adhoc

completed
2026-09-23T19:58:18.036567+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-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
222.2 s
total steps
429
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe safe is open on the left, with a white plush beside it and yellow and brown objects farther right. I’m bringing the left gripper over the white plush first, while keeping it above the tabletop.
move_to
left_x0.3000left_y-0.1000left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6071, -0.3958, -0.02, -0.0124, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.4154, 10.1675, 2.0147, -0.0757, 0.1441, -0.0855, -0.3624, -1.4564, 9.7162, 1.9121, -0.0464, -0.0366, -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":0.30,"left_y":-0.10,"left_z":0.15},"note":"The safe is open on the left, with a white plush beside it and yellow and brown objects farther right. I’m bringing the left gripper over the white plush first, while keeping it above the tabletop."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe white plush now sits near the left jaws, but it is left of the wrist camera’s jaw column. I’m shifting slightly back and left to center the gripper over its body before lowering.
move_to
left_x0.2650left_y-0.0650left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5858, 1.0004, 0.5804, -0.2977, -0.4412, -0.3546, 0.9992, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2927 left_y=-0.0994 left_z=0.1381 left_yaw=-0.0426 left_pitch=-0.058 left_roll=0.019 left_gripper=0.9992 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.1846, -2.7966, 7.6923, 1.8779, -0.3883, 0.0562, -0.0171, -0.0889, -1.6068, 6.8171, 2.0244, -0.0366, -0.0317, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.065,"left_z":0.13},"note":"The white plush now sits near the left jaws, but it is left of the wrist camera’s jaw column. I’m shifting slightly back and left to center the gripper over its body before lowering."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe plush is nearly centered in the wrist view, with its body still slightly ahead of the fingertips. I’m moving the open jaws a little forward and down to grasp its middle.
move_to
left_x0.2930left_y-0.0800left_z0.0650
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5007, 0.7998, 0.4805, -0.3592, -0.4007, -0.318, 0.9992, -0.0208, 0.8036, 0.609, -0.4526, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2706 left_y=-0.0654 left_z=0.1355 left_yaw=-0.0106 left_pitch=-0.037 left_roll=0.0066 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.165 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [0.2393, -1.0462, 6.8991, 1.6825, -0.0171, 0.105, -0.0171, -0.1026, -1.347, 7.2274, 1.8828, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":-0.08,"left_z":0.065},"note":"The plush is nearly centered in the wrist view, with its body still slightly ahead of the fingertips. I’m moving the open jaws a little forward and down to grasp its middle."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe open jaws flank the white plush at table height, and its body runs between them in the wrist view. I’m closing the gripper now to check whether it is secured.
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]: [-0.5098, 1.0847, 0.3061, -0.0193, -0.3977, -0.3244, 0.9992, -0.0208, 0.8062, 0.6029, -0.4786, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.276 left_y=-0.0718 left_z=0.0495 left_yaw=-0.0135 left_pitch=-0.143 left_roll=0.0564 left_gripper=0.9992 right_x=0.2811 right_y=0.0012 right_z=0.1565 right_yaw=-0.0 right_pitch=-0.0992 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [-0.3077, -3.3983, 6.0239, 1.8095, -0.3297, -0.0708, -0.0171, -0.0752, -1.4291, 7.4325, 1.9219, -0.022, -0.0562, -0.0122] 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},"note":"The open jaws flank the white plush at table height, and its body runs between them in the wrist view. I’m closing the gripper now to check whether it is secured."})
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 almost completely, so that attempt missed the plush; the wrist view shows it just beyond the jaw tips. I’m reopening and advancing a few centimetres for a second, better-centered attempt.
move_to
left_gripper1.0000left_x0.3060left_y-0.0650left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.511, 1.0954, 0.2932, -0.0315, -0.4004, -0.3267, 0.0112, -0.0208, 0.8062, 0.6018, -0.4999, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2702 left_y=-0.0684 left_z=0.0401 left_yaw=-0.0085 left_pitch=-0.1735 left_roll=0.0738 left_gripper=0.0112 right_x=0.2775 right_y=0.0014 right_z=0.1519 right_yaw=0.0003 right_pitch=-0.1217 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [-0.1436, -3.2205, 7.0496, 1.5653, -0.2125, 0.0171, 0.8669, -0.0068, -1.1692, 7.0085, 1.873, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper":1,"left_x":0.306,"left_y":-0.065,"left_z":0.055},"note":"The gripper closed almost completely, so that attempt missed the plush; the wrist view shows it just beyond the jaw tips. I’m reopening and advancing a few centimetres for a second, better-centered attempt."})
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 noteThe second approach puts the plush’s torso directly between the open fingers rather than ahead of them. I’m closing again and will use the gripper reading to verify this grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4095, 1.2125, 0.3813, -0.0307, -0.3397, -0.2634, 0.995, -0.0212, 0.8097, 0.6018, -0.5228, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2918 left_y=-0.0586 left_z=0.0392 left_yaw=0.0119 left_pitch=-0.2221 left_roll=0.0912 left_gripper=0.995 right_x=0.2739 right_y=0.0013 right_z=0.1468 right_yaw=0.0 right_pitch=-0.148 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [0.5402, -2.8786, 8.8957, 1.6825, -0.0659, 0.1538, -0.0024, -0.0479, -1.4427, 6.9949, 1.8632, -0.0562, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":0},"note":"The second approach puts the plush’s torso directly between the open fingers rather than ahead of them. I’m closing again and will use the gripper reading to verify this grasp."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe second close was also empty, and the overhead view makes the error clear: the white-and-brown plush is farther toward the table center than the gripper. I’m lifting and moving laterally over the toy rather than repeating the same grasp.
move_to
left_x0.3050left_y-0.2400left_z0.1900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4061, 1.2156, 0.3843, -0.0471, -0.3367, -0.2703, 0.0106, -0.0212, 0.8101, 0.6018, -0.5533, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2898 left_y=-0.0572 left_z=0.0368 left_yaw=0.0183 left_pitch=-0.2377 left_roll=0.0911 left_gripper=0.0106 right_x=0.2688 right_y=0.0014 right_z=0.1412 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.335, -3.6444, 5.6274, 1.5507, -0.2515, 0.0317, 0.8767, -0.1846, -1.1419, 6.9128, 1.8486, -0.0415, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.24,"left_z":0.19,"left_gripper":1},"note":"The second close was also empty, and the overhead view makes the error clear: the white-and-brown plush is farther toward the table center than the gripper. I’m lifting and moving laterally over the toy rather than repeating the same grasp."})
tool
executing move_to over 17 steps (1.7s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteFrom above, the white plush is left of the safe, while the brown plush is now directly in front of the left arm. I’m lowering onto the brown plush’s torso, slightly toward the table center, to grip it separately.
move_to
left_x0.2650left_y-0.2700left_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9398, 1.5948, 1.3365, -0.868, -0.6044, -0.7795, 0.9972, -0.0212, 0.8127, 0.601, -0.5903, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3029 left_y=-0.2383 left_z=0.177 left_yaw=0.0051 left_pitch=-0.261 left_roll=0.0788 left_gripper=0.9972 right_x=0.2623 right_y=0.0016 right_z=0.1337 right_yaw=0.0003 right_pitch=-0.2193 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [-0.3487, -7.2, 8.3761, 0.8132, -0.652, 0.0562, -0.1294, -0.0752, -1.1829, 7.0632, 1.8779, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.27,"left_z":0.085},"note":"From above, the white plush is left of the safe, while the brown plush is now directly in front of the left arm. I’m lowering onto the brown plush’s torso, slightly toward the table center, to grip it separately."})
tool
executing move_to over 6 steps (0.6s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe brown plush fills the jaw column, but the grasp point is still above its torso. I’m lowering the open fingers to body height before closing.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0832, 1.6939, 1.1156, -0.6815, -0.638, -0.9199, 0.9977, -0.0212, 0.8127, 0.601, -0.6125, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2625 left_y=-0.2628 left_z=0.0887 left_yaw=-0.009 left_pitch=-0.2977 left_roll=0.1182 left_gripper=0.9977 right_x=0.2583 right_y=0.0017 right_z=0.13 right_yaw=0.0004 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.4855, -6.9265, 5.7778, 0.9646, -0.6227, -0.0952, 0.0415, -0.0615, -1.1692, 6.8171, 1.7363, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The brown plush fills the jaw column, but the grasp point is still above its torso. I’m lowering the open fingers to body height before closing."})
tool
executing move_to over 4 steps (0.4s)
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 brown plush’s fur now occupies the space between the fingers at body height. I’m closing on its torso and checking whether the jaws stop against it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0851, 1.7725, 1.0, -0.5255, -0.6403, -0.9276, 0.9977, -0.0212, 0.8158, 0.601, -0.6308, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2586 left_y=-0.2561 left_z=0.0389 left_yaw=0.0051 left_pitch=-0.3131 left_roll=0.1495 left_gripper=0.9977 right_x=0.255 right_y=0.0017 right_z=0.1262 right_yaw=0.0002 right_pitch=-0.2628 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [-0.0479, -7.6923, 5.7778, 0.9792, -0.3736, 0.0562, -0.0073, -0.0889, -1.2923, 6.7897, 1.7509, -0.0464, -0.0708, -0.0073] 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":0},"note":"The brown plush’s fur now occupies the space between the fingers at body height. I’m closing on its torso and checking whether the jaws stop against it."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe brown-plush close was empty; the overhead view shows the jaws caught only loose fur beside the upright toy. I’m leaving it for a clearer approach and moving the left arm above the white plush by the safe.
move_to
left_gripper1.0000left_x0.3500left_y-0.0520left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0859, 1.7859, 0.9871, -0.5278, -0.6403, -0.9287, 0.0108, -0.0212, 0.8158, 0.601, -0.6571, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2556 left_y=-0.2511 left_z=0.0309 left_yaw=0.0134 left_pitch=-0.3261 left_roll=0.1755 left_gripper=0.0108 right_x=0.2501 right_y=0.0018 right_z=0.122 right_yaw=0.0004 right_pitch=-0.2891 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [-0.212, -8.9368, 6.4889, 0.7009, -0.4078, -0.0171, 0.6911, -0.1846, -1.1145, 6.9402, 1.6679, -0.0366, -0.0366, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.35,"left_y":-0.052,"left_z":0.15},"note":"The brown-plush close was empty; the overhead view shows the jaws caught only loose fur beside the upright toy. I’m leaving it for a clearer approach and moving the left arm above the white plush by the safe."})
tool
executing move_to over 18 steps (1.8s)
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 white plush is now centered in the left wrist view and sits just below the raised fingertips in the overhead view. I’m drawing the open jaws slightly back and down around it, clear of the safe’s red edge.
move_to
left_x0.3150left_y-0.0560left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3187, 1.3609, 0.9588, -0.6147, -0.3244, -0.1978, 0.9972, -0.0212, 0.8173, 0.601, -0.6762, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3406 left_y=-0.0493 left_z=0.1277 left_yaw=0.0718 left_pitch=-0.3745 left_roll=0.1873 left_gripper=0.9972 right_x=0.2465 right_y=0.0018 right_z=0.1186 right_yaw=0.0005 right_pitch=-0.3097 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [-0.0479, -7.2137, 9.4017, 1.2723, 0.0513, 0.1685, -0.105, -0.0205, -1.2239, 6.735, 1.5604, -0.0122, -0.0366, -0.0122] 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":{"left_x":0.315,"left_y":-0.056,"left_z":0.035},"note":"The white plush is now centered in the left wrist view and sits just below the raised fingertips in the overhead view. I’m drawing the open jaws slightly back and down around it, clear of the safe’s red edge."})
tool
executing move_to over 6 steps (0.6s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe white plush’s torso is between the left fingers at table height, with its head clear of the safe wall. I’m closing gently on the body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3756, 1.4048, 0.6376, -0.3279, -0.3382, -0.2409, 0.9977, -0.0208, 0.8173, 0.601, -0.6807, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.3045 left_y=-0.0532 left_z=0.0352 left_yaw=0.0651 left_pitch=-0.4365 left_roll=0.2074 left_gripper=0.9977 right_x=0.2456 right_y=0.002 right_z=0.1179 right_yaw=0.001 right_pitch=-0.3143 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [-0.4308, -4.1504, 5.6274, 1.3162, -0.4127, -0.0806, 0.0366, -0.0342, -1.1145, 6.7897, 1.4335, -0.0513, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white plush’s torso is between the left fingers at table height, with its head clear of the safe wall. I’m closing gently on the body."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe jaws again closed nearly empty, and the wrist view shows they met just short of the plush’s thicker chest. I’m reopening and advancing a few centimetres into the torso rather than closing on its paws.
move_to
left_gripper1.0000left_x0.3380left_y-0.0520left_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3782, 1.4174, 0.6159, -0.329, -0.3412, -0.2474, 0.018, -0.0212, 0.8173, 0.601, -0.6842, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2963 left_y=-0.0503 left_z=0.0248 left_yaw=0.0763 left_pitch=-0.4665 left_roll=0.2235 left_gripper=0.018 right_x=0.2449 right_y=0.0019 right_z=0.1174 right_yaw=0.0006 right_pitch=-0.3177 right_roll=0.0069 right_gripper=0.9996 state[joint_eff]: [0.1026, -5.8051, 7.4735, 1.0525, -0.1538, 0.0317, 0.7106, -0.0479, -1.1282, 6.7214, 1.4383, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.338,"left_y":-0.052,"left_z":0.05},"note":"The jaws again closed nearly empty, and the wrist view shows they met just short of the plush’s thicker chest. I’m reopening and advancing a few centimetres into the torso rather than closing on its paws."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe left fingers now straddle the plush’s broad chest, which fills the bottom-center of the wrist view. I’m closing at this deeper position to try 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]: [-0.3313, 1.5135, 0.7807, -0.4202, -0.326, -0.2142, 0.995, -0.0212, 0.8211, 0.601, -0.7017, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3254 left_y=-0.0483 left_z=0.0394 left_yaw=0.0954 left_pitch=-0.497 left_roll=0.2387 left_gripper=0.995 right_x=0.2415 right_y=0.0019 right_z=0.1139 right_yaw=0.0007 right_pitch=-0.3391 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [0.2256, -5.3265, 8.2667, 1.1893, -0.1392, 0.0952, -0.0806, -0.0889, -1.388, 6.7214, 1.5018, -0.0366, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingers now straddle the plush’s broad chest, which fills the bottom-center of the wrist view. I’m closing at this deeper position to try to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe plush grasp is still empty, so I’m clearing the left arm to stop occluding the table. I’m sending the right gripper above the isolated yellow object, which offers a less obstructed first pickup.
move_to
left_x0.2000left_y0.0050left_z0.1800left_gripper1.0000right_x0.4200right_y0.2500right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3325, 1.5158, 0.7841, -0.4282, -0.326, -0.2188, 0.0105, -0.0212, 0.8211, 0.601, -0.7242, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3246 left_y=-0.0484 left_z=0.039 left_yaw=0.0986 left_pitch=-0.5027 left_roll=0.2394 left_gripper=0.0105 right_x=0.237 right_y=0.002 right_z=0.1106 right_yaw=0.0007 right_pitch=-0.3616 right_roll=0.0082 right_gripper=0.9996 state[joint_eff]: [-0.1436, -6.2017, 5.6821, 1.0476, -0.1685, 0.022, 0.8816, 0.0068, -0.8821, 6.7761, 1.536, -0.0171, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2,"left_y":0.005,"left_z":0.18,"left_gripper":1,"right_x":0.42,"right_y":0.25,"right_z":0.16},"note":"The plush grasp is still empty, so I’m clearing the left arm to stop occluding the table. I’m sending the right gripper above the isolated yellow object, which offers a less obstructed first pickup."})
tool
executing move_to over 21 steps (2.1s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe yellow object is isolated beside the safe and appears slightly ahead and left of the right jaws. I’m aligning the right gripper over it and lowering toward its mid-height.
move_to
right_x0.4450right_y0.2750right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2584, 0.8993, 0.9321, -1.1843, -0.2951, -0.1593, 0.9976, 0.6544, 1.9152, 1.6672, -0.8227, 0.3355, 0.5327, 0.9996] state[eef_state]: left_x=0.2035 left_y=0.0031 left_z=0.1685 left_yaw=0.1076 left_pitch=-0.5138 left_roll=0.2381 left_gripper=0.9976 right_x=0.41 right_y=0.2458 right_z=0.1508 right_yaw=0.0288 right_pitch=-0.394 right_roll=-0.0074 right_gripper=0.9996 state[joint_eff]: [0.6359, -1.3333, 8.6769, 1.1062, -0.1685, 0.1294, 0.0317, 0.1299, -9.7983, 8.0068, 1.0623, 0.2857, 0.2076, -0.0122] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.275,"right_z":0.055},"note":"The yellow object is isolated beside the safe and appears slightly ahead and left of the right jaws. I’m aligning the right gripper over it and lowering toward its mid-height."})
tool
executing move_to over 7 steps (0.7s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe yellow object is centered left-to-right, but its lower edge is still well ahead of the fingertip line in the right wrist view. I’m advancing a few centimetres and dropping to its grasp height before closing.
move_to
right_x0.4650right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 0.9031, 0.9352, -1.2057, -0.2955, -0.1612, 0.9978, 0.6594, 2.1254, 1.6188, -0.6235, 0.3275, 0.5312, 0.9996] state[eef_state]: left_x=0.1996 left_y=0.0049 left_z=0.1668 left_yaw=0.1175 left_pitch=-0.534 left_roll=0.2466 left_gripper=0.9978 right_x=0.4306 right_y=0.2664 right_z=0.0555 right_yaw=0.0253 right_pitch=-0.4463 right_roll=-0.0404 right_gripper=0.9996 state[joint_eff]: [-0.3761, -1.306, 5.9282, 1.1648, -0.2125, 0.0024, 0.0073, -0.335, -10.6325, 7.1179, 1.4188, 0.2027, -0.0024, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_z":0.025},"note":"The yellow object is centered left-to-right, but its lower edge is still well ahead of the fingertip line in the right wrist view. I’m advancing a few centimetres and dropping to its grasp height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe yellow object now fills the right wrist image but still stops short of the jaw line. I’m making one small forward adjustment at tabletop height to bring it between the fingers.
move_to
right_x0.4850right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 0.9039, 0.9352, -1.2133, -0.2955, -0.1616, 0.9978, 0.6304, 2.2261, 1.6836, -0.5999, 0.3004, 0.498, 0.9996] state[eef_state]: left_x=0.198 left_y=0.0053 left_z=0.166 left_yaw=0.1196 left_pitch=-0.5418 left_roll=0.25 left_gripper=0.9978 right_x=0.4494 right_y=0.2677 right_z=0.0291 right_yaw=0.0345 right_pitch=-0.4711 right_roll=-0.0445 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.0325, 6.0786, 1.0134, -0.1978, -0.0269, -0.0122, -0.8274, -10.988, 8.3077, 1.1453, 0.3297, 0.0757, -0.0122] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_z":0.015},"note":"The yellow object now fills the right wrist image but still stops short of the jaw line. I’m making one small forward adjustment at tabletop height to bring it between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right arm has reached its tabletop limit, and the yellow object now extends almost to the fingertip line. I’m closing on it at this position to test the pickup.
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]: [-0.2543, 0.9077, 0.9352, -1.2137, -0.2955, -0.1619, 0.9978, 0.6155, 2.2593, 1.6905, -0.5896, 0.2943, 0.4858, 0.9996] state[eef_state]: left_x=0.1981 left_y=0.0054 left_z=0.1653 left_yaw=0.1211 left_pitch=-0.5457 left_roll=0.2516 left_gripper=0.9978 right_x=0.4539 right_y=0.2626 right_z=0.0155 right_yaw=0.0274 right_pitch=-0.4878 right_roll=-0.0561 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.4017, 6.0376, 0.9255, -0.1929, -0.022, -0.0171, -0.4855, -12.1231, 8.3214, 1.1795, 0.2418, -0.0317, -0.0122] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right arm has reached its tabletop limit, and the yellow object now extends almost to the fingertip line. I’m closing on it at this position to test the pickup."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe settled grip is only about 0.03, which may be an empty close, and the yellow object shifted sideways in the wrist image. I’m lifting briefly to see whether it actually comes with the gripper.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6212, 2.2593, 1.6897, -0.5854, 0.2737, 0.4835, 0.0302] state[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4513 right_y=0.2687 right_z=0.0147 right_yaw=0.0523 right_pitch=-0.4953 right_roll=-0.0373 right_gripper=0.0302 state[joint_eff]: [-0.0615, -1.0872, 6.1197, 0.9451, -0.1978, -0.0562, -0.0122, -0.2256, -12.6838, 6.2154, 0.8913, -0.0024, -0.3736, 1.3114] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.10},"note":"The settled grip is only about 0.03, which may be an empty close, and the yellow object shifted sideways in the wrist image. I’m lifting briefly to see whether it actually comes with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe yellow object stayed on the table, so that close pushed it to the right rather than lifting it. I’m reopening, shifting the right gripper toward its new position, and approaching from above to avoid another sideways shove.
move_to
right_gripper1.0000right_x0.4450right_y0.2000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6167, 2.2551, 1.869, -0.8761, 0.2611, 0.4763, 0.0363] state[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4399 right_y=0.2604 right_z=0.0507 right_yaw=0.0273 right_pitch=-0.5918 right_roll=-0.098 right_gripper=0.0363 state[joint_eff]: [-0.0889, -0.9915, 6.0376, 0.9451, -0.2173, -0.0171, -0.0171, 0.2393, -17.1829, 9.4564, 1.6044, 0.1832, 0.1294, 1.033] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.445,"right_y":0.2,"right_z":0.13},"note":"The yellow object stayed on the table, so that close pushed it to the right rather than lifting it. I’m reopening, shifting the right gripper toward its new position, and approaching from above to avoid another sideways shove."})
tool
executing move_to over 10 steps (1.0s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe yellow object is centered laterally in the right wrist camera but remains far ahead of the fingertip line. I’m reaching forward while still high, with a forward tool pitch, before the final descent.
move_to
right_x0.5050right_y0.1900right_z0.1400right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 0.9108, 0.9352, -1.2171, -0.2955, -0.1619, 0.9978, 0.5022, 2.1506, 1.9079, -1.0706, 0.2203, 0.3637, 0.9948] state[eef_state]: left_x=0.1975 left_y=0.0054 left_z=0.1645 left_yaw=0.1222 left_pitch=-0.5517 left_roll=0.2544 left_gripper=0.9978 right_x=0.4363 right_y=0.1996 right_z=0.0979 right_yaw=0.0055 right_pitch=-0.6629 right_roll=-0.1385 right_gripper=0.9948 state[joint_eff]: [-0.1709, -0.8821, 6.0376, 0.9402, -0.232, -0.0611, -0.0171, -0.4171, -14.8855, 9.3744, 0.8767, 0.1148, -0.0073, -0.2515] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.505,"right_y":0.19,"right_z":0.14,"right_pitch":0.35},"note":"The yellow object is centered laterally in the right wrist camera but remains far ahead of the fingertip line. I’m reaching forward while still high, with a forward tool pitch, before the final descent."})
tool
executing move_to over 34 steps (3.4s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
right_cam
camera right_cam step 234
assistant
agent noteThe forward reach brought the yellow object into the jaw opening, but the right arm brushed the safe lid and swung it shut. I’m lowering straight onto the yellow object now; the safe will need reopening before placement.
move_to
right_x0.4900right_y0.1900right_z0.0250right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 0.9142, 0.9352, -1.2171, -0.2955, -0.1623, 0.9978, 0.5411, 1.9617, 1.0706, 0.5179, 0.5655, 0.038, 0.9953] state[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1639 left_yaw=0.1232 left_pitch=-0.5548 left_roll=0.2557 left_gripper=0.9978 right_x=0.4974 right_y=0.1927 right_z=0.1235 right_yaw=0.0363 right_pitch=0.2623 right_roll=-0.1664 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.4017, 6.065, 0.9499, -0.1832, -0.0659, -0.0171, -0.759, -9.2786, 6.0513, 2.3126, 0.3541, -0.0366, 0.0366] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.19,"right_z":0.025,"right_pitch":0.4},"note":"The forward reach brought the yellow object into the jaw opening, but the right arm brushed the safe lid and swung it shut. I’m lowering straight onto the yellow object now; the safe will need reopening before placement."})
tool
executing move_to over 7 steps (0.7s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
assistant
agent noteThe right descent stopped several centimetres above the table, so its pitched fingers appear blocked near the safe; I’m withdrawing it rather than pressing harder. I’m returning the left arm above the unobstructed white figurine to try a top-down pickup.
move_to
right_x0.2700right_y0.0000right_z0.1900right_pitch0.0000left_x0.3500left_y-0.0520left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2546, 0.9154, 0.9352, -1.2175, -0.2955, -0.1619, 0.9978, 0.5461, 2.2612, 0.9722, 1.2205, 0.5991, 0.0105, 0.9954] state[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1637 left_yaw=0.1234 left_pitch=-0.5563 left_roll=0.2565 left_gripper=0.9978 right_x=0.5025 right_y=0.193 right_z=0.0824 right_yaw=-0.0389 right_pitch=0.5259 right_roll=-0.0318 right_gripper=0.9954 state[joint_eff]: [-0.0205, -1.0598, 6.0513, 0.9451, -0.188, -0.0464, -0.0122, 0.7043, -6.653, 2.5094, -0.0513, -0.1538, -0.5201, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_x":0.27,"right_y":0,"right_z":0.19,"right_pitch":0,"left_x":0.35,"left_y":-0.052,"left_z":0.12},"note":"The right descent stopped several centimetres above the table, so its pitched fingers appear blocked near the safe; I’m withdrawing it rather than pressing harder. I’m returning the left arm above the unobstructed white figurine to try a top-down pickup."})
tool
executing move_to over 18 steps (1.8s)
step 259
assistant
agent noteThe white figurine is clearly visible beneath the left jaws, with its torso centered in the wrist camera. I’m lowering while leveling the wrist so the fingers can close around the upright body rather than skimming past it.
move_to
left_z0.0450left_pitch0.2500left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3122, 1.5425, 1.1439, -0.8883, -0.3035, -0.2226, 0.9978, 0.0757, 1.2148, 0.5961, 0.3534, 0.1589, 0.0437, 0.9954] state[eef_state]: left_x=0.3298 left_y=-0.0472 left_z=0.1071 left_yaw=0.1356 left_pitch=-0.6261 left_roll=0.2787 left_gripper=0.9978 right_x=0.3993 right_y=0.0059 right_z=0.2023 right_yaw=-0.0917 right_pitch=0.3207 right_roll=0.0008 right_gripper=0.9954 state[joint_eff]: [-0.2803, -6.5983, 8.8684, 1.0672, -0.3394, -0.0073, -0.0122, -0.0479, -3.1932, 8.7453, 1.9365, -0.0904, -0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045,"left_pitch":0.25,"left_roll":0},"note":"The white figurine is clearly visible beneath the left jaws, with its torso centered in the wrist camera. I’m lowering while leveling the wrist so the fingers can close around the upright body rather than skimming past it."})
tool
executing move_to over 30 steps (3.0s)
step 289
assistant
agent noteWith the wrist leveled, the white figurine’s torso sits between the open fingers rather than beyond their tips. I’m closing on it now and will verify by the settled jaw width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4213, 1.6733, 0.1398, 1.0126, -0.5209, -0.239, 0.9978, 0.0723, 1.2304, 0.5758, 0.3164, 0.1566, 0.041, 0.9954] state[eef_state]: left_x=0.3203 left_y=-0.0433 left_z=0.0211 left_yaw=0.1258 left_pitch=0.1317 left_roll=0.0557 left_gripper=0.9978 right_x=0.3944 right_y=0.0045 right_z=0.1784 right_yaw=-0.0882 right_pitch=0.2487 right_roll=-0.0135 right_gripper=0.9954 state[joint_eff]: [-0.4308, -5.0393, 2.6735, 2.2686, -0.2759, 0.105, -0.0122, 0.0479, -5.6274, 8.5812, 2.21, 0.0317, -0.0415, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"With the wrist leveled, the white figurine’s torso sits between the open fingers rather than beyond their tips. I’m closing on it now and will verify by the settled jaw width."})
tool
executing move_to over 10 steps (1.0s)
step 299
assistant
agent noteThe jaw opening settled just under the empty-grip threshold, so this may still be a miss. I’m lifting a few centimetres to check whether the white figurine actually moves with the gripper.
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]: [-0.424, 1.6772, 0.1314, 1.0363, -0.5217, -0.2401, 0.0376, 0.0723, 1.2308, 0.5755, 0.3054, 0.1566, 0.041, 0.9954] state[eef_state]: left_x=0.3195 left_y=-0.0437 left_z=0.0224 left_yaw=0.1252 left_pitch=0.1417 left_roll=0.049 left_gripper=0.0376 right_x=0.3934 right_y=0.0045 right_z=0.1755 right_yaw=-0.0877 right_pitch=0.237 right_roll=-0.0154 right_gripper=0.9954 state[joint_eff]: [0.0752, -4.9162, 3.6308, 1.5458, -0.1343, -0.0464, 0.8816, -0.1846, -4.3829, 6.9265, 1.9414, -0.0024, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The jaw opening settled just under the empty-grip threshold, so this may still be a miss. I’m lifting a few centimetres to check whether the white figurine actually moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 305
assistant
agent noteThe lift confirms the jaws were empty. With the arm clear, the overhead view shows the apparent ‘white object’ was the gripper; the actual soft object is the brown-and-cream dog near the center, so I’m moving directly above its torso.
move_to
left_gripper1.0000left_x0.2600left_y-0.2450left_z0.1300left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4244, 1.1107, 0.2703, 0.366, -0.5209, -0.2451, 0.0386, 0.0723, 1.2327, 0.5701, 0.2867, 0.1566, 0.041, 0.9954] state[eef_state]: left_x=0.3199 left_y=-0.0442 left_z=0.1043 left_yaw=0.1298 left_pitch=0.1715 left_roll=0.0255 left_gripper=0.0386 right_x=0.3909 right_y=0.0043 right_z=0.168 right_yaw=-0.0868 right_pitch=0.2114 right_roll=-0.0197 right_gripper=0.9954 state[joint_eff]: [-0.3487, -2.865, 9.0872, 1.8535, -0.2125, 0.0269, 1.033, -0.1846, -4.4786, 7.3504, 2.0586, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.26,"left_y":-0.245,"left_z":0.13,"left_pitch":0.2},"note":"The lift confirms the jaws were empty. With the arm clear, the overhead view shows the apparent ‘white object’ was the gripper; the actual soft object is the brown-and-cream dog near the center, so I’m moving directly above its torso."})
tool
executing move_to over 18 steps (1.8s)
step 323
assistant
agent noteThe cleared overhead view shows three objects after all: a small white plush left of the dog, the brown dog under the left gripper, and the yellow object by the safe. The dog’s torso is centered between the fingers, so I’m lowering to its body height.
move_to
left_x0.2630left_y-0.2520left_z0.0350left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2213, 1.6047, 0.8524, -0.3431, -1.108, -1.042, 0.9974, 0.0723, 1.2327, 0.5697, 0.2642, 0.157, 0.041, 0.9954] state[eef_state]: left_x=0.2604 left_y=-0.2424 left_z=0.12 left_yaw=0.1055 left_pitch=0.1707 left_roll=0.027 left_gripper=0.9974 right_x=0.3888 right_y=0.0041 right_z=0.1628 right_yaw=-0.0863 right_pitch=0.1888 right_roll=-0.0235 right_gripper=0.9954 state[joint_eff]: [-0.5128, -6.4752, 7.7197, 0.8571, -0.7888, 0.0513, 0.0855, -0.1299, -4.1641, 6.7897, 2.1026, 0.0464, -0.0806, -0.0122] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.263,"left_y":-0.252,"left_z":0.035,"left_pitch":0.15},"note":"The cleared overhead view shows three objects after all: a small white plush left of the dog, the brown dog under the left gripper, and the yellow object by the safe. The dog’s torso is centered between the fingers, so I’m lowering to its body height."})
tool
executing move_to over 6 steps (0.6s)
step 329
assistant
agent noteThe dog’s broad torso fills the gap between the left fingers at grasp height. I’m closing around it, then I’ll check both jaw width and whether it rises.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2232, 1.8484, 0.77, -0.0788, -1.0912, -1.0569, 0.9977, 0.0723, 1.2327, 0.5682, 0.2523, 0.1566, 0.041, 0.9954] state[eef_state]: left_x=0.2604 left_y=-0.2481 left_z=0.0397 left_yaw=0.0957 left_pitch=0.1412 left_roll=0.0701 left_gripper=0.9977 right_x=0.3873 right_y=0.004 right_z=0.1594 right_yaw=-0.0856 right_pitch=0.1756 right_roll=-0.0255 right_gripper=0.9954 state[joint_eff]: [0.1846, -7.3504, 3.959, 1.0623, -0.5153, -0.0513, 0.0269, -0.0889, -4.1641, 6.8444, 1.9219, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The dog’s broad torso fills the gap between the left fingers at grasp height. I’m closing around it, then I’ll check both jaw width and whether it rises."})
tool
executing move_to over 10 steps (1.0s)
step 339
assistant
agent noteThe dog escaped that close; its fur spread sideways while the jaws met empty. I’m switching to the smaller upright white plush at the dog’s left, which should fit more reliably between the fingers.
move_to
left_gripper1.0000left_x0.2900left_y-0.1000left_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.2236, 1.8683, 0.7601, -0.0715, -1.0893, -1.0565, 0.0104, 0.0723, 1.2327, 0.5678, 0.2367, 0.157, 0.041, 0.9954] state[eef_state]: left_x=0.2589 left_y=-0.2448 left_z=0.0317 left_yaw=0.0914 left_pitch=0.1339 left_roll=0.092 left_gripper=0.0104 right_x=0.3857 right_y=0.0038 right_z=0.1558 right_yaw=-0.0855 right_pitch=0.1598 right_roll=-0.0282 right_gripper=0.9954 state[joint_eff]: [-0.0615, -9.3744, 5.1624, 0.7985, -0.5495, 0.0024, 0.7985, -0.1299, -4.2872, 6.9265, 1.9414, -0.0073, -0.0757, -0.0122] camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.29,"left_y":-0.1,"left_z":0.11},"note":"The dog escaped that close; its fur spread sideways while the jaws met empty. I’m switching to the smaller upright white plush at the dog’s left, which should fit more reliably between the fingers."})
tool
executing move_to over 13 steps (1.3s)
step 352
assistant
agent noteThe white plush is now centered in the left wrist camera, with its head and torso filling the gap between the fingers. I’m lowering onto its torso without moving sideways.
move_to
left_z0.0500left_x0.2900left_y-0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7914, 1.1439, 0.384, 0.0669, -0.8486, -0.5045, 0.9968, 0.0723, 1.2366, 0.5663, 0.2024, 0.157, 0.041, 0.9954] state[eef_state]: left_x=0.2891 left_y=-0.0988 left_z=0.1078 left_yaw=0.139 left_pitch=0.1416 left_roll=0.0685 left_gripper=0.9968 right_x=0.3819 right_y=0.0036 right_z=0.1461 right_yaw=-0.0847 right_pitch=0.1206 right_roll=-0.0345 right_gripper=0.9954 state[joint_eff]: [-0.1299, -2.7966, 5.9419, 1.5507, -0.0904, 0.1636, -0.0659, -0.1573, -4.3419, 6.7897, 2.1758, -0.0073, -0.0513, -0.0122] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.05,"left_x":0.29,"left_y":-0.1},"note":"The white plush is now centered in the left wrist camera, with its head and torso filling the gap between the fingers. I’m lowering onto its torso without moving sideways."})
tool
executing move_to over 4 steps (0.4s)
step 356
assistant
agent noteAt the lowered pose, the white plush’s body sits squarely between the two visible fingers. I’m closing on it and checking the settled opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7921, 1.4086, 0.2554, 0.3363, -0.8326, -0.4984, 0.9972, 0.0723, 1.2366, 0.5663, 0.189, 0.1566, 0.041, 0.9954] state[eef_state]: left_x=0.2789 left_y=-0.0915 left_z=0.0353 left_yaw=0.114 left_pitch=0.0571 left_roll=0.1662 left_gripper=0.9972 right_x=0.3804 right_y=0.0035 right_z=0.1432 right_yaw=-0.0841 right_pitch=0.1074 right_roll=-0.0364 right_gripper=0.9954 state[joint_eff]: [-0.1709, -5.2444, 5.012, 2.0098, -0.5934, -0.0415, 0.022, -0.0752, -4.3419, 6.6667, 1.9805, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"At the lowered pose, the white plush’s body sits squarely between the two visible fingers. I’m closing on it and checking the settled opening."})
tool
executing move_to over 10 steps (1.0s)
step 366
assistant
agent noteThe white plush is still ahead of the closed fingertips, so that was another empty close. I’m reopening and advancing about three centimetres with a level wrist to put the fingers around its thicker upper body.
move_to
left_gripper1.0000left_x0.3130left_y-0.0900left_z0.0420left_pitch0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7921, 1.4227, 0.2459, 0.3347, -0.8314, -0.5014, 0.018, 0.0723, 1.2366, 0.5663, 0.173, 0.1566, 0.041, 0.9954] state[eef_state]: left_x=0.2756 left_y=-0.0884 left_z=0.029 left_yaw=0.1139 left_pitch=0.0412 left_roll=0.1829 left_gripper=0.018 right_x=0.3785 right_y=0.0034 right_z=0.1397 right_yaw=-0.0838 right_pitch=0.0916 right_roll=-0.0389 right_gripper=0.9954 state[joint_eff]: [0.0479, -4.9162, 5.2718, 1.3211, -0.3346, 0.0024, 0.7643, -0.1026, -4.3692, 6.653, 1.9121, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.313,"left_y":-0.09,"left_z":0.042,"left_pitch":0.15},"note":"The white plush is still ahead of the closed fingertips, so that was another empty close. I’m reopening and advancing about three centimetres with a level wrist to put the fingers around its thicker upper body."})
tool
executing move_to over 10 steps (1.0s)
step 376
assistant
agent noteAfter the advance, the white plush’s face and shoulders sit deeper between the open fingers in the wrist image. I’m closing once at this corrected position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7048, 1.5688, 0.2497, 0.6067, -0.8261, -0.3511, 0.9949, 0.0723, 1.2366, 0.5663, 0.1432, 0.157, 0.041, 0.9954] state[eef_state]: left_x=0.3015 left_y=-0.0812 left_z=0.0297 left_yaw=0.1241 left_pitch=0.1057 left_roll=0.213 left_gripper=0.9949 right_x=0.375 right_y=0.0031 right_z=0.1334 right_yaw=-0.0838 right_pitch=0.0622 right_roll=-0.0437 right_gripper=0.9954 state[joint_eff]: [0.4444, -4.1641, 6.147, 1.5849, -0.2125, 0.232, 0.1538, -0.1162, -4.3556, 6.6393, 2.0195, 0.0024, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"After the advance, the white plush’s face and shoulders sit deeper between the open fingers in the wrist image. I’m closing once at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 386
assistant
agent noteThe fingers stopped with a nonzero opening of about one centimetre around the white plush. I’m lifting to verify that it is firmly held before moving toward the safe.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7013, 1.5764, 0.2493, 0.601, -0.8242, -0.3523, 0.1064, 0.0723, 1.2419, 0.5659, 0.1276, 0.1566, 0.041, 0.9954] state[eef_state]: left_x=0.3007 left_y=-0.0795 left_z=0.0267 left_yaw=0.1257 left_pitch=0.0956 left_roll=0.2213 left_gripper=0.1064 right_x=0.373 right_y=0.003 right_z=0.128 right_yaw=-0.0833 right_pitch=0.0411 right_roll=-0.0469 right_gripper=0.9954 state[joint_eff]: [-0.294, -5.2718, 3.9179, 1.4628, -0.3248, -0.0415, 0.5934, -0.0889, -4.5607, 6.8034, 1.9316, -0.0122, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15},"note":"The fingers stopped with a nonzero opening of about one centimetre around the white plush. I’m lifting to verify that it is firmly held before moving toward the safe."})
tool
executing move_to over 8 steps (0.8s)
step 394
assistant
agent noteThe white plush rose with the left gripper, so it is secured. The safe lid was accidentally swung shut earlier; I’m bringing the other, closed gripper toward the lid’s exposed edge to reopen it while keeping the plush aloft.
move_to
right_x0.4500right_y0.3000right_z0.1500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7006, 1.1053, 0.5159, -0.1287, -0.8192, -0.3607, 0.107, 0.0723, 1.2423, 0.5659, 0.0959, 0.157, 0.041, 0.9954] state[eef_state]: left_x=0.3013 left_y=-0.0805 left_z=0.1363 left_yaw=0.1281 left_pitch=0.0996 left_roll=0.2057 left_gripper=0.107 right_x=0.3689 right_y=0.0026 right_z=0.1214 right_yaw=-0.0835 right_pitch=0.0095 right_roll=-0.052 right_gripper=0.9954 state[joint_eff]: [-0.1573, -3.7675, 9.0735, 1.4774, -0.3834, 0.0513, 0.0611, -0.1026, -4.1778, 6.5709, 2.0537, 0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.3,"right_z":0.15,"right_gripper":0},"note":"The white plush rose with the left gripper, so it is secured. The safe lid was accidentally swung shut earlier; I’m bringing the other, closed gripper toward the lid’s exposed edge to reopen it while keeping the plush aloft."})
tool
executing move_to over 25 steps (2.5s)
step 419
assistant
agent noteThe right fingers are beside the lid’s free edge, with the yellow object still outside the safe. I’m pushing that edge gently toward the hinge side to swing the lid open, rather than lowering onto its flat top.
move_to
right_x0.4450right_y0.4000right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7006, 1.1069, 0.5209, -0.1574, -0.8188, -0.3641, 0.1085, 0.7952, 2.0331, 1.5715, -0.3656, 0.6979, 0.522, 0.0071] state[eef_state]: left_x=0.2993 left_y=-0.0789 left_z=0.1337 left_yaw=0.128 left_pitch=0.0828 left_roll=0.2211 left_gripper=0.1085 right_x=0.4446 right_y=0.2964 right_z=0.1418 right_yaw=-0.0506 right_pitch=-0.0182 right_roll=-0.0732 right_gripper=0.0071 state[joint_eff]: [-0.3487, -3.1385, 6.1333, 1.6972, -0.3492, -0.0366, 0.1392, 0.212, -10.8103, 8.3077, 1.3748, 0.4957, 0.2027, 0.6471] camera 'top_cam' (step 419): [image omitted: streamed camera frame] camera 'left_cam' (step 419): [image omitted: streamed camera frame] camera 'right_cam' (step 419): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.4,"right_z":0.085},"note":"The right fingers are beside the lid’s free edge, with the yellow object still outside the safe. I’m pushing that edge gently toward the hinge side to swing the lid open, rather than lowering onto its flat top."})
tool
executing move_to over 9 steps (0.9s)
step 428
assistant
agent noteI could not complete the placement. The safe lid is closed, the yellow object and brown plush remain outside, and I could not reopen the lid within this trial.
give_up
hindsightThe white plush can be grasped with the left arm at approximately x=0.30, y=-0.08, z=0.03 m with a leveled wrist: the settled gripper reading is about 0.11 when it is held. The safe’s white lid can swing shut if the right arm brushes it while reaching for the yellow object; avoid approaching the yellow object across the lid. The right arm at x≈0.45 near tabletop height is close to its practical reach limit, and a pitched descent near the safe can stop well above the table.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7006, 1.1107, 0.5175, -0.165, -0.8188, -0.3676, 0.1099, 0.9318, 2.4039, 1.9835, -0.5114, 0.7677, 0.6373, 0.0092] state[eef_state]: left_x=0.298 left_y=-0.0779 left_z=0.1303 left_yaw=0.1289 left_pitch=0.0732 left_roll=0.2291 left_gripper=0.1099 right_x=0.4422 right_y=0.3954 right_z=0.0862 right_yaw=-0.0251 right_pitch=-0.0358 right_roll=-0.0941 right_gripper=0.0092 state[joint_eff]: [-0.1026, -3.3846, 6.7487, 1.4579, -0.2759, -0.0024, 0.1343, 0.5128, -12.7521, 7.9385, 1.2381, 0.3785, 0.1832, 0.2076] camera 'top_cam' (step 428): [image omitted: streamed camera frame] camera 'left_cam' (step 428): [image omitted: streamed camera frame] camera 'right_cam' (step 428): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the placement. The safe lid is closed, the yellow object and brown plush remain outside, and I could not reopen the lid within this trial.","hindsight":"The white plush can be grasped with the left arm at approximately x=0.30, y=-0.08, z=0.03 m with a leveled wrist: the settled gripper reading is about 0.11 when it is held. The safe’s white lid can swing shut if the right arm brushes it while reaching for the yellow object; avoid approaching the yellow object across the lid. The right arm at x≈0.45 near tabletop height is close to its practical reach limit, and a pitched descent near the safe can stop well above the table."})
tool
give_up: I could not complete the placement. The safe lid is closed, the yellow object and brown plush remain outside, and I could not reopen the lid within this trial.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.07 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
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  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6071, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4154, 10.1675, 2.0147, -0.0757, 0.1441, -0.0855, -0.3624, -1.4564, 9.7162, 1.9121, -0.0464, -0.0366, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:130d9100c786885e622b26137335282fafdbd48a4a34d78414b4f537e2ede657",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969fc100d4ca4f5f83a7600d4fbd748913af35c39b588ca282bc79ec63aef932",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ebdb78a807bcf0ad612cae21c857073127aba622090c4be6190083231836e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 5.285 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3
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  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.10,\"left_z\":0.15},\"note\":\"The safe is open on the left, with a white plush beside it and yellow and brown objects farther right. I’m bringing the left gripper over the white plush first, while keeping it above the tabletop.\"}",
  "call_id": "call_HPwij65WSKYU9HeibDJ2sJoq",
  "id": "fc_0454ff7c5aea7de8016ab42f6ac9a087d0a2279c5313caecee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HPwij65WSKYU9HeibDJ2sJoq",
  "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]: [-0.5858, 1.0004, 0.5804, -0.2977, -0.4412, -0.3546, 0.9992, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=-0.0994 left_z=0.1381 left_yaw=-0.0426 left_pitch=-0.058 left_roll=0.019 left_gripper=0.9992 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.7966, 7.6923, 1.8779, -0.3883, 0.0562, -0.0171, -0.0889, -1.6068, 6.8171, 2.0244, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582cb2af1e674441b3022bde7959f82dee9b7a880435d3a5f257089ca1ff358b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0c178e464022ed94eabf62b050422101f3f1c24e1cee17b8bf81d4dce710e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c2c69a33be15257180f2d3ff0f00ebe7355c40c5dace08c9c3403ef2079a0a",
      "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 · 3.401 s
model
gpt-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, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6071, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4154, 10.1675, 2.0147, -0.0757, 0.1441, -0.0855, -0.3624, -1.4564, 9.7162, 1.9121, -0.0464, -0.0366, -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]: [-0.5858, 1.0004, 0.5804, -0.2977, -0.4412, -0.3546, 0.9992, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=-0.0994 left_z=0.1381 left_yaw=-0.0426 left_pitch=-0.058 left_roll=0.019 left_gripper=0.9992 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.7966, 7.6923, 1.8779, -0.3883, 0.0562, -0.0171, -0.0889, -1.6068, 6.8171, 2.0244, -0.0366, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582cb2af1e674441b3022bde7959f82dee9b7a880435d3a5f257089ca1ff358b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0c178e464022ed94eabf62b050422101f3f1c24e1cee17b8bf81d4dce710e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c2c69a33be15257180f2d3ff0f00ebe7355c40c5dace08c9c3403ef2079a0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC9yTW6lkpnodPZQK6evassT16mYlVV1TvnnVnDAVYonNPz8OLQx-DET2FfhjT0UUVqOoVD4wPb-uPjIJ96gmovhxCsZQQWLuuFMmafNALIOojzzlUGa5CRM4zpQwA0GLKEJ4IzWgDM_1x0YpcUxs3fOdZeUM-ewz49QI6TIv24MtpiFwwa4P-q40QoxYR_GsQIv7lcZ0cmx8M30DxVk1J_6L-PCCniPU1t1_A_5341k1CzcVN-yFZScFQg3H4sRNvB9MqF-ZQN_QJ3fDNTlijwWxTisj8uWjNpwKwQy-y1gyTY9oEypzds1D8H5oPqzUxXTvmOm32ZHQcdakFiTs7LrO74v3arKiuAPeeAwfKCPqbmZP6Rv_IVoTNjzMEjWLbLEweo2JehPZOmPkes9YH6JHK4nv5raafG8xLz8sisCFhrk8P2NscOME5_pldxcvP9e5rY_lFhyZu4UFxtQ1WFn53G7zd2GePdRaCHEZ39aKz2SOn59bvw-ew-3QcRE027KP1tVTZQQB7bw-i_PcyqjzSZjJUpm0Xcz04VQaYRE-0EItNOSOyJKW0hLfn6bOf4rGICHHI5gXRyr_zMVgUouLIR7J0zPLZmMT4845EOagBdWn1GSja-h9yxFsuX-u1Qvk088Ti8PUJU_HaXLB0yRZEnoDcvvGhltRV-N3LJgPfJeg74qJBcegBHkskEAn_SO6werNiPXUSymF2-gqUlONO-Hff4pkY-JugZ71lTS652mGw6nBDZ0LlvdfW1BMNwz3LWKoSJSSxllDzRTRQuoVk-8-snR_0sSVa3s7GeyxOKMq3bNDbjq0NIAR6ovSIhuXPAWU6Kb-xxs2REbTP2AAuJOX348Spa0ttKU6vIkp3ZvLXIhVsSbCtKLggfAIxvTtP1W34jReJQDHkXhk0kN3boSVxzosLjRM7C7KQ6yPxfJCdVCf22Vftx6wFs3KrSi1_5EFRY3Z8F5c-7AwxvoUwQogqCoJWfkl0suTn_e12tWi4gC6GauAqHWDJaWTFc217uGl4_xzhV0qqJqhPIwgjJgXZn9LtQxkACtB4kFC1yRraZlzu175yeYoXmxcix6tbiZdAw58mAdaHWSJMH_ygMMw6jQ6G1yEN8-jZxC_0UvMbARDehO8INc7zgzaLAudE6rQ-3zCiDxG8k-Q1p6pXgcWpxkhT_EEa0VHvsnCdV9-o-4UU-KTzPFibm9KlwLCcrvqF2uOFzOdCp8d0n9-T2B9pEf5buBD_wnvInPlVxnLMSlTb38W9iXtb9yPqP2SmulwA24Y7aAz1pfZjz92Q5c4NQ0eHb-ke_3JgF4JF3wlTdpdjISz0otoFWwoQgubfRUA-8K4VUU1CT3AmMq5PllU2zOA0Vrik-ZoKgnOMj66Rn21gpG_qk861b5hS_SBSHW4Yf_zEAAJ_qUi4nPafxz-9EEf1k8A5_eTZXUZAxdLpHPlsfwJDROea917fq1eR60YqbUR4JMWYxPuiNyMqhBEDTIsRfRVM7laQ3c-OKed_ppocl4rndr67IRxHTaPxPsprhtabGdAbVRi3BGeDJLMlIsK9W8Ri08CUjeEBiDG9K6iD1QoVFI7OZA_FFPQRjycPl_6Wk8-gArZnScdB49Ikc1j6W3oHQpLjboDOI3hE84BrRrv6lmElhF46YHWDeJdBDtZ7l8y9O1_r0ihk98gknAD9WEu8pO5df89n-w1ULLBY10-JjkfkAqfNY93f7YAfF1-dJP8nyRV9dmQRmU4jzGxOV5XfG_oFZ-8emfgZ91h7LiLUhGTW4moPRK-4mt0OvNAf4fKn25ZoCRNmg6oKg-FHwBIlsmAtaN9XTJWcwKXopLtZTH7bQUMFucD9J4mR8cN7EvP_YZBnoLQxrjfS1HsOdEPFBJw6jd6BpKX323OjSMMfOp037bJXdwFQgG9Vfvh8ZuSlYJorsl6M3V6rybO0P4fqp8EIShkoxkSaG0M3YiERi1dtatO0U5aj4e8IONXD7W-BJgMmxgc50vQp3tVnG8a_oHKdE-PrWsfOYJeIfcJp4nS0MmrZGjLvCDOm0UTBP0__MZGAOAzN9vSeutIJaVM3fhwOOUnwWjSSlrpFbn7GQUrzASYj6XuNfISNNbYGXnOPjtJCmmagXEo0novC5rz06Ehf5Oi18llvIa9gH_sJ9CXHQNUjLdgoBRxoCwJ2tlkyPe1BxCwqfM19CxpIa-chmx5yBQLhnGwwwxyBPkYgHrddfaw85Qt4uKMX9BBaFskU_rYpbnpx7MIqkQDLFehamQ8IVB2wywboHwOoRL4YUx8OpMziO_cNh6Z21RrQh52RHTSrmWdRZYZgAGnDy8CDDYcD0ptVHdbjk8u5fKt59oPL-B8Gg8QB5_EVVKz4XZJT5RZMQxNdtnyzEOIpId2m1S10630YFs4L9LKyGCBXCQp52tnowtGoubHe2gHQRAbEmB-x9RtucXGfHAN6fEAvaKYhl1EWoFHbAmqxBYXsNOxwVQWV3O1XjjBaKMd9l6kdgPEB94_P3hdm6nm09LwwO_dHfkzqNOZMwYkVjyo5fjIRJbYiaDkC4nmS_iLL8ZlN0NV9M09qi2EpQHvK9nLKQM89zse1BLBD1EGnEypYSjEKqgsGCCJj85Uw6ziCR3x9JP6QQ6Atangs_NTpAaJAG29kbYCwYvn4p9cdFSpJ1YCnphXZSy99Zi1P8fTr-ZMYJvkM1033JcsLYqKSy3TGgdxRLz3P2BMgimL6XJefqa9zijRleDV1sSrXGMjyS1j3GyHDAisN_zNalcIhHvwtGsWMvVjgA=",
  "id": "rs_0454ff7c5aea7de8016ab42f6e724087d08066a2533d558d2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.065,\"left_z\":0.13},\"note\":\"The white plush now sits near the left jaws, but it is left of the wrist camera’s jaw column. I’m shifting slightly back and left to center the gripper over its body before lowering.\"}",
  "call_id": "call_3kokJPwqzXIBcyxKmB4iKQun",
  "id": "fc_0454ff7c5aea7de8016ab42f718da487d089e85645e9d93b81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3kokJPwqzXIBcyxKmB4iKQun",
  "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]: [-0.5007, 0.7998, 0.4805, -0.3592, -0.4007, -0.318, 0.9992, -0.0208, 0.8036, 0.609, -0.4526, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2706 left_y=-0.0654 left_z=0.1355 left_yaw=-0.0106 left_pitch=-0.037 left_roll=0.0066 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.165 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -1.0462, 6.8991, 1.6825, -0.0171, 0.105, -0.0171, -0.1026, -1.347, 7.2274, 1.8828, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a6b99bb66c1b02cf9bedd6a3045707bc6cb2b08b089b106db43ed2d549c1a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2381cfcfedfb6378e04e90996d4d83017c5fcb3720794778c459c98d55f5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88e2aadfa4c07a730819f6775c240c809a7ae5a73e5e64c8b7e440edd4c5377",
      "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 · 3.156 s
model
gpt-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]: [-0.5858, 1.0004, 0.5804, -0.2977, -0.4412, -0.3546, 0.9992, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=-0.0994 left_z=0.1381 left_yaw=-0.0426 left_pitch=-0.058 left_roll=0.019 left_gripper=0.9992 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.7966, 7.6923, 1.8779, -0.3883, 0.0562, -0.0171, -0.0889, -1.6068, 6.8171, 2.0244, -0.0366, -0.0317, -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]: [-0.5007, 0.7998, 0.4805, -0.3592, -0.4007, -0.318, 0.9992, -0.0208, 0.8036, 0.609, -0.4526, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2706 left_y=-0.0654 left_z=0.1355 left_yaw=-0.0106 left_pitch=-0.037 left_roll=0.0066 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.165 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -1.0462, 6.8991, 1.6825, -0.0171, 0.105, -0.0171, -0.1026, -1.347, 7.2274, 1.8828, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74a6b99bb66c1b02cf9bedd6a3045707bc6cb2b08b089b106db43ed2d549c1a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2381cfcfedfb6378e04e90996d4d83017c5fcb3720794778c459c98d55f5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88e2aadfa4c07a730819f6775c240c809a7ae5a73e5e64c8b7e440edd4c5377",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC92KNbaOfLKUc7nn6rxdf3Xnsy3IBikAk3_znWFMji4ZpAnUnj8eJyguGZ1qAUp6kcUKY-E5-yzSS1IpLnmW2BEs6CAx_3EYCEsfVQhFgo8i8oObVzcHAaPhRSCNmhPSSnP-y9pqEtkJ0-82vD3b3oj1NKGIsuldJ8Nc0oA8HJ7TarkqIxemh5sWyjEsbXuyBUoXMDlzDUOkLVQFyp1oq_Q8Es68wEdxPGQLSJS43Le1jSO1yhgk19IFq1snPVbsfA8L81qLtYW0L70dgzMvo6Yu9mVZYNRJ3IFSFOZw0Nwl6KAUTs_bd7B1GzmyvAXhNKFSi4WmZjRvO162MgCGusI2vevDoYwmUpK23g8EKPWC8fmlsqDi91Sh0w1Qwxqapezjq-teVAFLRldrSywBkdvvO2_CWtJmo-PLyN7ExAOIH3SNmqHkSJ9woqKR3Z1vFGDClInr7eoIdwcG4cj-lf9mswSRamESSE8sXN7m2oa9JVNbYGL9QKucl6NKDBQJdestHr47IUDvIzM7MeH_bc3TAcKssRudhyj57_yz1lv3xX_PplwG2uJ3sEQjpC3rAmsuIrDERVqoJu1wP6DTDKGxWr1bJHbU13T8SDN7Srp4EfeMqxcdACLf_VGWxxU05imk0KVEDz0cPgAqJBJm4tHqZm_BgmWkbaqfFCKnEJeKIbjVsSPlFsZVVLaoi-4S27IQndMg6ZHBZlFdfYN5jsxhI4F1zDn0B5G-ds-T5eeHJBDpDH14G1nKWN44_9_5M-SE6F-APHe1qog6o3TXdLFGvlvQpJdeKoNyeplfsTYnhfoi_HPjO4KnbEpGGxlQffTX2iB7nUSNsCdefcDfc_YSWw3kv847TmmpYN54WGYLfpGBFzdGRgh-6IYMqudEyTTVFCkWuAZgwYznNfN6CzeqeIKn31V48K_tuwMl9KGrmQbIsM7NObY9vqjGsAEo02bWNZVCsasAv0mgdxJxxZdMJYZyH5DHqykNyx_SclJHiupzpRnqxorhCBjJ3KleX-NoryYsKLEcG2xa-HO9INhF04TGJvAJHnGLxMXfZnT5Qgw2C63K2onm_ZwpLjXTU33iZwOx9CLr9J3F9Zl8RbBNG_BrLURvFBa0e1fLykN3MP1HWgsM49WbBJiypbRncPgqQ7wASgDZHCIxpEKOw43xjtMcze_eCWgOxqr8OewERLgyrj83QSrUek5PabN_qje817LRA1dDzi-MJvmTWkjpSgWkGjIBAn2ur9usa_0FXnZT6J4Nax4Zw0o9kulzm3Dtc7yQ5iYKmP_Z3xTrJX36kjz9k2nlNhFYGRmeGVYbZKZ1uy7rJb12LFxV8PsctRXxwbXGoF2ZdSGWH2O8bkG7SGSG2qiTaZcp0wliDM2deA_RhDq9jEBG5mtAmY3-IRmofFJMHhNKP2gyo4xLMFJrRbWnFNVGZGNSGwr5lx-K6PRh2uJhjakERbgv8Cer5MyXNpJqXe60wjC0ah4wefKwINCmkCsDi7tX0EI7kTGzLa7nlvCA3V6kkpSHuEojOwHveqvdI1TotzLagxlGxERjFPg3kS6ZbUPvJpgpX-VgSzSKZq6tb4dU4uS1EK0B4QHTWhUMYnD98HY8PZMRO7ZC6dNtTBHVh-7jnspBw5cpbCFh1DdwwxIZmb8xsiuBDWcyshmbPRYE0CyucqL9SibGoRorxtZt1Es41dl75xNGprhxLDX6Mx0vtGfMKT1Ul3BAOPjvJ-06DKSTmEheSTyp496LrbXeRue_DpzeFpJIURfviqS7RBHI_NoiA49yRkPl2cmvD6uy6FGmkbiy0rSo-OizjhNQWkg82KGKBejQo0=",
  "id": "rs_0454ff7c5aea7de8016ab42f73a95887d09f0c8759cdb0831b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":-0.08,\"left_z\":0.065},\"note\":\"The plush is nearly centered in the wrist view, with its body still slightly ahead of the fingertips. I’m moving the open jaws a little forward and down to grasp its middle.\"}",
  "call_id": "call_PzmMtGUrRPJ5CLbL18S84aGR",
  "id": "fc_0454ff7c5aea7de8016ab42f7501d887d097dd64fc6fec8444",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PzmMtGUrRPJ5CLbL18S84aGR",
  "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]: [-0.5098, 1.0847, 0.3061, -0.0193, -0.3977, -0.3244, 0.9992, -0.0208, 0.8062, 0.6029, -0.4786, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.276 left_y=-0.0718 left_z=0.0495 left_yaw=-0.0135 left_pitch=-0.143 left_roll=0.0564 left_gripper=0.9992 right_x=0.2811 right_y=0.0012 right_z=0.1565 right_yaw=-0.0 right_pitch=-0.0992 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -3.3983, 6.0239, 1.8095, -0.3297, -0.0708, -0.0171, -0.0752, -1.4291, 7.4325, 1.9219, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9e34369c2c5ef1f4cec27c3ba1ef929d550e1c2b0b2b694ebc662618cd7598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b627c184ba034686be73b59090b309c73776e2b0e9b8022faf89c2366f3233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe4f367b6c18e860da8f0a9bd8828c9772eb3abed205ef4727e145e9ee0505f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.784 s
model
gpt-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, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6071, -0.3958, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0009 right_z=0.1781 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4154, 10.1675, 2.0147, -0.0757, 0.1441, -0.0855, -0.3624, -1.4564, 9.7162, 1.9121, -0.0464, -0.0366, -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]: [-0.5007, 0.7998, 0.4805, -0.3592, -0.4007, -0.318, 0.9992, -0.0208, 0.8036, 0.609, -0.4526, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2706 left_y=-0.0654 left_z=0.1355 left_yaw=-0.0106 left_pitch=-0.037 left_roll=0.0066 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.165 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -1.0462, 6.8991, 1.6825, -0.0171, 0.105, -0.0171, -0.1026, -1.347, 7.2274, 1.8828, -0.0122, -0.0513, -0.0122]",
      "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]: [-0.5098, 1.0847, 0.3061, -0.0193, -0.3977, -0.3244, 0.9992, -0.0208, 0.8062, 0.6029, -0.4786, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.276 left_y=-0.0718 left_z=0.0495 left_yaw=-0.0135 left_pitch=-0.143 left_roll=0.0564 left_gripper=0.9992 right_x=0.2811 right_y=0.0012 right_z=0.1565 right_yaw=-0.0 right_pitch=-0.0992 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -3.3983, 6.0239, 1.8095, -0.3297, -0.0708, -0.0171, -0.0752, -1.4291, 7.4325, 1.9219, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9e34369c2c5ef1f4cec27c3ba1ef929d550e1c2b0b2b694ebc662618cd7598",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b627c184ba034686be73b59090b309c73776e2b0e9b8022faf89c2366f3233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe4f367b6c18e860da8f0a9bd8828c9772eb3abed205ef4727e145e9ee0505f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC95hqsNeUlubMLR3Vodbce4GAdtYgZh4993RPJFpZixRRFfd1phPYC2bazIqfOemn_486n8rJbNu40IS4lBueGa8iDaWH_2_hQbgIPvXf6_9MZHdn_bnK4UBdVJrpoJKzJMfryPJ5W2gvd-kNf2Um3PTLL1t-Iwr0UDCPzjwTdCVBZB-61syDX825SUG1gr3UtYj6UWF_VdOtczhtIKCTLwfHmnwQZmA8gG1JTe-k44pj5_DmtX1t1J75c3Ia2GVwwqG8ryZLau3zBpzMy8T4yGH2BnTbQIEWq9uV-AvZPzJtsORKR4mxxiTBLGRrdA1GGbbTfdOoqqUjNzq5A34JD1RDyDqaAP96UFJrXFvsXaq6eebXiD-zA8jDq4BhlTGWTXBizYSWvobi3miJTKd2W20HPlnQPNgLYBUo5SywrR07OdKY7K4sXPn-KB5w8wb7WwElzbp3roER45sQJ74gJnrblQ7ku9B3r1UjMuMTD3b2Me3u5dO4RUZNyAxp0n-Mki8DesOAkg_SG77EtA63j5tvZxC1t6GLA2FRqSD2gKb9DV0pLIjX1fZxeZtJf0clxqgSC6c0Uc1NXrLjfWLDI6Xa23VyzJhIGo7ZRS-Bj_mI_W3s8hfpn0cWvO-0HmYDZLGJB3d4-jlvsRYZPr1n8ZVR0Tery-nUsDn0EUXmwS50JJcshtglQ5ZaAei7aJGxOFpfoAjnqtBg3RL_BbzFF3W8uIx76uy0VRHL8g3dIszGGcDCeSv7nEQUkWXjYdhFygKRnIP3ke9kpQLSHKe06fYOFWb1bVGBlofjKSSzSnaFVcJw8OpCjF3g_clc4KzBomo36k7DFWprQT__ap6phfXAAV9G72O_tyhsotJPNfZJnHksIY9aly0mvoJgMNvKTFeWFA3b-MqBL4GXRlkkYLhIoka5C4NwzfpO5Yvy294ziI-Bk7Bd-yLeJFrNcPwN4H4p5uoAGRo7MGLheqcx_YlfmyNRorN-C6DJ1LtXjJ6Wh11d0DM3NCSybFhyWJaKfCwBiSolLiigBW5Zz2yWXiPCEY_n_wtCvXchMVigetLXn3pNP5miZlmftPRkM1qmj-fjh6ddlrmTk78BbVEBWEfUPt3pYOtQ4OIRV8zt2fDP2AZK9YzBR23nZNnh8vFX6D95qbcXkZn_eu6NFTPg97urlGovka3AtvS2aui7ANMQ8n1txW8cvpJa0IjWLg4UvSzWaxHgTaeeENsOZCazS7p_9PepMesEBV7RGwNqdQKlD1bwLWa6UQWCM5c_Kj5jSUlpkmDV0Bk0NnmDUgAwongpeq8Tzq-RLiqPEqt23nYDsGTfk3MbfpVMqf3oA1AH6IazI0I4ezBzDyVVmhQw0Rap4uDMbay9IMh1CZPpp7F_MT3ZyJS1u4Jxw206nFC0NeOu832RaYuAHGtLS9Uzy7ovGiSRV04hsBqXtBmMAnRBviOU5H5gxR43dYhxbmGPZhjulfH1NrAzUEFVwuDvS5W2osHoQlb2A8taVhTyY0ZOiDrXYfFHuZHigq6xHrlfJQdLpNiNSrOPLtLR1mZrHrG5V3w0liUMDJ1bUocLSYITeso7ls2IkJSTi4D46WvVIfr5YwnhA4bokVs9lk7298i-vPbsVvv7egcy7a7UOnCs4WPkIyJjhZ3sAIb6rsXz0o6GfhY_1o_zwY3yTePJVW67SNMCbsYryGy_Q08cSHa1haU_NzEvn55vuDXm8en8eP6HUqdkESO91ejOsqBNd6G_1whFF1lpl9kZFLw9LyTyikdnu-6rLoo5p9pxHvbac0uVSKhwEZzx_cI8mlkXAjohifdsTNwpfcBV3IVNC3d0GCkB_uHBjVWqYCdBEe6feuNSXCIJ63faesgJLr7hK4vPSUha-lRndCp9j32U0-o8ZFN7edwqsLVVwZSV8dDi2codq7S1C9VjvzDeM401tkUaXi6gy9W04MtbNJ5krrQ4M=",
  "id": "rs_0454ff7c5aea7de8016ab42f77775487d095bc61639c540955",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws flank the white plush at table height, and its body runs between them in the wrist view. I’m closing the gripper now to check whether it is secured.\"}",
  "call_id": "call_iGNeCk5FScVAYGkQGMdOEwwO",
  "id": "fc_0454ff7c5aea7de8016ab42f78f10087d0b86a9574eb684b96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iGNeCk5FScVAYGkQGMdOEwwO",
  "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]: [-0.511, 1.0954, 0.2932, -0.0315, -0.4004, -0.3267, 0.0112, -0.0208, 0.8062, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2702 left_y=-0.0684 left_z=0.0401 left_yaw=-0.0085 left_pitch=-0.1735 left_roll=0.0738 left_gripper=0.0112 right_x=0.2775 right_y=0.0014 right_z=0.1519 right_yaw=0.0003 right_pitch=-0.1217 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -3.2205, 7.0496, 1.5653, -0.2125, 0.0171, 0.8669, -0.0068, -1.1692, 7.0085, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e9ac8545ad2a3f3ae1095f6d150f0709efdf2357ba8e11c30a0444a1a037d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b290d0ed9ea264a0064421a96610f1bb9a3505b2f78f425f301157d81a1db59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7cc7e59ce8afbf2bc0d0c4897f8be9a3b6eb43a844edc2b1135e0c881fb043",
      "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 · 2.429 s
model
gpt-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]: [-0.5858, 1.0004, 0.5804, -0.2977, -0.4412, -0.3546, 0.9992, -0.0212, 0.7986, 0.6094, -0.4301, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=-0.0994 left_z=0.1381 left_yaw=-0.0426 left_pitch=-0.058 left_roll=0.019 left_gripper=0.9992 right_x=0.2888 right_y=0.001 right_z=0.1709 right_yaw=-0.0002 right_pitch=-0.0366 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -2.7966, 7.6923, 1.8779, -0.3883, 0.0562, -0.0171, -0.0889, -1.6068, 6.8171, 2.0244, -0.0366, -0.0317, -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]: [-0.5098, 1.0847, 0.3061, -0.0193, -0.3977, -0.3244, 0.9992, -0.0208, 0.8062, 0.6029, -0.4786, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.276 left_y=-0.0718 left_z=0.0495 left_yaw=-0.0135 left_pitch=-0.143 left_roll=0.0564 left_gripper=0.9992 right_x=0.2811 right_y=0.0012 right_z=0.1565 right_yaw=-0.0 right_pitch=-0.0992 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -3.3983, 6.0239, 1.8095, -0.3297, -0.0708, -0.0171, -0.0752, -1.4291, 7.4325, 1.9219, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.511, 1.0954, 0.2932, -0.0315, -0.4004, -0.3267, 0.0112, -0.0208, 0.8062, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2702 left_y=-0.0684 left_z=0.0401 left_yaw=-0.0085 left_pitch=-0.1735 left_roll=0.0738 left_gripper=0.0112 right_x=0.2775 right_y=0.0014 right_z=0.1519 right_yaw=0.0003 right_pitch=-0.1217 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -3.2205, 7.0496, 1.5653, -0.2125, 0.0171, 0.8669, -0.0068, -1.1692, 7.0085, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15e9ac8545ad2a3f3ae1095f6d150f0709efdf2357ba8e11c30a0444a1a037d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b290d0ed9ea264a0064421a96610f1bb9a3505b2f78f425f301157d81a1db59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f7cc7e59ce8afbf2bc0d0c4897f8be9a3b6eb43a844edc2b1135e0c881fb043",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC99LqKb5k-8X7I0k569ZQ-ak7cmlg-NH4lEDp1qOUKolEtiw3BZj90l0cb_0KMtZX-7Amwl7FN6HHSTEbn3MFtXoIHHZTicHU1oYetBciXdkPWJ2lHOCmN6BQ_qXEyQtgBGMaP1zAtnwbRn_An1bCs2anYZxF_nAhDcYtu7BgyHNCRtf3rkTSHEsgw80h5f7Wa3q-3dKaCqaBMx09LKLmLFgnMB1cKwWgWH41oGZzWVYRZusqMHSOiUUpcyf3ZvjaD5LbYOAuYBl90X-OkgrnFJ32VR7dGwV-N8R9YhJxb2XWZ_ZfCwzK7WgMoxnT2A0VXk5J7El7YI2525_TiCWKnSoftoNhzjQokwtGFmX39tsslt0QFwVEOrfKHciewYuyaLCYnHgh06x-LAUbZD5jTuJ-zzVp5G-pZF58pGkgDxe7odFVcsLTnLO1zsjbTIIYR1Tmoe87rIxNeSXik_wOSFk9KF6xFN4QsBxTvgcs3MOd5iP3SM7334CLT3W7gmYAocm6ocQ7XFqeOc7EwefTfQnbbjAOcUkn8OsWHJBSgw8vm-IuIbqkQUg7E26BTw6qrV_2R_LouhGU7Lpt3d_sTCwD911h6HvEULauWUPgwg1EUTvnQnnf38ZtaLMcUp6sdhRyud6Of7JrpWuTPcGQqs83LkdcUV9tnxMoUFc3hLsrzgAytv4QMS8MyDONiY0KVvxjXaBl0ZBQoB00S9ifM7c_NaIwUo-5FjC0g5q-AO-XmDqr2SNdXj8UThWQnuzPOEXIugy7IHrDArsh6JkPsiIqOrx_vL3YODIH4zl8LHViYkK1GV6USSMUT8zl9Lx2EHgCxUDsHewbT_Px6qR0kWAgeD_HnzOom6tJHdngiY-oZrc1t3mXKAVbaFZdW-BuhoVnFsc1cBC6WPoKwqNgcAKXSIfMQ3P4nV9Oi0y3wk1o-qk2OOzPlB4Nd0jRDXus_hJydXDizM3rI7eLhCEscQzbofcauoPsXYsKRA5Xa4iOrAWWUCmlgiUZmPHcn1X81S9CxaXavwDqzSBpbOl-dG2YmH_x2ossHoSQ9VOSeH05mqG2ny8Rzetn_Pe7W77oFbiLQbWUOvakC5Z2sXikyS_96E_VCSrrkAmIL1jfjNuMzcOstzudjkfx492LXss7vG-yr7HE_XuJKAYW2sIizgZu0f4pN4oCGuI8y0K2HnHGn1d7IlNat9wMuDTHPgebm7CLnR7Cl9CzbLpiugrA3in0An8CfFtT2294tso7unuXUHW2mX1c-Hc-TDhvJI0quVIlUtGqVtBeSIpGX_cGP-pYB1CPn9_6EoO-CQ_5j3XXlmLaYW4jY687KWEIZKByEZn6X42iI_pCfW_mzcCENo2ifhgbp3qiOWPZERNbsJ35DwhZN9_xmnMWVl9YInQm8EMevSWxtsjuMkGN2aO6dsE-oWpYbuYed9YKrxbFfRlQPKex_hEAayx6fOAeM5WsZyPAVPWs8rRn9c7ThhjJYK6CZSnQDcJIO-eiVAqEWPTxv-v5zWwmMB8HLG9GCukgYJ7_QIZeGIXhxh4k3uBqtK89HAePDFJ5lOa93XEpS8lGYqOFZyKvozx49Bxt8hnOHo561lkod74V4kYMx1ulTzWf3r5XEy2ZFWTL25fZhH_Y5sKSKj_OGiNi-vgEN5mvCKUhcQvQXYtmkaNj98rkm-7UHZ8qdM1PbJvSBPAsAIdLl67DmKO-rBByoQLXCjod7M",
  "id": "rs_0454ff7c5aea7de8016ab42f7b722487d0b5fe0118c7bceb75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.306,\"left_y\":-0.065,\"left_z\":0.055},\"note\":\"The gripper closed almost completely, so that attempt missed the plush; the wrist view shows it just beyond the jaw tips. I’m reopening and advancing a few centimetres for a second, better-centered attempt.\"}",
  "call_id": "call_xowM0xllLKTl7CxrQGyhHLbr",
  "id": "fc_0454ff7c5aea7de8016ab42f7ca18887d0bc45c1aa1a471adb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xowM0xllLKTl7CxrQGyhHLbr",
  "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]: [-0.4095, 1.2125, 0.3813, -0.0307, -0.3397, -0.2634, 0.995, -0.0212, 0.8097, 0.6018, -0.5228, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0586 left_z=0.0392 left_yaw=0.0119 left_pitch=-0.2221 left_roll=0.0912 left_gripper=0.995 right_x=0.2739 right_y=0.0013 right_z=0.1468 right_yaw=0.0 right_pitch=-0.148 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -2.8786, 8.8957, 1.6825, -0.0659, 0.1538, -0.0024, -0.0479, -1.4427, 6.9949, 1.8632, -0.0562, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6dd1bd846dad4477915791343f11306142390551b8f94cc12b2947fe124c6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c044aebd001c61c9fcf11629b7f4074dc168fa318721c19c0ed328eb6f91d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9987fab06c19620cef56985c8e46bc2b3d332c759a8ab3c1d36b314c731769",
      "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 · 6.221 s
model
gpt-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]: [-0.5007, 0.7998, 0.4805, -0.3592, -0.4007, -0.318, 0.9992, -0.0208, 0.8036, 0.609, -0.4526, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2706 left_y=-0.0654 left_z=0.1355 left_yaw=-0.0106 left_pitch=-0.037 left_roll=0.0066 left_gripper=0.9992 right_x=0.2857 right_y=0.0011 right_z=0.165 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -1.0462, 6.8991, 1.6825, -0.0171, 0.105, -0.0171, -0.1026, -1.347, 7.2274, 1.8828, -0.0122, -0.0513, -0.0122]",
      "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]: [-0.511, 1.0954, 0.2932, -0.0315, -0.4004, -0.3267, 0.0112, -0.0208, 0.8062, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2702 left_y=-0.0684 left_z=0.0401 left_yaw=-0.0085 left_pitch=-0.1735 left_roll=0.0738 left_gripper=0.0112 right_x=0.2775 right_y=0.0014 right_z=0.1519 right_yaw=0.0003 right_pitch=-0.1217 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -3.2205, 7.0496, 1.5653, -0.2125, 0.0171, 0.8669, -0.0068, -1.1692, 7.0085, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4095, 1.2125, 0.3813, -0.0307, -0.3397, -0.2634, 0.995, -0.0212, 0.8097, 0.6018, -0.5228, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0586 left_z=0.0392 left_yaw=0.0119 left_pitch=-0.2221 left_roll=0.0912 left_gripper=0.995 right_x=0.2739 right_y=0.0013 right_z=0.1468 right_yaw=0.0 right_pitch=-0.148 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -2.8786, 8.8957, 1.6825, -0.0659, 0.1538, -0.0024, -0.0479, -1.4427, 6.9949, 1.8632, -0.0562, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6dd1bd846dad4477915791343f11306142390551b8f94cc12b2947fe124c6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7c044aebd001c61c9fcf11629b7f4074dc168fa318721c19c0ed328eb6f91d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb9987fab06c19620cef56985c8e46bc2b3d332c759a8ab3c1d36b314c731769",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-Am1b7Cmp4DP_m-L2rfxknODd5lCzK8FPJLJahEdDvcflhEu9LJ1ongvDwMY2DF4zffmCDihHrru7cAwv8A6qOyKih4DeNSszInazUemiy3uk7HMvmNRCjW97VViQRZ2_em___HxYw3P4hvEJcCC3LZPZxo-FqHAw-GUTkLThSCCsJCQejKZXpeY_JBJ0bbAF1KcXhy32xe7UMN79zsMHMY8wh_KUKL3vIxKyG4zb9gjcpdMWexBY1tN9TIBWMfwm4ZbqLRJDB9llCigTbO7MYO6nOez8T5DcUTHgLomEuuf6y-vIBNFaPjOrWgcq3LBY85vLYdkOVz-rkrJv9V4XnRpzKxzy8bPKjk3cI-o93rn3QuBXZ4gbFGqIST8pg766E6oqVILT4-j1dLxtsfseJsLAQT6CRNZ7TbTtoJTpr2vN4ePIn0k5t1VQFgyrA9hQTiaV1TnL_hTSWGs9IbKVyE9AdaRt0Zq-Veoj1TI1B06qDA0bi0E-eOkRzsIe519WrY0ZJ6OxoAWIJKJBWRkqhQYkmZodEe3vrKlLZg2A6h5XQO0TXXmJcXUaAkxtml2x0vrOW7b8_xjxPK-Is_ElfEAGpSQ_fE1IYCY-9gOXbg09Sm8QBB1KnVz12h1o-gbOtTnYhnxwcYrVDmOXrxxaRo2ag8eK4vFrjY8QXOqdAQ2LeS0MSekhxx9NIZhaG_x7NTWkhPKbkxmSL0CQj0gA29GHFIX4PclDKDfpYyftRen_aI-B2ZWAq_lP1OVIxE78kXE8aXhHklewgeAlH5AhOu2DZ2DslPLYmlrVQg0jsaqz18gGyEUM94XxGUjirTAXyT8ks6-s07WnrvUoQfSPeSWygSE7hjgIvYSbPs6Vq-HJMF7PnDW8s91JZrFSfLasBe_JNaDzL6Ed6t2IKmg6ldrC76eWyPy-wB5QiOuPQnTSdV65djrffLCiNTqIBqUDtKWYcnlTmu_Moe3wRx-ejex-jSQiPiVtdXSzUPvF17XsTwCeFjJviE_GqrO8P1uUmsvwVOC4C474y_MtHXp7aJ83ZSKdUSYpBd1LsR480QXhagGNe6kKZ7sBG9Ou1bnUCP3uj4wcnq4NXy0sh7C-b4pERhMw1kWCQAufysLnoedbtBwWP3h_lKcy_aqwNzCN4DSzrMvAcvnUbQAKRYTPWy4cZkz1hW2ZSUCvGGp8tes7txyW-vXdNLKKJ7-YFHuPAXFIjQwjcg_yt12gAVHD94JNfud5QhFdaXrbzkijY6hiYBhUXfaCra5UXVy3CmjUpyB4TDRDTQ5OzdQmjJQCnC-jeJ5m95sRChLeR8JRV75P4mESmkoVXOo7uPMqYvIWf9KhZfMEy3LCa8emJ7dNKHomsZF5gifHtIRF8CMns3Fms5NycOFh8EFbxGAhxJz5P1TE0m3QMjeFDqqgZY6UA1xiG5aiZWOn2BYqO2hE4ymPcW9_GVlHWq6I8YJJ0jFmgm6b7eW_7ZCUYvaDddjfJuppwf18WlODRBeMGr8cbYKNJik3yYzUvjdyuyQNIScezoeM_aoRKkZFC6p7IVNR6hV1dvM3lJ-rZ9cj96eCJQY6QM3292ogJxFEGOpfa59vO",
  "id": "rs_0454ff7c5aea7de8016ab42f7f23f487d08b5a532f33d440a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The second approach puts the plush’s torso directly between the open fingers rather than ahead of them. I’m closing again and will use the gripper reading to verify this grasp.\"}",
  "call_id": "call_Zmz66sRSYD46mZnTOphsu3sj",
  "id": "fc_0454ff7c5aea7de8016ab42f8009f487d08e5e5f81cf1f3945",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zmz66sRSYD46mZnTOphsu3sj",
  "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]: [-0.4061, 1.2156, 0.3843, -0.0471, -0.3367, -0.2703, 0.0106, -0.0212, 0.8101, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2898 left_y=-0.0572 left_z=0.0368 left_yaw=0.0183 left_pitch=-0.2377 left_roll=0.0911 left_gripper=0.0106 right_x=0.2688 right_y=0.0014 right_z=0.1412 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.6444, 5.6274, 1.5507, -0.2515, 0.0317, 0.8767, -0.1846, -1.1419, 6.9128, 1.8486, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a5531bdf38c93321ecf218b6278356ae78e82c3bc1ef0650f61168c25b9e76f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a18abd95d0b8977a9b9658dc36a859a0946a72340210ffdde6fac92a3dbb526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c19b7d9214f3c495b325b14fcbde354a22c3b534d766dda3eb97c47f531b324",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.364 s
model
gpt-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]: [-0.5098, 1.0847, 0.3061, -0.0193, -0.3977, -0.3244, 0.9992, -0.0208, 0.8062, 0.6029, -0.4786, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.276 left_y=-0.0718 left_z=0.0495 left_yaw=-0.0135 left_pitch=-0.143 left_roll=0.0564 left_gripper=0.9992 right_x=0.2811 right_y=0.0012 right_z=0.1565 right_yaw=-0.0 right_pitch=-0.0992 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -3.3983, 6.0239, 1.8095, -0.3297, -0.0708, -0.0171, -0.0752, -1.4291, 7.4325, 1.9219, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4095, 1.2125, 0.3813, -0.0307, -0.3397, -0.2634, 0.995, -0.0212, 0.8097, 0.6018, -0.5228, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0586 left_z=0.0392 left_yaw=0.0119 left_pitch=-0.2221 left_roll=0.0912 left_gripper=0.995 right_x=0.2739 right_y=0.0013 right_z=0.1468 right_yaw=0.0 right_pitch=-0.148 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -2.8786, 8.8957, 1.6825, -0.0659, 0.1538, -0.0024, -0.0479, -1.4427, 6.9949, 1.8632, -0.0562, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.2156, 0.3843, -0.0471, -0.3367, -0.2703, 0.0106, -0.0212, 0.8101, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2898 left_y=-0.0572 left_z=0.0368 left_yaw=0.0183 left_pitch=-0.2377 left_roll=0.0911 left_gripper=0.0106 right_x=0.2688 right_y=0.0014 right_z=0.1412 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.6444, 5.6274, 1.5507, -0.2515, 0.0317, 0.8767, -0.1846, -1.1419, 6.9128, 1.8486, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a5531bdf38c93321ecf218b6278356ae78e82c3bc1ef0650f61168c25b9e76f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a18abd95d0b8977a9b9658dc36a859a0946a72340210ffdde6fac92a3dbb526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c19b7d9214f3c495b325b14fcbde354a22c3b534d766dda3eb97c47f531b324",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-HMTNjhi0CaTqaN3XMHkuJxTxsFpYDCcHu8UP_cRWE2AOpFBrB7Z-6eJjGb9E1KG8Ciy4zYN0xZKDei2aMDFYAVGgGRn_K-ikCoSJaHmijFUfGzJuo-PVN6pqoy6RrdGbln_BWlFwZU-IgyNRDNlFoYRAbPzLG5bR1B7fZhzDD17RGHz0Ve0SN2Nz9C20t1nBfWnuG5NKDJ62nvPqjuiiLqqpLm0DXzzc6oZfTm_D9XYL43fSGLe52guRIiTAHkXNgIuIAeCTFEVSPBWMdCyrkzJoDexOcgIdQcStW-fZKTuiyOSh19lH3nlRURTITQxFXklx6lXue03YufXYbhjlVSA39bI8bJAz-kN_I8-eUhUCc3qCYAhwXJx_fP79wUoX8BXR5J4cw5N9LZcrrSnKHfhXStBa65JFI6yIpVAUFZ9kSRB3WqRVcLO1tQ_oLymDdk-jSAV1BUrORjpMAG4Y31yepF9SDqnOyVan8wgrwrj61Vc6e86vglXYOLyZejukg_oPb0bC9WOzTQijzazcMVB8jcoZrDNTywvRxtwVtBNBCRxpjyZq8ydsvBZwmBfRzO61C4B9fnuL8eon4VH07DosLRyzubewKLHIyxB4KB1vQqHxgz56FiBu9AQPxesEMSRNgF0pjoWNl_I1qxAI7NDGxY1FgPml4ZeAN1rJprPKynL9SIQAgRnScKrdAfh1Pnge7jJI_tx2tDk7NvN4_4KC9wXg6I4qg6PDFft6_MLHRKEA-qZNNbnnLRD90kTL2e41hqDccDdGw32kMJix8vibwBONx9l8ZUCBxp5DRwUhIPIhtApTzTlYak9bPy3btfIfWIQoUN0mwO9jZlHLDFE1lxVAzdta03xkr6Qgg-GVZBvUgfhvRGcm_s-ksytTy9f3IzU5f75SsaOzLvW95GhN8V6LP-wxNPKOlTloqpA6HKvrzjeir5Z3Lq0qRxsi3y4WdbZcfMlXk0QyrtXVCjAZs-Zxhn9kgtr3hOxqk4AbqY4--e3A9W2vpL4_lfveYHay0jU0L8-ouicHTa4z7qr1EuTuiqVSRkdkTNM7eSX4jLshhr0xMF0ZVmzb8hTIFExmHimagr3bVSNOmX7LztpsaXaJDIb4xnjakjFWtpbtddn--R41R2nTrsPZvTqajNkxpuMCVrUmxYZlMCimZPlGxQTzyaEYjFYClG4sU3NMEpkIMgKnXwduWm2grv5V9QoPyq9mSfY7kXZh6IsVYXI1CVi9jPzZvATJg3zl6KnLBf6gSeLmaJQIGz-ePqKk2RSRaxqFU77AhXdh8yrEULvvgdu4Wp1lJSFrXgJUyEs6KORpMIDZfk3nVP6DMGkGilBcqOu3sjizAcpzl3BPBIp0Q3rl3EiEmWB290mLfcZ4hkV_KdoxDIruEN8TfF6-_EQ-yd4HtqvIsekgnrpBB8Apj6glQQNRaUZW7Fzbyua8PZCcfP_q9qobwqGz6ZQrJndO_-WMB6G9DM-tCNIoUVfDls6yidWSodnKOWYNUm3M6uI-nS9EKPNZcvkVvwak6CaabvpfAPLQS_jpwfAe3axqhOHVdmG0HD0V173X2keWv9IfZy_o0DNcmFTwbGeqC8Jg-sTJKfIc5JzsvREyILLKyY6p1GyiQz-CF0CGpAdX7lzNJys8TyrkD0jNntnw371IfPRZRXEf-NCVMMAtV5H4MNn5mxUy_MI4KhAYp9fHNWNViIeOH7-LAgixzf9QzmYQbG7IawxeTWnqQoaUEbIdjL55KGtnUxU3VCvggNRO-98X9yOw3-2bzL7RK30FNnstBGPVtfICRipTcn-9i8IHvhBLlPBEuCltrWMj8TOc9WP-yj117OuEA29rGE9h9ufxAc3Cet-5J0AHr-yEuSy0wH19h0mqcF8qOp1FjxOGSFP5b5WSS0aVMaw0mqwcgoEmFMbBWN-4jKCo4UqGVYPEX_ITKtQ1d-ASSbDR82k_5n_EP_BP7xXlJUevOuM-EBa5x5LRpCdo0fU0JCfzkPD-ZPSUV07soDUhMnHG0YCyDefkKV0aQHAnPUm5udq-Cn1jIg6il9dLCdCMlMR_13pVeS8JHYzrGm5xIDdsqvHq1EI62dkS3KZ7rtboMi1ewfzmBK0x4lsULfcbVDdXKwjc5QlmcpqXQaMe6kdTzgIi7BbFfbX0bg0mXSC-JArwIfHknmDLQqOeMcPujwbKRcGr9My3u-JiDIw0JxZNRGu0TXC9TCzoRpVvpo5vmkPSyKOP79GQ_jYMt6h1UrnuHQrjh_INd57GONmtBveeC66MDkOvtEIoeUWIkKUDbe8GdN97EkVntBfjD5HSN1xVJNwwSUcRqhQeO8JV8qHua_PD6sX5z6hoGwQqhRFzhXWmGVCtJbxaIYorvcRbeOYJsAz5tIGj1rFA2bwc_PDH8jBcNCXZfxeYEJqF23ud7TTY2MnrWTjSjVxbNsVo3dxCugerdO4vS_tAUPuIgI3ai2yp1ynPY_LrzcGnYDSuEqxgIVof_b_JRuPULv4QOiopTipB8krmax0aafaqRNgzxWUxgaHECEsZFfoAgRqKsh-OQa-DfHY53-Mqh0cTI8lnasTuklUKo6D9OPBeyb9yhMZJeugV_vBT2pCcYzxYjlTMowOb0J9kVd-8ecyncfH5G53Z0Q6Q-8HRvVekn2eF8NExXGfxZWkENiaNmboAuz6iwEzDNPxQbuaWMCXbM16yX0FyjVHu1QDpguZFwEu1yNTToCErnX0njWf6KIkUH06EaGNyi1U5pCG4_wnuWgg9gLjvEsfC48IHw1MwCD4qGjJLC-hZ1HTAU_yMUOiLN3T3HNxhIiebiehuWJwTgslP54Vgl2LCURPrCGKXOyWdoCNsjWhlz-rwNx36tV3l1ho1O9HcZg1lUY8x0D1oakCEc52bjUfVQSaL8buU4J2k03Pjo7n9IT-don0apPh04djbU_tAgJalNr4PLb84T0zjvtFFYaRFagiw1Q83OJ8WPghqDc5lL3h3eOI_0IfoM88aw8mYT1hiivS-KoT9yO-WXje-xJzhQ8tgaOs0FiGZ-0iozaFa8wsBCOWcbuyMgbPWwBvmAjR93bGhwv7WRuLaQ2c0WZ3WfKIJbjXDyuKeZjfURC0rYUliS4_c5M-GvngM1RPF9VdVssk4-HNSO03zhZfpgAMUIuM91VhHRKiCjq-_Tgq3tYAQki_xAaWeG7uJt0gzNY7UrvQ7dAAR7D5qNW39TsE6ktC3JqgVIBYZ5fTUGVaG5-PerphGIY1mJXZijv--Sq5HJwQDNO6ouayIZx5UohuhVEqL65cpWUVMSion72tHxQSB7_Jr5NF1mv5F85SNx0B_IvqQATB5QWYEwMyIydP4IUWl-lag-68dHD7bDJuTnCI0pmFbTctq6IYIgjiW6h4tGazmJuPpIFyO7Ql-rFCTZQA4tC-vOmDyQYOayR8fWKMTrwXf9Ie1OgnLB372IGe61SMyuIr6Z-vXD9NeeeAOabnTERGBjyU6GpbYm6ajOC0Q56vSloHtDLasp3rfuHo5QIGGxS9aRedeJWg==",
  "id": "rs_0454ff7c5aea7de8016ab42f82c34487d09e0c6babe91d7c62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.24,\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The second close was also empty, and the overhead view makes the error clear: the white-and-brown plush is farther toward the table center than the gripper. I’m lifting and moving laterally over the toy rather than repeating the same grasp.\"}",
  "call_id": "call_XGv74puNFLrul70o0ztu5elm",
  "id": "fc_0454ff7c5aea7de8016ab42f87391087d093490d929fe4333f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XGv74puNFLrul70o0ztu5elm",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9398, 1.5948, 1.3365, -0.868, -0.6044, -0.7795, 0.9972, -0.0212, 0.8127, 0.601, -0.5903, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.2383 left_z=0.177 left_yaw=0.0051 left_pitch=-0.261 left_roll=0.0788 left_gripper=0.9972 right_x=0.2623 right_y=0.0016 right_z=0.1337 right_yaw=0.0003 right_pitch=-0.2193 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2, 8.3761, 0.8132, -0.652, 0.0562, -0.1294, -0.0752, -1.1829, 7.0632, 1.8779, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcffd0f1c54ccb0f66549554c4eda161e0ed61dbffbbdc514b2a1169299235b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63bf0bdda088ba051a0bccea0e60028abbfe98b824b76041449e4337b19a1e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f876df1a22516ad60354e4ff9476276eab2d082278dede861df37e07596bf4c",
      "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 · 3.082 s
model
gpt-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]: [-0.511, 1.0954, 0.2932, -0.0315, -0.4004, -0.3267, 0.0112, -0.0208, 0.8062, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2702 left_y=-0.0684 left_z=0.0401 left_yaw=-0.0085 left_pitch=-0.1735 left_roll=0.0738 left_gripper=0.0112 right_x=0.2775 right_y=0.0014 right_z=0.1519 right_yaw=0.0003 right_pitch=-0.1217 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -3.2205, 7.0496, 1.5653, -0.2125, 0.0171, 0.8669, -0.0068, -1.1692, 7.0085, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4061, 1.2156, 0.3843, -0.0471, -0.3367, -0.2703, 0.0106, -0.0212, 0.8101, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2898 left_y=-0.0572 left_z=0.0368 left_yaw=0.0183 left_pitch=-0.2377 left_roll=0.0911 left_gripper=0.0106 right_x=0.2688 right_y=0.0014 right_z=0.1412 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.6444, 5.6274, 1.5507, -0.2515, 0.0317, 0.8767, -0.1846, -1.1419, 6.9128, 1.8486, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9398, 1.5948, 1.3365, -0.868, -0.6044, -0.7795, 0.9972, -0.0212, 0.8127, 0.601, -0.5903, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.2383 left_z=0.177 left_yaw=0.0051 left_pitch=-0.261 left_roll=0.0788 left_gripper=0.9972 right_x=0.2623 right_y=0.0016 right_z=0.1337 right_yaw=0.0003 right_pitch=-0.2193 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2, 8.3761, 0.8132, -0.652, 0.0562, -0.1294, -0.0752, -1.1829, 7.0632, 1.8779, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcffd0f1c54ccb0f66549554c4eda161e0ed61dbffbbdc514b2a1169299235b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63bf0bdda088ba051a0bccea0e60028abbfe98b824b76041449e4337b19a1e1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f876df1a22516ad60354e4ff9476276eab2d082278dede861df37e07596bf4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-OiQCivZraCcqmmjvp1WrogiG74iaDeUvkDWfjrc8N5IDKrgoewDPyZ3Q0VequO_B6m2LZosszo_vVOatGVkovG-aynW584NLPZs5DVInBv_Uuw4prawWC07Hl9zM_3RIZKCp9DFEkjDJKQzmWJNSiZlMMCo0-fhSPPNeUdEZSYNKuBZShdyW4xqrj6ORFTtVUkQJwITJaP4JfUeKzXHpZBpc9dQZgzQG-JQQhSLGKuYI004wwu7TDRGcoBKdC4TKI1EGM3jfBZtW1eb_dLb6CsrJDyZf1BHbzW1DBffIs8qsn2dKy6xrppFRkombowj3SQYIIpRHxaXGwk-vHcUG0V1S7R6kMvlxGZh7NV2vZ7VUXKTmBXpcqtm40OsM_k1X07tzyLomm2F5KAhe7XtLcweg9X6hc48WNwNhiQdCLYT729-mFeaMkpOV_-MhE5BOCKko-70oC4KimxqGZNj8nlnzkmUKnyiWytVzpKG5NzMCW4oUiweY8eRcBXm9uxGs57xkITsuvjDn4RnIqvNffyIQIgSiKmzt0o9vTs_Gas8tx-CHR8WAflr0g5OwT9ntIawXutncx7tkyCYfBPiTreujFwKFYAcpcvUGudd63CVxZIjlkcDoDS1ECYNaUhTuasI-Lnw2zePCrNkqe3e5yM8gNapPdVt4iq6a7zb5YUK-7HqzZjMK0h5CXVL17N-Ezbl4hnUqqP0GSVY41cSBti1FjfShi4SYUqOEACLCBXJbq_lscLm1V6xpGGiVyXnFr0bAEwvEtgrvrhHSL8HF0oyQn3vu7JLMlzJCOGD_blViRSABTgzYvhmW8emwfMYQWkVzj2gVbo65_uccPHudPAzMGuziih2Z_LLUiSibVxtEPTUeo8ibPD7UdSy0tRt-5ztp0psQYYtkbd0bwBUJO6SXEKH7TDSB_wCqfQaPOwj3If5GDSR1t5HugBfyMudKdI1iwkl7bZxeL4V0nRLvcMm4PXK9bF-WzG7vsIy67-0icWH8XF8qBffVSVpaRvanhAEBG8HVCcIdW1c5rQh4mC4bGIQVbja0Ep2IixAmzUTRAKYVex3ajrm-t46cYt1E1lsFXbwGUeGFgctaJDlX_MO-kyXfI7Y-gXWZTwbMrs9dyIlu3gu4uFes_oaicff74IlwYd586iQIeeYGOxUg3ePt_D8Jp-rS76EhXjZeizCdfShF82OOqPQFS-9w6OF69iYhmLl_G6kpb6ppXx2UYS0t3cAyAQNT-0HMnHKc2XnUbGOOYhYfb_rBxndmJ6bvXUHa_FFZm_QwoeN9moltKKhbkrnbTnXp3_AdU8-4TB97R3NP2BvTWH8UzMx6IGwIZ6K_Ouu-egdWlhKnhEuUxvt6wkwBjRZFR45ut_p96s2gTbvdrm3So52MEG3srW178UkgvNSQqVeMnCcfKymKjV_3qB6qZzgV5caXrI8m15bOwaMiDGw3d4EugYb_73-ziKXSdai-ITUuPNEkchlzaJr08OubvC436P_0umZ1iMcqu3-vJ6rz2FebPu50vRxkX7kzuMyCcTW1Km3St4zY1p9z2oSzSKdSt1Va5kloHHQVQQ6oZnNzBZnnKUvCHX7W-TbMRcfJJcAacnzp3SIt6K8lQ2DQSWTCADDs82S2F0alqPoStMuZ6MoS-rgkXrOTDUMWYBQkyvrYBNXNOeCOmiw6Jf1fGBXUQKdDU4FYM7jR7cQwC_9QgpMImuQGreqZ59b2cFQ1cXpjJWUSfTT9sfNVwvzRCiTRoSkbG7jW96e_mBZL2WCmrJANB9jRcNrXTOWDXJLrKIMkF7yO9-R6DN4i9KuqS13PIUyfAESTuhtOqZs--bxT-aK3nz1PZaf7ThlRsBingxbPJyzqi4NOxwqr9DBav4nZsi-Y9wkKRHkp9dpCdWtmL4Z3bKfiWwPYN5ilJXsGVx7JEcnx-Od5gLYZgTNY8cmScUU2OXyVGqptojQ0pvR_zg-ZcMidnEP1qkIiKwScpfCwGWYtgV8mDEEJ-0lQAXAjebLS_EH8trE_TTkMJK87zLj0nPhs6wu3Z7LLrCR_mrgxDUVPqHKuHNxaASpSoot_mS6HROLhfIGcrWs2_eKFOA7eWN2bSJQYC480afPVXEGHcsp_9BWKoHb0cXMk-39-CrX4iSWu9oWnnvHnTLdyzT1xwkx8O8mj20aqBa6yibJL8nwY4dtdjbFAhzcp9bVsux6sX-XhCoktx-RXKB4tLZLucnmotbiRPcsN1co9bcmUoS88UYE3qT2uCz4_tjxh-8Z0IO_yhYshAfiHzXVr4XgmFB_B8rnNcA_TpFdOf8lURNEXYmTPqjsfMgVjjmxaT4EPZ6N-hN-FN9q4pA-PyFrs7hSpt6pF-VPIkdaUB4ozN8xJcCh-y2skYbxdHmKT0rAQTDjnILPpOkq0MSCztp_8Av5jqxgwrMA0me_0qCQ7nkJhnv8lxScZxqnzVF2CizW7iMkarHuv3dQWL_SmnJvfTBNL1N1PMH8nG92y3s7zAra_jIhxn3gHzjNeq8Cjx6AJAzqKdZbOtPNA-aTqWAON0Jo74g8zx-0TumbdsJ0kmSYbMmSUe-mhULWWr6Ye_3DaYXscAxYS7Mjj4mSZU63B0UQJLRMuPJ1D2qj60ZqEs3Jsfj8u9h0y5wu41lr8RNkxHIpUv0a2lcFKZGlDynEELUefnRQzn3qV4kahDR9tDUdO7QBL0ZdOWiwLdqb7glweklvdeN6z-G2Zvhe9S7IsZiPBhkKRs66XVeLe6CfDzZxgTWS9c2C4KtaPkL8UawWqx7Uaz7pBFG8NoZW2ZgatTn6RbGqALkH0I6ziohrirCpbOj5ZJDkQZZkMmjDBLfUJilxU371C7_IxpIvuLD1sCoBe4PXdL0hf_0s_bTn1BZkJpF1kEy7peGxv4e4EI90SSZNHxUFL6pz0yRloV2dvIn21B8ZcZoWdhcHGzjlrIaErvbabPv8NGRvOrNCv8MqiaSGc-Gbg=",
  "id": "rs_0454ff7c5aea7de8016ab42f8a820887d08a2b574306b8e392",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.27,\"left_z\":0.085},\"note\":\"From above, the white plush is left of the safe, while the brown plush is now directly in front of the left arm. I’m lowering onto the brown plush’s torso, slightly toward the table center, to grip it separately.\"}",
  "call_id": "call_DPhcIR8Keb7VfWvuq87uP1hK",
  "id": "fc_0454ff7c5aea7de8016ab42f8de7a887d0bcc12b79ec937078",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DPhcIR8Keb7VfWvuq87uP1hK",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0832, 1.6939, 1.1156, -0.6815, -0.638, -0.9199, 0.9977, -0.0212, 0.8127, 0.601, -0.6125, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2625 left_y=-0.2628 left_z=0.0887 left_yaw=-0.009 left_pitch=-0.2977 left_roll=0.1182 left_gripper=0.9977 right_x=0.2583 right_y=0.0017 right_z=0.13 right_yaw=0.0004 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.9265, 5.7778, 0.9646, -0.6227, -0.0952, 0.0415, -0.0615, -1.1692, 6.8171, 1.7363, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccb9a7f872e81b7f823001c354b27bcb6c4305908d096ca15b07f1c9e95c60b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185334d9becf44c11e8c1029fb0094cb16e5f0ddc5cee1a0f283044525eb0e83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2029229fc03cbf387add0314282aba500389dce8735103224d660fc8e8798a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 2.002 s
model
gpt-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]: [-0.4095, 1.2125, 0.3813, -0.0307, -0.3397, -0.2634, 0.995, -0.0212, 0.8097, 0.6018, -0.5228, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0586 left_z=0.0392 left_yaw=0.0119 left_pitch=-0.2221 left_roll=0.0912 left_gripper=0.995 right_x=0.2739 right_y=0.0013 right_z=0.1468 right_yaw=0.0 right_pitch=-0.148 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -2.8786, 8.8957, 1.6825, -0.0659, 0.1538, -0.0024, -0.0479, -1.4427, 6.9949, 1.8632, -0.0562, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9398, 1.5948, 1.3365, -0.868, -0.6044, -0.7795, 0.9972, -0.0212, 0.8127, 0.601, -0.5903, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.2383 left_z=0.177 left_yaw=0.0051 left_pitch=-0.261 left_roll=0.0788 left_gripper=0.9972 right_x=0.2623 right_y=0.0016 right_z=0.1337 right_yaw=0.0003 right_pitch=-0.2193 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2, 8.3761, 0.8132, -0.652, 0.0562, -0.1294, -0.0752, -1.1829, 7.0632, 1.8779, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0832, 1.6939, 1.1156, -0.6815, -0.638, -0.9199, 0.9977, -0.0212, 0.8127, 0.601, -0.6125, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2625 left_y=-0.2628 left_z=0.0887 left_yaw=-0.009 left_pitch=-0.2977 left_roll=0.1182 left_gripper=0.9977 right_x=0.2583 right_y=0.0017 right_z=0.13 right_yaw=0.0004 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.9265, 5.7778, 0.9646, -0.6227, -0.0952, 0.0415, -0.0615, -1.1692, 6.8171, 1.7363, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cccb9a7f872e81b7f823001c354b27bcb6c4305908d096ca15b07f1c9e95c60b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:185334d9becf44c11e8c1029fb0094cb16e5f0ddc5cee1a0f283044525eb0e83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2029229fc03cbf387add0314282aba500389dce8735103224d660fc8e8798a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-STS7dOlI1gtQCaEAmmHblqOICSu_OCDkghlLPsWJvAkIgHGoufJS0xNgKQAxe7HRTpgtaSa92_pe5bhZCchEmqCOBKiaMSZmwaeShDBy-h2oDi--nYcVLYrNZnAPdkhJnsg4qFvOtPjdU8HimCSgBl2VGy5tXZbUOt_G3XvFQ3a7LnHGWhfh7z7KHW3S6MwN1SsHREEKUHOiMR-wXmsn-zKycubZ-nHSYT6WfndIni1tD6Ydp-7S8imp9KpWPFcsByBwbNiZCjv4zKqqkJdee8vzDdhzYkzwnDRyj4JT527FJPRXq1Y9qmsL1Fw3mXlginVJPstz-N8hHhbMnBfr1uPYzATz6k9iquJNqJcvMn-XQH1OxovIatKxeB4NcBIN4IhhM-JhjP7d5Or7eBy0fdEa3fB8hrR48Gu99MkebVMdKwQALycZvYgfj1QWot3Kfv2v68EL7ON75J2GLfQD4Pf0Ts8hMegllhnHnP0G_WuEqpAVipdZUp5zzpkRoUY2hGBKXEY1lru9qKz3b6MC-ncnBQPPRlrp2pVAjEcerBevHk7YdEhDthLU9JTUlpgrQP-UQicA5H367fEeNJTWNHxMpAKegS0qPbevKDEuLQAG_EaqqduZQY45c8bTsRT9yWMNcKMWKIz_YnsDYRJ0LE4lrlIflgC5K5NGIdjhcrau4bGNjTOtEn3xkshrHCa-GdAvhKayeIX_LoyuRRJUxNiVFaRj6w_07Stfq-QRNAybBzYi-AbEsw010kSsjr_p5MOOCrS0OdkFYSVMbwgeWVIo2ydrD5pkD4IOg2SJgy8B_g4tkTy576RR2KLjCqAYD9eCJmT_Dq5SZKngiOffyTAJwX4XCZ2tImkj4FmbwQbKIcM4l0ONEgBIpN4oRDFagnl41MJP6A_GDSF7WzO_BxlRZ6KWraEIvKsPXbl56U-ezfCl5YfIcL14gKx4GIa_rRFcKM2_9ftEqC33B7lRJ5m67dQHDOO3OvZ1CqROJefFmDxVvU64YZEOxE77ZMxdJ_YqWJhSmeEOENvXqJP8K8zPcPVA8HwordqgBZRuy9yBXLxB-UsGbJB9rnKssKBhfmctLSgI2O58HyG1uMmxPeIXDb3JgWt6Ru4cVovgdFFCnZW1kughzaDmQRJkM3aT4sRapNqZuIhpxMIEUg49n3GKU8twY-Ir9YE_869f2-kIZCT7Jbdls-nMGa6p2ThOwPpLXfi41ia0eAE3M2CDzODvCu9yF1pUD8Oi_6iZW-EIFChvgGqZCMGR-VgjNlZWBbKmRPJKbRvkNIsl4zFIH2D_SZGME7sZ6k3UzUoZ3DvpKGs5IOGmvpaf10yX4k-KlZsv-mGL7CFpzYglppEkPl_Pa_ahRtzTClOjrVOuCKtITgDSos8bP7yPn-_5zFh-kenIIkrJrartbJUBvam9zA40fK9ZHlCpm6G5lJoWH5dJeHNAPVIGAKMxUpxs7F_H2T6FJx8sMsM57M5g-B3EJa7feD3EtAJQmm9_4oRf9t3fDF8wawTrKUBdEHB8lzKJX73aQl1vPqchE58E80ZIpc1uYQU5W_yQrcynMvsUWnf6N5OCB2JMa4NKwYrOKIZhHr7n7CYnHsE4jnxLm9KIjOS8sXkZFtreCH-KD_6NRfQcpeQqZiNUOXQWXgz9wtNqGeIqlJfLEX_02PEam7bS7zb0lMAUbV5OiBZkWew9dUNSeGzYZzWVnqqSwHqzgdCeuk3NDSeymkYl9MLcZaBuXufL1hMSGFAWTAI547ViC8cg2vZiEY-FN3kYNZgKn4exgPeHAtpCK20f_9Spmp6dE1w==",
  "id": "rs_0454ff7c5aea7de8016ab42f903d2087d0a76fc3f882ae1d1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The brown plush fills the jaw column, but the grasp point is still above its torso. I’m lowering the open fingers to body height before closing.\"}",
  "call_id": "call_IfpntC6Apo6PNcueBw9taoa3",
  "id": "fc_0454ff7c5aea7de8016ab42f91a24c87d0bb92235229130cdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IfpntC6Apo6PNcueBw9taoa3",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.7725, 1.0, -0.5255, -0.6403, -0.9276, 0.9977, -0.0212, 0.8158, 0.601, -0.6308, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2586 left_y=-0.2561 left_z=0.0389 left_yaw=0.0051 left_pitch=-0.3131 left_roll=0.1495 left_gripper=0.9977 right_x=0.255 right_y=0.0017 right_z=0.1262 right_yaw=0.0002 right_pitch=-0.2628 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.6923, 5.7778, 0.9792, -0.3736, 0.0562, -0.0073, -0.0889, -1.2923, 6.7897, 1.7509, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:436bd9120bd234d86b15f23f3bb66586dd3644d5a2843eea5103c6cf9b7da938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a2ee844d2b8327602c7385bdf4b7535acfb503f19d56301caba44b8499274b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b310f649914415058d09536280a8922aa111570cc65cca0ae937b794e2d202b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.481 s
model
gpt-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]: [-0.4061, 1.2156, 0.3843, -0.0471, -0.3367, -0.2703, 0.0106, -0.0212, 0.8101, 0.6018, -0.5533, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2898 left_y=-0.0572 left_z=0.0368 left_yaw=0.0183 left_pitch=-0.2377 left_roll=0.0911 left_gripper=0.0106 right_x=0.2688 right_y=0.0014 right_z=0.1412 right_yaw=-0.0002 right_pitch=-0.1789 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -3.6444, 5.6274, 1.5507, -0.2515, 0.0317, 0.8767, -0.1846, -1.1419, 6.9128, 1.8486, -0.0415, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0832, 1.6939, 1.1156, -0.6815, -0.638, -0.9199, 0.9977, -0.0212, 0.8127, 0.601, -0.6125, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2625 left_y=-0.2628 left_z=0.0887 left_yaw=-0.009 left_pitch=-0.2977 left_roll=0.1182 left_gripper=0.9977 right_x=0.2583 right_y=0.0017 right_z=0.13 right_yaw=0.0004 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.9265, 5.7778, 0.9646, -0.6227, -0.0952, 0.0415, -0.0615, -1.1692, 6.8171, 1.7363, -0.0464, -0.0464, -0.0122]",
      "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]: [-1.0851, 1.7725, 1.0, -0.5255, -0.6403, -0.9276, 0.9977, -0.0212, 0.8158, 0.601, -0.6308, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2586 left_y=-0.2561 left_z=0.0389 left_yaw=0.0051 left_pitch=-0.3131 left_roll=0.1495 left_gripper=0.9977 right_x=0.255 right_y=0.0017 right_z=0.1262 right_yaw=0.0002 right_pitch=-0.2628 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.6923, 5.7778, 0.9792, -0.3736, 0.0562, -0.0073, -0.0889, -1.2923, 6.7897, 1.7509, -0.0464, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:436bd9120bd234d86b15f23f3bb66586dd3644d5a2843eea5103c6cf9b7da938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a2ee844d2b8327602c7385bdf4b7535acfb503f19d56301caba44b8499274b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b310f649914415058d09536280a8922aa111570cc65cca0ae937b794e2d202b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-UP7rYFVfR1lXrjYvEV-zKe0tOEmn_hiAYZLyYrstNcmWLsV_xGejGdh2hecCX9UAPxqnViMwtuU56B6zPbxQsjHhsr8eaZsoykRiBAAVmlLybqoCsiQfvDrkdt8-XGd_HXa1BDMPY91SOw-llE91NwJZOE6S3N8KibeN21_1E-3hGAFHwfT3bYNEsk3EjhOhF9Z3sV0lwQRj4RtfAAH9T2CLo5bx6vupkXMUwx2e1Jy7Pom_47IkPxOjQhOVpBKGOpOqBOkVePILmQtly-oxKnPd25dqxzhyZznrajNa8eUkhsTQlDiOPmkIU60xbcyX2GPc9RWRg4A_skSuVang9qs1jqcfN-qrB80fEsBbdOxLJeliUJmrVag0qzz7ASRgYDWU-mEdtFmO_jjz2mqs-cC7rcj2lBEVeKFdiT81M_JWMWK55uV1Oe0OYt0CRUcjtE4Ob10IM4MSSrutywNDQdhLdWAy15sOHRZekkFY3QS4DVuoTGulEWKAvrhvS5b6RErQYVXrcLpVZnMFB-P28cLBFlQFC4jYBsAf_HS6b8-ajR7Z-nuA6nIWTJFuH-wu8vlQft4rsTA-wPF339b2xFuAb4wmDJg7oKV9gyKOduusbkYJcyOhcW7zx0EQfFupDAsxsw9HUPXZCJel4FK5IsgF0xrQp3_VZ2jiAcpg17HxfABg-4JQHEOjKJ7Wfvp4NtM9P6DyP-8oNElG217VS-3HwkVeafMfrjoTh-j8st7x5-RWEnhNDzVQ0LFU_m2yTnw3me8IwSqv-rirWOJApfKddwxm4OTf8LPBYC2fCPlEmIyr5YdtfnOknC7Zxnj4LGFw_BiC7VDwOtSnYLZhlZ_rSUjJCdJPmEM3H1EgmciPtEkp_pdvVoZ5f_Q74U2QAjjxD_bOFmGrKnHMUWwp8yg7-fmITcdDUgwwfyoT8GWzQUDmcCgUV_DY1YNXEts6Y4KNupgyLUnJnDpNOh40LHzFqVtlRPGgsZDWBo3mvaeQVreHeDD5pr9a-gQd-BWAnuJEn97eiFi3HRywI5Byunw2fyeZlHuRXCDCTEf1-kkCHQIx-xUzlPQiutVw1mfSznkkb4837NnIl1lz7zcpQ1ABSVk0a7Zn_g34O5geFF8mLakdcLYTAw3xHNd0immoZdOdW924sflCBfq8070FpWtWZ22STVUOp4omOwiNoaKpbkhqpt9066p5xHMYEiBf3zM34tPA5knDrNAAvsf5Dph6UcehT0ivA8y9KnBNqNYehj23RdgSEodIJ7_BL5vKRfxUbDCYSPlVemJHnRDc3Jw==",
  "id": "rs_0454ff7c5aea7de8016ab42f93d15c87d092bdda85355e58a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush’s fur now occupies the space between the fingers at body height. I’m closing on its torso and checking whether the jaws stop against it.\"}",
  "call_id": "call_yoBYzPmMoSs4yRV52NcsUpLE",
  "id": "fc_0454ff7c5aea7de8016ab42f94031c87d0acc5d98df0c8fb4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yoBYzPmMoSs4yRV52NcsUpLE",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0859, 1.7859, 0.9871, -0.5278, -0.6403, -0.9287, 0.0108, -0.0212, 0.8158, 0.601, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.2511 left_z=0.0309 left_yaw=0.0134 left_pitch=-0.3261 left_roll=0.1755 left_gripper=0.0108 right_x=0.2501 right_y=0.0018 right_z=0.122 right_yaw=0.0004 right_pitch=-0.2891 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9368, 6.4889, 0.7009, -0.4078, -0.0171, 0.6911, -0.1846, -1.1145, 6.9402, 1.6679, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9196ddfe06dc284d76a0910db90681806d50b14179ee4e152aa904d3f33609ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d51d87d3fe86338a02698431fd50820874d47470cca4c81bdbae2b35b89d894",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6addc9244ac197ca8fd1654f0daf38ea3445c4776fd9aab13079e52d6e29c764",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 3.958 s
model
gpt-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]: [-0.9398, 1.5948, 1.3365, -0.868, -0.6044, -0.7795, 0.9972, -0.0212, 0.8127, 0.601, -0.5903, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3029 left_y=-0.2383 left_z=0.177 left_yaw=0.0051 left_pitch=-0.261 left_roll=0.0788 left_gripper=0.9972 right_x=0.2623 right_y=0.0016 right_z=0.1337 right_yaw=0.0003 right_pitch=-0.2193 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -7.2, 8.3761, 0.8132, -0.652, 0.0562, -0.1294, -0.0752, -1.1829, 7.0632, 1.8779, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.7725, 1.0, -0.5255, -0.6403, -0.9276, 0.9977, -0.0212, 0.8158, 0.601, -0.6308, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2586 left_y=-0.2561 left_z=0.0389 left_yaw=0.0051 left_pitch=-0.3131 left_roll=0.1495 left_gripper=0.9977 right_x=0.255 right_y=0.0017 right_z=0.1262 right_yaw=0.0002 right_pitch=-0.2628 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.6923, 5.7778, 0.9792, -0.3736, 0.0562, -0.0073, -0.0889, -1.2923, 6.7897, 1.7509, -0.0464, -0.0708, -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]: [-1.0859, 1.7859, 0.9871, -0.5278, -0.6403, -0.9287, 0.0108, -0.0212, 0.8158, 0.601, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.2511 left_z=0.0309 left_yaw=0.0134 left_pitch=-0.3261 left_roll=0.1755 left_gripper=0.0108 right_x=0.2501 right_y=0.0018 right_z=0.122 right_yaw=0.0004 right_pitch=-0.2891 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9368, 6.4889, 0.7009, -0.4078, -0.0171, 0.6911, -0.1846, -1.1145, 6.9402, 1.6679, -0.0366, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9196ddfe06dc284d76a0910db90681806d50b14179ee4e152aa904d3f33609ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d51d87d3fe86338a02698431fd50820874d47470cca4c81bdbae2b35b89d894",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6addc9244ac197ca8fd1654f0daf38ea3445c4776fd9aab13079e52d6e29c764",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-cQ7z0TGFV4t-WLgiJ9eSJ8sZMLxydRPFn_sVPZMFuToqwPZ2kA3VvHVUh3XjPER7qcjyTh_BTNKUHJ-P-q81zVbvRKN6zeCGy4ZxEIdECsGU6grTuEzcT-6P7X-N0U742v40o17S-G8pfUYhcr_9yqN_7tBhLHQONrnw_9hWc6EfMp1dLGGq5JK1CvefTJzRllWhXYCBSsa-xHtrkSQOeMSOgBeezt1VE3h50kCqACV1nlGxnICsaMJMBIWLBub412dHfGV-te68OzYqrvzzEu1Bg5RBWPQBe2AlhIOO6DzXEgWTUeQVVDJZi4H554y8SoJgqtM8o7fdVTXHnJSWvNv1XRX3-WTnblH5dZjrFDFIR5B8hpSp9yWEqdwzVSxWwWLUv5o9zoagXxPzw5PBwCzkkRvyjNgz3EiDkV1SzmYquPAwHoUgJzMtG1UF1pm3IKENOMLKeyrfYRZBq9rj-szLSRSW-3sl6hmpPh28AEqLWXNTQzgzC0cqy8EHhiciMA6vSVD1hI6yXY_0pPARBxB1cPvVI35zdWHV4nQPy-3KG5Yo_L0vHj7Mf2MqOIGqx3FomjDEcQUxlBUgER0dgl3JRyZTkyhpjQ7OoeHAoNYacYMhU1VhYSzQhPEzmF8fHZRbtVZqE7knr-jhMEakdR5y6WBR7TcbxYwl4SGlzD1qggxWbY-gvFsfP7hozUixgbBice-ZEo6BpmwgcI7FHS6Vi8YcDH067Qh_9W9soGY3jd7hiGV51Ykk4C0K9ux5rTy9qj6-Zfl99sp4-FKGR5c1IXXiiTMqnpL_RoAxOYJuIpVsXZ9r-yNmDZQBhnw_1fAlVdcGWel_tNsgNtalrQs0j5k57_eU7osf0Zejf5GGLhuQPiqtKUuq1zTcY6fB44ztDZv0G5LXbfbBGWlPDJ20FU1u-n_-w29s78mYSiXEHV0s-LNVo_h2Q1L6Xrb1_8vC1kK5SLazKgQYr3oQDL1fa9dNMSb01GYXDygugyNN7UzD_dJNlaRNirh75qj91bbnVj_b3chgJuyfrf6bPxU8ddGpHPiQfQRtcccksVSLiCboQX-u5ysG_iyd7f8Bqve6QUKcV-f1PdMgJouVj645ym_L7kg7LPJf90YuZRK_4H8CMbT_cCUXgtK8c1vbDJsORuA1s8dsxhDEh7GIEh3mjgtYAo6BPWN5petN-_qMKwcVrdqNWI4os2EDMZNbyse-NDP7nLrDy-4oFQBoWCsdHtnOkvwwXfyfGf2ReivrSr3Sn_Rlw7jx2fz0BNM8GLUo-6-oDxSYZpt-4Si1vvPeiCYE5Bezko2WaG9vgtqQ0NTed1ZpJzIBWJehLZnxC-uv3WyOk-_KJXPhfttO7-197z-1v_UGJJvBxyOAeY5b82ZVqhLsnHxiDIuP_hUzTuB0zk4QiTSRqVRPsrqFQH5qqahZJxfqqJlitLfZQ8Iymq1nGkRm6Ey7VAcdFFeCLkTT5eSR2QFPQEz-KART2IjoF9x2r9OXYW5_G3AbhuitBWu8jGEyPgNiPSdBxiaUF3H8OVK4JhWvf-nHNtPpEGBzjVMDi7GbQzRAZcudi1iS9tcwS-F0rKXZzSGpBbMAoLq0rIOq9aUgJpzByaAwxB83Oi_hgdZTXMmXKrkqWyoY6KJJYCR9Rc1liGsQOUXBBlt4BOT54DIsE3fCtCOykWYQQP6k-x-YuBazdBYdf50VSl0oGAibZ_OZp_8O1NfnxY2FiaJkLlJSZscgCM7hyZPfc-c9mIjF6xyvG-RsKOaaIuMj3wfItjfan1CvWqw1gWM75T7ep0OAPN3aUJAtsNVGs9R34j1_7eRkiVEak0HljnNeD8TIg4q4HedQXPt-VPEx4rjR1od19i_rYePx5cxtpUPWXRhKOzGWmNsIxEND2hxuHn50QCXdLTWu8PfGuaq168U_8kUEH2iLBK_DvgijUjw2HkeKJMNu1jW6X4eBK2Y1viaabxdal3ASg0FV3F1JnO5hsGLnTy3U-y32qHl1rypzSxcZNiQbjviAHNfyp2Y9O9ivktad-ltYq1CbXDGub8LFQ1aeriOKgdx0oMJ0ffAp0v9gI322ZyQOGr-wnKuaf6AyrWQ0-ehdtehiFn16p2ZnEyspynoYKsgeL9RTdu9iSQLrhVEFy6aW-2V7oUZKd74gPb9ln0N7-RZ-i5_s3vuTDUuB4CJrlrp9OcpUcF2Xj1_sIeZS89GWZkfGidInEa-hUnXuYjt2krXcgDdbukUHeLewVopuCgLarZJKc1WF_Vbg-IktMso4fRN4a1L1k7hTPinvjrRwt8W_8Y5nW3vk6f-M9FsLmu5lKzUaI037RCT_5eqSSK_20GkvZZTbjjQ3Sgs797fQSNMI1UyYLhOJHFnwWs4gbHM-8XAVQJxPuamEh4q_zLeSz8ehaNvRzE54aaDkpbjS2mUQTcD6U2PaAJzLZHw7Py9yfIWj-Tex1xwN1jIEAINMArKlmyf1uhw_dx8r5265G2I4xrLfA0BIioF4cLpChq5wtpdzmx4E0aaRrSKE0uRAroJLiMFMMasENzx8ATOgq57dAL57WrtX9MT6EV4porg11M83Xu08jpgr_5SQwYIZcVi1eV2qd7CurZAUbulP9O88W-lJsF-j7VCZkmq1uJ50Bjy804wP-CuDMqP01Fs5YLySbSGAJse2fW1MGCYz3S7zYpIquXk0I-LfH-igxAv0TNY9SsbpR8SsSU7mBshPnW3do8yatrwjwsZULCoWv-T7fXYqLd9gt_14VIycegeO2QqMu0J4DGiuk_RL0yvGwsphSoduRok5ajXVEq44q6Oz5GfFuidmnFmzccoyV1ob_nfkBooKTHdGHACEkVyhN8yWeW-js1tCfIj_hdGajJIZxAIce6Z8gN75mDPXcddTxB5_7PX9UsJN-SgFgYYsLkWiioRf2_KHtyJbM7Pm4-xdGNpTqnJ8uHxc1sdcvloa2IQ5amuqHJhU8LHUOz-Q_ol7NUTQEiNpfSYMcuvhx20f5GH-KeBy0Jau4sE285AqFcw==",
  "id": "rs_0454ff7c5aea7de8016ab42f96bf5487d0a60c12cb5194cd91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.35,\"left_y\":-0.052,\"left_z\":0.15},\"note\":\"The brown-plush close was empty; the overhead view shows the jaws caught only loose fur beside the upright toy. I’m leaving it for a clearer approach and moving the left arm above the white plush by the safe.\"}",
  "call_id": "call_XjR64DX7YzSPSCxkGbYdtN7d",
  "id": "fc_0454ff7c5aea7de8016ab42f9a4be087d0bec81aeb112f31ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XjR64DX7YzSPSCxkGbYdtN7d",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3187, 1.3609, 0.9588, -0.6147, -0.3244, -0.1978, 0.9972, -0.0212, 0.8173, 0.601, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0493 left_z=0.1277 left_yaw=0.0718 left_pitch=-0.3745 left_roll=0.1873 left_gripper=0.9972 right_x=0.2465 right_y=0.0018 right_z=0.1186 right_yaw=0.0005 right_pitch=-0.3097 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.2137, 9.4017, 1.2723, 0.0513, 0.1685, -0.105, -0.0205, -1.2239, 6.735, 1.5604, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e0259fdd61b8b9a31271c525329d795d6be3fcfa37c18ee550927afc550688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df58e5e812a1a4537c6c1413f52bd4603b7f7b9fac557bf2ffb47b0e33521e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36e55698159cbca0e99a75d03bcb553b6fa0a0e4d7611fdfcebbd4881a2fc02",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 2.139 s
model
gpt-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]: [-1.0832, 1.6939, 1.1156, -0.6815, -0.638, -0.9199, 0.9977, -0.0212, 0.8127, 0.601, -0.6125, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2625 left_y=-0.2628 left_z=0.0887 left_yaw=-0.009 left_pitch=-0.2977 left_roll=0.1182 left_gripper=0.9977 right_x=0.2583 right_y=0.0017 right_z=0.13 right_yaw=0.0004 right_pitch=-0.2414 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -6.9265, 5.7778, 0.9646, -0.6227, -0.0952, 0.0415, -0.0615, -1.1692, 6.8171, 1.7363, -0.0464, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0859, 1.7859, 0.9871, -0.5278, -0.6403, -0.9287, 0.0108, -0.0212, 0.8158, 0.601, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.2511 left_z=0.0309 left_yaw=0.0134 left_pitch=-0.3261 left_roll=0.1755 left_gripper=0.0108 right_x=0.2501 right_y=0.0018 right_z=0.122 right_yaw=0.0004 right_pitch=-0.2891 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9368, 6.4889, 0.7009, -0.4078, -0.0171, 0.6911, -0.1846, -1.1145, 6.9402, 1.6679, -0.0366, -0.0366, -0.0073]",
      "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]: [-0.3187, 1.3609, 0.9588, -0.6147, -0.3244, -0.1978, 0.9972, -0.0212, 0.8173, 0.601, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0493 left_z=0.1277 left_yaw=0.0718 left_pitch=-0.3745 left_roll=0.1873 left_gripper=0.9972 right_x=0.2465 right_y=0.0018 right_z=0.1186 right_yaw=0.0005 right_pitch=-0.3097 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.2137, 9.4017, 1.2723, 0.0513, 0.1685, -0.105, -0.0205, -1.2239, 6.735, 1.5604, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2e0259fdd61b8b9a31271c525329d795d6be3fcfa37c18ee550927afc550688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df58e5e812a1a4537c6c1413f52bd4603b7f7b9fac557bf2ffb47b0e33521e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d36e55698159cbca0e99a75d03bcb553b6fa0a0e4d7611fdfcebbd4881a2fc02",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-hTXQfTWYu0kI3FvCOP5Kp5mlZeBfe8OnaPGatY_x-xXqiSvQ-mZ2xlz31YuVlt5nxZHGq0pOL7g9iV4MNDVU2aOwI_c4H2lLx41qVA7lSe7xmgpeBImSKBCi_wunv03EIIkY6H6Q_PEoTDVlGovJVUJQOFlUQLfvlYnR_mX-YXyrAGPkr3YLSEORIhHeBe2D_m40Kp1hU-QKSRkCoMoHauVUzNayz2iM-XbLsPGEkWA0jOl0GZ71p5aM0TpQ6999e6QUjjjrfPMkCUd2V-F86h04o_m2IMwKn-qeA6Ph1eujOQL6FKDFWvQG4cGuIDYBixUJYXg6ycWWsRvDHMVoidEVC54NKjzKTnm9m91RfZM2pjL49BDyRSYOE-H-QijwM-3kKSFULVV_WNETZsv4rf1PZs5laW2V_HkDMmtk7MZqfZbOujldDWRlPNjLO865izfMjP0ts3UYhHKRwgU_1rTqmv49DeM6OyowngCmRiKA3RPlclckyFv5zY-VlK9f9jiSHPxdnuN0NAaSJ0_mebSSpYiAEG9f-LWlbOsQrcvJ8-W2x_M-TblgVQXVzushFdfNF4sYLGSqsLtcFKTae0FvAfwednt2TEiqiFWvbA9qn99M7SEUYBfcOKN7tXQsG1VaJqy0GZw-C4L1VE8-ANfUUDXr2pLCM3sYj6AV_D8KwrCrhO8QeVz5FgvhLJKjBB3EbtL9L8bO99ya_zwZli2rE-HYh8ON_wa415UGJwUxW-Go-UA0-1O7lO8Kur16mymnKbVQbofLfaEL9ggCR60Sm0tkWe1OsaySkmIrwume_fdSpnOEYTCVH_U84hXu9wYTKgzEZ9x91dLbrRlysrmToPMBFuafvPGcolkToKfiwE21Sp3EPQv9bJ92tkB3nfhfVRlkC3WTEihfF1iSeaZm3DurEwsTYVoftKIZWzwNenxBz-kVdR9eM5d8aGVZFiLlf_yFugCtxJXxZ80ocLC18mcY0lj5tQCRpknxiPYMXImj2nuupwvJ5COAwqHjsoZxWsewOb-JIKdn0QVXyguoINLTdBYc915xqi65aUiS6XClG6Xq6yQLWP1AzveBQEpVG_9AyF5LL-32CleBIqYD54FjK_PaI2Oz3dIC2ukPYtfKQXkJQhjw5ETxNAeQ8aE2Hfv29NqtQvuMiLEKmIuedGAWCKbrk5B635WNPC6Kfb6aMZC5d8AiRFTYVXG9rr-xM7ZEIzw4-f4BC0aGEeAdXBHgBvNlbDFCp-GwonMHuJsDJMJLKgfsoJyS0HyREIoLAFKGTOXZjPoSbfDl7g36VSuZs_xJnunVHZM-avB-dlgEWXtZKJxnlOW0S339DWikGY25hTP0SFQcZo1kChUDSPRtAPrLPB1ZUEnvNzHxV-1Y-FPZ9mq0r2kjGTdQzZ_XvaZJKK9TKHON5NhOu6G3z-bemx6SkBh1aAt-3j_dtSXaZBJjVIrSa8xRlXAVVj8r_gZBEUInfTaHuR2a0Fl_D-o4WDCLll4lcLhhvnIOm7EZGHJibP7K00hpa0ZmjO0HrTOkiDluB2nSmTeM3uaLkXDdF1WHmg6FNY9OLlZg86M9bnYhvLgvS2nLTXeF0JwcTb_UXVykRXtZII_bZoyMyMwBFvSSoqnu636-2GapyAGJprsrcqahPsGuJqUX61nH8g9ulJKyOVdZkCod6yybTcc7dLWuCCfaMN2wktjoUfzz2xYCrl3UYvf6Bg6_UzsuwyeK5L_G1Qckr-1S26NNymRjjy9xSJIBKuGj-EjLcbNy83ibLJKVVRl-5rE_J3GEUvmr1jL8FIX0QxImS8oscOtFh73Ofp7bscr0kuETTdwoi7A3oAMvkGaddRtN5Go_BubsHF9HbWZZP85Tqm-1f78t0vMXzdFOsknHGLxH2R2I0O2K6_E2GyvcV8nTTkGMINBV75CXJjnJPlDtZcmIKZQ8L639SHdlWKgODtrnRV_0T2pbV3JHs4Wfl1TUE14EohuV4mYP-CBkxzTbCHA==",
  "id": "rs_0454ff7c5aea7de8016ab42f9ed70487d0ad8be191cb32545f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.056,\"left_z\":0.035},\"note\":\"The white plush is now centered in the left wrist view and sits just below the raised fingertips in the overhead view. I’m drawing the open jaws slightly back and down around it, clear of the safe’s red edge.\"}",
  "call_id": "call_jHi0O823nf3SR2J1mMTDmsE9",
  "id": "fc_0454ff7c5aea7de8016ab42fa0c04087d0875212d47431a6df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jHi0O823nf3SR2J1mMTDmsE9",
  "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]: [-0.3756, 1.4048, 0.6376, -0.3279, -0.3382, -0.2409, 0.9977, -0.0208, 0.8173, 0.601, -0.6807, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.0532 left_z=0.0352 left_yaw=0.0651 left_pitch=-0.4365 left_roll=0.2074 left_gripper=0.9977 right_x=0.2456 right_y=0.002 right_z=0.1179 right_yaw=0.001 right_pitch=-0.3143 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.1504, 5.6274, 1.3162, -0.4127, -0.0806, 0.0366, -0.0342, -1.1145, 6.7897, 1.4335, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f53bd94f179ad1f6c3c752ca0a31ed90b7a38373a2c8bb4ac303ef35c17ad24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b83bbb47dcde864508291139e4a2d8b5a1a6793ae7752857569d4eb6fb160a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fee47d6986f469c4715af18bde45fd649a718346ed44ae31681f061e3870b04",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4 s
model
gpt-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]: [-1.0851, 1.7725, 1.0, -0.5255, -0.6403, -0.9276, 0.9977, -0.0212, 0.8158, 0.601, -0.6308, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2586 left_y=-0.2561 left_z=0.0389 left_yaw=0.0051 left_pitch=-0.3131 left_roll=0.1495 left_gripper=0.9977 right_x=0.255 right_y=0.0017 right_z=0.1262 right_yaw=0.0002 right_pitch=-0.2628 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.6923, 5.7778, 0.9792, -0.3736, 0.0562, -0.0073, -0.0889, -1.2923, 6.7897, 1.7509, -0.0464, -0.0708, -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]: [-0.3187, 1.3609, 0.9588, -0.6147, -0.3244, -0.1978, 0.9972, -0.0212, 0.8173, 0.601, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0493 left_z=0.1277 left_yaw=0.0718 left_pitch=-0.3745 left_roll=0.1873 left_gripper=0.9972 right_x=0.2465 right_y=0.0018 right_z=0.1186 right_yaw=0.0005 right_pitch=-0.3097 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.2137, 9.4017, 1.2723, 0.0513, 0.1685, -0.105, -0.0205, -1.2239, 6.735, 1.5604, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3756, 1.4048, 0.6376, -0.3279, -0.3382, -0.2409, 0.9977, -0.0208, 0.8173, 0.601, -0.6807, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.0532 left_z=0.0352 left_yaw=0.0651 left_pitch=-0.4365 left_roll=0.2074 left_gripper=0.9977 right_x=0.2456 right_y=0.002 right_z=0.1179 right_yaw=0.001 right_pitch=-0.3143 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.1504, 5.6274, 1.3162, -0.4127, -0.0806, 0.0366, -0.0342, -1.1145, 6.7897, 1.4335, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f53bd94f179ad1f6c3c752ca0a31ed90b7a38373a2c8bb4ac303ef35c17ad24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b83bbb47dcde864508291139e4a2d8b5a1a6793ae7752857569d4eb6fb160a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fee47d6986f469c4715af18bde45fd649a718346ed44ae31681f061e3870b04",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-k68phT32A59HBCTsEKP4E4hh10UdxccAvaLtR05fW5axKvoJos4r2Q7IH8PMEnpE63qHo9XtpvHPj93OG2cR48Z2uhDDmgt2C5JJuKoa6tOOWdMNWuzgay7Yak8W4lA9awDUy1uUQNFVfcBu9KHkm4F4Lh_-Tkdaatix2B3wVTuAigk5lLFRnieCj1hF-8F4NVGT7qDroh6kCJri1EjQ8dxbGOJ9kT3ZELcCcczYPdwglOPrQ0qHroZJVQuull6EaqgBp7HQxaEMPPOCGJOBmSpLEwccutdbyYe7gGYDWMXJCrnFZakIOOGTSAy2e9zw2buisz9O-kFVzj53yF50us8CySAUENCClgbiUnORZJeOCHTLzWbdxBYd7MeRhxpJwx7fr2UG9adCJ-TUPEDKGNQaQaVfX8vQnRJbvyKV9m0999S4SbXegEd2E1i-hw8xJiL8X2mRfJP564VXbG2CuUCYzSJNewlzavvBQZzlnpZQtAOr4j0NKajoGfQojqYyGaRISPLNmf0buPDwP6OESSzgQhFKlRPQ6PGzixe8kELNq7DGP_1fm1O18g0j9cQRkDexX88gDuov0hJ5ghLMUnfF297xEfrErgTuyMIahgMODHwHELvptCxua2EpCD32k45x_J_TrEphJ0x0CW21PiEPUDW5FXqcdvQyrOB_GPv7OIkbQZHD5fyRsTx9hB-VpElM75seqcygHGFyvKE9wTqzPEQtdLGUiJfUJOoPKVhUqT3M6fzaWrObnZlsXFTnIUZIkMUCvIIfcYqiYiBINBrpq8Bg1hxNLIHEfMxRn3TdoK3GY0ETk-FKdLgmcQPvATWHHAyP6T_IcKmnUbwLX38y7M8IZggIZ7aFrCSa0o41f1HFxLzUldaP5c1PjrYa-6AqtOFjLlTfwiLYxQ3lb7s2dpKcfeAf64X9p3bny5WjC6GDixEsnQOffciVvA8Qn14rrlZUTNQz2W41XTUgSUs0q8jiSrSX3ByupY59g4GevuhcPy30u-GRkAC0yCiKGGihxKeIphe0eaUTR_7DoP2Ty4j2g0Uk_9CTGdFxwjfG5JvXj2DV4wfTDiOL8mLt78rxN3e1D16QPl27i8CLWs-8jjh71zva2NTczSZwcI8-swIs8cekqwULxSkeEhLgRG8A8PuqNyEmhgyMAZA8QdXec1Z7AvM5xZCtK8HwdUa50HoKasIqRDkPgVSHykjF4XE7LOcO4bPl8pOf4Ef5FLSXhlxAI1t7tEEQOVC3XzUJFLQH1QOJfTXwNdzgYhljg0t9Pent8nLeBzqOSzKvUfmAMuPcES7eZLW4qDSFyI5-3_sKUdm1eghRkoTjz3NFjZAz_hwntoNq5Og9tl-HUhx1zWBBCydKERhsgPS3yW7nqlfNZFqo_Y4AiC2QLQIpi_fXtTJQzVCgA--mDK-voiPhRoUl7XuA4ctAf1Wht6Bx8o1t1yudH6XpWkp3EjhITN2juftIx3jmWDkBS1TD4NMnKW3U-O6Ujw2A2ixBp6Yb71gwaM4aa8wHLzsX2zFUr",
  "id": "rs_0454ff7c5aea7de8016ab42fa3505887d0a6e21b723e654aba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush’s torso is between the left fingers at table height, with its head clear of the safe wall. I’m closing gently on the body.\"}",
  "call_id": "call_4EBpyXfasiquD0BtqBSgHt4Y",
  "id": "fc_0454ff7c5aea7de8016ab42fa3f11487d0823974269638b1f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4EBpyXfasiquD0BtqBSgHt4Y",
  "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]: [-0.3782, 1.4174, 0.6159, -0.329, -0.3412, -0.2474, 0.018, -0.0212, 0.8173, 0.601, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2963 left_y=-0.0503 left_z=0.0248 left_yaw=0.0763 left_pitch=-0.4665 left_roll=0.2235 left_gripper=0.018 right_x=0.2449 right_y=0.0019 right_z=0.1174 right_yaw=0.0006 right_pitch=-0.3177 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.8051, 7.4735, 1.0525, -0.1538, 0.0317, 0.7106, -0.0479, -1.1282, 6.7214, 1.4383, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3feb09d0d38f1997124b57a33e65716842d146453e31b2b60800fcec5a2db7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9c0bbb7060f48514815824c9011d9916be62ef66178f3cab2b05f1e8c5c92c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5081be305594ec360b5cca53d6b5fb832f27917d58376ef07988257c207e369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.247 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0859, 1.7859, 0.9871, -0.5278, -0.6403, -0.9287, 0.0108, -0.0212, 0.8158, 0.601, -0.6571, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.2511 left_z=0.0309 left_yaw=0.0134 left_pitch=-0.3261 left_roll=0.1755 left_gripper=0.0108 right_x=0.2501 right_y=0.0018 right_z=0.122 right_yaw=0.0004 right_pitch=-0.2891 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9368, 6.4889, 0.7009, -0.4078, -0.0171, 0.6911, -0.1846, -1.1145, 6.9402, 1.6679, -0.0366, -0.0366, -0.0073]",
      "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]: [-0.3756, 1.4048, 0.6376, -0.3279, -0.3382, -0.2409, 0.9977, -0.0208, 0.8173, 0.601, -0.6807, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.0532 left_z=0.0352 left_yaw=0.0651 left_pitch=-0.4365 left_roll=0.2074 left_gripper=0.9977 right_x=0.2456 right_y=0.002 right_z=0.1179 right_yaw=0.001 right_pitch=-0.3143 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.1504, 5.6274, 1.3162, -0.4127, -0.0806, 0.0366, -0.0342, -1.1145, 6.7897, 1.4335, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3782, 1.4174, 0.6159, -0.329, -0.3412, -0.2474, 0.018, -0.0212, 0.8173, 0.601, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2963 left_y=-0.0503 left_z=0.0248 left_yaw=0.0763 left_pitch=-0.4665 left_roll=0.2235 left_gripper=0.018 right_x=0.2449 right_y=0.0019 right_z=0.1174 right_yaw=0.0006 right_pitch=-0.3177 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.8051, 7.4735, 1.0525, -0.1538, 0.0317, 0.7106, -0.0479, -1.1282, 6.7214, 1.4383, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3feb09d0d38f1997124b57a33e65716842d146453e31b2b60800fcec5a2db7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9c0bbb7060f48514815824c9011d9916be62ef66178f3cab2b05f1e8c5c92c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5081be305594ec360b5cca53d6b5fb832f27917d58376ef07988257c207e369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-p-ylIz-J2wXyYIvKSWhIMHHL_An2APXisULOG77kFITOEg_mklj9EhquvrxO9-btjXg-m-i2h-ASuPGybld_p99PJeiMQE-Ehbd65gAKcg67wDzx66OU-97_YI-JvHVtFw9sdNo1KoYJ68hxiUcVYbMskNUDHm_WZnTbwVmV1ue69FS8HTeuAcGIaPt6jLUp5BLEr8LprLFEKX9M6eEWzVU39QidsYh9yRG3xRxn3j3PGGc2cSLIgf7HJHGm0Ca_DxmknUFXmetbDS7lqmulG_D7TmU1SsBFhQ0aJ2LfVQVYDMcgMx6hMQYDIDs0s7ESDF-iEGrGeEFcvY49FkjE4J0ybUHVJT7jIXyxxB5cp6Rj6a0OoubnWHK2_-t7OPfOe3ElDzaXHFVKsqL4pPrdACQDlZRcNHCRe8BYKigx-F7obzorXR7kITFnSn6TP27Xu2xGD5Yne--g5117EAO8xlA5j1Iwq8gXNtUzCzH724BAqdrR7hjQqFTeG6mvxSO33lhv2Do6izOxl9gCWi83ndpCE0TCSGnF6osWgYbfddMq3LazmP5TRovWk6uOgB5Vh2QuuXQya3lHgnVlAJCuuhxgPzqIHLFd2YbvFcvUgEwcr0l76_NPL-2THcMTqW8JwbuOvaXxPnERkpmipCuilxCiGd76QdAW9-3CPqXszbTs0RR61XV4J1Kzc2nEb4XpUQmoymH6dak4YrVwogbv1AG3V6V4C58B5YaMLI5JdyqvYjlLtgMDh47H5kew-YusMC4ez9j7fJ-yRP9L4kttlB6zqyJaoj9h97W6ePRiodvC8_TJHB7doaFckzGbrHUwDydQELpxz2qdBqalg-XwwznJLmaKmdZuMBiR7xTvXfCTjXTTfsELY_CVzSiYTTQEu604ddB5aiajGwj4gViIkeR4Q9luMPW2DVbpRZlzUsI71W-xmcOG89tNvZvAU4rmaHJ9-ivPEukY6fFdBEMT3Ynj7FacK0mOXSZtnfOqP1q73BOwKMAnCIqP2dH8byW3Z_0NdmqkBI9PIpGS1yV_MYK4AKzX6uWbNmYbVL18kxMYC7Iq7LJu0Vv5epr3VQWq6EMtpq9_zwZEgKVNZVcsHdbcTfN5Ide2l-0RvQg8UmFuiR0WjPYMixcOyqBZzrQoZV55rjpH_v09K7UBEp8khS_Dm6whtTrI_0xEPfrZyfkuaSeJQ4SBfDITOTfd6emPKb4b-TU7eZkGIcBsjSUVMNno3JDJQjbwKzsxgD2S11mfUt4v_CqVQLr5Bu5Pp_NZ73d68vIkE-ZFLXo5fM5p3Vsv5rMXYBbjz9MQlNDzPg4G45LZ3zixv8a5ggVJt3plJzeW83Po8liOQEfLUemaKwQ7RDosAnVEwiuLZuq574jYTj2KjH-gjA5aPxjE_X8JNIjzJ7biZiNtzJthG8WSU-L_oAosiBqhppNOLjHV7QwPeLHU4eP3V0w8SnalNNs0U78uW78qM2YLk_uhQeXF9p--al1fExAQY0ZwJyqIRjbkzC7m6BQM6P0F9FbOGSzexul8_tq66miY2TCpHgsWg7k_V9rImXwZbSqayes9terJ1hHxJmfZC4lsWZuWShqJaA8tkTaW0G7UqaZ4376rawdClVShq8j80ouR5lb-N2PfMEuYxfvDz640Im3ldzsBCcoUYAl477CpL0ofej_f8L2l80ISsVe1I0A0WIuWzNgcGMq0wcDoH3f7083LidISqufFU9JXvYNlz63CiXow5st5oLuLgE9igtGXvR7jXefWiUJrVus8KDT7bUUeenscowEYUVqUtPBV60YEFuOhEey0bfFFXikwaplXpOR_sJ7yC-E1ZWWLymBQJE5dnyBYsZgiI66RXqZHzFkg0W0Bq_6ffDpSD62cybMFn4vj_cfjJYb56TZuNp-OF_QsIyAXijA9JjmLQYncrECeHndkIURChDSyiHrIbOHBs9seB1tS3kLlmZkokAyeI9T5O-ZhUK0ZZfPZ-TxD_E9EebP_K9xf_yx-k2y0mtA8DWNajhVeItlC3BmqOwoklr2FUPP9q5XOhnd1BE_fGct4Spz139i39Bg4QMHQYOwyUrBHEBVvU9sB5zqXVyGtU0Ow0HEu8flbz4K4dnOBTKCy8Yoa1Yg==",
  "id": "rs_0454ff7c5aea7de8016ab42fa6d0d887d08b49de7e2cfa0f00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.338,\"left_y\":-0.052,\"left_z\":0.05},\"note\":\"The jaws again closed nearly empty, and the wrist view shows they met just short of the plush’s thicker chest. I’m reopening and advancing a few centimetres into the torso rather than closing on its paws.\"}",
  "call_id": "call_W7fKtykmCvyTwiEdGvirgZsl",
  "id": "fc_0454ff7c5aea7de8016ab42fa84b6887d0ab3c6843ca85aaaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W7fKtykmCvyTwiEdGvirgZsl",
  "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]: [-0.3313, 1.5135, 0.7807, -0.4202, -0.326, -0.2142, 0.995, -0.0212, 0.8211, 0.601, -0.7017, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3254 left_y=-0.0483 left_z=0.0394 left_yaw=0.0954 left_pitch=-0.497 left_roll=0.2387 left_gripper=0.995 right_x=0.2415 right_y=0.0019 right_z=0.1139 right_yaw=0.0007 right_pitch=-0.3391 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -5.3265, 8.2667, 1.1893, -0.1392, 0.0952, -0.0806, -0.0889, -1.388, 6.7214, 1.5018, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581a5310fba37d0f3307fff398a1374782e2704963d01ea96568ef58a6288074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3d0576b368793f6af18506d8c3663ee5097452098c32c89c52fd3e277b8fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cc8bfc0b377a96c1b9180f32a4424445728bcd91ced9273511a0f8fcebceef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 7.835 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3187, 1.3609, 0.9588, -0.6147, -0.3244, -0.1978, 0.9972, -0.0212, 0.8173, 0.601, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0493 left_z=0.1277 left_yaw=0.0718 left_pitch=-0.3745 left_roll=0.1873 left_gripper=0.9972 right_x=0.2465 right_y=0.0018 right_z=0.1186 right_yaw=0.0005 right_pitch=-0.3097 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -7.2137, 9.4017, 1.2723, 0.0513, 0.1685, -0.105, -0.0205, -1.2239, 6.735, 1.5604, -0.0122, -0.0366, -0.0122]",
      "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]: [-0.3782, 1.4174, 0.6159, -0.329, -0.3412, -0.2474, 0.018, -0.0212, 0.8173, 0.601, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2963 left_y=-0.0503 left_z=0.0248 left_yaw=0.0763 left_pitch=-0.4665 left_roll=0.2235 left_gripper=0.018 right_x=0.2449 right_y=0.0019 right_z=0.1174 right_yaw=0.0006 right_pitch=-0.3177 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.8051, 7.4735, 1.0525, -0.1538, 0.0317, 0.7106, -0.0479, -1.1282, 6.7214, 1.4383, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3313, 1.5135, 0.7807, -0.4202, -0.326, -0.2142, 0.995, -0.0212, 0.8211, 0.601, -0.7017, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3254 left_y=-0.0483 left_z=0.0394 left_yaw=0.0954 left_pitch=-0.497 left_roll=0.2387 left_gripper=0.995 right_x=0.2415 right_y=0.0019 right_z=0.1139 right_yaw=0.0007 right_pitch=-0.3391 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -5.3265, 8.2667, 1.1893, -0.1392, 0.0952, -0.0806, -0.0889, -1.388, 6.7214, 1.5018, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581a5310fba37d0f3307fff398a1374782e2704963d01ea96568ef58a6288074",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a3d0576b368793f6af18506d8c3663ee5097452098c32c89c52fd3e277b8fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3cc8bfc0b377a96c1b9180f32a4424445728bcd91ced9273511a0f8fcebceef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-sO2zvRAKowRHkIeamXet-G0wG2zRUkz00lkZW180V7nqOLbS9Yvt7P6n0Y2uDPcnOhvtZkFoA0tvQcQA91YfZmydrO79Uly4uHWEq95x1crWicne_B2pgJjN0iLNYrgEb3LZ0AaIqCrALQgLqyOjH8hX6naMl_s3XupRNPQlwKrXf4YmQHvpJohddqGJ8yVYj15k0LkEXA6fdcz4elinNvZ1mKa_zmGl9K9x6cwGUHDQ8KpjHHQtbsDHCkGRD-RB4SMGWGb5qCyUs1Vz_X8Pah_DX6mWUqZFbmDiRHqdAm9bbxze7-BmAz5qJ9rv7SFOm-fraLQ6i3XF80ZymQkVCb0FmC_bbRmfi22Zcuh5T6UJPKjDAUtrh_Pr-15AhqZMgqBLI0QBQs_2Yf4fVxH3PAiXsjnxkQUwWJtUOF3rOE_mOzwDYKQVmlRitR7bMMIwRD5B2Hw12UD7AEHEdqLJztkg15UUcILBh77bdqvmfj99rW6VT3LKZnP4cpMmXhd428_lZkxZBSBntOsrA3YftClL1VBrtUNwW7sdGy2KeKnMvFGdZuOAgdsIHMvjTdwOvjqvRZL2lDpTFJC5B478sztmiGCniD1wobOTBJ3N3bvKDjleC22W903LOMuqedfmxw7GYRikTl5JrSecu4-trH1SWMDDztPYYjroD5EzvwRA1ih71T9o_PdMEtcqS9UKxm-zflHOyvm8ePg5d_qFY4Xc4My_b6K41RO88DiS74Jc44NMxNFYSn3GBMjRbdwLkbq6OaDqUaHKaZvve7G5uQpkJ3Q6hmqCIuMm-JpMJpFyz4jp_09r2_QJ-dY8ubLRO7rzm4xypZxwqk-zSO4U67UkhGOcpTOuTwj31FMo62GJYO-Ercxg5hsKj4rSMAsv9OjHiGN13VMZjja4GMZxYUZrgzX_XasOAhKicUPCZbDO5nRdBY7yvkUdGYRFsSnmXZmM3fSOSA5y2aemtP_irJ-ogFNO84IVeCqrj4jm2Wx4ZDZEheyEYpMpoNTj3x2OsTmNZpdHnnhE0M1OMirYXSsQNEew8eD1De2xiligVdWFAqIbd6IqFU-fhwIavZSlCDiDJ5ZJLwo0sF-dtML9WG4Go3f6HjKRnvn1Mzmr6iNV0BYE2IcfGPTMAjI-zlWLLdeXLLTsGempfxRGCesUFGkY1-VkBVx7BFt919Qe9iESqEuwBeddz43pr8lgd05Yy2vzwkGNNDIdAboe0HvfrO9zwwV-f7CSmwAefYpazf7QGIrz-XdeFp2HUP_LbM1k5p7epn-IEUSNo0j8xlBr_HtBUsxY0RsEnVcLIwItvCDZtsF0twOjUM7j75NNTuPNaYRlXbTBAWkugN9-9kD2vUi6k2Nyxj20bA6CdAftI5lw=",
  "id": "rs_0454ff7c5aea7de8016ab42fab8ea487d0be43a29647308568",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingers now straddle the plush’s broad chest, which fills the bottom-center of the wrist view. I’m closing at this deeper position to try to secure it.\"}",
  "call_id": "call_sh724BdSxbIY3UesKBuRNzEh",
  "id": "fc_0454ff7c5aea7de8016ab42fabe81087d096f500881bd26dd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sh724BdSxbIY3UesKBuRNzEh",
  "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]: [-0.3325, 1.5158, 0.7841, -0.4282, -0.326, -0.2188, 0.0105, -0.0212, 0.8211, 0.601, -0.7242, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3246 left_y=-0.0484 left_z=0.039 left_yaw=0.0986 left_pitch=-0.5027 left_roll=0.2394 left_gripper=0.0105 right_x=0.237 right_y=0.002 right_z=0.1106 right_yaw=0.0007 right_pitch=-0.3616 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.2017, 5.6821, 1.0476, -0.1685, 0.022, 0.8816, 0.0068, -0.8821, 6.7761, 1.536, -0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82667790911edace541319e0c6e67026d5529a109073151fb2216b5f52f2b7a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc563202b184a8c4c40efe5b1f11fd89ff4fb61e85b7647b2168798c32d8eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b6897d75474c5472eafe4221d394482317dfd48bc7c175ad4aebfb7998319c8",
      "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 16 attempt 0 · /responses · status 200 · 4.858 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3756, 1.4048, 0.6376, -0.3279, -0.3382, -0.2409, 0.9977, -0.0208, 0.8173, 0.601, -0.6807, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3045 left_y=-0.0532 left_z=0.0352 left_yaw=0.0651 left_pitch=-0.4365 left_roll=0.2074 left_gripper=0.9977 right_x=0.2456 right_y=0.002 right_z=0.1179 right_yaw=0.001 right_pitch=-0.3143 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.1504, 5.6274, 1.3162, -0.4127, -0.0806, 0.0366, -0.0342, -1.1145, 6.7897, 1.4335, -0.0513, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3313, 1.5135, 0.7807, -0.4202, -0.326, -0.2142, 0.995, -0.0212, 0.8211, 0.601, -0.7017, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3254 left_y=-0.0483 left_z=0.0394 left_yaw=0.0954 left_pitch=-0.497 left_roll=0.2387 left_gripper=0.995 right_x=0.2415 right_y=0.0019 right_z=0.1139 right_yaw=0.0007 right_pitch=-0.3391 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -5.3265, 8.2667, 1.1893, -0.1392, 0.0952, -0.0806, -0.0889, -1.388, 6.7214, 1.5018, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3325, 1.5158, 0.7841, -0.4282, -0.326, -0.2188, 0.0105, -0.0212, 0.8211, 0.601, -0.7242, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3246 left_y=-0.0484 left_z=0.039 left_yaw=0.0986 left_pitch=-0.5027 left_roll=0.2394 left_gripper=0.0105 right_x=0.237 right_y=0.002 right_z=0.1106 right_yaw=0.0007 right_pitch=-0.3616 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.2017, 5.6821, 1.0476, -0.1685, 0.022, 0.8816, 0.0068, -0.8821, 6.7761, 1.536, -0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82667790911edace541319e0c6e67026d5529a109073151fb2216b5f52f2b7a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abc563202b184a8c4c40efe5b1f11fd89ff4fb61e85b7647b2168798c32d8eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b6897d75474c5472eafe4221d394482317dfd48bc7c175ad4aebfb7998319c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-1GGPySGkwiJSQ0V15-rN1rj5niVSe6scHbhWLx7lonCP33WWcJ204-4gde8WgtwBSTko1U-dtMTF5_GI9KMs8xweqsZxgJDn1FKoLP258Aq7J3oly5AG69mxX3xm92gH4sMNOZ-2McXlRZfLUWImfyfvUlJSawQ4-f8uhAgrOfq-4nwD65mAyDFEsQxEmadNMSAGcahk85yHkMRDszFCiK5IP2nurxIJdI02YpF474ldKu8MbFVIbTTnrc9EiwEItFsNxtDMciQT8uyDdIQUEGzk74BHJORP8t86uaHvviAXfw-J_KwzvFmTwnPGwsDIuLGqvIUuc74JURilqtTlFg3oEbhrudW1GFKSkHjsJyPeloPj0IzHNTHT4ZUQZHS9VhvsRf-5nAgpdlIyYjv96OaJ7UV5o3rAzlyWPxG-EdD2xKGRpDYso4WeEKDoK_paM-GXknWmObZ2ea-byuCNPlaEhuV_6IRxRTaKZgbXEGLheoHcsH_zKuibjFILHUkiALWzp3q_rlrjJUcNl5KzP3qGh7pS_gz0-vkKDlI64M2UKlDUzZD_NqjVEOD_h211KpuaeuIm2QTOJuv_lNS6sJB-i_M0Tz0kqTLP08dSBkzLmbgXG2Apxgx19WZxsr7-qfDiwYBLH1LnpZ_AK1EaLuQzL0LVjq-Ql4y-GPShyUy1B0GUaDGnGuDxvEgvN4gTDIfFFK6s60mXC57n8Ec0bAJ4bjhuuL-pnkyA-QS8j-P4i2HofsdDDkgd8i0e_qtpTxUYEiLzVY4FUp2CtXrC2x7bFtiZLOao-npAkl6bDz4V2KjP8NVYyaekVyv41bhE8e-pQDGxjnLBY4Yy3vmup_i8P37Jy2taOPa-ib7wMYgSXb3nMbhRzhDIkBwdQBmhQhJKIxOU7oVRibWqWRrkZsgi8g7fE8nEjvO3TunbMp0ePNMit2Hq6EVn8PhcUMWCVfL3xsDDlPgm19e9DZen8qvxFlL345AXTcQnDOiwE-wEqTggUsCHuS1zpFyzISBt4lMGqBicY35nGXbQ9bA0N5GYKQnk4CSqrVlsZ2BjI1Hb5fVero0FWNMiwRUVUV40ZBAL8vZ8CQ7keWTsw_ehmTew88gi2IcTYT6VqcVf5kxbgrzAGPyVAhPjhFkIR7jAA0eoP6b112dfKk02WSYQGsmgURmwDrxxXhbiIN_QT-8bRYIDgCd8xHWJ5qE1oRHq9_Ij3_j4ZwckcRpS7N2-iEyrxPYfcxRFmAFAbBNnmxLdEEIzUhcQLEguMrCnHwFASreTPXtmlXt_EzAGmMeLM51Ni2zDdK-LrjWkx2VkfU1VrnqZlfBKATIlAs1rwcpTI2QKp9LPWygaLK5yIPiNI7kAE6fQzWFIgQd_bUbZKesXbE6JkEcTGvUKpSwNzby79ONFT0NI4yxeN_MfoXlUcF4qCBr09csHsb9BVL5iCFfv1k06OxhpCl0SElt_yG-dkBUPR0sANd5MQnmH-bKc237myW9qVC0_Qr4Fjr7v8ggMfvVAhn4Jcyf7C9NWuEOq1tVd8ST11_jMtZrY7z2eVbdwW3synhxqsfx9ETkWMP7k6QOpLV2-GArhVOngGnxlelKK6y2Kwb6xkZBVm9eJMXTPwF0eYmS0LI0-FKOqCw9VhRqmjkrJIUYVY5TOvl7I_F6dP7KutdMx15oeSc6NAa_MN8sZ-VA4NYqm4-e9_p-VxxiPGCSLyvcejRxcbqv4emRHyphsD3xcV30k8qfzFkS7X8LKuT6P8Z3SlNSS2knbOTzcSd-S2Nao5WRNAOP33iSrlBiRD98ncPw05RDKSUDq6wabseFIWdVCd9MeLLPnpXuHhZuxzXo5gInf-dQnk3lzZGo-h35XYloWUCXAvJ3Y3GIBf1lt7t6WX0SXajyz0-6IEflPSd2VuDiOUAiFEdKJ5S8IPR16NS60db3D5WAPpTm02GBM1YiDYOeTKmXHp6vrGvs_ACxd87witlSB_2pNHn31SnzLBWxw_5jweoSwDxCULjK6R8YwEO4PUzhphva2rlJI6z9HvO8l8M91iXX6op75FHEWt1ETs7vSvdlken309svihmKuV0GfZS-TiS6laHMUsD2Zwt6WgVsfhE2taEFnGhsN1odenVKUbeElJa_0lobBav5mZzAdMaHPBzbYIfpuVAdZafSiCGb2vTOWnmfoFIH_WF9hgQ2XY1V4xLSAnLi5vmGp246HlScxfpA2ifM6TC6mdbcZw98diCJniLRG8IXT37rUCOpl9D019QShDVtjz4_S4tepqsmtfFqQXcY-AJ_UVrtfLrxsc9mdvEn81Ukz-w0iJGIc5ih32IUPbQNV1kEwRb-wpxkHthYPcDnGgWSnAw9CzNHhhie7SzQncaZyLB7l8DQh0JzcdIT3sLnfVwwJLGdSlVbCxampAeAoVCRbtHYO8qVE0JKse5YHTpZRoi0PVzA81C2mvP3c6ye58_YwmTRKJuPtyP3W0phhztGVB98QXTdlX2ICUJViOVwaOzKE_UNPALGh-FWlbKZ0L6QyfiE_KGgmQZOOjZNufO4sT_rcVAndwvZBWPKLE3KDpTrzOXlUGLfwY-dUsGsin5ReJICsTTLHwFiZ0IJJDcfKgLlwktf0EKDuv9hcIgYhKr_sTzy7YyblEk_Eq1j-irRfHvFTjj7MPr1dsN0NzUikJBi9cmuJCfhQa4lNpV9gPMN2KSVCkysLgRwjyK3O1kGUDi38GBzO7M0SH2Bp7rBhwKhZNuYfZ4pdr5DSauQs4QNnv6wntpLoeV8Lf7SHgDayiPqtUiPv9VPh000o1TzQiK24s5pgijFLeOCIxH-OgwLFx9B4YOYTaTLBXLgGS2abiRY5IHYuoaicVir6xcgr83meBbjI96bfiY7Iz8dR3bY9Ma57xB5C4ovwyEf9hPtm61MuesqyjjlTF8QTzyfbsgEuHUhdBa0mC1dNcGx4eDBSU24-wlle6OY-dvkRuZCNQjb7CRAwFA_C5FLv_CSvRXcbTDCxk7-XLPFB_3vMib_WbM5M-ND6-A5DtM9v0tX-h3nE-p8jgRsLi9kkKW6hXh3eXJlMOkoj2P9RUq141Glck4fMXJbpBM9B8uUBnCqDe8jnzEOSWtRsp2WH020DSz9d9LicU9G-2Kiv7ESHcoQVDaP_rbyuONW4kSNPl8osPz2Hqi7FXHhh2sSFKgx9eWsJvp9bOW5CnnWB2k6aSuxNIy5xMzb9w39bQ8tBrz_2I0PAXHQmdYEzKDeHlW1vXxaDEKHImLz27tgKD0VB9M6cQz-vz-t8agSbhMPiG6vYSJ7uaorHzMmdk8zLqtW85U20Xk32a20eUlM1iO2GkpQPoT8CjT4R67SlD9_T_vxKFSazsueiyKuqi3oyvH4Yl6H_uZ9G73Rp5WqvIeq5C-HRwEZwHCK4VlN167PBGRTnSg68QKcZKIO1xFXiNP-RIC8Puo0fA9d8KVp73uXO04tKGfSgO62XaQLEbkVl0tzodqbnPv5AA1qqyqHUYLQBg887-PeUnWNUkuXkZyWgTPCJEtglR9cx5S7xnConZLNCwZLNV5-me2wD9j9NeXrSLH6F5gQnKEhSA6MV-4hnQa_FoOSPD-OGUXg5cBaHQauKPb-5P16CWDDRJ1ZqZ_ZLIlpV0y5ij--9cS9FeUMdAOItc9_V8JscWbqFA0qCCOhjRwQkwycY7QYcHiPv_QdJfuYxdUvJlLtMH0Q1Vho1ct_kSybNlBmwbpOj22Gebo-6KkkAdxED_zS2RiGxS0BZEZcd_eYnKb5FKCGTU-XPX84-39Shv3q_1qv2gwEVeOWKc_0hsc5rxR7g6Bvci8D7nupNmUUbHwvyOhRnHvAvpKZvOY3G2IQrIslpuZqBlcTPoGulnJJGaAdlIlnoa5Y_l707PtZLZ",
  "id": "rs_0454ff7c5aea7de8016ab42faefa3887d097df17d45ab98dc1",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC-16tZeGbTdmWqWGEhfOtLAr2FSeFxruItrF5vwBKzO67gRtUNB8AfW147JpUPhixOTUcOl7HFx-uuyNJNAvXI9Tqp46T3x6BsV2ICRWnHs92-f3cI4LeHTZq1yt9zq_PJDjRNsO5xMFLD8ysOLA9e5SwVseCsFeH5bQj7MiFi9EH-QXJN00RyJWVMX3PIgHMlbE6LnSvSNuHv_pP8risv705hDVTTMDIEib-Qv8GlkNK3MP8UqjHO0VQ0wESsiPJW62XHKlX6w9hY9KZceKdrvwQoZyYHyf-DMECksMcOxxa11jOuto0eM7lkAgWl7zxmiSLtk20tyeOoedkOzYdU1RqPl-8Z9w46VsTfjiUmYUZYeucwYeslgQMLUDaXYNxO4IrQ7924qIjNVG-liO76h7gX5uay3OYcuhtulemcKzkyd5Cf1KyCTc9l_D6TKohlH5E-eU_JkkDgrj25Ty6rfWQuvG3TswGfTY7d2g6k0PZA9fpN8Em-nCIBqxqyHB1PNYa_fK3AVEJ8HM6Cl0fZ6S3WyZdfoYeHPlLoNB_jyXRH02z5Ruub2IFl5LVIPWpYgsLYzxONLXhSXTrQ9BraFgBEIiIAozJY16KpXhMKooucXOmEWmjpvX_OVoZuFkA70FttlZkfE0Yl3BWPeSwU2VCKMOLNf4Gqi5wWJkpvQC-OpCzxNQd7AT2nMm9Ww0QK3flvkupwMo0gt9ffAtV-LnEhmImNPYo9WCZFZKRcFLrp7BtahnXaTkL6v5SjYX_miUiamI-Xo1e7knTRbsKIeXFBVo9JAFLJsHq4yQMN4qEF9Xr0w_YtPSQpU6x1jtepwYCJCKDL_Vqdtgu40erF_zmUrejWpZSA-sbpkXTSH3D0mGwxuNxg5u9nfq05sj9kfmRIqdCCwlrPPI-38FqGgvqVHQhTDDj9tlfCDJ9Dr-lvS4BoBQ_hR6mD2QFCHoa-I_Q4A8wcHvlQ9F7TY-6hik-wa9yMx9_9GlfDaYo0asz9bGXZ_b0F305Ec3doUeYcxPNjq7XfO1Rqwx1wwXUwHDeEcJOHFuC52r7gTAjQkLh48NGHcm3EFr7d3H1N6INHs1PA9qVIpE3JM0YU9Q0nyl5B1snsKvWlr1BRzu6zZhcl4iOS5eQRdl2Rs1dRYJosetOWetBwUS0sHanl-Gt4a4FyITrvYhDvlRte6ZgJ7JU87qBVH0Hs3dnBnKVwqpN2ARIzPm9eI0c2zYpIHsqdCzZvKY77-X5e1_j2PrdXSyDo50eeIVp50-6sIR2Jhe2jx5yJlu4kXx4coJBXL0Rei6pZO08DvrCBNHX8q1uNXuQqhu3T1QRAhW50rAz3eKSpHa1w4qC3VxMjfCtMm_EleCsdxXh-o7djhXExEeQmGqplNxscYmAYp3OywyeFK48LPZRvMsmNeTLekl6DARlxO16BzDLtvgkaOzTu6a28us2jeXe_J8lhTX4Q1LP9srVDqRq0KV00htokDBb_oONij82EeXzjAf4ggXCgef0Bd9fidfhOvAgtZxUOm7pj1N9bU_m-QXCaXltxOTbr1-14sHJ4Q2mv9tIX__iig_Vusc6qMDgb8n20o4I57U_I2-0JhdYH9JdEbQhT4WhRU8AEH03PyOoMRG_ysCCxVLRr5mTLxYGXkNnDFIhdW5yA9KOx8Pd1MGg00tfLu56z0-rfuZvbqyM4qPzl17zCJCxMR1IgGOepGIQapNu6vaG4C9yD61cF0Hbla0LdWxR6IwF9gRa10p5r0yrxYoARX0BKPiTetEUJTfHbQIvRpMK-gPTQtFaS29DRrDqpd3JQ0PSpZd32KAaVrAlLjCUyL05SV4oCqioT7Ulf-dP7bXdNTP1NYj8m6vX4RqPfk0YwyJOT1UTJVWCvUuy3elcg-uLhbF1Jt0n6NLCXI6tf1sn4sVY3ppJNN3JupWAKrs4mkSVw9d9uOXh1CMWTkrPDfBs2sQDA=",
  "id": "rs_0454ff7c5aea7de8016ab42fb3458087d09924af1f1b3fdc68",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":0.005,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.42,\"right_y\":0.25,\"right_z\":0.16},\"note\":\"The plush grasp is still empty, so I’m clearing the left arm to stop occluding the table. I’m sending the right gripper above the isolated yellow object, which offers a less obstructed first pickup.\"}",
  "call_id": "call_DxSwURsWKrCXvzH0Gts6VeaQ",
  "id": "fc_0454ff7c5aea7de8016ab42fb479b887d086f78c32741a23d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DxSwURsWKrCXvzH0Gts6VeaQ",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2584, 0.8993, 0.9321, -1.1843, -0.2951, -0.1593, 0.9976, 0.6544, 1.9152, 1.6672, -0.8227, 0.3355, 0.5327, 0.9996]\nstate[eef_state]: left_x=0.2035 left_y=0.0031 left_z=0.1685 left_yaw=0.1076 left_pitch=-0.5138 left_roll=0.2381 left_gripper=0.9976 right_x=0.41 right_y=0.2458 right_z=0.1508 right_yaw=0.0288 right_pitch=-0.394 right_roll=-0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -1.3333, 8.6769, 1.1062, -0.1685, 0.1294, 0.0317, 0.1299, -9.7983, 8.0068, 1.0623, 0.2857, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073000895558f97eb7407fe96f6397d4069608f4ab6483017b7ecbcab4bc3b47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e415ab12e301a44eb64e59bf01654c49325d185c2114df3d04dea555995472c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2f8a0d35289fc5e38c560ae2bfe2e0ab0e002c90332910d0acd5db71a141f1",
      "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 · 4.023 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 68 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]: [-0.3782, 1.4174, 0.6159, -0.329, -0.3412, -0.2474, 0.018, -0.0212, 0.8173, 0.601, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2963 left_y=-0.0503 left_z=0.0248 left_yaw=0.0763 left_pitch=-0.4665 left_roll=0.2235 left_gripper=0.018 right_x=0.2449 right_y=0.0019 right_z=0.1174 right_yaw=0.0006 right_pitch=-0.3177 right_roll=0.0069 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -5.8051, 7.4735, 1.0525, -0.1538, 0.0317, 0.7106, -0.0479, -1.1282, 6.7214, 1.4383, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3325, 1.5158, 0.7841, -0.4282, -0.326, -0.2188, 0.0105, -0.0212, 0.8211, 0.601, -0.7242, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3246 left_y=-0.0484 left_z=0.039 left_yaw=0.0986 left_pitch=-0.5027 left_roll=0.2394 left_gripper=0.0105 right_x=0.237 right_y=0.002 right_z=0.1106 right_yaw=0.0007 right_pitch=-0.3616 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.2017, 5.6821, 1.0476, -0.1685, 0.022, 0.8816, 0.0068, -0.8821, 6.7761, 1.536, -0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2584, 0.8993, 0.9321, -1.1843, -0.2951, -0.1593, 0.9976, 0.6544, 1.9152, 1.6672, -0.8227, 0.3355, 0.5327, 0.9996]\nstate[eef_state]: left_x=0.2035 left_y=0.0031 left_z=0.1685 left_yaw=0.1076 left_pitch=-0.5138 left_roll=0.2381 left_gripper=0.9976 right_x=0.41 right_y=0.2458 right_z=0.1508 right_yaw=0.0288 right_pitch=-0.394 right_roll=-0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -1.3333, 8.6769, 1.1062, -0.1685, 0.1294, 0.0317, 0.1299, -9.7983, 8.0068, 1.0623, 0.2857, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:073000895558f97eb7407fe96f6397d4069608f4ab6483017b7ecbcab4bc3b47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e415ab12e301a44eb64e59bf01654c49325d185c2114df3d04dea555995472c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb2f8a0d35289fc5e38c560ae2bfe2e0ab0e002c90332910d0acd5db71a141f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC-8oUXUuTkPDi7xjS41ETdlbJHhYSVwTXG3oiTVki-6S1L6gRjBdBHpJBRNv1Je6ejh6KMy2X8ZKu846A-dT4a-sPs9OlwkV3qBr0OzieDxK8uNupb_pVDc8dn7mtWPT8GjcpFlzkH2QNK3AkhUmXBlVEnu9SbDs8yEI4Eeg-0RitwyTtbg0psetIVCOc4g_kHrVSiEBPGDfiFAdchN6vCUGaD4nK7QO6_tNCpvM5GTorrgVQPCwsy8vR_cOeinQivDPmz0YblFAC5HHD3e4uLyfuiYVrnkdj5v670Y6xycYDNdVYfJpsXCC3cAbr9-4OxlV9NCGjWBmS03-syzHJMgGpfraLnSSZ12nzNLaayOUbmxS3QSwBOlliI6-98bbnFRUWJF48jmv8hp1lMvTSJne_aTlsUZdQfNqHclE4PGvZLwakC5xfn3t28WAJMfjzgqts0cSKnkG6DqAb_hz39IV5MSlteAN0p40A5hqM9pbVsPDX71aS5s2A-FFpZ5E2DDkOtLQR0_IbtyTf1A7iEm9DXP0SuZSVOO74ddFdPlzFsVdCEoBCKUXYHhBhzFFV3h-v9D1_FbIFdiNPItmelJOHXyKPK2RT0kOO94DeB7Nnfhc66Q7RrMHkfOQFpAzyCIiE00H3z7ixjiLJfgVcrlTyu44izU05HL5dMIOi2QB5w1qeATSMmulp4DQDFTz6hmZGud6NxN6_lyWTT1IcJgPq84NjJZia30BkhPTeStGFmLmBpXrl8iR61agAhM5JbzQqMquqpCs3UrQB25mEgBpgis3d-x3zOZmSd4cJRlDfA_YJcoofexxmI-nGFYLWyPOXxKX9hPAaOCOv3zAs9CtC824Xu3-rsx2yNeWU0ghBnUh2DQJiveJMyCuBcDBEM2ZhTGKXFpATW_Og8zW9EGX2YkzWRO9n3G_F7dD3B4hRYbHZ3oVUylGGE39wy-jMsGL_EnLG0WtO27H1ptEEWDRi-e1hviYFOu2bFHcXfHzOsfj6Efq8Y46QoN-ygK_vyzpTtki_pbI0bzcQC02xL1VosZr3rTlUY9lkuVVaoyFe6qnD0nxzhfwrGAPZLYKKNICCET9PVgLnDoEyPGT5Ou0tVrA7L3HOPSCVfAtR5K67uKuGqgNgCiNZ_FzLxjD1KMKI1AzjI_9i2F_DGwu7izEuzaPCCbym_bF1ArdphwYMXl8M0gVrL6IN9Y2Q4o7YJI9wRUicrwXt-jT2Nkcru2QlbTtCQhbERVqV5HISUlohyzJ_Lz_yuT6c-xlwenNPHBfrQLYN3Vf28rCnUNTvukkCjc95vSk-EhCKNKrR7fhoQ0LyOrQNOGyDbRPoFyuv4CVtCCuCmL8-6zqBnscL1deFxAopwMAkxRwObJcch63iYo6sUYHEh-c8JJNzpdeOgyqOCuBSeH0stIO9eZlorgxsJAjiK6eRH6U8Tr8WUgPz9nK3-YJ82V3WJj55YmMg8lnCDi5uU4KjKZBfICr3886FNlRuGvvkchBYLNBey-4-iSYq6y_O29HzPZ12FwQ3AeqUJIamnN0vPTYA1yCnnix2vk6ByeKBREEo9EFbiu6fovcDo0yEBp2DooEiOkZoSQYm-o0wRupBtvzhSPoSWvN4LMBDVxfqi-YxsrE0Pf8gjTt159lEXs1mhnk3MuYtyNypkfTITnkRdMzzamWh_eDpun-q82CaON9om-OW6bsajm_VayHKn89fAAARFmIouHx_RWrqUhE80Z6s3bk7ls8iAIOrYtB6tWO0D8xAiMYrT6CCgjlF1XVvKvNWvsAouowwQ8LoznGOlob3bmkEUK2r-DCTSiFDPe9cR8f8sdNM4mcZlnJxa6VR5H6S6bIMmNF-kaIspOTWuZIU6Ek9YfOno5CfPVCxfGzW4CczpVqCDsno9xubZmabRstulAN-S9Bp4gGNxJITtwDsZtcFDgfj8Ub65KdYd7upgr6eLNmmvUSqx_b--M5Fpz0FlRVI4yaPN6luHuJRY1KuvAaS7hTfbO7bG0nfbncGBjWNI3DhyuTPW0ZNE_dhoMbo9caqlBUFwLTK64F8t1BwZ_Q1R_acF4PfP0b6t_ritydjdWjbmrArmf5KNqbiwvkyBp7AdomWXtsHxdj-BlRKauA7iiJgiugjGs9HTJWzrUMBXOHN2VqJKBI3M6-RppJ4pLQp5_uxsf18LhLO1iwwmEozCrfktBtjtg4EwJTaYJ_lf-OAld5shwZjlgB94tuotn8xk4VdzMwgq1iPNgQajKJZ9rCUlqJE0Ifb-Z4A8-n6zxfJMpjVF_ULy15LfdM5Qukcqq5kSvnFMXiEEEddOClaW8KitB6eY4tfVtTUMcGTMDdXNU7pDSfRHnI60UQow-RRmEFMH2BkQSuOPpUwkLG262gMWZXpmqdKJmeE7K0wt0LSQPdhJl3Wg84aiVipTDlv9BrEraRAxhLJIaN_KG8Fg6OV9_mOsGR0ypvMef8qfLjm5Zz0q7_ewQx4zIH-01SdAKyNm1E3Re1AyInXZnaiK3ezZ4dHIK395Xpqab3HTgPIAUr5tahY3js5-dAsU-QX978HQnBVHbtM-CdD7cf8QpVSiRCpM_llvPqByfAZFAWi-OEbYX71JKPuNFUMin658O",
  "id": "rs_0454ff7c5aea7de8016ab42fb87c4087d08a44b3afc6bae76f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.275,\"right_z\":0.055},\"note\":\"The yellow object is isolated beside the safe and appears slightly ahead and left of the right jaws. I’m aligning the right gripper over it and lowering toward its mid-height.\"}",
  "call_id": "call_LZKkrKa5nLYOlpJsRxV5AK7O",
  "id": "fc_0454ff7c5aea7de8016ab42fbbbd7887d088ee214d59f628c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LZKkrKa5nLYOlpJsRxV5AK7O",
  "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]: [-0.2546, 0.9031, 0.9352, -1.2057, -0.2955, -0.1612, 0.9978, 0.6594, 2.1254, 1.6188, -0.6235, 0.3275, 0.5312, 0.9996]\nstate[eef_state]: left_x=0.1996 left_y=0.0049 left_z=0.1668 left_yaw=0.1175 left_pitch=-0.534 left_roll=0.2466 left_gripper=0.9978 right_x=0.4306 right_y=0.2664 right_z=0.0555 right_yaw=0.0253 right_pitch=-0.4463 right_roll=-0.0404 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.306, 5.9282, 1.1648, -0.2125, 0.0024, 0.0073, -0.335, -10.6325, 7.1179, 1.4188, 0.2027, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2445b513d48affbadda0f6ce3c45b940ece42baceb618c6da03206934b3f4960",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aeda93562961a555da5cb6bce5351fdd9e633da53a6dac62ed497f22eba02bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4334a8d1e88c07d29ba8bdeb7714b2a09c56f6775b3dd80f70b323655de4e168",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.759 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 68 changed as sent

message 72 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]: [-0.3313, 1.5135, 0.7807, -0.4202, -0.326, -0.2142, 0.995, -0.0212, 0.8211, 0.601, -0.7017, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3254 left_y=-0.0483 left_z=0.0394 left_yaw=0.0954 left_pitch=-0.497 left_roll=0.2387 left_gripper=0.995 right_x=0.2415 right_y=0.0019 right_z=0.1139 right_yaw=0.0007 right_pitch=-0.3391 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -5.3265, 8.2667, 1.1893, -0.1392, 0.0952, -0.0806, -0.0889, -1.388, 6.7214, 1.5018, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2584, 0.8993, 0.9321, -1.1843, -0.2951, -0.1593, 0.9976, 0.6544, 1.9152, 1.6672, -0.8227, 0.3355, 0.5327, 0.9996]\nstate[eef_state]: left_x=0.2035 left_y=0.0031 left_z=0.1685 left_yaw=0.1076 left_pitch=-0.5138 left_roll=0.2381 left_gripper=0.9976 right_x=0.41 right_y=0.2458 right_z=0.1508 right_yaw=0.0288 right_pitch=-0.394 right_roll=-0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -1.3333, 8.6769, 1.1062, -0.1685, 0.1294, 0.0317, 0.1299, -9.7983, 8.0068, 1.0623, 0.2857, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9031, 0.9352, -1.2057, -0.2955, -0.1612, 0.9978, 0.6594, 2.1254, 1.6188, -0.6235, 0.3275, 0.5312, 0.9996]\nstate[eef_state]: left_x=0.1996 left_y=0.0049 left_z=0.1668 left_yaw=0.1175 left_pitch=-0.534 left_roll=0.2466 left_gripper=0.9978 right_x=0.4306 right_y=0.2664 right_z=0.0555 right_yaw=0.0253 right_pitch=-0.4463 right_roll=-0.0404 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.306, 5.9282, 1.1648, -0.2125, 0.0024, 0.0073, -0.335, -10.6325, 7.1179, 1.4188, 0.2027, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2445b513d48affbadda0f6ce3c45b940ece42baceb618c6da03206934b3f4960",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aeda93562961a555da5cb6bce5351fdd9e633da53a6dac62ed497f22eba02bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4334a8d1e88c07d29ba8bdeb7714b2a09c56f6775b3dd80f70b323655de4e168",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_AcLYwlq4lKUmhS672LdgYhfSmDuRLJkB9j_33R768hmKk7g1N2xlFF3InbSn1HOBSRL0ud-fVOWghrWubwDucNAcQamnzoeibuIHgzQDTejzKqUYvjLIq-g8hUNCncg3sQOwtIoglhPnvWihWZDheZd5agN4J5dT4F-d_9qpmkYJUmZKnDyl28co967yGVEp_-IKLUFqOiEyKDWcokciQcKEbGA5KxOjOgCSC9iqOrX5iXGuNcQnujq70ALj6P_7R2xrYx1TZGkohn1BT-KcqMltsLUlrnikHf_v5gp6A7-slXz5w4JRqBq_7WVy9BJea1GL5cEoLyLdQo1sY4vUgo-TrMyL8UIdKebANyHdf6fUUmtF_UoX-4LxpyRobc-fYOUvBuXEBmzFAgRX6oy-huxC9VlnMgLW1f-DdGLeILGP3MPxzWbro6RwCf_FxfEQMDk9A8Zl10LEClncFg6KRZxwe03XTeNFNPg3lGFnt-3On1uuFro7UUeprv2QLr61NSwguSHyDHHx-qvUAGg4U4N3A-I1MSfUqeaokKmEWTNiDgLRPAN7ASY8qa12Z6giwuo1EJ9oAOcOY3ZJfM9arH03qWJyNda2CWTE8-lEi4316yw89WoB1Ko_95okLoj9lgOeDfaqAVRQcilnVa3H-_shJ4-QUCpeavWQ0vNNsfXTwJUIPBwbwx0AvmORA9xtaw6yuBtVjW5olL3ZSBujrsKGYMEOPsAQk5G0lJ6gvrqPCcPw2OKpx5AXRtVJbGv5wF48g_7rU9v2A_l2KaWtdxXziA0W_V6wieru7yQrD8uIOz5i9m32SP5TU3fEL07U4TkCwuxO3Fo5oosIS1Cw4m6yVvywoed0ni0H3UVttvljZof_suPh2JItGpYKJ3tbcptiUgCyJ2SNuMnknKYaK4RdxTTGD3TTR9xgiahwrw96-Qtvo4jgolH5Jq1IkEHOL1cmPMVJhfwWRoXrisRbKEegUmTxuYAETaREw-y-AMTKQDoNthqSYWYLNdcKGeIyzesSxcetxXJnZD6tITyKOgtbdWJRS_069TMfYxs6vVNnV18hdJt9dGdHTAw76pJ_FjbiICrn-CXQq2vBdwVq5qlEpKcelUcC4WZXyImjdWL-RwjUhhneIis_BUXjHvHQja5FQoEGD2hPbirvIh0BR-YZJTUwNa3I5KZNOuT4aPlpNSe6y9_VZN2ad2qml3ds1IOVReXuhAnvcYUdr9FcqH4p-xhr0XLiF-yVgl-FBo0mh2r26F8lNp9GXUlcQXOBr5E7TdleQGcJ7YYkcUk9gGPY0VptQekn7E3VEnkbdc-dN83CvBSO65_nWevGZRrraiBRAlNSbWqFAUseE3fCX9JjWCF7omFCNYLyemXej3hRKiHu5ZS1vL2nESzIgsh7EaV_UF1zX98vEU0FaPmnJOwK_MRBJBPg_xH3GTTMbzBuhIXERTc8YAiqw3_tsLTQ4-T_IlY8DNspGF4qQg8VgCTE5on9cEVTZ10lg_J153EHbXVKcrmuTuJ29a6X8UVGMoNUQvzkp0_zoIuMhF2PS4bzE9nX4K3jTwD_kMOynikQns92mVNFQNg49nE1TxS94l_4icBYMx-fah3wnPUrcMkmm0iqUfn0FVFixd81UtulX-dMikYZS0yxN5vwJ8NdqmcMaiU01wztSX7bpkbwMkKDVVaIXMiJJqlKLkc5nWHepwzeRTd6bfigSSyN-Zxhodv5DTGtCJ1ywzrx_x8cEK7EQBAjXGvzW80dNVkv_cWO63iDnkYmPW_cW4thRjjLGqaG8r_Hdihq5_FaSgKDmM8mW_wia6xhnXV7tXK95YZK73NDanLW2jnAh0uzBGarHmwxp6Qndu-DSwELCpe0zJFfq45Z_X8qHe8rTttw_l5LGrmaPr7235EkPj9ZqKTneFLHDDrJZUopVhdqBquEBg_xff--g3CAbOwc-jbAN0OJsRQGL-FEfnNHZ_UDwz_sQrvLC6siJfBB1s9wVbqY9wOI0SiKmNtyPNDzOFzQa8R6ELnyycV_WTZ7WPLw9e0qwWa3hOoHdS0MztamD-EkLUBVWOAskaa7nH2YVgmKdAZPggUZDZitcyZ1o_xNlI9kpt12C6ee-_gu8qayLt88YXqSsy0Xau7P9Y5Du4DosAKkZ17THXij9p8N02ghG0l2uzOI5tTKlMSCK5SOucMjY434Uw-uDteEsKPbkLmdR5bM=",
  "id": "rs_0454ff7c5aea7de8016ab42fbe1a5487d080efa3e01f9fe5bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_z\":0.025},\"note\":\"The yellow object is centered left-to-right, but its lower edge is still well ahead of the fingertip line in the right wrist view. I’m advancing a few centimetres and dropping to its grasp height before closing.\"}",
  "call_id": "call_chBxkSPkNRVeJ1cTmQuVCjpX",
  "id": "fc_0454ff7c5aea7de8016ab42fc010ac87d0a9b6f448e54031fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_chBxkSPkNRVeJ1cTmQuVCjpX",
  "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]: [-0.2546, 0.9039, 0.9352, -1.2133, -0.2955, -0.1616, 0.9978, 0.6304, 2.2261, 1.6836, -0.5999, 0.3004, 0.498, 0.9996]\nstate[eef_state]: left_x=0.198 left_y=0.0053 left_z=0.166 left_yaw=0.1196 left_pitch=-0.5418 left_roll=0.25 left_gripper=0.9978 right_x=0.4494 right_y=0.2677 right_z=0.0291 right_yaw=0.0345 right_pitch=-0.4711 right_roll=-0.0445 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0325, 6.0786, 1.0134, -0.1978, -0.0269, -0.0122, -0.8274, -10.988, 8.3077, 1.1453, 0.3297, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0787ca72cc0d6c5b989f707c2cf0479b460ee0d85edba8a5f4af4f958763df0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183d45bc825e1357427dec08b0589d70c9bd3e7fff355fda93e53f81692b76a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a6c29083cbec7fd0c2af553a6298e955d127eea4e02c8c4f8651220edc3826",
      "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 19 attempt 0 · /responses · status 200 · 2.026 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 72 changed as sent

message 76 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]: [-0.3325, 1.5158, 0.7841, -0.4282, -0.326, -0.2188, 0.0105, -0.0212, 0.8211, 0.601, -0.7242, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3246 left_y=-0.0484 left_z=0.039 left_yaw=0.0986 left_pitch=-0.5027 left_roll=0.2394 left_gripper=0.0105 right_x=0.237 right_y=0.002 right_z=0.1106 right_yaw=0.0007 right_pitch=-0.3616 right_roll=0.0082 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -6.2017, 5.6821, 1.0476, -0.1685, 0.022, 0.8816, 0.0068, -0.8821, 6.7761, 1.536, -0.0171, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9031, 0.9352, -1.2057, -0.2955, -0.1612, 0.9978, 0.6594, 2.1254, 1.6188, -0.6235, 0.3275, 0.5312, 0.9996]\nstate[eef_state]: left_x=0.1996 left_y=0.0049 left_z=0.1668 left_yaw=0.1175 left_pitch=-0.534 left_roll=0.2466 left_gripper=0.9978 right_x=0.4306 right_y=0.2664 right_z=0.0555 right_yaw=0.0253 right_pitch=-0.4463 right_roll=-0.0404 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.306, 5.9282, 1.1648, -0.2125, 0.0024, 0.0073, -0.335, -10.6325, 7.1179, 1.4188, 0.2027, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9039, 0.9352, -1.2133, -0.2955, -0.1616, 0.9978, 0.6304, 2.2261, 1.6836, -0.5999, 0.3004, 0.498, 0.9996]\nstate[eef_state]: left_x=0.198 left_y=0.0053 left_z=0.166 left_yaw=0.1196 left_pitch=-0.5418 left_roll=0.25 left_gripper=0.9978 right_x=0.4494 right_y=0.2677 right_z=0.0291 right_yaw=0.0345 right_pitch=-0.4711 right_roll=-0.0445 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0325, 6.0786, 1.0134, -0.1978, -0.0269, -0.0122, -0.8274, -10.988, 8.3077, 1.1453, 0.3297, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0787ca72cc0d6c5b989f707c2cf0479b460ee0d85edba8a5f4af4f958763df0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183d45bc825e1357427dec08b0589d70c9bd3e7fff355fda93e53f81692b76a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67a6c29083cbec7fd0c2af553a6298e955d127eea4e02c8c4f8651220edc3826",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_FxYNb3Idl_9SBt2icLXtJVjVbkCvQrwDhZnM3hPB_w6vKOYkpDYiYUOxarrDNU9JsJOHqFwIv1uHNK3jXDcbKMZu6QUlkqHeiYSr558vvMdH7qxcyRu8_QJK1JaVFZsOHnA3edv8Jfmny8I-EE7AMWtSTdKrYLMyGIupY101DMOoQQdBvd_429zNyeZ_Ai8UKMqoNrsiT_wqOCK2zUh45XlIQ1ocsQVa-uTkwiTr1m8i3CfHWxOKmNfXrsp64kDnS37g1HB-xZk_iAOtbgyGUCBk1QS4SQxVXEWlsmW6lKeMAM4o3K_38OHnK5f81b0ByxNf6Y2kDk3JGamXVabGpYM6_QHBwhboMbchqdHomIeMd7LP7gneggIKT6gsXztVyfjbZ8HV2xE6cXCvcKvQ0ojOeXeJFscFeTUA6I80CeNDgqOMo2dB6yUGTNyT9eEjVa1pdbV_t2PRCqcBr4ZRIIRIZqQFhkGF05V38PvWhgdh324-3WDQ7h3aUCImHfnBKRIWl0hhRL9xrtkYECRQHFGD50KAlQnLh-nuWhHKtEjKsQRbCtayKRmGpK1ctDf1wU95VFANcBXDCQ5kLXm4FmJ0WM0TVJABxeHfRUxvtdlXOHv509S1EjYyXMq-R-cXpqZu4ckrB2R1NLRGkLd-9cyMP1ZwWHvRYqbv5ZEeRJdZoeQzjKoQRRrX6fG1hnE9R_zpautvoUxUzL6nOAU2Rf7u3AwpLzifldycOfdaaqrtbvrO2fOy6MTdBrM8cq4vBr_wGrgsyKvsaW4DvaDXslbgqrsRn1sszKa5QAXEvBg7jLzR0WCQehf4M4pnzip92BJVWGMzneUZv2sYH0ne5TRlrYPYkGT6EvBtTxq9LOvABRLZMuFPiT6p4gw7WpTCkHse-hUYfdtwaoZ3VsgOcLti9uX_AfpZNAc_2kH6QRmjTe-wnnuPA4itLE384h5knlfwPTAacouQo8nkKos1YlbjPAoQXgUSe97T7pqJNePjSGTUmDvnBqK8ZQXmw8ZvI4NgSXNkPavom4qmYPk7D9HzoCWTt6FYBAszdXkisx3u9z0J-Fh9awJgq6QwhBx8foXP101qkCa4U7jlqvkg_Ik9bLT99oLrVi1REdsRIq2sAkY-AmOmFrVQOrN7PczSCT1Q8obypcJjIRdkVA7uhCShhQGrs2TtXV-TZ4EClcJo0Twkzz-T5UrAMMaI_Hu05zc_nBBbJdX_besXvkWILQSbuj-2jB9EuAszK7_bODScOBASC2ekrDzsCIWNm_p-Tjz1Z_o_7CXclAu0hlDIoUzbZCd1xmn9QLsEcgvEDvApB9e5N3yF7ZTR64O71EwSHd9Kmzae0Rb4WmZT50eZEHUAUMB7q2E7I2hh04P4TmCEz4s1B2An0sWuiV2i9eXZaCnD2shOJVICV2_KEDk7ABIdHXfuq1v1Z1PgFPp9U_WQyfvKtIVAIYcQ4toddtE7nE79reuwra2m0lV0_lPKdJwn_nB81h_ivWE6ltvKH1-QGk5WERCU7vnFPJRdPztUIgFb64LVmrf6dJAcqsRkzj_o0asWRlgTFFohIAgOeZfriYb9bX1Ddz-fRLmQXZOwTVQHCIZ8nF17F_oS-0whDrAHkXOA1jA5lUcbX3zbMwlncshGN42Mm4ehmx4ah8swnaSbM09lGEgn1zJQDlkhimrNDX3aP9WeS2brnaa8m5y5f3OhWpNarY75YtAfa4itz",
  "id": "rs_0454ff7c5aea7de8016ab42fc3bbe887d0adba451c6977f27b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_z\":0.015},\"note\":\"The yellow object now fills the right wrist image but still stops short of the jaw line. I’m making one small forward adjustment at tabletop height to bring it between the fingers.\"}",
  "call_id": "call_UtkYqgmqCZln5CSGF70rlh3H",
  "id": "fc_0454ff7c5aea7de8016ab42fc4d4f087d09f9969371c284e89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UtkYqgmqCZln5CSGF70rlh3H",
  "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]: [-0.2543, 0.9077, 0.9352, -1.2137, -0.2955, -0.1619, 0.9978, 0.6155, 2.2593, 1.6905, -0.5896, 0.2943, 0.4858, 0.9996]\nstate[eef_state]: left_x=0.1981 left_y=0.0054 left_z=0.1653 left_yaw=0.1211 left_pitch=-0.5457 left_roll=0.2516 left_gripper=0.9978 right_x=0.4539 right_y=0.2626 right_z=0.0155 right_yaw=0.0274 right_pitch=-0.4878 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4017, 6.0376, 0.9255, -0.1929, -0.022, -0.0171, -0.4855, -12.1231, 8.3214, 1.1795, 0.2418, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca917cda1d188d8ee87bb7629b5d24d5b54258ab1c56c03d43d51074d45ed38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275f8dc05d90e81f40cb717ecec09a07e31777026b0ba6ab94a99b96161d7384",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0630bb9bcf778d926467dbf40692d1c80e7605d47fb6f3a363ee42611dd285f",
      "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 20 attempt 0 · /responses · status 200 · 2.693 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2584, 0.8993, 0.9321, -1.1843, -0.2951, -0.1593, 0.9976, 0.6544, 1.9152, 1.6672, -0.8227, 0.3355, 0.5327, 0.9996]\nstate[eef_state]: left_x=0.2035 left_y=0.0031 left_z=0.1685 left_yaw=0.1076 left_pitch=-0.5138 left_roll=0.2381 left_gripper=0.9976 right_x=0.41 right_y=0.2458 right_z=0.1508 right_yaw=0.0288 right_pitch=-0.394 right_roll=-0.0074 right_gripper=0.9996\nstate[joint_eff]: [0.6359, -1.3333, 8.6769, 1.1062, -0.1685, 0.1294, 0.0317, 0.1299, -9.7983, 8.0068, 1.0623, 0.2857, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9039, 0.9352, -1.2133, -0.2955, -0.1616, 0.9978, 0.6304, 2.2261, 1.6836, -0.5999, 0.3004, 0.498, 0.9996]\nstate[eef_state]: left_x=0.198 left_y=0.0053 left_z=0.166 left_yaw=0.1196 left_pitch=-0.5418 left_roll=0.25 left_gripper=0.9978 right_x=0.4494 right_y=0.2677 right_z=0.0291 right_yaw=0.0345 right_pitch=-0.4711 right_roll=-0.0445 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0325, 6.0786, 1.0134, -0.1978, -0.0269, -0.0122, -0.8274, -10.988, 8.3077, 1.1453, 0.3297, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2543, 0.9077, 0.9352, -1.2137, -0.2955, -0.1619, 0.9978, 0.6155, 2.2593, 1.6905, -0.5896, 0.2943, 0.4858, 0.9996]\nstate[eef_state]: left_x=0.1981 left_y=0.0054 left_z=0.1653 left_yaw=0.1211 left_pitch=-0.5457 left_roll=0.2516 left_gripper=0.9978 right_x=0.4539 right_y=0.2626 right_z=0.0155 right_yaw=0.0274 right_pitch=-0.4878 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4017, 6.0376, 0.9255, -0.1929, -0.022, -0.0171, -0.4855, -12.1231, 8.3214, 1.1795, 0.2418, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca917cda1d188d8ee87bb7629b5d24d5b54258ab1c56c03d43d51074d45ed38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275f8dc05d90e81f40cb717ecec09a07e31777026b0ba6ab94a99b96161d7384",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0630bb9bcf778d926467dbf40692d1c80e7605d47fb6f3a363ee42611dd285f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_Ib_mInQNcuiRU5qEdTb0nYHo3O_BKiWCslAlrCU5dkPT1NCyUhCOrmDfb86L0whBDVrxymnqLIoU4YXuBOnJrRbyEHyOjPdD-OMPOb0hYddoLOvcPXq2txDSWH9m02j3dg-MsulHyGZn-XEqD3v9A1zuatXO1qBvzk7waNJYiiwi4HIpm6hRr6Kv3iWsK8iabHQwf5mf04fMdZeFUIwFMSPJPk24likvKFtDqDMmmyvGlXwOAWGYI1mPOKLGpc1vRNPHv8HRUixomyraq3NWp94a3tBqW6YAJexWD93tPDam8wCc8MiR2nStMuNky26ZXAHReWB4NgO2X-o-3TVnG_SMdiIE2kYltxkc6PNjoGDp9jeuKVPPBkraqsDhIWF5KS4dMmCDzsOuHsIvsUy71acT2Lr4zZoVaeSZLNSCeSt5wrN2wIvhoOfKoOuTV265oNgRRrpC2tTGQdDxhHCCWnHojKlXY0m_Tit6ckZWWuYKVF_GELMWDLUN7m4W3Mv4CxZRwsAEvuUqh322WmCBnGz_Rj1wE1unJsCIPW6ezpvKophDJ2G73EGDmai2SL-b4SS85gy3hmnRB2xznLbKKBPeybSusc_Bfju-A7S-I9x0lny01TZzXlBc--eePmMcpowf5hbBGyz1ifwkSYcioJlQc7ll3hzIVPMa5tVLLlNcWoeTHX2aM58MT8qyI4_94yvBDmImazrg6Pzg65UOyzyg-Gfxo1CB7T8q5dN_Ev8iao5ChK78pbkGhUd8_voRZyWaWLiZ68t5xXpZgY1bjTGnQPuF_ZTPxbgRMLMdZaw55fw06uhX1HZ56CCyv2fLjh6aqk8M6ZQ60IBEvA2xCOLYLV2Inu_2Mdlq-B5z3cfkPFkwJSJgpoP95tfBKL3JqmM8FanAfHfWr0Z4lYhvU6uBZZcx4_WEluRdKakSZOgy8Ogry0BvpHh2DDqj2VGY1idZ9CnLzhhVqVL1ZamjPyKeOX7njSi9yNSRkjJZFuVGLsPiTii3FILK2xIa_1nLM9VJIY1f1QJdQHcKt-pTy2qZOuTkmKxuhW1rRdEgu6qFngcczF28X1un1OcBDFXxSMiPudhlQunuNGSH0ugWXqM6L6bj9D-XEEdWIJK5UdHn0fsLXkuVf_4F0RGgrhenmccfQYtcQm8urHY8pmcHkdAIR3kN2ThWah_8zorz2b22bRo-cCKmC0aTMH1NuiJ82dGSNQiE1rKNX6P4c4tFKvkg5LVWGksswVvPB-HMt2A-c1aCDQ6R25qszJ27UJ209m6jHGgoiFGYII1FH8Bi3I13dnz8-rVXqZXd-9ykfJ9y5Jcunbq2t_qB5brYZ6yiW",
  "id": "rs_0454ff7c5aea7de8016ab42fc722a487d0a62f42a187b3d706",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm has reached its tabletop limit, and the yellow object now extends almost to the fingertip line. I’m closing on it at this position to test the pickup.\"}",
  "call_id": "call_4335l0UNqatAQjUx1yPiVeef",
  "id": "fc_0454ff7c5aea7de8016ab42fc774d487d093d22ad222bab929",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4335l0UNqatAQjUx1yPiVeef",
  "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]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6212, 2.2593, 1.6897, -0.5854, 0.2737, 0.4835, 0.0302]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4513 right_y=0.2687 right_z=0.0147 right_yaw=0.0523 right_pitch=-0.4953 right_roll=-0.0373 right_gripper=0.0302\nstate[joint_eff]: [-0.0615, -1.0872, 6.1197, 0.9451, -0.1978, -0.0562, -0.0122, -0.2256, -12.6838, 6.2154, 0.8913, -0.0024, -0.3736, 1.3114]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c149a54f3fb31403edaa035ed43aecf5de4a9a7539489a09fb5ccf6c8ba93325",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:189fc9f5bc9c2145b179bea1e318901aa5fdab65a021dc6f1da79f0399e2d5f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7099df4fb4479ac854598c58cb955a9ed5430d80c67ebecdbcea8886c1bcb115",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 5.295 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9031, 0.9352, -1.2057, -0.2955, -0.1612, 0.9978, 0.6594, 2.1254, 1.6188, -0.6235, 0.3275, 0.5312, 0.9996]\nstate[eef_state]: left_x=0.1996 left_y=0.0049 left_z=0.1668 left_yaw=0.1175 left_pitch=-0.534 left_roll=0.2466 left_gripper=0.9978 right_x=0.4306 right_y=0.2664 right_z=0.0555 right_yaw=0.0253 right_pitch=-0.4463 right_roll=-0.0404 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.306, 5.9282, 1.1648, -0.2125, 0.0024, 0.0073, -0.335, -10.6325, 7.1179, 1.4188, 0.2027, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2543, 0.9077, 0.9352, -1.2137, -0.2955, -0.1619, 0.9978, 0.6155, 2.2593, 1.6905, -0.5896, 0.2943, 0.4858, 0.9996]\nstate[eef_state]: left_x=0.1981 left_y=0.0054 left_z=0.1653 left_yaw=0.1211 left_pitch=-0.5457 left_roll=0.2516 left_gripper=0.9978 right_x=0.4539 right_y=0.2626 right_z=0.0155 right_yaw=0.0274 right_pitch=-0.4878 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4017, 6.0376, 0.9255, -0.1929, -0.022, -0.0171, -0.4855, -12.1231, 8.3214, 1.1795, 0.2418, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6212, 2.2593, 1.6897, -0.5854, 0.2737, 0.4835, 0.0302]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4513 right_y=0.2687 right_z=0.0147 right_yaw=0.0523 right_pitch=-0.4953 right_roll=-0.0373 right_gripper=0.0302\nstate[joint_eff]: [-0.0615, -1.0872, 6.1197, 0.9451, -0.1978, -0.0562, -0.0122, -0.2256, -12.6838, 6.2154, 0.8913, -0.0024, -0.3736, 1.3114]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c149a54f3fb31403edaa035ed43aecf5de4a9a7539489a09fb5ccf6c8ba93325",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:189fc9f5bc9c2145b179bea1e318901aa5fdab65a021dc6f1da79f0399e2d5f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7099df4fb4479ac854598c58cb955a9ed5430d80c67ebecdbcea8886c1bcb115",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_LR1VdrH1k4fGMHaCfSvb0LioDs_d-3sVKHASqOqsZNQEhSLfYxxEBf6l7hANMmPGnsFuDsfjBlVw4qB9x61y4bl12L2yqw0FNfrFwHHdM5SGmNSwcxnXraw41x7ukFoClYyyoPwpADFpCJN-GOZgb4fxwEmL3B1KaEJtmSuvCjhxiMq9sVwgLtW14TEUXU7yRc2cEabvoSCq7qI9xyH-3-BHfd08ajYbF0z5hXiUKkN0w0lx4LUQPq_4bBORxhqiW_YnYcEjoDA9oi2quzgZHgaCHjd6vltMq2vsCWXxgC1wmbELE8BEgUbYlEt3m6s1qOCwmSAV8s_kGoa5jhBZ85JgNV0Vspc1uMQkzJdSJq0lPzIlmEtmmXgdiCivQ3q3feoU59x_HIrWnGkHPIswUzFWLdnTx96FMhfzf78AWN6W_SJ_mT9Fs8x2BBtP4WuGjnwOe_78mXMpIr0_W9wfhRC5Ka19WiuUrv91KVsM6wN-PJ90IdcL6cXRR58U8WgjgGPELu7x3LbpKnDtToqDFpG3ImljwZyiPJNzIQwQeT5kAPNGCDk11GKrKtasn_ICN9iQJQ67stdNO2MgwLHGyrixZ2wCrquw41sBkJbp1PmGa987PNsAYhsTjNOxPOfFVkpENZ9rQMkTc8BtYDIg1MycEe5n0vRd_zCE9uQYuWTo-yyXN24PJ_SAptfKdoxXLNwjfcxStmxNtNMT120SyjC1RMbJ8Prr30VByO7x3_ZTnsEozPTn28B7e_6iJ5JrJoX3F2AepA6tnHld-UXFV-ilb072rPDtQPKNrL1iKMNaNxHy8ldeOR_sNa_wceEe5kSp-RcxUdCCO0OREg5FiHr-EzXO0vEJ4UtUCuqHP4LlfuLqzb6NtNaTXEP6O2SiqeHmNxkjL1I44_-6-vbPHmDm_Fx6T1RnXRNGiV6AY5eoZ1kqjYRFmuUL9utnfUnWK7lmRhq0tJrVDCRtygO4-OLTPtzw5BV_s7CrMdNVegJSt9BdITQwsQbYwIp4wQ5ORavqY8o-84QyMMjLhnq98XxptQlD_xsQ-GKYSL9OlvVo5zqej-YIzGTaRN1mR6Kg0D2_Ia7ZC4_rKiziJ2bvkrG9fYQVsy9vE73WeWmt4V64gsHkLKnuJSOD9IgPd2TFYTaU-EAS-1Bgummp5olPkz9gdJXY7Ul3CaIjT3FpCqwHhE3p7M60wY4RYcmxfNRubSF7nLPmNloCGzhkWniwS9-pl6Rcv6P-oxurmCbHYSU55Ecm5bxcj8Rhl6ivCgK6yRHv44C5c61ZL92UeQHFR7d7vC0ZiwxE8Au06Wy5pyLwoMH7-vNGPWWl6tjwa7DWwX6ZTPVF7jfg3hwdesp9r5hUvvFcaaNwOjJImgZeKjxRtyfbXUFkRYq4d2TbqB9Kd_3iumb9OLctpQsZ8o6xfWpPbe4M3JOqsharZu095KmNmIA2pLpGBHAB38w_5bobStxHHfgGzDNpfbxYetzMkhlVn41co_EWwenW2RgrjpYieXxPjmNNf7NeRPDpHKUA43MnGZjS5JZ8c9dNPnHROMg==",
  "id": "rs_0454ff7c5aea7de8016ab42fca37f487d0881116056b09d31d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.10},\"note\":\"The settled grip is only about 0.03, which may be an empty close, and the yellow object shifted sideways in the wrist image. I’m lifting briefly to see whether it actually comes with the gripper.\"}",
  "call_id": "call_LmByrKz80ey8WrvXrU0ThQqy",
  "id": "fc_0454ff7c5aea7de8016ab42fcadd5887d0b8a2b0799201bd07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LmByrKz80ey8WrvXrU0ThQqy",
  "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]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6167, 2.2551, 1.869, -0.8761, 0.2611, 0.4763, 0.0363]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4399 right_y=0.2604 right_z=0.0507 right_yaw=0.0273 right_pitch=-0.5918 right_roll=-0.098 right_gripper=0.0363\nstate[joint_eff]: [-0.0889, -0.9915, 6.0376, 0.9451, -0.2173, -0.0171, -0.0171, 0.2393, -17.1829, 9.4564, 1.6044, 0.1832, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7b8c1f4c9beffc6ccc6353a0ab8bc4db5f235bcef22d6bcf905ccaca5ddb1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa722318e76ab6f337bdb02b81ec9f8b4594f6b64607b7fe0fcfeb0382115b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fe5cb421369f177c81bb99c568164780277cb1b8692d7b029ec984026587ce",
      "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 22 attempt 0 · /responses · status 200 · 3.124 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9039, 0.9352, -1.2133, -0.2955, -0.1616, 0.9978, 0.6304, 2.2261, 1.6836, -0.5999, 0.3004, 0.498, 0.9996]\nstate[eef_state]: left_x=0.198 left_y=0.0053 left_z=0.166 left_yaw=0.1196 left_pitch=-0.5418 left_roll=0.25 left_gripper=0.9978 right_x=0.4494 right_y=0.2677 right_z=0.0291 right_yaw=0.0345 right_pitch=-0.4711 right_roll=-0.0445 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0325, 6.0786, 1.0134, -0.1978, -0.0269, -0.0122, -0.8274, -10.988, 8.3077, 1.1453, 0.3297, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6212, 2.2593, 1.6897, -0.5854, 0.2737, 0.4835, 0.0302]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4513 right_y=0.2687 right_z=0.0147 right_yaw=0.0523 right_pitch=-0.4953 right_roll=-0.0373 right_gripper=0.0302\nstate[joint_eff]: [-0.0615, -1.0872, 6.1197, 0.9451, -0.1978, -0.0562, -0.0122, -0.2256, -12.6838, 6.2154, 0.8913, -0.0024, -0.3736, 1.3114]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6167, 2.2551, 1.869, -0.8761, 0.2611, 0.4763, 0.0363]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4399 right_y=0.2604 right_z=0.0507 right_yaw=0.0273 right_pitch=-0.5918 right_roll=-0.098 right_gripper=0.0363\nstate[joint_eff]: [-0.0889, -0.9915, 6.0376, 0.9451, -0.2173, -0.0171, -0.0171, 0.2393, -17.1829, 9.4564, 1.6044, 0.1832, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f7b8c1f4c9beffc6ccc6353a0ab8bc4db5f235bcef22d6bcf905ccaca5ddb1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4aa722318e76ab6f337bdb02b81ec9f8b4594f6b64607b7fe0fcfeb0382115b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8fe5cb421369f177c81bb99c568164780277cb1b8692d7b029ec984026587ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_RfKNVGdBQhQuK_BbLI8tmvFle46CeZruEOUIB-8sCTCyDi97VECl4d7PNw_HO92upyCIjcXLmYg1A7LVhlv4Cty_shHzGO1ixDH-oywR4GElTvHFGX77wrp9sC0HXXCaheQ4pzJqZV5WSe2A9RcchmGiv5R8q0uysrmJ2w5818oVT1Zqf7s5-ucOsQZVn88hgKQxC3Rl8tgoG8O1ubVvwwneExHzleqDLFAOWp7tW8FGWhFM55fnilVmmvtTHPXBOgposFhuEUISKwsmDulSUEBteQ_nHUiGuoZhtE5QUZEvDpowi8cNJ0cNpbPoe4YpcydxH_XK7qcxP_f4kpB4t8rXA_3uFU2J7SOAsw23HsnJw0rsgxYl7GSk7su2PF8OtM8gHta3IK3z3VNT3y94f0eXvPnuAa_cssoh7OAvkja8_N5zEWMhzVHHNYoNlLHlDLjROMxK3WXT3PEfUhzPpvX1Q0nJE0QnX0iuKpJ0JvZGAtLkxeSFH0TGIGi-w1fdFoUx6ax6FHZTEukhnhLrbGY68f0AvyZfmBofi9YkjGZE31ujVnF8MY9EykPUecxR91YqUfuVN0HDszgMKXirBUWMMJ8747fyp2lpacXTXt-3a0hZWwQjgEnUwEANhL38yl6apzaplD5QsC7qg36g8a8cKou-nzqkMEE1qmB44vwpp4_pelTyrv7Hwh8Q3_3Ey_wToA5qCoNRCqajES-t6PpJOyWdawT5L5Ra4HjzATZuyMhRMlMvH26YYL0Ux2Fx2gT1iQsh2wXiqZtfD7emhZdH6HDlyn37yrJeeU8wQI7jiNhre99ZKpOmRTrY6Mo5hPqaPD5R8EoChsmCz_4iUeh1dw2CS4DOkr02fUB6S9Bh0bwePTvl6zFQQU9r14OGFD-i7El8D3UtwMn3lEYnSWlh0rOJX_Wx4P_Ycxi_FyRHYbXHEu4E-PpaJHKHBupqx0YdJ-Io_-lw8o_t4d7YujbQmH06WITdXUsJjKWAEqzDx4CJ1Zbkl5SPTxcBd5pvgg52DHplbBR3uumme5YCZ02qEQHg7-btyi3uOM5EfQistW1bz13IWB-WY2K8V0y2c8UpuyWX1tynd3bqWXM8g0IlEtyLbzd7SsFRK2fhTVZVo7RpupwOUuknyg6EJRTED4JANZ-a8KgNTvJaULIdWKpMQzhGQkKs5B77rFBwapvFekg4oLXskhM9zqMohakBFoQhgLShVCrgJM4H3sKYstRh_20SRRQxHCjeGlNXzkQjj1GABdEcv30Yk4zKwTGYpZbUWnztERqIj7At-8IUFKs8rM8fActxuW1IVBhqr4IHV2zTUay0je_wJb7paWMCgSASyZpdwgm7IDnyYupUp-NPuahZeupoDavQOs8WOMlN2zWIR7Re7ejAiUopwelgxxFJ1l4RIoPl4m5E0HFgj-IoJ5jOhoelIf8CjrHnRFEAzFzPXilDKiXwNoTdl7YHsCkmvvZo9F_odPsqtnleEMjxyDqowqB9Vm6wRW4e1MXe2O5yHdvA64csQswmipcD0jkubUlSSk9nMtT5Oma54kiMn_yLO7rgmA9RZb2moITGszgBBhLdJt9QjUTuFgpOzNpS9R_vSh2u2H0OA-QydZhYRm6wN-3HXERPRWP2id0YFMjkZdmyWkib95iSGguYZ7pX2Lkv1g-JXOFQY_oWeu1otXAz1fanGXNIFnAV5EVh3ZivpWEn_nlNRYnFG5vdMhOGp_8ndK-8fCqeihmB46vbecSDOK8WHmX07I_iyvcUY_GdEBdGvYJDJD9IGkMXNA0IBxTNxsRGSJgAJyHtMf20lFGCn0c0RVKvCaSnCauJc-6IlWlAThMzncVgVi_jabINUwT1BicjIkMaNEY_QqcwkxxKChZ-tuouHnUW62n4V1PLmKCG2Zbmiojb8dQwJxTKxr1eFl9kLprie9_ZhmcWXaLt4mupSPCbl7OsFTsh0XVZpK4wsgrEiTRnHStT3I2edS9PcEYDLjRk8h7_hTPPPdTEnRbxwynDL0i0RY1rx-zuHNHgD02aRcnpuJfSQwvKyNeMeAiPOvYL8GGENYcXAvZzBSE3Btmrnw43u4BFY-FNP5RUsLKF3uuOYusV1j7uus1Id44vzHqqZJ8fT2CvWqe6M_waxlNfloA1nmpwAY9zq2lutQqfO-XVAZOlssRKtTk-HWNus43sFn1XRSL-Cslufmu7PmVvCYrSDk7m7nKrKw82-4s1WSOe9hnyHfAPv2V4XyMZb_7Y2MHhjrSpK-XB9B_mqxj4f4un2fH9FkOzNkJF6Eo6FykQS9qEZykjyMxRsZZFy5SjZaMES3DJTdm9UoNmJU4cH2-qpEtTMIEHrl479Jj8fnojuvFvcip4KiAUXs4DHddwz5-Oq3tfQcPHFDNWnNsRS0sT_zhayZY-ND07I6k6Bi27nAdHPepS5VDNIBRgAP6mQSq5Z3DTEF_Xng73lWy7MgSy6KOfNoR4AmN29Id9Mq0yzxYilUbbpf-112Jo7gRohmpsSrIu6p_SNb4ixZ8mwHKUVDmMd0ZD-eebNKCl_HV7R7_yNUJmGmdIJezvqb1jbXpwzjwqQOFfvR-UJiCSYNpxTfr3py4zC6CSvFHOS0Yi1G2A4WjN3ENmadCAlnLjsNRHRE9su4VQHvOiPFCITncU4S8egy1lP_tYtYJi4LwmVJ1RBzLbDDvHbK0l1eRBHqnu8qA==",
  "id": "rs_0454ff7c5aea7de8016ab42fce266c87d09c62598220a16f00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.445,\"right_y\":0.2,\"right_z\":0.13},\"note\":\"The yellow object stayed on the table, so that close pushed it to the right rather than lifting it. I’m reopening, shifting the right gripper toward its new position, and approaching from above to avoid another sideways shove.\"}",
  "call_id": "call_9arSpfXZVArKcFr5k8tcgljq",
  "id": "fc_0454ff7c5aea7de8016ab42fd0cc6c87d09617d5bb8de9e623",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9arSpfXZVArKcFr5k8tcgljq",
  "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]: [-0.2546, 0.9108, 0.9352, -1.2171, -0.2955, -0.1619, 0.9978, 0.5022, 2.1506, 1.9079, -1.0706, 0.2203, 0.3637, 0.9948]\nstate[eef_state]: left_x=0.1975 left_y=0.0054 left_z=0.1645 left_yaw=0.1222 left_pitch=-0.5517 left_roll=0.2544 left_gripper=0.9978 right_x=0.4363 right_y=0.1996 right_z=0.0979 right_yaw=0.0055 right_pitch=-0.6629 right_roll=-0.1385 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -0.8821, 6.0376, 0.9402, -0.232, -0.0611, -0.0171, -0.4171, -14.8855, 9.3744, 0.8767, 0.1148, -0.0073, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:994ef20614b1779f5aa30208c03a9cd8e38697887ce7b2d943ac4ec1eafb00c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56085908b326ebdaa8540c8827e73d980c0a9bf0c86e7455ef00226f58fa7c24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc612218a64274eece42fe81d3d5851b1f3cb3a64816de30e6354501376cb3b",
      "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 · 4.234 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2543, 0.9077, 0.9352, -1.2137, -0.2955, -0.1619, 0.9978, 0.6155, 2.2593, 1.6905, -0.5896, 0.2943, 0.4858, 0.9996]\nstate[eef_state]: left_x=0.1981 left_y=0.0054 left_z=0.1653 left_yaw=0.1211 left_pitch=-0.5457 left_roll=0.2516 left_gripper=0.9978 right_x=0.4539 right_y=0.2626 right_z=0.0155 right_yaw=0.0274 right_pitch=-0.4878 right_roll=-0.0561 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.4017, 6.0376, 0.9255, -0.1929, -0.022, -0.0171, -0.4855, -12.1231, 8.3214, 1.1795, 0.2418, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6167, 2.2551, 1.869, -0.8761, 0.2611, 0.4763, 0.0363]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4399 right_y=0.2604 right_z=0.0507 right_yaw=0.0273 right_pitch=-0.5918 right_roll=-0.098 right_gripper=0.0363\nstate[joint_eff]: [-0.0889, -0.9915, 6.0376, 0.9451, -0.2173, -0.0171, -0.0171, 0.2393, -17.1829, 9.4564, 1.6044, 0.1832, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9108, 0.9352, -1.2171, -0.2955, -0.1619, 0.9978, 0.5022, 2.1506, 1.9079, -1.0706, 0.2203, 0.3637, 0.9948]\nstate[eef_state]: left_x=0.1975 left_y=0.0054 left_z=0.1645 left_yaw=0.1222 left_pitch=-0.5517 left_roll=0.2544 left_gripper=0.9978 right_x=0.4363 right_y=0.1996 right_z=0.0979 right_yaw=0.0055 right_pitch=-0.6629 right_roll=-0.1385 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -0.8821, 6.0376, 0.9402, -0.232, -0.0611, -0.0171, -0.4171, -14.8855, 9.3744, 0.8767, 0.1148, -0.0073, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:994ef20614b1779f5aa30208c03a9cd8e38697887ce7b2d943ac4ec1eafb00c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56085908b326ebdaa8540c8827e73d980c0a9bf0c86e7455ef00226f58fa7c24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fc612218a64274eece42fe81d3d5851b1f3cb3a64816de30e6354501376cb3b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_VsVFkFKwsl7_Hjzymp5ZjlfsnWU6TqWIR4qMCWkBXu3qbaccZWUhhSp5CMNtK07eY5cOyJrUM4aCHm-_fMnDdghCD0XAEUKGl29yOlHfveiKen3m2sPu5ExpdK3CahpONHRgQyq_5PDI0drxqnsRkqD0X0ZmRAThlqxNTBypZDW4u4oyjI5hx6VDPKJc3Y-ot6QGVvVHGJjsq2OWR0WExep42XiwlzlX-xL3LCndCEn7VWwew9N4l_1Zp76NzcX4G2sMzRbaoyRqNn7WNwAJMQonWtMkkm8hUGwy0GdlagIjSs6b0D-SBqALkCbe_CKpRbHEpd2dz0F5HzQ6D3cU4zSm4yDLFbwiVlOfLUnv4TnNXkRBuNVHXqrMW0E1Er5gmnboD_9m7gWDxbNpXnZrTI7OcZgsmIOJGW8hSmOL6MozMNmnY-PRvq9DNah7_crO7li7HTDiQWgkmqttzdYt3f6yR-3Sehdme1drtxUvaDWX4FXmiIHnXbiKcwsreLDvUeRqfDrAX-9Fm5zwOf8Up-KN807Ac6dAgytQ9Cz3kKsXXYhtj5oGxoAMioWe-ooFYnx31fTO-iFZQHp993k1XM1AyL-_ndkifgltevKtrlGFIfiPJl2zE6sKBlMSvS5rBnVwBvDrub4g3L6R-Hgpj3I4St2K3sJFRD1s6bJg_Qddj0m3iV0e0c6h69c57SqFf699QKmEmz7t4yCHUBswxVJNaeUsHy4Yn0TJxuDzVpVF1zZajBwEnuxAbaDuf4Ss6oRgORgfxx4jlk8t3sSXVMQ7PiOtYRmm1cTPgITmol94M11TwWaxRvhlAUzGEN7CklG2MWYkh8ANYiLj08kObMaFRVk744QvZKKwMDXoCB-BPAXRBNBNC0VOiEdtqU-655VgDFJe_gAtDk1fQ-WhSVRl8-Qum0SvSAOxu7bgNu1Bgmj9j2bTMTcelhdJ2SsvPHtePJJCfjrqsZU7vPy0IAEeAu-baJX88ngYzU68-NCAtyExwWwv73D1XM4l2LVFOdVaMeWEwedJwRe_lVDnJndIYGUHxlZTEm8MBUtfilBjViSUDUrnjyprGTRwe9ZtY7Xp5-hdaBGme-o68IE8JFyEKQQR8mqYs5I3YXhyfyl77Nb0fK1SmVETs5Efisc7XUJ_3ovCICkoqeTPE5sTXBuJOZSffyv4Omnkh9VmIf5lWoWdF1BMvUq-TgdBqqwCJ-ikTi3ysnGNGOTM7xcPUjNXM0aKwwH1f3SFzsgFaBEX41PEQc_ryPJaunwgG-G6RDmX8RjreJ8D7424UYXshaJPU8EnndwQD4dcwZ5ScXc9DuI9qPKvy9HDjXPKFlP8hgwLBe0JTFn6N274ALEX4Q5hWrWsEq0smBX7z4fvWPpOiW3wxr7Pu4_biGIMJGskv_mlPUNjeiJjqI1kopXiv9Y9KBtcml3pWy1e4sJbGe1bykBKjO69QFM2giSSmuXODy5d20U09mVpA9PO2JWjxQ0G6egY2lblX4k2gn4nTk5hOgtVABXVrrnmHYYQEEKAIEBDh36wkpZVPvxVVKClpGpCwmXS3sDomzKsvvqx5VNm_9qPqoY22kEnn0xzTo2wfS-k3ZnshE3p-Wt9tUDtSRrI7ttgYqlRvBzGl-fCMPA0O5WLtndW4w4iga6W9idrb0L4wFS2q1EdTeUMmr8QGTh7E8OZPs1KO6HcLTs5kIOQTj58CN2HmhB1VYN4k5WiW7xHSg8to4bZT8f7rd_MHNrOTXHg0Hv_006Emc8PbAtiWxldoTB4z4E-I6aDep_zGPRYmLzVc_14KevhnKsm_EcGZmR1N2RqlHyGMAhcsQIKvGgO7LSEQZPxTZa9HwPzsGByzHgdJR3DyTJ20EhX_XR7IQp1qfdy-lnW2b4D1gJMR3jQpNDgmfbSSkrS8kqggvNvmu2-PstZagjmpnzSKLwDo86vI_UtiDNV26rgXvIyfaqga9X0J9ZLFumItPDtg",
  "id": "rs_0454ff7c5aea7de8016ab42fd3a55087d08b7e04e14e71efff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.19,\"right_z\":0.14,\"right_pitch\":0.35},\"note\":\"The yellow object is centered laterally in the right wrist camera but remains far ahead of the fingertip line. I’m reaching forward while still high, with a forward tool pitch, before the final descent.\"}",
  "call_id": "call_IYWzT0wybRAEYEp6uM4NdPcq",
  "id": "fc_0454ff7c5aea7de8016ab42fd4e59887d0aa0dfce7d2e5b8a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IYWzT0wybRAEYEp6uM4NdPcq",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "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]: [-0.2546, 0.9142, 0.9352, -1.2171, -0.2955, -0.1623, 0.9978, 0.5411, 1.9617, 1.0706, 0.5179, 0.5655, 0.038, 0.9953]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1639 left_yaw=0.1232 left_pitch=-0.5548 left_roll=0.2557 left_gripper=0.9978 right_x=0.4974 right_y=0.1927 right_z=0.1235 right_yaw=0.0363 right_pitch=0.2623 right_roll=-0.1664 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.4017, 6.065, 0.9499, -0.1832, -0.0659, -0.0171, -0.759, -9.2786, 6.0513, 2.3126, 0.3541, -0.0366, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86036d410428c6aa47c48104b1204bded8b3299aeebcef9cfaa7a09bd697e33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b762023507b0a88299ee9822b2d5d9370c66865e51f4ce783713e9244f4bd03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806c3f6d8533372121a70d096f9681e59c7449daa4b97945378dbb8b36e8dbfb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 6.555 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6212, 2.2593, 1.6897, -0.5854, 0.2737, 0.4835, 0.0302]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4513 right_y=0.2687 right_z=0.0147 right_yaw=0.0523 right_pitch=-0.4953 right_roll=-0.0373 right_gripper=0.0302\nstate[joint_eff]: [-0.0615, -1.0872, 6.1197, 0.9451, -0.1978, -0.0562, -0.0122, -0.2256, -12.6838, 6.2154, 0.8913, -0.0024, -0.3736, 1.3114]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9108, 0.9352, -1.2171, -0.2955, -0.1619, 0.9978, 0.5022, 2.1506, 1.9079, -1.0706, 0.2203, 0.3637, 0.9948]\nstate[eef_state]: left_x=0.1975 left_y=0.0054 left_z=0.1645 left_yaw=0.1222 left_pitch=-0.5517 left_roll=0.2544 left_gripper=0.9978 right_x=0.4363 right_y=0.1996 right_z=0.0979 right_yaw=0.0055 right_pitch=-0.6629 right_roll=-0.1385 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -0.8821, 6.0376, 0.9402, -0.232, -0.0611, -0.0171, -0.4171, -14.8855, 9.3744, 0.8767, 0.1148, -0.0073, -0.2515]\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 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9142, 0.9352, -1.2171, -0.2955, -0.1623, 0.9978, 0.5411, 1.9617, 1.0706, 0.5179, 0.5655, 0.038, 0.9953]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1639 left_yaw=0.1232 left_pitch=-0.5548 left_roll=0.2557 left_gripper=0.9978 right_x=0.4974 right_y=0.1927 right_z=0.1235 right_yaw=0.0363 right_pitch=0.2623 right_roll=-0.1664 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.4017, 6.065, 0.9499, -0.1832, -0.0659, -0.0171, -0.759, -9.2786, 6.0513, 2.3126, 0.3541, -0.0366, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86036d410428c6aa47c48104b1204bded8b3299aeebcef9cfaa7a09bd697e33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b762023507b0a88299ee9822b2d5d9370c66865e51f4ce783713e9244f4bd03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806c3f6d8533372121a70d096f9681e59c7449daa4b97945378dbb8b36e8dbfb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_dkHPM1C-Vlv0JhKABtRLgB0ExNXBJ85cUAB8l8Zo_CR6YAMj-XlSHslm0xdlbbybgl7z70y5D2qICk24wqWtw4mODzCrROrPm21DRdQjsLpfIOz03ozGjFfgsHr10njRy2aap8OdsZnd72TwCns7NagquuCplUFvzbnnbjdMpLL3xxPzhdtPTDIQh8xE5hERrV-2_BpPT8VVYM9FqG2x_61gYepPfHPcTvmSoIUB7XObmrgtzaok8JmENaQSDUNSryhvv8-PhlnbXOAIOWvq4f2aIyNDQAMv-k-F3VXD5rwPn9heXWGT6oetG_E6gKEHLl0s0QTu2UvLUVfit0EAd8offS9NNQpGEe7u4y5aIyLB60MkQOgziFBx6qLUdOYso7mJJrecbq4xyvRdrS2SZNkwFyV4n3DgIkQ4oLv0RPul1AThAPKsXdTkJmkeiPMO9ewFsc5oWmoGS3JkF_SM9OLYikJOi08shDIt9jegORhGISNLKi4OdGkjKBGF5h_C6NKihDpFV7FfUqZWVTpDbJ_Enbbt81dLuIcXq3OJqi3Uox1WqlEdYJNNSdd8HTgs8fIG_jYP3gL1rQkLC2Sdnf82xOCLV5ZLtk3GxfMX-xDlPssrASr2C6pllLBhAGtWFxRYQKyJ5GwwUEvriYfTFi37sBgUkwrdjvMo1jeXOJwPBufYAEOP75kgse-hKR2ZyjGen1K1k2mdzqSicxlaCTvjcPIz-3DmUw-Ztmy1SbO9YZavJofJ41nKfbXsCukTVjJVfueYS0FZTq0KK35DdICRWPZAW7spNPFmjxXpGDcuyw_B_xOIDNvZ7kjb_wDAj8e6spWeSIwqpHQb5mcaW8lhGYWgn_vWx9nGB5YC4cZKVvXUaDZM1DqkA_SnujLrLxTSqxQ4JH2O7NyHUnx2oSXXAmSbQS31PCtuIopuXxnIrySaGNXDa9h2CjNn7xocqVAaFGxI4-Ld-2ff5S4VciiDDvTKjIS5b1jCfz3tEcuHUeuH_l-d8BhrnOhjveX4ulQRyTOJ6UejCUZsfPqxugXUnMLUZRw-QmBLO5FEjkykk-rseTrbTSAPGr5m4rZe-6iYYsiSRKU6QFo0Q0iRhgl9mDthTItLLCQ5xBcHz37PaRjU_JU9YxBTMBYK-Y23wSE2Yi0729UZF0umT6MxdKhV8ToWpU5p5sovl7ULCxPhAL17P7ruLV3iMwGdDspJmEBZo-Uh5uUW2f7zdr3NBIx-WPA6ElVPz4iMUGWltqUscVLrMSXjWGIwggwwmEQ8UvMb8aUnSvPIRegn7oNEOp2lJxgmt0Uhk7zyr7fNzHV60Vu4ElYs2vYESaqdUb5kqaW40L2g9Td-F9LK-2glE5dec6Vbk0Gs6SJN6Bvs9cPNsuKREvIL8NaMA3spv82mlmKKvtxXZiZEssMkISHtXcGRmgL73WgFu9s2oWSdjdabkazCDJgSpwMPXJ_NetG2_exSe621bfCGWRk2KU0-Ws2hQaOTYFz5fBF-G-HftHbUQ7vE9M_YtP8fJUIjUql2UeISQIEkLy0FooJstgiw-BJd4U3XS6BBqsT52fLYdbS7uA6DSDCoYpljqwN857mwuRC1Q_U0mBVo3JIqFe8D4KFKodl_enIsGmC394DdmZ-QpfYNpMzkVaR6ft0dFWu9A7CeAcvslhnz6DFIvbQi_eADmu1D69Km6rzLVuWKGnOgfZ-VuqPbMG_dgzW_2cgc9qTT9NaDLMNPb2rqSMnug5_s1y4JA0XBOttd0RCjCCcQryzWou325VArz5MB5QXJYSMGqnppXmHzzhPihVnA7emI8Rxq5DhrycECBGRurXDBMrmPwUphs07j4EhX4JC0cFYoqf3m8uqOGokGT1ePQmHKnKkXTpc8mpirl2cBlXmb9aDEf-mi5qXTWF8X31roVSLN06-yuWgBBORm6Y0m9LkO5jKM9inqyD6JF2UYCfAWVBuAl2fwBKKG4wmG0eo-fWE0bKa_jFsd2w691Sw3-P8NGlyLsr2hOTBKGrn_mvIYHSMcDhIHTAsR-cU1dZIbEKE7Xs8kbpSzYPwj1VVgOrwqY9h9nteL7swTdawpbvMm26Uuc66HPM-NpFkkP8eyIBtT-h_A_gJ7pGlUKE9-xfFq7Zd10jz1zY4ZbknS2p4Q6h6lQQIpSdA8tT5aS3Fz7XPuixEJ3gcqsQ6sT4QI1jeWbK5s_QUIVkhPdVF854Q0fT7aGFa7orXV2u0DTrieWnax_wcZ4DXr6mQuo4P3Rahj-W9shAyKWAYi4QCv5jaLCZlTctzLoaiWpfzCQ9DCgDXK1RJZDUa7ho9FonQLX6zz0023daSHHKxlvCFQXQneQagptCjOjKWu325tS3Oo4oZupAP6JtaW0Fw-6VXme4D5bbLu0tZ1Q63Q5OZvT3p8=",
  "id": "rs_0454ff7c5aea7de8016ab42fda189087d0811095ee4bef3605",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.19,\"right_z\":0.025,\"right_pitch\":0.4},\"note\":\"The forward reach brought the yellow object into the jaw opening, but the right arm brushed the safe lid and swung it shut. I’m lowering straight onto the yellow object now; the safe will need reopening before placement.\"}",
  "call_id": "call_2NSwdl9mN8XXfWXlSXmbtzGa",
  "id": "fc_0454ff7c5aea7de8016ab42fdc739487d0ad8afe7d0fbcb376",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2NSwdl9mN8XXfWXlSXmbtzGa",
  "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]: [-0.2546, 0.9154, 0.9352, -1.2175, -0.2955, -0.1619, 0.9978, 0.5461, 2.2612, 0.9722, 1.2205, 0.5991, 0.0105, 0.9954]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1637 left_yaw=0.1234 left_pitch=-0.5563 left_roll=0.2565 left_gripper=0.9978 right_x=0.5025 right_y=0.193 right_z=0.0824 right_yaw=-0.0389 right_pitch=0.5259 right_roll=-0.0318 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.0598, 6.0513, 0.9451, -0.188, -0.0464, -0.0122, 0.7043, -6.653, 2.5094, -0.0513, -0.1538, -0.5201, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd741af776b9b79e4e42be652b20f94ef5b57e994d72ec852502ccf57cad4c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910a61b3fea9288a01cb7b55a9f783a61e5b85f4c7029b90078e5a86d6a86820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423fd5f7d51eadb1184af73e9614ea425757c87f00ddc24bc43708e6b5d4cba1",
      "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 · 4.868 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9104, 0.9352, -1.2167, -0.2955, -0.1619, 0.9978, 0.6167, 2.2551, 1.869, -0.8761, 0.2611, 0.4763, 0.0363]\nstate[eef_state]: left_x=0.1976 left_y=0.0054 left_z=0.1646 left_yaw=0.122 left_pitch=-0.551 left_roll=0.2541 left_gripper=0.9978 right_x=0.4399 right_y=0.2604 right_z=0.0507 right_yaw=0.0273 right_pitch=-0.5918 right_roll=-0.098 right_gripper=0.0363\nstate[joint_eff]: [-0.0889, -0.9915, 6.0376, 0.9451, -0.2173, -0.0171, -0.0171, 0.2393, -17.1829, 9.4564, 1.6044, 0.1832, 0.1294, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9142, 0.9352, -1.2171, -0.2955, -0.1623, 0.9978, 0.5411, 1.9617, 1.0706, 0.5179, 0.5655, 0.038, 0.9953]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1639 left_yaw=0.1232 left_pitch=-0.5548 left_roll=0.2557 left_gripper=0.9978 right_x=0.4974 right_y=0.1927 right_z=0.1235 right_yaw=0.0363 right_pitch=0.2623 right_roll=-0.1664 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.4017, 6.065, 0.9499, -0.1832, -0.0659, -0.0171, -0.759, -9.2786, 6.0513, 2.3126, 0.3541, -0.0366, 0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9154, 0.9352, -1.2175, -0.2955, -0.1619, 0.9978, 0.5461, 2.2612, 0.9722, 1.2205, 0.5991, 0.0105, 0.9954]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1637 left_yaw=0.1234 left_pitch=-0.5563 left_roll=0.2565 left_gripper=0.9978 right_x=0.5025 right_y=0.193 right_z=0.0824 right_yaw=-0.0389 right_pitch=0.5259 right_roll=-0.0318 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.0598, 6.0513, 0.9451, -0.188, -0.0464, -0.0122, 0.7043, -6.653, 2.5094, -0.0513, -0.1538, -0.5201, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd741af776b9b79e4e42be652b20f94ef5b57e994d72ec852502ccf57cad4c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910a61b3fea9288a01cb7b55a9f783a61e5b85f4c7029b90078e5a86d6a86820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423fd5f7d51eadb1184af73e9614ea425757c87f00ddc24bc43708e6b5d4cba1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_k0iiC5f6YdHLDJZx_z9LGVljN9dH-Fg7aRZiBxo1Vb4OOjmdol9y6fYwPmrtlS7JiPYR1sEDNY-3kgVf1ImToG64V5HK6mp0IJgo7eA9Ios0NQG_0rAaHzVQL3T56I7Oh8SVoYpGSeOXRaBpfJ6ux9iP-My6Vb17Vyihv59OObBkYADTJ4_UgEUQ0-ZnCK4YW56dVVJph0QZUkG1uT1-nPoz1cf4M5eyYL_0E4k-OLmvkqu_z2eDvp6UX1zPE7CHdTg4bPwyoSyBATHGq-39cecsdle-SkLlAzlviBB3U7d0KI6HbjkWpurwoMNNiRFrWVZVM2popwG_0SyZotKB2AXFVy_cZ5q88-b9OR2lAhoWEvFTOXheYxHJWwR_BgXMUehDw1yOHsoxyqdsIB86wyLpPi4Lin3Jzel2xn_UJwn73HDplmqf7pzAEQ-7py9b_H7I6r6pHAJkNyZBc2sKhCwv_f0wl3LPmQAVCjq009ohIcVghIKKSkj5e318cX0zYwn5DYvJEP51xWdTUa49cyK6RtUUCn2ktgXCs1-hL1GWuttm20_b9VAjPQHDCmDDDXK24J8XJc2KPQBxg3gMYHYrxzf774HNBBR9s8v2NSTHlXjjmkKYGHHA1fEK1o8D0Bj1kJcpbAS2yiLgazexiTSP1pH2L6TpdJ5Fsz32cOvjGrpwqo5lMVv0A1UwY8kIE4JXKfvntHsrCERRSa3nK58-HWg5MzMXgmj0roiodcIXsWNf7P2K4kYgZC2h-nFUwfEndug-YoylaCAa59DAWZwJ62PjKWRAbBZqrP1YHX-371oHyYA-7dmoKNuezaYOw9-uw6GnrCMpOFbR-xV4gxYbNO_xV2dV8RMQ755ZXPjDtCykIWBh7WbHHMkH77ztCbfonP82hLQbZ-gGmaM9cy91AthlMLki_7fx8LVsVGVUZ_BMMHGO_ejYPsGlwajdQWXigvsTKpUR3lk-H6V8fksnGO52hEuXt6xwn2RUqsI1WTWUse8q2pp2Pa_6pSPafZlsqvSEgGTdceeGuiVGFlcApIzpcBC6sJfIZZHhR2nrj8eomdmAsjB2E-MQCvmUqm7ykEFC338N9OgmzsxjvfoILLPRCl4Po1isb73WMnQh8VZ0hClYsgdxP_cZraLQyqAIqCqMdrv1sYoJZnhN2nKGld0V2J0t3cRD3_jR860WR3n4HFJMTjTFTkBRaBGpyzuF_BjsipZO6QK0JqStyf5Gb3D2umDL1NGFTwDtNIGeYFNMc_AgnGqPkCLFc5E6DXJZTK2cR61J27rR1x3pU0fUsgZ_lhpl_AaODCMPlSPVIdNq29jXuAblOSw1LvqqTrlL_J-AXPt_37v_LHznPjF-2Un7M7XhTHGtQccF40LksVhhCIFlyqfIKZoNgAwL6ZQNrc1e5JIsWxQQhFSJnPs13BX--mc0lma1BsT0Pk2bpqwrSIXAfuF44ci6ZIz8xXH4K6YsvoVlTIplJr-00lMFI4O4zB6hvaHEzLA_CgMlKHeooPywTF1BIuCiVO_ERVPD29YQRRgROPCngKNiLYNDewNy1dWS35HiRDdkJOhp06oRkHiv5UMvZUgKLSsBYcKAIfmFte9yNj8KkrEOBfrrZ3RLlo37nOMDDfF-chNu0pqUHMvt083T7oCzW101pT07NWQlmUr_i2vUengYe3I8m1Dhpg04o8tC6mqLjPpWNk-cU6R-W2278vL_aYQmw5WLhEy_TmGnaN_hQJsjZb7Xp2NRgDaiOWeLwRJfCHS3_Sq5SO8HMo0Hnf56S3_ZTaApFx1A4KTR0UNs4RAWLsAsGl5lhPHQL3BF0Ptxv1rAVfc5_6hyFH-hPJpHM9qeWzBDvoHapgBYRs26iWnLS0SrNx6Kik3YsrVGmw4r6hpeEP3zbMQs9ylGTyxgkeRO_84pQ21Ziojn9btOBahco2YbOGtoFO4qHcn4AGyZXg4VFu0JEmS391QL-p9n0AAlWlsgYCjDUPmhydiBy1mNRzwT6Z2-YRx8QnMHz5Kq586lPg3eLkl86Gh2NfJeRx5kWPucNDHQnlRk5PLi5J3bzRTZS0DzfzLX4_KJjCk2TNTlk6r3_v7BHK6GAunFxQOhdJGjHniyXqWcD00UqaKQJZJKgaUU6rW95G3EK503gc79Rig_2WN4gxwqLljyR4jEorxtOOpjWIJBW6gp5JNHu-8cce6iIX_gNt8WQ9sBVx8g8HFm3Hl20_FKypjv91b2LimW8J62_1JRMrh1_nK1ImAVktciEKv1oRfABDgOyhROlZyPjnBnZVNT84NIVndU0e8oZFGrMPq6cMedQZwF46yDGe97kmgeGAxYCjumWeWX69_7SSqERrampusuiNC0NDE8MLyhP37-MFMR2TIy_iM9ShpdCEbn4eSrTjm-FjPwK11XUWV-93eEsEiCqHWj_ndyqvR2mq6l0xXiPHSJSL3rlGcqf91PM87YFAJy6wFwDDwBiZYBpvcruSkJ7KuxetqawpUXUIblj9CDkLdvm4cSB3bUOeNQbQ9ZC8rN8x2RQWceFNmD6_3aHna-jOKen8RE1vOoXMs7ujWIRD097w5805WilYCHEzFuNkpX0idRLsHGkQe5QvORyDmgVxjLbINVK1wyKP4TcqMjaJoMCpU8F9lDd1fjVuXZAN0yxFwa6UpU90SCKKoBnk3Iy0XHwGZP4OSgsdTTXPUIfZKwp0ioa0hUcOkqi9V1uDPqFOQdEnaRiMELIfQbGBIy-4t-OUT_c77wlkenIxY7MBJBf4K-4v2Tj7WgArGT7Xy80T_fVRnsR8CgsEL9hUu1gUrSYhk-T2UaLpnTIeY3M7q5SsGoRS2Vk3P7Poo2DO0GDYNA4eiIVg_JwnN-_s5NguSRBJqfUuqadZpbSHtVAkfRJqJzMlVD7Y3CIx8ae1423DQTq1lqRGjnyqYrJ216HJnnSPxQptFe3y6DoX5EMk5CXtYmSAiBw09IfS3d_lT5icfXdv2pLMrIbfd2mHLm4WZyw402XpOsnhRV5OYf_3l608OVEtllC5jRsmVq879EoJDkXCT3gpoBYycUA2Vg-mBzTKlhBzNcdeOdXnXv8pNYpl4zh6K55mQedu-xarmthXrzYBIsavTWCVQnDQgPaBtiLsUadByz8NKi5y3pWLsXv5aMCyPnLpg3nmN6P_-Cx0fO7ITY0gwKMdJbz62giyWRjgYcM0N95vhKeOcAJ5z6JGwR83M5GP4FsyojGBbaQNsLtw3ssPWrakGhiZgbLf-jd",
  "id": "rs_0454ff7c5aea7de8016ab42fdf9cb887d08467b779b628be24",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.27,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0,\"left_x\":0.35,\"left_y\":-0.052,\"left_z\":0.12},\"note\":\"The right descent stopped several centimetres above the table, so its pitched fingers appear blocked near the safe; I’m withdrawing it rather than pressing harder. I’m returning the left arm above the unobstructed white figurine to try a top-down pickup.\"}",
  "call_id": "call_5T3GzOucbkFLnaOVIJZmrnzr",
  "id": "fc_0454ff7c5aea7de8016ab42fe35a7087d0bb796b1131d97543",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5T3GzOucbkFLnaOVIJZmrnzr",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3122, 1.5425, 1.1439, -0.8883, -0.3035, -0.2226, 0.9978, 0.0757, 1.2148, 0.5961, 0.3534, 0.1589, 0.0437, 0.9954]\nstate[eef_state]: left_x=0.3298 left_y=-0.0472 left_z=0.1071 left_yaw=0.1356 left_pitch=-0.6261 left_roll=0.2787 left_gripper=0.9978 right_x=0.3993 right_y=0.0059 right_z=0.2023 right_yaw=-0.0917 right_pitch=0.3207 right_roll=0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -6.5983, 8.8684, 1.0672, -0.3394, -0.0073, -0.0122, -0.0479, -3.1932, 8.7453, 1.9365, -0.0904, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aaa5ecb53534bae2c0d1af710fe0ae04164feb9e9c4177608d3c09c91f2a78b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990dfd0ce1e5453eabb4cd850907a6014a42a012b4d080df7fea554ae619eaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d277e9c22492ecf7e00cde059b7cb3fdada4d5c0d4f455b05d9888513b2da3c8",
      "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 · 3.449 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9108, 0.9352, -1.2171, -0.2955, -0.1619, 0.9978, 0.5022, 2.1506, 1.9079, -1.0706, 0.2203, 0.3637, 0.9948]\nstate[eef_state]: left_x=0.1975 left_y=0.0054 left_z=0.1645 left_yaw=0.1222 left_pitch=-0.5517 left_roll=0.2544 left_gripper=0.9978 right_x=0.4363 right_y=0.1996 right_z=0.0979 right_yaw=0.0055 right_pitch=-0.6629 right_roll=-0.1385 right_gripper=0.9948\nstate[joint_eff]: [-0.1709, -0.8821, 6.0376, 0.9402, -0.232, -0.0611, -0.0171, -0.4171, -14.8855, 9.3744, 0.8767, 0.1148, -0.0073, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9154, 0.9352, -1.2175, -0.2955, -0.1619, 0.9978, 0.5461, 2.2612, 0.9722, 1.2205, 0.5991, 0.0105, 0.9954]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1637 left_yaw=0.1234 left_pitch=-0.5563 left_roll=0.2565 left_gripper=0.9978 right_x=0.5025 right_y=0.193 right_z=0.0824 right_yaw=-0.0389 right_pitch=0.5259 right_roll=-0.0318 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.0598, 6.0513, 0.9451, -0.188, -0.0464, -0.0122, 0.7043, -6.653, 2.5094, -0.0513, -0.1538, -0.5201, -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 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3122, 1.5425, 1.1439, -0.8883, -0.3035, -0.2226, 0.9978, 0.0757, 1.2148, 0.5961, 0.3534, 0.1589, 0.0437, 0.9954]\nstate[eef_state]: left_x=0.3298 left_y=-0.0472 left_z=0.1071 left_yaw=0.1356 left_pitch=-0.6261 left_roll=0.2787 left_gripper=0.9978 right_x=0.3993 right_y=0.0059 right_z=0.2023 right_yaw=-0.0917 right_pitch=0.3207 right_roll=0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -6.5983, 8.8684, 1.0672, -0.3394, -0.0073, -0.0122, -0.0479, -3.1932, 8.7453, 1.9365, -0.0904, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aaa5ecb53534bae2c0d1af710fe0ae04164feb9e9c4177608d3c09c91f2a78b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990dfd0ce1e5453eabb4cd850907a6014a42a012b4d080df7fea554ae619eaf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d277e9c22492ecf7e00cde059b7cb3fdada4d5c0d4f455b05d9888513b2da3c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_rgfKtHibzGXOxscjtANoDjTJphnLWtb464nAM6D72HQb01P-I1iMPf4ZgX0g_WHWHR9r5Kjprw3I1zH2LZ-UMv1I7JjOofT4MT_F1v81sqhAxZN0pKpdEiFcPqKcE493boVndvB1oxqqHO-5uq1z14ZnkbTrtNS_Y0OIdJJ5gwsJQaNx0m80O_WxSE98utMuXJGyLnygtuIwkiIiRH3inyNbIb5nmQgJ9AvqEhr-6mw87p73Bd3fMm8qwlW82vK3A-qbhRT0iBFy90H3iTl7vy-R-vtuEJ75DpNm5PsKqGuW_uOHZN940driKHsVnkZ6qDbUqxgW_yxREbHXIT2FbSDy7_ZYO-dw_M3QOzik3yJJ8AvmhOvWVeDmYQQTaSpMiM9Y23CxuUigciLAJrAhU3QQpLGuyk4sc8fHdz6PAKY9h4L9kl1MwjQNW_hqqNMUisxrG807_A66Vro5W6VxrvxO63UYPrIjD4dEqfbol0JnT_YhfqQ-rEA8lDBnzUQh0TGYUcOwM5_TeyMzBEIWOcg_4C3zcEceZ3s9AD1HjDuNP_bphadAF-Urk91DhyhGx2G67M4KmpZLQ414IxLLpBTPuJ70FJjf0fLHZoWAi07OTfHT3hRyxkJuiDST9gOqSgE4D7A3JCKxi-fRkxzspZDvbioT8kmGVo4xuwwzmz3n-wFLFVy_ULod5uL_RbawCKUViwDvxdS4jg33hbPgA9KsWic8JUmHf7qVGgfAYeTs_XL6WaLr3m1QvtVLgf2i-xDUTbbhZa0UHzCFIh4bV7weyRJKEwGkY4NPMtqcKNEc1UUGXtOlQZ31Sxgr1PJLF6x71hrFjreQEUW1Ox3Z5t3ZbeqQExo7-oHdLjITQHCN-g9HkJEDaKqN_nuvUklQr3WY-3QSIcZDuQcZ1feUXdW2eqJXEPVaqIoJx23yEQ_89gmEUMY97bBJ8Qd3-4crOHaBkR94to8qdor2HT5UiyzcRf-DhzyaxWXxFbq2jJuZC0px5O3e37tJpzmmw-dZyJ0IOiUSDISgBdEy6O9mynDiHQwzFXcVId-TxnwOgvW7OPQ_9KtcK2jvie6cqttZJybP-sctpvSa-bBrlb2ffWuM2ftvMfSKt078LV20F0icVHKdVS4hTkd_om1RGsTARpcddhQNXA7ga61anLhY50MEt7wpRLBtWsqJlbwkWRoQ1wBQ-Fw25xTsd9uJtjfR3BZEGXJ_d7YVj4WSaHvgYtemQCkyP2nM1ZcaF79h9mkp7GDtS7zIQ2rij5kWffDMor-1c4lnnbcHwFMI7L4xb6kWpodN-HGQk31cyJ-NjrDnadI6Qifla21_hRKtkxyjZx0fQqLP4qqLMeNzRbw0ZuWgF5M6JAqgEtpGC9H3wLl88h_0AH7-kCZcp-s0ZJm_092NY7gfCDZS4Q_kvGgoq1ydPsQyXntcZmeM5Ki9BN8VqVHsl_65xea10J13XT8-3ZnKq7E0Ab1uZlTSlmXyADgxQi0xqZqtfk6YOA17BxP8nZQZdx1pcWtbeurFcx0M3aQQdOY3Lzyg-RGj65N48D7wdqzRnrV28Jd7A5yTlduM2BCabEi3eCGsoolK_pWZXbsbAYqPXhm9t28Wnn7sktGhwB9SKVYgUbli2-2xDEf0Appe6TANhr__8xUsWfQtMmJhhqHHkn8_FBan5G4XkoJdrL_3_BFGiW8JCy6NPM_4XO42YQn5zlDUHxRtLCSZdR6bqqt1L9Pm0ZNJbIVZS8IGorOKDoWo3mQvcFE1R7h06iAplIHEZFwefCfVpJNSe9s1DmV6A7SaV5d4U-5TdxhZvkX1ziqIvbagLz97AjMmh_8cqVB0dowMAaSOCjBErGbW-9rLKfMBwJd1FtHxeFzpixuL8R-q52IFTNbOt82PWocGvcWrtSJqn1jqZanoI04Y8KquXMgmEQK2hLgsEA_CZwLxiZLeUoAnfmO1RJayMZAj_mehNPB0VW0-hbTUPE5s2uKpRNWGRlbp6RX034w4h5LCHMb9VNuPi4qEkiy1HEzxQJcYPCjzLelbPsg3eJnwgPzjiOHH4itbuSZLzmy47CV9SQj5Wt1OzYJS4xjOwvZ787HupWYpsPCufsKSCY4-Lp33QikZBfC3fQX9QKX9voumCUwS4UByQYJmBpGmbYtuiB_cKhlYONpdAK0AGbeIwhFvJhhKGhaMLloNsP5BVHNiB4AkpZJxo3wnTW3AvFYw7BG3x_1S7_394t1T8x9wZjqpdE7Dlq7d2T8MK8gvQbouof9bExg6Zw3RAMh8tg9DTh0Dwa8LqCSWaSclOTG7HMqeDE-F93j9heUOdhA5GCHB-zJUdsvQqyk49DTnkSVWCdg3-HDg8rMzFHJ6wtleVFzZ7WOtxGfNGNyu1VYx69HMcUPdZz255hIgUp7tNn7BLlf5dQ4JuH1APVAh7dsg-E92prU9SCUH1bWpjcLcECVE76V0QPAK8NOm0GUqILlH8UuJoaOxpIb3DhBarQvo-LjP2n3TLA4MuegOi236f9_mAnAneexUGAPDuOGTIqs1LEgEjLnLt9WdOI0y2BfVD1Q2XZ-PDjRyAnIgKzEKXcZdh_YlSEI-YtugXIzSfojBn1dqC_5g9Rk9DouHJdb13SsAe592RPsinIq1ygX28V5psfJyTURTTLe_R50v7pyfkFLO__01jXY9EKIR3t2F7Rtew2mZr62CtwYaaJgyhaXm5RoPxGl5TiFRE3MY6GDN3xye7BNjSwhtvhIEr2zDcO2bnzTlNnqn9WI_IPHis9-fisdAOgtv6lMO4yysqfUBMMh3r7Md8tPe4gU4eTefzDioRlbDKia62tbsz8CNDH9l-KVJRgN4465Kmnx6yeWLx4pGf-rkGtipWBShkPtcoQyIpO81PhT29whsrhKSk_ra9CislnVwqO_gGswCTuF4mIFc59ex78IS60YAV",
  "id": "rs_0454ff7c5aea7de8016ab42fe739fc87d0923db346e76a7d09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045,\"left_pitch\":0.25,\"left_roll\":0},\"note\":\"The white figurine is clearly visible beneath the left jaws, with its torso centered in the wrist camera. I’m lowering while leveling the wrist so the fingers can close around the upright body rather than skimming past it.\"}",
  "call_id": "call_HT5HxuoqWxiLdyC1pGIRzlik",
  "id": "fc_0454ff7c5aea7de8016ab42fea2bcc87d0a40eb3713d470e67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HT5HxuoqWxiLdyC1pGIRzlik",
  "output": [
    {
      "text": "executing move_to over 30 steps (3.0s)",
      "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]: [-0.4213, 1.6733, 0.1398, 1.0126, -0.5209, -0.239, 0.9978, 0.0723, 1.2304, 0.5758, 0.3164, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3203 left_y=-0.0433 left_z=0.0211 left_yaw=0.1258 left_pitch=0.1317 left_roll=0.0557 left_gripper=0.9978 right_x=0.3944 right_y=0.0045 right_z=0.1784 right_yaw=-0.0882 right_pitch=0.2487 right_roll=-0.0135 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -5.0393, 2.6735, 2.2686, -0.2759, 0.105, -0.0122, 0.0479, -5.6274, 8.5812, 2.21, 0.0317, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d91e43aa5a8d15cf6bc26734e48805ae4d351d0973b42d36a7e2a51c37569d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0255be36dbb5d6cedacd58cb777082427f9cb81e2eaa1e507e7c51726989d0b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c6a679d98cc1498a32bf1777e3ddb8c196ae9fa937789d394aaaf556c6ab89",
      "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 · 3.115 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9142, 0.9352, -1.2171, -0.2955, -0.1623, 0.9978, 0.5411, 1.9617, 1.0706, 0.5179, 0.5655, 0.038, 0.9953]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1639 left_yaw=0.1232 left_pitch=-0.5548 left_roll=0.2557 left_gripper=0.9978 right_x=0.4974 right_y=0.1927 right_z=0.1235 right_yaw=0.0363 right_pitch=0.2623 right_roll=-0.1664 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.4017, 6.065, 0.9499, -0.1832, -0.0659, -0.0171, -0.759, -9.2786, 6.0513, 2.3126, 0.3541, -0.0366, 0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3122, 1.5425, 1.1439, -0.8883, -0.3035, -0.2226, 0.9978, 0.0757, 1.2148, 0.5961, 0.3534, 0.1589, 0.0437, 0.9954]\nstate[eef_state]: left_x=0.3298 left_y=-0.0472 left_z=0.1071 left_yaw=0.1356 left_pitch=-0.6261 left_roll=0.2787 left_gripper=0.9978 right_x=0.3993 right_y=0.0059 right_z=0.2023 right_yaw=-0.0917 right_pitch=0.3207 right_roll=0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -6.5983, 8.8684, 1.0672, -0.3394, -0.0073, -0.0122, -0.0479, -3.1932, 8.7453, 1.9365, -0.0904, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4213, 1.6733, 0.1398, 1.0126, -0.5209, -0.239, 0.9978, 0.0723, 1.2304, 0.5758, 0.3164, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3203 left_y=-0.0433 left_z=0.0211 left_yaw=0.1258 left_pitch=0.1317 left_roll=0.0557 left_gripper=0.9978 right_x=0.3944 right_y=0.0045 right_z=0.1784 right_yaw=-0.0882 right_pitch=0.2487 right_roll=-0.0135 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -5.0393, 2.6735, 2.2686, -0.2759, 0.105, -0.0122, 0.0479, -5.6274, 8.5812, 2.21, 0.0317, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2d91e43aa5a8d15cf6bc26734e48805ae4d351d0973b42d36a7e2a51c37569d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0255be36dbb5d6cedacd58cb777082427f9cb81e2eaa1e507e7c51726989d0b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c6a679d98cc1498a32bf1777e3ddb8c196ae9fa937789d394aaaf556c6ab89",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_xAJbQ4Pc8hG8XO01_8lbCiJCAKMUg-l1eM9kVQWEQA2gBDaJCcWULiDhCwMlMtLIj0ft6nY7wKUzFJUWHypt9zX_8bZp9BSKNZUIf4utt_8mEBYYqMW2cwtMxAc4I-HIVRldqW8Z5NvXm28WtA0YY4J3foHrmtHWRV9V3GAi8tTQZHXyRYn2SC-OJCBBJTjF613OWwPydKKJN2KKO77xHQ51CbqjQD-ykeouY74hRmTP4w8kriZq6p3c2JdR2dCEPtHfIto2MclxYUk6i3-QW9I3yGua49YWYX5IInmhYAlrc8_NeTyNoX7ySAE0jyJRIB_O5skWF_31PSDuKm8B64zTqI-pjuclxv8v11vcUcFQj8C2k8WVB6JApE1TXt1W5jkpTpVV6rY_Qee4lt91jUf5cWARI0oJbjKIWgT4_0XRlX7bSG96cR04_4azkbFWhUCaJuECIiHq9E0IOolUrXeUeaX3ZPWknBCXTmTWMuypKmz4kRWo1UQ3nJQUX0R7sxyVknYQvFMJLZdcI4BNhqKvI2VAkLigAeN_7-x2Gqr7PxPWRFzTApw8WHS0ZDrTXHEgDAk05BfVDZznWmsRZxSzPgaGOXHOY3-Clyd0hSnNMGjhszEUYL6bLbQ78a2Fhf1pX9oZZUEP4-KLp4UbjpZHg6iDjzQzsa4U9ovK0wPm0K9K1N5KkDQhkUjl-Cn5Z7klLhFrS5QpolrEuSIJ5wvJ2zL2Ew3VCrk6BRBosTZ4homO7rC9U0IVs2la88Tcxf8Cyz7onH5s3Ez4IaFi3fPhi6CPTpMZi_yMRcrwakWrw41ecev30GPzsCie2dyY8wQE5Agvd7Xg0e8H2sfck-7XMrF7GrZZBA6TxrppV6m4WmtCkWvVq87cLsEZ5Ozy2WScLV4PPmX-77JV2KCufwGzzt6l6dMjDLSDSQnv1S7MskqzwT84gZ6Wai9B8ufGQ5AHdGdsdOCqR3zhxqu3lW0IzoFo8shp3RT2RwtTxwXNXTYsCSzKVM1EzUG3VK6DU5FNhzrQy1q3j8hhI07D-JxjBuMeIPVLwdfRU_81GESjhhUmtdGDbAyU0kfc6uo5peXnqW2JjWjiOf0BR50Xh33bsyYAzRWOKc4DNyXzaAKfYf5aQuGVPfoq5G5CqOnHY6phweaaHs06o0TD5rS7gE-dOm7-xXP1VEDkomuS1XdYvzq5stQRmidTMk0b5G9ajtlZ1Pdm1D2tbR2yzDfrcyPlyC9uP7zsrvqxPKvvz4CfdlzRG3crkwO47w9j3Kgatyv9Uxvr9dRCKE4nDVDKS_SNQjvYHDLEwP-2qYJADHvRFBbher5zRA2_JtF_6gyCNbAqTx7UYfrLq-gv4XEZXuDRapOweumS2BU3QHQ1XbNdtANj-_r-5x9yxpINv60v7Kvp1zFAoHhoK4YatyvVwaTy_tVnS0pHrVqQYJFXjaOE9GSfc7AAKzHfct5Refzk6M25QkRCcGtGcy-u1lKV8BDgfwbRj1iFKK2Z4PQajsfWlNRonV7d_qz5SD0APsK9Hvf9OAGRxmGaNNysltBEywGKypltRpQA6LRBnZMOuLNfEjiMswFiD_pcN7yUyehrlk6LJHp31FuqMAqhtEzxkMw==",
  "id": "rs_0454ff7c5aea7de8016ab42fef7aa887d087d9f5656146e2e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"With the wrist leveled, the white figurine’s torso sits between the open fingers rather than beyond their tips. I’m closing on it now and will verify by the settled jaw width.\"}",
  "call_id": "call_R7sQFNGAn6hSVuL9Ga8NKV01",
  "id": "fc_0454ff7c5aea7de8016ab42ff08c1087d09be86a6632f848c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R7sQFNGAn6hSVuL9Ga8NKV01",
  "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]: [-0.424, 1.6772, 0.1314, 1.0363, -0.5217, -0.2401, 0.0376, 0.0723, 1.2308, 0.5755, 0.3054, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3195 left_y=-0.0437 left_z=0.0224 left_yaw=0.1252 left_pitch=0.1417 left_roll=0.049 left_gripper=0.0376 right_x=0.3934 right_y=0.0045 right_z=0.1755 right_yaw=-0.0877 right_pitch=0.237 right_roll=-0.0154 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -4.9162, 3.6308, 1.5458, -0.1343, -0.0464, 0.8816, -0.1846, -4.3829, 6.9265, 1.9414, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9524ed58346901cf0d8b3ef3f8130cf309f8c36e905e3a263e4a79a7040aed6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460cdc3f3582410cc5136489aa55630ceffae64429e45345e62e8aa83c8b94f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121bf516a4307b2c556d5257a4f40bfdaae03e4163959d6fe3381a0424c0ec7e",
      "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 · 7.751 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2546, 0.9154, 0.9352, -1.2175, -0.2955, -0.1619, 0.9978, 0.5461, 2.2612, 0.9722, 1.2205, 0.5991, 0.0105, 0.9954]\nstate[eef_state]: left_x=0.1977 left_y=0.0054 left_z=0.1637 left_yaw=0.1234 left_pitch=-0.5563 left_roll=0.2565 left_gripper=0.9978 right_x=0.5025 right_y=0.193 right_z=0.0824 right_yaw=-0.0389 right_pitch=0.5259 right_roll=-0.0318 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.0598, 6.0513, 0.9451, -0.188, -0.0464, -0.0122, 0.7043, -6.653, 2.5094, -0.0513, -0.1538, -0.5201, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4213, 1.6733, 0.1398, 1.0126, -0.5209, -0.239, 0.9978, 0.0723, 1.2304, 0.5758, 0.3164, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3203 left_y=-0.0433 left_z=0.0211 left_yaw=0.1258 left_pitch=0.1317 left_roll=0.0557 left_gripper=0.9978 right_x=0.3944 right_y=0.0045 right_z=0.1784 right_yaw=-0.0882 right_pitch=0.2487 right_roll=-0.0135 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -5.0393, 2.6735, 2.2686, -0.2759, 0.105, -0.0122, 0.0479, -5.6274, 8.5812, 2.21, 0.0317, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.424, 1.6772, 0.1314, 1.0363, -0.5217, -0.2401, 0.0376, 0.0723, 1.2308, 0.5755, 0.3054, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3195 left_y=-0.0437 left_z=0.0224 left_yaw=0.1252 left_pitch=0.1417 left_roll=0.049 left_gripper=0.0376 right_x=0.3934 right_y=0.0045 right_z=0.1755 right_yaw=-0.0877 right_pitch=0.237 right_roll=-0.0154 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -4.9162, 3.6308, 1.5458, -0.1343, -0.0464, 0.8816, -0.1846, -4.3829, 6.9265, 1.9414, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9524ed58346901cf0d8b3ef3f8130cf309f8c36e905e3a263e4a79a7040aed6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460cdc3f3582410cc5136489aa55630ceffae64429e45345e62e8aa83c8b94f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:121bf516a4307b2c556d5257a4f40bfdaae03e4163959d6fe3381a0424c0ec7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtC_1RSrouQ0P1EGmmglJbYO-PVS7fFB20OdFlSlZBLit6_PXDqBWzpULDHInojd2Lfel-_kdbHzvpB7PCjDS0bjMuboFFEtf-37avX1FNb1GqvRSj4YSrPHDztWkOYnhZkSDphv5QvyncgrJ4zvAiNBjvprwoOYEZ4XiRsyXy_HArMAedbGvYMeAQ9PYxAQpGVxPfGTAU3I39tVHLRs0wfYbitChCcq0GkfHmqwALW20lohYZL8AQ_z8Oqt8EqQ7YMGJzT2Nmvm7aVGqMbyHMNT71-BFAlUL48BqwjrajMl0O3myh9-cHIYrL8sjesI6dV1GgvvrKVJLoLVmFvEUnZNzAqnID0JongoT84dYw8mSLCClaV_N9KHBL7PXZ_DsMK3jHdx9xP3JF3akzOHFexzGTHyKu42CzQOS5BoxnQlZmr_v3y9eeYf6UGEFMSyreovu_GxxtmRPq8oU7AO0oRLnwqyVVatyqV3wVcvV5b1kRuWYjCsYpcKscuKBCB75BxoMOmI57xhNN2sY7W8BTD5Yc9Mdnjq9AP6nFlTKDoY14atA0BI53PMW6aIDtNzN3pPNGMXpSzPrcjNZnAjCWlMp_cr5gx63igeutmQAfi3Rvm9WxWftwFWrGLuXlwWeQ82GTxyupnj55P7xUfnuVuf5uCF_-qBq-N0P2Fmqc0hfa0AJMI6dK9NHuve0rud4-Xst18s4EkgFfMXdY2YtZLoZ-kCQ_AiFnvRI9_4f8jSUxsQgT7LyBZyVc-YSwSIsiAj-JtTZzSAUCqN2UGcJkoN0pGZSbSHe6UdIPqNYAaQmx3_LVO9wm0dL54NF_leuFBfPIUQPsDljaOAnKERAz3TBCn0wo-4JCofIMQ7QCHp9FJ1G7Tqhfb7ZuP2pNfTr6_P6rBLaRSdp7B-eEhaaP-tgQ8BDDNAWRSsYXvkcMNz1c3S9D0vtk6J7RPFwArGEiv7lPlaE00-toaltXG9LUvrekk_WfdZLfP-h8WafkkZv8pTEDu7SU2ZPhVnmTI59C7eyw6l0AY0j6Xv6c5mrdE1NxXrGmlOQgs2zVw6MccaWJdTP0c3RAGv8akrlkH-aCFOe6hMYORYPXHRoMu0zKG1n5zxYSCnFLfmWkSa5DHlMXzMz9wsguCPANvNQrTqT43T3DcpoKf4snw1XwCGxnePri8xTU7OaJoZ7wKoHTOPrCCWoOr6Kq8_wJ9v93P13hvzploWhU6BBgHDpNcO6FiKdSAwIsV3Br6Eq-b9tCEidCLBIVOKntv12T42hPTarAHBv_QHJrO-BEQyMbuxfhh73O4CK6kP4wtReesEQGvMIpSsrtNVpNSM36EnwuloAjS8prmJcw4eAy3Pk6KdEqkB8ycDMpm05jIHVkFmOC4qpN-IAatBQcUSyTnLfZO_mTHDU_AH23A0Zvdz_QtJcxbRwYWSZywGPhRLJ-it7Xq-sVjceVrMGe0ycehKg3ITyGdOQv6_rPPXNfYetjytmzwpwowRagIiRdYLro6UyfUbVxd04F0UbXoSDS1PGTjcuzSmlUB3W-cWYHeyv4R_14npOp77YgJXn9X_wvW5WMHEVJui3zoWFevxPUSaSxNrE7OSb2ps1ahaN_LcbFWo_aSqgcB16GHnbsiDCuU795eWl_DM=",
  "id": "rs_0454ff7c5aea7de8016ab42ff36f2c87d0bc47beb15f4f8839",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The jaw opening settled just under the empty-grip threshold, so this may still be a miss. I’m lifting a few centimetres to check whether the white figurine actually moves with the gripper.\"}",
  "call_id": "call_7DbWH5iRwS7IeECY4aQvlnbK",
  "id": "fc_0454ff7c5aea7de8016ab42ff463ac87d08b3ba8f28e4c225f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7DbWH5iRwS7IeECY4aQvlnbK",
  "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]: [-0.4244, 1.1107, 0.2703, 0.366, -0.5209, -0.2451, 0.0386, 0.0723, 1.2327, 0.5701, 0.2867, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3199 left_y=-0.0442 left_z=0.1043 left_yaw=0.1298 left_pitch=0.1715 left_roll=0.0255 left_gripper=0.0386 right_x=0.3909 right_y=0.0043 right_z=0.168 right_yaw=-0.0868 right_pitch=0.2114 right_roll=-0.0197 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.865, 9.0872, 1.8535, -0.2125, 0.0269, 1.033, -0.1846, -4.4786, 7.3504, 2.0586, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f58ef11e040e6da9de7f2d8c4918e8f28e9aabfa69bc8fa4103f827c59661e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072730ca74729b5b307e48c4dddf788826c94a27e324eceac1bf53f8c861773e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17deb4d69bceed4c2e7e49ccc75e696382fd4786cde167f98bb771361584d7d3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 3.908 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3122, 1.5425, 1.1439, -0.8883, -0.3035, -0.2226, 0.9978, 0.0757, 1.2148, 0.5961, 0.3534, 0.1589, 0.0437, 0.9954]\nstate[eef_state]: left_x=0.3298 left_y=-0.0472 left_z=0.1071 left_yaw=0.1356 left_pitch=-0.6261 left_roll=0.2787 left_gripper=0.9978 right_x=0.3993 right_y=0.0059 right_z=0.2023 right_yaw=-0.0917 right_pitch=0.3207 right_roll=0.0008 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -6.5983, 8.8684, 1.0672, -0.3394, -0.0073, -0.0122, -0.0479, -3.1932, 8.7453, 1.9365, -0.0904, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.424, 1.6772, 0.1314, 1.0363, -0.5217, -0.2401, 0.0376, 0.0723, 1.2308, 0.5755, 0.3054, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3195 left_y=-0.0437 left_z=0.0224 left_yaw=0.1252 left_pitch=0.1417 left_roll=0.049 left_gripper=0.0376 right_x=0.3934 right_y=0.0045 right_z=0.1755 right_yaw=-0.0877 right_pitch=0.237 right_roll=-0.0154 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -4.9162, 3.6308, 1.5458, -0.1343, -0.0464, 0.8816, -0.1846, -4.3829, 6.9265, 1.9414, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4244, 1.1107, 0.2703, 0.366, -0.5209, -0.2451, 0.0386, 0.0723, 1.2327, 0.5701, 0.2867, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3199 left_y=-0.0442 left_z=0.1043 left_yaw=0.1298 left_pitch=0.1715 left_roll=0.0255 left_gripper=0.0386 right_x=0.3909 right_y=0.0043 right_z=0.168 right_yaw=-0.0868 right_pitch=0.2114 right_roll=-0.0197 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.865, 9.0872, 1.8535, -0.2125, 0.0269, 1.033, -0.1846, -4.4786, 7.3504, 2.0586, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f58ef11e040e6da9de7f2d8c4918e8f28e9aabfa69bc8fa4103f827c59661e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072730ca74729b5b307e48c4dddf788826c94a27e324eceac1bf53f8c861773e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17deb4d69bceed4c2e7e49ccc75e696382fd4786cde167f98bb771361584d7d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0454ff7c5aea7de8016ab42ff7b04087d0b7b5f48cc286b708",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtC_9T58QGs1izK3EEEBM669EnjsI986vrGtTeZ-QCg6yiJIxSEgA8OPKVIqv0HEyQA3MpaCYlieDfJ_tH8SwnzyagEexsY-Tny4ftn-b4dVWMLoqLlT1o_vBcSYg8a3j41bhdgn13DJ1vW5t-w-hsAvgu_YSIqW8m_IDyAxF1BLMNfLfuRHi7cMrlo_RQ6-ueF5P4CMDrtLtj-8jY19YF25q05sSUUTyB0SF5c1CVv9fKQb8O3uKNifLkNTJxsiLks9ZI40hbLF2mJgHUAp3pPeg7GKeJYzv44TfsoXKkspfKv6Hj84Bcp30KP_X1pKyZPctGHj6HaPAsHqJ7nPDfNndXgLlDPCAM-Ppew_xAkJcG0xnNZ_YDlD1MWRSvptMJfNAdosf50FQBsCiD4rh1llrPuiWCoD7qTBQp_Bf22s6W3eLSi20AZg34XjBgHWeNFCpnjPnhDnQC2sMEA_lQGXJoMnWJBSR6OI6vKYig3j2ZZZoO79K0FFliebUQusUty7sUNkdoIceb4so3H_PJVHxm6QWwCJsJ7kEiAdDv5aZfnzKS_4r1SEZBcoW0p0F67TJqFPfKFm8iKAxley1TZc92N3g0ai2SIpOh85BFFqaKbNE6gBiLH8r3qpqTklTwaA1I18_v3FmuymVo1ftulsz2q_Q3VPvw76-yM14MjyKLGB9i-sN2motPerD5wZthEp6Jfd-UNTlvM78pfNsrNUg0yBKxigqX2UHfth4vwKRn64DMsmTfUgbiVYUm_aFUp7plWLHHXF5n9lyZcNpIhY2eFMbR6C78plXN2U0epZMKOaEkV9fnLWCKuWY_QBNwpKTy4B8Qz30vFRJnS4a8l_SxmkV7g_-ULSIRiJLjQT3mh06b0n4QyBS7TSMHrbdKLe1wfezY1Mo-AY3J67DanNEMIbchlOZ05fNBpKbCazQ0Rgezkb8ThYAap53zoWQVM7MdqPj2n1eX-zxkQK-zBjuewjdV49pbtN6i-NITRfyEXXQyWdhx9AtqS386F3v43bJAInPQXIxaqGI8VC8ZXz53TcxcTblMcgB82fTi4d9vwD5Vyi7q5NUoJS4mF-VpXJrNz4C4Po98LA4OsYxsUoOZkPwNfCeIZjiiU2OVKCeU6Xmq7l0VhKPN4JPfpS6JepPjsm_p_r_N2rbZXxw65OZUenTG7JxVwt6qLxjvwkIe_JDIhKmTzw_LDIhHOZs7wJ6fjVVzEoNltormbxKMZleeIUX5cI_JEVqlKwwS4R1RGGTXZiGjlePMDGHi760eWpOY9bgGLF24Wf223HPQel_F-qdqIew90nmzcv1lYQVu2ZkJZaM0zvjHE8rBIs3W0-BB18o4smiJ70E1Iz2gne3yiCyWZxRs6LoeHyX-dyEBPuNN8YtNXDXNsyxjdHwo3nE_pWokbold9Z7rdmiwruDLbpjEbYqx00CCZJPw_lURtetN11_SOXr2pJhnMXRlmsgBK3PbnLuoSG5DzA_LTp-kxUcnT2Q6-zoBfSGSmYeSk7pK-gm3BDcWMYkQWViUHWu5vpiFE81OBO2_KX5eiq62olCc5dg3gqWUuP_jvP_KaPv-rkIDmXaLjdrlrre7oK0hz8q_5Q2lyXgW1Pzu3leouKwXGFCHaJX6zLV2HUs3A6eFrVZqnYiH6kXoMhM-G0oqfDWVbAkdW4SZksxcuzmfGg88VHRlIRU0qZ6Obdt0EsxMHRPt6on961Sgs5PF0Cnx6_kVFQ2T9V37L5gfizSrQ==",
  "id": "rs_0454ff7c5aea7de8016ab42ffb8c6487d08814ec9dd9aacce0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.26,\"left_y\":-0.245,\"left_z\":0.13,\"left_pitch\":0.2},\"note\":\"The lift confirms the jaws were empty. With the arm clear, the overhead view shows the apparent ‘white object’ was the gripper; the actual soft object is the brown-and-cream dog near the center, so I’m moving directly above its torso.\"}",
  "call_id": "call_Xw5dmucFnQCgJ3LY0f05bBvd",
  "id": "fc_0454ff7c5aea7de8016ab42ffc82ec87d0a2a90efe3264bca5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xw5dmucFnQCgJ3LY0f05bBvd",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2213, 1.6047, 0.8524, -0.3431, -1.108, -1.042, 0.9974, 0.0723, 1.2327, 0.5697, 0.2642, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2424 left_z=0.12 left_yaw=0.1055 left_pitch=0.1707 left_roll=0.027 left_gripper=0.9974 right_x=0.3888 right_y=0.0041 right_z=0.1628 right_yaw=-0.0863 right_pitch=0.1888 right_roll=-0.0235 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -6.4752, 7.7197, 0.8571, -0.7888, 0.0513, 0.0855, -0.1299, -4.1641, 6.7897, 2.1026, 0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a42ad460b864d74a4ad303f5c658fb201e42f081028d5cf65f41ae3a8d94a41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4966f5dc7ff62910a05bcdf2e281cc50758cb115773d590fe320c4f55fdde31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138fe490df2f85fbf7e2c95b14a173e17fe894b8d0d3a4966a1795549d3f01fe",
      "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 30 attempt 0 · /responses · status 200 · 2.205 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 121 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4213, 1.6733, 0.1398, 1.0126, -0.5209, -0.239, 0.9978, 0.0723, 1.2304, 0.5758, 0.3164, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3203 left_y=-0.0433 left_z=0.0211 left_yaw=0.1258 left_pitch=0.1317 left_roll=0.0557 left_gripper=0.9978 right_x=0.3944 right_y=0.0045 right_z=0.1784 right_yaw=-0.0882 right_pitch=0.2487 right_roll=-0.0135 right_gripper=0.9954\nstate[joint_eff]: [-0.4308, -5.0393, 2.6735, 2.2686, -0.2759, 0.105, -0.0122, 0.0479, -5.6274, 8.5812, 2.21, 0.0317, -0.0415, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4244, 1.1107, 0.2703, 0.366, -0.5209, -0.2451, 0.0386, 0.0723, 1.2327, 0.5701, 0.2867, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3199 left_y=-0.0442 left_z=0.1043 left_yaw=0.1298 left_pitch=0.1715 left_roll=0.0255 left_gripper=0.0386 right_x=0.3909 right_y=0.0043 right_z=0.168 right_yaw=-0.0868 right_pitch=0.2114 right_roll=-0.0197 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.865, 9.0872, 1.8535, -0.2125, 0.0269, 1.033, -0.1846, -4.4786, 7.3504, 2.0586, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2213, 1.6047, 0.8524, -0.3431, -1.108, -1.042, 0.9974, 0.0723, 1.2327, 0.5697, 0.2642, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2424 left_z=0.12 left_yaw=0.1055 left_pitch=0.1707 left_roll=0.027 left_gripper=0.9974 right_x=0.3888 right_y=0.0041 right_z=0.1628 right_yaw=-0.0863 right_pitch=0.1888 right_roll=-0.0235 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -6.4752, 7.7197, 0.8571, -0.7888, 0.0513, 0.0855, -0.1299, -4.1641, 6.7897, 2.1026, 0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a42ad460b864d74a4ad303f5c658fb201e42f081028d5cf65f41ae3a8d94a41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4966f5dc7ff62910a05bcdf2e281cc50758cb115773d590fe320c4f55fdde31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138fe490df2f85fbf7e2c95b14a173e17fe894b8d0d3a4966a1795549d3f01fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDADoVLc8RriFaILVnhOVycDNt7GDCpPDp3sdku6Wf83-AA3jFuSEZ0zqnsgjXfCvg8wq_8_q5TcFnQowjvzDurjbw9HSswFcI-9RyHM6kT423H2mW3_4_WLgE33PJBDXm2J6_9fUqExZEXghMlDik4kmWHbPIUMXiWfVvKsxsaTrvkPkRtxd1oxnxCapsI2AEwh5EMQSscPSOdyxzZbtXhqk6e_hQrC6yItuMrVnGGJBW_ltOWTWDoLweXRZckJh_x4U9pExzGlRz8vbin-Avcder0Kcp9CtrT2zgdF7g2gGkSmdYKqaE2wJZjLJ4XFzcfbVB9tyC4YSJiwIz8sDOHR8KDQ4W-tiqn4wYxHIXqRJ03tPpKxQEX2IDDw78fGAJQxSAL2D3A33JiG9ORENgekQhIHZZNA0Eail11yTBt2a4D_M4rNoOtZhMU-S7vcLVWX52qRX7WLTBnfacmvYO5iPFCoX4z5UX2zzJoYzEyN0vGp-hSmbnbfzGizeDU85QM6V5ULVCn_yyYTHms9hduzhlpq82gm0oumMeEvW4m_vLpoQSuaV0-QJI-4FJBFitkXdBApAorAtLBJeJayUIDcfRRxCsPe36_pz9WJsE3yrgUNRyP-k2aRSBVX_amiPYI8VvQHQQ70UA_CWVkbht-ku5R19kHdSdHXySeQp0RawGttiisFsP83KmFtp_D0FrXD6zTKEaEye6SRarEehrIQD1j-aiMQ3VDX063O2unRlc8j6bxTOOdZN08cPuae3ClKioBul_zeHT5TEFy4WPk6fNKd9DjYc7Qjdo6aeI1btjfKWAI6PpDMCUKbelU__8g80SaRqUY0DHwNrx2GSpvsiyJU1FaU8lQHl_cni0wKiEEpUBm8sw-cUAbxNVlM12fKfKE8jmcZt1evkY1S8IRLGvnfatzswrfxfQLG3EL4N-zeWiOa7IdvpBfg7uvOrnaOYPN-OZwV93mJGBalOrUcVi1MB29x6IEcquIaZTVu9r8-WsOfkNOjTXi4W0lKiSOLTQoaFhyNRoKOGj4YF6w9McasO7KTZQhrqFRKq_JC-Zs1f7UaxC9V-3rI0qZVDKuXMkuIsAJTGkJ5u5fP5wKX41FILL_JsTG5e1LfIg99oATJ9dcuyxnntkXmoVeNgVgTKGumKm0N2FIcCsGi7yDgWBpf9tJbPFt5ojcLXMEuAj-kkXwllFOFPabdfY4CyhFwv0wyfEZ3jKYMEuFjvsSeFILKHqAyU9WXpBFDeskVeLPYg-hUtPt0Oi8cQGpkigT9VgnXLEgNJ8wVJh595Cb8hTpf6wYQrOc2Q-pcoCBM0dBgjp0q9lZZXWk0xVocmTAlwm7mDPxyjpm4YtKTxgp_Goi5qfNcAvnUSLht8ru1N0kG7axr8PWGDZ-meqYCcftjHdaq7LOI25uz_dADtzN-tqFFyGjKncoAZr13U8TXQaNonM5LjOhRab1zA-kYYnVn622gv-tiiG0awIgAFntoWafxUyw8r0sqmlZYNQclO0JdIWteEr7KaWy1w9DVMnf5e1JvoKLwQC1VxR30uMhj6qniVGIwdhym6TcnEJIcWsbhaaGAQWAqB5bFMqj6c7UI2umSgzqnKB7dmyyGY_wghzRzNYtrd89Q4jajdshUl5tCqfE-TYrkffF0Id0VtDkDo8EsE05ZwDIAwnXivYUg9kBYHDOL4qn9tPZWwnz7iOPF05Bs-3LP62Lftt1CwNMGWiMoDIhVFSnHO6SywQ1RHg==",
  "id": "rs_0454ff7c5aea7de8016ab430016ed887d0a0dfa670fd1741ff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.263,\"left_y\":-0.252,\"left_z\":0.035,\"left_pitch\":0.15},\"note\":\"The cleared overhead view shows three objects after all: a small white plush left of the dog, the brown dog under the left gripper, and the yellow object by the safe. The dog’s torso is centered between the fingers, so I’m lowering to its body height.\"}",
  "call_id": "call_iqt4ZELKH4koBXIHswndPkQM",
  "id": "fc_0454ff7c5aea7de8016ab430027a4487d0bf9e75ce8d2a2227",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iqt4ZELKH4koBXIHswndPkQM",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2232, 1.8484, 0.77, -0.0788, -1.0912, -1.0569, 0.9977, 0.0723, 1.2327, 0.5682, 0.2523, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2481 left_z=0.0397 left_yaw=0.0957 left_pitch=0.1412 left_roll=0.0701 left_gripper=0.9977 right_x=0.3873 right_y=0.004 right_z=0.1594 right_yaw=-0.0856 right_pitch=0.1756 right_roll=-0.0255 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -7.3504, 3.959, 1.0623, -0.5153, -0.0513, 0.0269, -0.0889, -4.1641, 6.8444, 1.9219, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e16d7a72c3197e0dadef52d374626db7606da3e7fc90092c4a0187f40e39871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd225c7905a3d1146f9c93a291880aaa0599b5262c4eba202f90b8d97808902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39768a2553dcf208dcf00fba2aa9bd94f42f048e9ded1ce6add71c0ac2e129f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 5.112 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.424, 1.6772, 0.1314, 1.0363, -0.5217, -0.2401, 0.0376, 0.0723, 1.2308, 0.5755, 0.3054, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3195 left_y=-0.0437 left_z=0.0224 left_yaw=0.1252 left_pitch=0.1417 left_roll=0.049 left_gripper=0.0376 right_x=0.3934 right_y=0.0045 right_z=0.1755 right_yaw=-0.0877 right_pitch=0.237 right_roll=-0.0154 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -4.9162, 3.6308, 1.5458, -0.1343, -0.0464, 0.8816, -0.1846, -4.3829, 6.9265, 1.9414, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2213, 1.6047, 0.8524, -0.3431, -1.108, -1.042, 0.9974, 0.0723, 1.2327, 0.5697, 0.2642, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2424 left_z=0.12 left_yaw=0.1055 left_pitch=0.1707 left_roll=0.027 left_gripper=0.9974 right_x=0.3888 right_y=0.0041 right_z=0.1628 right_yaw=-0.0863 right_pitch=0.1888 right_roll=-0.0235 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -6.4752, 7.7197, 0.8571, -0.7888, 0.0513, 0.0855, -0.1299, -4.1641, 6.7897, 2.1026, 0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2232, 1.8484, 0.77, -0.0788, -1.0912, -1.0569, 0.9977, 0.0723, 1.2327, 0.5682, 0.2523, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2481 left_z=0.0397 left_yaw=0.0957 left_pitch=0.1412 left_roll=0.0701 left_gripper=0.9977 right_x=0.3873 right_y=0.004 right_z=0.1594 right_yaw=-0.0856 right_pitch=0.1756 right_roll=-0.0255 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -7.3504, 3.959, 1.0623, -0.5153, -0.0513, 0.0269, -0.0889, -4.1641, 6.8444, 1.9219, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e16d7a72c3197e0dadef52d374626db7606da3e7fc90092c4a0187f40e39871",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd225c7905a3d1146f9c93a291880aaa0599b5262c4eba202f90b8d97808902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39768a2553dcf208dcf00fba2aa9bd94f42f048e9ded1ce6add71c0ac2e129f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAGQOOTKu2PFAKrZVNNywlcRTOV3nkOyDgk8FYpuq_gDy5MlWngQLMnG9sLKTD7hojHuZI1Gab-joSe3AaEG7GSdFiPT4CywFfmRRHKz4k_8HLM0ekNBGADR1szdX8iyancCrzFcKiY3zagW9yeITtC6emMohrjSA7T0sz4f4K-xRu_BjIGwa9Hm6BpXIrZmLmJkN3utLoOZEd8GIOm1S-xGcqWT3-ENZgOEYfwaRjmaw0cvfYsmU8b_n5nzsHq_GowFbXN7hsKkm5wY8Hm2wCSZORhnFzhSaVmjlNZ91Wjw-I8zrAV4vPiDUs7W9ogyFeJk04jIINoR6SV1DNb8u1dlxYu6eiSJUp5tJQyOeZLyzus_Vg1RQEF8wfquPndr7HL3lUyW0at9iGCuaS-HV53qj2JJLNiOnFezRnlQdH7nA6r2DcFp59yU7EflDlFIhYeUCo0cQv8eOUCunm-N3iQsm_-2HHBL8-zG2hRWvqFBH-ZrN60ZFmBeFoCYEygcL5MN0eh511ReXppxkohMu8jCFWwqZLXwlumfLKPQUfqCUFlCDLtZt89e-vKhQ8bIVcixROeN0l206zS0zBmdHzpSAGoP_FlT6sxJPVbZbp7Zs3ejvjJbtC_TEqLZgo7RUci1k-mj8cdA2mN5gfc7xkvDi_6TH0_n28uT7pxaYde7aEa1eElIKKqAAC1j0hYc8DUX0dGzPmGbFbMAw0a0DzAS4n8UqKqsqoSMy5-d33TSLazQ0aBePLVx1PnNGWO__KDzdmrdIKKP54lOqTrVQkquKSVbfbV75jwrN8ozFx4u0cMNl8qBbdk4TpgVCgCTF6R9bhnNyP_A-KvTbQRmUWBY_h4d9TD1TJYf5ssTu_3nIfVBCf9H39gleRfjA8WK0BJQJwtLBu_CvyQxDT27DHmPlG7KYegb-R1yoaH9gl7xC3-AVyWnTlVRNlRAR9PR0g4ThuMRRFw6egyQCDT-ATsNojz06YU7FR0TuE917Lq4WvH1RoGCbe_kRzbuV1NuTMQ8Zb9JkmmorKJUpxVf3wHBIhruVfI42FpBRfENeG3RsabNDdurFw6dZYfTr_4DXjGq9HKdqwbphToW3Iah4CLGsiwPOt_4Z_Plgjb9ocOSsODaEG_D-TV_mpWFBf7Z5LVk2PJEPpC4X1IWes0Zz8g88lTnz5xunfqwL1gn1BLKkB-sTNBQUeGVmjJ_Q3FmsOmI9J_t_0Tzv-UU5iHPPhZYpvdFOkGEcV3IfrZHItjh0C7px2tmMCUDl9eZss9txfO-TD5_SxhncQxxzhOM0X4DQ==",
  "id": "rs_0454ff7c5aea7de8016ab43005407c87d0bdf3acfbf78da876",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The dog’s broad torso fills the gap between the left fingers at grasp height. I’m closing around it, then I’ll check both jaw width and whether it rises.\"}",
  "call_id": "call_OyF89AEEDczaNZ5AphU93AXn",
  "id": "fc_0454ff7c5aea7de8016ab4300585e087d0a90ce2289c9e3837",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OyF89AEEDczaNZ5AphU93AXn",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2236, 1.8683, 0.7601, -0.0715, -1.0893, -1.0565, 0.0104, 0.0723, 1.2327, 0.5678, 0.2367, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2589 left_y=-0.2448 left_z=0.0317 left_yaw=0.0914 left_pitch=0.1339 left_roll=0.092 left_gripper=0.0104 right_x=0.3857 right_y=0.0038 right_z=0.1558 right_yaw=-0.0855 right_pitch=0.1598 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 5.1624, 0.7985, -0.5495, 0.0024, 0.7985, -0.1299, -4.2872, 6.9265, 1.9414, -0.0073, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae15cdead6eccf30c9c49d50ab1573bd494fd031f723c472af3b6f6fbe3d41f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0e1f54f3ce27bce55671136c860610b2e2678f06bebd8f5e41ee23c9dd116c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40fcfee1c80baff754f53d6b9c050d7d98594b349d6097e6a9863ce6d214b58c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.424 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4244, 1.1107, 0.2703, 0.366, -0.5209, -0.2451, 0.0386, 0.0723, 1.2327, 0.5701, 0.2867, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3199 left_y=-0.0442 left_z=0.1043 left_yaw=0.1298 left_pitch=0.1715 left_roll=0.0255 left_gripper=0.0386 right_x=0.3909 right_y=0.0043 right_z=0.168 right_yaw=-0.0868 right_pitch=0.2114 right_roll=-0.0197 right_gripper=0.9954\nstate[joint_eff]: [-0.3487, -2.865, 9.0872, 1.8535, -0.2125, 0.0269, 1.033, -0.1846, -4.4786, 7.3504, 2.0586, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2232, 1.8484, 0.77, -0.0788, -1.0912, -1.0569, 0.9977, 0.0723, 1.2327, 0.5682, 0.2523, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2481 left_z=0.0397 left_yaw=0.0957 left_pitch=0.1412 left_roll=0.0701 left_gripper=0.9977 right_x=0.3873 right_y=0.004 right_z=0.1594 right_yaw=-0.0856 right_pitch=0.1756 right_roll=-0.0255 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -7.3504, 3.959, 1.0623, -0.5153, -0.0513, 0.0269, -0.0889, -4.1641, 6.8444, 1.9219, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2236, 1.8683, 0.7601, -0.0715, -1.0893, -1.0565, 0.0104, 0.0723, 1.2327, 0.5678, 0.2367, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2589 left_y=-0.2448 left_z=0.0317 left_yaw=0.0914 left_pitch=0.1339 left_roll=0.092 left_gripper=0.0104 right_x=0.3857 right_y=0.0038 right_z=0.1558 right_yaw=-0.0855 right_pitch=0.1598 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 5.1624, 0.7985, -0.5495, 0.0024, 0.7985, -0.1299, -4.2872, 6.9265, 1.9414, -0.0073, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae15cdead6eccf30c9c49d50ab1573bd494fd031f723c472af3b6f6fbe3d41f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae0e1f54f3ce27bce55671136c860610b2e2678f06bebd8f5e41ee23c9dd116c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40fcfee1c80baff754f53d6b9c050d7d98594b349d6097e6a9863ce6d214b58c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAMfedokXhoWvfeS2MpgJf_5pwQIHM7mEn8zLnZJwEUi0BNAw-_xr0r0k2JUCDEvYwT5u6MfTWcv555AJkRrgz4t4g3exa1HRFYP7dgJyyoqQuj3-5xPYpnstb2nk9vvU70NgwY3INwbgLAM7FnQsHdMV0FHv8r4daAEyV5HqKtYOsw0UflOOUYJ4GgnIRMJbPvNw6-dhCBM9P9nNsllNYSNhkWzwXLnXf4yo69r9tCbxXfsWRBNErgqV0DIRoeFUQ954HwdvpM5Qbk4YtbntU7dItN9Sm9uJ067ATZnEW892ov8WOGXS3xeBI68rxGycrg6ZFKe_NZ_xAukcchG_HdzuNGpOFj63gOQRaoy7tSOL2UyHrsR-xtkf_kgog3_RrNRE3vBmiNgzb14QQe1hjiijuwu3qbrywpHcRhB0Ky2d3UawxwStpMv4MCMwv_mIICtnBQlLIbGXwAvFlNJ8gLIztkR0L46bGbjrdgEMKy2Hiect6hGc3i0yD1ulD4DvsLi66cNq12qebZeqZZCEGU3_PyvjFf2nZrt_BSdKf-7Tbhn2TzpzGz_qfmiv-z2l9tNQyiljYM313wKHPzHzR7--2PxYToO08Vws2VyK-q6LLJMJT5jD8R-iRDy6XwoIhswNAwVQdLugarkVZWaukJZKTPLnzGvaIWIue1nzhm1XE9oo05icMizS6QCtyTeKOC8lMb0qyzkSMCO20dbpgxBe7jSV_RaxIYS8TUvSqrMsK4N-UeAo-Zq9TGlIoNX8-fVNg_6TKhRMJOcwveuNh3g8pIqhnzlcfYKZUn8hIZwb3skO_1PJuFyDIYNuEQmTGScrYhPoIhTKjFvdvTR-HThSieT7YrhuI_fh8zS7qbzZDvihhIY1v6g0nY08ngYtIrLKaUtennDnEpuULcMLFrvXqcvcocqemBJoo2ZTLAotJPQE_lgq6CmTiix_sk2eHWPDYVQBfB7nW0dASWwOK2OeMLMMKRCsex389TD6Fxa-B_S3N9z13mAT1nTu-PFX5vF-HZAVp9IUP-lAFw0hk-fV3FfLgCXHFwocF2Fc5hmhBijB7rH-IOpIKiqF-GL_rr_F5R3b4aLKD-DrXoLLiWPDUPQLs2MXd2pUFY--Pwdg5fqybsOnb0iurHTKXVVgAniua6c0wJgjVgaVvepW2y3gScDWbE9IHf35LE_uPAttrbd9l9v0_19tj0Rv1e37osoe8xx1uyNuU_-kgL3dasv7EKJukAt-zakrh01sp5WVpkjEThLskQ5tumcY5QDj5b0mC6-i5_8jIJoCDkw2mk2JYDSoEbn9HGk61xAPDZIW-c-Ab_RVdXuHCeR-QzHwXQ5U-zCAMeRAwWtnTwnC9chJ4kkfS8gzFtmDL-zSSyEpOD9JAQspFAsoKccyy15NeMQ1d4Hm8CP8prkG2cGRNjc4Ttr7kqqPtIK1vcB2n5fQ4qJZuxrElG26n-sAiAj5TRZu1qeK3ySZucR_wgaPc8RKeqHh_aPwqxWz28Ukuo9dCL8_6rJg7TUrKQx86zQ9dtliLjXI9z4-Soyw51rHQqHiShk_A38A43A_7cOu2yLdOy0yfnK1G-8F5GcYtd7Pd989A2ajRxuNMBqpk6xur__244JaKHQ5TRQaw2Li5Cqe5wy4GbglyM-P2TaWCCzLepinTpL_Ju9jwTMkXI4JZtdWbd_nGvwLgxRME4OBbZn4xcjAlmcgVj02XQOJrLkHH8JtMXNSvip92bAJ_ljpLQo7jMO-Gzh4YQKGNl6SxDnxdDroRPQuwB8iewNtkiBMRiXOdAtdorsGBhmx8LivBhQXMeNlQ5gO8bIJ7uB36cHncEEj5ZhbCaYPgmsW8tK048qmpXb1Oyx0Clsb6WdmttIu_H9tq57PORsHau6yUyCaWdukelBA6gmPwMU4odlMRwfCcZ6My3cJSvZN6WjxzD0_8iFUP0_wTlcAwnSBvt02HR3xYPfID1fN1SFdOCirTr5spRj7hdOoWrxjjFNPnBIdAAN8_QQI1BckGRN1LVkjA913Vn7ILF8FkTPhfKdlyCnRantovq6tnnrdB3SOPfI3rw7b278GMa09PPJxG91Um7uEeN989_H-UEWpv13MIbnMKKnWEEIe1pJCnEHc8DShfsEOq3PuCjaSVR2S_SkkCPN6yrE7aDcb40w1ciHvU6A1Au72vZLDNQB5ofZUXlRgbx1CRQU2TdaWO7TZFGL4zEmFqXG7rQV1EV5sRteUOa_jvkwJMINYqQ8fSidQP7JPUxQpaAI44JIICvD52n9sM=",
  "id": "rs_0454ff7c5aea7de8016ab4300960bc87d08884e566f48b515b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":-0.1,\"left_z\":0.11},\"note\":\"The dog escaped that close; its fur spread sideways while the jaws met empty. I’m switching to the smaller upright white plush at the dog’s left, which should fit more reliably between the fingers.\"}",
  "call_id": "call_ARQdpywIX4uYp6CchlpZSS8M",
  "id": "fc_0454ff7c5aea7de8016ab4300b62f487d0abbbad55b1a31364",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ARQdpywIX4uYp6CchlpZSS8M",
  "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]: [-0.7914, 1.1439, 0.384, 0.0669, -0.8486, -0.5045, 0.9968, 0.0723, 1.2366, 0.5663, 0.2024, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2891 left_y=-0.0988 left_z=0.1078 left_yaw=0.139 left_pitch=0.1416 left_roll=0.0685 left_gripper=0.9968 right_x=0.3819 right_y=0.0036 right_z=0.1461 right_yaw=-0.0847 right_pitch=0.1206 right_roll=-0.0345 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -2.7966, 5.9419, 1.5507, -0.0904, 0.1636, -0.0659, -0.1573, -4.3419, 6.7897, 2.1758, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78154daf1ba765195a7af8d547790745bdce93621229cb8c41ef744971ec1be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245b490118074340bccc83858fb1822db0853085e53f602a80d45241bcbeac63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2027c230b3fe76f327a8bc8dcd5dd303bca24060b7f987cf903b91c6d80d5bbb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 3.234 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2213, 1.6047, 0.8524, -0.3431, -1.108, -1.042, 0.9974, 0.0723, 1.2327, 0.5697, 0.2642, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2424 left_z=0.12 left_yaw=0.1055 left_pitch=0.1707 left_roll=0.027 left_gripper=0.9974 right_x=0.3888 right_y=0.0041 right_z=0.1628 right_yaw=-0.0863 right_pitch=0.1888 right_roll=-0.0235 right_gripper=0.9954\nstate[joint_eff]: [-0.5128, -6.4752, 7.7197, 0.8571, -0.7888, 0.0513, 0.0855, -0.1299, -4.1641, 6.7897, 2.1026, 0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2236, 1.8683, 0.7601, -0.0715, -1.0893, -1.0565, 0.0104, 0.0723, 1.2327, 0.5678, 0.2367, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2589 left_y=-0.2448 left_z=0.0317 left_yaw=0.0914 left_pitch=0.1339 left_roll=0.092 left_gripper=0.0104 right_x=0.3857 right_y=0.0038 right_z=0.1558 right_yaw=-0.0855 right_pitch=0.1598 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 5.1624, 0.7985, -0.5495, 0.0024, 0.7985, -0.1299, -4.2872, 6.9265, 1.9414, -0.0073, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.1439, 0.384, 0.0669, -0.8486, -0.5045, 0.9968, 0.0723, 1.2366, 0.5663, 0.2024, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2891 left_y=-0.0988 left_z=0.1078 left_yaw=0.139 left_pitch=0.1416 left_roll=0.0685 left_gripper=0.9968 right_x=0.3819 right_y=0.0036 right_z=0.1461 right_yaw=-0.0847 right_pitch=0.1206 right_roll=-0.0345 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -2.7966, 5.9419, 1.5507, -0.0904, 0.1636, -0.0659, -0.1573, -4.3419, 6.7897, 2.1758, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78154daf1ba765195a7af8d547790745bdce93621229cb8c41ef744971ec1be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:245b490118074340bccc83858fb1822db0853085e53f602a80d45241bcbeac63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2027c230b3fe76f327a8bc8dcd5dd303bca24060b7f987cf903b91c6d80d5bbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAQMASenppGe55SXagx_fk1jjVi-gydm213O9dWY1kOnKgLnySjYEC9bOB9GxeFOpgD5zdFgfyAsu0SRQa4D7DXCr4c_DwSdhLh4tEo8CqpsRnOIiDSm4uUqFcFQksVd0V66Ii0YrQeYCLfRtKwhgWZjraHxvcEegQMRRuCrLeI8Ajc1hs7Xh8NvDM8nQqVHUKMKv542UhuwR5rLHSllm9kcF-T3Z-sOHv15jHO367E99brU8ihnP94Z3i-qTpFefMiYTE6mj_DndMGqWFi4O_Uy-fs4htc-yweqXCeWIeks4EAUkSo05NabBPer0iuMbKAvONB0yBy9547FRDL6b1Nycwqy-BC_iPSYGI5TVL40FblfDfXwjsuyFNVxY0Secg8rBZO8O996TgQWpP6VMhnTSdDGV7C47knL9NjWOabLV3OY1nrpraqwNwrifhr_zh9_QkaE_mkKryRbv5ooMrS4sphxpDMKWojwkMLR7jSfbXWB6TUEHNsa9T5v_iUk4e7xJA9B7Z_470whtMaaAR9CjtVCWqk3XYHUJNj_b8OToc-0qLEvIN3e4zh-SC-kWgN_gqaFFgWtKMxc5fj3SNtojfauDUyOWrOmc1r-28fHW1HJXN3p_ktW_GF7r2Z1xPXtey6Brv39w6hAIp-h7oXIN-tZRoKULEA-zWcUFM8SC2Ic4XTw2vDh_ujye09RmLxp6vx6o4Cj_2OnQ-FmZzQ8QhCuRmSMUGKcF0fzHHUW1lFM3B_lFZSG6CEJtERpINyIJ8GO72xY9A7GBAGSN2ucqg-rcqhp32mj7FpxMiI7Nxjl6VTmji6X0jEbyd38GvsstgU1ou5lO07kkBYi1-bUHqNPcZ32DQjGNmkv6bSGEt5cJKFszql-0DjiaQAFPFlaP32OtjYAJDtOQL1GMLvu8RUZx4qV-jTF0JuEkgicUzU6PlIXXeQ2QTMJo4QbyFbLPRJBBnzF-V27zhU4raQjPR-Di3EuV5mW9lx6sRoeLhWeDbuY_Ez6_V9Rau0AKE7zSnpkEbU5Sc7UKiBLahW0JewVSQiK3VjAFrnEaqvD5BHZAwm3QpFFyeyqsotu-POSpU1dsNFcQ03HhU9Q1YuZ8-iE6YbFLb6WagPpUhnHzYehWMVe219KzW4Qj9-Lzoxp21o4hVNo-zktmQX68vhO4aId_F9J0J63xFkCuaLa_YyOXXvisz6RfcL4yee53M41nlunSBXNAXzov2hMgh5lYQDFLnBaxmf2wp41jGot--soRkL7Po4XBswETBsBd-WSGiPhwx82hu6K-_OkRWilDkWk3uaQgM0Klh0xkxDccJLWnvXiOuBEUC7CtISxnbgfPBWdRvMVcvijU-1FGpxelL75aJ2n3igOcRpB4SysTZanTdlTCZ2ZuY21YFcOeZ9aUqYn6sDow_9MDWMzwrmT3XurH-xDSvHa5SfemEGnLqKCQGZsBZ1jgKrvp97dLng4WQPlLpP6Coxjgn5_IslCes8Cm9fw20fPZTkJCUD9_ESx14-sCJ1HLQz06E_0IwizRX66Gy0hwlLbigpiQ1oa2vK3Vj7hW0XsBXfCGHP4v_NWNe8CQA7gutQV9gVG5SRQD49Z4IXQOxDCkmadq0Ym-_5Ob8DC0y_KxZ1q2_jwEgTeYjSPjZn_Tn7iR6Wi9HErhiWIH_9ehtjf-63Su6K03GkY7YoLvVMe8XJcmLgyWg=",
  "id": "rs_0454ff7c5aea7de8016ab4300e70d487d0b99d183c6e2107b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05,\"left_x\":0.29,\"left_y\":-0.1},\"note\":\"The white plush is now centered in the left wrist camera, with its head and torso filling the gap between the fingers. I’m lowering onto its torso without moving sideways.\"}",
  "call_id": "call_mCsgeDBw2KSThZNT9c4GY3H7",
  "id": "fc_0454ff7c5aea7de8016ab4300f756487d09db0eaa56bb11edd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mCsgeDBw2KSThZNT9c4GY3H7",
  "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]: [-0.7921, 1.4086, 0.2554, 0.3363, -0.8326, -0.4984, 0.9972, 0.0723, 1.2366, 0.5663, 0.189, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2789 left_y=-0.0915 left_z=0.0353 left_yaw=0.114 left_pitch=0.0571 left_roll=0.1662 left_gripper=0.9972 right_x=0.3804 right_y=0.0035 right_z=0.1432 right_yaw=-0.0841 right_pitch=0.1074 right_roll=-0.0364 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -5.2444, 5.012, 2.0098, -0.5934, -0.0415, 0.022, -0.0752, -4.3419, 6.6667, 1.9805, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99f4b119b8d57132dd0b8e204362c93bd596cd12dce5267017156a44bbdaf92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5a8f5e8ee2cbc9a27e35e0aa182b8b9a6e3677731515d7377fceec5a1dff83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2b774bf2df0eb60cddb009366c904efc18b544e5bc017c8bc06f871a2eaf6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.906 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2232, 1.8484, 0.77, -0.0788, -1.0912, -1.0569, 0.9977, 0.0723, 1.2327, 0.5682, 0.2523, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2604 left_y=-0.2481 left_z=0.0397 left_yaw=0.0957 left_pitch=0.1412 left_roll=0.0701 left_gripper=0.9977 right_x=0.3873 right_y=0.004 right_z=0.1594 right_yaw=-0.0856 right_pitch=0.1756 right_roll=-0.0255 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -7.3504, 3.959, 1.0623, -0.5153, -0.0513, 0.0269, -0.0889, -4.1641, 6.8444, 1.9219, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.1439, 0.384, 0.0669, -0.8486, -0.5045, 0.9968, 0.0723, 1.2366, 0.5663, 0.2024, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2891 left_y=-0.0988 left_z=0.1078 left_yaw=0.139 left_pitch=0.1416 left_roll=0.0685 left_gripper=0.9968 right_x=0.3819 right_y=0.0036 right_z=0.1461 right_yaw=-0.0847 right_pitch=0.1206 right_roll=-0.0345 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -2.7966, 5.9419, 1.5507, -0.0904, 0.1636, -0.0659, -0.1573, -4.3419, 6.7897, 2.1758, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7921, 1.4086, 0.2554, 0.3363, -0.8326, -0.4984, 0.9972, 0.0723, 1.2366, 0.5663, 0.189, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2789 left_y=-0.0915 left_z=0.0353 left_yaw=0.114 left_pitch=0.0571 left_roll=0.1662 left_gripper=0.9972 right_x=0.3804 right_y=0.0035 right_z=0.1432 right_yaw=-0.0841 right_pitch=0.1074 right_roll=-0.0364 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -5.2444, 5.012, 2.0098, -0.5934, -0.0415, 0.022, -0.0752, -4.3419, 6.6667, 1.9805, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99f4b119b8d57132dd0b8e204362c93bd596cd12dce5267017156a44bbdaf92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5a8f5e8ee2cbc9a27e35e0aa182b8b9a6e3677731515d7377fceec5a1dff83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2b774bf2df0eb60cddb009366c904efc18b544e5bc017c8bc06f871a2eaf6b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAUTkOwovhvxSCf6wcBtQi8PzEC4gnnRHAVBJtXRoMWvHZFBm_pg0MHm20lIL9BKwVvdJSKJv_Tbt-Hh82DZxheq7GwGLQIIC02NLtkt17AVatZlQbkraMHY9oihI-ERe94TQ8jxtOX966KggqKyRyota0mAJpd-vgpxhlpfAz9YgLGxsv9VP9kestAV2m13LNTkPo8M4ZCA4OxFuCamTAtWSyTogVKG6CfbQV6elo2th0AfW-FFUitisTQDdDsHA3ICPxr7_X9Rpy81wjnuPQ38jjE_aOi6d9k7XmQtpIdI0FLe5MdmfS2xABwj-hzy55M5JPZBonSM-bv33r26Uyqb6xmNHn_b2LYxpbARsyNq1Y2x21pgMQoAvkQ9W5FtFyIYSAo0nixwOby5q1Nz4hKnJSpjSdtolo1J27xJhkJb8Pkcx5N5tGFdvFF6zhF6vxxTLXpXEXPXQI2atwPgieFfXoqUOI6aUc9VshGbhbwnTfqW5oJWswiAIdNFOdRZMbUIMv_HlqKvZAf-mvTS55ITonkHOfuqgQ5mmGXS-kSc1qfWYHD2MVk6UWrHoSpwhZgYd3g9lHi41rZVm8VXNZtbOpQ9xkaLNCDCyaBxrCqyUJTYmJnhtV6GN5h5b4xZuDev5FKZCumdyExurLnuCiqYBg7Dcqsx0Xwo_pOBB9D5rViFoUBZKQDTTBu9OMxB0eHudy8m0PhS-hk38DE1ngKGnv75A4ZLYBUDn_oVsCqlh4nZ39zbHQdBH5BjHzmOeZXxZ6NEmdOB6Iqoz1SgP77NxqBDQ9dLPk0iAo_n7aocOheB1PLYiA6pZVUeD5x7MtE_JLZ_X1zs2MEBsVcrdR2cqiTQdpbG-z51JXeuH6i6BjCRgx4NDoMDlk6s7LeObVxuttLbwtAwEEKmL0YDFjSL91GnagmujEW2wR3RCvi7j-OOw5WxmyeUrTgDrBI5uozEx1mpcrqxF_Ty0lpHk1ZkF2W6RuaRakRgK0ErJ4jFsNmMFoFhm_WnIoUDPGiQ2k3o87W2XRc-SRr849D2Kqmc9ioRLYs2o61V0296ksJxxhONSG-4Vu1ASr9y-rR7AEeWFAMBMuYzQ5xMWmpPwDNjgX0gkeD3tKVkkHR8AH-84WrSaqwcNpH58s6x8y2kMNzgIAbiRTORaxjSFDij88akPtK2IQm_CGDidZW0h7o9t0KG3kVpqZ-zUxVPkbVf1i8H69FyZg4OswUjkIiBArfMtE6ls-xO-1Qe0t0hY9r5JB0_1JiHC5Dbn6aRMpWrGXewcEM-6iJyWFKBaURvNQJ8L4BRhp4wMvg_9bvqU6yzAD1ZjBFYw4XE6SFrTr6jAvMuRQCCV8l62NDv95T250zIicXiL9XU0cFa0zzA8oOjWZrVW9mCUTtYd-6NJsGvjzG7fqnf7Zqx58wJ_CSoCmxi-HLlfGtiJrsTVZ6VFP_OcY=",
  "id": "rs_0454ff7c5aea7de8016ab43012c8f087d08c7c3dddcb42f7e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At the lowered pose, the white plush’s body sits squarely between the two visible fingers. I’m closing on it and checking the settled opening.\"}",
  "call_id": "call_w59GVm63Q4tNWi1DGbR2MpEj",
  "id": "fc_0454ff7c5aea7de8016ab43013466c87d0b1a7e68bff25ffe3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_w59GVm63Q4tNWi1DGbR2MpEj",
  "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]: [-0.7921, 1.4227, 0.2459, 0.3347, -0.8314, -0.5014, 0.018, 0.0723, 1.2366, 0.5663, 0.173, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2756 left_y=-0.0884 left_z=0.029 left_yaw=0.1139 left_pitch=0.0412 left_roll=0.1829 left_gripper=0.018 right_x=0.3785 right_y=0.0034 right_z=0.1397 right_yaw=-0.0838 right_pitch=0.0916 right_roll=-0.0389 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -4.9162, 5.2718, 1.3211, -0.3346, 0.0024, 0.7643, -0.1026, -4.3692, 6.653, 1.9121, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5c3024b162dd7c33a7742871cb701976b03b69990cd6852f706569c61d2906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ba3557e8c35e8316ecbb6b29dae9094f6fe219e779aa5205b5173c8779d87d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6990c89719728be296cd0791c8e407a89dfb0c093fec5f3fd08e3fec8be5b14",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 2.854 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2236, 1.8683, 0.7601, -0.0715, -1.0893, -1.0565, 0.0104, 0.0723, 1.2327, 0.5678, 0.2367, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2589 left_y=-0.2448 left_z=0.0317 left_yaw=0.0914 left_pitch=0.1339 left_roll=0.092 left_gripper=0.0104 right_x=0.3857 right_y=0.0038 right_z=0.1558 right_yaw=-0.0855 right_pitch=0.1598 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 5.1624, 0.7985, -0.5495, 0.0024, 0.7985, -0.1299, -4.2872, 6.9265, 1.9414, -0.0073, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7921, 1.4086, 0.2554, 0.3363, -0.8326, -0.4984, 0.9972, 0.0723, 1.2366, 0.5663, 0.189, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2789 left_y=-0.0915 left_z=0.0353 left_yaw=0.114 left_pitch=0.0571 left_roll=0.1662 left_gripper=0.9972 right_x=0.3804 right_y=0.0035 right_z=0.1432 right_yaw=-0.0841 right_pitch=0.1074 right_roll=-0.0364 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -5.2444, 5.012, 2.0098, -0.5934, -0.0415, 0.022, -0.0752, -4.3419, 6.6667, 1.9805, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7921, 1.4227, 0.2459, 0.3347, -0.8314, -0.5014, 0.018, 0.0723, 1.2366, 0.5663, 0.173, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2756 left_y=-0.0884 left_z=0.029 left_yaw=0.1139 left_pitch=0.0412 left_roll=0.1829 left_gripper=0.018 right_x=0.3785 right_y=0.0034 right_z=0.1397 right_yaw=-0.0838 right_pitch=0.0916 right_roll=-0.0389 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -4.9162, 5.2718, 1.3211, -0.3346, 0.0024, 0.7643, -0.1026, -4.3692, 6.653, 1.9121, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5c3024b162dd7c33a7742871cb701976b03b69990cd6852f706569c61d2906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0ba3557e8c35e8316ecbb6b29dae9094f6fe219e779aa5205b5173c8779d87d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6990c89719728be296cd0791c8e407a89dfb0c093fec5f3fd08e3fec8be5b14",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAYySJnZWt4yqtRPQxjraYHfQagG_abZOJN0_rRdxPeBVNtrey8Fx_Y2wrPkX9ae5_w-8FBYPxW6W5IUpDxf4ntF09JKzK_0WhIbPT0dbOSmuRO8f75mDASsS8GxwU9gy04ySC_yu-JYUQj1G-zGWQwATKMR9vzdO9UpkFN2AsDLzZIs-Dsj799ozZsYGyf6h8F1A5syXLywfa_WjY6M6_8ZdYTcTbkR_Gxb77tMCf5fULC-iRvuhX9xieqbqyDVY8S1bciLFhlBx4oSxJNW8PEJlt2waqEHq6JW0j1Fp3JA9s7fIZP6EiKoQEnzgn2tA6fnJtlJChr_JDReiX764tmYKOujFKIFUJ64ahrfdczWgf7giYfXy1bfdph7BF4CZAfA9GATq2Hc_6dhxQDwTXDN_jM1uZNbcR-zmxG5Xg2DK56_GfGT2OK3VVWti9OJKJvcu9wrxsv0RaIs8mLsGbxt1BX5rFyYOsREj-fo3j_nq8kbjfZLbGVXn97olBFcjn3dUEkVPOHFr4_6Zd2FRVsCLjkfL02P65ZIwxCnduSrNpVDFtKcjM7hXl36YFfjDtECTKZCARXAM8rCud8PVVg7oLXIytxd1bRIbKVarNjpEkLjdK5_nufpwrvvV_SE87oi1bN5cpvtF91RvoJoRm5zQeXuSwHYrIVDCjq222_b_whRbRaysgnZKUz8_5LCZORjXacthubPjd-gHj5lquX2cyO-UBLhvi1zYpUM5wrsmSo16-yAdCpeBM0P_nMyWQZT6gcQynFkzTPeZnyqTHwkCSZYDVa5qU4tnz5pPse3UCi1Vg5JerK89U7gZNsVN6WC07uMG145YX_ZH8ZyuMXNKLB6rw1L8lWOncOujJYZx_vfu52R0RDhadCzpYLoRQLQnfba38FMJxnrbAH0i6_Rte5uu2l8yKa1t2k6U8_B--GhiQPSImwE4cG2-tHQzQHf5HXs1gqU3M2IMcffGOkYrnTYPT-dfDfwP4dBiztdO-8lGTyj8Ul29vyD-tdEMYNsXA2ov4kbXMahastQeNGpJHpwj-1hwLQyyejGab3_PTkfQhtWdu9vqueZJYeV4XytEJWkjfoRoyXZk9VQEBb8RHeLC1msKdS3CkK-yBFhO5M5Ymj359edIXmIcF3HFTpNJJbT0-jS1-qsqWtV4e25EIZBJ_BRsYW1Mp1k255YMY2XWsc_ATHfh5HcBrgMbFO_H-lmDlRKAMvi4iaHaOYzjdKnJWkVvuTS00yfYzZVgB7bBT2RMxx2VqciM2ixJJJtBtB29e5lhLX9fCgWh2gcAt8mZs7ZO5Xw-AQpEXVvNrwl3CCP68kOdecBe5DHF5_IjlKw8dqWRTbG5LUsA7ZPPXRR9QrGTIkqFdrsAIk-tY6D1e20HtkJaSzguS1mnpbA-UtFKvBAFfjDIwOV7sRci83em8VtEXpwFLR-KcUN-5zh6ovMPQylPwD1uUGb5JsdtpW6OXFMSe807ARn8AHGx8hUj5t9V0WA6ycjmC95SOZzgPeqYCoohfL3RjpFbi1B8gV2ItSAoFx-VoDeiWFFK5A2EHPxJMMDUP8khsWzrvbbV-7YE3NzBm0wM0SjBdUlGVdxMmRlN0oLzuECGU5HmMr5Mu3oY_TPlTaEp1dWc3VokQsrzQz45U1Drrud_f6aRmGYdpY2MRujoM-3Ku1IJj09laj5dCio4qcBxd5S12VIhqgG4vwPHll8UzvBd8S1Mfjr73fqjNgMAylz69KWuHl3594tCZAo88FooCbSrBMICuC_xVO28BBu_-3g2IbZjKkOGtTTyzaTI4QVFaTxw==",
  "id": "rs_0454ff7c5aea7de8016ab430166c7c87d0a43d386ae93cb441",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.313,\"left_y\":-0.09,\"left_z\":0.042,\"left_pitch\":0.15},\"note\":\"The white plush is still ahead of the closed fingertips, so that was another empty close. I’m reopening and advancing about three centimetres with a level wrist to put the fingers around its thicker upper body.\"}",
  "call_id": "call_bHCmTfbpRr5K7mJFsbEsSUs0",
  "id": "fc_0454ff7c5aea7de8016ab430175fe887d0b49d359ef8a7e862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bHCmTfbpRr5K7mJFsbEsSUs0",
  "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]: [-0.7048, 1.5688, 0.2497, 0.6067, -0.8261, -0.3511, 0.9949, 0.0723, 1.2366, 0.5663, 0.1432, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.0812 left_z=0.0297 left_yaw=0.1241 left_pitch=0.1057 left_roll=0.213 left_gripper=0.9949 right_x=0.375 right_y=0.0031 right_z=0.1334 right_yaw=-0.0838 right_pitch=0.0622 right_roll=-0.0437 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -4.1641, 6.147, 1.5849, -0.2125, 0.232, 0.1538, -0.1162, -4.3556, 6.6393, 2.0195, 0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e037c759768b1ee477d5c2fad9d51c37c9d56d38554be45c302cb37dc62a6327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd472d34064f2f47da1aa8458685facb3a06e9d72db06e1938a786106fcbab12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b83e92498a70145f4cff30e3608c8f2664faebbd9ebf814ca7fa398dbc4569",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 2.886 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7914, 1.1439, 0.384, 0.0669, -0.8486, -0.5045, 0.9968, 0.0723, 1.2366, 0.5663, 0.2024, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2891 left_y=-0.0988 left_z=0.1078 left_yaw=0.139 left_pitch=0.1416 left_roll=0.0685 left_gripper=0.9968 right_x=0.3819 right_y=0.0036 right_z=0.1461 right_yaw=-0.0847 right_pitch=0.1206 right_roll=-0.0345 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -2.7966, 5.9419, 1.5507, -0.0904, 0.1636, -0.0659, -0.1573, -4.3419, 6.7897, 2.1758, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7921, 1.4227, 0.2459, 0.3347, -0.8314, -0.5014, 0.018, 0.0723, 1.2366, 0.5663, 0.173, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2756 left_y=-0.0884 left_z=0.029 left_yaw=0.1139 left_pitch=0.0412 left_roll=0.1829 left_gripper=0.018 right_x=0.3785 right_y=0.0034 right_z=0.1397 right_yaw=-0.0838 right_pitch=0.0916 right_roll=-0.0389 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -4.9162, 5.2718, 1.3211, -0.3346, 0.0024, 0.7643, -0.1026, -4.3692, 6.653, 1.9121, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7048, 1.5688, 0.2497, 0.6067, -0.8261, -0.3511, 0.9949, 0.0723, 1.2366, 0.5663, 0.1432, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.0812 left_z=0.0297 left_yaw=0.1241 left_pitch=0.1057 left_roll=0.213 left_gripper=0.9949 right_x=0.375 right_y=0.0031 right_z=0.1334 right_yaw=-0.0838 right_pitch=0.0622 right_roll=-0.0437 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -4.1641, 6.147, 1.5849, -0.2125, 0.232, 0.1538, -0.1162, -4.3556, 6.6393, 2.0195, 0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e037c759768b1ee477d5c2fad9d51c37c9d56d38554be45c302cb37dc62a6327",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd472d34064f2f47da1aa8458685facb3a06e9d72db06e1938a786106fcbab12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b83e92498a70145f4cff30e3608c8f2664faebbd9ebf814ca7fa398dbc4569",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAbQlzsea3L6MUbtjOpn5jdqBtCy0DCyqtiw5bA39cg49esEUIDdvlpn7_-C5wlBjXikH2J0_SlekqDWk6QkUHIZ3VXmjZyv6GAo-TA8Oi4CqYd3HAGNsVWby_lwFz4tmFi8-4BHv09RUsGT-ujbDOpEVFKwM3CUxnblMFKoVvqiUNdhg-xqG1pz9hbN7Uvqqjebc3Igh0Rr2zj7L0O7OJh5DbpG9dLO9-bFSw4AHyNkZnQZkRML9ydaJNptak2fvyrsKUgadCJh9ivxRUo0aOR-UypE70xxBtrTDnokxZybJ6f7Sqq5P6is6XfhGwHl9-xPNCmn07_kH4eZCeh1fmpQ0QeeLvjHNgeBoPhGKAT2Kr-x8s9OMVCsjo79dgyc9HsEehqxIBUmgk9k5xG_kIBvzo0ykNIvrajXuVwhHZCKimRgbPkRlPdRK3ALTJ3QpCqQj4DpSYgme5ndW-B_lkr_NMYZM_JOtGYHLXdPJMYeKID_PRSJnvEx9vxTWaPuJ-S_Tj5O1hxhGfRK9Emt9O9wPfx_7zfaPtCtmQG3Ej8hcetKrafdELEKltIeb8QcSBvU9zkm279OxLfJmJlC5zuFoM-16IBzK1jJMYW7L9aX18m-8Uq5_5tA7_Y5oQa_DrbF4YE2rcdBEvBZsxlVxc3IUxe08Wbivz50JTepacB_qCiLZTN1yeqWfLzCwGuW1RjZSj4LPFdXb0PnCXSVNCJNSHkwqenQs1-FX5EylCwC-qEYeXJ7dNBSouj8e7FxYDbAxsFTCuKwrCprEwRoNGZAGPAvxWuJQmNjwoPJ2f2c9q1mTVNRSvhucFtcgAx0dERP5EEMhP_3lYSjuMqdO8ZNTV0X9A_aRa1TxYEVVFEQz8CBJfV5OO652jCSrwBedu8t-m6ODZBmJZg4lu_08rDBoP34nn9v8f6lXp3MDU3ypf8JUwU5dVayY18jK84k5paUY5K0eELZng-DmaCFibUJ-WFDhwt0jwqcqxsZ7sM2JWtAcfWB8EmIiin8AvylZXZbKpJbVZoYMo553Q9quWfzjjAeJFGdE-ATxrQTSDMaT2FCZZQ4dIK2_6udWJnjzLOm2EVOfuLGulLp3s3j-hDX_45v77e85dT3C3gYJr3ImsB4SnQkuzqQ2z8n-bHSAEfVn-O6qp_LRemszMG6xbhsalpQj8otuA4s5klunXXcHa8lUgriw1PbdKAQ8tH1mIwRKsik7QEytVg7DGdrbi7UNqYUzbriL5EhvjaYrx9Qp3nRk1BMu5nIGFRXiLNfHO0ON0S3bRlSqvkgTDoGUIVVH2q1q0Za9UV_hbSJVgGDaDMd5GfqXz4aZZA_8wGuZrN",
  "id": "rs_0454ff7c5aea7de8016ab4301aa0c887d0a22ee6f5192cbf7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the advance, the white plush’s face and shoulders sit deeper between the open fingers in the wrist image. I’m closing once at this corrected position.\"}",
  "call_id": "call_HvSq5tvRyXAhL3Jwdw5SLVyU",
  "id": "fc_0454ff7c5aea7de8016ab4301b026c87d0b5d9641243a3d64c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HvSq5tvRyXAhL3Jwdw5SLVyU",
  "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]: [-0.7013, 1.5764, 0.2493, 0.601, -0.8242, -0.3523, 0.1064, 0.0723, 1.2419, 0.5659, 0.1276, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3007 left_y=-0.0795 left_z=0.0267 left_yaw=0.1257 left_pitch=0.0956 left_roll=0.2213 left_gripper=0.1064 right_x=0.373 right_y=0.003 right_z=0.128 right_yaw=-0.0833 right_pitch=0.0411 right_roll=-0.0469 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -5.2718, 3.9179, 1.4628, -0.3248, -0.0415, 0.5934, -0.0889, -4.5607, 6.8034, 1.9316, -0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5741e3e9c992d0bf8d47d2a64e42c1dce33df34418e09de99839e8d3e904d00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcee2dd76f6c184c18d296c142c62dbc792eeca1431ec998f7c9ab980936514b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9899850b65a14edd2d67f3ad1eeaf424f7a1041c96b2d179f41013162bc5d5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /responses · status 200 · 9.564 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7921, 1.4086, 0.2554, 0.3363, -0.8326, -0.4984, 0.9972, 0.0723, 1.2366, 0.5663, 0.189, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2789 left_y=-0.0915 left_z=0.0353 left_yaw=0.114 left_pitch=0.0571 left_roll=0.1662 left_gripper=0.9972 right_x=0.3804 right_y=0.0035 right_z=0.1432 right_yaw=-0.0841 right_pitch=0.1074 right_roll=-0.0364 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -5.2444, 5.012, 2.0098, -0.5934, -0.0415, 0.022, -0.0752, -4.3419, 6.6667, 1.9805, -0.0317, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7048, 1.5688, 0.2497, 0.6067, -0.8261, -0.3511, 0.9949, 0.0723, 1.2366, 0.5663, 0.1432, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.0812 left_z=0.0297 left_yaw=0.1241 left_pitch=0.1057 left_roll=0.213 left_gripper=0.9949 right_x=0.375 right_y=0.0031 right_z=0.1334 right_yaw=-0.0838 right_pitch=0.0622 right_roll=-0.0437 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -4.1641, 6.147, 1.5849, -0.2125, 0.232, 0.1538, -0.1162, -4.3556, 6.6393, 2.0195, 0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7013, 1.5764, 0.2493, 0.601, -0.8242, -0.3523, 0.1064, 0.0723, 1.2419, 0.5659, 0.1276, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3007 left_y=-0.0795 left_z=0.0267 left_yaw=0.1257 left_pitch=0.0956 left_roll=0.2213 left_gripper=0.1064 right_x=0.373 right_y=0.003 right_z=0.128 right_yaw=-0.0833 right_pitch=0.0411 right_roll=-0.0469 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -5.2718, 3.9179, 1.4628, -0.3248, -0.0415, 0.5934, -0.0889, -4.5607, 6.8034, 1.9316, -0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5741e3e9c992d0bf8d47d2a64e42c1dce33df34418e09de99839e8d3e904d00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcee2dd76f6c184c18d296c142c62dbc792eeca1431ec998f7c9ab980936514b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9899850b65a14edd2d67f3ad1eeaf424f7a1041c96b2d179f41013162bc5d5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtDAfI1a0j9JIZwA5cyadQGuUfaNQAij_c6vUZzOJs2k2s2YyGfGogjRkttHVwOb08nu_JsO0PiZVk_hAAoHcuoOHjcKjE9Q5W2zt67C54cvZElym5t0VAPOnbIi7emU3iAtuzFWaxhGOhEGv1v9yXVWRp8AdARZXrmSsqnhdWn0qO0v0f3nGrsIVbTTVc56y2a40sf8eK0PagPbaszwsA5ZtpCoEuavBxuQ8lHgxks4rIOGcHFZ2fhJkVJHgnDxhHj2_K3o2mKWoxQ1lUA8Ouz_6eQzx3fnK6sE_di_Qh6MojsIfIAEVayDm-3B1pd9YtdzyQp0g68AuD7fge427h4UAayk9EueFI_m-qhzuXCBBdOLKFKxVCn9Tdtjod8VVGxxHx844Qv8QOd4EVEiZd5CDX7IPa9B1DMZQfzrUPHFVHmQhCWVQCkP0XgsfQRRa9m_hhkH5CzfT2q9eSKnEiijKbJrR-wpzSuzGoetwqfqbKbe_EBvpffEqF_1RoffRib1eEAmV6qH7A1abfVpwitf9JO-eELYZhabq0Gc0I8-4RKFEUe3RX892PA9A8yblTHffP9nffuwcwB7zYIEHHXxhpRdK8R8AAHZIisxQjR54T6qu8TYawgAPFyF2KeSp2047s5hx2fXvYaJHw0F1lLf_7dRhb1yz7x6zFFUmBbwoUHc8W2ftkP62HlRUH5bO15y8uSO5xF8MsJxkvkIUbpXli1_EHobo_GP26tlKrHwUzaE-jtTpZPtklT3Huc3JVUEvYAfGuiY4y13fFPyHDPxFivpEc_KnRgRUFeKQjcyESp5nmkEQqvgW2T0Ih20Zgr_6NxfcctdKyr1RHSPrTRo2PsRATqq2JttDZleewJg9NIYrTTZ5B2ucauf6q9mBb0VnkhbQ6E9wOdwUTMXHkiHqVmBgy6bAQWkQSVVNGbCBcLGhDEJgt92HPmqYWmdKVpONKopnj08Wz4sMRc8Ip7BF4okykZi34TFFsxy90VKyCxYMorLPS0_r3wFVxg43EDEKg4bjuW0dEyffqnMxmyjSsjtXkEvkLezI8mA0pk2w57j1D7GFyBHWJzhf6bBkdxS90ewOJ9yeHbL5pBZah7eJdgN3D4CJjSbMh3sI3Gi8tl3jvhzZ3WU0X2H9CPJAtR-TrQt2Y3EFiKnFARBRUHVPVMUthArttl1Z_TKfAcCKlEVnAM5Y_43r1PqpldIIzxu89ztijPF-qAnu48PPWhEAJFs138yfofZkL150h545po0SgcI5KuvIEvXyDNRRn-439Qf7DMhnuHai0vWXVq-KaQ==",
  "id": "rs_0454ff7c5aea7de8016ab4301e9acc87d08c3ac127954b9071",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15},\"note\":\"The fingers stopped with a nonzero opening of about one centimetre around the white plush. I’m lifting to verify that it is firmly held before moving toward the safe.\"}",
  "call_id": "call_jBoqT8ZfClsPkQiZbMS8Bos2",
  "id": "fc_0454ff7c5aea7de8016ab4301ef26c87d086781514cb79a711",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jBoqT8ZfClsPkQiZbMS8Bos2",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.1053, 0.5159, -0.1287, -0.8192, -0.3607, 0.107, 0.0723, 1.2423, 0.5659, 0.0959, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3013 left_y=-0.0805 left_z=0.1363 left_yaw=0.1281 left_pitch=0.0996 left_roll=0.2057 left_gripper=0.107 right_x=0.3689 right_y=0.0026 right_z=0.1214 right_yaw=-0.0835 right_pitch=0.0095 right_roll=-0.052 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -3.7675, 9.0735, 1.4774, -0.3834, 0.0513, 0.0611, -0.1026, -4.1778, 6.5709, 2.0537, 0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593c2aae57e678cb69e7c86e80551fa4fbefe53206edd58fab136702fc583b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f738a14ddb8ced9ca3daf43211fbdcdb5ece6132accf3fed178921744dbca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64db5a5a529df3db866b6f376732142d77c69a6ee9ec943bec6405fdeba2be64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 4.986 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7921, 1.4227, 0.2459, 0.3347, -0.8314, -0.5014, 0.018, 0.0723, 1.2366, 0.5663, 0.173, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.2756 left_y=-0.0884 left_z=0.029 left_yaw=0.1139 left_pitch=0.0412 left_roll=0.1829 left_gripper=0.018 right_x=0.3785 right_y=0.0034 right_z=0.1397 right_yaw=-0.0838 right_pitch=0.0916 right_roll=-0.0389 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -4.9162, 5.2718, 1.3211, -0.3346, 0.0024, 0.7643, -0.1026, -4.3692, 6.653, 1.9121, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7013, 1.5764, 0.2493, 0.601, -0.8242, -0.3523, 0.1064, 0.0723, 1.2419, 0.5659, 0.1276, 0.1566, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3007 left_y=-0.0795 left_z=0.0267 left_yaw=0.1257 left_pitch=0.0956 left_roll=0.2213 left_gripper=0.1064 right_x=0.373 right_y=0.003 right_z=0.128 right_yaw=-0.0833 right_pitch=0.0411 right_roll=-0.0469 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -5.2718, 3.9179, 1.4628, -0.3248, -0.0415, 0.5934, -0.0889, -4.5607, 6.8034, 1.9316, -0.0122, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.1053, 0.5159, -0.1287, -0.8192, -0.3607, 0.107, 0.0723, 1.2423, 0.5659, 0.0959, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3013 left_y=-0.0805 left_z=0.1363 left_yaw=0.1281 left_pitch=0.0996 left_roll=0.2057 left_gripper=0.107 right_x=0.3689 right_y=0.0026 right_z=0.1214 right_yaw=-0.0835 right_pitch=0.0095 right_roll=-0.052 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -3.7675, 9.0735, 1.4774, -0.3834, 0.0513, 0.0611, -0.1026, -4.1778, 6.5709, 2.0537, 0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593c2aae57e678cb69e7c86e80551fa4fbefe53206edd58fab136702fc583b9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f738a14ddb8ced9ca3daf43211fbdcdb5ece6132accf3fed178921744dbca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64db5a5a529df3db866b6f376732142d77c69a6ee9ec943bec6405fdeba2be64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAqRMv62rGIZSx1ep8Nsfs73aAfoq3miSMlOqXrWbFgxGhwrrbGgpfyFNKQ1Bf3sU05B2FkUz-9OgVfV1Q7DGzMoFBKKTtIWFCnTbRwAz9yHzcp3EkD_m7dKM4PVYk8-nAmTeXJTDE_pPpqcMpOm8iBdBqMvyK94riwFBAUI0Q-JRO1rJ_lwW4D4B_OfwAJAnAtagHQBUbU6i0TXxR80-abBhWEYDBDYu2VX1OTcQ2npjm1cQ3kJsA_Kwv6EaKhSd0SRKw4x-ktgJL6fmSMC0l7QqT20O0_3nZxIPtHUyevBq8c53vQN1Nh8kKqByxOsYKJtbxeponuiNRgizraAfPkbaeqjImPeqKjT3aUv-UbAprBwiIM50wAEOLsOZNSOSFuBiHsRx7jwntOmQiXHNRsbgnaEt7BOiDralA0fpcqhXEr-s2Zb8kL0t99vN5I3jNwtACIijYttgDypI7-TOWj8PAkfBDI95W1Swdo7swMZUjEwCQGuMToay2IMRtHnlADJf2_MfabM_iN5-Bk0UzrN7GQPhESEGNpgKBasu8QZ3Gt8j4YM0wLQkugN32aCb4sqqFHJAxhe5Yxsnmkg0hTRYZC28niRVmrq2Cs5KHYl-F2QzNc8V89eI2SSntKjraud83KYuBNkDihNbMYrnac3xPuZnUWIsryes2esxSQ4IKKfvorGG2jvZF2oAyVjIO2zAjN_9UKS4ZmrBSLumCGFQUkmvTQSn1HQOX6IlfxQ1io7b4yn8pd9HmDC_Y6lvFF7fKTfXJ3w3ztEUeI5hqqAJ2zdnk9zClj78fBXXkhkXIIGG_8QtIt401y0bKgVGYJ-ZYIZXlTNPYOkfcNYPbFdFa-RiW4S0QurefsMqi0wFvSXMzfiKMDvzpgiztD6NL5MOGAR0ldpMU6HCvIXtHo7iD7mXKohXuBW8qJciO0HoOFfPVRsHaJQf6rbhY-yT7an92d_ijx4qd0fFleROwpS4ZU1y16h_PO9yMU9DbzUL0rzd4lXJlcEZnRbUfoQU4Gt8OhLWddst0TjLMnU_k81LtWm8q2HZpgN6x9MB3y3YKIuMyKYTzN4mYi5YgBnVkTn8z4dWVUJ29FFvRMfDReaqJjjoKN8glJiMfgUTGGmZO3rFUCf_7-ap489Igsya8vnr6mcMMQcoNRWONtfcEzfZlJM7Q086xJKdztlHqiurpfoud8sY1luSLs09KABxNvFvGRTKS3gpX6pWMg8JFD2MhVilV8R1rGXg1r6WO-iyp0--YvOFODsETx9C9F-yI0R8Z_4UVk4UbESKAWbDN6cxNkMm80VObytyFVOjBhMUCjDVeKm7KkQMQlbq38OfnPl-xnTRY4tb-Vg1rxZIvKenB909O3p1qroj7Ij10YcWvTranYjtm07X7O_THBL8Tn-mq5SC8e6joiNF7oCkSmLqagObNBqEtrjuKsu9X_4yQgbkSz4Z7HhHZ_qKKxsC0T6PoGSup6CJO4HTBuq_bfMW3Mc2t4KeD5a2Wepa-oUOxh258eCtFcd4DBHXg57i-Tg_Ft2Faqyc57axN5_qYF9bsSqZdX2yS-A-JQhdx57xaEqbUE4HFadjLT-WI3zGRBIFJ6lNWx-sj8wW58rku3Hst8f90jBEqrBbi2Br52bnyykqWHSSil132rMqivcSWWDxxZBl5GkWyzc3slcycutG10QK3zI1VWmQkfcs1JZuifKcfudaN7FVh4CIuhPe2LyRGHkBC36YqhZyicGb4auiwwH_S_kTMYhGq8Tl1yEE-RBxpXD95H5ujFbAQYjIgL41g315NgD1sYF_5MGsWOpxtPyRDeyqbHGC9h8N0e_15p6VQkPXM2eqhZsvkKSkYpf7eaeB_WgslZWhG9TtWKRW-5rM9adN5Tzl-rJ9LtOYB2xeVA8ofqc6RQtT8nZlEls6ASI_vR1UnQQueCnGzElK6vXdvcD2D5lArqd_AmmA_EOWtxbCXHl9J3LDoPSLE44p6i5fL9pS2AYoFo4bFaLhU2nFcMPpTtQ3ZVE9iIZMdACHXbeTo8W23NRDTk6r6W0lt2YmoXV1bvfZdV-LpX3ojga8bFX2SN88VnMbikyKdcpAalOTWt5vfe6hma0-XERX0Apx6D8dwpPXjSlTZ_764_8SqXXzY_Ip9m5acrK-jRIMCGd3pC3rwVt4Cobvk8y02jkB0wkTc7ajk059U0oaujsCLC6QRv4oruwcCTt4NqTeIWqQfmRJMkp93kZq1FA8o02m4hvHTFmG328BGSeqf0feRQtk0eaaoRFHX96z0xfH1lwuobUpuKRqvzZzM079AB8IRJl91edtwP6P4TaBHZAcISSmSdrJbm3c0XsRcwHyOX5SkHfKBHq66og7-XwahRpfx6Oidou04B7Oke4udo7aj0yPJ4Wsi5XuWXB430K1Jas_2kY3wadAEsMSCRI2ZVn78n-1WRDEV99n5J7-TUoylkTm9ept_KywzijhKTtlctWUv5ttzdV8HP4UtnHlgIsRmgEY-HRmkLlekrsUtTOEAysNrkrRw-KbSwHan4rMgvcpflqfFF8oGnqvtqvR_rplPzwIkhTSVOiiEgEcIzVW2dueh6WPPO5Btl_pdUD-lEpWfCHerXL6mE6VQl6oKFqDucnIuBaOT2PopWluzvcHdmBOB_I2UfPaWHxb3HokgWhkRzv6mCq0GieDptOJzfuABDlxGUCTG5PrYRbrLyMeAER51Tl9NU7aQHGYxrpmpY6A1yHlh-aAfwq8t6TS1LXJ86MNfgEKFdzje_LHFW3ZsdNe4yW9G-u31RtAb4Qu-6JBOXDt7SycmPlK-0K78yBUR7r6gNXfGU4xB5VoTolQfVAr--J9J-cjteaGj6TZCOCYIKod5UL9soy78_rQmRYIhw6H2a1c8ISaV9hIWSEmnhoCOL-agf1k-W8Qb7sX9R3legAQmtAQVRq09L24OHLaHvAtBeX1cYuJul4H0Ezy5cXqVfD6aOoxeM8xnYFWaANyae8x9RcyuMVo3vLQG1NJ078VjLkfRIvghe8GQY5xiuHkRi17_NMrzJLtWZ92U9IkC0mEFTW1Qtc4gOHwH9ZUN3Kl-xOuO4DO59ADxkUud_2zX_jJzY2gHjoHmIY4FT8mDvPY95CehiQVLUuNzKwmS6rbo-iPEtGN4MIWlyxnoh1ueNgrDHM3dqRPNuinWYL6U4RgQ00MgeMAf1JqA_SZa2ZyZak62ODirXfnO7Op_koppYQWyX-x1YvZAeHzDY3PSTVUF5r_B1GM4eyFpOy9VHk5DpBiqtupUleR3G4YY66lsJjKCrjTpQY-I5FCXCZ9g-PnbkgL0KbuT-US8gk4D49KUvEshhxJIEXZJKaz54cWQFalch2ui0o-WN8VRsRO0Jy8nKKQrSS5ptm5PB6n6gK1EO3Z_QGNn-QnGHHsI7dMH1YuqokfR1Gf_xlfefKSnHglXDPlFg7gpU68phrh3KyVSTQiNhtuvui-Hki1Q6sYu30OhttHV87lBiOGGogQk1RFyTPyt4db49j-ful6_lMsDf79a6ddlDSpVa5z9vJCWmavevufvMxDww9qZlXs4PjiUVIupeifIslnoGC6daXn09xvFigkc20Q==",
  "id": "rs_0454ff7c5aea7de8016ab43021d00c87d0b7ac6a079d4a6239",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtDAqzh6XVcYopb2D3DYgCxRqz1Wy94hlt5Izu_4Q1j_ehQbhCr0tMfcLMXJReATztSMNEzihvIeR6Dr9lLTS7Na9_RWAgouIuNfy2Zd5ZfQpz0m12tenAN7INDcGQ8_1xZ4ES_adhGvMgBvKoGePEZE-sWknr1t4nuPZAhqDH58865KVSPRjw0Z_3-ea6MMbjNw9Ssa7VktMmmLWFWzo8TXq9QWc_TRSq2vzElYN0uG8sNKw-BTF4AGT-OdaBJP8PQZb9dS075-AW1lDls7oRrsyzNQH8y-HN5B14QEz0UlGdKZAXPannwlbMr9QyH6e3yCTvtmH3WKgJw7lA-az0LGKHdzVwRkynxAUAg5f3nRmYNrnYsWtH9cQaqBBDKgIhzol8MeAIT0rtIsJB33_bhSIp7Km-qveiJT5OpPgOBMC-bN-yYsLVTKCe0pN1hihrVo3rz6E53-anh3LqdQA7Mdh1V_yyka0GKsFYHzGEXEZZITe10Iubz3s3h0A3B44K7CCC_ChZDVD5vL7nXc4XseRo8asHbMiH4LY3sHxgFgYOuy3G50suM3X9GQzqqOFI1geXc3Tvhzs4DJkQYImrotdjUMA60YfRG7-47zL-9L0qkzY3f5kQjmoMHf0ui6rCSGzlNU3u4WKBP4t66ucmjNIdiIbsqwWppJbTPOyFWc1pTk9_1ffxZ6tSvcldGKDAMq8mvTLhk6yakDKwNB40K0srg-rZkI1klF1eTNAozVMUljOyD_onfSvJKcmpDm8XG0EcV_bHTNQ2BxRvWmE9i-yDPp5DrBPye6WoJOYCXl6hQa770Ohzy0kX-KWAva7znYxNg0B7vH6hDkaB71PYRPfBuVJVv2RLGB8yGvpdJcSQUFvNCDUGC4IyhrU0E2CONJ4kh2t-1jslegt6g1-0ABWMVuFBCfBBY3KdGPtLmYJkUhG8LWTgDk1m8gUY7pQAPQ2JY5ApXsFCJMme_iwI88Y4ddnwoUPsD0OiI8uVYGlZQkaqXfvSz-cGPOOM0lemQBTBubNcC3BcdVnXIRQaEtTxE9p5kOeuS9jaQcc8VfD5BASCa4jsYnu1JWZ10n09J6f12b-A4LT2PvNBO3DonrMlvJCRXxNs0uDkJrFBRugodWhSI0AiJ84BEMKaR_zTfsD-eejLnu7m8mXyA8jVocBKrmWfQGnxVi1ST9foyPGVQfXsaGN4MdPJKNxV31Z6EMp30KC-p1Cp8Yg-LDOthoLL6DV_7hrhrhQKFtoU1J_LMbI4n4P3YXo-CQcquIER14Lkzlr0kF5st552lUWAbmmEGk9dCX5arGufM_In0jw6smuDK_f0Zrkpl5mDWaocuivfPeaGyHBvfLgrKF2ngCnSj_xCxBWECgssB_sB0bzwKEtudjHjJm9pnzKUGF_RUZTQleeyVMdqGZgZVsuwpAeZvzBPuE1b-orUUMoPPHqlJ0uAU4hanYh6kyhuc_f2wj2ef6qMf-4bhZb17yfxHMbGxVBwRc4G2CuHbdJRHDD6zmLeay2t8OXU4LThKi9jL8D6Ba9kVPv_cQbJtvDUAC5tlZaPvx1pSAinV2NEkeUr792IcgYof8JRNBzyi0_mlGlUEJl67xILRwuVc04tRb09UABDiSQvKy_KLSszWGH6iLGYX22r7DV3xL_6qSSBfv0MfvbCRlJxhl7yLzW0PtdktE1CW5afAxsoinMRXPodfgzdVe5qtfo-o45fcOwU6fWcI9tTNZp7s5_pgUO2lpf86Jlo0b4ESyEzqy_dgMQBOG_nnqa3VnMZzqqPRMYy0rHUvnQuJVUCwKjLe2FN95UmF9Y23KWjZ6ml90w6MiWDFG2NHLyyzPbxdCLxX2ET76UVMKs3F8m9bJ6V41L0RUtiy6iL3SaH-RJyf0_yr6BVFaLT9BD4XsANS0dfDTSWQDXrD0jJPd1jW_eUZ0K3Tn_ks7Y_dacZO986vfIVRH6bPMK17AsesrnXM2x3Sd32O38gsma5h3giLygIAOF8vvePG0SOfHL-sJp8pvgnyf28MI0j2cxAm2We5CSieNd_hTK_5ZBVq7jBUCGIFxpQ6sCBPcpQfstDmiT4xkKBq7mPQpiSiWAB7NN8CbQ31UjU4j64Jyr1GDNfRpe6VH-64jjugQPUFPujJBs6ODELYiMm3C2LbuNfp2HJD0D0dGX_kshD8MwQghSC385tzQ5UUzchTWJTKxRalDd9ZiMUZtOtqMyp1YwpbYMY6XQBBcJ94JQ1btbd4_Zq6xwaXNPDdnOKYzenibGNOupdq7fM2jtMuJAgPnaUlGYDKEBwh2Lzv8j5Pj-PXSSvPV0wwT4biqeN7K5LRgSvkobedE8XkPkcpI69KMixx2HhvP-S5746MSlHj92ICIQEVxbJOsJzNUFVksMba7BZpUndQQKaxFImaXDX0tAHBffLrvxA0HGwSm9XsyVkG1WC4ow5ehxA2hDZwHq3hayM_9GLXvJumQNcc_V_FMegNTI5ZQYTpTw7ph4Eqig-tC2fLrAyqVH3GYVLTWL5r_oZjU7z413RG0LTViNTEXXavcmRFNbtzj7D3cmvyOd2iZ5MpeRRjSysR99PnLhQzRiizVe0j3rtYFjT2Cmk4iKNFD29Iop7h-FwJ7PjzlxEyh8sBYeQR_UrJRxpA-M--LXcLc6TNKlrPKzpOHmwJ6m3cvzAVB5ds11AK9eH14K7btDDJ8_ypS6bheG1GwJUwI4zyWaZVZ1HT4DZIAlP059tKPFJA8WXjfYWJuRnpgMUO6NyDQi43tNoCz0WSwJOknCWc9Az61PXGHdikpzMMIKG0ekvaMJSRMPKopR3nWat-fMh5qDhuwgy5CANUZssRDOoZnLlqrVyP8pq8wzHebxH-Zn6UYja8JG912pRkofi7oMGWcNqgrGJhzqbczeQlvCbFQ0BURuhgPrhypl-FKtc7aPE8pxAH9HwcZwkR1SLba3veSAsLEE3SVQW3_YgPqmAeBTfYFonivQub3xrBLZFASHzxcKHPavstjxYqFbUJLE7gFDo_pL-W8nrrHG-nq3SR-q4r0d32Fkb3_gweCDMAdVEpYi6if1MtMGi6f4gEK3MfsLj8g3IyO7BBecjbFXWu0HZe_y73C2QbE0_vJddrHRHgHCUVaqieJJqb7eBDc1JlM8uF1wmRQV0kKFXFPxWYGjJFQeKZh1R2pP5gFIG53XT0-fGz3he2GTESvMWtSFqJLAY37o72Pm6966NI4V6KJSejHgJviikwH8R5nxUhRC5az4dKg_qolLohMf679dboaw6Yiuvk8LNgl3ul_DmMBV6K2s_HI0eV2dayWP0id_c0i13nZmvOASX3g8GYeEuko6o2NN4QQvEDzzL6zzwlCbAFVT_ritmaV8AIoTlcSkLY81gAmVcLQ9b7eqSRR_2T4Nz6bCBFepwoNucosV_pNHUUYwhkitrc9eFt7LAyAQamUBpLIe4F3Yfuwlu-1Ih8QBh7u5mviXSQ==",
  "id": "rs_0454ff7c5aea7de8016ab43025bb3087d0b603478d36dbb11c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.3,\"right_z\":0.15,\"right_gripper\":0},\"note\":\"The white plush rose with the left gripper, so it is secured. The safe lid was accidentally swung shut earlier; I’m bringing the other, closed gripper toward the lid’s exposed edge to reopen it while keeping the plush aloft.\"}",
  "call_id": "call_EsyH7ktD1oBfsgIrEdljnXwG",
  "id": "fc_0454ff7c5aea7de8016ab4302900a887d089d33bfc5997356d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EsyH7ktD1oBfsgIrEdljnXwG",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.1069, 0.5209, -0.1574, -0.8188, -0.3641, 0.1085, 0.7952, 2.0331, 1.5715, -0.3656, 0.6979, 0.522, 0.0071]\nstate[eef_state]: left_x=0.2993 left_y=-0.0789 left_z=0.1337 left_yaw=0.128 left_pitch=0.0828 left_roll=0.2211 left_gripper=0.1085 right_x=0.4446 right_y=0.2964 right_z=0.1418 right_yaw=-0.0506 right_pitch=-0.0182 right_roll=-0.0732 right_gripper=0.0071\nstate[joint_eff]: [-0.3487, -3.1385, 6.1333, 1.6972, -0.3492, -0.0366, 0.1392, 0.212, -10.8103, 8.3077, 1.3748, 0.4957, 0.2027, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb63af5a973c1569702ec9fc59fd439f359eb10b1275f353fc0afba926c42b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e02b3467f24e307579dc4a1187654e58eabc83634fde31af8feaecb02943388",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71de29867d6c80deb8f47fc43684fbf41597b46795e8209ac54b004276280c33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 5.891 s
model
gpt-6-sol
effort
high
temperature
n/a
tool count
3

message 145 changed as sent

message 153 changed as sent

message 158 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7048, 1.5688, 0.2497, 0.6067, -0.8261, -0.3511, 0.9949, 0.0723, 1.2366, 0.5663, 0.1432, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3015 left_y=-0.0812 left_z=0.0297 left_yaw=0.1241 left_pitch=0.1057 left_roll=0.213 left_gripper=0.9949 right_x=0.375 right_y=0.0031 right_z=0.1334 right_yaw=-0.0838 right_pitch=0.0622 right_roll=-0.0437 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -4.1641, 6.147, 1.5849, -0.2125, 0.232, 0.1538, -0.1162, -4.3556, 6.6393, 2.0195, 0.0024, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.1053, 0.5159, -0.1287, -0.8192, -0.3607, 0.107, 0.0723, 1.2423, 0.5659, 0.0959, 0.157, 0.041, 0.9954]\nstate[eef_state]: left_x=0.3013 left_y=-0.0805 left_z=0.1363 left_yaw=0.1281 left_pitch=0.0996 left_roll=0.2057 left_gripper=0.107 right_x=0.3689 right_y=0.0026 right_z=0.1214 right_yaw=-0.0835 right_pitch=0.0095 right_roll=-0.052 right_gripper=0.9954\nstate[joint_eff]: [-0.1573, -3.7675, 9.0735, 1.4774, -0.3834, 0.0513, 0.0611, -0.1026, -4.1778, 6.5709, 2.0537, 0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.1069, 0.5209, -0.1574, -0.8188, -0.3641, 0.1085, 0.7952, 2.0331, 1.5715, -0.3656, 0.6979, 0.522, 0.0071]\nstate[eef_state]: left_x=0.2993 left_y=-0.0789 left_z=0.1337 left_yaw=0.128 left_pitch=0.0828 left_roll=0.2211 left_gripper=0.1085 right_x=0.4446 right_y=0.2964 right_z=0.1418 right_yaw=-0.0506 right_pitch=-0.0182 right_roll=-0.0732 right_gripper=0.0071\nstate[joint_eff]: [-0.3487, -3.1385, 6.1333, 1.6972, -0.3492, -0.0366, 0.1392, 0.212, -10.8103, 8.3077, 1.3748, 0.4957, 0.2027, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb63af5a973c1569702ec9fc59fd439f359eb10b1275f353fc0afba926c42b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e02b3467f24e307579dc4a1187654e58eabc83634fde31af8feaecb02943388",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71de29867d6c80deb8f47fc43684fbf41597b46795e8209ac54b004276280c33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0454ff7c5aea7de8016ab4302dd5e487d08f847589971fb4eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.4,\"right_z\":0.085},\"note\":\"The right fingers are beside the lid’s free edge, with the yellow object still outside the safe. I’m pushing that edge gently toward the hinge side to swing the lid open, rather than lowering onto its flat top.\"}",
  "call_id": "call_HRnDd5L8V8IAOzG1LeVtpKxA",
  "id": "fc_0454ff7c5aea7de8016ab430306dc487d0b1f47cad38644c96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HRnDd5L8V8IAOzG1LeVtpKxA",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7006, 1.1107, 0.5175, -0.165, -0.8188, -0.3676, 0.1099, 0.9318, 2.4039, 1.9835, -0.5114, 0.7677, 0.6373, 0.0092]\nstate[eef_state]: left_x=0.298 left_y=-0.0779 left_z=0.1303 left_yaw=0.1289 left_pitch=0.0732 left_roll=0.2291 left_gripper=0.1099 right_x=0.4422 right_y=0.3954 right_z=0.0862 right_yaw=-0.0251 right_pitch=-0.0358 right_roll=-0.0941 right_gripper=0.0092\nstate[joint_eff]: [-0.1026, -3.3846, 6.7487, 1.4579, -0.2759, -0.0024, 0.1343, 0.5128, -12.7521, 7.9385, 1.2381, 0.3785, 0.1832, 0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 428):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52547b7d35492b5801ea0f5af2641f72773efe032fba74e0c22b905c2e33852d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 428):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac2859c9623339971f021c8ce649f8573a792b3c687cc5365e47788d49c1a5d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 428):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff56fa359c353d4f394b1add67721286b1f49a92892f617a165ac36af0ed153",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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