3oh42Z4W-ZZwetwG1Bi7Hez4rUo4XyUO_5goCHBBK411v5oziQX07eq5YVjPBFpRLhSqUwGf_5flLkH6hlifU6zVijJB9Ei7JeEjdm8ACQGwD_lM3BWioRRfNoy7PwaiNQsCK5S8ZoEk70dswhc-e4R8tD7qHlYB3WP8wTdVtjK3OENThiaFtDpGOEIHxvA_T7Q9fAnSi5mrKwKqnjnpITawtxqJVyeyOIERrscbDOsaUlKVyfGMmNIHJMYw94y17jX9xl3diV70lD4LpNB6WrPgQAep3vqjYgJn-BB5On1DVGwsxxHJ0HODILSgZnoRnHAJVbEI36B7eLJr_c6Nlke_z6lm3oEbQdeihubEdWPCaMN0w1IIybChZlBkKsJ3wVtFuP-ScJQFcP0Tz0g==",
  "id": "rs_00da056f2869ecf4016ab449e5c64887d08a19f00a4350bcdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.22,\"left_z\":0.055},\"note\":\"The carried plush is over the safe compartment, near its left interior edge; the red floor is clearly beneath the jaws and the rim is clear. I’ll shift a couple of centimeters inward and lower the plush onto the safe floor.\"}",
  "call_id": "call_L6aVThGjnd3Xl0HjqUAq8c6B",
  "id": "fc_00da056f2869ecf4016ab449e9264087d08c2f1fd5d9d0eae0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L6aVThGjnd3Xl0HjqUAq8c6B",
  "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]: [-0.6765, 1.9148, 1.1763, -0.2352, -0.5205, -0.5125, 0.1093, -0.0212, 0.823, 0.5999, -0.6357, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2143 left_z=0.0554 left_yaw=0.0355 left_pitch=-0.2211 left_roll=0.0993 left_gripper=0.1093 right_x=0.254 right_y=0.0017 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2746 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -9.0598, 5.8188, 1.3895, -0.442, -0.1392, 0.0513, -0.1162, -1.2786, 6.8718, 1.5897, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d5d41787062e3be6af6dbe13661fe63168ac8f7a92da8707a77e92226ce990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14bdd900a2f0f9519f227c5c5e67522103d4235aaecab2a237813efa4182530e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94927239f54a7caa1db85c8060982fb9395be081bd6d30fbf608241ea4b4988a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 4.827 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]: [-0.5602, 1.6428, 0.6533, 0.1341, -0.4828, -0.3962, 0.1067, -0.0212, 0.8116, 0.6018, -0.5686, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3609 left_y=-0.1253 left_z=0.0326 left_yaw=0.0456 left_pitch=-0.1521 left_roll=0.0866 left_gripper=0.1067 right_x=0.2662 right_y=0.0015 right_z=0.1381 right_yaw=0.0006 right_pitch=-0.1941 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.0103, 4.9299, 1.2674, 0.149, 0.0904, 0.4811, -0.1026, -1.3607, 7.0906, 1.7802, -0.0366, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6304, 1.7451, 1.3518, -0.5091, -0.5056, -0.4759, 0.1086, -0.0212, 0.8219, 0.5999, -0.6201, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4195 left_y=-0.1958 left_z=0.1574 left_yaw=0.0414 left_pitch=-0.1756 left_roll=0.07 left_gripper=0.1086 right_x=0.2569 right_y=0.0017 right_z=0.126 right_yaw=0.0009 right_pitch=-0.2578 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -9.0462, 8.7179, 1.1844, -0.3639, 0.0855, 0.0708, -0.1162, -1.5385, 6.9675, 1.6777, -0.0562, -0.0415, -0.0073]",
      "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]: [-0.6765, 1.9148, 1.1763, -0.2352, -0.5205, -0.5125, 0.1093, -0.0212, 0.823, 0.5999, -0.6357, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2143 left_z=0.0554 left_yaw=0.0355 left_pitch=-0.2211 left_roll=0.0993 left_gripper=0.1093 right_x=0.254 right_y=0.0017 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2746 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -9.0598, 5.8188, 1.3895, -0.442, -0.1392, 0.0513, -0.1162, -1.2786, 6.8718, 1.5897, -0.0317, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d5d41787062e3be6af6dbe13661fe63168ac8f7a92da8707a77e92226ce990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14bdd900a2f0f9519f227c5c5e67522103d4235aaecab2a237813efa4182530e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94927239f54a7caa1db85c8060982fb9395be081bd6d30fbf608241ea4b4988a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEns5XuAjmnBQuw5J-Sw0PeSWQVOte5Jgj3vaIh9TsQYyPth8t6U6ajxxSUTkLg80Jqt5iZsujJdAsMw0R0DT8CK8AdNnZcbpi_T-pZ5EY5_ASfcenByY9dWvmounzcjRd2q2tZwh7RFIkdpCNo4_efn8Kh-wBlIXPn-C6BFqS2N6yQl5Upw7ktzgVAchLuNsWeeQlH6NpUWmEShOjuiVN8U9UqK6W9jsx9PRFDl7NgPRM1XE1gQ0F9L_Jw7Q1zCzdOwHCLTBhO5OqsHn4GyAd2-OUT85l2FG70v34T9xBrdeXA20BloNITXfXGBvnR3Xk87hhg2C30R2XPYFyXvouiEQ1yRq6hK3biUvDrXmNE9C8yM9xBnKhb39oaaU219z7FdENvb5YG4ASQMxdgJ4Xk3m5jkRbjucDaCBiOt_CtmGy8IHQdc9_2SzmCe7Es0FVdtUlMzOOCCFgmoaO5JUpatPIfHPA8J5NeWVVv0BtS0EvvbuSGCzHdY4NbykXDUCQh8QkRopK4xYksdcjY_BmJogLMy9kl3Liq09A0tQa5IA2o9xqco3CCamJKF_OkXJKhdTX2Uu5sZWumds1fDrRk2smkRWFZI4Fc0jqs6_njEvA36Vv7tMPaVkUJfLisEcVuPkWKVN4R27SIDSnL1Nq8T1HfLmHoLEidgrflv5xEsDXhqRBnSEapa1e2HVnn18L5SHGyl5fQy_xstIYdwyQr-B1nnSnaCR7jBnegtt2K7SVEg6nO2TYSt2PpMlv8JuRD-4DgCDqriE3VZ0ugTX5e06uvng1kP2R07ztZ66B7yTBqg4bTq8EEVLrqZe4yArXbhqHsBWgJPhjHbQZSILJ3jyhGkUM8M4tHF-DKL7Aw3jWAw4dwBr5hua3BmjvwCR6Y3gOBaHZMD10AdKFzkJNiiaiksUDnmrO0W0DBbBxNdaIs6UXEIctUFTxLv6lIYlchr1YLxd3gff5tc7m54PdSMwo-Ht2c6lGJoG1-N4NAMi39cv21IP28NDCtn4Kj7ZfDxNPCk_4H2FkGVpRGSHmR3XT08LrUH1nj22amvEnCb2fHlh9yNpo0tT4dfvpa7LnmFC4SqMIa4Fv3V9C6y94-4e8PokcuiDrsZUP3Tdh6qusTxei1GM3t595V3ypKwmnIizrPDlf_kMc7TmO4TpatNCOyU-pQGE1AnSX04W8VVflGA3em1UK3nPjamiKWXCFSn",
  "id": "rs_00da056f2869ecf4016ab449ebc90c87d0a691a136ff4cfe25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The plush is now lowered onto the red floor inside the metal rim, with the gripper centered safely within the compartment. I’ll open the jaws to release it.\"}",
  "call_id": "call_oFHj79AYiJBv2cOZcdOZkVb0",
  "id": "fc_00da056f2869ecf4016ab449ebf78487d0b005f6c1be7ad8e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oFHj79AYiJBv2cOZcdOZkVb0",
  "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]: [-0.6792, 1.9331, 1.1652, -0.244, -0.5201, -0.5182, 0.9952, -0.0212, 0.823, 0.5999, -0.6575, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4075 left_y=-0.2115 left_z=0.0426 left_yaw=0.0418 left_pitch=-0.2497 left_roll=0.1208 left_gripper=0.9952 right_x=0.2499 right_y=0.0018 right_z=0.1198 right_yaw=0.0012 right_pitch=-0.2963 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -11.2889, 6.7897, 1.2821, -0.3101, 0.0024, -0.0513, -0.1299, -0.9915, 6.8855, 1.6044, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36fbbe36cc0a6518a5e1cac51ff0c2d24e69f5c9b695947e08c1b5ede14cd548",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b55759328a9d00ff4c725ea5483ef093b4e88e5639c49901a269a6f7dbe9065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004885870bbcdc397a0591107b6a78324781768aeb5df8ff0187ae988b710b96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.117 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]: [-0.5613, 1.4841, 0.7929, -0.1738, -0.4755, -0.4053, 0.1078, -0.0212, 0.8173, 0.6014, -0.5976, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3595 left_y=-0.1263 left_z=0.0923 left_yaw=0.045 left_pitch=-0.1626 left_roll=0.0807 left_gripper=0.1078 right_x=0.2612 right_y=0.0015 right_z=0.1315 right_yaw=0.0007 right_pitch=-0.2292 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.5966, 8.5675, 1.3944, -0.3541, 0.0708, 0.1099, -0.1026, -1.2923, 6.8581, 1.8632, -0.0122, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6765, 1.9148, 1.1763, -0.2352, -0.5205, -0.5125, 0.1093, -0.0212, 0.823, 0.5999, -0.6357, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2143 left_z=0.0554 left_yaw=0.0355 left_pitch=-0.2211 left_roll=0.0993 left_gripper=0.1093 right_x=0.254 right_y=0.0017 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2746 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -9.0598, 5.8188, 1.3895, -0.442, -0.1392, 0.0513, -0.1162, -1.2786, 6.8718, 1.5897, -0.0317, -0.0464, -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]: [-0.6792, 1.9331, 1.1652, -0.244, -0.5201, -0.5182, 0.9952, -0.0212, 0.823, 0.5999, -0.6575, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4075 left_y=-0.2115 left_z=0.0426 left_yaw=0.0418 left_pitch=-0.2497 left_roll=0.1208 left_gripper=0.9952 right_x=0.2499 right_y=0.0018 right_z=0.1198 right_yaw=0.0012 right_pitch=-0.2963 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -11.2889, 6.7897, 1.2821, -0.3101, 0.0024, -0.0513, -0.1299, -0.9915, 6.8855, 1.6044, -0.0757, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36fbbe36cc0a6518a5e1cac51ff0c2d24e69f5c9b695947e08c1b5ede14cd548",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b55759328a9d00ff4c725ea5483ef093b4e88e5639c49901a269a6f7dbe9065",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004885870bbcdc397a0591107b6a78324781768aeb5df8ff0187ae988b710b96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEny-bY79dhyxsLbxniy9IzLoBEly-Kz5HC24uYSOStlSEAy9nFJhKG5tOUZ9800HRG8ZRGl5T_reMv0qAAs17YAFG7XVRnUA3C-Ch5dPfziXoczHopDU-mkO2f3AdXsWCxFyGrc-uYAlOVNFjW1fr8DFiiynqkxeMhUPIBLZaM-HerytwOYqqkS4B6TFZvG7VbF6q_ZyYuRSvn5NnBZj_ngFGKYepR3cFRlcc5c1uhgXVxt4c9CcJTFYv-lLwJx-V-Lq4RsnYKHlK_9w0b5GvhAxCgSTOk90xA7MVAKVMfYCH0KHuYZPTGsIFr75KFTXEQSC8SblCOrJvJcjSvtPQckXLWxlmzbeW6ew5Ef-XQjoz3rLpjzBti05skZUtcHOC41CCjc8wO1zr1ILKRNTbYB7iLUMMXivsWGxzCwEzX1Ye6lF9tYFGDJvPxrJ75e4HcKmJc0XzCXo1_VoDfHCVct8uIF5ffTZNJB8kM__wDH2KJE13XmtmuXc6BPXlDFSBKdjVePsSC6FS0mpSDpfTxiffr1xJadlMmjOJKRYvJS0pG3nn9UctKP37_KnMlCZ9iXqnw7DBjcQgq1_I_1O3hzCQ_K1oev_pMdrJgAwCPjIkWPsRY0gqqAycy-mlPHzbK_EFGcgHkaQ9FLeHNg99LsAtt3Iz5_6iPRR_LXZ8jVYBzzjY3mNYG238dIsACJlUTxYTuzOPZ8k7iZnZ33opHlRKaNi4GutF5Xs_zALy55uqPgocdXrXMdLq8KXVeVE-v3vx7UcCKgWBLBbmk9xoY63kgF6j5dxR13VtvAyyILDQQcKOChvdbPkTcIjG5dIGi1_EvbyjrgmF_pSssv7RDos-7UnkONIKm6PCd9_NqHZVORV3dqWVkledQveRk-J4EbH2VbR7eQWepILis65fwSCiiYid2v7eMbDkM9pcdsnI2jQLiMiD0eqKx2cADzyzoJCPIXaoFQ_PsJUaJcI5aX4_PvZ2pbZ8pVNmkTgY-1JQ4uPfqp4HOOj1Qy8i-Z-fhn3fJxlp7NOK-NtBBXqbb_V2T3-Mrqk7JxUfosrv-1eKLZVctDDhsQfFDXEXXuEWY2kXbLFpIrE_F54Qv6WU6rir6W9sb4fZU6XUJk3bE1F8KExhK8GHEd_PcVYS7kUdEp0HCLn-xAq5lHZPkGjfbkcgR9wUCFAf_3gfp9x8qsZBw_rHpKwEPMDkqaHpJFthVm473H1qbmXZ8EZo2UPG41ldZsx0O8frV-zynzkdaQVUCj7Bg713cYoF_HE2AFoF0MborBCin1DDQba8EWq8Z2WSozgk_NqGyLD_A7LHWhsd6dwir87caFNQ8CqesbRDkMAO7mcZ8O0u5_CkwZUEAAzf4WG5ZrJMpQzpdGIN8jf_DPFq_Vp4BS7sVv0ixM1cn7CjhtiP8HX6O65ran8jj9BHhJq585R2vwKe9sc8aB241EayV8QP-UXmgO85atjPtrQcJ2l97W3Q4tJ9xUvcpqdaPYmAPOpnYEmUloElfnfIp2zQ0hkIm6cMw4tpDlr3Fjh2BuBCjmJgXPCOgo7FfQrGvFxu9D_M1o4SGSXe7mJmVW6dcksjX1auAmI9rrlfD11X6XfC3qryGGCLNZSnzFQ2EiXQLIlgzwH7SXue1ITDSQvCfohTnX6J2BBINwV1o6IYXYaJ-L1F2vweGJqI-eQxmqRi3jSRztavkvJmKdRTOcs8VQaL9bEIMLUjFauorBdQn1gQdnpah_wIf8NsAZKmMDPKX-w_ZXoMX00Yz__PE2CIoJZ1c8bL94LSfkk-35_7G_G6dXm2iUw1fU1qakVHFd-Ni1NS14iEb8Ct0iD7iV1QN3pkynz5gARtRExecikpVLcFIagLULd0WoRK-uU_tHsk2nf6op2ILZHQENQ35M80IcL7dJGTfWaUEeKJizOe94NeW741K-Ofg7hompAvRnOKGqahLz5r-Vcc-2t0Lf8of5QB9qqIJdcctPu3l47YrHSfq_xew4kyNWJsVSANY93CwzT05epJ6jCSu7BfyqrV2CZnsm5fe0cRiYKjEIt8IdoShzizN4YOKdjOG-k9xJGqbb4SfV1_tdRKtojTnVIP1o4OLrhOURmpeHx3eDe-xql5wMPIyt-T6KULt2aDVn2PXrwZ_iUCBc_YCiGESP7Zwtpartu79jl4axISg82e2oEdh1yL1z06SGhgLAzUgERUChtQtL0MJ_fsAK2fW7NECKYMeZuWH8VLmX4VPgq_G2wy2NYwUZqCs0Kxse9cYoZsEz6kXTN-2R5JpvLyvD8qCL14xujfnXiRhsXzOq",
  "id": "rs_00da056f2869ecf4016ab449eed32487d094e08e9bfd29f92c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.46,\"right_y\":0.2,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"The white plush is visibly resting inside the safe after release. I’ll park the left arm to clear the workspace while bringing the open right gripper high above the yellow object on the safe’s right side.\"}",
  "call_id": "call_HAfBD7BRT3v0RXyQxWbNvCau",
  "id": "fc_00da056f2869ecf4016ab449f0d5fc87d0a00ede80b4aa25cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HAfBD7BRT3v0RXyQxWbNvCau",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "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]: [-0.1436, 1.0119, 0.8368, -0.688, -0.2207, -0.1028, 0.9984, 0.5079, 1.8858, 1.5829, -0.6819, 0.2852, 0.3824, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=0.0004 left_z=0.1681 left_yaw=0.0887 left_pitch=-0.2577 left_roll=0.116 left_gripper=0.9984 right_x=0.4471 right_y=0.1961 right_z=0.1477 right_yaw=0.0295 right_pitch=-0.3424 right_roll=-0.0126 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -2.6872, 9.2103, 1.6874, -0.0611, 0.1636, -0.1832, -0.0068, -10.0444, 8.0889, 1.3993, 0.3492, 0.1441, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7080d7c86b9befb63ce6ad8dfe7bbdc8765b4e7c6f6bac813b20a533d42297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec8e22208e1b4ab862f32eaa71f72c607de60fcf2650d1d4c97c23ca1915e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511c04cb20d7652f995d904e4cd35484ad1db768abfabe70d1052705eaa25de8",
      "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 13 attempt 0 · /responses · status 200 · 3.845 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]: [-0.6304, 1.7451, 1.3518, -0.5091, -0.5056, -0.4759, 0.1086, -0.0212, 0.8219, 0.5999, -0.6201, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4195 left_y=-0.1958 left_z=0.1574 left_yaw=0.0414 left_pitch=-0.1756 left_roll=0.07 left_gripper=0.1086 right_x=0.2569 right_y=0.0017 right_z=0.126 right_yaw=0.0009 right_pitch=-0.2578 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.5265, -9.0462, 8.7179, 1.1844, -0.3639, 0.0855, 0.0708, -0.1162, -1.5385, 6.9675, 1.6777, -0.0562, -0.0415, -0.0073]",
      "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]: [-0.6792, 1.9331, 1.1652, -0.244, -0.5201, -0.5182, 0.9952, -0.0212, 0.823, 0.5999, -0.6575, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4075 left_y=-0.2115 left_z=0.0426 left_yaw=0.0418 left_pitch=-0.2497 left_roll=0.1208 left_gripper=0.9952 right_x=0.2499 right_y=0.0018 right_z=0.1198 right_yaw=0.0012 right_pitch=-0.2963 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -11.2889, 6.7897, 1.2821, -0.3101, 0.0024, -0.0513, -0.1299, -0.9915, 6.8855, 1.6044, -0.0757, -0.0513, -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]: [-0.1436, 1.0119, 0.8368, -0.688, -0.2207, -0.1028, 0.9984, 0.5079, 1.8858, 1.5829, -0.6819, 0.2852, 0.3824, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=0.0004 left_z=0.1681 left_yaw=0.0887 left_pitch=-0.2577 left_roll=0.116 left_gripper=0.9984 right_x=0.4471 right_y=0.1961 right_z=0.1477 right_yaw=0.0295 right_pitch=-0.3424 right_roll=-0.0126 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -2.6872, 9.2103, 1.6874, -0.0611, 0.1636, -0.1832, -0.0068, -10.0444, 8.0889, 1.3993, 0.3492, 0.1441, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7080d7c86b9befb63ce6ad8dfe7bbdc8765b4e7c6f6bac813b20a533d42297",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec8e22208e1b4ab862f32eaa71f72c607de60fcf2650d1d4c97c23ca1915e8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:511c04cb20d7652f995d904e4cd35484ad1db768abfabe70d1052705eaa25de8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEn67gBEPhTBeyt3leF4V860OxMzdYHwDAJu_uQ0QCIWBmeLVOQu6YtLuIcc3UOgg--BRSI7LdHS9ljEijgYFykTQasKut17ebVgzKYvZoAj8Lt2HpNIYg_9l8gxv1EOWhRQ-wcypJ0BUxczGNJiDXhRS5eCyo_m_md5AaLpxM-tc3Hu5V64wSn9I0dD-y7XOoCHtpNeXmBPKRTes_M6Qpqcx43qhB7scoRkUf8IetsV3FSq0NGj_JGPWPiPC1JDbDds9yjVCm3KkqHquCQYHK44Ep34zUqH_QqxXnagPftOqQNxwbIR2SLG2nM67P-8yo4DYwqyLPWo2MRtWzULHyY1Fhgq1MNci2qws83eybnmrgUmDKNoLohdGOQHvTzl32OFFoRkrsXzT2f9Hu2FNEBGGKMbMkPS72d9lZuX64ta4-F7nAuPKqYT7mUId-qA8T1umCaSdeF_-pTS49LZZHhb8XZnn8X9ISRk9rNfjbyxkbN2wiHe8Ot-QRZH3NLO6VDcZSP-er5RE3PosLVCFSiKZ_i9cwFZe18c5a6ga-nZf38z6OHDe6OT4K5U292W_YavKHKO5Nnea5iMKsPTuQYuRLOqE9dlXFj6SIANsRXZYKplZJwpbpZwTneKj0jKlydd3Eiu48klLBhxlQdYlgB_0-lQ-5HVY9rkHU0wLCL95BeTiipmbkbsaVHTH4TwYxkVos3ejhA4y2X-MmV2wYfrzURABJiXjvSkq9pmIxXC3EIBvPAuBfCjAYfiUqeMa7TLptln7XKCjRQUhPZjpe64BGsSQ3WayXZfq9gpkYibD5MpOWUZp_n3hG8aTfi01LPdJgL2xl4sY10sH0yvsGbAf_wpHN0sFYaY9xIMmFvzcCcAUefVBGrRI_XKffwcfKnZRhIVQGzUyRFmjJitC8qn4TkDZi45JXJw-Vr3s2PhmZfCYw1Z9mQ0RLFlgnnxyCgHlXmCAsB6I265INDgKI8z20lXMvVyj_7ZFsp8BGwJfROmJelvp_U08DIX0YMzG1UmxEZerNubAte3L-bgZRx1dOAibjvjGWs2qBpisXEh25QpbGaoIAwtTmTTTzvzSGwnGYnZUtzgf1R1sVcupnPJS45OU5CxjqITdBXa_b7CnLTpkDq_q0RMC3SPLddJONu5iPbyd5CjUVbu1PcCxe9sH1DvedNZ2pGXqW7Xc26S5POXeIfZkmrdahQVGirqXObOH2pZLdX7z7wwRAFnveijLNzcsl37PpqE1zxjmKjZzlrtSFxHl3U2kUR6OCc0lVffJfyg1wG760zC4bDlrKmTi4K0p2SpkFULAR4FsG8f42zkUZkRhQNlgH8lx-xhon2InlxzmJMUHvKpIHDwhlbZK85_jHvPhjX3mVEO-n9CeFTS8npIvgpfvekby0O2sGUoX0z5a1-OVDqcv7CGaqPVSVaeVyuChs3oyQ9WAtz87y4Ka5Ub39eupgcf2Rlk4BBJnH-akrac_qf8rHduJVy9kkVpWA8VBMvLxcWgW1Q6zNGJy39VTnVjSZRf5o6kWaFjPawGPftpXv0Jj9H-ihy_17hFsNaRjoUIVimUpAzwn2VR9XP5mTyZYtiek6qJZIgq67EYBaXWEthRKkfUW3yDMuDdaSGG3Cxzrc2wbidpCyJiMZq8eSgKXkqTvx-Sr0OxxMcrBuF_HizJQ_aZ_PwQb0yJzKp7MHXUF470Hp-z6KyEB7Rr_xLMIBEbyf5_eSbHiPLJNnbG13oRMX2goMFa3tifxqwzw7tFqJ_lBl_X77lluknUoWyDrP57d4puRExwA0pagnDPmn6Xr4WHLx7Oa04eGhdl1egKdS73jLMsrH2jeZUOTKszgYsdvshU3LwIJqIHTfQ5snZDIGMWHFlTsnKDixvC-KRBEjeqXmQlARCBcVgPy1a88okVgg418jqCGnp5qyW06kw0uJmVfsA96GbiIUG6Gw-wIfaZW8ewf6M0fPgki5nbVqVoAYasIJMYnKVHwj3mX753-TF5yYdMwH4GfNNdYHq7AUvuRKCKpMwTLuPXVD4MAqY4qaZ-YykBzUhBiu0jqjN2Sn23n1Qj90ULMuMSHFuIjuyrC8U-VEzDrSXuRSYkZlAJ39jSFWG1vIwvbu-7Pm66Vr7sQsXHXY3OcHrLsw4_z59jXLWmD1VZFyR8Z_Z3GGPHVfyEuNjEGUrrfoI_V2Ntw_-FYXy-zXzX_5hcyat-xQJ8foApoMglljHLJXjrbrXoxl6cc0090PsVnIBVgY85TZnMNs6zhvcNXmmbSLTJvwLvdAIcBILqNxUxtn8hxP4pihZgeCgVQDGr6stq-4lgyavrGH0FCesykDJNiH3sOVoNH5jD49LB6Am149GTfVJyXqpJUjY2kc6slztubi5ol26vh76hFfg3sUhj_Kxeabo9qopUzuY3ijb28aAk4pAtw-8sF649CmI1jFkFn-OkzRxf2jKhgRjns6emfsDub1DwTXPKg5DUcuMfnte3jL7yhKfXMz0uJfEsEtk4Q3rxY2VoZsYDr4AKUYMJImIKr-VnEpw2gTw26rWtmcbm258a0E6PPoJOmHHcn6820-EOJQ6BZZ3yQ5KvAfSoY9YXCSq-seLaTq5AqDzRO7psuaaKAFi3WhzkylBUNV3DNXMvJBOCFYllj6lmh0qwmCEn620EIkZwWmaiRJ0c1iMmYzOsNO4GSAQUaKwRFYPdDL6-PKtqdoqrDiNrjGtaRCjRXIL9b43oXs6F_Y8MHsOvvIrhyjs3EUlXPWBP7h_8Nu1yLqZ_zSKJB41tsALGcfWjSuQVoyCD1jePiSVYjOkh7ctTlTCLMsu8UCZ09XsudG_DNG-f03_0GdhadDoOfWTurb3NQcDWfd4x9LNbZy0s7BZLWNbak_8VgEJl1-M9ZVf2SjGk0SwG4wlS9ZJDi88Ca7X_xnWgV-xQg5wbp9nW_O4olovx19yogY3y9jBQMH_CvrLlhlFJZSxpGJtbmPGPiReB7WINP_AgS5NllqIjbqmxDaAK7TLoLFeq3eDxkd_PrgY5b5TpYpD5pLRsngWkWbvOigyiUEoFI1p5fIYBJ0Mr2PK_x0CY073tbJct-D9u7Q3Cph1IxuTtGc_BMsxRZZbfSkZBDRZ5xmRaIvvme7Ok7X5vj99LXq__4ev_nAx-k9Hg3At6slSRQVQyRbTfBqsigl90d3bKnxqKu9mRktbvle0jz42qwQK-3bKysZsw99Dkzz1WemD1qcPBBnaPXzbww-6RmMs=",
  "id": "rs_00da056f2869ecf4016ab449f52a6087d0934aadf7de6e6299",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":1.57,\"right_x\":0.47,\"right_y\":0.2,\"right_z\":0.14,\"right_gripper\":1.0},\"note\":\"The yellow object is centered in the right wrist view, but it sits only a few centimeters from the safe’s raised side wall. I’ll advance slightly and rotate the open jaws 90 degrees so their wide span runs along the wall rather than striking it during descent.\"}",
  "call_id": "call_9n3dVbSyru5peWH2uaEZxpqV",
  "id": "fc_00da056f2869ecf4016ab449f93e4487d0877cfc53fa51e904",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9n3dVbSyru5peWH2uaEZxpqV",
  "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]: [-0.1436, 1.0149, 0.8364, -0.7136, -0.2066, -0.1055, 0.9982, 0.1936, 2.3821, 2.3199, -1.2114, -0.5571, -1.1076, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0014 left_z=0.1628 left_yaw=0.0801 left_pitch=-0.2883 left_roll=0.1101 left_gripper=0.9982 right_x=0.4956 right_y=0.196 right_z=0.1282 right_yaw=1.3596 right_pitch=-0.3633 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.6325, 6.735, 1.7314, -0.2808, 0.0122, -0.0366, -0.4991, -11.1111, 5.3265, -0.0806, -0.4078, -0.188, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4e70719c72ab0b3a9e4461f934548807ac8c89993c5a5520f3f531c3212e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108f00412d12e72aa65dc9800346a3ade5f4bf41ecb3927227cb364ca5621f1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a3976e7e1e731333fd33424a8a4960d2eddfdb0148b22e4ee7a91b16d7d3f4",
      "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 14 attempt 0 · /responses · status 200 · 2.817 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]: [-0.6765, 1.9148, 1.1763, -0.2352, -0.5205, -0.5125, 0.1093, -0.0212, 0.823, 0.5999, -0.6357, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2143 left_z=0.0554 left_yaw=0.0355 left_pitch=-0.2211 left_roll=0.0993 left_gripper=0.1093 right_x=0.254 right_y=0.0017 right_z=0.1232 right_yaw=0.0007 right_pitch=-0.2746 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -9.0598, 5.8188, 1.3895, -0.442, -0.1392, 0.0513, -0.1162, -1.2786, 6.8718, 1.5897, -0.0317, -0.0464, -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]: [-0.1436, 1.0119, 0.8368, -0.688, -0.2207, -0.1028, 0.9984, 0.5079, 1.8858, 1.5829, -0.6819, 0.2852, 0.3824, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=0.0004 left_z=0.1681 left_yaw=0.0887 left_pitch=-0.2577 left_roll=0.116 left_gripper=0.9984 right_x=0.4471 right_y=0.1961 right_z=0.1477 right_yaw=0.0295 right_pitch=-0.3424 right_roll=-0.0126 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -2.6872, 9.2103, 1.6874, -0.0611, 0.1636, -0.1832, -0.0068, -10.0444, 8.0889, 1.3993, 0.3492, 0.1441, -0.0513]",
      "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]: [-0.1436, 1.0149, 0.8364, -0.7136, -0.2066, -0.1055, 0.9982, 0.1936, 2.3821, 2.3199, -1.2114, -0.5571, -1.1076, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0014 left_z=0.1628 left_yaw=0.0801 left_pitch=-0.2883 left_roll=0.1101 left_gripper=0.9982 right_x=0.4956 right_y=0.196 right_z=0.1282 right_yaw=1.3596 right_pitch=-0.3633 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.6325, 6.735, 1.7314, -0.2808, 0.0122, -0.0366, -0.4991, -11.1111, 5.3265, -0.0806, -0.4078, -0.188, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef4e70719c72ab0b3a9e4461f934548807ac8c89993c5a5520f3f531c3212e4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:108f00412d12e72aa65dc9800346a3ade5f4bf41ecb3927227cb364ca5621f1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8a3976e7e1e731333fd33424a8a4960d2eddfdb0148b22e4ee7a91b16d7d3f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEn-w6_SbG4ZDCwHWJaDE1WoNr0QxTgxh1JCsiLIAdPpko6MBT5hSg0wlDGNSMVLHUe1wLInw9HSOptVvwbDb8iIeocJ4KlxkSHjMrFy_pKwZsyah5S6EdLp_kTWCxLmG8CuGoNw5SgfWzB-pwGedorRUlJCDddRMxiefB_My7xbNOo1plX3w1raeA_bOZm5ad2UzjL7ofSB6bicJ5l34ZVVP_eCT9FfFLxXgsEv15WCpUzWdAcJHnvWqeIDRFT50uGnsqqH5MOHoSwiZCyI0DYw_7zFtwll8ovn89Vgrlm2eZFjwy3yDQYPlmwXKwGkzX4x3iZb1f8QRIWxnx38KwPbRaDuXmG9FUARFWowsOH8oU7rjkWnujTBbcwayZQGhCQuPBV9KSV1hVX6aPeXn6ZHApW1g8pHra2Klxnj2brp2NhhzjEiDln51o8TN1ZymqMqiVAB5zW8bkOUoJtsrdRTannUuLRXnDcUHON5Oyg19OnKCb9YJpsRjDBRyK8UIQeTf8TuThYv_ZWMS6aNaA2XKbx0Le7_vN_vPggDzLKQHf7fxpeP4NyjQ0q4gQQaqvbYNuJHrUSi0a2pvFVt_D8tBRuLrfKIOsg7wV2rUbNRNN8hQFQrj1J-h9S9I5ludX2t-p4Mr3OBJWycro_0Opew8mB7rHgxvmcImbKlkvQn2s3CxZiE1LtIjSb80FsaFl9t-Yyk61tF2Nnfnp9e-k8W8miMq8k-ehTP7NjUMjmRvKRYjH8TsXGyh8gp0y9z0Etxn5nZqU7ptFZwaaAN7YrCubOTx3xqROb2tZ7LA8InIlmiQL-_4CDEzrzmxfmOEmUgF7VMhbCNqjB_yyQrXyIjKgOvqMl5Dx_-uMSSIyL0tZaGu8JLQLYWHHR-W8LgiELqOSpq0u2s3uV-q27tPtgcNpThoNR5QMHR_OjA4OcODQmrdaJX2uEcIJMhL0HIn4SwGayiDY5QkzSkTR9-8FeKi0OW8Dogbe32Rb_FiuG-45ACrPMqOaGZTuBsXBJ9G42-LSMrtgeCrmEYXE8t74NE5CD3CBrBs-kuS3vGflOiWguU-MazPzFcayyo7GPXhVp7nj4GxHo4kUo6XwLQIpnSGKtKUu1N5avWxmnEWVUn6g2JSQcF7gg8-84BdPUcp76-2XV7IcSmBd07Jj7je8Ys7ZRCmoI2VQp7gxHWsehSdsDRUpIEm-4eD9BsHDv6yQh-Y6Q5ewTyyJahG0IVCmieztfSGAWOBTH4lHIaW_F5ks8B4Hga5nIwbWkK-z_xrtJl5clqaJW1GMNlxN3ZLQqq_VjxWaIBQj_ULO68pHet3II2mtFZ0d4qtMUi9PxZVLJ4pvkYw0xc2dThVpc3Ea5ZMp7wehrbU7xoF5CzXb9uOQmUO9qKvQ7nLlh9FyDP2kUKeREsAzy4EUUt0nSf7FM451fUxAOGI57pblA0DCVT3ED5bQ6IXh4a0AqF7uxgRhtj7ybP2SAYKgknSTTAnyZPzPC5FIqXpNChrnJDmRtqZuVSif0VLnaXycAaLYrjjI7FHspZ7TwqjWsNkx3dFU4OAxUJXyndp3mi_xIpOXa2IhpXeQps14fcD-2Q89BM_FWI7flw6A9or-fBGIelzP-11B7sjkDYec9BL5TFDNChpxqhh7DoyrO5jqUrAeDgqz5iO2VvFOBD_z20klfE3Mkbsrl1Y5MX6spOIHNXttdGpa3VeuddTKD4-rfDL-WsMvNqLPg06Ui6dnsvDRUFKTwNTAVYaNRnkwwCSJdVSY4059HJThJQP8ZJaFYYRbkbgn5E",
  "id": "rs_00da056f2869ecf4016ab449fc52c087d088e2bb1648b15d78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.2,\"right_z\":0.035,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"After the small advance and rotation, the yellow object has moved to the bottom center directly beneath the fingertips, and the jaws are oriented clear of the safe wall. I’ll descend vertically to grasp around the object’s lower-middle section.\"}",
  "call_id": "call_o6vqoYOOfRFeTsyaVGQ5YqMM",
  "id": "fc_00da056f2869ecf4016ab449fdd75887d0bab05e38d892b269",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o6vqoYOOfRFeTsyaVGQ5YqMM",
  "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]: [-0.1436, 1.0153, 0.8364, -0.72, -0.2058, -0.1089, 0.9979, 0.1905, 2.4039, 2.0094, -1.0405, -0.5865, -1.3079, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.0013 left_z=0.1617 left_yaw=0.0819 left_pitch=-0.2949 left_roll=0.1087 left_gripper=0.9979 right_x=0.4657 right_y=0.1931 right_z=0.0358 right_yaw=1.546 right_pitch=-0.3865 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.4137, 6.7077, 1.4432, -0.1587, -0.0024, -0.0464, 0.5265, -13.1077, 6.3385, 0.6276, -0.4811, -0.1343, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39f408169f76abb5dd6b41eb2c4f88c166e07f5a29c635ed619c36b751c8457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc4501352599d197a8491ddc794316399d20ea4793719a01e39ef53afe3c864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3683ac5f5335f969ff7af9dadc61a0abb3ae11e5c9c03fd1ea2234eee87cbba1",
      "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 15 attempt 0 · /responses · status 200 · 2.645 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]: [-0.6792, 1.9331, 1.1652, -0.244, -0.5201, -0.5182, 0.9952, -0.0212, 0.823, 0.5999, -0.6575, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4075 left_y=-0.2115 left_z=0.0426 left_yaw=0.0418 left_pitch=-0.2497 left_roll=0.1208 left_gripper=0.9952 right_x=0.2499 right_y=0.0018 right_z=0.1198 right_yaw=0.0012 right_pitch=-0.2963 right_roll=0.0076 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -11.2889, 6.7897, 1.2821, -0.3101, 0.0024, -0.0513, -0.1299, -0.9915, 6.8855, 1.6044, -0.0757, -0.0513, -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]: [-0.1436, 1.0149, 0.8364, -0.7136, -0.2066, -0.1055, 0.9982, 0.1936, 2.3821, 2.3199, -1.2114, -0.5571, -1.1076, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0014 left_z=0.1628 left_yaw=0.0801 left_pitch=-0.2883 left_roll=0.1101 left_gripper=0.9982 right_x=0.4956 right_y=0.196 right_z=0.1282 right_yaw=1.3596 right_pitch=-0.3633 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.6325, 6.735, 1.7314, -0.2808, 0.0122, -0.0366, -0.4991, -11.1111, 5.3265, -0.0806, -0.4078, -0.188, -0.0562]",
      "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]: [-0.1436, 1.0153, 0.8364, -0.72, -0.2058, -0.1089, 0.9979, 0.1905, 2.4039, 2.0094, -1.0405, -0.5865, -1.3079, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.0013 left_z=0.1617 left_yaw=0.0819 left_pitch=-0.2949 left_roll=0.1087 left_gripper=0.9979 right_x=0.4657 right_y=0.1931 right_z=0.0358 right_yaw=1.546 right_pitch=-0.3865 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.4137, 6.7077, 1.4432, -0.1587, -0.0024, -0.0464, 0.5265, -13.1077, 6.3385, 0.6276, -0.4811, -0.1343, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39f408169f76abb5dd6b41eb2c4f88c166e07f5a29c635ed619c36b751c8457",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc4501352599d197a8491ddc794316399d20ea4793719a01e39ef53afe3c864",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3683ac5f5335f969ff7af9dadc61a0abb3ae11e5c9c03fd1ea2234eee87cbba1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoCeZi0EnFhhC6e_WGgi9pQGI1Xje9F172hO-CAiVjzf-5yVmOyh6HoNiFKS6HXZmPeQHsoMOpU_mgjYBmCVQRq_l9YuYqf4tVm1AUc-5IVqsBbNGUBTGoLoG0Bl1tDVoOs00P4a6Cot_ylffDxyYehlB8-GE5BZpBkc94KKhP2-z2Mu0UoJ6HdklcWjd9DttL1c3tgBbmAxB2h5bJ-sUZuuaMralyOMG4a2H-RCWyPOBViq8v-WA09vDYcI1XYLJ6Tg0RYWn3T0iHSVEQNecve1hUM5pUirA4wbYjXgU6DXwnVyQX-90OIwxXhgozbL50vXs9imT7BAGeihA_K3_OXGGK-zzrgqUrUpYVjXJxhLT9j5HYI0-fa-Vaj4Hb3hg1_heEZsKF8nAIQoTwh6_UkaeWakDpmOuPwXNTMELzdyYyP3uBuBHyWm2aYDato_GzNOPHubtd6IkFM3A_ghpIATdZpIp5BhiZyZD8hNJq_PR7Wv5KyA0W1X08xz4tBueLuvkSxHwkv8BZTWY-NgVlO-wXyi4jemyxa1uvbdxrPZ4Y3t57GtMsB28EhPdnllIpF1l2mYhb7Oqom6XTAN6HqjBkq9WWM1zXhwKNK5lmQ8gkndkGgUj7pPyB1ZOc2yHlnl65-3R8oLXCoYaxO539qOZysznVpEH9KLs0CGuLcefvjTQTsx5aKZL_3YcwDK_9XcGqNg7TfiwC7s2Q5PmYbUnIjEs1JfSBNeXB1dh3LiPzcGI5FpLKI-b0jH5Lea6Fj6Fvbuc9qf5NP6jaa9egmuXw_X5lIgtCCq3My-TXlMqJ9ZJnzItl2RpP8bbJ7VkqjHiWc9ap28Vp6mLmnfXI5ANtDsR1Non_PB0qFR91oYW9E8Ek9-mCZAH8mvhssOEKNMo2f1KKUYeAX9r8ALndeT9K160wrFywe30-iHPmUc89cE14jGoBzF5gRdSOvxYwcWROE97lymPd38hyf0I4VD1ZwicOyONjNP9PdadT_o3FjoxOkf3wpwX09SiRR9ct13yDlMoakDKCZG999cDcvEoun5UVIG39ZV7rHTdR3bsw_1E6He75iNsjDkCCj_fKOeuUKjBnBi_HmjprFyfbKtq9CDm1rtZ3kb-mzQGinrIcBOaKR-UL_83q2aK77jpICDzXFlAAy1Vqx_d1baX0X_AG55SSBkS7Jnb6kkGWCjR1POJTK8fUm29q2f2MjED8CTpxa0i36KZG_zM_T17Dux_ICLwDSQ5SjXnFIBxlP-J3Gbsmbp7lXh3qQe07vH8zWxdHgCjK8uOlA-sTpDogZjs92_7kQyZcDr2Q-1A7-hV12saJMuEhHmTyyI1SQddsHj5O_WooeQAfB9eAlTtTOO8REYdvjT4_nqj6DThrQQmWO25-TZAvNYpWHIRcQ79VkuppYLgqHVqK_F-W_vpSxYFX4N5K75b3UHUhP-xYqRgxch9AdqhLWJMHMR-_6I16IQ07DOTo7u_wFFJi9vWngOJPnkVGwAwUr6Z_H8L8UI2Wr2C5x8N6jkwQUjLXWTB8oHtJ-RidkTSKNgHdMcR0wfr7s2vBYo-wDfCdD7gml8QO_y8yd09PCa11b8Myr7f92-28HPLCaaeVzV-G6vHQrWpQZGTinZnXX4P7bZ3hCcwfxbH9fOdomkJHs1ag__OZojVb9BrJBp2JpNyXk5wOwpKBaqvAbW1lzv7H9FRuCstg=",
  "id": "rs_00da056f2869ecf4016ab44a00a41487d0a78c4407d6c83f92",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The yellow object is now precisely centered between the low fingertips, with the safe wall above and clear of both jaws. Because it is smooth and rounded, I’ll close only to roughly a 3.3 cm opening to grip it without squeezing it sideways.\"}",
  "call_id": "call_MfNKKDy09VkyMveuzAoIT08l",
  "id": "fc_00da056f2869ecf4016ab44a018c5487d08a5857b6f7f7911e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MfNKKDy09VkyMveuzAoIT08l",
  "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]: [-0.1432, 1.0153, 0.8364, -0.7395, -0.2058, -0.1097, 0.9978, 0.1925, 2.4046, 1.9976, -1.034, -0.5838, -1.309, 0.5397]\nstate[eef_state]: left_x=0.2829 left_y=-0.0007 left_z=0.1588 left_yaw=0.0841 left_pitch=-0.3138 left_roll=0.1128 left_gripper=0.9978 right_x=0.4638 right_y=0.1932 right_z=0.0321 right_yaw=1.5505 right_pitch=-0.3904 right_roll=0.0168 right_gripper=0.5397\nstate[joint_eff]: [-0.0068, -2.5231, 6.6803, 1.5604, -0.1636, -0.0464, -0.022, -0.212, -13.5316, 6.8308, 0.4371, -0.3492, -0.0122, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ade6c5952c48b1eb40bc4e67a3a52f808dfefc4a8fe71d3ed6b85ecd37c0f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf27a949b48073bca15b801a9b1e1f1d6ffc9ee3acbd45ba650c293095df01a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1887c6abdad5c04570972559a57e7ed849b70738ff60d322b8c9a414e28ac574",
      "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 · 5.401 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]: [-0.1436, 1.0119, 0.8368, -0.688, -0.2207, -0.1028, 0.9984, 0.5079, 1.8858, 1.5829, -0.6819, 0.2852, 0.3824, 0.9996]\nstate[eef_state]: left_x=0.2924 left_y=0.0004 left_z=0.1681 left_yaw=0.0887 left_pitch=-0.2577 left_roll=0.116 left_gripper=0.9984 right_x=0.4471 right_y=0.1961 right_z=0.1477 right_yaw=0.0295 right_pitch=-0.3424 right_roll=-0.0126 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -2.6872, 9.2103, 1.6874, -0.0611, 0.1636, -0.1832, -0.0068, -10.0444, 8.0889, 1.3993, 0.3492, 0.1441, -0.0513]",
      "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]: [-0.1436, 1.0153, 0.8364, -0.72, -0.2058, -0.1089, 0.9979, 0.1905, 2.4039, 2.0094, -1.0405, -0.5865, -1.3079, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.0013 left_z=0.1617 left_yaw=0.0819 left_pitch=-0.2949 left_roll=0.1087 left_gripper=0.9979 right_x=0.4657 right_y=0.1931 right_z=0.0358 right_yaw=1.546 right_pitch=-0.3865 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.4137, 6.7077, 1.4432, -0.1587, -0.0024, -0.0464, 0.5265, -13.1077, 6.3385, 0.6276, -0.4811, -0.1343, -0.0562]",
      "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]: [-0.1432, 1.0153, 0.8364, -0.7395, -0.2058, -0.1097, 0.9978, 0.1925, 2.4046, 1.9976, -1.034, -0.5838, -1.309, 0.5397]\nstate[eef_state]: left_x=0.2829 left_y=-0.0007 left_z=0.1588 left_yaw=0.0841 left_pitch=-0.3138 left_roll=0.1128 left_gripper=0.9978 right_x=0.4638 right_y=0.1932 right_z=0.0321 right_yaw=1.5505 right_pitch=-0.3904 right_roll=0.0168 right_gripper=0.5397\nstate[joint_eff]: [-0.0068, -2.5231, 6.6803, 1.5604, -0.1636, -0.0464, -0.022, -0.212, -13.5316, 6.8308, 0.4371, -0.3492, -0.0122, 0.8278]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ade6c5952c48b1eb40bc4e67a3a52f808dfefc4a8fe71d3ed6b85ecd37c0f5e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf27a949b48073bca15b801a9b1e1f1d6ffc9ee3acbd45ba650c293095df01a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1887c6abdad5c04570972559a57e7ed849b70738ff60d322b8c9a414e28ac574",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoFgE6XRtjtkstggSoOgAbrKA19CL49v5LeBIDVCjKWtyVYaj_mTXmxjPHKwH1PxDZkx_qP_sYofFzfkYniXS44cN1niytmJFInHdueK590zwK5cPMlw_riuTUdfeNYZzWpnb1uF_ajk00yhkKnqJWQc31rPl0jCnymmN1xvt_0AtYK7tUv9k9mCLE6eGXUuxEyw22eZ5o5IF-Jj9i6qd3zeBxk32d49z37hrDAMW-uxSlJKMT-_yQ7f2-Z-zCdqC9aPiq5nc0BRdv17B4AVo2ZZkl6MSzYj1wfigX6HI3QELuunW8Kyf5PRjrl0BgCXDhNTXQEhVOko6QejCNYsjMdrt4a_J9USpN5huDgUJJMpZQgLo7KyVdYsPdofdj05VcR_rT_u9bH0TvrPYHJOFzp_Tb2baIitH2BVMMgb_XMRDGvvr6_Yqobv4OQXKEE02DvZ26_96YeGORbgWnajWXiWN3V8ru0BinGdATUya7lK0cAxI7WSHER48ZIkGvnpODev1w8by-vNcTEml4T33EF7ttYmWPxXELz3xLCF9XNdbRhpl7P0QQzhJFnJ2C5xXN9vQLspJeoyTa-HgeUDxSBucjcfsSp4Z-sGblmYyPSy9HnK8v_DNLdeWemuR_C6QSqR08Fbah8iYQUu9P3IeyaGpoBnLcqRVoaoqnIPjfWQ314xbcyFJ4WQfDYD-rUwvNRmBDw8UVOAqgoBDH-3S2OEVKvTbVL1ib8N3cFxY38KdQnRLJTnHBK3xf1pUFplxMGJgMDSI6R2WTMGdIaQOH9kvTwiYWcoghfGhRe0yXYRhgpy9zj91SHOeCYIgGFxkVHdD0zxodE4lBK_Dd4eC4YMLkpMQy_XqiRPMdQkucua5mlW5O5ZiBE5AMgTJ3Ou5C9jrYRKYcfZlTz-3-W6HaUY34EWDuGrkLDvF8-TaoBe9JgLaU62El5G0pTRYSPgWYoUZ2h3gkzQuCLx-nZ11nk4tmpVOXBRysUfeh0DQb2gmUNFbLTZ9ovMtuGesfUuiV1BGFKWxqsKkfuzxUQ2_SLTBvsLq350sG_jmXhek_MYqjhPczzyOpqwVkUcP62Q7DLiCS9WRkiTmHQd_H6gHSB0ElrqZ8J1i-FYOU_Gfn03jjIZbdPJQQUjVSYtQeoLcFZBp466Wt5oJSR4r1GQv8vos45yR4aqa_vnfNXbIEQg1-g6glM2uYaD1fW-dEiAPTkZqcHfQTFaYZ7aV7HZxy4Vs8khOl4Xel0OEtTVxQ_bjX8yK0UtIBtGXLm1qiztnaL",
  "id": "rs_00da056f2869ecf4016ab44a0470f487d09a369d420b523820",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper stopped at 0.54 instead of reaching the commanded 0.35, which indicates a firm grasp around the approximately 5 cm-wide yellow object. I’ll lift it clear of the table and confirm it moves with the jaws.\"}",
  "call_id": "call_kZXZPj4ZNTuz7feMa0uGuHsA",
  "id": "fc_00da056f2869ecf4016ab44a04c81887d09978d7d6e07e3f14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kZXZPj4ZNTuz7feMa0uGuHsA",
  "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]: [-0.1436, 1.0153, 0.8364, -0.7429, -0.2054, -0.1097, 0.9978, 0.1932, 2.4073, 2.3066, -1.3148, -0.5724, -1.3094, 0.5408]\nstate[eef_state]: left_x=0.2822 left_y=-0.0008 left_z=0.1583 left_yaw=0.0836 left_pitch=-0.3172 left_roll=0.1133 left_gripper=0.9978 right_x=0.4711 right_y=0.1933 right_z=0.1082 right_yaw=1.5385 right_pitch=-0.3959 right_roll=-0.0131 right_gripper=0.5408\nstate[joint_eff]: [-0.1573, -2.3179, 6.6803, 1.4139, -0.1392, -0.0415, -0.0171, -0.0068, -13.0803, 7.5009, 0.4274, -0.4322, -0.0415, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c83abdf143ca3c883534bb58feee2258f5ca5c6d92aeda2b0070697258d9c94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a8a89ed96b6f2c770fe0636c3f97bd16f28c6d5de0bdf120eac0d934c439095",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7859b5d098b3561d923f812e77799fa47fb572558c059da0c62e3c17805ef2f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.942 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]: [-0.1436, 1.0149, 0.8364, -0.7136, -0.2066, -0.1055, 0.9982, 0.1936, 2.3821, 2.3199, -1.2114, -0.5571, -1.1076, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=-0.0014 left_z=0.1628 left_yaw=0.0801 left_pitch=-0.2883 left_roll=0.1101 left_gripper=0.9982 right_x=0.4956 right_y=0.196 right_z=0.1282 right_yaw=1.3596 right_pitch=-0.3633 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.6325, 6.735, 1.7314, -0.2808, 0.0122, -0.0366, -0.4991, -11.1111, 5.3265, -0.0806, -0.4078, -0.188, -0.0562]",
      "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]: [-0.1432, 1.0153, 0.8364, -0.7395, -0.2058, -0.1097, 0.9978, 0.1925, 2.4046, 1.9976, -1.034, -0.5838, -1.309, 0.5397]\nstate[eef_state]: left_x=0.2829 left_y=-0.0007 left_z=0.1588 left_yaw=0.0841 left_pitch=-0.3138 left_roll=0.1128 left_gripper=0.9978 right_x=0.4638 right_y=0.1932 right_z=0.0321 right_yaw=1.5505 right_pitch=-0.3904 right_roll=0.0168 right_gripper=0.5397\nstate[joint_eff]: [-0.0068, -2.5231, 6.6803, 1.5604, -0.1636, -0.0464, -0.022, -0.212, -13.5316, 6.8308, 0.4371, -0.3492, -0.0122, 0.8278]",
      "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]: [-0.1436, 1.0153, 0.8364, -0.7429, -0.2054, -0.1097, 0.9978, 0.1932, 2.4073, 2.3066, -1.3148, -0.5724, -1.3094, 0.5408]\nstate[eef_state]: left_x=0.2822 left_y=-0.0008 left_z=0.1583 left_yaw=0.0836 left_pitch=-0.3172 left_roll=0.1133 left_gripper=0.9978 right_x=0.4711 right_y=0.1933 right_z=0.1082 right_yaw=1.5385 right_pitch=-0.3959 right_roll=-0.0131 right_gripper=0.5408\nstate[joint_eff]: [-0.1573, -2.3179, 6.6803, 1.4139, -0.1392, -0.0415, -0.0171, -0.0068, -13.0803, 7.5009, 0.4274, -0.4322, -0.0415, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c83abdf143ca3c883534bb58feee2258f5ca5c6d92aeda2b0070697258d9c94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a8a89ed96b6f2c770fe0636c3f97bd16f28c6d5de0bdf120eac0d934c439095",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7859b5d098b3561d923f812e77799fa47fb572558c059da0c62e3c17805ef2f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoLB0oKSnnZHxcK6w0VFDMpfAg2qcaPEAXE30-q28ZVISKKvG3_uq2NR397B8__h8Wqq-O3BZk0HHCanfUm49dQsn4gBjGzXydKoFDZFIW6B-E8VkzBjXVuCQPLrRJMXIPsmccRy5EjJ6P4V-vHHY8Q74JAl6GOusZqY64fWlPJVQ8iJSGcfMDnnLoX2LWvZDOZcEXYHAuv6SbL189xqHU6fYfif_4j73yGBnUdlm7d1u03zY4xVL4OuDquNhEKkmcwUqSk42BnXN0J680mNsdgGDgmRheM0rrfhJmv5zdK4KARk9trmghu6BNW9HsLgP5TQbZC46YTyofmsGihKpTqsyXn9wPZOQkOn0NDoBsxjXHVNv4cK8_2_AfFN-LTxQqXgqWeQw8DRkL4TSacqwxcBAD59BIalDxfEVdLwYL3GqIcojsuwW6ZkhEfXTvVbHPFSUvARJwMFXC4d6HMjsBCnXoCeKl6dmJTY8TbRMFHMC4O-JKwmoxgPFhVC_Ssg5YtZsFHF3chd537nBjXCJ1d3e1RKMtezBpxt4SH5VJ0ssPBOM0Q6lO6TBrvVVCfhF0VRiZ65dY16V1B-rQ622efHIBGtgoRPJzY3MIRyASvsTUM_ZQB0jtRaiClZCyQ5sA9zDR3ze3oPwygbnJI9zvU1jAWBYgPrfKu7-EwLW3tapqeTbhJaDFVEl4-L95eD0DdHBrvmr7sPZVzwJEMqOegHxweMCst_3PtZvdtpZhscJZ2Pfxlos43JuY6EfxbMZ7gDSWU-wt1bt-nu1DpSOdA9Ar_eN_2b6SaBzZmR3MVcdCyvpubZcqAYI-b-VZda5R0r4MB_UmGMLteXorQ9VdwSq7FBxzAA15Y7DTIAwSQIfOi4P1RUHUb2eQQMYLYLWEi9R1wTH5DQocb81T4drQLazwUqslfLqKvP9598hcllp4MCqFuAPlJcnkyrWEffBbcFJSZUEOd1FmKS8SswN5gyWEeCdDubk7zLXW1oMXOJCSCGzWS66YsaipEdxekqqbJCk_OjK22q99-KUgczxLYfO-h7mn6Hcu4Gu_bsfQQ8IJKYL3sC87sP86g4YYlkLZFKtkHJD-C9e5FGQZfyjIFTpHNA4EVX_XHD8UoACn6MzYWHcgbGltj1EMSd9JsTzfISRldxddnnpU9O7fWPdHfZ7M_YLFDzSH05cebwU0UA49fBOEAjZlp4MCFRXwChaOvoF3upz7JPnm7DjAlDTlvsZ2b0tj7FDkvQxBh2gvuSj-ms33KZ0lykhGFicdhEA3SKj9MJTym70EJHA8gBf-DTC6EOFXm82ZdHeY3IHS5tnGmi3TpMThcU0IJL4u4cCzn6T3UXRqXDPfNuBzfSI12PtlmJXtLBJ6no11F9nb3zrel_UMk2rEbT6GHOM4s6yq_iX3svjUXez--6nNeyCzi2xbTkree9zsu2MFVno73-sODvcjGkC3S7nbLXSdg3WUazqi6is5cvPtZ9CuLvKlYxAsjqdvukP_Ro-loG866s98UK6AlgzEAKav8aIfi7boQOHbFY4bcxgkcADKYGuVmtB06mt0eGXdIYHC-Yxijk_DgMgBY4kddVI3gBVbgxvRGxFBn2JAr86-Z7DseZiWjNuopTWOSRjCCJGuiVa7GmLVgzAd1EXGNRXDikgM3RJh9VZ1zW3rwhixg9mgjLgVce0hcdx8GfQ0vwzGBHzJM5fmRnLnQtwCBDa8coe-NDqlLcAwjAs_B3rGqU_pBwPlzEhsh7Tn9_uvTxH9fL4C-jFRWSX7klvS39CLnxwCqr03SLvp2PvgrtqojtSs1SICddKNuzQjlT1cEfQVsqLXWhI2un5Jj0LzUjdXCgQa-gtuhbuJR56I0KhQz_0zY-hBsLtr6AplZVKZL0Yo-81p5LUqIUJRDlDbcNEg9edLmwFjk4kaNSKlYJ6iy9GZdBWfZqhRe6TvmArjmch5pDJ3HPZQI0UNLp9Mn9I8yqpdKh1AmDcRhhkvs1HMLwjiiSmN_VT39EWaTBi0rKRS5CakVuWutOAVtwxPP3kYg6nynEBBhC6kRys5hjlUP0uuLx9v8yBfTB5DJbwq2d4amMzH18pmgIzp6gFHKizmmHKhnYcVQfefXLx9bJpWDf3LirCvBMm903YlqbZxO8iCmfnLxXmEapclNzxver2qGFGrvG5jrTSj_SzUhGBz3VSogLykO9QUON1I68S62l_B9rssNdNgIZnpiZU498isWBeLiNzZLttrrSt0M4V5YlF81MzOyWLFpunsfXNGsM9TDwgOzN_TNfcCbnfvBX5woWiBMNJ0xblQJcu2Kk3Agn1x_vOfIE9aQ-Z_MVdkEXQJXCkzjpQO-KwgyjqSARNIgmX30uFAk8dTvvPcjNmwWMBGq7QDO8j67JUxGmc9TtO34uaeYaUbNukyrUIVZbRMxgsycXVbDs4N3_hSAZRmIMtIVIrLLFkGYpL_9l6CXcE0PY7dmsyU=",
  "id": "rs_00da056f2869ecf4016ab44a076d1087d0afa57018e474e14b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.31,\"right_z\":0.17,\"right_yaw\":1.57},\"note\":\"The yellow object lifted with the right gripper and remains held at the same 0.54 opening. I’ll carry it high over the right half of the safe compartment, leaving the white plush undisturbed on the left.\"}",
  "call_id": "call_j5hADnqWpLjNney8dCliw7sd",
  "id": "fc_00da056f2869ecf4016ab44a0a7ecc87d083a0efb27c8a6774",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j5hADnqWpLjNney8dCliw7sd",
  "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]: [-0.1432, 1.0153, 0.8364, -0.746, -0.2054, -0.1127, 0.9978, 0.453, 2.3791, 2.4207, -1.3624, -0.5117, -1.0782, 0.5422]\nstate[eef_state]: left_x=0.2816 left_y=-0.0006 left_z=0.1578 left_yaw=0.086 left_pitch=-0.32 left_roll=0.112 left_gripper=0.9978 right_x=0.4178 right_y=0.3036 right_z=0.1475 right_yaw=1.5998 right_pitch=-0.4221 right_roll=0.006 right_gripper=0.5422\nstate[joint_eff]: [-0.0479, -2.3179, 6.6667, 1.3993, -0.1685, -0.0366, -0.0171, 0.212, -14.9949, 7.9658, 0.6422, -0.3394, 0.1343, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c83e244dbbf4f461a31bd29a1c9c1886e7f6a84110f9eec24fbf36b08bb4ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cf1d7d2796e1164447faa0282c0e224ee2fc42e54a1f48c121e440f5a7dcce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4437270ea8f1d389c0e5b3363ae3a06cfffd8d440deb53f5e19bbff033bc3656",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.565 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]: [-0.1436, 1.0153, 0.8364, -0.72, -0.2058, -0.1089, 0.9979, 0.1905, 2.4039, 2.0094, -1.0405, -0.5865, -1.3079, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=-0.0013 left_z=0.1617 left_yaw=0.0819 left_pitch=-0.2949 left_roll=0.1087 left_gripper=0.9979 right_x=0.4657 right_y=0.1931 right_z=0.0358 right_yaw=1.546 right_pitch=-0.3865 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.4137, 6.7077, 1.4432, -0.1587, -0.0024, -0.0464, 0.5265, -13.1077, 6.3385, 0.6276, -0.4811, -0.1343, -0.0562]",
      "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]: [-0.1436, 1.0153, 0.8364, -0.7429, -0.2054, -0.1097, 0.9978, 0.1932, 2.4073, 2.3066, -1.3148, -0.5724, -1.3094, 0.5408]\nstate[eef_state]: left_x=0.2822 left_y=-0.0008 left_z=0.1583 left_yaw=0.0836 left_pitch=-0.3172 left_roll=0.1133 left_gripper=0.9978 right_x=0.4711 right_y=0.1933 right_z=0.1082 right_yaw=1.5385 right_pitch=-0.3959 right_roll=-0.0131 right_gripper=0.5408\nstate[joint_eff]: [-0.1573, -2.3179, 6.6803, 1.4139, -0.1392, -0.0415, -0.0171, -0.0068, -13.0803, 7.5009, 0.4274, -0.4322, -0.0415, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0153, 0.8364, -0.746, -0.2054, -0.1127, 0.9978, 0.453, 2.3791, 2.4207, -1.3624, -0.5117, -1.0782, 0.5422]\nstate[eef_state]: left_x=0.2816 left_y=-0.0006 left_z=0.1578 left_yaw=0.086 left_pitch=-0.32 left_roll=0.112 left_gripper=0.9978 right_x=0.4178 right_y=0.3036 right_z=0.1475 right_yaw=1.5998 right_pitch=-0.4221 right_roll=0.006 right_gripper=0.5422\nstate[joint_eff]: [-0.0479, -2.3179, 6.6667, 1.3993, -0.1685, -0.0366, -0.0171, 0.212, -14.9949, 7.9658, 0.6422, -0.3394, 0.1343, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c83e244dbbf4f461a31bd29a1c9c1886e7f6a84110f9eec24fbf36b08bb4ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4cf1d7d2796e1164447faa0282c0e224ee2fc42e54a1f48c121e440f5a7dcce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4437270ea8f1d389c0e5b3363ae3a06cfffd8d440deb53f5e19bbff033bc3656",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoPKAr6O-aCgP-7AWQKEfreFN0_mY_fXJouJP0SA0STTZ7WYk0gGgI2m2QznvSRD6P0SNs_KUWlAcY9-6O6U4dKuXr9CYIu1OxlMlHFIFmu4wumWFt3AiClK1DVa3HMMVPkCixULfjNYI25SXsirlP5gEO8rvX_zs44-HiEjTDgYt3RhQaQTgTOA8DoFazKdxCVn0F1vkn1d2gJ9BoPqFg0JdBlbDbWSZiQIs0aY5x_F33ox6287EN6GbAQoof4VgLQBeuahtjaLQ9Z4kOOgT4RW6ZZVyWevKfMKpcGwFK_n5pLCxejfpBgvD6ELD3_ExiKRFaD6IzTHt90J78Qa49ODBvqJ4uOYfjq91w0_rxjKzCx_CBrMGWBIB_GnDxR0yR5CgQbtfQIJt5ptEiTJ6crqXUOi2fbgKRCrl-ueJCUW62WPPudujpoSfQn8CI_o6dE7fet4S-kfG9A7tyLN2nYAGrpQRWnYyIMxffd1eQuZRw75blGkEKvNPNVoAUhbA1Rp9LJryi1fpGyvx4RBpqVh8KT8NLZPkYWMSamZ0izQpzgMJadSJQC3v8acSLmDsB0jTsvOVP4Hl66JczBGCSVsoLUxnv59WBnBT-WjPCdVVRUq9ry-Q0yTcjiVXGcQpUISBTqheiSmwkO6U5cDXaD7c1880-AJ7IAhs7zvYiPEeuSeR7j-jMrSO287L4F7K45rdGwEw_ym2YGPW9-diCrCUoFg0Hh4D4n7V-BMaUSNEqJLJqEIGQ6WCNHD-SC_1mfSrljwJYq_7yQrxnju8HC2VpEWNvzlly6TdeJgj8PiVl_ADsoeqXmxpt09Wi_oelqgqmFYbmXzsBvotKnsZXCwoxTMN3scW68pY1gdWrx6OXvJGVjycp_VYV2PaIvkvNMgIXe_YUJJJZo3F0JbFYGcgM5P9wWmWS6huH80KhtwvB-zDlBZPm4-v7tgUH43qLxwn-tq0I_j_AKuOxord46BccZlwh_4W5O2n-Qjbd3tspagUIwqhSZtyCUQkfjEbGB30Rl639HZIwnUSFesaVsepDtJOZCfjFqpPR8SADkQAZiKXwFxeFwhIYl0GMFEiQVpSfsKnJs4muLMSg3jquINBEFhwcHUhXPrW9FSW7k4PuZlYfN6T8h9nzg2U2ubC_vdy4l3_7mUBlOPfzHMO9h0Y68HijSUtkUoRTPUPWjrSj9utlNjBhyp95djLKnRSp6T7mjzt-qRiDjMOeqUhT2qyzkKsTJIez8cvd1F8As0GaIFG1D0WqEwpffYPTp8eTVlFwMXGg7y3Llo3TGYAYnMqvG-Bb89k7ZRVOo2Ms1UgxyqgaQQUdkiIHut7YSf3Q6tiPTgJgCBVFfVwnhYsQpMRz858aq4fyjCGNFIPRFJgbpNaCZF_UVXVaLCg2UL3yZwv87LzoF1jHxfFw5LHsQh4p-rnAPEgyHZYjqKUVsEQ1KuYMRql3Dk4-Y3tQW207bPIgnjP82ahJNwKnyv6EXHpKgwuUgZmYO3uithHxenFM=",
  "id": "rs_00da056f2869ecf4016ab44a0dc2b887d0a4743a5badaba562",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.31,\"right_z\":0.055,\"right_yaw\":1.57},\"note\":\"The yellow object is now directly over open red floor on the safe’s right side, while the white plush is visible clear on the left. I’ll lower the yellow object onto the safe floor, keeping the current jaw orientation.\"}",
  "call_id": "call_NMmXOTE2otowmAQS0VKtjR9V",
  "id": "fc_00da056f2869ecf4016ab44a0e76d487d0a8f3a8556e274b50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NMmXOTE2otowmAQS0VKtjR9V",
  "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]: [-0.1432, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4664, 2.3299, 1.9572, -1.0084, -0.49, -1.0386, 0.5444]\nstate[eef_state]: left_x=0.281 left_y=-0.0005 left_z=0.1573 left_yaw=0.0865 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.4024 right_y=0.2997 right_z=0.0485 right_yaw=1.6061 right_pitch=-0.4674 right_roll=0.0797 right_gripper=0.5444\nstate[joint_eff]: [-0.0205, -2.3316, 6.694, 1.3602, -0.1538, -0.0659, -0.0122, 0.0479, -14.0513, 6.4752, 0.7448, -0.4078, 0.0269, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9e8ea71778bb5b5126f9dd43cdfa8af39f7b5c8802b32090a041539c957055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd79677fa87ac83a8696bc5a90d5d9b709bd57fec30618c6fb8a15b707f94a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9296a539c1d0e0c84d9a17532ecd1b2d3213433b8e0de3006726e2b1a8b88ba0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 5.091 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]: [-0.1432, 1.0153, 0.8364, -0.7395, -0.2058, -0.1097, 0.9978, 0.1925, 2.4046, 1.9976, -1.034, -0.5838, -1.309, 0.5397]\nstate[eef_state]: left_x=0.2829 left_y=-0.0007 left_z=0.1588 left_yaw=0.0841 left_pitch=-0.3138 left_roll=0.1128 left_gripper=0.9978 right_x=0.4638 right_y=0.1932 right_z=0.0321 right_yaw=1.5505 right_pitch=-0.3904 right_roll=0.0168 right_gripper=0.5397\nstate[joint_eff]: [-0.0068, -2.5231, 6.6803, 1.5604, -0.1636, -0.0464, -0.022, -0.212, -13.5316, 6.8308, 0.4371, -0.3492, -0.0122, 0.8278]",
      "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]: [-0.1432, 1.0153, 0.8364, -0.746, -0.2054, -0.1127, 0.9978, 0.453, 2.3791, 2.4207, -1.3624, -0.5117, -1.0782, 0.5422]\nstate[eef_state]: left_x=0.2816 left_y=-0.0006 left_z=0.1578 left_yaw=0.086 left_pitch=-0.32 left_roll=0.112 left_gripper=0.9978 right_x=0.4178 right_y=0.3036 right_z=0.1475 right_yaw=1.5998 right_pitch=-0.4221 right_roll=0.006 right_gripper=0.5422\nstate[joint_eff]: [-0.0479, -2.3179, 6.6667, 1.3993, -0.1685, -0.0366, -0.0171, 0.212, -14.9949, 7.9658, 0.6422, -0.3394, 0.1343, 0.1294]",
      "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]: [-0.1432, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4664, 2.3299, 1.9572, -1.0084, -0.49, -1.0386, 0.5444]\nstate[eef_state]: left_x=0.281 left_y=-0.0005 left_z=0.1573 left_yaw=0.0865 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.4024 right_y=0.2997 right_z=0.0485 right_yaw=1.6061 right_pitch=-0.4674 right_roll=0.0797 right_gripper=0.5444\nstate[joint_eff]: [-0.0205, -2.3316, 6.694, 1.3602, -0.1538, -0.0659, -0.0122, 0.0479, -14.0513, 6.4752, 0.7448, -0.4078, 0.0269, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa9e8ea71778bb5b5126f9dd43cdfa8af39f7b5c8802b32090a041539c957055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd79677fa87ac83a8696bc5a90d5d9b709bd57fec30618c6fb8a15b707f94a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9296a539c1d0e0c84d9a17532ecd1b2d3213433b8e0de3006726e2b1a8b88ba0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEoSGtoIH4RoXqt_ATNAwpwsbr_21TV70ON0P97KQOgoESLR2h-v4tbSl3ghzsewmECZobca6aZj3b9evO2rASyT0DFejdYbKzFPV-a7j11C5_YEzyhgPf5lTX2ztsZ96f_1sscT1cmSiA5LWlwHrgQuZfSBuncKZyM2wyi_oET-yfwYAimzzH1l7H8MmFmqsYuYPde0qF4-czqVowKCkquQuNAe63F4WM2LBMToyjQMdCQS_h3gss6A9A1eEbezkXBUEyBFmsqD5u241jDIvW6MIkSGSH-DFNx7eyCbsHYSFMaEPDb5RxVBzXzl7U_iuUkjBFzM3JIsy2LkOQIaSMlyedlQolAqj5NJ_mfOB9GNjyNP9yQ_3ZChagGppMI_OyjK45UEUEfSQCxKWeDDGxcnQb1yC9nFYOonQ7xnPQxRL7LF4YdF-f8_a88VXdeZy7myF935MlOQjpYIjg2QqRK9PiUOFcME8er7rKok08N6SAdNVUK__mXUS2vltGU0DOyuBB_mrcyt-7xR7RM7rgobhej_uM5G2ISJw4x5seX9qGNVaX8Sy7p6fTBDdiu9uUVcdfcr8X8_vdipk663BOimTqZOuNTtgFH0pygx4niQhUIrqcn_09PCQe3WLqZ-aVj1FRW1Lt0MkkNOjLPIMWkKNT6GqbcIrCs-YZBoEoSioxGYhG4FsY_h5Pf2obey662lPmwq50r4Fka0tfBwey1l0ofmgRDZHBsMDaaxp7l6TxxSXWUjOjNWA3gZAtaZU9NoGub5MPsnMp3OSIejmUhCM4vq8LHX_IJHAaEqnO-ajUKlIL9gxcZX_FEmRtsj6Mb563s3s54zFuC5k4_YWiwZ_JLXTDDTk-dXwg0MpRICPn7AOJkak0lyqpapgCv_5zYwNYAWjdG_9gQKieLFZjZbWLaEmA_uVHMt3kfzrSh5F4Bq-DlzcFbulWETiLm2N4_R1dDYlm_70l4XdPareVRABP6quWCxc4iT8JphPcF4BuB-RiO8j2BaAYmVewWxsZAG4l3S7MCxN4ZtGxFf5Fes88Zbx1PeIwp4F0RIJ9pq6D99zK-UyKxWEvBsFGWw4xjHxh_Zjz4Ih2EWG4J6pAJbgzLxpq90Ox787UcqLfVqPrg_DRXcwIIJBLRGRoBACbiMB6oFBZdoPaI74KSc6kxtARFp-w7JpXIesoUyLcb03jSDfF21iwTKmaCUnIrek8Bez7L_A4AsiWuLnQuQIt_DZB8UB3NmE4GYSss9NA63OS6Jw1v1hnuqhA5IkEa2dQck",
  "id": "rs_00da056f2869ecf4016ab44a115de087d0a4974caf9501e370",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The yellow object has been lowered into clear red space on the right side of the compartment, adjacent to but not on top of the white plush. I’ll open the right gripper to release it.\"}",
  "call_id": "call_7bZx9WgITFqbp5ZE6EKcOv9H",
  "id": "fc_00da056f2869ecf4016ab44a118db487d0b168e1ef6548cf65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7bZx9WgITFqbp5ZE6EKcOv9H",
  "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]: [-0.1436, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4652, 2.3302, 1.9354, -1.0012, -0.4858, -1.0393, 0.9948]\nstate[eef_state]: left_x=0.281 left_y=-0.0006 left_z=0.1573 left_yaw=0.0861 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.3995 right_y=0.2968 right_z=0.0419 right_yaw=1.6107 right_pitch=-0.4773 right_roll=0.0925 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -2.3043, 6.6803, 1.3455, -0.1538, -0.0708, -0.0171, 0.0342, -12.9983, 7.8838, 0.5397, -0.3443, -0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389d2b676492c9293eb29d00e2d889d3a1d7a85c0f12b23779ee021a5ea4d533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9254e945a08a4118f4e60e448baa1db0fec13a1b8080710b71d9b0f99daccb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54af0ee4f21793f4f134f6f2a83ef046910c6120ec3271425702e044f8209d16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.81 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]: [-0.1436, 1.0153, 0.8364, -0.7429, -0.2054, -0.1097, 0.9978, 0.1932, 2.4073, 2.3066, -1.3148, -0.5724, -1.3094, 0.5408]\nstate[eef_state]: left_x=0.2822 left_y=-0.0008 left_z=0.1583 left_yaw=0.0836 left_pitch=-0.3172 left_roll=0.1133 left_gripper=0.9978 right_x=0.4711 right_y=0.1933 right_z=0.1082 right_yaw=1.5385 right_pitch=-0.3959 right_roll=-0.0131 right_gripper=0.5408\nstate[joint_eff]: [-0.1573, -2.3179, 6.6803, 1.4139, -0.1392, -0.0415, -0.0171, -0.0068, -13.0803, 7.5009, 0.4274, -0.4322, -0.0415, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4664, 2.3299, 1.9572, -1.0084, -0.49, -1.0386, 0.5444]\nstate[eef_state]: left_x=0.281 left_y=-0.0005 left_z=0.1573 left_yaw=0.0865 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.4024 right_y=0.2997 right_z=0.0485 right_yaw=1.6061 right_pitch=-0.4674 right_roll=0.0797 right_gripper=0.5444\nstate[joint_eff]: [-0.0205, -2.3316, 6.694, 1.3602, -0.1538, -0.0659, -0.0122, 0.0479, -14.0513, 6.4752, 0.7448, -0.4078, 0.0269, 0.2173]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4652, 2.3302, 1.9354, -1.0012, -0.4858, -1.0393, 0.9948]\nstate[eef_state]: left_x=0.281 left_y=-0.0006 left_z=0.1573 left_yaw=0.0861 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.3995 right_y=0.2968 right_z=0.0419 right_yaw=1.6107 right_pitch=-0.4773 right_roll=0.0925 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -2.3043, 6.6803, 1.3455, -0.1538, -0.0708, -0.0171, 0.0342, -12.9983, 7.8838, 0.5397, -0.3443, -0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:389d2b676492c9293eb29d00e2d889d3a1d7a85c0f12b23779ee021a5ea4d533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9254e945a08a4118f4e60e448baa1db0fec13a1b8080710b71d9b0f99daccb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54af0ee4f21793f4f134f6f2a83ef046910c6120ec3271425702e044f8209d16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoY7t9NWrraHVFXCTl7frRSe3JDiNd2eO_1VJDCqRZ9eF9LeHLUFHA0pgEiGF-VkRF7TbvbzgjrFh8C-N8GxSlUXM9gIjaGyq_v4_CKb4FvB6sbKZjLiWj_p0Hbd-uH-fwmw4FxNAC8JoS327X316ofOaWGLqSEzJVfuytP5GY67JrgOKlKksuaOy1Bl_Wyz3eeQCtoTSyfZFDtCxzxFI-YCzOxq4wz6y7-w5dVLCU0Y7G2_2oCGR_zFDx7MVIDHFxkn5KKk9wsnGUqpoJPmBh5z_6G2wM4-xrNkkm2ArFtwS7m3359u70km1QqBvYvWgbLg4Eo1A8FgJfEaGMcXHl8o72ucjnwUN0Y3cymepfrIVcfXZFAaINTcXkqLteKGKVNL1jc4PyNHTk4vIKgccZ5cWbJk7fNz1TBjymCHl9r-Mzh6V_I-jc8MAVdKNOmg-FLtAaZWhRSQKBhkRij8FKxYRqN_-_B1QPZVNXgIHGQayNnixD44yDReK5SAXhKxeGho7FLPiad5h4IKs4nMTlTf7LunG1X-ShlbrIhyIJLO4DMxMrb5q3Vy6uZZJBPiTwFPA5SSvqqhIbX9EEGFHgv0ohp69ohr4CMRcgsMlGbiLGtFgbiQN7XeAOAKI4vqw0gKmlngpA-oudc1dw_oPVcnBE2bKm07Rtz0EKD6Puix1jURzwrMyR173qay5d3aK3jpqmtZvX-BnwlA8rF5gnLtcsGtTECH5nxHelk4MssPuzGTVfAMR71EeqoMVyrMNJHoGeYjDJTjLCgpULUcY87voOsx6ExJUdEe1SO4eESfIkFyuqGx8WswfdBrhzbRpTwFY3xLGlZm5ZaVfd44MRq3K9-iLM-RTo9wdKm5efn9Rhp579IRyU1gmGcEOG0krt85JF4sk1RmmvU6WYV2bBDNjyEX8NLMJvJ0EF738fDrDdQkfhnhaXVW-BIFgOf39ghhGbXN7eqQdsGkJi7bGujGxIqy5ng8qBKVcgH2Y_zRHrDcjfPcZ_D9lk_uFUs5NJ_bLocW1FGQA3ijzFDmfs8_1qtnvUBGCbt15y6xN8-um6zOOdZPKGIXzRYHt9jwiLvwrEerhd6AW1Fsd2GM_GRmGuDI0i8-EhMLr7JT_ZLfRENuk-FrA-UHEGs4LNKABW9GSPM-IxwI3ZBK1a5J3KRPAuUrsBXqatUovQgJ8ndWYl-JC5fv-0skjJuJsdaHtpC1ynP6VaKU7gVZJuHTGay4mKXoYjwRt6hxiu5hQyJxNVZPFbG2UueO0qIHD-PbRUBG4DRBiduw6eJBQa5i4qrIsIBrBq6zM0Pblt7TCgcO2EheB6Hue5Y7idJXMeh4ExErPVPMbgdqZye6a24X129HD9LimyBOCe5kJ4n-p8hqbnbcVs_RqTrvStcYHd21RyzxQaD1ADoiaJqqHDjSPmi4krZJzZhNOcAN5wNKZDdMTJ5_k-w019-PcKQn52eMJMTfpby5n8j_fx-RtsRG2zueaJLQGO1bpnk2Z7-Tt3UIchPDntGvBkzNZP7OI6M0924YShXHEJRw8GB7I_p178QgPHe7KxXnr2eWCdXQvFT3Hcu1_x7_3Ldb65k7w6Bu267ih6No8WLJsaKnSL0EVKP1WFxscWOadTsqBCPYK_krrnSEJF4Hba1OJk3f9_LF3CfwJI6aKE-rTTk-oPj4qzG_IEB1kplamEDpdymg20Ouf7zMWOmRIik7shATXfU3HYe_yVcK6pm5XXeeKHSvokVqtkqphJADd9JN1LpBE0oRy83MF9aJZqNxSfcTh4ptQA1IUVY73TR_sq09_NQSUW7ngK2dGnAkrsZkKD8IqsYHoIqckbwLm50nr6_YRYLtoVCAGD8p5hqo3866YCZ1RoKwAdM07lN27J0D_Co8nLesEcto6vqjSbD49FhIYB1Sb3UJy51uQR2qgwjHLs9vaCf0Zj8ZF_NMR4hk40Sq0ICKitfsGjS0nnaxIGd5PKeSCqIt2RSglUYQAhy3imIXhBcUzCOlFD4dXriN3u5gHnOWKetveDsqStZqD2MJFdED_0I9I9ou6QANnSQC1g64bhjHB5hQJzSTapnpBdHHmsNbFY12ohwhIKCxK9H1zoEyrnXdm9a6dszDhvtijwubN0n0L5b-FseOZ9Top36LK8fNSWQUUbf44tn_88VN198qu-oqje_i_UMxPW0rCWof0L_cXuJaurmF-agi-HhjIhvakqrlFC9aEMFsWJ_YINost0zyqBjdpqPWUh1vwhRpU9jxg1Sz6cp5Xli5GD4KqTb0jQRhl1xJ6UAFccItbLAH9_27BjiY_-AswMziLEy_g-xryBiNnLLnFht8h3rOSO7HNskuxFeffg1ZAsqTKKMVIetQaLSKFjfO5E9O4z2RspOSG_cCibZSSVH595SKrk3Qqs9Z-GI7hE77l48iuy4ZLn8YhynwsfnDsBtk39XsJXHVBHSGwuhp1pfYegIbHhKGtM7IDTiFMU7AZIuwtj5unctmhsEQsToCqLyxDowdXMhoPeb-xUeWH0K1yQ6W2GxixOQeNtTlhLMJA3ceBJQiIb6r3eFUzP8Zi_NVw_oDUg6nCxLU5_CGznkSdPBenK-0EDCvYqZdzCTE-ztBznS6W8ZhGnJiwQ0Bfta-l5rKOz0CMJS6LQK_It4txYn_LiC4TARgcW40Jv8GCiPbFIvg9Mqp0VmmYdyklqVS8nEqe5gNXiViGo4EXKHIytqs9A1nGID28E1ObUx-qTUO8CTg72OhVAd9aUzTff6zs4YU2GiQP8id1A7ZgA2ULnly19wJAEWkqUFHrJwA4W453wKDjMMwWbXGeo6ntU_ZN8A89huJzy6A8hG-cl2Q1Vld1_7TlMRxT8E191jusIjYeNeK_Vm7YGT0BS73PTK8aGd-sZ8tZUvTntsHx60M7IxGYpw39u_xRshvBOVEv40YNIYanCratzTPpPV1XGzCHgl5r7N3usCQueCcQv9e9MEFaqvWqPVzOB2xq9HBi1GpUyYPKF-zL6KuxOnVfPZT7Rdah8op2mbyfz9erZV5j1mv4NPpAxeLgw2Fct-9z8OP0WjcLI4KDdYAxpI5e7g9aCseNytM-bpXIAfyF2DRNum6PgKRU840WGo9uZZJ0lrwF1GIqNV",
  "id": "rs_00da056f2869ecf4016ab44a13fdf887d0ad96baf2c674b651",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.25,\"right_z\":0.17,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow object is visibly released on the red safe floor beside the white plush. I’ll lift the right arm out, restore its lateral jaw orientation, and hover above the brown plush’s torso near the front-center of the table.\"}",
  "call_id": "call_vUXa8vfKzLrMKmxLDSqsmOUH",
  "id": "fc_00da056f2869ecf4016ab44a17466887d0b59618ddfc0b7aff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vUXa8vfKzLrMKmxLDSqsmOUH",
  "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]: [-0.1432, 1.0172, 0.8364, -0.7643, -0.2054, -0.1135, 0.9978, 0.7292, 1.7882, 1.5375, -0.9119, 0.186, 0.5201, 0.999]\nstate[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1547 left_yaw=0.088 left_pitch=-0.3396 left_roll=0.1164 left_gripper=0.9978 right_x=0.3369 right_y=0.262 right_z=0.1436 right_yaw=0.2099 right_pitch=-0.5422 right_roll=0.0571 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -2.6462, 6.653, 1.4774, -0.1343, -0.0708, -0.0171, 0.1846, -10.1128, 9.306, 1.3016, 0.2027, 0.1832, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc075bff1fc099721d529a943391e1f44fe432064c5373ff63ee5dcdfbc5ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475409bf1d6498ccef47290db6ef8a1d6e7c4ff70722a4d63914c715b34310db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62360853c29aa2192bded9df23b047dfdeed3219bef607948311ea23cf371c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 2.524 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]: [-0.1432, 1.0153, 0.8364, -0.746, -0.2054, -0.1127, 0.9978, 0.453, 2.3791, 2.4207, -1.3624, -0.5117, -1.0782, 0.5422]\nstate[eef_state]: left_x=0.2816 left_y=-0.0006 left_z=0.1578 left_yaw=0.086 left_pitch=-0.32 left_roll=0.112 left_gripper=0.9978 right_x=0.4178 right_y=0.3036 right_z=0.1475 right_yaw=1.5998 right_pitch=-0.4221 right_roll=0.006 right_gripper=0.5422\nstate[joint_eff]: [-0.0479, -2.3179, 6.6667, 1.3993, -0.1685, -0.0366, -0.0171, 0.212, -14.9949, 7.9658, 0.6422, -0.3394, 0.1343, 0.1294]",
      "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]: [-0.1436, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4652, 2.3302, 1.9354, -1.0012, -0.4858, -1.0393, 0.9948]\nstate[eef_state]: left_x=0.281 left_y=-0.0006 left_z=0.1573 left_yaw=0.0861 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.3995 right_y=0.2968 right_z=0.0419 right_yaw=1.6107 right_pitch=-0.4773 right_roll=0.0925 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -2.3043, 6.6803, 1.3455, -0.1538, -0.0708, -0.0171, 0.0342, -12.9983, 7.8838, 0.5397, -0.3443, -0.0415, -0.1197]",
      "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]: [-0.1432, 1.0172, 0.8364, -0.7643, -0.2054, -0.1135, 0.9978, 0.7292, 1.7882, 1.5375, -0.9119, 0.186, 0.5201, 0.999]\nstate[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1547 left_yaw=0.088 left_pitch=-0.3396 left_roll=0.1164 left_gripper=0.9978 right_x=0.3369 right_y=0.262 right_z=0.1436 right_yaw=0.2099 right_pitch=-0.5422 right_roll=0.0571 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -2.6462, 6.653, 1.4774, -0.1343, -0.0708, -0.0171, 0.1846, -10.1128, 9.306, 1.3016, 0.2027, 0.1832, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc075bff1fc099721d529a943391e1f44fe432064c5373ff63ee5dcdfbc5ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475409bf1d6498ccef47290db6ef8a1d6e7c4ff70722a4d63914c715b34310db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62360853c29aa2192bded9df23b047dfdeed3219bef607948311ea23cf371c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEocnT-27Dwa5omHF9YnRwx886B-zU9qMRIqufwQMQQDVxayZ6XfO1G8yoEa0_ZHFXm4XaWwYzbT66QhVhNniruVfhNozcJX26-uC_xsiEEe6Pl1YN0YA5ntgEv8nmlBcyboswJzleZNJuDxkhsZYsIpuT4TW0_uEFoNnTuS5hoiujIqaNEkaNgx3CJFqXzCEYnAqwFjOsSmyIKuGGV9bRgc2jEfpBFuoEKfsy886qX-lHh54kiOvww2oTOuZ1FtmiL7GUL1ROTSoyOKv2fEJryyMx4kUk7CY-JyC-Mtc11memMI948bim9xcX6SKT-TS0pLb0PGWFdIz8PHeYvsbIAbsCXQu4GXPhzT_XqKUyp4vNJfdpwau0ScUQ_zktoRp3TFuUIpW7kY08xyvSzXsga6ncu6krsHvGnbaCkm17_Ii_DU4HPndPzF95sjd30RHJG3KcN58HvIY71Tlp2opGWVzcm0OGJTMEWCeve9nWzZPVkQe8bMt_Im9eTkgvpzniIr04kC1hjZOcloZi8LH4X1rbjzwuZ-54oLt2zyaak8G1Nc47NGukSNat4z_XFM4IOu6hdTzfQkTDXTDHLFNf3EXWVxwHne6viDsd4WfVm9QoZg1VgQ5Q9B8EpPq92I_wYycN2DZjExa87cRUGqlCHK94ZL6wM9kxt6GLLdFNgml0vrXor_H_btBiyzLAs6TUJVqBTnfalKScvYgBNQN7iv5Z0V972CJuUNN-RpMRXHryIqWlLQfhokGdRQbHD7F_sqOIjlSJLOzyyG50YGbwxjTfB1MJ5xg8wTvgP7gUm7lXQ-oMtv18jruanuUV2hYS9t0k1-8rf65fYoM9JYKdz11Jlt6BAw_xbYGFME7WSADOX8ZWrBqoaVQm2wPhKPT78z4O64klEi2DI9rGpmkWHBlq2KfscN54wmwhtjO_yCHzNP6c5EzlgAMNmzHjUJPrUBGQO0K-opLQzgOO69oCEpD5gMrnHcWuFBM7glNg_0BUnxLP_pmEfqz6kqnCu4DrhFI3eWgotWE2dqsZsX3O0e1PvrhiQ7Jl8K__jL-YSfMX87tNk3zcwH8McDZFgjXicGME03l0OlcvBxeIafq9cmbjLJBRfx-cL36irUt9ZowmkgTi9b0OmPU0uK33qATnZ4iE2L7Fr1bduO8tV3u4WsP4LY2orqiz7UCrbVS4jSP9HvnM6RWJyTmECQabYH7BH_-JIlHUo57nYPAykn6ST0BcxSlzN7IGiGVtVHhYuTmXJqA0dihFUJqA-J8z2ICEGBye7N8pw-5VMs75-rNFxmcbK3slLvu705OqfF9IsUrSMoAenf0utAw9PjPIzY0urBMwQY4NrWtBB4ItRqGJU_z6TmZIoYoOWxAPhJFoPGPAvg7LqyiAlQEa6MxRv58WgXt70AXzodyYvjPdKKvkxtf2L6brs7koLTRmnLL_hQf9HOijv3hJr7UXm_pD4IB7w8KhhnhlQFgvxEbTlavDmqdTNPBSoymWQhmt5L7ajFeEXHMk2sPGQjdxk6GppwQELI7H56nKbLdIUlGvP6aVLPwOMzJHRDaRSnuNU91Hp9RjHa5dZ3aCPdw2KlKT0uLwA9LfTwgqT9ArTTdVjqPgRdVx05WzTG1_8wy5Bz2LjWlJ5BLXpAE1nIFWKbc5HTCEUkMiMHWKbayEe1C0j1HiWhcNBf_64SZLrthhngtBuhbI2aq55J_hmIqYdaif2sCuIqntu5RfrypbTHG6xq9Uj8TcrEPbim9m4fA-pAgzAJSnKt7H0UsD3BbLHUsbR1BubHGSypcwh7W304TYbqZja5fxAVHlgVjm8FSfb9M5dY7v3Z0IvmDtfGrctsifSbtNOYMs3ejaNBeRr33szZBiyh2-KiWYYFYtmQ9-Ulg3_5ecROy7qwEaWM679bhetKr4T7VQktdET428_46E5cwAkjcnSItwyxdWGq5LXsZ4iacCHRT91R2dmirZikp1rAYK16UIR4fmriTBNr4HkSh9O5OiK3Zo-Yra4bC34-bnFn7BwaJgkHgb-YLSYHGyZgfxKRHgjF7i6P_Vvd7lpyo7q_S2iS0f1QYuWyKQ1Wq_t6AsoxRJUCEBSNxahL3t-ONA1Y-CozAQy838Z4ZxA-X18n5Q==",
  "id": "rs_00da056f2869ecf4016ab44a1a1a6487d09c9c0b5b12e0cdff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.26,\"right_z\":0.045,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"The brown plush’s torso fills the bottom-center of the right wrist view, with the open fingertips flanking a narrower upper-body section. I’ll descend onto that section so the jaws can compress and grip the plush across its width.\"}",
  "call_id": "call_syWZvEWUw784miVeGtjohcvF",
  "id": "fc_00da056f2869ecf4016ab44a1bdde487d08587f9be9c5191a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_syWZvEWUw784miVeGtjohcvF",
  "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]: [-0.1436, 1.0172, 0.8364, -0.7681, -0.2054, -0.1135, 0.9978, 0.7624, 1.8744, 1.2896, -0.6743, 0.2516, 0.709, 0.999]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0879 left_pitch=-0.3433 left_roll=0.1174 left_gripper=0.9978 right_x=0.3245 right_y=0.2541 right_z=0.0493 right_yaw=0.0288 right_pitch=-0.5891 right_roll=0.0224 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.4821, 6.6393, 1.3211, -0.1245, -0.0757, -0.0122, 0.1846, -8.4171, 6.1197, 0.989, 0.3101, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e2424211dcf9aac40f35590944824ca9a8bf2a4d65707359eff616efb3e688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476ff38233a8b778cc12df351f57877362da01f0280c9a4deae827fe81e8beb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6016192e1b6b4343de3d90d6b8b280675e9b7340ae5e4f1a4760dea23040974f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.927 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4664, 2.3299, 1.9572, -1.0084, -0.49, -1.0386, 0.5444]\nstate[eef_state]: left_x=0.281 left_y=-0.0005 left_z=0.1573 left_yaw=0.0865 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.4024 right_y=0.2997 right_z=0.0485 right_yaw=1.6061 right_pitch=-0.4674 right_roll=0.0797 right_gripper=0.5444\nstate[joint_eff]: [-0.0205, -2.3316, 6.694, 1.3602, -0.1538, -0.0659, -0.0122, 0.0479, -14.0513, 6.4752, 0.7448, -0.4078, 0.0269, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1432, 1.0172, 0.8364, -0.7643, -0.2054, -0.1135, 0.9978, 0.7292, 1.7882, 1.5375, -0.9119, 0.186, 0.5201, 0.999]\nstate[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1547 left_yaw=0.088 left_pitch=-0.3396 left_roll=0.1164 left_gripper=0.9978 right_x=0.3369 right_y=0.262 right_z=0.1436 right_yaw=0.2099 right_pitch=-0.5422 right_roll=0.0571 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -2.6462, 6.653, 1.4774, -0.1343, -0.0708, -0.0171, 0.1846, -10.1128, 9.306, 1.3016, 0.2027, 0.1832, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.8364, -0.7681, -0.2054, -0.1135, 0.9978, 0.7624, 1.8744, 1.2896, -0.6743, 0.2516, 0.709, 0.999]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0879 left_pitch=-0.3433 left_roll=0.1174 left_gripper=0.9978 right_x=0.3245 right_y=0.2541 right_z=0.0493 right_yaw=0.0288 right_pitch=-0.5891 right_roll=0.0224 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.4821, 6.6393, 1.3211, -0.1245, -0.0757, -0.0122, 0.1846, -8.4171, 6.1197, 0.989, 0.3101, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e2424211dcf9aac40f35590944824ca9a8bf2a4d65707359eff616efb3e688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:476ff38233a8b778cc12df351f57877362da01f0280c9a4deae827fe81e8beb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6016192e1b6b4343de3d90d6b8b280675e9b7340ae5e4f1a4760dea23040974f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEog-XZV_YDy2ADQu4Eps_0Ravq2l09ZOkDdF0z2hA2XNyVU8VH4V-vL0-ybF1_pX4QFRSGV8XhtYzJ0H_pdspmOa6B7sEH26bCGpdpyQPi1FHC1iggPPBSuj4LnV9mYIXG0QzWVU1KPFSxnnE7lrjtYWC8k8hHcaQNqoHsljloaBGT9Z00rAOr4Y-j-Lxz5Ohmu-F5LG_Pzwq7nWz4nX7tSDan5Yuc47y8e7fktiDIp43Czo3ypJxOXsRt-GDGGXNXhWK_DxVPknIyLePidYmhXXVPPcwMq27hgnBo9gVIrHFnPq_6QXwJRzjaPmhZQDrC3qpqiYaqRr2t_15AeHnslm2FMkuSIQYaH4FeKcekVN6eZmEEtO0ye80mZBLXQMByTUsOdiTlBNEoT1hdy-dt9TzBQruBbsCQ1Upr8WR0hRdFJKHCcjMlOtyQhgsc7BMbADkBiD_lkBsFs3Y7SJyKYvENP7IJkV5scxoqXcQZrYY7eaV7XffnCfdXFuaDb5ZhRmFS3bO3wvrBmVYxzPj4iAvj2Mrtip9cg1xfxIVxVr9acOhG8gnwEid5KtsBVWibFDbK4Qw_a2CV5x50XcWhp0UWWtkbnvULL0ya-pFubzmR4c8Yv7UAi9sA3QQQVM1s3uU6xco6adGtxVn3FrMqZeZDfZ4xbk93WiUGiH8Wor6mJR-hVd5ck7jpD8fdSIyVhLo69uaKdif0o4OBJ-qp_VPmO2_JZXFlz3YjWBL850aLU0gBQ2YfYsOpOQuq4ji3NQnBj3OCx1WsrfSCJtGq6wKMybHd-xg_OCqIVCXZtihGwIDtNod7wSz95kqgrcvTWOj0q6GQco-gtjbCeaTwjmJZdjrbd-brfFVCZi5HaNgz87QPVa2JNvNasEzzPkhKGDLKsXSVg7ESjV8etZ_yECOI7iNmrM0cjW7-mC47kHtffuH14R2E9wqGpauCmfib68lMK6Kyeus7ifrmrrGkqBCGgrwcPJWLUEKwMZkos2Dm2yhmOzQDl7AGZ5lbzmgCP5KvorTWeFTTXVIq9mndRw9CK3AaKKXeLt6o5VblERXHQtMEji1rDLzQm9ZOJ4o_bihzi2oBCy_YoFnayj1jCUqn4dsGBpZZbf_aAYUiZPVMtSdGpNqFi2tqk8hiiG2Oou_G7O5G7vvKZCr1jPJPbJH2e0puwWHFnLFV88kxOyDHrm0rJZQdgEAu220PE1v35oI83tsaGoPLRv90SasP7-iM2uIDAQUVJ3yzxhHwh69ccza1GpgFjA7Og1BB4ClkpQJdgEsaGq91VMGFfn9oAIKjNPTc_FtImTN1iLUmMp3o07CqMxuIKr8wfnj0ITLxCWYsbCT_VZvO0I8No38IiMLXvUlOafOIjjAVc6unihqHPqgH0xw-FHloEVgUIpbp3xPlEk61SGM3yW-bYHvqnakjQNSZeP8P9ZYDlvJljdiH3HssinTsnP0JGj0qBrDyW",
  "id": "rs_00da056f2869ecf4016ab44a1e8d0087d0a8f5869761915598",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lowered pose the two jaws sit on opposite sides of the brown plush’s furry torso, below the safe rim and clear of the other objects. I’ll close fully so the soft body compresses into a secure grasp.\"}",
  "call_id": "call_hfE4N6PYmCppzc3r0tFxDdz7",
  "id": "fc_00da056f2869ecf4016ab44a1f458087d09836588abfd5ecd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hfE4N6PYmCppzc3r0tFxDdz7",
  "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]: [-0.1436, 1.0172, 0.8364, -0.7685, -0.2054, -0.1131, 0.9978, 0.7639, 1.8946, 1.2736, -0.675, 0.247, 0.7074, 0.0164]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0877 left_pitch=-0.3437 left_roll=0.1177 left_gripper=0.9978 right_x=0.3188 right_y=0.2505 right_z=0.0364 right_yaw=0.0177 right_pitch=-0.6193 right_roll=-0.0046 right_gripper=0.0164\nstate[joint_eff]: [-0.212, -2.4274, 6.6393, 1.2918, -0.1441, -0.0464, -0.0171, -0.2256, -11.1385, 7.1316, 0.8181, 0.1587, -0.0122, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f21abd230d7eda229c7ca12316ed8205a8f882a9512a62aedc3337d4a277ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a26ea0e5d2231f51a6128c364f60321273fd9cd34fe4af1e48877054bc2fd26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c22cd98b3dd8ba1f5200f7307cedfbd86414ec6464230030fabb3df2329f826",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.899 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0153, 0.8364, -0.7494, -0.2054, -0.1131, 0.9978, 0.4652, 2.3302, 1.9354, -1.0012, -0.4858, -1.0393, 0.9948]\nstate[eef_state]: left_x=0.281 left_y=-0.0006 left_z=0.1573 left_yaw=0.0861 left_pitch=-0.3233 left_roll=0.1126 left_gripper=0.9978 right_x=0.3995 right_y=0.2968 right_z=0.0419 right_yaw=1.6107 right_pitch=-0.4773 right_roll=0.0925 right_gripper=0.9948\nstate[joint_eff]: [-0.1846, -2.3043, 6.6803, 1.3455, -0.1538, -0.0708, -0.0171, 0.0342, -12.9983, 7.8838, 0.5397, -0.3443, -0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.8364, -0.7681, -0.2054, -0.1135, 0.9978, 0.7624, 1.8744, 1.2896, -0.6743, 0.2516, 0.709, 0.999]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0879 left_pitch=-0.3433 left_roll=0.1174 left_gripper=0.9978 right_x=0.3245 right_y=0.2541 right_z=0.0493 right_yaw=0.0288 right_pitch=-0.5891 right_roll=0.0224 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.4821, 6.6393, 1.3211, -0.1245, -0.0757, -0.0122, 0.1846, -8.4171, 6.1197, 0.989, 0.3101, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.8364, -0.7685, -0.2054, -0.1131, 0.9978, 0.7639, 1.8946, 1.2736, -0.675, 0.247, 0.7074, 0.0164]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0877 left_pitch=-0.3437 left_roll=0.1177 left_gripper=0.9978 right_x=0.3188 right_y=0.2505 right_z=0.0364 right_yaw=0.0177 right_pitch=-0.6193 right_roll=-0.0046 right_gripper=0.0164\nstate[joint_eff]: [-0.212, -2.4274, 6.6393, 1.2918, -0.1441, -0.0464, -0.0171, -0.2256, -11.1385, 7.1316, 0.8181, 0.1587, -0.0122, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f21abd230d7eda229c7ca12316ed8205a8f882a9512a62aedc3337d4a277ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a26ea0e5d2231f51a6128c364f60321273fd9cd34fe4af1e48877054bc2fd26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c22cd98b3dd8ba1f5200f7307cedfbd86414ec6464230030fabb3df2329f826",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00da056f2869ecf4016ab44a22469887d0be7974ab5a13335e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.25,\"right_z\":0.1,\"right_gripper\":1.0},\"note\":\"The right gripper settled at the empty value, and the overhead view shows it had closed on the narrow gap just above the brown plush’s main torso. I’ll reopen, lift slightly, and shift several centimeters toward the bases to center the jaws over the thicker body for one retry.\"}",
  "call_id": "call_PLVjXeNGyZuW9Au4ugE3sZ05",
  "id": "fc_00da056f2869ecf4016ab44a25ca2487d09b5df89eb75a018d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PLVjXeNGyZuW9Au4ugE3sZ05",
  "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]: [-0.1436, 1.0172, 0.836, -0.775, -0.2054, -0.1131, 0.9978, 0.8463, 1.7569, 1.2907, -0.8726, 0.2634, 0.7708, 0.9945]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.153 left_yaw=0.0883 left_pitch=-0.3504 left_roll=0.1194 left_gripper=0.9978 right_x=0.2769 right_y=0.2489 right_z=0.0809 right_yaw=0.0227 right_pitch=-0.6379 right_roll=-0.0284 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -2.2769, 6.8581, 1.3993, -0.1587, -0.0611, -0.0171, 0.4718, -10.5094, 8.3487, 0.7643, 0.2955, 0.0855, 0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fda05f5461aa07f182c49b356bfafe80ce9e3a30688491a7e7d930f963261a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632aea6cd76a4cd969876f1eef5dc7b87da1f874ac78603a170df436250da1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed3b31ff6f6229986321aa02f3740c6f13ac6f6f5737ff533709227785ca905",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 2.44 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0172, 0.8364, -0.7643, -0.2054, -0.1135, 0.9978, 0.7292, 1.7882, 1.5375, -0.9119, 0.186, 0.5201, 0.999]\nstate[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1547 left_yaw=0.088 left_pitch=-0.3396 left_roll=0.1164 left_gripper=0.9978 right_x=0.3369 right_y=0.262 right_z=0.1436 right_yaw=0.2099 right_pitch=-0.5422 right_roll=0.0571 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -2.6462, 6.653, 1.4774, -0.1343, -0.0708, -0.0171, 0.1846, -10.1128, 9.306, 1.3016, 0.2027, 0.1832, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.8364, -0.7685, -0.2054, -0.1131, 0.9978, 0.7639, 1.8946, 1.2736, -0.675, 0.247, 0.7074, 0.0164]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0877 left_pitch=-0.3437 left_roll=0.1177 left_gripper=0.9978 right_x=0.3188 right_y=0.2505 right_z=0.0364 right_yaw=0.0177 right_pitch=-0.6193 right_roll=-0.0046 right_gripper=0.0164\nstate[joint_eff]: [-0.212, -2.4274, 6.6393, 1.2918, -0.1441, -0.0464, -0.0171, -0.2256, -11.1385, 7.1316, 0.8181, 0.1587, -0.0122, 0.7692]\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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.836, -0.775, -0.2054, -0.1131, 0.9978, 0.8463, 1.7569, 1.2907, -0.8726, 0.2634, 0.7708, 0.9945]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.153 left_yaw=0.0883 left_pitch=-0.3504 left_roll=0.1194 left_gripper=0.9978 right_x=0.2769 right_y=0.2489 right_z=0.0809 right_yaw=0.0227 right_pitch=-0.6379 right_roll=-0.0284 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -2.2769, 6.8581, 1.3993, -0.1587, -0.0611, -0.0171, 0.4718, -10.5094, 8.3487, 0.7643, 0.2955, 0.0855, 0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fda05f5461aa07f182c49b356bfafe80ce9e3a30688491a7e7d930f963261a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6632aea6cd76a4cd969876f1eef5dc7b87da1f874ac78603a170df436250da1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ed3b31ff6f6229986321aa02f3740c6f13ac6f6f5737ff533709227785ca905",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEoq1WqL5yRC2a0ct2BFCsVTjnbSKfXAP1eO5T2LsSFHOuh6oBP0WXQwkV1lgvFlH5OUuQIVKy4HuXHNEhq5f0a-qfiu17GYK6d1UvVhxFEho1lKWXieZRMFGFsPEGJOxWX7uAQkiCF2N0FEaaryMBYbFJr-eO0VTx9Q3pD6STXtCyV9F7edGUyIQjNnnVM0_v-i1PWLi-KMJFOaB4e95ydhYYpT03cL_G5D9l8ozCqekKJm-YmVcv9hZt_kW2kaxaW5S3w6m7a3_iVIS6rX110a202lpaJInKo8xG5mXll-yFSsSwYwJacBaCfV0ocKCiqakHa5n83iZtevqXUDbfLN_N3cMg6GF708Bs-4snIlh7AzwB_0QekkGSDqHil4bn25CHpDUj9yb5dnkAaxfpwScOhm2lCPu3gKzvDFKshApH8ZwfAPMP5vjJO8Lu7rWIwADTfMn_fREX5hArHN8s2Gk0IhgXwiVHMciLGxSqikhZKWitMKNaU5uO1bcRXuV1qKF6MQ-5WEKAkHpQjPC_lrDydCL39iQpAlIYHmrlkeN6Vun6jtyfUS-ecFZYbAHWXj2zK_7Vi2ORpdwcvlWG0vYv9ie7xkNjwGfwYWNqIbtUuBsX_DzibEh39asOOmFidPR7-_nFVcNcCMzNpjSgFyrCyzCzj6Ra6BJ5arjhJoZhPtgVaCbICllFii0zw83oxDMaoVNrCBBXytyKRCsJF0etbuVtIwUxUFa0xax6YsVEzgNNSI9oxwosouv4Uj5rPSbyEcTnO81SBP_4UsVraJHw_Q2ufffWPfYLHSJjXc7uovaoZGLXR0Vw-YDxveJRY6lT-F-ZQ8M-KYD3pQFSDoeybOoztrdDeExUavSnuEhx_9TBMU0NI83SPHmCUdok1vqySFyCs9FKK9vWBZs3UQW3Zvgzungz8tsiZX525AklK4vQgE4TKzp9Fj0bY0BL_UKBXHwCYnxbBt3kZMc5308e4jnpfPRBavPrNL3Qwv0K6Eq0aXceGuoQEdLJnEFdlrr3eDzUtdAypJX3TCDFPi5gKcAhjqnlWbslZLDlweeOKes0QoObw2BZqxTQNEFwBIMX_bSmcWMYqzUIYfSUpx-HBPdlbykF1_Gc2PVmxUPD-1D4iyzyXPtvuxJdpvqr2cbowk_7RoMpMqewVM5cKyva-iKTFS4a1jpbZA28VCePKwbSaOHB8k_HJz2k2PWtQR0QGxVr5vuOlvSjcXJk4mnLjnJSRbbJ75G9zUx3TUjk949XqH-mj1M47jHGsaU5sIiY18b9YsaNEUh76t_ZcvMTvnbnladOorp33F07k_ajnG6LEG3EttvpQrYEJqnHMoljdCnxYE7UIBxyKLAJZO-oOL-qxtjYmivrIpgsbQs1WLKy4W6yHmj_VfZozkvaHTLj6tkKvzbfNmnNjZrqlajz2LGuNi84-qPSGjdVLe5G4F6AacCsVmkSuCE1D8ltOc2bTlbzMJ1HHsHy3VP-OBJeEXl1ykO2fCZlpa6ahW8mw3UnGfdOrzWbrKeNvunlXc",
  "id": "rs_00da056f2869ecf4016ab44a28f22087d0bf6d2f2a13d7e4d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.25,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The repositioned wrist view now shows the brown plush’s thick furry torso centered squarely between the open jaws, rather than the neck gap. I’ll descend straight down to grasp across this broader section.\"}",
  "call_id": "call_04VJL8ZbsPckfLzpbPcBSo4G",
  "id": "fc_00da056f2869ecf4016ab44a29d0ec87d0a1fb4b9e12d216c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_04VJL8ZbsPckfLzpbPcBSo4G",
  "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]: [-0.1432, 1.0172, 0.836, -0.7803, -0.2054, -0.1131, 0.9977, 0.8516, 1.8061, 1.1358, -0.7177, 0.276, 0.7746, 0.999]\nstate[eef_state]: left_x=0.275 left_y=0.0004 left_z=0.1523 left_yaw=0.0891 left_pitch=-0.3556 left_roll=0.1207 left_gripper=0.9977 right_x=0.2669 right_y=0.2372 right_z=0.0277 right_yaw=-0.0113 right_pitch=-0.6613 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -2.4821, 6.612, 1.3797, -0.1538, -0.0171, -0.0171, 0.0889, -8.4308, 6.4615, 0.9402, 0.2808, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92874534e204fbfd70be4798106b774a6e45ad86930363cbc26b2fef3b25b9b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3508c3f48e1f5736764a65c359fe9cb66bda08e59e6ce97cf2af6594e1f1347a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7505d31b1fbff05516d8c90719d11e6b68ada3c008b4b0779bc469b82a5849",
      "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 · 6.874 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.8364, -0.7681, -0.2054, -0.1135, 0.9978, 0.7624, 1.8744, 1.2896, -0.6743, 0.2516, 0.709, 0.999]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0879 left_pitch=-0.3433 left_roll=0.1174 left_gripper=0.9978 right_x=0.3245 right_y=0.2541 right_z=0.0493 right_yaw=0.0288 right_pitch=-0.5891 right_roll=0.0224 right_gripper=0.999\nstate[joint_eff]: [-0.1436, -2.4821, 6.6393, 1.3211, -0.1245, -0.0757, -0.0122, 0.1846, -8.4171, 6.1197, 0.989, 0.3101, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.836, -0.775, -0.2054, -0.1131, 0.9978, 0.8463, 1.7569, 1.2907, -0.8726, 0.2634, 0.7708, 0.9945]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.153 left_yaw=0.0883 left_pitch=-0.3504 left_roll=0.1194 left_gripper=0.9978 right_x=0.2769 right_y=0.2489 right_z=0.0809 right_yaw=0.0227 right_pitch=-0.6379 right_roll=-0.0284 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -2.2769, 6.8581, 1.3993, -0.1587, -0.0611, -0.0171, 0.4718, -10.5094, 8.3487, 0.7643, 0.2955, 0.0855, 0.0171]\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 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0172, 0.836, -0.7803, -0.2054, -0.1131, 0.9977, 0.8516, 1.8061, 1.1358, -0.7177, 0.276, 0.7746, 0.999]\nstate[eef_state]: left_x=0.275 left_y=0.0004 left_z=0.1523 left_yaw=0.0891 left_pitch=-0.3556 left_roll=0.1207 left_gripper=0.9977 right_x=0.2669 right_y=0.2372 right_z=0.0277 right_yaw=-0.0113 right_pitch=-0.6613 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -2.4821, 6.612, 1.3797, -0.1538, -0.0171, -0.0171, 0.0889, -8.4308, 6.4615, 0.9402, 0.2808, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92874534e204fbfd70be4798106b774a6e45ad86930363cbc26b2fef3b25b9b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3508c3f48e1f5736764a65c359fe9cb66bda08e59e6ce97cf2af6594e1f1347a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7505d31b1fbff05516d8c90719d11e6b68ada3c008b4b0779bc469b82a5849",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEotyzt8Vpp7sxqCsI9rZrschXo9An-M-L4_J9V3LPzHejCCSSsZ_-faTdcUoQ-19g_4_ald-pWwHM9vxz9tpTsrq0aGWDdM2WQRoIItesf5xHl1uoIZ6aJPaL29ahuDf-nTPfDxIkzxxoYmiU0uktHHmTDyzXBA1Lho9tkLiQhRJ04keJexFzXbDbX-LYBWc0xczs1310zukqpImWCEQTV-nbKkZf-R6pkGELd-ALl-6dm4Hm59XmeWTF8Ph0D2aO_VqOuazqVhVInw-23NyTEpmBZwlL0-jluhPdR9xPuJLHx9Igz2XOoqMU_Kcg2cp-xX0zHr6WH8OoQq7ipAsgdzIzhaDQGdcdzsgBKMWv0ty-fdIeAecyyj90rHl2dZXkASdx-Hc503LEvxqiFbgmYqfs14kc-aBXHWFejvUHKgi12UaqZ123rIhiDGAMj6KzwN-017cRGRv5YjOJBu41Zj9OQItRi1H--_92ya2BF7hnFBKgSUpmdZ8F9NBAErHvB5NKO0v8FfdHTe43nFoPU1XKAaBVRMGi2asPG321rClDU54Hjuzrc8tnLB0stSgEDLbNvrmUI7IoO3GDK5ODAKCk3jONkWTG5v54UH6SjEDOyNy_UPa9pe9hluMHJbl1afqLASVJ0lMWQ94c_XUlueChpjiYMqpis0hteblCUd-X7EMhIupMKUlVzVfLF4rAt3yPZ5FOCVFwqqbPBhDFANlRJOnp4uPuNUQUUvJLchf_2cUn7vG1iwVB5eAfCaJI5G6kmtIL9moaaRh3SjEJIhqrLLhsAeREu5UxHNXEJ7-Jcjbsy9OvYjJJqjFnZyxI-JQa5UVuCp5LY4iOVv8D6N9lHp_AejCcAVmZkfnR8j5r8XGv1F0lUEjfzJi3qppvC6LLykGppoJaKzrrXYUCnsK-zbm-NfRFWmgjR_ZIQVER6HJHI9QOLQvb9VXh1qX7a6OdFpAPR6XAv9FGpYb5hPJMcr_mL7VSGl5hOw7GqbNyOevQ0r0gBbHPXoMAbgYBUx_Nynax1BD10TFKiN0hGeP_XVcOhBdt_I-yjM495d6wA-z8rDWkdcKxuAo8_k4u953b1RKP2HSU9W0h6licmg1uoKi4g0P2up7bSjFi_4fBBpdlv-e0DL8ekRM6viZsorYviIL5ddFDc0Oyy_rhaScsNDXTVRWHkG0M5yL4NJKUU6tvFMdQPpNDTnsTobIEin1pJXZ70RnX4ZVjDFkpsGrYbZfaH_c_RFlEH4YzYN_sIbc6GwEqXWfTuo0O9bGgo5",
  "id": "rs_00da056f2869ecf4016ab44a2c69c887d0bea60fad78d3d4de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table level the plush torso remains centered and visibly spans between the two fingertips, with each jaw alongside the fur. I’ll close fully for the torso grasp and check the resulting opening.\"}",
  "call_id": "call_F04jvWTQiYTQttX3Xaj0XojJ",
  "id": "fc_00da056f2869ecf4016ab44a2c8ab487d0aaf1f23050168956",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F04jvWTQiYTQttX3Xaj0XojJ",
  "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]: [-0.1436, 1.0183, 0.836, -0.7906, -0.2054, -0.1131, 0.9977, 0.8722, 1.8034, 1.0874, -0.6628, 0.3073, 0.7795, 0.0163]\nstate[eef_state]: left_x=0.273 left_y=0.0006 left_z=0.1506 left_yaw=0.0898 left_pitch=-0.3667 left_roll=0.1235 left_gripper=0.9977 right_x=0.2635 right_y=0.2363 right_z=0.0194 right_yaw=-0.0096 right_pitch=-0.6316 right_roll=-0.0972 right_gripper=0.0163\nstate[joint_eff]: [-0.1436, -2.5504, 6.8171, 1.3748, -0.1294, -0.0513, -0.0073, 0.212, -9.894, 5.6821, 0.6813, 0.3492, 0.0952, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042e95ced903825ea48e314f9f6be0330ba871d974a52c2b1b87d932839a5343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c811d938d69cb7a05ed7f2017ff94b035e065dceb0f98e32838c7181de132b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b18b621f80856b43d40ec1ef09be3599809e35680fad6dea740290ff000bd0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.289 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.8364, -0.7685, -0.2054, -0.1131, 0.9978, 0.7639, 1.8946, 1.2736, -0.675, 0.247, 0.7074, 0.0164]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1541 left_yaw=0.0877 left_pitch=-0.3437 left_roll=0.1177 left_gripper=0.9978 right_x=0.3188 right_y=0.2505 right_z=0.0364 right_yaw=0.0177 right_pitch=-0.6193 right_roll=-0.0046 right_gripper=0.0164\nstate[joint_eff]: [-0.212, -2.4274, 6.6393, 1.2918, -0.1441, -0.0464, -0.0171, -0.2256, -11.1385, 7.1316, 0.8181, 0.1587, -0.0122, 0.7692]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0172, 0.836, -0.7803, -0.2054, -0.1131, 0.9977, 0.8516, 1.8061, 1.1358, -0.7177, 0.276, 0.7746, 0.999]\nstate[eef_state]: left_x=0.275 left_y=0.0004 left_z=0.1523 left_yaw=0.0891 left_pitch=-0.3556 left_roll=0.1207 left_gripper=0.9977 right_x=0.2669 right_y=0.2372 right_z=0.0277 right_yaw=-0.0113 right_pitch=-0.6613 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -2.4821, 6.612, 1.3797, -0.1538, -0.0171, -0.0171, 0.0889, -8.4308, 6.4615, 0.9402, 0.2808, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7906, -0.2054, -0.1131, 0.9977, 0.8722, 1.8034, 1.0874, -0.6628, 0.3073, 0.7795, 0.0163]\nstate[eef_state]: left_x=0.273 left_y=0.0006 left_z=0.1506 left_yaw=0.0898 left_pitch=-0.3667 left_roll=0.1235 left_gripper=0.9977 right_x=0.2635 right_y=0.2363 right_z=0.0194 right_yaw=-0.0096 right_pitch=-0.6316 right_roll=-0.0972 right_gripper=0.0163\nstate[joint_eff]: [-0.1436, -2.5504, 6.8171, 1.3748, -0.1294, -0.0513, -0.0073, 0.212, -9.894, 5.6821, 0.6813, 0.3492, 0.0952, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:042e95ced903825ea48e314f9f6be0330ba871d974a52c2b1b87d932839a5343",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c811d938d69cb7a05ed7f2017ff94b035e065dceb0f98e32838c7181de132b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21b18b621f80856b43d40ec1ef09be3599809e35680fad6dea740290ff000bd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEo1S5mcrH3bOcMorfVgGYhtMNHdNBDXmgrciRwD0PyX_f-tTcI8lj8izZMfW77IhHPDJ6c3sNEaDodh0-mBIaRktwpZF7iJDNLXn6r0zb9B-wCOSL8FM4eGlCahjX4Pw388bzBe6P5J1eHQP3Hb3_qhSYCjdQ-x0-qYiAzDjFLi1B8_vtDXT3TubvhGJsbHJQTZsDQ_zVQfF_xEAyCth0GLbehKvfnB0jeDKy4sURdUMSN_A5CJ16Yc2jxs2_popBn3ET9FZoXKmYgadqztw2pDLzRSYw8Zy_FAuuJ5keQ0sZbiPNqAgHy_mhsxXq-s6OGW-ascRjbUTMCaI3odUF84biUiG_KL9nBLCxsSv5z0XZ49lHbjcm7KAPXcHhieMka_J73QDMYzbJz5pd3esPpS5jpVkkjHkjye1MUiA_QgJ_eRBkxCViTblSIVTzdpt0vAV8jcxCs9cAhlJwgBIxijAb-TqV_rzxCqRwe5HOk65G63IP3-vmnSdEWhCXoDfq42xADkbwkc9CTQcVwY7A_TjFu_rXuEqeX7NqbrSuHAg0mhf-kiL4fiHnox53FNFQT3tj3G_AmPxuY0ZoPCPEGK4xLvC3Hm3KtVJOpSSGCglxgnHdhSAQfbBwNR9mnzUizbhETZ_U1Vg58xq_fsUPDv8HgTYKfwL-TemE2fvl5mPn2Ce7eafvcV__Q_ougl2doH6LEO3cSliZIMqSKO1El2RyFItQTE7RxLTquOxAOsYkowx_gLb-a6TIyyx6dOoWydxWai-vrhY0PFZbyUe94CHwQBkMNThiQm3JwRRCPEPEDKZhmYIoDDyB4TcjCD5G2qp7BQblQBUm7UYMsjD6iPZPsuD92X_t-STK9N7DeSJaWuzr_6l7qrE2hZYG_cuH0WJHQC3jfToXm9Up-GvWBw5v_dPBeCMl49qgzEZHdtUo-s_Qo3ataOqAU5M0zYh1Pv-nqc1rUYq5UZMkGvN2A_3mHD8q8kNRVmgaRFVzLdSyg2RiTUTbR_MkleLNw0lpOYDQU9WOHlfg4DG0ZA0LFjyCfBw2EVGvqOCCMk4tNA7PFUP_O7GvJ6YwofiTI0kKGhq6EUZBqa3X_hU0Ayz5gXTE66QA92zyortIU8AU9FbPU3TcFmA0IG_c5Zc7_HWB6glcfRHOqKQPYpfyw4uEi8VYtfUXRbWyVB2lq4fhkSIHN1cLVWgiw1SlD67BrEVBRcV7zlKiA8hdJgnLLo3_kkNHvxlKRxadB-XP_lZ8jhojO6wWG9JbcMSv9LDY6gHqmIEqrITcZfQpWBkR9DgzuNYB0WXil_pteVgak5Skt40Gr_7xOsr2dBW-Zaxm2zczMW0VX5kp8ltHFK9XbNccs3LEd6BptFZgq9vfSsd25LJLXnaiuufYmMmtNRxz0RRItrKwCrae0zQE-gRWtLawrYubAgf_74Svh_HYZ6EvjDw1NjDLsFWVl8rOHRn5TvBTOR_n7Hztt-sT6AIDCL2DqhDLD_HtvNSJL4oBLIqWLYt837O6s2sIrBLSKNFwFvxaSMf6II7jFqdo3K6rSP46eMBFsxyt0VBjeMfoBg_xA8H96275bHk1FW0Rdo8OdgABuNFdFY2vyb2GYDG2JDvHmczPfyexbfDJAYyVXAyKzlBfcqJktnCP745otxMJ5zopAfELzYhCKGzmOZcHsoCta4lfDIkTVANte88q2thBnksD2NfyEA4DWhWQ5K3WlOQF2Rv8NVXQLWIGqtzLJDoazarzLC4y-B0jPJAy62oZg63l3-NrP4Agb4rlw2IINpRjPkbnGFPGIPU-Qq9QzX2MyRetWUswj2pCN8bErGCUjUp6xgXA_vkpfXCMj-vE77ykV_SRFa_auNbXkyOWx_V640tvWrRsno58FJW8zvfPyOLaUv_XiQVQPpGy6hsYSTQBfng66CbzHt6xGHD2EpwNZLLgEm2zImvy7Jg0x5AMBxqQWOwLE99Gn29ApMHlfyCtJ6ZIUWJq6AGV3LXx8eegvs1trY9G3-hbRmkZUiMtx71hvl_o-szXuFNfgSwyY4Zlj72maF57g1bqcOxBf9M1f26vV2xppek81U4_IzaHMb81IiNmLoDNNlX-hNrfLEr2db-sJAMTION9ALVRxs5xR8oe0H5GUevV2Xog_uUzzLp1eIR9gR8hFLJzB_9plktqsmtZm7DKiYFveQWZ1PJ5lVy96dCKKWn58DS_eT174i4TjE5lZt-sfGj2_BFJ6xrtwjP6pntvUTfbBtQqG2aaTG1oDyo_h_ZwN8kOeHnEDoNJAOtjYqV8Lxy5wSfu-hvqPFuh4N6sfuKbwNTqjnpLdyTH9Uw6-wiSZNhBrgU2cmMTESE_TFDEonjfeSYmbk4mvKKHADpwuAzJAdxc9wV2M5RqGo7YpGSbm_Bg9Hclb0FMi6646qJ5GgEe2OXGxo5r46dj6S6TuqizcrpZtbbolbdjOz2V0YUwRkYo2MtaINxpke_6sn9V6ooCF6JWRkU7EFkUo0uEThoITBaMps3PxMcSqXHFZTB4SKZRVcwCGoRL7cySCA5l0x4IwFbAW1aA4lu55l9Y-1b9V1laqnXIWjlzBcUNfGr2bBlR1AA6TFcaC_i4IN6Sw3LZxda1HabsKDqHgk9J4tP3OdAA1PILdTlnwQ91eo4eockMT8j6ckA9hTQP9bXk3rI_bS9d8N2RKLoYr4xE01QeB_TVaqTpOlg6hTGtk9prw3glzOK42ftG0Wkiti6IkkS0uvMCVa_fH-QGQWPJc-BPaesSJUASH9wfZXDQrP-5bJvYsxs5AmWct-Z3IIuCaBqvceWgkPbbmE49-DnLzWmdo6HUlaH2RJ6EIGVkrTqQd8TzdD6qF2x_1wTYz6V0aH6mUYQfNyekBqmucbnNQpkxrZM8K0Cm6pqmzp-ylHMdKrPcmQFlbvx46RStXnwmwaW8l9DJ-W-hFTGIihlkx4kd0PAk7mwCkHcFNBI1NJ6WJSKS3UJSDo7al9PaERbqonZcR2crLCxilxusWtFNxNhuibenlaYnZUAka-btwN9A7YMV_LNmSWNx3VlIld2QHpBk4vaMZwZULUVZddeAIx24tPBA-KUnPZ00zx3Gc4lca-3EZ21f-IQD0VDM1mfk-UorMCk4cl0ohvNtDe2VqmQERxl_CyhDw43mLzLJRPlTxR5ZvBLVAWVlAZPexUKS-9pIm7Kj7rU3NgFWwoasLoO4iz8hfn_qzjb2ZOlX8LB2YmsfB6vdmLdylot0dbc5KqMYCBzalx_B1z4ZJK40h2IbkBLdsXQwKHydC22JlU6jf2siyr4OXYy6o-k1aULWIn0tF0nN3BVuVaNDq0y6VfWkw9LrKt0z8emjMZSrLvjc6uFvaWDZ5GZolqJZASdcleZlph2shvBaYjtxRWBIpTrseuJYRFHvuHoaS3wWhYcpDGeDolZd5_FSzyWPHzriAxfTS-sGS_yU61rPtl7kAMUr2g3LedJdh_dU4jK-L5Vzvdu5mklqeu2xpL_QmazS3W1_IunNudzQ2yFcSIenM_7jCTvZ-h5QJ_4Z764fSn10N6XzB4TrjxIbFWH1dfa-OBcG3NmmY9RpLWMufbdWy4vqM5703mqayjiQ==",
  "id": "rs_00da056f2869ecf4016ab44a2fe4e487d086e0e924640ecf12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.285,\"right_z\":0.09,\"right_gripper\":1.0},\"note\":\"The second close is also empty; the close-up reveals the brown toy has a loop-like torso, so both attempts closed through its central gap rather than on material. I’ll reopen and shift laterally over the thick furry left side of that loop, using the overhead and wrist views to target solid material.\"}",
  "call_id": "call_OgTQgN4iIkqXm2g03FSSrDG4",
  "id": "fc_00da056f2869ecf4016ab44a34137087d0831a97645f495dae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OgTQgN4iIkqXm2g03FSSrDG4",
  "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]: [-0.1436, 1.0183, 0.836, -0.7944, -0.2054, -0.1131, 0.9977, 0.9642, 1.8423, 1.4067, -0.9543, 0.3286, 0.8505, 0.9945]\nstate[eef_state]: left_x=0.2722 left_y=0.0007 left_z=0.1501 left_yaw=0.0901 left_pitch=-0.3704 left_roll=0.1244 left_gripper=0.9977 right_x=0.261 right_y=0.2824 right_z=0.0841 right_yaw=0.0148 right_pitch=-0.6181 right_roll=-0.0927 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -2.441, 6.6256, 1.3016, -0.1441, 0.0024, -0.0073, 0.4855, -7.8701, 7.9795, 0.6178, 0.2808, 0.1636, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d497efde5c963a26bc1f86364282afff61ea70956adcba4e5dcf8d55f418ccd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52b4487c8635242dca88a80a7f8fc1cbc0ca66d490f4ffea9899226c7b04752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c2ad92107e167f3bf2b3f5b8fdd8ba76f122d7af99ee424356e8639d7538b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 2.403 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0172, 0.836, -0.775, -0.2054, -0.1131, 0.9978, 0.8463, 1.7569, 1.2907, -0.8726, 0.2634, 0.7708, 0.9945]\nstate[eef_state]: left_x=0.276 left_y=0.0001 left_z=0.153 left_yaw=0.0883 left_pitch=-0.3504 left_roll=0.1194 left_gripper=0.9978 right_x=0.2769 right_y=0.2489 right_z=0.0809 right_yaw=0.0227 right_pitch=-0.6379 right_roll=-0.0284 right_gripper=0.9945\nstate[joint_eff]: [-0.1162, -2.2769, 6.8581, 1.3993, -0.1587, -0.0611, -0.0171, 0.4718, -10.5094, 8.3487, 0.7643, 0.2955, 0.0855, 0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7906, -0.2054, -0.1131, 0.9977, 0.8722, 1.8034, 1.0874, -0.6628, 0.3073, 0.7795, 0.0163]\nstate[eef_state]: left_x=0.273 left_y=0.0006 left_z=0.1506 left_yaw=0.0898 left_pitch=-0.3667 left_roll=0.1235 left_gripper=0.9977 right_x=0.2635 right_y=0.2363 right_z=0.0194 right_yaw=-0.0096 right_pitch=-0.6316 right_roll=-0.0972 right_gripper=0.0163\nstate[joint_eff]: [-0.1436, -2.5504, 6.8171, 1.3748, -0.1294, -0.0513, -0.0073, 0.212, -9.894, 5.6821, 0.6813, 0.3492, 0.0952, 0.7106]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7944, -0.2054, -0.1131, 0.9977, 0.9642, 1.8423, 1.4067, -0.9543, 0.3286, 0.8505, 0.9945]\nstate[eef_state]: left_x=0.2722 left_y=0.0007 left_z=0.1501 left_yaw=0.0901 left_pitch=-0.3704 left_roll=0.1244 left_gripper=0.9977 right_x=0.261 right_y=0.2824 right_z=0.0841 right_yaw=0.0148 right_pitch=-0.6181 right_roll=-0.0927 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -2.441, 6.6256, 1.3016, -0.1441, 0.0024, -0.0073, 0.4855, -7.8701, 7.9795, 0.6178, 0.2808, 0.1636, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d497efde5c963a26bc1f86364282afff61ea70956adcba4e5dcf8d55f418ccd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52b4487c8635242dca88a80a7f8fc1cbc0ca66d490f4ffea9899226c7b04752",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c2ad92107e167f3bf2b3f5b8fdd8ba76f122d7af99ee424356e8639d7538b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEo65qcGCBvXWNhfQF_mp5aw6b31-V4zKoeANQGyjw4NRPYMD7_0xK5Ip8f3k1ME42Thy1l0z16d2bmyHPgf-8GzpG5DUeGazJqOMsVEXlw2r2R6DvuflTqfge5I7NYfJa5Ugl6gKg-WOOBLYhvC-q19l38yujPwtc_IDA-4-_7fZPDkcnbC5s8IHbJUQYPa1VrJJmbMtXFihqcrHdALyuD-ANtEBWAlawuj6uIbAkwhCh25luac2QNSjMuQilQOfB1s_AJhE7LZ3eijHfIlxPfLaOa3rwwNKLzKWd02CzMGX4TW4jIbh46qmfmxIAc8DEl7TUFccpPvo9hcqfwBnyjFWp5xKuCsin9bXeYeADR-r4UVDlR4mAHUqb1rGq5137yZ4XESx02I0A5zyPpwtrd9Olv7W8LCK-eJbvkDBxxCFU3cMLgPinoh7FZvFRQjGR1wJtqpG0uAbCSdAy-t0jr34d-M2PoDVnKjLW0dopvn9ISW9fd1FY8u-WrhmuDnsxHKWhszqzUx3dmTYqKbQ1gDp3O12oAl8XPu3ykaDtTVZKjNaMK7MMjxlvMzbDnQH-z2w1xCztiBK5Gop-SFX0579m0fW2bq7MpMytWAAMjNhaBrR4RDocQVkO7dlYc8Oe3m1paSCBz2Q5CZ2VYFerbxF_eafd8Qzl6Twua5t-jsWTGL0SMpBaXXZOBuLob9FqL3XKXrZPEzca01opx_h4aPaPLcLhpllun5wetZj3LY8dfjy952xB3bzPPEAhCrYxtCKPsIIlf7MPB8xoaXtf5Jlog2PXBH3iJsRKNBpc9i9jwXXjeF-dJwDcA3UCMz2PVBpKMOldcFiXdlmmORHhNj91FqsNd2CG-u7xeaWoiZgacxq1-0X5AVLAQhaTBe4CNtovWd7eVU7IeX4jQsZWg1eV_uLU79n4QTb_BV9hss1PNylFtMOFfjb-uuZtw-GnJuy5LV9qOlEbvYkqVXZMV6mPL7Z2s43umPeGyNTfs9DIHxS8VBYq9FxKa_rr3kGF1W85PodaY-JJKNae9qt69DPEjcTAyjtCneom4EQvdCOY9usqfwbp2CJirVttSf-t3gVAxMr-St4B03mdE3lALD3RZ706SdNImonAhGyI9ousbiF-tdUHggpHtXwWcFM25Y2isbAaeNwCvc_B24CPvOFsm3RjyBy1LuuelJkEqVlkoA0kp_SWAdbIbsZ17d1Mq--CiGC-VlIzl9bUsupl89CGATGXvg95fOCma3uGDq9sDGc7TAiOJIEvuSOIQoBvtPwmE4BdsO-BrIi4cGFbxXaLk2FCmNnz3cWOi6RkdM3o-C-6xNg_rSakc1swKb07TZlyPeJf5PVGYO3R87wVwIW09AwpbeVTWugKTRwn9qSuj7srNGu2YBR3w3fwUKnO8OsTIaD-qp32jDrCBKNeqsKjqNj-tM2lshpjR8NI9qVePjG-y3apFOInTA82d1sR0Vu_8K8aGMQTboBVNWBjs3VOVAnXMxkrt-wqjyAyMepSs1AziM5OVhyiosqcpx2cxJ5H1k9nAsv8DlUkiTRcTsuLgNH2wwspqdYgkmxDkbNEf1ODXLvvA3mVtQJQSv6Ioa8H6fXUbAOOupO5O6Ei1HvFHWWCge5ofLpFV1oUvGFUJbQVTQsf8-KebZpo_KA6bPV_Nxy9hJq2N1YxpJnmVmbgzPhL_iy09BlGktfxp0GAPyYuuaDG2FRAS0dxzS9Z4GUWJr7hcf_jWvR-mtaErzC9e8C8EBgpZidg1hmkE6QxL9iVdWlr7kzNqTdsRnlKibN6xgIMBZDLurkp8BU9ORzQzqrwBLaJoXNilLNo_GbjsUdBCKyeiilnT3j-AGUZQghEO4oJ2OiK_ovp5yuNNqK0Gyx5W2dfHw8CdMy_xAlvKRte0AnlB6m2Bm510Q7bvcZ87sUnEfxPrOXViJUcxNDDEmZA7RdLHU3mQa1etR877pG6WZ22gYCLNuIw7pW-FyEG2iThH288t9YZmGhHlRHsH0XZelpLznqBO0cEWQNKUhpdR6n3ooRTCV1P68BpMA",
  "id": "rs_00da056f2869ecf4016ab44a37896887d0af9f059031454f82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.305,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The lifted wrist view now clearly shows the toy’s central opening and the thick furry branch on its left side; that solid branch is just left of the jaw centerline. I’ll shift about 2 cm farther onto that branch and descend for a material-only grasp.\"}",
  "call_id": "call_GltiHsK6DQAp0eY3tE4Aoswl",
  "id": "fc_00da056f2869ecf4016ab44a3971ac87d0bb36797fef4b21af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GltiHsK6DQAp0eY3tE4Aoswl",
  "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]: [-0.1432, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9978, 0.9909, 1.9556, 1.356, -0.8398, 0.3328, 0.8623, 0.9991]\nstate[eef_state]: left_x=0.2721 left_y=0.0008 left_z=0.15 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9978 right_x=0.2568 right_y=0.2933 right_z=0.0331 right_yaw=0.0013 right_pitch=-0.642 right_roll=-0.1411 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -2.4547, 6.612, 1.2869, -0.149, -0.0366, -0.0073, 0.4034, -9.853, 6.0103, 0.6276, 0.3004, 0.1538, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55dda78e636358b95a3488cb8ed3c3ee4e061b7f37a557ceadf112da8c63ede6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d8d7f95f4b0e213045160767f78844c03bbb7df28357042b72e332740eac52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f398309f6e18a9e41bbb511df355ec61f36cf0fb529716facb1f3b947bb54bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 4.061 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0172, 0.836, -0.7803, -0.2054, -0.1131, 0.9977, 0.8516, 1.8061, 1.1358, -0.7177, 0.276, 0.7746, 0.999]\nstate[eef_state]: left_x=0.275 left_y=0.0004 left_z=0.1523 left_yaw=0.0891 left_pitch=-0.3556 left_roll=0.1207 left_gripper=0.9977 right_x=0.2669 right_y=0.2372 right_z=0.0277 right_yaw=-0.0113 right_pitch=-0.6613 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -2.4821, 6.612, 1.3797, -0.1538, -0.0171, -0.0171, 0.0889, -8.4308, 6.4615, 0.9402, 0.2808, -0.0513, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7944, -0.2054, -0.1131, 0.9977, 0.9642, 1.8423, 1.4067, -0.9543, 0.3286, 0.8505, 0.9945]\nstate[eef_state]: left_x=0.2722 left_y=0.0007 left_z=0.1501 left_yaw=0.0901 left_pitch=-0.3704 left_roll=0.1244 left_gripper=0.9977 right_x=0.261 right_y=0.2824 right_z=0.0841 right_yaw=0.0148 right_pitch=-0.6181 right_roll=-0.0927 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -2.441, 6.6256, 1.3016, -0.1441, 0.0024, -0.0073, 0.4855, -7.8701, 7.9795, 0.6178, 0.2808, 0.1636, -0.0513]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9978, 0.9909, 1.9556, 1.356, -0.8398, 0.3328, 0.8623, 0.9991]\nstate[eef_state]: left_x=0.2721 left_y=0.0008 left_z=0.15 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9978 right_x=0.2568 right_y=0.2933 right_z=0.0331 right_yaw=0.0013 right_pitch=-0.642 right_roll=-0.1411 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -2.4547, 6.612, 1.2869, -0.149, -0.0366, -0.0073, 0.4034, -9.853, 6.0103, 0.6276, 0.3004, 0.1538, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55dda78e636358b95a3488cb8ed3c3ee4e061b7f37a557ceadf112da8c63ede6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d8d7f95f4b0e213045160767f78844c03bbb7df28357042b72e332740eac52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f398309f6e18a9e41bbb511df355ec61f36cf0fb529716facb1f3b947bb54bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEo9PXBdTNh8XsI379f4F9OGMb7AnnqG4Ffqpa58RWdYv26B3vAVlqeotlOm-iQVhkIwwqv8hXbQ6CoEgah-3jvIyJvkBNbrMSA7mZt_oCDGiNZvbYAUQPxQWip60hszxmSuIJe5bNoiVHLzbFgc303oMWPj7UgWZKEITB0kil5Vc28IAuuyPkdDUFViSyZAKQNr01JZwSkWwqzC8PVZeV232-9_DRzcCMirwN79pIZy5y4g74AEjYuJU-I51ChI9_u7slJeokM4IQ9EuQemtJRpR6dKZX49CXDwc4ivGt7JMUUDsqnjQCMWm_SOHUqlfzc9QA6UcMJNnmCg7plVtJKIn4VN7P-67iXpD3bFcToDMBc1cmEduZy2N6mI-ub5iaPJdNUEVavcAwIB3lpof__ptubJhN7PadDWBcAX-czTc2-Amjf2Wo49en7Xw544eCCnKC2u0G6AE2AlGCvqYWyegPNOMtNa5JTiQ8nUYawkQytWy5XBuEg3nJgEejWZ1AU35vObtfJ22zJiB7SeWCUSryg7_jkyYV1d4Geg7gV6LqhTiPl8x8kz_3J4rViC-HzrQBtpOhE6oJ4_GlWZJjRf1-7A9i6iODhCjKPyaymHieWqG8XvaocredtrxTVIoAOSiDZ3LJRRtJMbEwtShpE4wnflA7-5fS6zd4GHanR9EeBiUoIJz7wPUHcpymS2cM-rnL6G9xIoC211e6HEvUJFZCvJaq2mVzW1ZmsGMjh2XNnWmFSmKntM_k3B4WMWgYDszgdy5RBa3Sjwxe5kNCGVYjgrkdqABLoY-FUdMgT5lmbZ_jOTDD8HG0Jr9SacYhgYnPGqQDKJ6OyYd3P_alMFtVvrZrKB9Rml0VzYm_nusMpNJ1c7yVhOA3hMt8FlKD_K0ycgTXkqeSsH4eje3alLKw1B4bjtKIQ9OkYvR3q72BOrefptqIWWGPNdRg-WAstR_YIHd8ngaIp_lcwdBKrwi5HIAGbvo2lBFFY1L4KXZMm8gVZE69fRsVKvHIcEVsflH1zM5ZPziGqR4uPjtXua8Ut2D1jfKdbL0TLv5ooqrFLxZWUABbV7WjbsIO4CmN5PzaK9wvAc3APykK7Ust9ibo96w-7ctktqRweQH4uPFCI_1pI4sb4GfgltONbG-0K-Ac87EWlL1IpCSWvsGxPiNme2bm1SBPJ-tpya51I8-09FkoBCPWGul-8w1K3Mi8dx6Qcc0NQB4LPyVaZBrGHi_bLgUmXXw22EUe92Naf-u4sY6n0-FLnQwRxgoiDgxaHGu4Yif5U4LfFYTe4r3h8pVUlIrkfo3DsST__3TeC_5Y4ZxbJJTKm79xodFH0hPzTEa8sz3fG7Rd_qk5LDMu_tdHu8f0iCPl-Mf0-0teLsbMM=",
  "id": "rs_00da056f2869ecf4016ab44a3c102487d086bcd63fee15dacc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the lowered pose the jaw centerline is now over dense brown fur on the toy’s solid side, while the central opening is displaced to the right. I’ll close on this branch and check for a non-empty opening.\"}",
  "call_id": "call_c0NSNNa9i7Ac3sgnw3UiJMBk",
  "id": "fc_00da056f2869ecf4016ab44a3c726487d08991956fcd861f82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c0NSNNa9i7Ac3sgnw3UiJMBk",
  "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]: [-0.1436, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9977, 0.9939, 1.977, 1.3514, -0.7856, 0.3332, 0.8703, 0.0161]\nstate[eef_state]: left_x=0.2721 left_y=0.0007 left_z=0.15 left_yaw=0.0901 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9977 right_x=0.2612 right_y=0.302 right_z=0.0258 right_yaw=0.0159 right_pitch=-0.6255 right_roll=-0.1087 right_gripper=0.0161\nstate[joint_eff]: [-0.1162, -2.2769, 6.5983, 1.2821, -0.1441, -0.0415, -0.0171, 0.1299, -10.3726, 5.9829, 0.7448, 0.2759, 0.1148, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066e21a2b85d493ec7374b88ba809c2a58a590ca9e822f2018756ddaaa314588",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655815f942c81ee175319d973470fdffcc00bbabe7b5dc6026f00127ea28b2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581063799ae290891b8ded2dee3b610d34ac769ac9140c5ae3ae1c3e7ae69c5d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.345 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7906, -0.2054, -0.1131, 0.9977, 0.8722, 1.8034, 1.0874, -0.6628, 0.3073, 0.7795, 0.0163]\nstate[eef_state]: left_x=0.273 left_y=0.0006 left_z=0.1506 left_yaw=0.0898 left_pitch=-0.3667 left_roll=0.1235 left_gripper=0.9977 right_x=0.2635 right_y=0.2363 right_z=0.0194 right_yaw=-0.0096 right_pitch=-0.6316 right_roll=-0.0972 right_gripper=0.0163\nstate[joint_eff]: [-0.1436, -2.5504, 6.8171, 1.3748, -0.1294, -0.0513, -0.0073, 0.212, -9.894, 5.6821, 0.6813, 0.3492, 0.0952, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9978, 0.9909, 1.9556, 1.356, -0.8398, 0.3328, 0.8623, 0.9991]\nstate[eef_state]: left_x=0.2721 left_y=0.0008 left_z=0.15 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9978 right_x=0.2568 right_y=0.2933 right_z=0.0331 right_yaw=0.0013 right_pitch=-0.642 right_roll=-0.1411 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -2.4547, 6.612, 1.2869, -0.149, -0.0366, -0.0073, 0.4034, -9.853, 6.0103, 0.6276, 0.3004, 0.1538, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9977, 0.9939, 1.977, 1.3514, -0.7856, 0.3332, 0.8703, 0.0161]\nstate[eef_state]: left_x=0.2721 left_y=0.0007 left_z=0.15 left_yaw=0.0901 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9977 right_x=0.2612 right_y=0.302 right_z=0.0258 right_yaw=0.0159 right_pitch=-0.6255 right_roll=-0.1087 right_gripper=0.0161\nstate[joint_eff]: [-0.1162, -2.2769, 6.5983, 1.2821, -0.1441, -0.0415, -0.0171, 0.1299, -10.3726, 5.9829, 0.7448, 0.2759, 0.1148, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:066e21a2b85d493ec7374b88ba809c2a58a590ca9e822f2018756ddaaa314588",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655815f942c81ee175319d973470fdffcc00bbabe7b5dc6026f00127ea28b2b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581063799ae290891b8ded2dee3b610d34ac769ac9140c5ae3ae1c3e7ae69c5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpC7J-d5xtZUW_mecdPLSwFG3wm4nJE76zum9UIBACyM1R0czZpq-T1E0xxr7TDI4Mj4bHtXwtymVyePCLr8kk4IqaghIacTjCqTSEwmfuitJcsUZvThX7bSLnGBoi11UTrYOJG1NFZvHHdSCzINBrmaPl02DETYLK9VDdADETJioIqg2ZKC0BpFoiXaNRyJmiQL__63ZmIutkPIre--vuvF9NQRVh2VEQJlpLChTTulNiFPcZTqTzpA7LYvCMmtQorNnhiw1QiLwD0xi1VFfTHJO_QccGcK5dJcsRfBw_3kkEGXgZDQCuOdL22MWA1yNe_XPf8uYQpoc-0LTUKMks7GH4hKG6dJgLmD2dNysZwcCbY6EvkcBmgbDICgfy8i32yRm3y72oPfT11bDMFf7HIiVdH-A9UJcGfWR-m5y8EqBAURUqa3z0Y4VWMVzZO5XAcf-w-6QuycAff72ZrfT13rWjRDPbv183lp6DcZCnhNt3tl6ylK2ma7dTiuwDa7ZzsFXRjbosGKN5e3DnGVxgP8M6fLTBsRJc2A07r3XOwMBpZM0GBBOrIVB7PLUFuUsSmL4Vuiaxi1F4g9D6DTE9D92sE_UtNxVMig7Vtu-esc6d65R5ZyidynayyI-NcQGFNov9OzfLlumE65vvZ14DL3sJE0mP-JByWj4bJLw7dkIRIJiE106wxx4E2Via0Ru9p-oPNuLxKPrPRBUquKAoGljaYu2655EdDOf1KNwKvMwzRG9YjN28kQjayYW1WAlY6dD3s_zH4refdCacwkzHbCoQbfROHN3eg8CEMw1mkOZOKHYT-plyLrFYMwfKJSCmCmrxwlNdNwBwPmDlUt6bJcFbTrR9_ui2mQgpjk2YwQZ6QI3qVxQ1MYbP8KQvOaUSN3Xu7HfJBfW8CeUqaA5icgMwvZwb8kbf8qRZUl9h5073hNyuf_WIZ4QRpoH4p2SLy_3M-HLvsCo-iOhBP1FJU9fjMPL1VkPVk2bn4gTKEqxQ3stMau8eCVSBFp8yhaUwnQiy0oT9THkfhM5f51EUlNMVtzVGP90rk80zvy75CHba86oYzq6zk8gwZu-NGlkdccp7b4ra6is7dFrPl9YKhGiY273ZipVGI5YiRUjfSaxIRqOORyJ7eoAVPg-leroQMdiR_vP5ceFAnN-0ScijFpvE-cPwhZNdYvq0Lyn455g1V1foqCA5SKiQVV4XSAY58PyQj03869TfWCEIbOEkSKKSqndzTjzJGCwoS3p9G6bw_ZqqWgzq-fdNt-bR9Ax70poCJ5OOAEx6JD-fbM20Vk5o-f9hfEDK4gcPPDdNptLlbeOFwlbDnkd4I9nhKscpc37F8hBxfy_IvFYqd7xVuAoDvIC3s2eIDddC4u956T-jTb8PADgGjWgUihPnt_yJzX01tQ2wGxnz-GvxJYMpfd0bVAW_KzRP_nsuK-42imFO6A_We0eyVB4nwNEBU7Jg9X6qZF1IouPr00rHOyz5QfKCtmwa6W4wKqzsePq0hGijLSK2jv3qpEalefu4bhTzudkUoxTZoxMPXW9BXrRFj24WW0YEZe4toQ_v9VNeFnszvmhLvilaSVtDMrDn7k4dxTw8q_y3XTRUuRSwcMHvcp8mUE7Z6NMqPnmZu9ZWjMScB6NyRI3hPtYRmuwWSi3g2NXdAQemgYc14KlM3B376dApGsQvt1GgbJ6B25b8v8rfTVJMeD-j2Ya77VbJE0e0_UKZO0v61EB5f9yg6Gthpi-uOOkaodOsY3nU5vUAvSSsEuglrM0CAQShH_P_teyqz8I_LuJGJsqHrkLFxMYCMfNUmwide6ioApzM-hDiuYAVZ19Td48JH6XKVRiECcPSjhMQP1h5t2w6n2xjNjj4D_JPbTMbuuYUnLK8kx7NPp1ohCzrylLjnYq-LOugEYoZyL22i913OXzdpOy-2yUCLYSBiJrOFqNpamrTMHQCabApzu2hkZd4zhGcjjt2QLTrN7Q59XJCr-jc5GSjT07d4729rw6WB7bmkwGnFxPjsImpm-4dsP23rkvg_M3tUDBQPczZfYEmJ7TSX4ae03oZua0E3camv2PgX_c8Q9rTbSUfcydZVrTqOxDG0O_Xu0OVxDOhx0yQsUhFOzekOaYk4X3AJxS0t9bG9hM8WsyYVuLhMxxcqeukeq3JRSgj3ekb1XbnhaEyW4my4FW6Snq9_5F6cz2nhluDx8LtcuEjZuzbHMqxoBllW6tknQJcW1MSWaJh01IPyacPAeuBnrNjvly-0L9ilILlkcjGVUSl5dhc=",
  "id": "rs_00da056f2869ecf4016ab44a3f57d887d0b5a3c65420845190",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.261,\"right_y\":0.302,\"right_z\":-0.01,\"right_gripper\":1.0},\"note\":\"The gripper is still empty even over solid fur, showing the brown toy is very thin and the fingertips have been closing above it rather than through the loop. I’ll reopen and press gently to 1 cm below table level at the same solid branch so the jaws slide alongside the flat material.\"}",
  "call_id": "call_lJ8Evp5Kf6A1z1USyHbURbHO",
  "id": "fc_00da056f2869ecf4016ab44a4127e887d0967989e906215157",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lJ8Evp5Kf6A1z1USyHbURbHO",
  "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]: [-0.1436, 1.0195, 0.836, -0.7982, -0.2054, -0.1131, 0.9977, 1.0004, 2.0003, 1.277, -0.6586, 0.3546, 0.8684, 0.995]\nstate[eef_state]: left_x=0.2715 left_y=0.0008 left_z=0.1493 left_yaw=0.0906 left_pitch=-0.3753 left_roll=0.1257 left_gripper=0.9977 right_x=0.2632 right_y=0.3033 right_z=0.0035 right_yaw=0.0287 right_pitch=-0.5918 right_roll=-0.0943 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -2.2222, 6.612, 1.2967, -0.1245, -0.0562, -0.0073, 0.0615, -7.6376, 4.4376, 0.7253, 0.2027, 0.022, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d1f723b149b0ac6ea642c230728bc680f57c2bca06699707bbcd6c0182e484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44e2d6a6402342844e85741bfe42dab61df793522e6dbf4219cf1e903f774801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfbbe99452849fff76dd34adf2b592debf327a9043b87a035c37e0906ff16112",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 2.418 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7944, -0.2054, -0.1131, 0.9977, 0.9642, 1.8423, 1.4067, -0.9543, 0.3286, 0.8505, 0.9945]\nstate[eef_state]: left_x=0.2722 left_y=0.0007 left_z=0.1501 left_yaw=0.0901 left_pitch=-0.3704 left_roll=0.1244 left_gripper=0.9977 right_x=0.261 right_y=0.2824 right_z=0.0841 right_yaw=0.0148 right_pitch=-0.6181 right_roll=-0.0927 right_gripper=0.9945\nstate[joint_eff]: [-0.1026, -2.441, 6.6256, 1.3016, -0.1441, 0.0024, -0.0073, 0.4855, -7.8701, 7.9795, 0.6178, 0.2808, 0.1636, -0.0513]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9977, 0.9939, 1.977, 1.3514, -0.7856, 0.3332, 0.8703, 0.0161]\nstate[eef_state]: left_x=0.2721 left_y=0.0007 left_z=0.15 left_yaw=0.0901 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9977 right_x=0.2612 right_y=0.302 right_z=0.0258 right_yaw=0.0159 right_pitch=-0.6255 right_roll=-0.1087 right_gripper=0.0161\nstate[joint_eff]: [-0.1162, -2.2769, 6.5983, 1.2821, -0.1441, -0.0415, -0.0171, 0.1299, -10.3726, 5.9829, 0.7448, 0.2759, 0.1148, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0195, 0.836, -0.7982, -0.2054, -0.1131, 0.9977, 1.0004, 2.0003, 1.277, -0.6586, 0.3546, 0.8684, 0.995]\nstate[eef_state]: left_x=0.2715 left_y=0.0008 left_z=0.1493 left_yaw=0.0906 left_pitch=-0.3753 left_roll=0.1257 left_gripper=0.9977 right_x=0.2632 right_y=0.3033 right_z=0.0035 right_yaw=0.0287 right_pitch=-0.5918 right_roll=-0.0943 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -2.2222, 6.612, 1.2967, -0.1245, -0.0562, -0.0073, 0.0615, -7.6376, 4.4376, 0.7253, 0.2027, 0.022, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d1f723b149b0ac6ea642c230728bc680f57c2bca06699707bbcd6c0182e484",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44e2d6a6402342844e85741bfe42dab61df793522e6dbf4219cf1e903f774801",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfbbe99452849fff76dd34adf2b592debf327a9043b87a035c37e0906ff16112",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpFa7ON7lYua_6d-dJBPptbSjNnNygJvbzVQ7b3nFox2VeAb2ZDnwYeHewxHntQW7LaD2jeXzjHM-4l4FgQPtRnr_Eezq9JRKOeY7_kxPBk50mo-yQWX-rH-3oLPwJNsA7uK4NR2cdbg432izyQMAUOluOLwuXrTNxGsZrw6XBdCV2mddBODO7I2_LFDoGcw3qa8P-9OzlL8P-J78alN2RRmkooBcFWKvZ8oLKqvEVOdogWNKy3pdaqUgWnLNejiPm1G9HBxXLIFREXkIxCTrE8WGxX9pSv-JRd8c_8PaYaIWbH-4-emph4v0RmGJl7SIKx2M_A2GToPf-qO0UsDoVGZwdJGD4Ql38kkRU4ss7nRO7J9Z40bfRjeNJpBNfiDuQxJo0ERB_YOOctC4pJLO_Yb0PMlHw9Ag6sBcD3OfBupTm-aSxgYFOjE4duRcGJIYBKEVWGn_gxkXV3UFMiW0csd-L8R4le_QMzrU-hppE-5bwOLmD5a0hm1mzYaIiUizwpL8srAPDaCD072SyFQKGUd1UYNm-jJ7vSCXgpDdP4UrOgVF9pxY6u0QgDZ1Cg2tl2R_mNydF208EquHXRkz7f5FI4D5ewyOfqvpdQAXVj2__wc1aaQWf1FJXlu0ORbeg8QALAK-zFDcb_Xtdmk9UHzwCgklNcmM3TtZLadLSnE_CqT6VR30w10ggvdnTyqe0Kh5Uu3FfiIUSNa0GKuWrCxV160GhrhjmDwxandJcfWN9b6IKmSDk1D0qCsgQPV2JpMkOMXJbYdO008tUFGudlOuYwL5a8DMib2XlQb9uyj_9OSWfNfNnP7tMx71jZbyCUHrDKj4QtbKfn-Gq8W8TfraNYMG76_QycXeRRENMHr_M59m3bIutyKM65mDFUNho-GOQLh34TYM0nDVg9Oq15jCEkuAYEtRt27Kl1fFVMFhlSdHqfx8b5gLm0pcYh01T0fTniNJES0-ulpYvTv7bwHuoTJqIBm8oJuE-1QDwHjS_FBbqOd7-Hk8JZGiH0bJb6A29koEfQbCL6ff899kljC9TXeM_KBsZzKgtaTZQFZgztNXWbwsREPkyLKqOlB9qNWxfJNPIedrQ8iHYSFlrNWfZzd68usnoCYUvycxPt7nzdSswDlmW9xiRkhH_SgntfofeT0EV9hvgfIjQ5OK0rBI6YJ5tu0CL_KVBgZ8V-LTeVDehEhPuG4K7tRdA-F5s6qqUL-y4xo0BcNAPk62g5qx46CqlryegQOvuMd_eWIiDF3UTtbC2px0wyR6y2mEF-",
  "id": "rs_00da056f2869ecf4016ab44a4464bc87d085b63d53f05047c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The readback stopped at table contact around z=0.004, and the wrist view now shows the open fingertips actually flanking the thin furry branch at floor level. I’ll close while maintaining this contact depth.\"}",
  "call_id": "call_X0pI2WoK84Vm2aU6IHpwflHB",
  "id": "fc_00da056f2869ecf4016ab44a44a3f487d09a525cc78ae22375",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X0pI2WoK84Vm2aU6IHpwflHB",
  "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]: [-0.1436, 1.0195, 0.836, -0.8089, -0.2054, -0.1131, 0.9978, 1.0, 2.0003, 1.2751, -0.6559, 0.347, 0.865, 0.0441]\nstate[eef_state]: left_x=0.2693 left_y=0.0011 left_z=0.1478 left_yaw=0.0915 left_pitch=-0.3857 left_roll=0.1284 left_gripper=0.9978 right_x=0.2623 right_y=0.304 right_z=0.0026 right_yaw=0.0353 right_pitch=-0.5977 right_roll=-0.09 right_gripper=0.0441\nstate[joint_eff]: [-0.2256, -2.441, 6.735, 1.3553, -0.149, -0.0562, -0.0073, -0.0752, -10.0581, 5.6137, 0.5641, 0.2222, -0.0415, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e89f36121d355e3a5dbc8a6bb15a7dc3e0c2b3aa10e07ce56c113011b5e736a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ff8650277de52ee2f112777d72a448d91df7fa7775f3809558f66a5519de5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9890848890473e003efc39807f7f320a5661c2a2162d51f6a224989b859a47f",
      "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 · 3.431 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9978, 0.9909, 1.9556, 1.356, -0.8398, 0.3328, 0.8623, 0.9991]\nstate[eef_state]: left_x=0.2721 left_y=0.0008 left_z=0.15 left_yaw=0.0905 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9978 right_x=0.2568 right_y=0.2933 right_z=0.0331 right_yaw=0.0013 right_pitch=-0.642 right_roll=-0.1411 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -2.4547, 6.612, 1.2869, -0.149, -0.0366, -0.0073, 0.4034, -9.853, 6.0103, 0.6276, 0.3004, 0.1538, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0195, 0.836, -0.7982, -0.2054, -0.1131, 0.9977, 1.0004, 2.0003, 1.277, -0.6586, 0.3546, 0.8684, 0.995]\nstate[eef_state]: left_x=0.2715 left_y=0.0008 left_z=0.1493 left_yaw=0.0906 left_pitch=-0.3753 left_roll=0.1257 left_gripper=0.9977 right_x=0.2632 right_y=0.3033 right_z=0.0035 right_yaw=0.0287 right_pitch=-0.5918 right_roll=-0.0943 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -2.2222, 6.612, 1.2967, -0.1245, -0.0562, -0.0073, 0.0615, -7.6376, 4.4376, 0.7253, 0.2027, 0.022, -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 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0195, 0.836, -0.8089, -0.2054, -0.1131, 0.9978, 1.0, 2.0003, 1.2751, -0.6559, 0.347, 0.865, 0.0441]\nstate[eef_state]: left_x=0.2693 left_y=0.0011 left_z=0.1478 left_yaw=0.0915 left_pitch=-0.3857 left_roll=0.1284 left_gripper=0.9978 right_x=0.2623 right_y=0.304 right_z=0.0026 right_yaw=0.0353 right_pitch=-0.5977 right_roll=-0.09 right_gripper=0.0441\nstate[joint_eff]: [-0.2256, -2.441, 6.735, 1.3553, -0.149, -0.0562, -0.0073, -0.0752, -10.0581, 5.6137, 0.5641, 0.2222, -0.0415, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e89f36121d355e3a5dbc8a6bb15a7dc3e0c2b3aa10e07ce56c113011b5e736a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ff8650277de52ee2f112777d72a448d91df7fa7775f3809558f66a5519de5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9890848890473e003efc39807f7f320a5661c2a2162d51f6a224989b859a47f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpIE0GyYvsHFpB1lhG-0akePZUpqkbUwrgU5PwBn5Bje5PFtYf116dnECs8MCWU1Vhl_2kuSn03P8DHnQ25maJN4vcqMPDG67gWEnFnO8ZwCNmgLlmAJnX8a6gtu90KNWh5RCQer0qHjUtJb_b25-lZtbLdilWslDjYHtxH7Bnv5s9HvFkxwpW9yxUTZ-9kJ4JqToSG27OtUgNuxG7CCzzkSauNcizsYWcYUL-mm1YNmusnmbWKaVcGNvsjapIYDy4a_5gWYrdUoU2zz_1kpf5DjBA9tonO6t_UY38dsa-58Xhuug0bcrGnA1Sz_dRL1ZPSBU9V769aGr3K-w7hr8_Cc9tQl1yf-uGvPMY4ObBvQTiACQP7BrYVDmlaLwJZw8-CvyBcn88mAoFxfy2p0nqlIjoCGBpthj3kVin2orKUJZ3tIKVlZgaK2ujSv1ohOP1-yjJXV6vnm_rwC37kXNvmo5RXV40KBb2rQeElcXjNQrM3jwU4slYexgyHm95bVWmrvfNx7n3qPKsSNW8esm4V1SK19JjyxqvdGB_zQv7Jkwiq-9QKh9wlaElh2gDd4kC7ZD1Xkd174gT94JjE9tERFIuNFgEIA_cRDG-J4SSJaLlYlCQs4sp2WnY5JtHZTR7Ni5zubj5rWmkf-voN1kidNumYS46J36tCNIbOA0Dx_v0ThdqtYb3zZ8MKA_fBV3f5p1A6EAKqwzcjqVUmZzkjhDhksiG_UWuZEKE0Izyp5_Tgu5BSgtMaZekGFDFHEs0YJar002CMImz6QdVMm5xsCm9cUM6sifiM_3oNVQ_EWfsjxNww4ZqF5SP5Hh5BVwoJQQApIqapEG0ld6NKypqFQT06lq-4kaQUgKDqHiqgZcNsu4rMIipsQzM1TZ9yTood-jpcsDGQTbIncyU4HSke7RbD1-lpGN5KvF3LFfVXu-SIFp0KGRnMOXPvtCQo7Dvxc28mMWMwL7jL8jwi4_zGs6d4gRzbFBGdscUGip34VDqTVxJAZTKTW9LBTkpVt1M_xOnoES1xBtcHneJNGufXFcCPfBwqZURWFOh1jU_AeDKpX7NJKD-kyBR0EmYs2fbd3mATeOtmrfP2jGmIpmBlpvnB3qYo0POQTsTauYhgOW0n1iTbqKNZR4wNzTOohiiHgeAsZQGxolGvaHRJ9GjUh_wvMH5-2JPyDG-iNz4jCvCcx8oRPe_xjSSmF4HcIPmwp6hD398vlRZrbhFcrd19tYTH3oSwsb8VWDuUYv02vlDvrGQRAmgNhNMaKDYy_vV440U1udK4F3wc2bvoGcygPfbjSs8ahZHfnpyJg00RiLu0Ui6-6GatCPd-PSIyphag",
  "id": "rs_00da056f2869ecf4016ab44a47937c87d0a3ceb85de3e87ea5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"This table-level close settled at 0.044, just above the empty threshold and consistent with gripping a few millimeters of thin fabric. I’ll lift about 9 cm to verify that the brown toy rises with the jaws.\"}",
  "call_id": "call_it239A3RvHLwg0ukkY7kqqMC",
  "id": "fc_00da056f2869ecf4016ab44a47ee9c87d0982003b50a881858",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_it239A3RvHLwg0ukkY7kqqMC",
  "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]: [-0.1432, 1.0195, 0.836, -0.8131, -0.2054, -0.1131, 0.9977, 1.0, 1.9297, 1.4559, -0.9279, 0.3397, 0.8642, 0.0467]\nstate[eef_state]: left_x=0.2685 left_y=0.0013 left_z=0.1473 left_yaw=0.0923 left_pitch=-0.3897 left_roll=0.1294 left_gripper=0.9977 right_x=0.2614 right_y=0.3049 right_z=0.0677 right_yaw=0.0282 right_pitch=-0.6153 right_roll=-0.1061 right_gripper=0.0467\nstate[joint_eff]: [-0.0479, -2.2496, 6.5573, 1.2967, -0.1636, -0.0659, -0.0171, -0.0342, -12.0137, 7.8838, 0.5836, 0.1978, 0.0024, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58eb3917b5be71fa668536a77058ef4bfbba22029fe96d1d84895fbb4894360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398c30516f01656610cb6810f223ffb5a3214867faa8a79878fb3ccb4525b258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465242351c83ddfa62e8b6656c51023683353694fe2fa07538fddfcbed78ae24",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 4.962 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0183, 0.836, -0.7948, -0.2054, -0.1131, 0.9977, 0.9939, 1.977, 1.3514, -0.7856, 0.3332, 0.8703, 0.0161]\nstate[eef_state]: left_x=0.2721 left_y=0.0007 left_z=0.15 left_yaw=0.0901 left_pitch=-0.3708 left_roll=0.1245 left_gripper=0.9977 right_x=0.2612 right_y=0.302 right_z=0.0258 right_yaw=0.0159 right_pitch=-0.6255 right_roll=-0.1087 right_gripper=0.0161\nstate[joint_eff]: [-0.1162, -2.2769, 6.5983, 1.2821, -0.1441, -0.0415, -0.0171, 0.1299, -10.3726, 5.9829, 0.7448, 0.2759, 0.1148, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0195, 0.836, -0.8089, -0.2054, -0.1131, 0.9978, 1.0, 2.0003, 1.2751, -0.6559, 0.347, 0.865, 0.0441]\nstate[eef_state]: left_x=0.2693 left_y=0.0011 left_z=0.1478 left_yaw=0.0915 left_pitch=-0.3857 left_roll=0.1284 left_gripper=0.9978 right_x=0.2623 right_y=0.304 right_z=0.0026 right_yaw=0.0353 right_pitch=-0.5977 right_roll=-0.09 right_gripper=0.0441\nstate[joint_eff]: [-0.2256, -2.441, 6.735, 1.3553, -0.149, -0.0562, -0.0073, -0.0752, -10.0581, 5.6137, 0.5641, 0.2222, -0.0415, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8131, -0.2054, -0.1131, 0.9977, 1.0, 1.9297, 1.4559, -0.9279, 0.3397, 0.8642, 0.0467]\nstate[eef_state]: left_x=0.2685 left_y=0.0013 left_z=0.1473 left_yaw=0.0923 left_pitch=-0.3897 left_roll=0.1294 left_gripper=0.9977 right_x=0.2614 right_y=0.3049 right_z=0.0677 right_yaw=0.0282 right_pitch=-0.6153 right_roll=-0.1061 right_gripper=0.0467\nstate[joint_eff]: [-0.0479, -2.2496, 6.5573, 1.2967, -0.1636, -0.0659, -0.0171, -0.0342, -12.0137, 7.8838, 0.5836, 0.1978, 0.0024, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c58eb3917b5be71fa668536a77058ef4bfbba22029fe96d1d84895fbb4894360",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398c30516f01656610cb6810f223ffb5a3214867faa8a79878fb3ccb4525b258",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:465242351c83ddfa62e8b6656c51023683353694fe2fa07538fddfcbed78ae24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_00da056f2869ecf4016ab44a4a89e487d0a52f6b55c3f750fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The brown toy’s grasped branch rose with the gripper and the wrist view shows the rest of the toy hanging from it, confirming the thin-fabric grasp. I’ll lift higher so the trailing portions clear the tabletop and safe rim before transport.\"}",
  "call_id": "call_PX53WKuMEtp0qdQviwIkbxWL",
  "id": "fc_00da056f2869ecf4016ab44a4bed3887d0826308f317051a99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PX53WKuMEtp0qdQviwIkbxWL",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8165, -0.2054, -0.1131, 0.9978, 1.0023, 1.932, 1.9457, -1.3937, 0.3405, 0.865, 0.0467]\nstate[eef_state]: left_x=0.2678 left_y=0.0014 left_z=0.1468 left_yaw=0.0927 left_pitch=-0.3931 left_roll=0.1303 left_gripper=0.9978 right_x=0.2632 right_y=0.3091 right_z=0.1902 right_yaw=0.042 right_pitch=-0.6022 right_roll=-0.0845 right_gripper=0.0467\nstate[joint_eff]: [-0.0068, -2.4137, 6.8171, 1.2576, -0.1783, -0.0464, -0.0073, -0.0479, -8.7316, 7.3641, 0.5446, 0.2808, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc64887ffbe751b8513e48fab8b64ed1b4b16d94dafc46a2d074168f570397f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9054bb7b3cfcb6859bea8cd68f45bd37046b523a9ce2e58a7c6c9f168f9da6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8a99408d904f1fa493f45d807039e330d243cdedc82a8e12aef30fe93a4791",
      "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 33 attempt 0 · /responses · status 200 · 4.148 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0195, 0.836, -0.7982, -0.2054, -0.1131, 0.9977, 1.0004, 2.0003, 1.277, -0.6586, 0.3546, 0.8684, 0.995]\nstate[eef_state]: left_x=0.2715 left_y=0.0008 left_z=0.1493 left_yaw=0.0906 left_pitch=-0.3753 left_roll=0.1257 left_gripper=0.9977 right_x=0.2632 right_y=0.3033 right_z=0.0035 right_yaw=0.0287 right_pitch=-0.5918 right_roll=-0.0943 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -2.2222, 6.612, 1.2967, -0.1245, -0.0562, -0.0073, 0.0615, -7.6376, 4.4376, 0.7253, 0.2027, 0.022, -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 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8131, -0.2054, -0.1131, 0.9977, 1.0, 1.9297, 1.4559, -0.9279, 0.3397, 0.8642, 0.0467]\nstate[eef_state]: left_x=0.2685 left_y=0.0013 left_z=0.1473 left_yaw=0.0923 left_pitch=-0.3897 left_roll=0.1294 left_gripper=0.9977 right_x=0.2614 right_y=0.3049 right_z=0.0677 right_yaw=0.0282 right_pitch=-0.6153 right_roll=-0.1061 right_gripper=0.0467\nstate[joint_eff]: [-0.0479, -2.2496, 6.5573, 1.2967, -0.1636, -0.0659, -0.0171, -0.0342, -12.0137, 7.8838, 0.5836, 0.1978, 0.0024, 1.0379]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8165, -0.2054, -0.1131, 0.9978, 1.0023, 1.932, 1.9457, -1.3937, 0.3405, 0.865, 0.0467]\nstate[eef_state]: left_x=0.2678 left_y=0.0014 left_z=0.1468 left_yaw=0.0927 left_pitch=-0.3931 left_roll=0.1303 left_gripper=0.9978 right_x=0.2632 right_y=0.3091 right_z=0.1902 right_yaw=0.042 right_pitch=-0.6022 right_roll=-0.0845 right_gripper=0.0467\nstate[joint_eff]: [-0.0068, -2.4137, 6.8171, 1.2576, -0.1783, -0.0464, -0.0073, -0.0479, -8.7316, 7.3641, 0.5446, 0.2808, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc64887ffbe751b8513e48fab8b64ed1b4b16d94dafc46a2d074168f570397f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9054bb7b3cfcb6859bea8cd68f45bd37046b523a9ce2e58a7c6c9f168f9da6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec8a99408d904f1fa493f45d807039e330d243cdedc82a8e12aef30fe93a4791",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "encrypted_content": "gAAAAABqtEpSBRMcZjsD7w24PHs-XLFmGyFp1b8cHclfD9r-v9vkajLzYqemzaj19ii-Yv9MimxAfj-eyEStrDLVShzL-YvE3gq5cQgi6t1sJOUt2GCweDQw0fLq-wxpzVip3RilsTHFhdOhWeBVSUDsrT7NDvFE8I-dbP_4iRljU7fNmWaBrUHzebwHqyiTrpPvUo43kp7eYZW9uAleFjy3fZxB3QICkqGJ-q8Tjsbspp1r86KmABsrl8mPgdKxRYRXgoI1MIbux-3cdDrmVzCmfp1AnJbRZwoltiENQxINaPC3r5-1vBa_6nxsBImO8jN3qxOdqntwDAV--QxNOKXDdo6ROTkAUl0KWCzIXMdJFy9HCQN2zKFsiMD6CZNUJj5MXHVZ8QtzN8o0mF-nmx-fV25nqaO4hXqlWqjtySYTwNuUQdiZb_OcvyKSGe-NIqMpXIU_yeWMueCHuvQNGwtj6Pu9bUnV2m1pY940cOJg93r4eG6xXT_-fAG0ZOJxRuq6_04NOTpSUIkX1bg2Pvlm5tBN0pPQ7ZBnhl2YmDBV_fiqMe5tuRfTkv9KKhDiLjW9zu1sd7FvEpC4pD-Top_FNAPUcscXQPLaDRUJ5pWRFtioq9ceAbPDmHA2aeO6z0REEKrOKmZvVffUSxS_qm91qtZjgJFyVvYBhbGO64m3D2EPWYbYecnaWX4r3qsRLIg5at8sjqAdmA43qDBhqHtW2rM2toGkVTJAGMp7qanSgZsxo8NTSgForvjVpdHUCXKiE7Q0bUuOK3cPww-RZd-1JXqr7XIwxBxeJ7nBXiIuLXbiI2cOqYYJpY-JlC2aT_-fvBwqGxfHb60OoVMrIMLpQllW12D6QSzA-tE9easZ6H-Ei_bZ2ihqZsTJHuRk-BM65UFw3kMTJSA8AwZqEWVuyKivyD6BXSbk89GFHQ5w2CustdNoq44AeGbCjCFyIGuVRFZTWoyoc4X3xhmEbH3eGxxFA_f2D6rbal-zjeoKa5FwWCAE3E-Mttb-OV4OuOOEyqRQCH-cx28JC5x0WnXGn_VrdYP1gQ2JtQ316Ivc2IHs1jaKt7dbQ52K7sO8bVBZzScl5hHq3UsEiEoDoTTv-8Yu6-DFx6mFvIDu8YeN-PXLCjQBkYKGk1Fkgp4Zo8bnuLOsKJ5L6a5GLFj06Du_MjMwrBq3HdN5omhrsmbMP2SeItrEeihb0wNo9WXyGRTlZld3SfSmGX2JhTUf1yCUBEHtWgjlf33sJ5gxm27XKqQIVqOBpCjjuevOQkwKZTrvLV19RP9FvRlKHoAABHmEyE1rROssQUDhupei7hK91VxbvpIDXZrUCDESO6eNJl2NDbGp83RVXuQ5wEagIEt0NlPfabFZMNiJZu2V6fFXr5pmYVFKHN0hvbkNEc-8eEzlOhVpKgWX352fp74YhdT7p_yTtJjXadvedUGPS1nfh-8yZQtulxcLUWOkvYO0-A6TKa8Vxf5LhAiMPXe4-JOd4vlbqOJbqnbQ92Lrebut0Tu3_ZM7sMBPPgd2JCo6ol1RGUTu1erMIcpDbREHH7HD5p6mV4P7WTr5Zu2SkNvJSXDUOia1he1tSZbobxn0QNtcpp-BP_vKaU9uj80rerROjJwZuOaqUGOLwt2E-xP2NhfhNdrnLmx9u0oEw-FlI9OyChXHOvGP-xlJ55uanUaZRKjQ6PC8oach3TfiZUUHy_j0Ku6h_XDNPCvqBiLK5ZtPWn2pVXuTV2cfpl0F1-ZxHo50cl-2TCy653AZpTqPOdHoij-4cngkpqccahBDydm0E3JacY0lji5n02UJRvdSnWIcATAOU3jUW95l7y5-G72glx_iiAOgxsgPCiPCxx43mG0JXSxUphaYKs56I6ZzH_tHn6c6VQbNICOWHxw-g8605b4msKCcru1ynwDLCBAIeWYFpmnlIYXo2QeMZTLvphiE5bhsFlooyGlUJ-9ZrcQxG9j4KezFev4rK40-h3YbOGjoyPUpOGUNmPjYfARPaugGAfLhLg==",
  "id": "rs_00da056f2869ecf4016ab44a4ed3e087d0a0a9ff7f7b9823fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.36,\"right_z\":0.2},\"note\":\"At the higher pose the entire brown toy is visibly dangling from the held branch and has cleared its original table position. I’ll carry it over the center of the safe at high clearance, where it can rest on top of the two smaller objects.\"}",
  "call_id": "call_ZJ45IyPMf1XOiyuSy7xwe9tM",
  "id": "fc_00da056f2869ecf4016ab44a5177a087d0adfd7e50c9583f99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZJ45IyPMf1XOiyuSy7xwe9tM",
  "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]: [-0.1432, 1.0218, 0.836, -0.8246, -0.2054, -0.1131, 0.9978, 0.8249, 2.4279, 2.6625, -1.599, 0.2943, 0.6823, 0.0467]\nstate[eef_state]: left_x=0.2662 left_y=0.0016 left_z=0.1452 left_yaw=0.0937 left_pitch=-0.4031 left_roll=0.1329 left_gripper=0.9978 right_x=0.3694 right_y=0.3296 right_z=0.1662 right_yaw=0.0261 right_pitch=-0.637 right_roll=-0.1151 right_gripper=0.0467\nstate[joint_eff]: [0.0068, -2.5368, 6.5436, 1.2772, -0.1441, -0.0464, -0.0171, -0.335, -12.3282, 8.6496, 0.8767, 0.188, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a113d1fa382eeb4e660bd76c17d9cc644ae17a6d7b65c19c3dc7facf91f299ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaf3fedc15d1fe997484cbcc166ff8c081d20a2180d4e39713a7702cca0677c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d473add179bdc509d0f8ef3aa998306620f24d790a670f2394157d3818dbfa24",
      "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 · 1.973 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0195, 0.836, -0.8089, -0.2054, -0.1131, 0.9978, 1.0, 2.0003, 1.2751, -0.6559, 0.347, 0.865, 0.0441]\nstate[eef_state]: left_x=0.2693 left_y=0.0011 left_z=0.1478 left_yaw=0.0915 left_pitch=-0.3857 left_roll=0.1284 left_gripper=0.9978 right_x=0.2623 right_y=0.304 right_z=0.0026 right_yaw=0.0353 right_pitch=-0.5977 right_roll=-0.09 right_gripper=0.0441\nstate[joint_eff]: [-0.2256, -2.441, 6.735, 1.3553, -0.149, -0.0562, -0.0073, -0.0752, -10.0581, 5.6137, 0.5641, 0.2222, -0.0415, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8165, -0.2054, -0.1131, 0.9978, 1.0023, 1.932, 1.9457, -1.3937, 0.3405, 0.865, 0.0467]\nstate[eef_state]: left_x=0.2678 left_y=0.0014 left_z=0.1468 left_yaw=0.0927 left_pitch=-0.3931 left_roll=0.1303 left_gripper=0.9978 right_x=0.2632 right_y=0.3091 right_z=0.1902 right_yaw=0.042 right_pitch=-0.6022 right_roll=-0.0845 right_gripper=0.0467\nstate[joint_eff]: [-0.0068, -2.4137, 6.8171, 1.2576, -0.1783, -0.0464, -0.0073, -0.0479, -8.7316, 7.3641, 0.5446, 0.2808, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8246, -0.2054, -0.1131, 0.9978, 0.8249, 2.4279, 2.6625, -1.599, 0.2943, 0.6823, 0.0467]\nstate[eef_state]: left_x=0.2662 left_y=0.0016 left_z=0.1452 left_yaw=0.0937 left_pitch=-0.4031 left_roll=0.1329 left_gripper=0.9978 right_x=0.3694 right_y=0.3296 right_z=0.1662 right_yaw=0.0261 right_pitch=-0.637 right_roll=-0.1151 right_gripper=0.0467\nstate[joint_eff]: [0.0068, -2.5368, 6.5436, 1.2772, -0.1441, -0.0464, -0.0171, -0.335, -12.3282, 8.6496, 0.8767, 0.188, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a113d1fa382eeb4e660bd76c17d9cc644ae17a6d7b65c19c3dc7facf91f299ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdaf3fedc15d1fe997484cbcc166ff8c081d20a2180d4e39713a7702cca0677c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d473add179bdc509d0f8ef3aa998306620f24d790a670f2394157d3818dbfa24",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_00da056f2869ecf4016ab44a55c4c487d08e12665b33fcf993",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.34,\"right_z\":0.075},\"note\":\"The dangling brown toy is now centered over the red compartment, with its ears and body above the white and yellow objects. I’ll lower it until the toy settles into the safe while maintaining the thin branch grasp.\"}",
  "call_id": "call_akQCvmQjnKwMaLsLBWi5tQBX",
  "id": "fc_00da056f2869ecf4016ab44a56a44c87d0aeda1bf706d71c0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_akQCvmQjnKwMaLsLBWi5tQBX",
  "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]: [-0.1432, 1.0218, 0.836, -0.8276, -0.2054, -0.1131, 0.9978, 0.8223, 2.3486, 2.1521, -1.2201, 0.3042, 0.6682, 0.0467]\nstate[eef_state]: left_x=0.2656 left_y=0.0017 left_z=0.1448 left_yaw=0.094 left_pitch=-0.4061 left_roll=0.1337 left_gripper=0.9978 right_x=0.3722 right_y=0.3282 right_z=0.0755 right_yaw=-0.0028 right_pitch=-0.667 right_roll=-0.1772 right_gripper=0.0467\nstate[joint_eff]: [-0.1573, -2.4684, 6.8991, 1.2381, -0.1734, -0.0366, -0.0171, -0.7726, -12.1915, 6.7077, 0.9304, 0.3101, -0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d017997bd297b0a7c1fc27e2bd1a1f4dc9637f3b7277fde3f8056e51c938ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe4ffc53e1422a39f1a0e2a507f4aff385312da32be9fa85298dfb56efd3fff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29aa647ddea8cdcbb592817ae153f0f05ede0f0f959b332b913740ff3fd6453a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 7.367 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8131, -0.2054, -0.1131, 0.9977, 1.0, 1.9297, 1.4559, -0.9279, 0.3397, 0.8642, 0.0467]\nstate[eef_state]: left_x=0.2685 left_y=0.0013 left_z=0.1473 left_yaw=0.0923 left_pitch=-0.3897 left_roll=0.1294 left_gripper=0.9977 right_x=0.2614 right_y=0.3049 right_z=0.0677 right_yaw=0.0282 right_pitch=-0.6153 right_roll=-0.1061 right_gripper=0.0467\nstate[joint_eff]: [-0.0479, -2.2496, 6.5573, 1.2967, -0.1636, -0.0659, -0.0171, -0.0342, -12.0137, 7.8838, 0.5836, 0.1978, 0.0024, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8246, -0.2054, -0.1131, 0.9978, 0.8249, 2.4279, 2.6625, -1.599, 0.2943, 0.6823, 0.0467]\nstate[eef_state]: left_x=0.2662 left_y=0.0016 left_z=0.1452 left_yaw=0.0937 left_pitch=-0.4031 left_roll=0.1329 left_gripper=0.9978 right_x=0.3694 right_y=0.3296 right_z=0.1662 right_yaw=0.0261 right_pitch=-0.637 right_roll=-0.1151 right_gripper=0.0467\nstate[joint_eff]: [0.0068, -2.5368, 6.5436, 1.2772, -0.1441, -0.0464, -0.0171, -0.335, -12.3282, 8.6496, 0.8767, 0.188, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8276, -0.2054, -0.1131, 0.9978, 0.8223, 2.3486, 2.1521, -1.2201, 0.3042, 0.6682, 0.0467]\nstate[eef_state]: left_x=0.2656 left_y=0.0017 left_z=0.1448 left_yaw=0.094 left_pitch=-0.4061 left_roll=0.1337 left_gripper=0.9978 right_x=0.3722 right_y=0.3282 right_z=0.0755 right_yaw=-0.0028 right_pitch=-0.667 right_roll=-0.1772 right_gripper=0.0467\nstate[joint_eff]: [-0.1573, -2.4684, 6.8991, 1.2381, -0.1734, -0.0366, -0.0171, -0.7726, -12.1915, 6.7077, 0.9304, 0.3101, -0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d017997bd297b0a7c1fc27e2bd1a1f4dc9637f3b7277fde3f8056e51c938ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe4ffc53e1422a39f1a0e2a507f4aff385312da32be9fa85298dfb56efd3fff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29aa647ddea8cdcbb592817ae153f0f05ede0f0f959b332b913740ff3fd6453a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpagW67Wg9rQc0NT6e9k24G95fZ1zu5G4jD5EHGX2Ollh9r5ZghPrHmj90dswWKZp0BwpJhS1t0wbdoBNofMFr4qhGvZaxwy50b2sBfm54NQKdTtRPuq-CLAlkgaoke1PxShhjp09wNbzX6yV_3TUpIN0q2izJ-38ovNV3xPVLn-FQadI8dIEfWS77lxKpWSdF-TcSvqaZaTWjBWzIMLVhQbRCwsyrr-nNSFTBamOA4VgILPNwksmo2SGbtUwKu9UiW-5S0-9aMUp8x-AS8GFTUuvreo0p0Sm_Nr9nksVNOWu2Drq8LPtqoenmkEvqAOKQWUCHPdsOv2Ny_4Jredea2Gy_AxDBUMVwiBvpJonXTci6l04zAtscfMZEGsDn__TFleuA7BJz731Oc5AoDaaU0xDKR-w69hUTL9N-h7CRlJYOZ8PDGWK-9ylVCxVuv7B0GaqTteotjgZc_WNPDfG3g6522eNDxCTIsfWLsMyeJ0djJAzw4XgrJ87IeVE-_CoqP62hBOSyqcVQnkf9J3RShXNYkrbvLmipTLNVUW-3IzD9Mm7F52VjMQ6OMxph-Jt_gpq22DMK11oXgBgQOvR2ds4UkcNzZppqowkkTtBJxixxWRg8l2tXRosk7lFSFd_-0kRcyB3sT5WMo_d7xthg0DEYV0PDocdrMd3X8GjC-ef22AUG7ts-kh1_08i5gixtwEclqr_Mq4BTCmq0BAx_qZuy61WDC6Ddh7xlkzqYTpcSBxeXsNLfJavhJFQWBRa7t7mjaLAsYQlu-6tTCNIdfgEAVtIahNCL6-Jef6aXYSMWV6ygSfh-kTHCsGZXXffDF_wEOcI9Y9_Mc3TgAePIZKjKmE7x4DkmvSufNypK1DIZJZ5MJgF3MqBXNP6b1NXVAYBaIEHuKZZEiTgZ02Gk3-mETyDryY_wnijY-0_r8pUDuBOx4a96-ceN1pq2ecKV5K-8vuwoz6iOHOYvz6Aq-mh9SgbItWaqLWxRsjHXIgoEkzNpLbnH9ofkVUsdZfNeK2u5yBKtTzeDUnbSUMfSdLN1sEa6Wi8dsB_Y-vJt5kePfg_V3s1Bj_hr_nBEpZqzLJHd1Cok_aVo36Oe3pbsQs6CkeExKtCpQWgVlykbdSA4lNtOp8iR8YEE67-sz-DJgT5XOrNPeg3kRnC8BdgDlccv0lcbD8KBUArZcQy3HScAJtyYm_GicE6XVQnBy7FABmcewqRQ-jf2kQFXIdvx9Mw==",
  "id": "rs_00da056f2869ecf4016ab44a5985c887d0ace2dddc17ff4fda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The brown toy is now supported inside the red compartment, visibly resting atop the white plush and yellow object rather than hanging freely. I’ll open the gripper to release the thin branch.\"}",
  "call_id": "call_leEHRbwJTuFcZeCdSximVH1f",
  "id": "fc_00da056f2869ecf4016ab44a599d1487d081daa20c4b889eec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_leEHRbwJTuFcZeCdSximVH1f",
  "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]: [-0.1436, 1.0218, 0.836, -0.8322, -0.2054, -0.1131, 0.9977, 0.8387, 2.326, 2.0342, -1.1423, 0.3408, 0.667, 0.9946]\nstate[eef_state]: left_x=0.2647 left_y=0.0018 left_z=0.1442 left_yaw=0.0941 left_pitch=-0.4105 left_roll=0.1349 left_gripper=0.9977 right_x=0.3654 right_y=0.3236 right_z=0.057 right_yaw=-0.0197 right_pitch=-0.6518 right_roll=-0.2248 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -2.2222, 6.735, 1.3016, -0.1734, -0.0464, -0.0171, 0.0479, -15.5692, 6.4479, 0.7057, 0.3297, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1306fa6f0c02472de70e551b729dd503385b31663ba69c6dea9dd7712495cc06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04e261e8b99cfcd50e6adeb59ad01e39dea0e7c0c760a42926860d357ac4fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603d6c0108afeea6b6f818101699daff1d9827f2cdb170575e7a18e721c620b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 5.069 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0195, 0.836, -0.8165, -0.2054, -0.1131, 0.9978, 1.0023, 1.932, 1.9457, -1.3937, 0.3405, 0.865, 0.0467]\nstate[eef_state]: left_x=0.2678 left_y=0.0014 left_z=0.1468 left_yaw=0.0927 left_pitch=-0.3931 left_roll=0.1303 left_gripper=0.9978 right_x=0.2632 right_y=0.3091 right_z=0.1902 right_yaw=0.042 right_pitch=-0.6022 right_roll=-0.0845 right_gripper=0.0467\nstate[joint_eff]: [-0.0068, -2.4137, 6.8171, 1.2576, -0.1783, -0.0464, -0.0073, -0.0479, -8.7316, 7.3641, 0.5446, 0.2808, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8276, -0.2054, -0.1131, 0.9978, 0.8223, 2.3486, 2.1521, -1.2201, 0.3042, 0.6682, 0.0467]\nstate[eef_state]: left_x=0.2656 left_y=0.0017 left_z=0.1448 left_yaw=0.094 left_pitch=-0.4061 left_roll=0.1337 left_gripper=0.9978 right_x=0.3722 right_y=0.3282 right_z=0.0755 right_yaw=-0.0028 right_pitch=-0.667 right_roll=-0.1772 right_gripper=0.0467\nstate[joint_eff]: [-0.1573, -2.4684, 6.8991, 1.2381, -0.1734, -0.0366, -0.0171, -0.7726, -12.1915, 6.7077, 0.9304, 0.3101, -0.0171, 1.0281]\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 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0218, 0.836, -0.8322, -0.2054, -0.1131, 0.9977, 0.8387, 2.326, 2.0342, -1.1423, 0.3408, 0.667, 0.9946]\nstate[eef_state]: left_x=0.2647 left_y=0.0018 left_z=0.1442 left_yaw=0.0941 left_pitch=-0.4105 left_roll=0.1349 left_gripper=0.9977 right_x=0.3654 right_y=0.3236 right_z=0.057 right_yaw=-0.0197 right_pitch=-0.6518 right_roll=-0.2248 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -2.2222, 6.735, 1.3016, -0.1734, -0.0464, -0.0171, 0.0479, -15.5692, 6.4479, 0.7057, 0.3297, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1306fa6f0c02472de70e551b729dd503385b31663ba69c6dea9dd7712495cc06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f04e261e8b99cfcd50e6adeb59ad01e39dea0e7c0c760a42926860d357ac4fe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603d6c0108afeea6b6f818101699daff1d9827f2cdb170575e7a18e721c620b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_00da056f2869ecf4016ab44a5c8b3c87d0ada30193044eafca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.46,\"left_y\":-0.21,\"left_z\":0.22,\"left_gripper\":1.0},\"note\":\"All three objects are visibly released inside the safe: white on the left, yellow near the back, and brown resting across them. I’ll park the right arm and bring the open left gripper high to the upright lid’s upper edge so I can control its closing motion.\"}",
  "call_id": "call_0VXRuxgF18IKK608m4IkIQqa",
  "id": "fc_00da056f2869ecf4016ab44a61493887d0b3fc3fcc3648b30a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0VXRuxgF18IKK608m4IkIQqa",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5694, 2.1662, 2.3062, -1.2896, -0.3904, -0.5179, 0.9983, 0.1051, 1.3178, 1.2049, -1.1091, 0.1818, -0.0368, 0.999]\nstate[eef_state]: left_x=0.4573 left_y=-0.2086 left_z=0.2113 left_yaw=0.0899 left_pitch=-0.4286 left_roll=0.1202 left_gripper=0.9983 right_x=0.2887 right_y=0.002 right_z=0.1706 right_yaw=-0.0592 right_pitch=-0.626 right_roll=-0.2285 right_gripper=0.999\nstate[joint_eff]: [-0.6632, -11.7538, 7.8427, 0.696, -0.4225, 0.1343, -0.1832, -0.1436, -5.6137, 7.1726, 1.1355, 0.022, -0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a26e0127417882b48b4b62f14d67f3e31a7cb9da5faad5ab6062e99718f2dd82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739e011342b5b2909f023b985fdb487f43d80055e5732dde4e0ab66871987b5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec38e39ef125301484e31fc7b936197916b8499548c24f204b91ae4ef2f519d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 3.043 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8246, -0.2054, -0.1131, 0.9978, 0.8249, 2.4279, 2.6625, -1.599, 0.2943, 0.6823, 0.0467]\nstate[eef_state]: left_x=0.2662 left_y=0.0016 left_z=0.1452 left_yaw=0.0937 left_pitch=-0.4031 left_roll=0.1329 left_gripper=0.9978 right_x=0.3694 right_y=0.3296 right_z=0.1662 right_yaw=0.0261 right_pitch=-0.637 right_roll=-0.1151 right_gripper=0.0467\nstate[joint_eff]: [0.0068, -2.5368, 6.5436, 1.2772, -0.1441, -0.0464, -0.0171, -0.335, -12.3282, 8.6496, 0.8767, 0.188, 0.0562, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0218, 0.836, -0.8322, -0.2054, -0.1131, 0.9977, 0.8387, 2.326, 2.0342, -1.1423, 0.3408, 0.667, 0.9946]\nstate[eef_state]: left_x=0.2647 left_y=0.0018 left_z=0.1442 left_yaw=0.0941 left_pitch=-0.4105 left_roll=0.1349 left_gripper=0.9977 right_x=0.3654 right_y=0.3236 right_z=0.057 right_yaw=-0.0197 right_pitch=-0.6518 right_roll=-0.2248 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -2.2222, 6.735, 1.3016, -0.1734, -0.0464, -0.0171, 0.0479, -15.5692, 6.4479, 0.7057, 0.3297, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5694, 2.1662, 2.3062, -1.2896, -0.3904, -0.5179, 0.9983, 0.1051, 1.3178, 1.2049, -1.1091, 0.1818, -0.0368, 0.999]\nstate[eef_state]: left_x=0.4573 left_y=-0.2086 left_z=0.2113 left_yaw=0.0899 left_pitch=-0.4286 left_roll=0.1202 left_gripper=0.9983 right_x=0.2887 right_y=0.002 right_z=0.1706 right_yaw=-0.0592 right_pitch=-0.626 right_roll=-0.2285 right_gripper=0.999\nstate[joint_eff]: [-0.6632, -11.7538, 7.8427, 0.696, -0.4225, 0.1343, -0.1832, -0.1436, -5.6137, 7.1726, 1.1355, 0.022, -0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a26e0127417882b48b4b62f14d67f3e31a7cb9da5faad5ab6062e99718f2dd82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739e011342b5b2909f023b985fdb487f43d80055e5732dde4e0ab66871987b5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec38e39ef125301484e31fc7b936197916b8499548c24f204b91ae4ef2f519d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpqb8hPxUrnS4VxQIkdl8thDUlA7_F4iZUY1YBX_9a8vc_3tkua2YaZAWJpa1ZTFmWh9nVEQVvNIW3RvDn8FswhTQzO3EDxwTvcH4dpS97JeWUa3NEfxPrWmbOg1uVWE7nigm9akCFS_S10bHu4jqL9qUQISY2qGBYhWf9UoAiZa7ZwNAKxRYfd6YJwjHiqv2m-bII3Z9FpbgaoxdZkIohraL-V2hIjHQr-517HjkZ0ftyhqdD8Idym2mMHFB-E3aoB218ZkRylX6c9IpQab1v_diBrxgY7WVoXrtX3hp-q7e3tFWzxiN7me_2NeiXfCIP6rSajXcRrVTRbwofunG7NnTlyH_IeK0LAKzPSPDFptVZKziVckP7S1ejZ-OdHovB351KCvfOR3j0ZdrgLCjN83tMxFoin5djmmcJvDkJg-o5RsMZHLVS5B5MwT3ZWHRZ5xVDpEhg-kMDB86PrtvxG6LH6hJwgCftIrXWDunhBOqvZ_EuXStC2MMg6WjyfZgHfZp1cQcOmRdj26ifoiCT49lRdpIrSRRvtkmhLSYiXXJksnXGjnfSGwEpxhfTrmC1ULe8bXvcFctQ-4qzhCVJw8cio9P3GtqPcEHAD9eua4B1h9-ro65lJtyNpxPUxS8dN8yD-WCD1dZNAjy8ahNaQKR5aL2or_K9wUVzKaoywRlwdur14bd81nE3Gq30QVxQDJELDplnBOl2pJmbWY8C2ReC2t9bRz2GfuiWGZcyqeafxs4OZHs8mKn3fZiE0HfJb-3ZTlO9Qr9_o5UtMUGHlHjxYj4UIYaSJc77bpNMaQJbuq8iRTxo2ybGce54GSGN5dfNx2M8oF1aAe71M2OWc5ieYyLltj2cbQ92sBUd_aAP8nG3E-oVfpMi3NmR_Qct4M8Va8Srv1PPPI46ScW4DkR8s-eLGBNnkq0JQpKnXpefBXOdFvdGUJ60gWY8JXnSgWPzEL_gi-pWIjVmMJ-eYc9xz2LFg48lWC4DwRxP7yC0Xi8JITNLYytdPnJ6n3AL91DrxgvHV90Q2I3rhVYlGm79HG8X_MkfARNKoDNlQvCANH9HZBOum7ymnFSKXJam05pW_xA2zaaYBVglwuNuwaBUh4XBjavg1xbR_70v56E0UPgro0GGlQQwwA8TR5BxHcKQUgEUK4-Leowxo0B6WgUdrCEVnm9gs0veHX1Y2DAFuWz8YATiV06clbM03traOTjK_h-xB2UPVRjf-txJAYMPnyhFNhk763FLTM-kG9yJPGa4-CT4TSooToV14_qwiJoiWmKpIbxf_0u6AJuyFy9C4CKcrN81ojyn2cCUNoxZYRBfu7POqQ6vJaJxSQQYtdkvkwjg_Lbk9C6N2GMNfr90tD1T_raTTwjMf2OdaDB1wWiw5C7dcoUxF-9gMLtAb5DqwCRpYmHluYHzKHJqYEnNNtpOJ5_Zc7WK0ktY4B0kuo8TOvswNjUmHFQrGQDZpYMylm3ST4b2D7i9JPWhEPHWWg9UBjTluAPxfZdK3LHGYCXWZSG--YHkkTPAJTmmJnj9O4QQ2OZu5FDOc6_DQr2sT0nSgU8eFnVIbyGhPu5VS-W-oZMKhQghlP2HiQH6uS53VZoYYnD6tHPZIV4vXSSpSqe5lbqd0CLl4QkDiUIfPln5C0XZMgQnjtbmydRG1uztycayilwRLYyoAevNzDfPHZXTbq2dIJkeXAAdNkpBbwUuWtNOpVJUzY6kGpTVIxk_ztg3N8DEAuVDW6NUP1Gq5RwzZGpI876QiikodgmRGZRn2LqQkdYk1vEiS6HqVECKkaKjUhsp42DUu5OIpon-gzhgB1_6E3eRWyBmwXMoLHb2rggfsg9Q10wwQ_0SKloCNDMMuMx5kVKoIbHX-Z8aiLcd-tHSPtLxug4nzqIlpOqgy9EoineKKxHS36NCh3hVX7LLA3dKScUSju8g_-L-ZZQhaJbILMuDTcDv2k-k9rS0ZqhFQgPfpm0JX01mgl-1u9y7rHJfl00NZ3ypTHGS9hDGmLpmfpBfPO_ftEppwqGDn9ladLsj29t3cVF3JA0Nea_MPPe45v_hxNhSf_Y4tZqcCkdInn3jEql_UJIj_g3LYXiNmy5R1GUsvYEMIb7lZ7JKjuPEsgMBkkv4J2OApiDubOUcIuDknLeszP8UZSqXrMWerJ1_A6HT-afpB",
  "id": "rs_00da056f2869ecf4016ab44a674e9887d0a474e90083c507ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.31,\"right_y\":0.24,\"right_z\":0.13,\"right_yaw\":0.0,\"right_gripper\":1.0},\"note\":\"With the arms moved away, the overhead view reveals the brown toy fell forward out of the compartment while the white and yellow objects stayed inside. I’ll postpone the lid and bring the right gripper above the now partly upright brown toy, which should allow a thicker body grasp.\"}",
  "call_id": "call_pBJZUlDLSsXDJJMBxVBC5Fz9",
  "id": "fc_00da056f2869ecf4016ab44a68d6f487d0a11d776ca6534988",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pBJZUlDLSsXDJJMBxVBC5Fz9",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1413, 1.1812, 1.0676, -0.944, -0.2047, -0.1566, 0.9984, 0.807, 1.8278, 1.5444, -1.1271, 0.355, 0.5735, 0.999]\nstate[eef_state]: left_x=0.2919 left_y=-0.0017 left_z=0.1764 left_yaw=0.1263 left_pitch=-0.4459 left_roll=0.1196 left_gripper=0.9984 right_x=0.3022 right_y=0.232 right_z=0.1239 right_yaw=0.0151 right_pitch=-0.6375 right_roll=-0.2552 right_gripper=0.999\nstate[joint_eff]: [0.0752, -4.3282, 6.8581, 1.3602, -0.1294, 0.1441, -0.1783, 0.294, -8.5128, 8.2393, 0.5592, 0.3443, 0.1099, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a365fd913e259624b9a3e5ede3bcf3a65d4088ceee89f87351cf037f90d2fc90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36c5a0cacfe6f219596c55402c3df7b3e9a7873b849dae1d9b98e88fe116f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:148e6436c2089b6d1470cabc91a087a5cece9f7c0f4ec251c4590a20035201a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 3.185 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0218, 0.836, -0.8276, -0.2054, -0.1131, 0.9978, 0.8223, 2.3486, 2.1521, -1.2201, 0.3042, 0.6682, 0.0467]\nstate[eef_state]: left_x=0.2656 left_y=0.0017 left_z=0.1448 left_yaw=0.094 left_pitch=-0.4061 left_roll=0.1337 left_gripper=0.9978 right_x=0.3722 right_y=0.3282 right_z=0.0755 right_yaw=-0.0028 right_pitch=-0.667 right_roll=-0.1772 right_gripper=0.0467\nstate[joint_eff]: [-0.1573, -2.4684, 6.8991, 1.2381, -0.1734, -0.0366, -0.0171, -0.7726, -12.1915, 6.7077, 0.9304, 0.3101, -0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5694, 2.1662, 2.3062, -1.2896, -0.3904, -0.5179, 0.9983, 0.1051, 1.3178, 1.2049, -1.1091, 0.1818, -0.0368, 0.999]\nstate[eef_state]: left_x=0.4573 left_y=-0.2086 left_z=0.2113 left_yaw=0.0899 left_pitch=-0.4286 left_roll=0.1202 left_gripper=0.9983 right_x=0.2887 right_y=0.002 right_z=0.1706 right_yaw=-0.0592 right_pitch=-0.626 right_roll=-0.2285 right_gripper=0.999\nstate[joint_eff]: [-0.6632, -11.7538, 7.8427, 0.696, -0.4225, 0.1343, -0.1832, -0.1436, -5.6137, 7.1726, 1.1355, 0.022, -0.0415, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1413, 1.1812, 1.0676, -0.944, -0.2047, -0.1566, 0.9984, 0.807, 1.8278, 1.5444, -1.1271, 0.355, 0.5735, 0.999]\nstate[eef_state]: left_x=0.2919 left_y=-0.0017 left_z=0.1764 left_yaw=0.1263 left_pitch=-0.4459 left_roll=0.1196 left_gripper=0.9984 right_x=0.3022 right_y=0.232 right_z=0.1239 right_yaw=0.0151 right_pitch=-0.6375 right_roll=-0.2552 right_gripper=0.999\nstate[joint_eff]: [0.0752, -4.3282, 6.8581, 1.3602, -0.1294, 0.1441, -0.1783, 0.294, -8.5128, 8.2393, 0.5592, 0.3443, 0.1099, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a365fd913e259624b9a3e5ede3bcf3a65d4088ceee89f87351cf037f90d2fc90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36c5a0cacfe6f219596c55402c3df7b3e9a7873b849dae1d9b98e88fe116f2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:148e6436c2089b6d1470cabc91a087a5cece9f7c0f4ec251c4590a20035201a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEpv6lXn7NmwyubHrKgOupWSwUnuzGrOscZQXNWI76S_8naJqiLpZd8hR6VBwJuE8za0St1cF4YykfLl3H0IXFfkeoXpq-DFF6AvfpjEYjX2CmTswSMlwKcofKGodVcZ22IGx1p5EpzPZwFMKZQV8AYmaLasl5AD_ZBKIqA3IfKpHBCIMmcy8Q-8ZUYgyOptnhm6o2VcN6WTXWnyOq_8hab1KrwCP5wudgCD-Yt0dueJTl69muNIFzyaKMR80fRZEXPDsyjHQfDR-PlDBs2i4aT-jdJ_ZOUJPtJPKRPhDwzXAjqx-bz2ejxpMf3-bu3DXB9YQex-ujijNUc1xiO2pRjY9YXrjPDX_ovQ7qaoeSUOwSG8JcNwrLcA-EJX76yPWm9gYKeLb-OdVCCCJlvAf-grj-_Rurwkrd2gP1hA6fwX3lrqa4r7jgeohnf9eyEQ2BrHHue_x5YVKHR3XlN_SratHJkoyhFdnhLEIEJTGjeKrPs_btRiuSW0U97yCD24zCWbg2F5KTntiBZbR18o0ltfpXa1l3yW2W4Oqmj-NlQR2Ln_SATkeczqzkOD6RinFnEXaXdFvr2onO-XTTdH4SCIXcGMY4QDzekbNiH86Awycxp_EPdfGr7QxzCTrIoqSg6SEvUVs6ETdMOYiDDMw_RX1xx43uCjP1nd8O9rQM9SkgEVR25rZAVHzMstb_LrLhZuGLI4k2H6OiPcXDLaVo8l64xfJwKz4zHpMqBMknu68deMkTappFBT9Augca6JLeG3BoeMJRc2sWt9n2kv9LkF2VUMnAgpdQ9YmZ-Q5Q2nulX4vbI3xNMJB7ajzRGVUCaNf6ZHTb_DBwoXlFgaPXOannzSMCEgaRcyfGFHeOXjEY3_L7wi5AA3pTcER8NqTR3vPRIEUU8l-6h_rEiQls58vsc-ss6HMjQ99T0Pf1IikjrJEZUxPeKXKAba5TgoDzotKwfWjrT_mJvLx9MQbw5fi4vhPajYYrZdNTCBCYj9uiAUsPUFbokkxdzHRER7WBsO8ms1pV8vyGuoV7fB2P39uMTN7xpWtaH8ftyqE5QaYOSZW1znUzIlHv2wxGH_X07E8ZwTz1m6ZvwsfgHYKm6MRvwRRVf6Jhx63RcnjNxtqtKvI4YCyxIKBXI0XDQSpzWVwb8aqEAjZ8xRQGA6RqZsGT0GhGYlkKYtcz2fTmENU1Irujicku0Dmf-4mvkUFnJ80gs1ee1AwtHVcACw8zFst9IpbgLO0yGNNdXn-E19YRusqJOPGtcJs5AI6_P-1vPPa8eCVquFLZQ-ijHYX5SSbptZyi0biG8-2K2u1ByhY-T5iVyJnVX6avzIzBMRznRK2mABBdHRxus5qaVPTVee1QOlbioDuQ61ug-ecAz7iE2QXtsUYLRr-B_f3rETdCZ-g-Got-K8nDtvN5RGZff5wxn62IW0g2kBOGvFpHOPPoclfkGo8x_Obkc12SgxheJnQQ7BiObV8Fj0ucVR34nqphgLTNIjy1wdRzX-fl0YTFLpBIKMIE_h8NjT8_kS-Frj",
  "id": "rs_00da056f2869ecf4016ab44a6d71ac87d0a1af5f0672d2abc2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.285,\"right_z\":0.11,\"right_gripper\":1.0},\"note\":\"The brown toy is close beneath the right gripper but its thick torso sits left of the jaw centerline, with a pink paw to the right. I’ll shift the open gripper about 5 cm toward the arm’s left to center the dense torso between the jaws.\"}",
  "call_id": "call_PRiU3Zk97wnmeWV89FvosSsb",
  "id": "fc_00da056f2869ecf4016ab44a6e425087d08992e9087d119ed2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PRiU3Zk97wnmeWV89FvosSsb",
  "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]: [-0.1425, 1.1835, 1.0584, -0.9497, -0.1955, -0.1547, 0.9982, 0.915, 1.9591, 1.6386, -1.1351, 0.3809, 0.6518, 0.999]\nstate[eef_state]: left_x=0.2891 left_y=-0.0032 left_z=0.1715 left_yaw=0.118 left_pitch=-0.4647 left_roll=0.1171 left_gripper=0.9982 right_x=0.292 right_y=0.2777 right_z=0.1038 right_yaw=0.0302 right_pitch=-0.6372 right_roll=-0.2838 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -3.8085, 7.1726, 1.16, -0.2369, -0.0562, -0.0366, -0.1573, -9.7026, 8.0889, 0.5543, 0.3297, 0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbdf247beed0cc49ef2aaa8e0c30ad02156081a0d1d5edb9e479067f38d0a7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4e1920a4d29bd397007d77890ea42682c1d9957eec039408eab1ee449596a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb3718975c7940b82df281bc1473a6f1c6bc0bb8467280e5523718dc942ad40",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 3.165 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

message 143 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0218, 0.836, -0.8322, -0.2054, -0.1131, 0.9977, 0.8387, 2.326, 2.0342, -1.1423, 0.3408, 0.667, 0.9946]\nstate[eef_state]: left_x=0.2647 left_y=0.0018 left_z=0.1442 left_yaw=0.0941 left_pitch=-0.4105 left_roll=0.1349 left_gripper=0.9977 right_x=0.3654 right_y=0.3236 right_z=0.057 right_yaw=-0.0197 right_pitch=-0.6518 right_roll=-0.2248 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -2.2222, 6.735, 1.3016, -0.1734, -0.0464, -0.0171, 0.0479, -15.5692, 6.4479, 0.7057, 0.3297, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1413, 1.1812, 1.0676, -0.944, -0.2047, -0.1566, 0.9984, 0.807, 1.8278, 1.5444, -1.1271, 0.355, 0.5735, 0.999]\nstate[eef_state]: left_x=0.2919 left_y=-0.0017 left_z=0.1764 left_yaw=0.1263 left_pitch=-0.4459 left_roll=0.1196 left_gripper=0.9984 right_x=0.3022 right_y=0.232 right_z=0.1239 right_yaw=0.0151 right_pitch=-0.6375 right_roll=-0.2552 right_gripper=0.999\nstate[joint_eff]: [0.0752, -4.3282, 6.8581, 1.3602, -0.1294, 0.1441, -0.1783, 0.294, -8.5128, 8.2393, 0.5592, 0.3443, 0.1099, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 155 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1835, 1.0584, -0.9497, -0.1955, -0.1547, 0.9982, 0.915, 1.9591, 1.6386, -1.1351, 0.3809, 0.6518, 0.999]\nstate[eef_state]: left_x=0.2891 left_y=-0.0032 left_z=0.1715 left_yaw=0.118 left_pitch=-0.4647 left_roll=0.1171 left_gripper=0.9982 right_x=0.292 right_y=0.2777 right_z=0.1038 right_yaw=0.0302 right_pitch=-0.6372 right_roll=-0.2838 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -3.8085, 7.1726, 1.16, -0.2369, -0.0562, -0.0366, -0.1573, -9.7026, 8.0889, 0.5543, 0.3297, 0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbdf247beed0cc49ef2aaa8e0c30ad02156081a0d1d5edb9e479067f38d0a7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4e1920a4d29bd397007d77890ea42682c1d9957eec039408eab1ee449596a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb3718975c7940b82df281bc1473a6f1c6bc0bb8467280e5523718dc942ad40",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEpyGieAhAt4yxXIiPyhGLhttw6wHQzcdLTfM7gHbJNgW-npMC1-CEhk-21onu4IDBvAEpJODDowUK7vS6yU5LJh9J7sovVTSM2S0qmKouvYcHm98I687Nx5fSvJhpXWC8mi-KtZ7Ux_-giWRWmOGdKMDpTd3lF0MUhbDYhHiniXnBm0vRYxJpF6TAdcl1P02vVpnuTgw-8QMTss6ZxcNSjzSUfZuzl9YrtHbu15DNpWsLPGKqYnRKXCniq6YEcY6bOe2FXnkPXPwnOeADvmwPuKnqMdXbrtR_zFkPhJFm9-lWKY7_6aV7d3cqhhUjri-6rkpg060hd9z8HiNkiZ_5BKt6yoRh-hJ4B-KCvPn66zG5_jHkT_AST2LFgmzOYo3tl4RAGyMicGAVpYlDtSqttUFAZJZCrIjCL8lTBDuw4Hxsx-b4esGy5lWCTCBfsDK-uk4W1ROCo4Do-hK9xeLs6Ucrz_LIFq-cJHZqiIH1Ywi8lqkUTcBb0-Pfe8u-v-pfljWQtbinrp2VyqfNPLvlGpylctumeim1hwGAt-ZOJCkMIYuEcXZesin4XyVW3M8EXvaP2bmKHZUlhjbqYBY3KfvJhPeiH2RImiaUcPM1tDG77ruC1_S5wTgpeyNEWfpR-S-8WpuJ_kX1MU9Y8nb2mKrSf8tASJQEoHKMjSz_S-7qhR0cicTg2PZILJC5UkWS8zrU6nHe7d1SQpyS3YxsvDonX6OerUFf-6O5F4MvcxJKyR_S0TAYh7cZ5nuIdkxCCiwK_gUQyTdLns2hg397USZ3ws_K73SOx_lNKzK27XlnvK_BX5HeRJTTPJrGsghb13fVPZkMTQnsISQIzH8AG-LxWZNxRIOe8LL40zVD892lAIL--4yCcYMoPekItrNjZMjZctiBoJLaSWbPaWP3Qz4R27-mvfNNcV5J511nUv2p5szl_q5TjvKN0-WVG4rLhSm63draqHeQU3UZzB-EnKoD7ZsZvpIf7aBI0N7PR_EHXglDqxDdI4cYBfh8zBOShz4Qag6rW0npCCiOI7Bw6v3lhRDYXD8gCyTOvY0KK5IhgnFXbdMBW2BQaqKga_GSwv6l6RYfvF94KCjlwA3dzctslAGeuZpKnIyV5tV70u2UtT3ob6CODB0VTslYLTEO9kngRa4QoLz-PTezYpvQX6_Dx_chqDZHqVJf5bZaSykud_AZ1N6j4sjVkdM-LnmlKgWD3FLggyLmc3D2GaHjICEekU9b71cfNK_NeevD6jQkVGx8qeA_PvB2dplqDpwxTpZMPk-LDyMw7fC3qaCanYCsZW62J7L-spTbBIa4YUnblIq2Do_F2CRQfC--Uxhst7vZV2Qz18WnCRwr_1AQg6MY3aq_7GL6lrhggbXSS_ATpyKGDTVEnuIpcoD-lEQUmJ",
  "id": "rs_00da056f2869ecf4016ab44a711c7087d0860a7bc7d238248d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.285,\"right_z\":0.045,\"right_gripper\":1.0},\"note\":\"The thick brown torso is now centered squarely between the open jaws and is partly propped upright against the safe, avoiding the flat-loop problem from before. I’ll descend to about 4–5 cm above the table to grasp around its body.\"}",
  "call_id": "call_Dd6z4M9wRKv0n1TQEn77ggko",
  "id": "fc_00da056f2869ecf4016ab44a71bdc487d0899cd22a9367159e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dd6z4M9wRKv0n1TQEn77ggko",
  "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]: [-0.1425, 1.1835, 1.058, -0.9501, -0.1982, -0.1612, 0.9979, 0.9207, 1.9717, 1.6512, -1.1469, 0.382, 0.667, 0.999]\nstate[eef_state]: left_x=0.289 left_y=-0.0027 left_z=0.1714 left_yaw=0.1244 left_pitch=-0.4644 left_roll=0.1162 left_gripper=0.9979 right_x=0.2907 right_y=0.2795 right_z=0.1023 right_yaw=0.0184 right_pitch=-0.6414 right_roll=-0.2895 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -3.453, 6.4752, 1.116, -0.1587, -0.0122, -0.0415, -0.4171, -9.9487, 7.9248, 0.6374, 0.4176, 0.1343, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7625601e47289057e92114d760a306e9704aead6c9264688d01d3e28898a959d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72ff82cbc6a22911f6eb53686e0b9fd287918942e22013168f9a22b460b9e866",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2bc793ebd10b35ff44d64ec5a618dbbe5d54f7f07e7b32da1e72d728b9197c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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