adhoc

completed
2026-09-23T21:44:57.261910+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
215.4 s
total steps
454
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe open red safe is near the center, with a yellow ball to its upper-right and plush objects in front and to the left. I’ll first bring the right gripper above the isolated yellow ball, keeping it open for a careful wrist-camera alignment.
move_to
right_x0.4300right_y0.1800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0338, 0.9998, -0.0212, 0.7937, 0.6064, -0.3962, -0.02, -0.0124, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1778 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9996 state[joint_eff]: [-0.5949, -1.388, 10.359, 1.9414, -0.0562, 0.2027, -0.0366, -0.3214, -1.5932, 9.7299, 1.8926, -0.0611, -0.0317, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.18,"right_z":0.15,"right_gripper":1.0},"note":"The open red safe is near the center, with a yellow ball to its upper-right and plush objects in front and to the left. I’ll first bring the right gripper above the isolated yellow ball, keeping it open for a careful wrist-camera alignment."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe yellow ball is clearly visible in the right wrist view, a few centimetres short of the fingertips and slightly to the gripper’s right. I’ll advance outward and shift right to center the jaws over it before descending.
move_to
right_x0.4600right_y0.1500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9998, 0.551, 1.6363, 1.0275, -0.1131, 0.4221, 0.2977, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.016 left_roll=-0.0034 left_gripper=0.9998 right_x=0.4162 right_y=0.175 right_z=0.1319 right_yaw=0.0367 right_pitch=-0.0642 right_roll=-0.0396 right_gripper=0.9996 state[joint_eff]: [-0.0889, -1.5521, 6.7761, 1.8242, -0.0659, 0.0073, -0.0171, 0.1983, -7.8701, 8.5949, 1.79, 0.2857, 0.2711, -0.0513] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.15,"right_z":0.15},"note":"The yellow ball is clearly visible in the right wrist view, a few centimetres short of the fingertips and slightly to the gripper’s right. I’ll advance outward and shift right to center the jaws over it before descending."})
tool
executing move_to over 4 steps (0.4s)
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 ball is now centered on the jaw column and has moved down to the fingertip region in the wrist view. I’ll descend vertically to its mid-height while keeping the gripper fully open.
move_to
right_x0.4600right_y0.1500right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4091, -0.0216, -0.0383, 0.9998, 0.4309, 1.697, 1.1305, -0.1703, 0.3504, 0.2298, 0.9996] state[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1743 left_yaw=0.0048 left_pitch=-0.019 left_roll=-0.0021 left_gripper=0.9998 right_x=0.4482 right_y=0.1432 right_z=0.1346 right_yaw=0.0105 right_pitch=-0.1007 right_roll=-0.0571 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.265, 7.1726, 1.7314, -0.0024, -0.0562, -0.0171, 0.4855, -7.9111, 9.1829, 1.7216, 0.0366, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.15,"right_z":0.03},"note":"The ball is now centered on the jaw column and has moved down to the fingertip region in the wrist view. I’ll descend vertically to its mid-height while keeping the gripper fully open."})
tool
executing move_to over 7 steps (0.7s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe requested vertical descent stalled near 14 cm, indicating an awkward long-reach configuration rather than contact. I’ll retract 1–2 cm and add a modest forward wrist pitch while descending partway, which should let the arm unfold toward the ball.
move_to
right_x0.4400right_y0.1500right_z0.0800right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4133, -0.0219, -0.0383, 0.9998, 0.4252, 1.7042, 1.1503, -0.1707, 0.3237, 0.2096, 0.9996] state[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0232 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4526 right_y=0.1472 right_z=0.1385 right_yaw=0.0379 right_pitch=-0.097 right_roll=-0.0516 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.746, -0.0464, -0.0317, -0.0122, -0.1709, -8.3487, 8.8821, 1.6874, 0.0659, -0.0464, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.15,"right_z":0.08,"right_pitch":0.3},"note":"The requested vertical descent stalled near 14 cm, indicating an awkward long-reach configuration rather than contact. I’ll retract 1–2 cm and add a modest forward wrist pitch while descending partway, which should let the arm unfold toward the ball."})
tool
executing move_to over 14 steps (1.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe arm successfully reached about 6 cm above the table, and the ball remains centered between the open jaws. I’ll make the final short descent to the ball’s center height.
move_to
right_x0.4400right_y0.1500right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0219, -0.0383, 0.9998, 0.4854, 1.8778, 0.6666, 0.778, 0.4381, 0.107, 0.9996] state[eef_state]: left_x=0.2887 left_y=0.002 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0408 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4323 right_y=0.1474 right_z=0.0591 right_yaw=0.0557 right_pitch=0.1916 right_roll=-0.0821 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.4427, 7.0906, 1.8144, -0.0562, 0.0024, -0.0122, 0.2393, -7.8291, 4.9299, 2.1612, 0.2711, -0.1001, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.15,"right_z":0.025,"right_pitch":0.3},"note":"The arm successfully reached about 6 cm above the table, and the ball remains centered between the open jaws. I’ll make the final short descent to the ball’s center height."})
tool
executing move_to over 4 steps (0.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe yellow ball is centered between the jaws at the correct height, with both fingertips flanking it. I’ll close the gripper to secure it, then verify the settled opening before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4347, -0.0219, -0.0391, 0.9998, 0.4854, 2.0789, 0.6525, 1.1358, 0.4416, 0.094, 0.9996] state[eef_state]: left_x=0.288 left_y=0.002 left_z=0.1676 left_yaw=0.0056 left_pitch=-0.0503 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4435 right_y=0.1526 right_z=0.0433 right_yaw=0.0443 right_pitch=0.3212 right_roll=-0.0338 right_gripper=0.9996 state[joint_eff]: [0.0752, -1.4701, 7.0359, 1.7607, -0.0073, -0.0659, -0.0122, 0.1983, -5.7641, 3.8632, 0.6716, 0.1929, -0.3687, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The yellow ball is centered between the jaws at the correct height, with both fingertips flanking it. I’ll close the gripper to secure it, then verify the settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe closed reading is 0.017, so the jaws closed empty; the wrist view now shows the ball just beyond the closed fingertips. I’ll reopen and advance about 2.5 cm outward for one corrected grasp attempt.
move_to
right_x0.4700right_y0.1500right_z0.0400right_pitch0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0219, -0.0391, 0.9998, 0.4854, 2.0907, 0.6521, 1.1503, 0.4343, 0.0933, 0.0174] state[eef_state]: left_x=0.2856 left_y=0.0021 left_z=0.1642 left_yaw=0.0056 left_pitch=-0.0675 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4434 right_y=0.1539 right_z=0.0409 right_yaw=0.0508 right_pitch=0.3223 right_roll=-0.0316 right_gripper=0.0174 state[joint_eff]: [-0.0479, -1.1966, 7.1726, 1.8486, -0.0757, -0.0806, -0.0122, -0.1026, -9.7436, 4.0137, 1.6337, 0.1148, -0.0317, 0.7399] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.15,"right_z":0.04,"right_pitch":0.3,"right_gripper":1.0},"note":"The closed reading is 0.017, so the jaws closed empty; the wrist view now shows the ball just beyond the closed fingertips. I’ll reopen and advance about 2.5 cm outward for one corrected grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteAfter the outward correction, the ball fills the lower center of the wrist view and sits symmetrically between the open fingers at their tips. I’ll close for the corrected grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0219, -0.0387, 0.9998, 0.4419, 2.1025, 0.7296, 1.0573, 0.3817, 0.083, 0.9945] state[eef_state]: left_x=0.2845 left_y=0.0021 left_z=0.1627 left_yaw=0.0054 left_pitch=-0.0747 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4637 right_y=0.1506 right_z=0.0387 right_yaw=0.0624 right_pitch=0.2908 right_roll=-0.0383 right_gripper=0.9945 state[joint_eff]: [-0.0205, -1.2103, 6.9402, 1.746, -0.0513, -0.0659, -0.0171, -0.6632, -8.2393, 6.0513, 2.0586, 0.188, 0.1099, 0.0269] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the outward correction, the ball fills the lower center of the wrist view and sits symmetrically between the open fingers at their tips. I’ll close for the corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe gripper settled at 0.536, consistent with holding the roughly 5 cm ball. I’ll lift it well clear of the table and confirm that it moves with the right gripper.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0219, -0.0387, 0.9998, 0.4446, 2.1075, 0.7311, 1.0492, 0.3626, 0.086, 0.5361] state[eef_state]: left_x=0.2823 left_y=0.0021 left_z=0.1597 left_yaw=0.0054 left_pitch=-0.09 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4625 right_y=0.1549 right_z=0.0347 right_yaw=0.081 right_pitch=0.278 right_roll=-0.0337 right_gripper=0.5361 state[joint_eff]: [0.0068, -1.3197, 7.0632, 1.7607, -0.0269, -0.0122, -0.0171, -0.5812, -9.853, 3.8906, 1.8828, 0.2222, -0.0855, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The gripper settled at 0.536, consistent with holding the roughly 5 cm ball. I’ll lift it well clear of the table and confirm that it moves with the right gripper."})
tool
executing move_to over 6 steps (0.6s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe yellow ball lifted with the gripper, confirming the grasp. I’ll carry it high over the center of the open safe, retracting from the far edge and moving left toward the red compartment.
move_to
right_x0.3400right_y0.2800right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0219, -0.0383, 0.9998, 0.4446, 1.8435, 0.7597, 0.709, 0.3614, 0.0853, 0.5332] state[eef_state]: left_x=0.2812 left_y=0.0022 left_z=0.1583 left_yaw=0.0052 left_pitch=-0.0972 left_roll=-0.0 left_gripper=0.9998 right_x=0.4568 right_y=0.1524 right_z=0.0919 right_yaw=0.0868 right_pitch=0.2332 right_roll=-0.0515 right_gripper=0.5332 state[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7265, -0.0806, -0.022, -0.0122, -0.1162, -10.7692, 8.0889, 2.3126, 0.1099, -0.0904, -0.1587] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.28,"right_z":0.18,"right_pitch":0.0},"note":"The yellow ball lifted with the gripper, confirming the grasp. I’ll carry it high over the center of the open safe, retracting from the far edge and moving left toward the red compartment."})
tool
executing move_to over 11 steps (1.1s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe ball is visible on the table in the right wrist view, so it slipped free despite briefly blocking the jaws; I won’t count it as placed. I’ll park and reopen the right arm, restore the left arm’s height, and next load the easier plush object from the left side.
move_to
right_x0.2930right_y0.0000right_z0.1780right_pitch0.0000right_gripper1.0000left_x0.2930left_y0.0000left_z0.1780
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.495, -0.0219, -0.0387, 0.9998, 0.9264, 1.6505, 1.145, -0.3225, 0.6762, 0.4511, 0.5349] state[eef_state]: left_x=0.279 left_y=0.0022 left_z=0.155 left_yaw=0.0055 left_pitch=-0.114 left_roll=0.0001 left_gripper=0.9998 right_x=0.3409 right_y=0.2756 right_z=0.1561 right_yaw=0.1351 right_pitch=-0.0333 right_roll=-0.1212 right_gripper=0.5349 state[joint_eff]: [-0.0615, -1.4017, 6.9265, 1.8095, -0.0415, -0.0513, -0.0171, 0.1573, -8.6906, 9.4017, 1.9951, 0.3541, 0.442, 0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.293,"right_y":0.0,"right_z":0.178,"right_pitch":0.0,"right_gripper":1.0,"left_x":0.293,"left_y":0.0,"left_z":0.178},"note":"The ball is visible on the table in the right wrist view, so it slipped free despite briefly blocking the jaws; I won’t count it as placed. I’ll park and reopen the right arm, restore the left arm’s height, and next load the easier plush object from the left side."})
tool
executing move_to over 23 steps (2.3s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteWith both arms clear, the white plush is visible near the front-left corner, separate from the brown bear and yellow ball. I’ll position the open left gripper above it for wrist-camera alignment.
move_to
left_x0.2000left_y-0.1100left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0269, 0.8803, 0.6796, -0.5629, -0.0223, -0.057, 0.9998, -0.0544, 0.8066, 0.6018, -0.3992, -0.0372, -0.1707, 0.9989] state[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1551 left_yaw=0.0083 left_pitch=-0.183 left_roll=-0.0114 left_gripper=0.9998 right_x=0.2926 right_y=-0.0058 right_z=0.1716 right_yaw=0.0687 right_pitch=-0.0248 right_roll=-0.1202 right_gripper=0.9989 state[joint_eff]: [-0.6769, -1.2923, 10.4684, 1.8486, -0.1245, 0.0317, -0.0171, -0.1436, -1.8803, 7.2821, 1.873, -0.1783, -0.0122, 0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.20,"left_y":-0.11,"left_z":0.14,"left_gripper":1.0},"note":"With both arms clear, the white plush is visible near the front-left corner, separate from the brown bear and yellow ball. I’ll position the open left gripper above it for wrist-camera alignment."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe white plush is centered at the very bottom of the left wrist view, directly beneath the open fingertips. I’ll descend vertically to its mid-height without changing the lateral alignment.
move_to
left_x0.2000left_y-0.1100left_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9768, 0.8429, 0.6376, -0.8364, -0.58, -0.7563, 0.9997, -0.0555, 0.8108, 0.6014, -0.4324, -0.0418, -0.1833, 0.999] state[eef_state]: left_x=0.1987 left_y=-0.1148 left_z=0.13 left_yaw=-0.0763 left_pitch=-0.2266 left_roll=0.0118 left_gripper=0.9997 right_x=0.288 right_y=-0.005 right_z=0.1637 right_yaw=0.0785 right_pitch=-0.0627 right_roll=-0.1229 right_gripper=0.999 state[joint_eff]: [0.1573, -1.0872, 8.9231, 0.9988, -0.6569, -0.1392, -0.0366, -0.1026, -1.5932, 7.0359, 2.0147, -0.0171, 0.0611, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2,"left_y":-0.11,"left_z":0.04},"note":"The white plush is centered at the very bottom of the left wrist view, directly beneath the open fingertips. I’ll descend vertically to its mid-height without changing the lateral alignment."})
tool
executing move_to over 6 steps (0.6s)
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 noteAt 4 cm height the white plush remains centered between both left fingertips. I’ll close the gripper and check for a non-empty settled 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]: [-0.9535, 0.9005, 0.3145, -0.5152, -0.572, -0.7418, 0.9997, -0.0555, 0.8116, 0.6014, -0.4549, -0.0418, -0.1837, 0.999] state[eef_state]: left_x=0.1922 left_y=-0.0993 left_z=0.0386 left_yaw=-0.0544 left_pitch=-0.2694 left_roll=0.0655 left_gripper=0.9997 right_x=0.2847 right_y=-0.0048 right_z=0.159 right_yaw=0.079 right_pitch=-0.0858 right_roll=-0.1201 right_gripper=0.999 state[joint_eff]: [0.4718, -1.2923, 6.5436, 1.3455, -0.2906, 0.0562, -0.0122, -0.1299, -1.347, 7.1043, 1.8437, -0.0806, -0.0171, -0.0171] 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":0.0},"note":"At 4 cm height the white plush remains centered between both left fingertips. I’ll close the gripper and check for a non-empty settled width."})
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 left gripper settled at 0.112, well above an empty close and consistent with pinching a thin part of the white plush. I’ll lift it about 7 cm to confirm it comes off the table.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9543, 0.9024, 0.2955, -0.4976, -0.5682, -0.7666, 0.1115, -0.0555, 0.8116, 0.6014, -0.4782, -0.0418, -0.1837, 0.9989] state[eef_state]: left_x=0.1905 left_y=-0.0982 left_z=0.0333 left_yaw=-0.0426 left_pitch=-0.2734 left_roll=0.0491 left_gripper=0.1115 right_x=0.2811 right_y=-0.0046 right_z=0.1546 right_yaw=0.0793 right_pitch=-0.1089 right_roll=-0.1169 right_gripper=0.9989 state[joint_eff]: [0.0752, -0.8137, 7.6376, 0.9646, -0.4811, 0.1392, 0.0855, -0.0615, -1.2786, 6.9402, 1.8584, -0.0855, -0.0611, -0.0171] 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_z":0.1},"note":"The left gripper settled at 0.112, well above an empty close and consistent with pinching a thin part of the white plush. I’ll lift it about 7 cm to confirm it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe white plush rose with the left gripper and is visibly hanging from it, confirming the grasp. I’ll carry it high over the center of the safe’s lower red compartment.
move_to
left_x0.3100left_y-0.3100left_z0.1800left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.955, 0.8272, 0.4992, -0.762, -0.5613, -0.7712, 0.1111, -0.0555, 0.8116, 0.6014, -0.5003, -0.0418, -0.1837, 0.999] state[eef_state]: left_x=0.1918 left_y=-0.102 left_z=0.0896 left_yaw=-0.0482 left_pitch=-0.2692 left_roll=0.0302 left_gripper=0.1111 right_x=0.2776 right_y=-0.0044 right_z=0.1504 right_yaw=0.0796 right_pitch=-0.1308 right_roll=-0.1139 right_gripper=0.999 state[joint_eff]: [0.0068, -1.3333, 8.6359, 1.0623, -0.3639, 0.022, -0.0513, -0.1026, -0.8684, 7.241, 1.8242, -0.0611, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.31,"left_z":0.18,"left_pitch":0.0},"note":"The white plush rose with the left gripper and is visibly hanging from it, confirming the grasp. I’ll carry it high over the center of the safe’s lower red compartment."})
tool
executing move_to over 19 steps (1.9s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe left gripper is centered over the open safe and the held plush is hidden beneath it, as expected. I’ll lower into the red compartment while keeping the grasp closed until the object is supported.
move_to
left_x0.3100left_y-0.3100left_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0889, 1.6939, 1.2602, -0.5568, -0.7906, -0.8009, 0.1111, -0.0551, 0.8154, 0.601, -0.5232, -0.0418, -0.1837, 0.9989] state[eef_state]: left_x=0.3028 left_y=-0.3004 left_z=0.1631 left_yaw=-0.0443 left_pitch=-0.0492 left_roll=0.037 left_gripper=0.1111 right_x=0.2739 right_y=-0.0041 right_z=0.145 right_yaw=0.0805 right_pitch=-0.1576 right_roll=-0.1102 right_gripper=0.9989 state[joint_eff]: [-0.6906, -8.1299, 8.8547, 1.16, -0.6813, 0.2125, -0.0171, -0.1026, -1.5658, 6.9265, 1.79, -0.0855, -0.0708, -0.0171] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.31,"left_z":0.07},"note":"The left gripper is centered over the open safe and the held plush is hidden beneath it, as expected. I’ll lower into the red compartment while keeping the grasp closed until the object is supported."})
tool
executing move_to over 7 steps (0.7s)
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 gripper reached 7.8 cm over the compartment, low enough for the hanging plush to be supported inside without dropping far. I’ll open the jaws to release it into the safe.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0855, 1.8427, 1.0897, -0.2584, -0.7868, -0.7971, 0.1111, -0.0551, 0.8162, 0.601, -0.5461, -0.0418, -0.1837, 0.999] state[eef_state]: left_x=0.307 left_y=-0.3062 left_z=0.0775 left_yaw=-0.0441 left_pitch=-0.0627 left_roll=0.0567 left_gripper=0.1111 right_x=0.2701 right_y=-0.0039 right_z=0.1407 right_yaw=0.0811 right_pitch=-0.1811 right_roll=-0.107 right_gripper=0.999 state[joint_eff]: [0.294, -7.8017, 5.2171, 1.2918, -0.3394, 0.0171, -0.0122, -0.0615, -1.3197, 7.2, 1.7949, -0.0659, -0.0366, -0.0073] 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":{"left_gripper":1.0},"note":"The gripper reached 7.8 cm over the compartment, low enough for the hanging plush to be supported inside without dropping far. I’ll open the jaws to release it into the safe."})
tool
executing move_to over 9 steps (0.9s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe plush is no longer pinched and appears below the open fingertips in the left wrist view. I’ll retract both arms to their parked poses so the overhead camera can verify whether it stayed in the safe.
move_to
left_x0.2930left_y0.0000left_z0.1780left_pitch0.0000right_x0.2930right_y0.0000right_z0.1780
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0851, 1.8641, 1.0779, -0.2623, -0.783, -0.8013, 0.9951, -0.0555, 0.8165, 0.601, -0.5682, -0.0418, -0.1837, 0.999] state[eef_state]: left_x=0.3044 left_y=-0.3021 left_z=0.0646 left_yaw=-0.0411 left_pitch=-0.084 left_roll=0.0837 left_gripper=0.9951 right_x=0.2663 right_y=-0.0038 right_z=0.1367 right_yaw=0.0813 right_pitch=-0.2034 right_roll=-0.1039 right_gripper=0.999 state[joint_eff]: [-0.0615, -10.865, 6.7624, 1.1111, -0.4322, 0.0073, -0.0415, 0.0068, -1.0598, 7.0222, 1.7216, -0.0904, -0.0415, -0.0171] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.0,"left_z":0.178,"left_pitch":0.0,"right_x":0.293,"right_y":0.0,"right_z":0.178},"note":"The plush is no longer pinched and appears below the open fingertips in the left wrist view. I’ll retract both arms to their parked poses so the overhead camera can verify whether it stayed in the safe."})
tool
executing move_to over 27 steps (2.7s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteThe overhead view shows the white plush fell just left of the safe; the actual receiving tray is the red section extending toward the bottom of the image, not the upright red lid. I’ll re-approach the white plush at its new front-left position, then place it farther back toward the near tray.
move_to
left_x0.1800left_y-0.0400left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0723, 0.8021, 0.5713, -0.3885, -0.1284, -0.0143, 0.9963, -0.0257, 0.9539, 0.7746, -0.6762, -0.0338, -0.1829, 0.9989] state[eef_state]: left_x=0.2897 left_y=0.0053 left_z=0.1619 left_yaw=0.0275 left_pitch=-0.0356 left_roll=0.0799 left_gripper=0.9963 right_x=0.281 right_y=0.0023 right_z=0.1566 right_yaw=0.1061 right_pitch=-0.2752 right_roll=-0.0994 right_gripper=0.9989 state[joint_eff]: [0.0752, -1.935, 9.4564, 1.9072, 0.0708, 0.1099, 0.1148, 0.2667, -1.8803, 10.0581, 1.7802, 0.0757, 0.1587, -0.0171] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.18,"left_y":-0.04,"left_z":0.12,"left_gripper":1.0},"note":"The overhead view shows the white plush fell just left of the safe; the actual receiving tray is the red section extending toward the bottom of the image, not the upright red lid. I’ll re-approach the white plush at its new front-left position, then place it farther back toward the near tray."})
tool
executing move_to over 9 steps (0.9s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteThe white plush is directly below the left fingertips at the bottom of the wrist image, while the upright red lid is off to the right. I’ll descend at this corrected position for a second grasp.
move_to
left_x0.1900left_y-0.0400left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8017, 0.4198, 0.4248, -0.8799, -0.6727, -0.5797, 0.9985, -0.0254, 0.9585, 0.7734, -0.7013, -0.0345, -0.1837, 0.999] state[eef_state]: left_x=0.191 left_y=-0.0339 left_z=0.1211 left_yaw=0.0425 left_pitch=-0.0653 left_roll=0.0658 left_gripper=0.9985 right_x=0.2762 right_y=0.0027 right_z=0.151 right_yaw=0.1088 right_pitch=-0.3058 right_roll=-0.095 right_gripper=0.999 state[joint_eff]: [-14.735, 2.359, 6.5436, 1.5946, -0.8816, -0.0952, -0.1734, -0.3624, -2.4957, 6.8308, 1.7118, -0.0562, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.19,"left_y":-0.04,"left_z":0.03},"note":"The white plush is directly below the left fingertips at the bottom of the wrist image, while the upright red lid is off to the right. I’ll descend at this corrected position for a second grasp."})
tool
executing move_to over 6 steps (0.6s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe left wrist view is filled by the red safe lid rather than a loose object, so I will stop probing that area and clear the left arm. I’ll simultaneously bring the right gripper over the clearly visible brown teddy for the next pickup.
move_to
left_x0.2930left_y0.0000left_z0.1780right_x0.2000right_y0.2200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8635, 0.4183, 0.1627, -0.6197, -0.6918, -0.6476, 0.998, -0.0254, 0.9596, 0.7731, -0.7242, -0.0349, -0.1837, 0.9989] state[eef_state]: left_x=0.1944 left_y=-0.0484 left_z=0.0572 left_yaw=0.0308 left_pitch=-0.0525 left_roll=0.0209 left_gripper=0.998 right_x=0.2718 right_y=0.0029 right_z=0.147 right_yaw=0.1102 right_pitch=-0.3299 right_roll=-0.0913 right_gripper=0.9989 state[joint_eff]: [-0.6222, 1.4427, -0.1162, 0.3834, -0.5739, -0.0464, -0.0611, -0.1846, -2.1949, 6.735, 1.5751, -0.0757, -0.0415, -0.0171] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.0,"left_z":0.178,"right_x":0.2,"right_y":0.22,"right_z":0.15,"right_gripper":1.0},"note":"The left wrist view is filled by the red safe lid rather than a loose object, so I will stop probing that area and clear the left arm. I’ll simultaneously bring the right gripper over the clearly visible brown teddy for the next pickup."})
tool
executing move_to over 19 steps (1.9s)
step 241
top_cam
camera top_cam step 241
left_cam
camera left_cam step 241
right_cam
camera right_cam step 241
assistant
agent noteThe brown teddy is centered between the open right fingers in the wrist view; the white plush is also now clearly visible outside the safe at the lower-left. I’ll descend onto the teddy’s torso for a broad, secure grasp.
move_to
right_x0.2000right_y0.2200right_z0.0450
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0776, 0.8303, 0.614, -0.4816, -0.1246, -0.0978, 0.9979, 1.1412, 1.3327, 1.0172, -0.9478, 0.5545, 0.823, 0.999] state[eef_state]: left_x=0.2833 left_y=0.0036 left_z=0.1554 left_yaw=0.0656 left_pitch=-0.1114 left_roll=0.0206 left_gripper=0.9979 right_x=0.1962 right_y=0.2135 right_z=0.1398 right_yaw=0.1435 right_pitch=-0.3683 right_roll=-0.1297 right_gripper=0.999 state[joint_eff]: [0.1436, -1.6752, 9.6479, 1.7949, 0.1148, 0.188, -0.022, 0.1846, -4.7248, 8.3897, 0.735, 0.4957, 0.1734, -0.1148] 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":0.2,"right_y":0.22,"right_z":0.045},"note":"The brown teddy is centered between the open right fingers in the wrist view; the white plush is also now clearly visible outside the safe at the lower-left. I’ll descend onto the teddy’s torso for a broad, secure grasp."})
tool
executing move_to over 7 steps (0.7s)
step 248
top_cam
camera top_cam step 248
left_cam
camera left_cam step 248
right_cam
camera right_cam step 248
assistant
agent noteThe teddy’s torso now fills the gap between both right fingertips at about 4.5 cm height. I’ll close around the soft body and verify the retained width.
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]: [-0.0734, 0.836, 0.6151, -0.495, -0.1165, -0.0982, 0.9978, 1.1416, 1.4616, 0.7498, -0.6106, 0.5442, 0.8192, 0.9989] state[eef_state]: left_x=0.2816 left_y=0.0035 left_z=0.1518 left_yaw=0.0636 left_pitch=-0.1298 left_roll=0.0176 left_gripper=0.9978 right_x=0.1923 right_y=0.2091 right_z=0.0456 right_yaw=0.1308 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9989 state[joint_eff]: [-0.335, -1.8803, 7.0496, 1.7558, -0.1538, -0.0611, -0.0171, -0.3214, -4.9162, 6.0376, 0.8718, 0.359, -0.0464, -0.0171] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The teddy’s torso now fills the gap between both right fingertips at about 4.5 cm height. I’ll close around the soft body and verify the retained width."})
tool
executing move_to over 10 steps (1.0s)
step 258
top_cam
camera top_cam step 258
left_cam
camera left_cam step 258
assistant
agent noteThe 0.017 reading shows the jaws closed through the gap between the teddy’s limbs rather than on fabric. I’ll reopen and shift a few centimetres left onto the solid side of its torso for one corrected grasp.
move_to
right_y0.2450right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5095, -0.1165, -0.0982, 0.9978, 1.1416, 1.4765, 0.7345, -0.6117, 0.5343, 0.8124, 0.0171] state[eef_state]: left_x=0.2792 left_y=0.0038 left_z=0.1491 left_yaw=0.0642 left_pitch=-0.1442 left_roll=0.0196 left_gripper=0.9978 right_x=0.1884 right_y=0.2041 right_z=0.0368 right_yaw=0.1275 right_pitch=-0.4342 right_roll=-0.2077 right_gripper=0.0171 state[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7509, -0.0659, -0.0366, -0.0122, -0.0479, -6.5026, 6.8034, 0.6569, 0.3541, 0.0513, 0.735] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.245,"right_z":0.04,"right_gripper":1.0},"note":"The 0.017 reading shows the jaws closed through the gap between the teddy’s limbs rather than on fabric. I’ll reopen and shift a few centimetres left onto the solid side of its torso for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteThe correction moved a dense section of the teddy’s body into the jaw span rather than the white-tagged limb gap. I’ll close again and check the opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5175, -0.1165, -0.1017, 0.9978, 1.1973, 1.6112, 0.8642, -0.6712, 0.5377, 0.8658, 0.9947] state[eef_state]: left_x=0.2779 left_y=0.0039 left_z=0.1476 left_yaw=0.0663 left_pitch=-0.1521 left_roll=0.0182 left_gripper=0.9978 right_x=0.1848 right_y=0.2334 right_z=0.0343 right_yaw=0.1233 right_pitch=-0.4573 right_roll=-0.2405 right_gripper=0.9947 state[joint_eff]: [-0.2393, -1.1692, 7.1863, 1.6874, -0.1148, -0.0171, -0.0122, 0.4855, -5.4359, 8.1436, 0.6569, 0.3101, 0.1392, -0.1294] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The correction moved a dense section of the teddy’s body into the jaw span rather than the white-tagged limb gap. I’ll close again and check the opening."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteThe second close was also empty; the overhead view indicates the jaw tips are still short of the teddy’s dense body. I’ll reopen and advance about 3 cm outward, returning laterally toward its center for a final grasp at the solid lower torso.
move_to
right_x0.2200right_y0.2200right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5217, -0.1165, -0.102, 0.9978, 1.1976, 1.6188, 0.8696, -0.675, 0.5339, 0.8646, 0.0169] state[eef_state]: left_x=0.2772 left_y=0.0039 left_z=0.1469 left_yaw=0.0666 left_pitch=-0.1562 left_roll=0.0185 left_gripper=0.9978 right_x=0.1843 right_y=0.2341 right_z=0.0332 right_yaw=0.1232 right_pitch=-0.4636 right_roll=-0.2452 right_gripper=0.0169 state[joint_eff]: [-0.0342, -1.388, 6.9402, 1.5995, -0.1001, -0.0415, -0.0122, -0.0889, -6.9402, 4.9709, 0.5446, 0.3004, -0.0073, 0.735] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.22,"right_z":0.045,"right_gripper":1.0},"note":"The second close was also empty; the overhead view indicates the jaw tips are still short of the teddy’s dense body. I’ll reopen and advance about 3 cm outward, returning laterally toward its center for a final grasp at the solid lower torso."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteAfter the outward correction, the teddy’s dense lower torso lies directly between the open fingertips rather than beyond them. I’ll close now and use the retained width as the grasp check.
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]: [-0.0731, 0.8368, 0.6147, -0.5327, -0.1165, -0.1055, 0.9978, 1.0584, 1.6085, 0.865, -0.6666, 0.4999, 0.7166, 0.9948] state[eef_state]: left_x=0.2753 left_y=0.004 left_z=0.1445 left_yaw=0.0688 left_pitch=-0.1683 left_roll=0.0176 left_gripper=0.9978 right_x=0.2113 right_y=0.2102 right_z=0.0321 right_yaw=0.0936 right_pitch=-0.5063 right_roll=-0.2938 right_gripper=0.9948 state[joint_eff]: [-0.1436, -1.4017, 6.9265, 1.6337, -0.105, -0.0024, -0.0122, -0.3214, -8.1846, 6.9265, 0.8571, 0.2662, 0.0024, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"After the outward correction, the teddy’s dense lower torso lies directly between the open fingertips rather than beyond them. I’ll close now and use the retained width as the grasp check."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteThe jaws again closed through the teddy’s lengthwise central gap. I’ll reopen and rotate the gripper 90 degrees so the jaws close across the limbs and torso instead of along that gap.
move_to
right_yaw1.5700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5396, -0.1165, -0.1085, 0.9978, 1.0542, 1.6066, 0.8646, -0.6682, 0.4892, 0.7074, 0.018] state[eef_state]: left_x=0.2742 left_y=0.0041 left_z=0.1433 left_yaw=0.0707 left_pitch=-0.175 left_roll=0.0164 left_gripper=0.9978 right_x=0.2106 right_y=0.21 right_z=0.0316 right_yaw=0.1001 right_pitch=-0.5164 right_roll=-0.2918 right_gripper=0.018 state[joint_eff]: [0.0068, -1.4017, 6.8855, 1.6093, -0.1001, 0.022, -0.0122, 0.2803, -6.2701, 5.5179, 0.6032, 0.3199, 0.0366, 0.823] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":1.57,"right_gripper":1.0},"note":"The jaws again closed through the teddy’s lengthwise central gap. I’ll reopen and rotate the gripper 90 degrees so the jaws close across the limbs and torso instead of along that gap."})
tool
executing move_to over 10 steps (1.0s)
step 308
assistant
agent noteWith the gripper rotated, the teddy now spans across the jaw gap and both fingers overlap solid plush sections. I’ll close across its body in this orientation.
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]: [-0.0731, 0.8368, 0.6147, -0.5552, -0.1162, -0.1093, 0.9978, 0.6121, 1.3792, 0.6155, -0.3729, -0.1879, -0.8841, 0.9945] state[eef_state]: left_x=0.2715 left_y=0.0043 left_z=0.1405 left_yaw=0.0712 left_pitch=-0.1906 left_roll=0.0178 left_gripper=0.9978 right_x=0.2168 right_y=0.1969 right_z=0.0242 right_yaw=1.3506 right_pitch=-0.552 right_roll=-0.2607 right_gripper=0.9945 state[joint_eff]: [-0.1709, -1.2923, 6.8581, 1.6972, -0.0659, -0.0073, -0.0122, -0.1026, -4.3556, 7.7333, 0.9011, -0.2369, -0.0122, 0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"With the gripper rotated, the teddy now spans across the jaw gap and both fingers overlap solid plush sections. I’ll close across its body in this orientation."})
tool
executing move_to over 10 steps (1.0s)
step 318
assistant
agent noteThe rotated jaws still closed empty because the grasp point was only 2 cm high, underneath the teddy’s raised torso and between its legs. I’ll reopen and raise to about 7.5 cm so the jaws close through the thick body rather than at table level.
move_to
right_z0.0750right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5625, -0.1162, -0.1108, 0.9978, 0.6094, 1.3933, 0.6205, -0.3824, -0.1913, -0.8883, 0.0189] state[eef_state]: left_x=0.2702 left_y=0.0043 left_z=0.1393 left_yaw=0.0722 left_pitch=-0.1977 left_roll=0.0178 left_gripper=0.9978 right_x=0.2156 right_y=0.1959 right_z=0.0211 right_yaw=1.3613 right_pitch=-0.5642 right_roll=-0.2452 right_gripper=0.0189 state[joint_eff]: [-0.0752, -1.2239, 6.8581, 1.6386, -0.105, -0.0464, -0.0122, 0.1573, -5.7641, 5.3949, 1.1209, -0.105, 0.0171, 0.7741] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075,"right_gripper":1.0},"note":"The rotated jaws still closed empty because the grasp point was only 2 cm high, underneath the teddy’s raised torso and between its legs. I’ll reopen and raise to about 7.5 cm so the jaws close through the thick body rather than at table level."})
tool
executing move_to over 10 steps (1.0s)
step 328
assistant
agent noteAt the higher grasp point, the rotated fingers visibly flank the teddy’s thick central body instead of the gaps near the table. I’ll close at this height.
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]: [-0.0731, 0.8368, 0.6147, -0.5701, -0.1165, -0.1127, 0.9978, 0.6094, 1.3121, 0.7467, -0.6243, -0.1913, -0.8894, 0.9946] state[eef_state]: left_x=0.2689 left_y=0.0045 left_z=0.138 left_yaw=0.0739 left_pitch=-0.2052 left_roll=0.0178 left_gripper=0.9978 right_x=0.21 right_y=0.1919 right_z=0.0607 right_yaw=1.3774 right_pitch=-0.5892 right_roll=-0.2175 right_gripper=0.9946 state[joint_eff]: [-0.294, -1.3607, 7.0222, 1.5995, -0.1197, -0.0513, -0.0122, 0.0479, -5.6274, 8.4308, 0.9841, -0.1685, -0.0317, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At the higher grasp point, the rotated fingers visibly flank the teddy’s thick central body instead of the gaps near the table. I’ll close at this height."})
tool
executing move_to over 10 steps (1.0s)
step 338
assistant
agent noteThe teddy remains just beyond the fingertips even at the raised pose, so repeated pinching is not productive. With the gripper closed behind its body, I’ll sweep it left into the open red safe compartment instead.
move_to
right_x0.1700right_y0.4000right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5838, -0.1162, -0.1131, 0.9978, 0.6094, 1.309, 0.7471, -0.6498, -0.1913, -0.8894, 0.0178] state[eef_state]: left_x=0.2665 left_y=0.0046 left_z=0.1356 left_yaw=0.0742 left_pitch=-0.2188 left_roll=0.0193 left_gripper=0.9978 right_x=0.2054 right_y=0.1887 right_z=0.0594 right_yaw=1.3879 right_pitch=-0.605 right_roll=-0.1988 right_gripper=0.0178 state[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6093, -0.0904, -0.0464, -0.0122, -0.1846, -4.0274, 6.106, 1.1746, -0.1441, -0.0562, 0.7497] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.17,"right_y":0.4,"right_z":0.06},"note":"The teddy remains just beyond the fingertips even at the raised pose, so repeated pinching is not productive. With the gripper closed behind its body, I’ll sweep it left into the open red safe compartment instead."})
tool
executing move_to over 18 steps (1.8s)
step 356
assistant
agent noteThe sweep carried the gripper into the red compartment, but the teddy remained just outside because the tool was too high to drive its body. I’ll lift and return to the teddy’s right side, then make a lower sweep into the box.
move_to
right_x0.2200right_y0.1800right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8368, 0.614, -0.5884, -0.1165, -0.1127, 0.9978, 1.1564, 1.8465, 1.2724, -0.6235, 0.0135, -0.4057, 0.0208] state[eef_state]: left_x=0.2656 left_y=0.0048 left_z=0.1345 left_yaw=0.0745 left_pitch=-0.2241 left_roll=0.0207 left_gripper=0.9978 right_x=0.168 right_y=0.385 right_z=0.0538 right_yaw=1.4136 right_pitch=-0.6374 right_roll=-0.1968 right_gripper=0.0208 state[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.5116, -0.0806, -0.0464, -0.0122, 0.4171, -8.5265, 7.8701, 1.1355, 0.0611, 0.188, 1.033] 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":{"right_x":0.22,"right_y":0.18,"right_z":0.12,"right_yaw":0.0},"note":"The sweep carried the gripper into the red compartment, but the teddy remained just outside because the tool was too high to drive its body. I’ll lift and return to the teddy’s right side, then make a lower sweep into the box."})
tool
executing move_to over 18 steps (1.8s)
step 374
assistant
agent noteThe right gripper is now directly to the teddy’s right with its body centered ahead in the wrist view. I’ll lower the closed tool to table level behind the plush so the next lateral motion pushes rather than passes above it.
move_to
right_x0.2200right_y0.1800right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5922, -0.1165, -0.1131, 0.9978, 0.9146, 1.4723, 1.0794, -1.0405, 0.3485, 0.6445, 0.0208] state[eef_state]: left_x=0.2649 left_y=0.0048 left_z=0.1336 left_yaw=0.0749 left_pitch=-0.229 left_roll=0.0211 left_gripper=0.9978 right_x=0.2131 right_y=0.1837 right_z=0.1026 right_yaw=0.0666 right_pitch=-0.6491 right_roll=-0.2406 right_gripper=0.0208 state[joint_eff]: [-0.335, -1.4291, 6.8171, 1.5409, -0.1197, -0.0415, -0.0122, -0.2393, -7.5419, 9.0051, 0.6569, 0.3932, 0.188, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.18,"right_z":0.02},"note":"The right gripper is now directly to the teddy’s right with its body centered ahead in the wrist view. I’ll lower the closed tool to table level behind the plush so the next lateral motion pushes rather than passes above it."})
tool
executing move_to over 6 steps (0.6s)
step 380
assistant
agent noteThe closed fingertips are now at table level immediately behind the teddy’s body. I’ll sweep left across the table into the safe opening, keeping the tool low so the plush moves with it.
move_to
right_x0.2000right_y0.4000right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5926, -0.1165, -0.1131, 0.9978, 0.9127, 1.5455, 0.815, -0.7238, 0.3702, 0.6376, 0.0208] state[eef_state]: left_x=0.2648 left_y=0.0048 left_z=0.1335 left_yaw=0.0749 left_pitch=-0.2293 left_roll=0.0212 left_gripper=0.9978 right_x=0.2086 right_y=0.1711 right_z=0.0241 right_yaw=0.0438 right_pitch=-0.6475 right_roll=-0.2812 right_gripper=0.0208 state[joint_eff]: [-0.0752, -1.3333, 6.8034, 1.4676, -0.0952, -0.0317, -0.0122, -0.6496, -5.0393, 5.4906, 0.5397, 0.315, -0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2,"right_y":0.4,"right_z":0.02},"note":"The closed fingertips are now at table level immediately behind the teddy’s body. I’ll sweep left across the table into the safe opening, keeping the tool low so the plush moves with it."})
tool
executing move_to over 20 steps (2.0s)
step 400
assistant
agent noteThe teddy stayed to the right of the arm, showing the previous start point was on its safe-side rather than behind it. I’ll lift and reposition farther to the image-right of the teddy before making one final low sweep toward the safe.
move_to
right_x0.2200right_y0.1000right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8387, 0.614, -0.6075, -0.1165, -0.1131, 0.9978, 1.2259, 2.2818, 1.7908, -1.1954, 0.4786, 0.9806, 0.0208] state[eef_state]: left_x=0.2622 left_y=0.005 left_z=0.1309 left_yaw=0.0754 left_pitch=-0.2448 left_roll=0.0236 left_gripper=0.9978 right_x=0.2119 right_y=0.3598 right_z=0.0243 right_yaw=-0.0483 right_pitch=-0.5959 right_roll=-0.4393 right_gripper=0.0208 state[joint_eff]: [-0.1846, -1.388, 6.7897, 1.5849, -0.105, -0.0464, -0.0122, 3.3299, -10.6598, 7.9932, 1.0916, -0.2808, 0.2271, 1.0281] camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.1,"right_z":0.1},"note":"The teddy stayed to the right of the arm, showing the previous start point was on its safe-side rather than behind it. I’ll lift and reposition farther to the image-right of the teddy before making one final low sweep toward the safe."})
tool
executing move_to over 22 steps (2.2s)
step 422
assistant
agent noteThe overhead view now confirms the right gripper is on the teddy’s image-right side, the correct side for a leftward push. I’ll lower to table level while holding this lateral position.
move_to
right_x0.2200right_y0.1000right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8387, 0.614, -0.614, -0.1165, -0.1131, 0.9978, 0.7647, 1.3289, 0.9009, -1.0321, 0.469, 0.495, 0.0223] state[eef_state]: left_x=0.261 left_y=0.0051 left_z=0.1298 left_yaw=0.0757 left_pitch=-0.2512 left_roll=0.0246 left_gripper=0.9978 right_x=0.2184 right_y=0.1039 right_z=0.0951 right_yaw=-0.0741 right_pitch=-0.6043 right_roll=-0.432 right_gripper=0.0223 state[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.6239, -0.1148, -0.0513, -0.0122, -0.1162, -4.7795, 6.2564, 0.5495, 0.3346, -0.0904, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 422): [image omitted: streamed camera frame] camera 'left_cam' (step 422): [image omitted: streamed camera frame] camera 'right_cam' (step 422): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.22,"right_y":0.1,"right_z":0.02},"note":"The overhead view now confirms the right gripper is on the teddy’s image-right side, the correct side for a leftward push. I’ll lower to table level while holding this lateral position."})
tool
executing move_to over 5 steps (0.5s)
step 427
assistant
agent noteThe low closed fingertips now overlap the teddy from its right side. I’ll sweep left into the red safe compartment, which should drive the plush ahead of the gripper.
move_to
right_x0.2000right_y0.4000right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0731, 0.8387, 0.614, -0.6159, -0.1165, -0.1131, 0.9978, 0.7517, 1.4223, 0.6754, -0.7753, 0.4587, 0.4709, 0.0233] state[eef_state]: left_x=0.2606 left_y=0.0051 left_z=0.1295 left_yaw=0.0757 left_pitch=-0.2531 left_roll=0.0248 left_gripper=0.9978 right_x=0.2061 right_y=0.0905 right_z=0.0227 right_yaw=-0.1007 right_pitch=-0.6591 right_roll=-0.4925 right_gripper=0.0233 state[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.4579, -0.0952, -0.0659, -0.0122, -0.4171, -4.2462, 5.6, 0.5446, 0.3199, 0.0024, 0.9841] camera 'top_cam' (step 427): [image omitted: streamed camera frame] camera 'left_cam' (step 427): [image omitted: streamed camera frame] camera 'right_cam' (step 427): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2,"right_y":0.4,"right_z":0.02},"note":"The low closed fingertips now overlap the teddy from its right side. I’ll sweep left into the red safe compartment, which should drive the plush ahead of the gripper."})
tool
executing move_to over 26 steps (2.6s)
step 453
assistant
agent noteI could not complete the task safely within the remaining control budget. The white plush, brown teddy, and yellow ball are still not all inside the safe, and the safe therefore cannot be closed without trapping objects in the hinge or outside the compartment.
give_up
hindsightThe safe body is along the far-left edge and its red door opens diagonally onto the table; the receiving cavity is at the left edge, not the center of the red door. For this scene, the brown teddy has large gaps between its limbs: table-level closes, even after a 90-degree yaw, pass through empty. Approach several centimetres farther outward and grasp the raised torso near z≈0.06–0.08, or push from clearly image-right at z≈0.02. The yellow ball needs an outward correction beyond x≈0.46 for the right arm and a partial close near its diameter; a full close can eject it while leaving a misleading temporarily wide gripper reading.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0612, 0.8417, 0.614, -0.63, -0.1509, -0.1089, 0.9977, 1.2549, 2.4775, 2.1239, -1.4628, 0.4828, 1.0382, 0.0235] state[eef_state]: left_x=0.2578 left_y=0.0144 left_z=0.1271 left_yaw=0.1154 left_pitch=-0.266 left_roll=0.0569 left_gripper=0.9977 right_x=0.206 right_y=0.3779 right_z=0.0267 right_yaw=-0.1401 right_pitch=-0.6072 right_roll=-0.565 right_gripper=0.0235 state[joint_eff]: [-1.4974, -1.5248, 6.8034, 1.6581, 0.8034, -0.0611, -0.0171, 2.1265, -11.3573, 7.3915, 0.6374, 0.1197, 0.1832, 0.9841] camera 'top_cam' (step 453): [image omitted: streamed camera frame] camera 'left_cam' (step 453): [image omitted: streamed camera frame] camera 'right_cam' (step 453): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the task safely within the remaining control budget. The white plush, brown teddy, and yellow ball are still not all inside the safe, and the safe therefore cannot be closed without trapping objects in the hinge or outside the compartment.","hindsight":"The safe body is along the far-left edge and its red door opens diagonally onto the table; the receiving cavity is at the left edge, not the center of the red door. For this scene, the brown teddy has large gaps between its limbs: table-level closes, even after a 90-degree yaw, pass through empty. Approach several centimetres farther outward and grasp the raised torso near z≈0.06–0.08, or push from clearly image-right at z≈0.02. The yellow ball needs an outward correction beyond x≈0.46 for the right arm and a partial close near its diameter; a full close can eject it while leaving a misleading temporarily wide gripper reading."})
tool
give_up: I could not complete the task safely within the remaining control budget. The white plush, brown teddy, and yellow ball are still not all inside the safe, and the safe therefore cannot be closed without trapping objects in the hinge or outside the compartment.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.048 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
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{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0338, 0.9998, -0.0212, 0.7937, 0.6064, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1778 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.388, 10.359, 1.9414, -0.0562, 0.2027, -0.0366, -0.3214, -1.5932, 9.7299, 1.8926, -0.0611, -0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae62704dcb5207a8ff5e9130338ba77bb3e791a228d97231316db756a8bde250",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a801f70779bf4ca58c28d821d38437e998d8afc893c0e207cb89777e4c92bba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba5e12369002f1ce20a86b132d615e27266f0dff0db09ca0f3b3a88580ce48fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
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call 1 attempt 0 · /responses · status 200 · 3.952 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEhp-y2E77x8PY0gP5cMftPOsO3iKUuaxOLKwse6-yVwKo-TrAvPX4wD1y38AVxVKU8Lw4XlsXct9-sltmG8QPR2E1VgBhYnshAPz0ziQvCsl63QBn-s3xVy7fvgdR7Yvu48FZpNJsn8SkhXkDJ5vVSc6PRDP9JdTsmockWegikmq7KR9Ii7fFmhbeRH8RS9wn_gDjhNko2ld09zSUhgUY4QlZPdSua47VBrfZgu0XG76nJwlBt4cs_nctMasa3w315v2kc2L4TPnQpORnpKnk-PZrDgSTR01sehKeSlIngRWnUgqRz840xQcF-yO-MgUi1sbNcu5iXqLhNatV86J4yv_mBzz4ac4qEM5aqQctf58QVHEfC_BvLOFW4uzXgt9dTArBsOcPTQyKDN1YaUjekuQHfHd5_o_FLu0SDofLsr8OsoVZEMpWOHqH6tYKNf72m-ZRwCWgBR_fGFFqQZxa14zJH9Ss3Jwpx-cF6Q2lFuc7YsEsG42AU8OoP1Pmeh-pcKaptGaVOgl5x8vO-x1YhGnHpySVztwocwhMyazUA521TfOSN684k0IYa3L-Dwxf6sAxDXwrNoTNxJWPrqc6okZ1Xv8Dqi4_-s66NhG6mxlvItXuQSlzxhtQS58TNqdm877TrTpuibh5p73mrdDEUaamUoBsBGcqSGD5ZkYHjJvhkawrk7ti7do-KwaRGhGbwi9sxpARD926sRUxVYyWkOts_DTjzBb8s6k3Q78l7DHDeAgwYLrVwY2Qn27XsBcBZUmYV3HaPut51PntMh0lJHUDvKfAL4GrI--1m48pSsAjCBUoCIdwvmTP2Fb79WjSsFxN2UobujCw5EOpjCMDIhCx2reOCMdrOJcaoZmw2Atv9wiW-QpfKhcf4Y4bTQ5Pf_nbR9utZTrgMjDSDcxxfD5rZdDYuooqlI9KLG_lBmpFXc6Zx6Czph-23qPYM3BetEfnUaJYOTysRhB13Ods1ITptClTd5bd8d9Nh3qP5RrR1kc9rGyBEvMshryj6WBw_ox9q8Sl6z1l_StGkuFw3VlfyT81zLxr-9X-goCeI8EHQlS39OV2vG1qo-1fJaqecUWoZq_ji-e89LyiFvxm8ShXEgv6Sh8rp53ST24-Qb6W8WrOUiGxy3mqotH73eGDl2nmfFy7MPEq_SPSZVvNojNIo63FFWrhITmWsk0Z4lo2PvsCM_Tm5z7_FjOc5vm6864WHS5fj993xhMBIVkKXk1DIhBlz-YkGcLjl4kZZN0xwFcI5y4RUGjcgZ5TOyZuR7qhgodCxXf2NurAVbMaVGjq2ig6dn_HSXX7Q59adv3I0l6upyxmPddP4lDd3aEljG5ff_8DIz9E3sYmQusXEmkM2TGlcgGnRQTX5x69MtzGsYwPz0-u2zwsN84CgcNNam",
  "id": "rs_02e07f37acd5dfe7016ab44867f28087d0b756ee6a7ba03de9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The open red safe is near the center, with a yellow ball to its upper-right and plush objects in front and to the left. I’ll first bring the right gripper above the isolated yellow ball, keeping it open for a careful wrist-camera alignment.\"}",
  "call_id": "call_INd7e4DhGu19S1cG7LANZhIQ",
  "id": "fc_02e07f37acd5dfe7016ab44868478c87d0af891800c956957c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_INd7e4DhGu19S1cG7LANZhIQ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9998, 0.551, 1.6363, 1.0275, -0.1131, 0.4221, 0.2977, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.016 left_roll=-0.0034 left_gripper=0.9998 right_x=0.4162 right_y=0.175 right_z=0.1319 right_yaw=0.0367 right_pitch=-0.0642 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5521, 6.7761, 1.8242, -0.0659, 0.0073, -0.0171, 0.1983, -7.8701, 8.5949, 1.79, 0.2857, 0.2711, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78c7d0aa5a439bad2ca5bbc189bb117ee07039630cc75081553a30490767d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a70f62c9fdff5bc7760bf6c788e98ff859c5e6a138067ac96366561897c701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4196fe8c38ee552c2ccdc9932a0737f73f42d9f638ef3c547c7abe99733f5a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.445 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0338, 0.9998, -0.0212, 0.7937, 0.6064, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1778 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.388, 10.359, 1.9414, -0.0562, 0.2027, -0.0366, -0.3214, -1.5932, 9.7299, 1.8926, -0.0611, -0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9998, 0.551, 1.6363, 1.0275, -0.1131, 0.4221, 0.2977, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.016 left_roll=-0.0034 left_gripper=0.9998 right_x=0.4162 right_y=0.175 right_z=0.1319 right_yaw=0.0367 right_pitch=-0.0642 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5521, 6.7761, 1.8242, -0.0659, 0.0073, -0.0171, 0.1983, -7.8701, 8.5949, 1.79, 0.2857, 0.2711, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d78c7d0aa5a439bad2ca5bbc189bb117ee07039630cc75081553a30490767d8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a70f62c9fdff5bc7760bf6c788e98ff859c5e6a138067ac96366561897c701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4196fe8c38ee552c2ccdc9932a0737f73f42d9f638ef3c547c7abe99733f5a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEhuLAZ2gGurKUuEsVGAy7LBMFUfzMCA2AJ25fEMMIe8yvZ9f9V6TYTBVf7wpnw0YSNpzQAZlksx1BdtQY2l3lG5NHyOEERbKrWmaEvfv0X0RX7VSC_azNIQ-0f96Sanz_iQD8Lks4qru3hZ0O7LN7lYv7Rs3HUKsARpJjUpKrcohfij6KwiCaMUzXAfODdYm8StLJfTGk8cqOtUFS2bfpzWmZfV72lFCOvAHjcgu_Tz-MEWTNTrfPk_XhLGELdInHsLJ1dlB142hOC1U6gXfeFs0CafP4Mekwd5bFcvaCcCqs91_98YvTy0KPzBm05Pq2UJMbsvnzye3sA1wVBxeByyZrgbhZ2r7xls0JGK7GfHPBbL2WH9YYVaPDYgC6cPvaCEXMRH9qf118o2Obto6FA77Mi8ab3qm5jVIlTSYmyJqaNzCHVhtuy3HZWVzhqm0E4YuxuQ3dDdENSvYnAqqWanwrRRscnoWNL8GL63YYPqelqPsw5EBZ0O2uJp8SG4uGvwr3Jk19ikH7ePMEqtErAciBMVmyAz6BOvsJsfXAKOKHpBXQZfDmHrEMWcLUS4CN311BHvFke11_R0pYVyntbUIvNAySpniqkzJtWqE_OyNAibKze0IC8eezrb-9A7CxgnVcF_o5Fw5GuWnI5TxfEa9rcQHc3D-k-sqjHPlIxUMa-key8NdqHmd2KVXOlI02RqaBRW8BLbT767f2JWNasq-C-zdeirf0Eh37c7ZEnuNQXiLMwFZDbUwjX_D_v7yaKzOkQyzG8LZQg_7gtCePkXu7G1JNmgWr0hsgqMm2hoIw6p2bPhKnSO7Pv2chqX9Sl139YII_XWjxHUDzKPu6ar0yEpZQuqpfylyuR7mPjOc7zLbckytIx8PuH5tA9D8brHSCIQhMO7GMTiYbud8vZ4-QyczD3FN-xXXyqgvg6nvGuvQ-yez0ZdS3fVmj9wEl3v0Ga2D_XunuPe-7nrLiLc-r-0j05Kx9qpD_yRdCzpz0cyZrMFRvb8A3KceyWocyqG1wU88R2EtSBgfLmGKoZCykEvwxfJgwe2rAkpjeV41jAmEPd97_hJ2wt3LPzJq7RhfDjNVByKziE-U7YOZDhWVDlukP5APeuDqlcRVutMnuA7GGQ0kHmPxk8Gq2zl007srXSIyhPJYs-c0VVuIyHA3CmFT5jrwtv18_6i6EFfyOsfQE-dFVWzG5QxM_g9jXDCDTjc_6wHD-ISv6fJZpCflzuYZRF_ipSDQa9CbANB8vpFzh7sfLaXo7DTFtOswgcG7JurLL1Iv3ddg8B1-Nqu-ssTwwLSUDtJ3iuuz99Vc28UQu15bnAtaJwwSxhcISHfM5hntgqZ81Qa265jTmm7hzl2eQcg68FMbbdPpbE45VoLchq-OqvefV5Px_8JVOg0z5_smhNjgjit20PKRjC8R0fYSG3SkHKMUIM6A46mJB4qTK89Tf_3sn-H2mwpTqJYU8-5BVmOfOXEwMV6sNf7A5zbP-gwWXDlqrBWOUOsXgmcQEs6EllIc6hJY2Ru6AiTc1widX57boxRvtYsPCsXA0ER1D_wiL1rAYK4bcgBGGdem05_jxl3H9_qSWCWCsC1HjC-k9ltHYaMP5Ssh2wGLRyiWtWRU1x2T2l2_Ull6HsdPRwyrbjZ8KCHin98WVKcrCq0-dDWz7v7Wypj8-eh91hJx6OJRqBJocYVi9IKZ0Oq_K63guaW3yNRyFCdTbyMou2EW8-74mMtYX-AC1W-OeBObfmQT4IcuIVsGLBMhnNx1Wnn_dtws_NFcqG6hOyWRQLYRgc_y0p1C2XbNmdAvaVxH24k_RvkqiMf05T4wzmLW3n80AEpPPZ5iV2uUeYkuMpjakDnbAdI81MUf5K7YapmqA15qDTXjn3oooUerPh8zj35nvcI1VdnVo3nW8l5vIy85x0UzfJZh0eql29uEvPW27yyerZVrQ536mQpstOy7C7igX6k8BBmULRnQxKdYkKcFfPLy3je-B92Cjxmnc4LKmRlTUL4DIGib04u3cdS8FsJ7S6z8fS-Eb-8pCv10Hz_hSWxbVKwdisP0kwiXKPsUR7K2kyuptA1gkPWQYYqUsnxiS-X3u5pVbePEtRt",
  "id": "rs_02e07f37acd5dfe7016ab4486bc62c87d0bea96834a1dbbcec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.15},\"note\":\"The yellow ball is clearly visible in the right wrist view, a few centimetres short of the fingertips and slightly to the gripper’s right. I’ll advance outward and shift right to center the jaws over it before descending.\"}",
  "call_id": "call_moV9Hbkg3Nwb6YvTSJwCHvdt",
  "id": "fc_02e07f37acd5dfe7016ab4486df7e887d0af3dd2fe9c1c99da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_moV9Hbkg3Nwb6YvTSJwCHvdt",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4091, -0.0216, -0.0383, 0.9998, 0.4309, 1.697, 1.1305, -0.1703, 0.3504, 0.2298, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1743 left_yaw=0.0048 left_pitch=-0.019 left_roll=-0.0021 left_gripper=0.9998 right_x=0.4482 right_y=0.1432 right_z=0.1346 right_yaw=0.0105 right_pitch=-0.1007 right_roll=-0.0571 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.265, 7.1726, 1.7314, -0.0024, -0.0562, -0.0171, 0.4855, -7.9111, 9.1829, 1.7216, 0.0366, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d1480d71055fbca881f5c657f8ffa9d33da22b32377fadd6afadbcecb6bab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4455b3f36b893dea40e768e7a279625494cf378923525f13ea16034b4fe4a60b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c86081244b4ebf10ecbd43f23f8d819ee2c5f5c1d49dfa2c258799e96b5b29c",
      "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 · 5.492 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9998, 0.551, 1.6363, 1.0275, -0.1131, 0.4221, 0.2977, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.016 left_roll=-0.0034 left_gripper=0.9998 right_x=0.4162 right_y=0.175 right_z=0.1319 right_yaw=0.0367 right_pitch=-0.0642 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5521, 6.7761, 1.8242, -0.0659, 0.0073, -0.0171, 0.1983, -7.8701, 8.5949, 1.79, 0.2857, 0.2711, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4091, -0.0216, -0.0383, 0.9998, 0.4309, 1.697, 1.1305, -0.1703, 0.3504, 0.2298, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1743 left_yaw=0.0048 left_pitch=-0.019 left_roll=-0.0021 left_gripper=0.9998 right_x=0.4482 right_y=0.1432 right_z=0.1346 right_yaw=0.0105 right_pitch=-0.1007 right_roll=-0.0571 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.265, 7.1726, 1.7314, -0.0024, -0.0562, -0.0171, 0.4855, -7.9111, 9.1829, 1.7216, 0.0366, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d1480d71055fbca881f5c657f8ffa9d33da22b32377fadd6afadbcecb6bab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4455b3f36b893dea40e768e7a279625494cf378923525f13ea16034b4fe4a60b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c86081244b4ebf10ecbd43f23f8d819ee2c5f5c1d49dfa2c258799e96b5b29c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEhxiZ95SygaO6KS8w4M-TfTx3zdtOjMq2UW3cZMqWfd-eFnHlc--KbI6EXVFFmAwXJzerY4IexocbtdgPybJOyiOnBDAHPOOBQK68aCigTrLK_b7hVNQHrGbhC25u7IignpaCPzPBK2WuoVgc-lcDbcPcpzT5EjPrY1uRPBfGRpQrrCn3g6nIbf4nGM0NNen0uxutYFjJhYiwRPSyAPUKlblsyGF_XHJJWx3pzV9Dp2uLZocxY5ZF7-L0HTNA-C98UQrZiXYrwFVFfcLbjuCYgmEWCq4nMZiAT4jTKs9vSWLSJCrJycO2UjGVYojKB1AOtNLmU87Pqwz5MyyGo7sDLgGtCtIPSsjESRg_j0zzLVPHhkab_fhwIqnEo9thVoY18xw6dMUvOB6nHkOuorc96S434lUrtZGu7JQ9sHZv8E2VjR9wmwRHU0Oct3w1HqD70XP3heFnUWlwc1j39mAKkwJ6pnqpk5YCRELdT211Oalg4piH9mzY1aEIZClmz7tKfeyFGv_o43tbhP0bihW2xWIbtqveAUW9yB4PogPMrVHsBEjd_TqAl1HLRkthMGvxG1AKmb0CVXpU2ZY1OgAfISokUYf9zDjQEdQPybLuVPwC25SxX3KcCugqjRtBAxJ_iPinSX9gHg7OU4s1JgE4bpEuWHWzX47kDc1eUH2EQBT14Ql1EOnjGeEvpyUU9MhvHTlHLz2NJc1MoFREaYVaIUqmTM2q0EiFAsJhyYJ8CKvga3DNx71CbVpBitQ268Vs1F58dQ3JCOOirVjVKVLrxeDqFY3sXo6qgLBfKkungRPEkllGmYdOAIE3PvrDQyhUcJgNntSjrcdi0TaIFOsMqNssQmOTmBfXjXDgOp-dBP3jQGmLuKi11GzLR7DIfKHgoy4gQDHSvJj5Ag_DNED7swvH-kNtqEvl6hRhWfmGsVCf0aV7UMYA2KU_Jf41_x9lp0BullI63dRrNvxq-uDkivAMH8SaT1jqK-YuT7Cs78jXhQHmKHZ-ChsTiGnysqoMw2x9iUZKqivw7aMN3y4nqOA-Au88oMbeHXnaFeOiWAqazgoDhEfrloTlUzAJw24rWdubbIu3Kqk4KMk1rweTpY52nGGrlvxikyltpvvi3UWHIRRbctpJqLBREU4xrjIYBky4nOslH7Ev_wpQlpsgMScpnKYlldxR_TP9olXHS72Y96KsZCsstZQs87wG4ulju_4E2PFIBv2ZI96AfIKZhC_wGWnwA-l11hKpBn5a1E5dlmxp7GTYOCjKnLTyFmg2dx33BNAXJn2MEET9iS1mKpmYRyxUUFRU88f-c-ZPJTKIMvWmruyOMdquppvhxKXbBJ1g-r2xfkTD7dmFUgUpKPxzDZinTlqPKs3EazaLdKtxggDlqq9yWhWC3CiC4YRVT2Ub1Tfw2hJ_aP-s4PNExTAajxJEkB6wPUO4OzuF33ltdZQMYUvKKt0sIi3Dyjc4OCBdN3o7jz2uqGLLGOxccPKa8JAHeW3szQzk83Lb1WQWMyRoLk76kYPTX9wX4dxcvD-gyjTBHTHlYTARsIThpyBcS3uGa__c33LgN4GknMPraGAMXSJU-iTijabukINfvY",
  "id": "rs_02e07f37acd5dfe7016ab4486ff58c87d0ad203fe5061bfaab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.03},\"note\":\"The ball is now centered on the jaw column and has moved down to the fingertip region in the wrist view. I’ll descend vertically to its mid-height while keeping the gripper fully open.\"}",
  "call_id": "call_GRNRVAnM8JZAHWoX4v2km1ls",
  "id": "fc_02e07f37acd5dfe7016ab44870b6c087d0b82371449de9d481",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GRNRVAnM8JZAHWoX4v2km1ls",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4133, -0.0219, -0.0383, 0.9998, 0.4252, 1.7042, 1.1503, -0.1707, 0.3237, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0232 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4526 right_y=0.1472 right_z=0.1385 right_yaw=0.0379 right_pitch=-0.097 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.746, -0.0464, -0.0317, -0.0122, -0.1709, -8.3487, 8.8821, 1.6874, 0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfbc6d75b97c4707daea76dd2cbcb0c1f483b337d0badeed332ec2f6953e483",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec35bd8a3b20285384e5ecd53ca30dd3be829d5089641136f485f990ecfa4ea1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56eb8a95a818bbf3acd62e9f969aed6bb1b004f8c688630c27bdeb3ea66a48c",
      "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 · 2.791 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6037, -0.3916, -0.0193, -0.0338, 0.9998, -0.0212, 0.7937, 0.6064, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1778 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1778 right_yaw=0.0005 right_pitch=0.0 right_roll=-0.0001 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.388, 10.359, 1.9414, -0.0562, 0.2027, -0.0366, -0.3214, -1.5932, 9.7299, 1.8926, -0.0611, -0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4091, -0.0216, -0.0383, 0.9998, 0.4309, 1.697, 1.1305, -0.1703, 0.3504, 0.2298, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1743 left_yaw=0.0048 left_pitch=-0.019 left_roll=-0.0021 left_gripper=0.9998 right_x=0.4482 right_y=0.1432 right_z=0.1346 right_yaw=0.0105 right_pitch=-0.1007 right_roll=-0.0571 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.265, 7.1726, 1.7314, -0.0024, -0.0562, -0.0171, 0.4855, -7.9111, 9.1829, 1.7216, 0.0366, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4133, -0.0219, -0.0383, 0.9998, 0.4252, 1.7042, 1.1503, -0.1707, 0.3237, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0232 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4526 right_y=0.1472 right_z=0.1385 right_yaw=0.0379 right_pitch=-0.097 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.746, -0.0464, -0.0317, -0.0122, -0.1709, -8.3487, 8.8821, 1.6874, 0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfbc6d75b97c4707daea76dd2cbcb0c1f483b337d0badeed332ec2f6953e483",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec35bd8a3b20285384e5ecd53ca30dd3be829d5089641136f485f990ecfa4ea1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e56eb8a95a818bbf3acd62e9f969aed6bb1b004f8c688630c27bdeb3ea66a48c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEh3wXPLQMcVgXkbbiXRg3znYIK_jUCGHXnjSAuCsuEvMBeIWe94F0CWF84NNNq3dYU2TYnj3weAA-0Z79iuMWYElodN6t6CmLIocQBGFdivdJloWu68pNIEMkViHZMMZRrT90Fo95sPjsoE5krIKMZ1A_cN6fKntHR3gG1ZxCgEK4JIMxfqqvb4xLltVC4E7lwyR3SRFaj_wF62C8zaQG0XE2o4ArF36-mySR7XiaqDZ4NHeVl-p8XcEd-yFhLg3jeY7i-9MZNZqiw4PgFYmYL1jqbEcYHpF8AqEEeXP6ORkvDPzTzjLmXIXXKtfL6tBXG96t4bIma8suxMcf72dw7adRhjYUnlRN2LXn9Hu-jwHn8IuMJHf3-qi0IiHRR0CjdbNwqmCZdr91E8zKQceZuCR7DUi-9iYcteBqm84BK6W_IKF6HSJDkRKwbxGzKu2atWXaoawoZg1xxVXToYVLMjXuNB0_vF9pbWugw_glyJ78yeN2VH1VU3xH_qN1RicJbUQhk3qFQl9MlkLywdlJnEGGrBJb718TmTRib3WT6zDgYMKxDsRLr1W27wUaywaBGN07APG7g7O_p-zOMXEAysp5TKEmoLBzkSCJm2OR_pei6gdEKwXuFY98OJUsmE8DFKP6gDxZOzElXcpwL-BXZh-O5FL_Y8JBlo9yZtAeFTyEIySjm_cx625LHGwqDLOIkiDDYOL2dZReo82btO8GKDM4l4g6GeBEN3icn8qi3luxStt9iXdUkESHvDA76Er6AWJHT30A4ZIIYNgoaekDOXQFjSI_K7ehZ-0aJmE6LxzJEPsb_BMcgsvXj6T38j8EePuQwfiCOfuVtV6G1czNa3-kHNlydI9F6w5RQ8fLRDqt3udpSLLQod8JSM7WHC2yqsygSV-2wEJ5aPTUxQYvgE8PsbH6EuB_VwNqdUBpbaueiil9ybI8hrYvfNDYO9whRx3ix0hk-fd3ToFPJ51apAmuj3LO9K7hXx6N9wTRlZ9-vjyHvqu_FClz44K76vJIC5khtZJECB1AA8b1W8CWjNs_RWSDuvy6UZsXbQG6vrb5yhCsG4TspzEjdATH7DTZwwqB9lMj_QykRTtIkprmANPBSAhq9R667Yd1grWvzwRLRB498oImQvIMhL5O5X-iH7jL_gc4tvvqhGPBe9Oa6iq1EuA2_fI3c1E3OkF1cfVN1Tg6PbaznyzTH5J87_73SdGHde1xENqL20IEI5ZKBRGzlDNKUFCfig0pSfpms4JET4rydDeFxx9xHEhF5ZOeeaaFulxdDCxHZ797q-WtVl2zhPmO3BwKQMRBn-NM8YUIaXt8siEp_2XPrjRDAX-PUvrn8onTlZ2xg0yuYlw3iUqiYqpVhfl9OT2S9ZzO7IaYnc0GAgJXFXxnGzmlSrg0mPcNVFcOSH1QuXUIMCLd_6UiIhE-rCv6Yvvdunff4aw4QMGnso_4yFmU7mu2FkuOaBa_Vd4d03-VFzOcu9tcv2opQg0EQjCrPkENezu_SEDdyeZDC0p8heOcpFiqbCNoW8LD8FSinReBpX926nUdHsBpCvA_AmQIRoofJyxF8DtQRK_cMZltGmG59HxZBeoMuDtMfS2zL1_ETeQvW8YxFXJ-8Ydhge7g1-GjZmT96eLdSh7qTCfBIH5sFMTs6s8A7qUgPv12y68qvdF7Gr4XYTbF8d-r2Tdv5QnHO9-X10qHSJ7fG9wwbMzy67UN0dm02oKkVlv4gZZZ3DtSWqtRxXejjbokBxoykG9jo0gq1FaZuQe9szjId-EDYK2bJk3lD_Mf6gHaEoSV2pMIqZy_wFURzEhbiu-W9zX86OMQzBcGiF8BtZgYFktHkX5DQmqbGUa97DKcTaVusa0xGCnfrGl2LB10fymbZAZW8IQI6RQ5XzpcDCMoHrH9CM42vs0w9hvcdsCSDB1DeNs0H41lKeqPmSS3HkW_b0hQXrhHNAvXULohe3yNaSJQwcP9aM3Xywtn4qWm6CjVqAc_3qxiMlwMAn26pB3KMSfyjliSy5s3IgG1C3PB7zCiOKnFkNluKCg5PONm9eLKN9a8kKKYxyr5k_ynsy2vLfbT0DRHnP1f_JxwrpVEBIESk_VwEXI5c6oLXivcPaLG6i9XiKtmBUrMb6oDEGThncdqvU9k4vI3gk0AmmDZwsgnc90cK7UID22TFKe3tihZ2eSuW8vwjWS6aJoOMCN5soQDji068lKZ79QjRRyBHPXilG7V4LTJPSxUJ9Mn6Kn0otzQbAjWjqbc54FM4STjqCi0s7jrqE7mpPQZmPof6AVVa7zmjCjKnfn_p2JRSpd3IZ7rIaLBtLyLFOtIdfUJ8peRN0WqtcXEdy9zN8OdsGDndDbSIyXDu47EHwHtoU2bQbuqmNXo3scGWka_X4H1a2H86VqAI5IIjZFJiBtKB3jlVKX-vuAAtHCK9RD0G4haKnyyjEeXacqS0bP7M8gTIrXRugCBxPNNI3h8jgg8frud_P9jCeMsYFAtytFYFwhgXCyElpvwhLBtpkMfJVnb5NZA-QvQxlVTWHwbtl2uZ4HESlJIz5NKEiLmEeJoSiJBWqCHU-aM3tmSvzrdmtCXTJ_3MZsCZHxwcOBQqZlyCoW6nathCoqxQFus41uYPaKGyVlyB_b8aDmzhnmZLVFWKxIgP9GjG04SvLmQ-V-0RlL8kivpjb-bo08yuPnl2dOyfoYHx_sIZ3JVOz7t1Q-UJd2hQDqsXsEidrA6tKhZ-WubIDhiRGYEa7asMGu3koVp7-J3bmzafhTe2vTO5LdCz79NrLKJgi2nvStD1IE51mmytgKFh3T68K",
  "id": "rs_02e07f37acd5dfe7016ab44873ad1487d09c55651c6ea4a0a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.15,\"right_z\":0.08,\"right_pitch\":0.3},\"note\":\"The requested vertical descent stalled near 14 cm, indicating an awkward long-reach configuration rather than contact. I’ll retract 1–2 cm and add a modest forward wrist pitch while descending partway, which should let the arm unfold toward the ball.\"}",
  "call_id": "call_dm2CY6M1xYbxGJniNXPnTxvW",
  "id": "fc_02e07f37acd5dfe7016ab44876755087d0865af24386735cb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dm2CY6M1xYbxGJniNXPnTxvW",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0219, -0.0383, 0.9998, 0.4854, 1.8778, 0.6666, 0.778, 0.4381, 0.107, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.002 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0408 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4323 right_y=0.1474 right_z=0.0591 right_yaw=0.0557 right_pitch=0.1916 right_roll=-0.0821 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4427, 7.0906, 1.8144, -0.0562, 0.0024, -0.0122, 0.2393, -7.8291, 4.9299, 2.1612, 0.2711, -0.1001, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96b9835dcd1444b2116e6131c41c34942bf0f33b32997d781b02661492230d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ba7e6467042bcccf354ad9c6cb6bfc032be69c518ccfd4819b8050918a46f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0123fdf67dfce2cca558dcb702657214004ac2dad580b3cc369c2e944bf0c881",
      "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 · 2.562 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4065, -0.0189, -0.038, 0.9998, 0.551, 1.6363, 1.0275, -0.1131, 0.4221, 0.2977, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.016 left_roll=-0.0034 left_gripper=0.9998 right_x=0.4162 right_y=0.175 right_z=0.1319 right_yaw=0.0367 right_pitch=-0.0642 right_roll=-0.0396 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5521, 6.7761, 1.8242, -0.0659, 0.0073, -0.0171, 0.1983, -7.8701, 8.5949, 1.79, 0.2857, 0.2711, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4133, -0.0219, -0.0383, 0.9998, 0.4252, 1.7042, 1.1503, -0.1707, 0.3237, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0232 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4526 right_y=0.1472 right_z=0.1385 right_yaw=0.0379 right_pitch=-0.097 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.746, -0.0464, -0.0317, -0.0122, -0.1709, -8.3487, 8.8821, 1.6874, 0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0219, -0.0383, 0.9998, 0.4854, 1.8778, 0.6666, 0.778, 0.4381, 0.107, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.002 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0408 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4323 right_y=0.1474 right_z=0.0591 right_yaw=0.0557 right_pitch=0.1916 right_roll=-0.0821 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4427, 7.0906, 1.8144, -0.0562, 0.0024, -0.0122, 0.2393, -7.8291, 4.9299, 2.1612, 0.2711, -0.1001, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96b9835dcd1444b2116e6131c41c34942bf0f33b32997d781b02661492230d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ba7e6467042bcccf354ad9c6cb6bfc032be69c518ccfd4819b8050918a46f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0123fdf67dfce2cca558dcb702657214004ac2dad580b3cc369c2e944bf0c881",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEh7SOi34kr3IRuT-Rq43PY2QXQYdtKtkincaOxehwN6PS8mIiSXNjY2_8_bzWGaOuVcf035Poloc2ZzUP7JejrWdaap_UAAfoSDOsXou26DXqg_8Vnu_uiUg1hK8-IvCEJ7iB9c3E8iDTa30HxIRoMgiUxM22kby-qGypPAU4grYu7vLV2XwhYYtEhnUbMgqOUxbKprhOS73ACdzDEnyDARvE3QgE5hGz0kCVQwMaJ1C8q0hP4hgWKPa8Dnss13WWTjsE29-fY_G3YxcZId2QH1P7nz26sORlMU8Odsbok1T7huH7dx1sE8RfZRTfrmXoLq1pig-BeTJ8gLex9tGwOQkctwNrtbg5qo7ToxVSuGqzY1ZN8k4L9N_ZX4U74FlZJRzvuj5wgm6UpvRx9I9MRGDEXxarBmZgCXLxFVVzra2FGZxWPIrnYRhYPsUiRyQBbl48QCaYUo2LkTKHmXF7UnLKJXH6hkhbGPc7taTne8krwH754Cbrwy4Ob5l8lnSk8E2ZP64Y2gcQ5zkG0b_N9eSwA2T0gRqshx-BuEiFlfPDTiW51vjWKzmNE4KXBDDG1FVma02MpVVsJMesEfBTqujTO5aXh1nqY5wSw1A5pcBL-kT7J3p5d5F63RMa8NVC26pkE6snQoT-7OTy9t6h4OA3RytAdf7b8R6g2PnUQWTY0qeu8IXfBWOe6oehHdoOS63I9ETsQpurYsC40vcfPYMWOJ7asBfUnRhNmdh7VUBC6lDDcHzphCOKvJ04sDrVj8bG5g1OJ-ugUUYjbNZ9ZQYmVo9jhcz2oLpZbg0W1P6aD2DsJDVGz8HcrIJb8YNuTgavnr03d4LHFRooD8V3-k_MnnbhFrnECc8X0rWcYCseTbJ77TTfBsKPwxfP6DjC4Ob3Rl1fBXCKSu4Y7Ih1gkioOSpQL1m7ld-D4jUtrd7y7nRsPKG2HA58aG15A87hWanwwAIx2p-3wclyXHveJtBmZYNAVZscd7wcFqXt0xmd3KxBKoTZRLOdhvz2gX2CKsCKZeC5c0b2UV6E2tT-lrMjiPt5CWt5CDAtkY8dDpZwcN2-6Dfiw5-gZKo8bBrk4AsmFdnxV6BOLJFgsxyMt8ucPA-vODljb5ra_yRz5CnEdpi0XPJwJI2CKpaen1v9MaTZFS76JU5B_n0_SnLW0u3_-am94TJ-TTAzVhoUQg1zflgRl_2-sKhtzndfW_A9sNaOFLQRzi4n6qJKBC1MV0Th2nlUVqLlo2f80z7fKaCmjrd4kbPEOvmH2CUKUTzJ6lHdi2c-PfpER52HzRRGs1Jw4Fa2sBfhqVGE-zqIVxy62VBxiU8kNzQmc-KyHwzt_RDkNYrF83-9G5puuMgZtE9fmAS_d1v024cKorziPxjkAogQKF-HlapUx1rqJyIJ9fqbvrPMo5rx7eUiPWXY3JSGkf6DwQX-fQKS8eczuMblVt4lyD38_LJiAIe0DM6mxk9k90IRX_E1-hPuu3JD-ILvP_RJ9mLmT8APK0TZEOEzLgKgT17MSd5NrE0HP_DYHv0scSl-eEKSDwVpwrld4P6Q==",
  "id": "rs_02e07f37acd5dfe7016ab44879eb8887d09ec64bb0db9155fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.15,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The arm successfully reached about 6 cm above the table, and the ball remains centered between the open jaws. I’ll make the final short descent to the ball’s center height.\"}",
  "call_id": "call_hliRKgl703YELj20Pelwo81Z",
  "id": "fc_02e07f37acd5dfe7016ab4487ab14887d0a88d0a814c741a0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hliRKgl703YELj20Pelwo81Z",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4347, -0.0219, -0.0391, 0.9998, 0.4854, 2.0789, 0.6525, 1.1358, 0.4416, 0.094, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.002 left_z=0.1676 left_yaw=0.0056 left_pitch=-0.0503 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4435 right_y=0.1526 right_z=0.0433 right_yaw=0.0443 right_pitch=0.3212 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4701, 7.0359, 1.7607, -0.0073, -0.0659, -0.0122, 0.1983, -5.7641, 3.8632, 0.6716, 0.1929, -0.3687, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9bf5f739b90ae92b0d861019c364982febfc83e9ff6cda78ba2f005cdca788",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38e4d6f9430d765f8a371aa404f3e6758573e9600003b0d50e375a94c56e727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db5b5153ef9c5e47b919a0df667b78efec94b640d9e7ba448056652ff506761",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.707 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4091, -0.0216, -0.0383, 0.9998, 0.4309, 1.697, 1.1305, -0.1703, 0.3504, 0.2298, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1743 left_yaw=0.0048 left_pitch=-0.019 left_roll=-0.0021 left_gripper=0.9998 right_x=0.4482 right_y=0.1432 right_z=0.1346 right_yaw=0.0105 right_pitch=-0.1007 right_roll=-0.0571 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.265, 7.1726, 1.7314, -0.0024, -0.0562, -0.0171, 0.4855, -7.9111, 9.1829, 1.7216, 0.0366, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0219, -0.0383, 0.9998, 0.4854, 1.8778, 0.6666, 0.778, 0.4381, 0.107, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.002 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0408 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4323 right_y=0.1474 right_z=0.0591 right_yaw=0.0557 right_pitch=0.1916 right_roll=-0.0821 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4427, 7.0906, 1.8144, -0.0562, 0.0024, -0.0122, 0.2393, -7.8291, 4.9299, 2.1612, 0.2711, -0.1001, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4347, -0.0219, -0.0391, 0.9998, 0.4854, 2.0789, 0.6525, 1.1358, 0.4416, 0.094, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.002 left_z=0.1676 left_yaw=0.0056 left_pitch=-0.0503 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4435 right_y=0.1526 right_z=0.0433 right_yaw=0.0443 right_pitch=0.3212 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4701, 7.0359, 1.7607, -0.0073, -0.0659, -0.0122, 0.1983, -5.7641, 3.8632, 0.6716, 0.1929, -0.3687, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc9bf5f739b90ae92b0d861019c364982febfc83e9ff6cda78ba2f005cdca788",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c38e4d6f9430d765f8a371aa404f3e6758573e9600003b0d50e375a94c56e727",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db5b5153ef9c5e47b919a0df667b78efec94b640d9e7ba448056652ff506761",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEh-1Y8LDeH5CWIwtGHDbOFcnBrNmItfm3j7yMglpH8V-m8WQ_zg0otJXMRzCUbOiDXnq5EcVTuiDE3zxPdaTEVJLYA5u4pbde52teY1SVJTDeCR7HSDVFLZUo9CkSOLp-BcH7OoSprnUv_MJEOWIXpJ9NfqMEdmSyjPY5SZSkn_Vzn23xbBncy8dw3NbswVxe3inGTb1oJzefDWtnrUYPNnuzKaUUd3JTosKZticbpuMUIXo_e-LhiSPYnqObQniGXsSrAC02UgdZHIGPH58FTVa_JAq8TO6uRJtyO4aeL-y0WlOXIrUrv_iq2F583D_1Kkdcau31o0pHYksGKg4d7D9IpnJJbCWsq8qn2ljtCMJ8gxNLjgdS8qW7MX_yvKUIWYkFAaClDqvNzDMTbpnP6fm1S5qSbuvmu0xy53dO-yG8XK6uijpCxF5qnIz7siz3KX63RMWE9eAw3zQ4tADRUVPnlmnDGzGVXoyIPvvab_3lbXCV7jjJkNHqXrCrr8NTM5Bkful4w8Xsxz6oNy1hIp-ILvv_Hl3ngJ2vrMgQz3M06ROyN4ldFBsAjcDG5UdbKov8m4aSqXnEBG4Lxp6ZOWWdDnk2BTZnGHgAunsuCJ5BAGuBUX4nIMKufpNOuoNnNlJWE2u6zLdfPU14ueRhP1Dz84014prDhY1FNJMuCn1mewOkl3_9acSBviHXd7U8UnBoBuO-iL2i7lmhl_fa7iGy-NCK-5hqnmT-ngZwtWoxtS--2xt-4ida9FMB8oMkIr1nE-j8_U8BW9qOxdglqEhyarIY8uKtO91xJ5OD-dQXhwQ0xsKmASHKT5pyavVXtuATObOPbtOL5Rt9Ky_vxQKO0seK_nO7aX4U2rHwHN4poIMvz-VvwBxUMK66JzHQsJ3PBbMusYJUfXNF7KCMTJnweDxYAIA7LB_W43G7z6jbHDrLGzSC7WmSHt9LFN7RmFRuHLoqvhcm9FugjxJjTgl1XFuxxVfM7YhmjHerrDM_fhmm846e_3bwGiFRZfWHsdBvF_sZIo3OQKr_lBrpHw1fvXdFiMf0yghl9d2vkwBmRpz-ggr-wHyP4CtPQI59RT57AVCjeb9MIhv8w7uDG7iXdDEmsh2aeEXrjpQML0dlUHDAR3hiTTZ1LKsanPrwpKDTiXOywWiMWfHZEjIyCWauS0f6Um1aJDuF8gDFp2NbocpAmeioe_8_OAcK9X3CDa1VaEnu5LeLPy0MDRwKzGEEItq6hK4CGHdCpMRtuJ0htsdCSmY0_mwR0mOjyX67w-T0uLIuSWtu6r8IuOQ9e_vNiYsc7NkVugrvproD3d4gRu_9QLQvk7ufMsv9evZQcDwdTQ4ekypShAhSQaXVbvommHbY_kZpemZPKM6yPHFiWOQRXta5dxZaOn-LHpRPB6uQsk0c6wsQ8c7x-nTsxmto9_5GIRvWQZVxOJEzLyZmpu2GElEmw7YUsGNzYTMg-p01EAsZF3jl1VFUO_5-Oun_uDt7CZfRo6jhzpeHzs_GmPnBfmf1-kxlMTDhhKw_jb5peBRSUlHGx0txM0aaovmQrAwB5sW0EAZ37lZeUGoCB1TT1zs6wwDuLOlDq8sbVCXp1AlvIotDQT9ieDyIPibPxtCbbnef5AP4jN7fWI-H-IlvUImSsSHsQ6OxssJwYZWSK-STxl3OVzlqvUzSozM5RBDeKPYQ7PaRvKASEVZerPNl_QiTxofw1lVyZUC_0Da8N0ys9G1k2S8mQnxKCWFR07vwuuBlpVSDnYedPdhYE=",
  "id": "rs_02e07f37acd5dfe7016ab4487cf80c87d0bde7939428cffe0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The yellow ball is centered between the jaws at the correct height, with both fingertips flanking it. I’ll close the gripper to secure it, then verify the settled opening before lifting.\"}",
  "call_id": "call_XBLeCx0g5ocMm29V5O4I1mrz",
  "id": "fc_02e07f37acd5dfe7016ab4487ddbd887d093246e7b01bef8cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XBLeCx0g5ocMm29V5O4I1mrz",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0219, -0.0391, 0.9998, 0.4854, 2.0907, 0.6521, 1.1503, 0.4343, 0.0933, 0.0174]\nstate[eef_state]: left_x=0.2856 left_y=0.0021 left_z=0.1642 left_yaw=0.0056 left_pitch=-0.0675 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4434 right_y=0.1539 right_z=0.0409 right_yaw=0.0508 right_pitch=0.3223 right_roll=-0.0316 right_gripper=0.0174\nstate[joint_eff]: [-0.0479, -1.1966, 7.1726, 1.8486, -0.0757, -0.0806, -0.0122, -0.1026, -9.7436, 4.0137, 1.6337, 0.1148, -0.0317, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ee1014ec5276a732a75209486e1df80b34a45403be06429f43a3ae25d0cdc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0dbd595fc4870f8f61664821f089212b116c2b57588df58c08ceb30461cdd9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96e78a4b9182d98df26c547990c6c2fab26afd94b80e58ed486326b33720d77",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 2.816 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4133, -0.0219, -0.0383, 0.9998, 0.4252, 1.7042, 1.1503, -0.1707, 0.3237, 0.2096, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0232 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4526 right_y=0.1472 right_z=0.1385 right_yaw=0.0379 right_pitch=-0.097 right_roll=-0.0516 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.2239, 7.0222, 1.746, -0.0464, -0.0317, -0.0122, -0.1709, -8.3487, 8.8821, 1.6874, 0.0659, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4347, -0.0219, -0.0391, 0.9998, 0.4854, 2.0789, 0.6525, 1.1358, 0.4416, 0.094, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.002 left_z=0.1676 left_yaw=0.0056 left_pitch=-0.0503 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4435 right_y=0.1526 right_z=0.0433 right_yaw=0.0443 right_pitch=0.3212 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4701, 7.0359, 1.7607, -0.0073, -0.0659, -0.0122, 0.1983, -5.7641, 3.8632, 0.6716, 0.1929, -0.3687, -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 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0219, -0.0391, 0.9998, 0.4854, 2.0907, 0.6521, 1.1503, 0.4343, 0.0933, 0.0174]\nstate[eef_state]: left_x=0.2856 left_y=0.0021 left_z=0.1642 left_yaw=0.0056 left_pitch=-0.0675 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4434 right_y=0.1539 right_z=0.0409 right_yaw=0.0508 right_pitch=0.3223 right_roll=-0.0316 right_gripper=0.0174\nstate[joint_eff]: [-0.0479, -1.1966, 7.1726, 1.8486, -0.0757, -0.0806, -0.0122, -0.1026, -9.7436, 4.0137, 1.6337, 0.1148, -0.0317, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ee1014ec5276a732a75209486e1df80b34a45403be06429f43a3ae25d0cdc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0dbd595fc4870f8f61664821f089212b116c2b57588df58c08ceb30461cdd9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96e78a4b9182d98df26c547990c6c2fab26afd94b80e58ed486326b33720d77",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEiDL7qDFC3eE5lq3RV5Nq3QA2j0-X1JRRh4PfTDmDJYcf9RgB3SoHiojLzO97US9Q-necpQleculsW7zpLX5BpAJPN-TVvn60hJACU12rSVHeK7kR0KDAwQRaF_6_kqk1CM76r63oAWV4G2GSJxK1VckXB3y78hj9QBPzjHHPmHXGDINlnFmMpysrtIlTXh2yNqOWAVYuIXww-mpN7ZwzxWRqpEeAMP-spDSp4GKx9IapiwbUytcFPhQpUdBvHP7vD2zCDu9jdNcaJCMe1NRuy2dbSgKVmplHepJx8QXy6V3sha0yufNJLhHUL9-al9-UxqmbJMdKepd4LgoxapytvbTyXE5zPw2lmfV7ZGq7U8IGO6C513uIkBcAeQc2CVrsrwMkDh-vIQWurQctgIYutKK9yHx7Urbj2SfXNWxOvm1IwCvsICx67WJdjL4r7JBAASZ-yr2wyllPneashAEbj5MRHLJckBfLAh8wKuBiXopjbTcPBQWsp2Ona5LjMGzilyMZF6ATP727LbZrzLIh8ASOnrt9jgF5j9Ze2YCObdSZtAaRriXNTMMSig_iaSpiIDyqt6BmPpMt8K820kWId-ByWALOUb1puZgokBcT7YvAPADPeQ5P9nybn2Dnn-frMVuLbvaKiP-f2L2pisWrWC1wYvkQoWmZ1ZQKUmoEB7xW5wC277nOJfUijZVqv3Uw1K3HqvdvvL_ETI354j6JfEn3I-T70hggTwuZrNgSK51Kj5tzDpuaIVBzjtveYod3-nOauJDTltAnbWVhY5FaQccMojiuDkBah0r6JVn8H6FGbzgq7I0P_uV0XDIVY4ZNEwoS6rIt48ixUmZePUQxe0hpGAAyyjEN-JwwC9QRjlfTns5AIJ-NXfsM1CO0sbGPM2IOy5hDqf_7ykPVRjzfcwpyQQRIEX56UAuD_60H2ah-H3i5D4X9gET7jc4aI3_MFnuJlxnYqLwLpDXgGb-MgQW0sP_yKCLQNGtfWV6qrb74arKP5OGeNhwZ6derhD-hpPCbLznpUHJl3NPXVqlbN9oEi6ArJqDTy32Yf_ALVOR8g45TBZC_Il5YgPpNLTo6EZbYWWo7vUzYytb-28sGbJy2x08rNQVKeHt05LaNs7D0c_aAHXCZCmok8Z8X0mCuz15EE82Tw1PpDJDRR6qozkurzqc8f7F6lwedz1wp_4vMiLsUKBWWm1Qe5hJXpDp1iE7kNvUx_w0HtmKlc7686e4XA1hgS2usLvXDux3It86nFZ_P55NEuskCrgnXuFQMuQRBQoZksZhcHqNn265sv0L9D1-X8Yun5jaxuvLGY-Iw2l3D4C2It_NHVNPRrB-_jcJBnV8mj9sF6mZH1smYRAAJ5YJqGgtdcCLWYd-ibxbMjv9shEutPuBicBMN8BOIz1-jozyZoqyeOTx9GitVL3gmYCbydtwCPlAt-CDCSKHbmLZrza6GKWx5zCexqzXuhXq8ntHtHnK1Bg3WtpyynXNtv3FZB5aedYlDcGgATSUmt8m9Wb_rzzoanPkHkkJgIHWiUVV-jS4o1n63fSCOm-_buNa1bBSfBZ-fyIhvwas6a4vlGd0smwonsK_pTsOKXCJwziRAHjoNvShhYUBoTmFbhfl91xLWwJHMDzZQrgQsutdj6SLs51Em61s14n4bK9Au377_eiP28c7BjHLsthgUnRMFTcCtUjSOOT-BDGV_RnVJoOBAgN_2Dc8rF16WRh",
  "id": "rs_02e07f37acd5dfe7016ab4488133dc87d08d0c25ba137c5684",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.15,\"right_z\":0.04,\"right_pitch\":0.3,\"right_gripper\":1.0},\"note\":\"The closed reading is 0.017, so the jaws closed empty; the wrist view now shows the ball just beyond the closed fingertips. I’ll reopen and advance about 2.5 cm outward for one corrected grasp attempt.\"}",
  "call_id": "call_oRPVyNCOp0WppltkHGVjJ6of",
  "id": "fc_02e07f37acd5dfe7016ab44882258487d0b8566c31fc59f890",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oRPVyNCOp0WppltkHGVjJ6of",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0219, -0.0387, 0.9998, 0.4419, 2.1025, 0.7296, 1.0573, 0.3817, 0.083, 0.9945]\nstate[eef_state]: left_x=0.2845 left_y=0.0021 left_z=0.1627 left_yaw=0.0054 left_pitch=-0.0747 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4637 right_y=0.1506 right_z=0.0387 right_yaw=0.0624 right_pitch=0.2908 right_roll=-0.0383 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2103, 6.9402, 1.746, -0.0513, -0.0659, -0.0171, -0.6632, -8.2393, 6.0513, 2.0586, 0.188, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6451037b093a55d164f739a4a7a1e4ba5865f4d16d332530bba94e1be052d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9380632ccab972fdeffb195270f66de4803878ee7b9407c631786c66c24925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3184a3661f5c4c367f1e4377072a6d7bbaf808360715a8533513a13aa793f0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 2.309 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0219, -0.0383, 0.9998, 0.4854, 1.8778, 0.6666, 0.778, 0.4381, 0.107, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.002 left_z=0.1697 left_yaw=0.0051 left_pitch=-0.0408 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4323 right_y=0.1474 right_z=0.0591 right_yaw=0.0557 right_pitch=0.1916 right_roll=-0.0821 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.4427, 7.0906, 1.8144, -0.0562, 0.0024, -0.0122, 0.2393, -7.8291, 4.9299, 2.1612, 0.2711, -0.1001, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0219, -0.0391, 0.9998, 0.4854, 2.0907, 0.6521, 1.1503, 0.4343, 0.0933, 0.0174]\nstate[eef_state]: left_x=0.2856 left_y=0.0021 left_z=0.1642 left_yaw=0.0056 left_pitch=-0.0675 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4434 right_y=0.1539 right_z=0.0409 right_yaw=0.0508 right_pitch=0.3223 right_roll=-0.0316 right_gripper=0.0174\nstate[joint_eff]: [-0.0479, -1.1966, 7.1726, 1.8486, -0.0757, -0.0806, -0.0122, -0.1026, -9.7436, 4.0137, 1.6337, 0.1148, -0.0317, 0.7399]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0219, -0.0387, 0.9998, 0.4419, 2.1025, 0.7296, 1.0573, 0.3817, 0.083, 0.9945]\nstate[eef_state]: left_x=0.2845 left_y=0.0021 left_z=0.1627 left_yaw=0.0054 left_pitch=-0.0747 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4637 right_y=0.1506 right_z=0.0387 right_yaw=0.0624 right_pitch=0.2908 right_roll=-0.0383 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2103, 6.9402, 1.746, -0.0513, -0.0659, -0.0171, -0.6632, -8.2393, 6.0513, 2.0586, 0.188, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6451037b093a55d164f739a4a7a1e4ba5865f4d16d332530bba94e1be052d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9380632ccab972fdeffb195270f66de4803878ee7b9407c631786c66c24925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3184a3661f5c4c367f1e4377072a6d7bbaf808360715a8533513a13aa793f0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEiGQTgZGr613dXrnu4_R0OdLQOJt7udLGA0S9ogkKLiVtD_gDzChSKqbxsjtDWWFgcRTHzJOAxogvdVFag9UVY2aAAOfU52k23jpaYDaz7ccDQ7wOZKTXg2SjxYxnuCydM7v28YQKz4NyXHOZKtDs8GDsfN_RytMG-tgfXSPJ3AufV_rMLkILleUjQ243jjKOf965XnqlBBX-pWniX5ymqtOzpHlnBUXyDuTm_KPNaKymU_S9SmoGLHETbtrbB6I-5jfbA4dHX4vlpP4DiDa2juD2zrCTFRq7zNp93USBxM1NbdnVpymN-PzLstak4b_0LAZLL5WhMsyMo_VNjjZgHM5pI2XBXI9bzSxA3ghH7VZ1jgsCkS7hzryhTXKHgT7mruu5KdbDfe9qghJWX_jD-XQZ13r2nFBL0zUHWe2lIvcNh-NDIxKcujUyEWv2neYOA2-ZElJnvFSzuuSPZUza2CuLail1PpZNXzIPY_2x-VMsAGU65Y42MNfFe86UtSrpGRwdW_rgCt00-D86HVM3S4nVrUfOvOppn5us2F4lRd6eA4uGjNfpO_mQrJ50VABR71xGzrM0Rk16UXozt9ZTk_auwz0r5h1cpPbXk8zRJsDjb1-lJC3OxXmzdPa6RDfu-8NQtF_ypVWIe6n71uVr8iQ71_K20wpoGZcW30TTQMSPGrL5w8untgSWFsTA5Nhbmcm61RoDS4NvLzzogGKeGrP18zSl1KCYCV0eVYh8zfuYOB0JUeWNr20elDdmtpNNPY1nWKuPgVsQvu1dq-yDF3Q26pRD74IGpKSUQS8_Meq_ipnJ8JLxej2w7xJkRKukv9lowFtIMaCkYw8stZnVNNw0Ur5bytkIxHmPclLCqPHaC3ICXlOKgmTrnYQ3aLF_PzL0YQmxcI4SAT085WFVM3C-iS4YMjEPvTvF4Y8hnXpZbF0jH0Rloz8iMd1bjlMVGeElcmnaxhEX7Pl7l82TqvcB4E3ZwqbcJHr3RxnQ5iUzD8idKXriQFLSFAbDiJhFqEMrL1GQN6OENdvYy-JaynpuJdoKWKxUtFtPyeZj1l1olSH5iqSnYC5NsQKlhb9Cy9shpcOZKPfup5RYkDhT0aMZ_JcRidaMURwZfmlxRP1srkVqOyGeoGs3FNL48ar43QNE1ZsHv21w89BhDy8GHi71ZeLthoXFnRNbxKrWDzOxix0ELZpCOzozSDe0KMZhfLUK7k8PHVolfSyxaKplI1L86FekfNFVo8IuHU4Kx7MnU03E8YL8g69bFqIFJbdNQrTrzBRRWMohMbto-hFNQ_sccvPCDgfYesrHhwQiOyidbn8DpDs_7AdElf03cJYNLSHBObRKPTIQ00Qs4A4FgTFR9xo38DroOykgibzdmeg2HDpGFIRffbW_-OPHFf3MoZWUlzGC9CXrqT4ulFrk41i1uMpw0rHLQ2gAG9Aa-9oYbd9ujpyDDTWGESiCUAGxVuVCXmBjwFNdZdolwQW-pAXU3ExkZtAaKu_W6dfVx0LcKzkeshwJv3hn0tTRJaKOXFlH6Ev6rzboPAUfji1v5YSH-OXh1dT7CufEBbRKlIuUugka5cF7e5OWDjWtlqvUJP36YKNh-7qKDt0dGT3AaDDh5uvbBapaGp19QHJP2P51Rt8P5Yg9yfRiLbTjkfTNgd",
  "id": "rs_02e07f37acd5dfe7016ab4488547f487d0aab86a69f42aca2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward correction, the ball fills the lower center of the wrist view and sits symmetrically between the open fingers at their tips. I’ll close for the corrected grasp.\"}",
  "call_id": "call_BtuXKh8EG1JeixrjZIMMPCne",
  "id": "fc_02e07f37acd5dfe7016ab448861f6c87d0ba43165d44ffbe20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BtuXKh8EG1JeixrjZIMMPCne",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0219, -0.0387, 0.9998, 0.4446, 2.1075, 0.7311, 1.0492, 0.3626, 0.086, 0.5361]\nstate[eef_state]: left_x=0.2823 left_y=0.0021 left_z=0.1597 left_yaw=0.0054 left_pitch=-0.09 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4625 right_y=0.1549 right_z=0.0347 right_yaw=0.081 right_pitch=0.278 right_roll=-0.0337 right_gripper=0.5361\nstate[joint_eff]: [0.0068, -1.3197, 7.0632, 1.7607, -0.0269, -0.0122, -0.0171, -0.5812, -9.853, 3.8906, 1.8828, 0.2222, -0.0855, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa06f003d24295c8979a0f26ddee76b9c08f6c6702a2c7ef6d27b0429cf2072",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de277c56a94a95478f29790e947c7dffe542b1e947d5c827a05d79073e863b08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567138d72a936344e039e42317a6191fd990da817b1589edad7e53f0197e8ebe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 6.703 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4347, -0.0219, -0.0391, 0.9998, 0.4854, 2.0789, 0.6525, 1.1358, 0.4416, 0.094, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=0.002 left_z=0.1676 left_yaw=0.0056 left_pitch=-0.0503 left_roll=-0.0018 left_gripper=0.9998 right_x=0.4435 right_y=0.1526 right_z=0.0433 right_yaw=0.0443 right_pitch=0.3212 right_roll=-0.0338 right_gripper=0.9996\nstate[joint_eff]: [0.0752, -1.4701, 7.0359, 1.7607, -0.0073, -0.0659, -0.0122, 0.1983, -5.7641, 3.8632, 0.6716, 0.1929, -0.3687, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0219, -0.0387, 0.9998, 0.4419, 2.1025, 0.7296, 1.0573, 0.3817, 0.083, 0.9945]\nstate[eef_state]: left_x=0.2845 left_y=0.0021 left_z=0.1627 left_yaw=0.0054 left_pitch=-0.0747 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4637 right_y=0.1506 right_z=0.0387 right_yaw=0.0624 right_pitch=0.2908 right_roll=-0.0383 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2103, 6.9402, 1.746, -0.0513, -0.0659, -0.0171, -0.6632, -8.2393, 6.0513, 2.0586, 0.188, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0219, -0.0387, 0.9998, 0.4446, 2.1075, 0.7311, 1.0492, 0.3626, 0.086, 0.5361]\nstate[eef_state]: left_x=0.2823 left_y=0.0021 left_z=0.1597 left_yaw=0.0054 left_pitch=-0.09 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4625 right_y=0.1549 right_z=0.0347 right_yaw=0.081 right_pitch=0.278 right_roll=-0.0337 right_gripper=0.5361\nstate[joint_eff]: [0.0068, -1.3197, 7.0632, 1.7607, -0.0269, -0.0122, -0.0171, -0.5812, -9.853, 3.8906, 1.8828, 0.2222, -0.0855, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fa06f003d24295c8979a0f26ddee76b9c08f6c6702a2c7ef6d27b0429cf2072",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de277c56a94a95478f29790e947c7dffe542b1e947d5c827a05d79073e863b08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567138d72a936344e039e42317a6191fd990da817b1589edad7e53f0197e8ebe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEiK3l6BJRrGrBnmjqt88Atk3CHZTZewpmgeHfngpefg4n_6H877ypq_xjn55yjA11PUS9Km7rW_rA-DF9eCfk-L7hZtg41C6Tk-cxHg-wQHa0A11F4azQgAM7mIp7pZmLwalS-n4uwAlATgT6g9O0MaF_NhLFBFpgcsUK9v1-L4iQ9JdwBON7d2f7UEZoKtYlFWkqWL4X8vaI215pPymlhg-Ro10HOaJrlCwo50gmz5Bn0Mtoko55vLPQGmQHJ304hDOu9qm-TiB03d00U6-6t1ANfSSrRBuUz3CnCq5h7uy18IJaN-BpamiPWpctgRSPfU2r05nLmNTtHkHhXTS4aNJdY7SjL7XVQTf3aXIu8i0PtIVaQCVDs9YPWldxkhEHHCOE_ggxY6sR1bXRkZw7NjCEtppLSVhjBIem3J4xFLMtfWs-uB9oVEU1Ah1MFC8f83D-lgWN6Nn7QGy5-FP1JGCJcWcMmi97j-9Scds7AqpzDzOIZ7adC07bePul71qzeVEs1FWA7n2nc8u2OcghiOZ71kO2vhT5pL74HoS54AxjIeARKfIIaWj4mez5YCYYzA_iJunj6CXwkevvqk8u3-FuvlC7GJmBmXIuunWafAv9AjlWnk7jUSb-RfBwfFnffgC0b28Q6IzRHABGhl1Nmk55BGDsK41xg4C3jIW36nhnfQI12JKKcJT2a769m2KWwpfRKZSb7rwouf4CpBNl9Mo_HgukWNklE42uF3Z6M7jEvg4inUxA6P61DcOvqLgA7iCZoqqXX-hANOYeigI20qyYRhFMQ8qO-TlMgB_-V6YLeRYiXIJ6sEYJ-BMcQ3HLLmJug-rEOWy9X68CklzyTewDGYWNkRrxfce4bRx-NHQYoQVxcoJfo959JdCUY9mAcOMzzZ7J2phe_3wgK9n7jLNsXQ41ppNOUVT-hhm6eNZMb-cKwWFA0ukIzwrHu_6IioI0O_TrMlIsq0zswUFRp7JDijJ3ZJttpAGxvrfezZVzVRI43NyOCULldJAv0TAYB-X_3THYfuLlvfJ99GAH0Do3ycZTVtqYCGduK_bNTzSIUF9DuLRuU4nwKRwtL9g6bczNyvSVWc0QvYw20rn7mK6Z0--iYvCX1WGjr0v1QOc4vFYg_3ykhPtPbxZqTzjMFD9yJGdr5agm_poi6uxRx71NWzI-wPRFA2TFy5I_CJ-oaOEMhNhqxqRhrrg20FVhRdL05iP9V--s93nvprC06kNEdb4eHr1pYmCX0-fcMi60_VwwXV6lAE0LGIHQCAgOG0_EniQHGiRp-98sdvGbQLBW1FX-T9hIbEtkAB7so0hx4YGQGuAnC5IC5NQyMs9RgA",
  "id": "rs_02e07f37acd5dfe7016ab44888f28887d0af6d7c5f06456a55",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper settled at 0.536, consistent with holding the roughly 5 cm ball. I’ll lift it well clear of the table and confirm that it moves with the right gripper.\"}",
  "call_id": "call_J4vTu2S1NfS6dcVgn2OMLc8V",
  "id": "fc_02e07f37acd5dfe7016ab448896d7487d0aebcf38198eddbc3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J4vTu2S1NfS6dcVgn2OMLc8V",
  "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]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0219, -0.0383, 0.9998, 0.4446, 1.8435, 0.7597, 0.709, 0.3614, 0.0853, 0.5332]\nstate[eef_state]: left_x=0.2812 left_y=0.0022 left_z=0.1583 left_yaw=0.0052 left_pitch=-0.0972 left_roll=-0.0 left_gripper=0.9998 right_x=0.4568 right_y=0.1524 right_z=0.0919 right_yaw=0.0868 right_pitch=0.2332 right_roll=-0.0515 right_gripper=0.5332\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7265, -0.0806, -0.022, -0.0122, -0.1162, -10.7692, 8.0889, 2.3126, 0.1099, -0.0904, -0.1587]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4eb756516d9206b4a5a3d94c5530174c9d7ae02392b93af4792f0a69be4c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6b8707a37aa5a3502205f136dcb6c29e81655413225a7907135885db60b50b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7d26bad1236d3a2f174737d17da14a26c0d0f9f506f535df936c7afacce6e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 8.502 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0219, -0.0391, 0.9998, 0.4854, 2.0907, 0.6521, 1.1503, 0.4343, 0.0933, 0.0174]\nstate[eef_state]: left_x=0.2856 left_y=0.0021 left_z=0.1642 left_yaw=0.0056 left_pitch=-0.0675 left_roll=-0.0014 left_gripper=0.9998 right_x=0.4434 right_y=0.1539 right_z=0.0409 right_yaw=0.0508 right_pitch=0.3223 right_roll=-0.0316 right_gripper=0.0174\nstate[joint_eff]: [-0.0479, -1.1966, 7.1726, 1.8486, -0.0757, -0.0806, -0.0122, -0.1026, -9.7436, 4.0137, 1.6337, 0.1148, -0.0317, 0.7399]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0219, -0.0387, 0.9998, 0.4446, 2.1075, 0.7311, 1.0492, 0.3626, 0.086, 0.5361]\nstate[eef_state]: left_x=0.2823 left_y=0.0021 left_z=0.1597 left_yaw=0.0054 left_pitch=-0.09 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4625 right_y=0.1549 right_z=0.0347 right_yaw=0.081 right_pitch=0.278 right_roll=-0.0337 right_gripper=0.5361\nstate[joint_eff]: [0.0068, -1.3197, 7.0632, 1.7607, -0.0269, -0.0122, -0.0171, -0.5812, -9.853, 3.8906, 1.8828, 0.2222, -0.0855, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0219, -0.0383, 0.9998, 0.4446, 1.8435, 0.7597, 0.709, 0.3614, 0.0853, 0.5332]\nstate[eef_state]: left_x=0.2812 left_y=0.0022 left_z=0.1583 left_yaw=0.0052 left_pitch=-0.0972 left_roll=-0.0 left_gripper=0.9998 right_x=0.4568 right_y=0.1524 right_z=0.0919 right_yaw=0.0868 right_pitch=0.2332 right_roll=-0.0515 right_gripper=0.5332\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7265, -0.0806, -0.022, -0.0122, -0.1162, -10.7692, 8.0889, 2.3126, 0.1099, -0.0904, -0.1587]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e4eb756516d9206b4a5a3d94c5530174c9d7ae02392b93af4792f0a69be4c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6b8707a37aa5a3502205f136dcb6c29e81655413225a7907135885db60b50b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c7d26bad1236d3a2f174737d17da14a26c0d0f9f506f535df936c7afacce6e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_02e07f37acd5dfe7016ab4488bd3b487d092f4dc5e9c91ee23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.28,\"right_z\":0.18,\"right_pitch\":0.0},\"note\":\"The yellow ball lifted with the gripper, confirming the grasp. I’ll carry it high over the center of the open safe, retracting from the far edge and moving left toward the red compartment.\"}",
  "call_id": "call_f8Cjr34uOHedpp0A6M4xm29K",
  "id": "fc_02e07f37acd5dfe7016ab4489075c887d0908a79b88a27a925",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f8Cjr34uOHedpp0A6M4xm29K",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.495, -0.0219, -0.0387, 0.9998, 0.9264, 1.6505, 1.145, -0.3225, 0.6762, 0.4511, 0.5349]\nstate[eef_state]: left_x=0.279 left_y=0.0022 left_z=0.155 left_yaw=0.0055 left_pitch=-0.114 left_roll=0.0001 left_gripper=0.9998 right_x=0.3409 right_y=0.2756 right_z=0.1561 right_yaw=0.1351 right_pitch=-0.0333 right_roll=-0.1212 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4017, 6.9265, 1.8095, -0.0415, -0.0513, -0.0171, 0.1573, -8.6906, 9.4017, 1.9951, 0.3541, 0.442, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafdf7beca310403ec62e3092d11cfc323d4efb9d64326fba5a3661edbe00760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94db003c877b5542c9bbd080d74bb628ba09f743eb2925b25bc6b7d57775474",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8840a6038128dff6ccf3b5560f72dff49d7e94d6aaf33554ded46c089a0930d0",
      "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 · 3.51 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0219, -0.0387, 0.9998, 0.4419, 2.1025, 0.7296, 1.0573, 0.3817, 0.083, 0.9945]\nstate[eef_state]: left_x=0.2845 left_y=0.0021 left_z=0.1627 left_yaw=0.0054 left_pitch=-0.0747 left_roll=-0.0009 left_gripper=0.9998 right_x=0.4637 right_y=0.1506 right_z=0.0387 right_yaw=0.0624 right_pitch=0.2908 right_roll=-0.0383 right_gripper=0.9945\nstate[joint_eff]: [-0.0205, -1.2103, 6.9402, 1.746, -0.0513, -0.0659, -0.0171, -0.6632, -8.2393, 6.0513, 2.0586, 0.188, 0.1099, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0219, -0.0383, 0.9998, 0.4446, 1.8435, 0.7597, 0.709, 0.3614, 0.0853, 0.5332]\nstate[eef_state]: left_x=0.2812 left_y=0.0022 left_z=0.1583 left_yaw=0.0052 left_pitch=-0.0972 left_roll=-0.0 left_gripper=0.9998 right_x=0.4568 right_y=0.1524 right_z=0.0919 right_yaw=0.0868 right_pitch=0.2332 right_roll=-0.0515 right_gripper=0.5332\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7265, -0.0806, -0.022, -0.0122, -0.1162, -10.7692, 8.0889, 2.3126, 0.1099, -0.0904, -0.1587]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.495, -0.0219, -0.0387, 0.9998, 0.9264, 1.6505, 1.145, -0.3225, 0.6762, 0.4511, 0.5349]\nstate[eef_state]: left_x=0.279 left_y=0.0022 left_z=0.155 left_yaw=0.0055 left_pitch=-0.114 left_roll=0.0001 left_gripper=0.9998 right_x=0.3409 right_y=0.2756 right_z=0.1561 right_yaw=0.1351 right_pitch=-0.0333 right_roll=-0.1212 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4017, 6.9265, 1.8095, -0.0415, -0.0513, -0.0171, 0.1573, -8.6906, 9.4017, 1.9951, 0.3541, 0.442, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dafdf7beca310403ec62e3092d11cfc323d4efb9d64326fba5a3661edbe00760",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94db003c877b5542c9bbd080d74bb628ba09f743eb2925b25bc6b7d57775474",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8840a6038128dff6ccf3b5560f72dff49d7e94d6aaf33554ded46c089a0930d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_02e07f37acd5dfe7016ab44893929887d0aefeea9b93a65b54",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEiaoTdJdIhJyWoZG1f1V6OvKR3iBiZlUS0zDBXUTgZxclQNpNkkBv2vABG_uzhJMQlT_GhfCdIjBTRsuN3Js0PzUDtjUuyIK3YaVJz-q6T60y3qcd4AnLAlHNCT1HqeXNFti80zE5Ph44Xcok2jqzqzVcvJxu9Y7M_LwlaqYC2LEtbXBblIOfu-lbqQUGdJ2k6XeFvaRSH3RYyhtvhCXmleyIBy0-76fV1w7jSFLL3jrvoyqDgkuHA_ZprIdHHAdaorvFbxhJ7F3qNDjQQM1l19pjMHdmy1nKkvZatO-AHhefGnOKQJqgs-dKjI_LOaZgSPftmvxFlhyP5G0mK3uULvw-ctrNdz9h953No6ZH9fzTjvRGfzhIJbyPkADtmbsWkZEPqt5b_dwSz-pLQvYrw4kuMYtlOOv0_lNtJqt6MWO8g12H7O4Z5sYlj2n3Wb-K4O_ZhKno55k9BicZUfk5LzwkS_CTO4tNMajynYcBqHL8TWvFbxJzHYk5TlXoatvwJTOjexBKP1ac_zMSXTWQmyAWsUpjStt3cvINoYcrp9_tuMegL3n3WjV7uyqFIavwXO4LL9SGe5Wtou0nN3ZyRx0ccTQxPp8X8rfdVlbvDvkFKI61laWOzU4TEyc4fSgh7aQOJ0b75x2LgnHj39cPaayUeRFhyVwFq3H9GpkJCq-Ylyd4bl2PXPY2SXEPI1CqWJHO9pKGfW2Q9e0AK68WFpjvRsJoStW5VV7FdmQjTW0891PQr6sd4554_1u6FvnhyUB7vzhUf9k5Z_gMNyNEtgIOt-8J-FJndkPMmTJoF2KVV2A8TgMUbLgunpFqaKLH7PNgrgz9g7Vv0zGqHuofvio7qJ1IMA8s6x5JD9-ICGyJSw62lhgF_23VKQbrMEY60BxO5d4LToSb735MHQM-lTlsScPziLnmAbe-Z7Fx2wndjEYG8fYoavRAmQp36CnHFlvIuR_2t8cepctCB-nLIDmoaxHMW13Ppo1KPFzsr9cBXS5rb_j_2e8vRoNco7L8hwQ40_RkZoDnj9OnvpMCHd-2W1YbVsP4ohYEfW30D_MW5OrGEA-ProbNLZqM3suH5M4sn7YAIfQaXVYmvgv-asCeUUwn1V0XEjGSJR4L8kqoptNekujhWttvl0SqN5ERxOdF7TKboT8Nuje7aSuZXDOd4OMC6VAhsu3nxegKUoyLd1UWytYAYGEVY5HfDZ9QO0CGOJ-h-4vrIY7L70rr6dkA==",
  "id": "rs_02e07f37acd5dfe7016ab44898be2887d08c9c96e0ac22a58c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.178,\"right_pitch\":0.0,\"right_gripper\":1.0,\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.178},\"note\":\"The ball is visible on the table in the right wrist view, so it slipped free despite briefly blocking the jaws; I won’t count it as placed. I’ll park and reopen the right arm, restore the left arm’s height, and next load the easier plush object from the left side.\"}",
  "call_id": "call_A0yaGkCQCQcKVUcDM1d6Xnb3",
  "id": "fc_02e07f37acd5dfe7016ab44898e4fc87d0936b8833be2d399e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A0yaGkCQCQcKVUcDM1d6Xnb3",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "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]: [-0.0269, 0.8803, 0.6796, -0.5629, -0.0223, -0.057, 0.9998, -0.0544, 0.8066, 0.6018, -0.3992, -0.0372, -0.1707, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1551 left_yaw=0.0083 left_pitch=-0.183 left_roll=-0.0114 left_gripper=0.9998 right_x=0.2926 right_y=-0.0058 right_z=0.1716 right_yaw=0.0687 right_pitch=-0.0248 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.6769, -1.2923, 10.4684, 1.8486, -0.1245, 0.0317, -0.0171, -0.1436, -1.8803, 7.2821, 1.873, -0.1783, -0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d43aaa91f0fc4df348efef859ea4a8a2a0f5527b777ed432f2f8bebc3156ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fefdbebde79bbd120f76b2b9b810ae47e6f257d378cb1dcb837ef9f5e1606dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d334514de0e849bf90af0dacd10fe2aee97f540b4134fc4e07fe2d54a0925ba0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.542 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 48 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0219, -0.0387, 0.9998, 0.4446, 2.1075, 0.7311, 1.0492, 0.3626, 0.086, 0.5361]\nstate[eef_state]: left_x=0.2823 left_y=0.0021 left_z=0.1597 left_yaw=0.0054 left_pitch=-0.09 left_roll=-0.0005 left_gripper=0.9998 right_x=0.4625 right_y=0.1549 right_z=0.0347 right_yaw=0.081 right_pitch=0.278 right_roll=-0.0337 right_gripper=0.5361\nstate[joint_eff]: [0.0068, -1.3197, 7.0632, 1.7607, -0.0269, -0.0122, -0.0171, -0.5812, -9.853, 3.8906, 1.8828, 0.2222, -0.0855, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.495, -0.0219, -0.0387, 0.9998, 0.9264, 1.6505, 1.145, -0.3225, 0.6762, 0.4511, 0.5349]\nstate[eef_state]: left_x=0.279 left_y=0.0022 left_z=0.155 left_yaw=0.0055 left_pitch=-0.114 left_roll=0.0001 left_gripper=0.9998 right_x=0.3409 right_y=0.2756 right_z=0.1561 right_yaw=0.1351 right_pitch=-0.0333 right_roll=-0.1212 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4017, 6.9265, 1.8095, -0.0415, -0.0513, -0.0171, 0.1573, -8.6906, 9.4017, 1.9951, 0.3541, 0.442, 0.1734]\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 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0269, 0.8803, 0.6796, -0.5629, -0.0223, -0.057, 0.9998, -0.0544, 0.8066, 0.6018, -0.3992, -0.0372, -0.1707, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1551 left_yaw=0.0083 left_pitch=-0.183 left_roll=-0.0114 left_gripper=0.9998 right_x=0.2926 right_y=-0.0058 right_z=0.1716 right_yaw=0.0687 right_pitch=-0.0248 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.6769, -1.2923, 10.4684, 1.8486, -0.1245, 0.0317, -0.0171, -0.1436, -1.8803, 7.2821, 1.873, -0.1783, -0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96d43aaa91f0fc4df348efef859ea4a8a2a0f5527b777ed432f2f8bebc3156ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fefdbebde79bbd120f76b2b9b810ae47e6f257d378cb1dcb837ef9f5e1606dbd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d334514de0e849bf90af0dacd10fe2aee97f540b4134fc4e07fe2d54a0925ba0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEigdm5uBqSz3hvz7Cesqu-V_nQFAjPMKbtyr237YkjmT1IEUT19HB8OvmBHn7wI-Beo1l0M7EQEoJ7Sp6-bxr0-CoBb1FS-j5GO1roQf2gkqJXhO0E56rpxYsS_Tnd65epD6EfIiZ3qSEJeLvoKcDnurW7QDznN7Hpgm0Zkuw79RDOlW-Sgy8Zh8ZfqgujLwe_pGyVd89CPtBK18ed2oe980a1dlDUkiy0lLBOb1XPDWS18aj_a7Njaj66TBPRBbL6Q-Pf3xMj6gPKY6Zu8SIVjlBsxPY6hINq4NKuzyddbjKfGGHW4nfyD6IQqO15Vu6YHHbt0Qtnx-FwBEIkHhR7Z5_rpdTc2LBfuJJnpW8Bp7tvkcMbyL15lBx2AS_xalsP0OUjS15CJPkrRKcjeuORcvPUr2G7Bd4FMCr8wialyrVB0HwmfYNrauyjmvMV8OyAVzzyhKucPFORq6Qq1ZtQ8EwJu-VVCjmC4ImDPdBGdOmNttotkKQXxb1-8Nr67vmur1Yc_81M-kyM7jpkrlK6HbS6juQZ_5iOyq2criFlgafi6eLupdaZf_Axj5o7rf9ozpJUmBQrtiuL-PI8-LRkK30Z1ifOy8HC6RvaDgdZkElgRC-oO13M0ba0MfOIzq9vZwQFi8TYIekpPxYCuE3IGbBRicVOLEgfPyYtU5c7WRo0z6NjU_J0ncHu-8dmpZYK292Kl7ogRrH8_7NxuFELIdwALyveZvSAayyKEyudkOFvGaIqT5aVAqkY7LvQEwWqz-Ai2Pdy9o-5X-dHyKm3f_mMvPWvrNB-fAfl5ThVTyClKQRQjZt-qrklEv-eUwiijGWJ3BrbgUvNOLMFyRe2iTrnCwLIunV-oIzmVI7quHT_-w3mAQDSbcBOJ4zlQXVKIO5w3RmblYtUpbnN9oQ3zUm5N83P0uaVtaqu38tLMUbe7vHFyTESUwmY2NxE9kmkTi_p7-JjIM-yjgiBeTFl0DbbYSKFqnSp8w8UDqDwR4ZUzcKSMz9ZuNpwH1ChpOBZR3A4h31MtdXjnoEXwAywe4fWaKCFs8qSncyoEaB5Oh06QccydCOup2EjlCorjWAUVwLftYKz7-mbIo-frLXCfyNy0xhuq0wHpeJJIrp5m2uEyvgECDRS_U4RkdoQQlwBBY4IWky7GUOkylRABVOgchhYqCtWk0hhJAdxs9Dqktq1PyI0auFl-MvZ3dPIJJiG4LEHsuvUzzvwev9wI0sFcqQ9HbP5Bwalll5TFeYfLa79jSNsXnhWON4gTXiAOzxJldVT8RwV5DZveqjLCIhDtdqyvjec4sylgl15UIdapvYMuCFnxd5dNcDLjbAI4zLaZXMM6vq6U2Nr3mLiyWm7EbSZFw3X-NlJP8t_g0pcy1b1cm35nuO4y4mP43Ljrx4QrS6-g1iijvAuc04QbbwY3la5SJLavGwL2jnqfWvaPcMDsTyzibkHlmlBIWRogiHWg-2enVajkqm31rZ6lpCsDYrk2Ifhcl_0cd9EvY0HgtEF3gb73aUhlTgWcUXKvQlCRvtyqYKdHHym9gDYEbPjzB1C4BnADWwzbzlD8EIUeqm42Qy90KPJDq3idkP7xY7U4cyBnCemYjEAf_ztTiMLQIYwUOJCyvXhjG0gVy7PAJOBP3lpS-jCMV3mZx-nVEFcXMnmTiM6PNv7w9zWiXkzI_a7ZxPLiKkD97EQUArnsQ0ixjd3C1UAByI0K8N5cKrHenX35phcrxP_7zmWtdoCNCZ3xt7IG32VClk1-ckqAMN1zCZene2xj7oINgbK_tZKezNpN9w5f_udgPPqLFDnvHKUKK6tqX7sQv-pEbduivmcB_OoxHtrGIfavK27oOon6MvBjjG1UHbp4TAMM8doL7EA9L9_B8ioan6L31pcVAkdwWCfXlmnvj_UkuP8t925qmuGtMr42G48LxlQnu88YTX49K9HKJqs4NPY3Fa1Ct57S0XqB6069hTG_U0y1EEyy",
  "id": "rs_02e07f37acd5dfe7016ab4489e4b8087d08dbca3160b50276b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.20,\"left_y\":-0.11,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"With both arms clear, the white plush is visible near the front-left corner, separate from the brown bear and yellow ball. I’ll position the open left gripper above it for wrist-camera alignment.\"}",
  "call_id": "call_YYljGTfpzTKayIW6VSGcxopb",
  "id": "fc_02e07f37acd5dfe7016ab4489fc9cc87d0a6e2991660390443",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YYljGTfpzTKayIW6VSGcxopb",
  "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]: [-0.9768, 0.8429, 0.6376, -0.8364, -0.58, -0.7563, 0.9997, -0.0555, 0.8108, 0.6014, -0.4324, -0.0418, -0.1833, 0.999]\nstate[eef_state]: left_x=0.1987 left_y=-0.1148 left_z=0.13 left_yaw=-0.0763 left_pitch=-0.2266 left_roll=0.0118 left_gripper=0.9997 right_x=0.288 right_y=-0.005 right_z=0.1637 right_yaw=0.0785 right_pitch=-0.0627 right_roll=-0.1229 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.0872, 8.9231, 0.9988, -0.6569, -0.1392, -0.0366, -0.1026, -1.5932, 7.0359, 2.0147, -0.0171, 0.0611, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9693c0c6ee5023dae2f23a8242c95be48871c8adf1be4baa22caacef8f5df0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8fb2d24a36bd31b4d25bb96ff915e94b5dc4c8cf4ebeaf357fac7a526a243f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc91bdeff7fdec31418d21e2105ba3f3ebc498a7bcbe69aac00ecc9a4167f8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 2.815 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 48 changed as sent

message 52 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0219, -0.0383, 0.9998, 0.4446, 1.8435, 0.7597, 0.709, 0.3614, 0.0853, 0.5332]\nstate[eef_state]: left_x=0.2812 left_y=0.0022 left_z=0.1583 left_yaw=0.0052 left_pitch=-0.0972 left_roll=-0.0 left_gripper=0.9998 right_x=0.4568 right_y=0.1524 right_z=0.0919 right_yaw=0.0868 right_pitch=0.2332 right_roll=-0.0515 right_gripper=0.5332\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7265, -0.0806, -0.022, -0.0122, -0.1162, -10.7692, 8.0889, 2.3126, 0.1099, -0.0904, -0.1587]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0269, 0.8803, 0.6796, -0.5629, -0.0223, -0.057, 0.9998, -0.0544, 0.8066, 0.6018, -0.3992, -0.0372, -0.1707, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1551 left_yaw=0.0083 left_pitch=-0.183 left_roll=-0.0114 left_gripper=0.9998 right_x=0.2926 right_y=-0.0058 right_z=0.1716 right_yaw=0.0687 right_pitch=-0.0248 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.6769, -1.2923, 10.4684, 1.8486, -0.1245, 0.0317, -0.0171, -0.1436, -1.8803, 7.2821, 1.873, -0.1783, -0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9768, 0.8429, 0.6376, -0.8364, -0.58, -0.7563, 0.9997, -0.0555, 0.8108, 0.6014, -0.4324, -0.0418, -0.1833, 0.999]\nstate[eef_state]: left_x=0.1987 left_y=-0.1148 left_z=0.13 left_yaw=-0.0763 left_pitch=-0.2266 left_roll=0.0118 left_gripper=0.9997 right_x=0.288 right_y=-0.005 right_z=0.1637 right_yaw=0.0785 right_pitch=-0.0627 right_roll=-0.1229 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.0872, 8.9231, 0.9988, -0.6569, -0.1392, -0.0366, -0.1026, -1.5932, 7.0359, 2.0147, -0.0171, 0.0611, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9693c0c6ee5023dae2f23a8242c95be48871c8adf1be4baa22caacef8f5df0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8fb2d24a36bd31b4d25bb96ff915e94b5dc4c8cf4ebeaf357fac7a526a243f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc91bdeff7fdec31418d21e2105ba3f3ebc498a7bcbe69aac00ecc9a4167f8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEilOjUxZrqQPc0oQzn6dEDQ6QAqMGqRxwtwv8ItwSv87InRizcamBQpReWwie0-TT1YJnCXSY-whhYR98c2V5tG4T5BEj6g8ZPoXt75MukkC9oR1NqPfAD_Ubo4e5URXbQRtiEVVsZLqsFwUYedlBuS513OXUnbmhDxInE4Dw7wMWz3ouWT3Hb83zXvmQdJVI-9daI9Pm83hfjfge2GS0fbU-4mIRHf7myzhk3QspHxRxCdrW0lQYZ7XgNr8YW0och-UdxUBKP__l6daGdu4JTDVSsgNlN6vMqwZjjBQ8FAfw_QBLOKefztY4HCoEBLOdt-N7c19zwsQCwqkGb_mbfVmChnwudZCtjkK8T0-M49wjBo7RlnQxnYOZrCYDUytY44cwMalXXjJDFzz1lC5POcESQ-vXMXFG46JcbJg6ND8lgZ_S_MaK5A50JX3HFsUI6u-SfGf16y24yPLdk2oq0ikEEXACxNqzGtHzKEWRqVFDzy6efOGaHJCsRYEG6usiLXBQM4cwEy7jP3geOnfLscAWABaFuqxNMQlLMvB_q3GtWGAFTJsYMBimC9xVilHUfeMH5ClQmPsOljWGy8xnm1_V4HIVxoMVmVhKO9zJBTS1arNBgbQGdPWD6tTAGGkxbWTNAXDSpycZz1TnABKeeAwlO-U1w1dlPdNKUXe-HyoxxOpNr3uE0s0q8-hWtoHwmk4tY-jtV238sYX-Cmyhn1iZdT3LcJtcLvqHe50zQDOuUVKFHa6uM9cCyGme8PPwJcbhb6756rC5oXcV3JmCCBjU87if2exn-pgsVK86x1tz5X4myzvDyKAH4zzhUvI3DTqoQuukY4LAjGsVdAyfcC5mhpUAdsKBrGW-caPDdOqN1rHAX4e8HcHCFc8XCcqEDadFJOsDe09EjTYucUoipPJnVJOKkQ79xJuEz5CsiI2jVVqfC_GQM_EC-UZIo6MVI--kgRPyG87X0imq6uIU7xPO4hnTR6WlVxrYLeceNfoRMgB2wOoAW_c7SBqRD6oKn_gBsqEulvpix_YLIxfnFufmXb7rofXpORMXuOQz-xPzC1wMlRMefs_cng6PTEoltlhgH_-bB2TdwBoLk4BMimu0emr4bYx2VV1_5Vhw0JABuJhwuT4tcU6rEOqW4B5VY9RqeH_Z1YHGTKOId0dzlgLjMheJUbrRTVaBzX_QSGS-A6WSAohGh2OpwRiiKlMQWQUoLVaPP8tw0R1R44vGIkFCzdkLXaX2oJY7kv6qP-g3miNx4gm8_KZI8nZpRLHx1G5i-Az4nxJeKXmx7GRtyswjJnstzyI9qNRprdD3BfempMVK9GstiHa5kWHv6ItI1kh4KGmnF5Uwh6WQC45_OUtOhJh3GCPmSzs6Yh2vvoXgp_6KwnLxNx1aM8i1T6tLwMoTb2hDUsF_yUu-sTeb-IE_M1MEgIWpCBc-vLv6DKs4m4tMCpPPwQnLVVBTEaQB2H6bwmT4AAYq3S3ttMQu6ZM68XprKIW9RSn81OtJE7nLpGPRAmEa9OS-364ZUIt3dwUNUVYhN3ZB5qDDuFQooB0L5tFIuju5wxoMIqlz80_Am9jZyZI2AR2hWoa9jpPkSgJ5w6NHy7gNKwErwnmB_RdXSHn8gK2H8VDBozK8pWQRYnIG6IYrVA25bRYCZLWm821l1hGU3_Kwnj6Xp2elzUTmuPbYpiBpA5Q7HdaL8HXsW4X4_ZcfYPnPKtXhGHdCSCm5ayGcUjuS7P4E5kXF1sZTHvTT3hhixGbr5_oPG5dYzcWr8GHQeDLSRvfaz8jwfM61Lf7TR2tF7FjCdYOmJOdpN5rwSDhqyQio-kISxWlD0=",
  "id": "rs_02e07f37acd5dfe7016ab448a3483487d0a4db5176b6b447f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":-0.11,\"left_z\":0.04},\"note\":\"The white plush is centered at the very bottom of the left wrist view, directly beneath the open fingertips. I’ll descend vertically to its mid-height without changing the lateral alignment.\"}",
  "call_id": "call_LQ7rh7MatePD1h81JjNF1mZb",
  "id": "fc_02e07f37acd5dfe7016ab448a4822087d0a42b1c4eaa787711",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LQ7rh7MatePD1h81JjNF1mZb",
  "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]: [-0.9535, 0.9005, 0.3145, -0.5152, -0.572, -0.7418, 0.9997, -0.0555, 0.8116, 0.6014, -0.4549, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1922 left_y=-0.0993 left_z=0.0386 left_yaw=-0.0544 left_pitch=-0.2694 left_roll=0.0655 left_gripper=0.9997 right_x=0.2847 right_y=-0.0048 right_z=0.159 right_yaw=0.079 right_pitch=-0.0858 right_roll=-0.1201 right_gripper=0.999\nstate[joint_eff]: [0.4718, -1.2923, 6.5436, 1.3455, -0.2906, 0.0562, -0.0122, -0.1299, -1.347, 7.1043, 1.8437, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8094abc7def77a041832c255a2eb88aef3bbfa82be95b8adff2a7376765d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae885636ce9f578c991e510dd2aac2b13188fcca598b43cf56f9848f002f463",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc605e09bd296b296a5be23130206aaafa09165261e067e46d5bd703f29d62cb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 2.457 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 52 changed as sent

message 56 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.495, -0.0219, -0.0387, 0.9998, 0.9264, 1.6505, 1.145, -0.3225, 0.6762, 0.4511, 0.5349]\nstate[eef_state]: left_x=0.279 left_y=0.0022 left_z=0.155 left_yaw=0.0055 left_pitch=-0.114 left_roll=0.0001 left_gripper=0.9998 right_x=0.3409 right_y=0.2756 right_z=0.1561 right_yaw=0.1351 right_pitch=-0.0333 right_roll=-0.1212 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4017, 6.9265, 1.8095, -0.0415, -0.0513, -0.0171, 0.1573, -8.6906, 9.4017, 1.9951, 0.3541, 0.442, 0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9768, 0.8429, 0.6376, -0.8364, -0.58, -0.7563, 0.9997, -0.0555, 0.8108, 0.6014, -0.4324, -0.0418, -0.1833, 0.999]\nstate[eef_state]: left_x=0.1987 left_y=-0.1148 left_z=0.13 left_yaw=-0.0763 left_pitch=-0.2266 left_roll=0.0118 left_gripper=0.9997 right_x=0.288 right_y=-0.005 right_z=0.1637 right_yaw=0.0785 right_pitch=-0.0627 right_roll=-0.1229 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.0872, 8.9231, 0.9988, -0.6569, -0.1392, -0.0366, -0.1026, -1.5932, 7.0359, 2.0147, -0.0171, 0.0611, -0.0024]\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 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9535, 0.9005, 0.3145, -0.5152, -0.572, -0.7418, 0.9997, -0.0555, 0.8116, 0.6014, -0.4549, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1922 left_y=-0.0993 left_z=0.0386 left_yaw=-0.0544 left_pitch=-0.2694 left_roll=0.0655 left_gripper=0.9997 right_x=0.2847 right_y=-0.0048 right_z=0.159 right_yaw=0.079 right_pitch=-0.0858 right_roll=-0.1201 right_gripper=0.999\nstate[joint_eff]: [0.4718, -1.2923, 6.5436, 1.3455, -0.2906, 0.0562, -0.0122, -0.1299, -1.347, 7.1043, 1.8437, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8094abc7def77a041832c255a2eb88aef3bbfa82be95b8adff2a7376765d15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae885636ce9f578c991e510dd2aac2b13188fcca598b43cf56f9848f002f463",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc605e09bd296b296a5be23130206aaafa09165261e067e46d5bd703f29d62cb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEio--XZD4sGK5z5Kz7MMKx-JQs8wcG6DRGsmd6XxVaFAjBYmq7350PZvvF5eAB6CQx44f7BcIRa3RXvER7kFcdVGqvJZrWTKzjinQMIhyvVt1m4dE2swd-qNpdtk_l4bYx5ywrx7QQ3y2qDEi3PkzunNnVIcuahgpggWUGljF3dbOl-rWH_SA7sRIjXamkkdyt3DTL48Rt867Vqhl8zEAu3F_rWicm0vJy0761w23kzM0hX0ZyWqsREv7Zvh9riK2z2Hey3C94suv1Z9CItFBWUfGjfF9fYR318Z2oNDz2QCSBAYxVE-JfKtKb_Ya_x7v0QXdzFV2GHTRI-NZO6-NHDLewg8GnxUwsHwbR2mvjKhIvxbu_-Ju7DbvkWUMe-NgOIx0vXvhKldwizpyzKIVtAr9qV9xDQR0OscOSx8nO6Zd6UmajxE_9nV8GxnCXxnF3pN0jJRpWINvwRNBcMozTcmoLb27jwm4dTzgttW9FQiLql2FMZTBydPJMWE2nIQLOeGJNmMbluWXDw_ZLWr-RfNYPYdDhgEIZwLz-49jSgvCfZvpEQeXq2cmQhG8LXEhvvilf-RT0xZmytPPTxBC4DJgjQKi8nk_J0V211ub_hGjLm8V9U3pNl8ZLoU3d3eyiOrIe4izoR4I9cDGQ1N_6s1njbVBkPFVaG8lPJbU2AAWvfJ6BWY--IRuunOl5NQQkfKo_Hgghvs33O6QTzhP_CjSHgq-a6L4BxDH74BRuz5DK1G6AFh73fTbM_Rz0Z5Xeq2TfhF2b2Hb4cbbeaFBg-C-iMrmyU90dJuhiWWOoknzeV-iHyDU63G8FY_JpR84MfolbNeRfgoKnMeQCI8AE5yCk7LPQy2JylLNzDwjSGz7FYxuVlVLZKlRyQoz0wUuxCnLpVm4s78LiCVeNxJ1fc8AAzDMsHW57oPgyN71TAMgkoO0Zj11VN_xD49zyMVNYHIkp4NhU1WV649oMJgP5W7vPehcojrlx1v4HURtb2kIRhvBpt8QFDzQdRIVT5F1G3zlKl4Rphiyudm3GpuDqG_yZ6d2rOVhg4Dpa0cIJPCADAQyLZ_8YC2D-Mno5LLJEq70V_bMptS88-ON0NxVMmm7zmxzFuxxI4umMCN-9F2-qmJbDN1JjH8cc9eRdgT04mRE203JbNyRSYzd3_6ry597Dnkjfhs553Ude9GXBtg_pG__fLnnoJuqcCxwxGqqGvq_OQC86yYHCR-4RB9sC6pQ==",
  "id": "rs_02e07f37acd5dfe7016ab448a7b90887d08c4b77fae17aad8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At 4 cm height the white plush remains centered between both left fingertips. I’ll close the gripper and check for a non-empty settled width.\"}",
  "call_id": "call_4dH9CnlgoOLrEd4Xe41qAwb9",
  "id": "fc_02e07f37acd5dfe7016ab448a7d8bc87d08d0b695ef0559c6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4dH9CnlgoOLrEd4Xe41qAwb9",
  "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]: [-0.9543, 0.9024, 0.2955, -0.4976, -0.5682, -0.7666, 0.1115, -0.0555, 0.8116, 0.6014, -0.4782, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1905 left_y=-0.0982 left_z=0.0333 left_yaw=-0.0426 left_pitch=-0.2734 left_roll=0.0491 left_gripper=0.1115 right_x=0.2811 right_y=-0.0046 right_z=0.1546 right_yaw=0.0793 right_pitch=-0.1089 right_roll=-0.1169 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -0.8137, 7.6376, 0.9646, -0.4811, 0.1392, 0.0855, -0.0615, -1.2786, 6.9402, 1.8584, -0.0855, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d350f6fe46c5020b0f8e7553e197cf75b9d75c29f19e4fdcafdf0a151cdceef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09968326c606f559ca97fe5b76dd965fe6467fce05d6836dff0d501e5e097e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363b4bd2f3161b7c0ff5185dadda1eca6cd6c8fc0ffef5807ecf3d3f81b25f9e",
      "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 · 4.444 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0269, 0.8803, 0.6796, -0.5629, -0.0223, -0.057, 0.9998, -0.0544, 0.8066, 0.6018, -0.3992, -0.0372, -0.1707, 0.9989]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1551 left_yaw=0.0083 left_pitch=-0.183 left_roll=-0.0114 left_gripper=0.9998 right_x=0.2926 right_y=-0.0058 right_z=0.1716 right_yaw=0.0687 right_pitch=-0.0248 right_roll=-0.1202 right_gripper=0.9989\nstate[joint_eff]: [-0.6769, -1.2923, 10.4684, 1.8486, -0.1245, 0.0317, -0.0171, -0.1436, -1.8803, 7.2821, 1.873, -0.1783, -0.0122, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9535, 0.9005, 0.3145, -0.5152, -0.572, -0.7418, 0.9997, -0.0555, 0.8116, 0.6014, -0.4549, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1922 left_y=-0.0993 left_z=0.0386 left_yaw=-0.0544 left_pitch=-0.2694 left_roll=0.0655 left_gripper=0.9997 right_x=0.2847 right_y=-0.0048 right_z=0.159 right_yaw=0.079 right_pitch=-0.0858 right_roll=-0.1201 right_gripper=0.999\nstate[joint_eff]: [0.4718, -1.2923, 6.5436, 1.3455, -0.2906, 0.0562, -0.0122, -0.1299, -1.347, 7.1043, 1.8437, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9543, 0.9024, 0.2955, -0.4976, -0.5682, -0.7666, 0.1115, -0.0555, 0.8116, 0.6014, -0.4782, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1905 left_y=-0.0982 left_z=0.0333 left_yaw=-0.0426 left_pitch=-0.2734 left_roll=0.0491 left_gripper=0.1115 right_x=0.2811 right_y=-0.0046 right_z=0.1546 right_yaw=0.0793 right_pitch=-0.1089 right_roll=-0.1169 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -0.8137, 7.6376, 0.9646, -0.4811, 0.1392, 0.0855, -0.0615, -1.2786, 6.9402, 1.8584, -0.0855, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d350f6fe46c5020b0f8e7553e197cf75b9d75c29f19e4fdcafdf0a151cdceef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09968326c606f559ca97fe5b76dd965fe6467fce05d6836dff0d501e5e097e1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363b4bd2f3161b7c0ff5185dadda1eca6cd6c8fc0ffef5807ecf3d3f81b25f9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEirK1blCliynpWhwfcWkHjsivCfvkA82F_QFd6-r8-qKBx_wXhV74ffCWP6QzfM8B_wLmgx_aGu9zqnZCs1FDt0BtUGCFVKQKMvjVFuYPo8P0a0Xdm1wRguFB8lRc_QmuHzO6L1Z5H9Ny5cjJaOKLEr5wGOwbWt_8e6MUoaQxfeK20pYYVrvu40fZGDuKeTupDg7Loom58slBRZfos9zKbeMRTNZiX_fhSXdPTOkO5f6fLMDFTYaxtuV_Me2t50wokrQUQlVHt8e8ejWsose7UGsr-K0dJDYuEGmadkMoRjx8uJttLW3-7OGctnGmh6g373QD1YyZyF1-REW0vhuK_s7grqX4ATqdG_6Xh_FejnpR6DN17qMeAgAk-y7-JfjbLByVmJif5AQN382dJs47_2_Ly4VUJzoXNSAYAUTd51s3lrKKlD_BS4FZIQ4jDUC4kUbUXbY7OVni0hv2Ytx9ae3PcWuOHvgDkHau94gNNwOrScAvrztobLzt_tOwRLRnfhpCGMr9QPIbePyyaZjZYlM06ppmCRE19Vqprd6ogUK4cd4ujNxJtdE5AW8iUPOqBpfSeAiKLBn-vnGDaTzMCTFgBWpWsghKcKhAhfxH7bQMljZvGns62UlMHz7Hs9ckyB7G0eOF0Id_Ijr5bB7jsA6lmQOrWm_QVw80TnVmafi05CzuA4DWowrLKElu47bnJi1Ma4MD2urZh1fbk-hbo8PWNtjbdZ3rVWhkf2heuLXtmggPMtXanlXRavuvnn0lLCNT83hYe_3ijA4lxNEgkPtqhprb8cFnQreD-ry6SldX22Q-BXcwJ0gz4LD3_Ejo5eIg_-XnXkwq5xD-hhRIT9tTlhVQDj8vBg7W1nKS2JvVoua-IB3nRaq4FdEpxWT9P7Us5u-bYSg99Oee9bJj1zjjJE8mKkNr2VuYNSSyp6G8HskzcfuXK9ez_wAJ-1DavO4pQpXQzhX6_Y6kn0Sbb5lb6MU_zg7ZRLHc1ruuPZDp3Is9lxBZfehQHWNjEnpc8BvAUoqR9AX9mMnjLI4hbzskZ6n2ITlgxLrLLmDk-xWD44sL4xhU1Snv76lpKi7QISOSOeHXJdd5cRHGJVLoPTsBqSXUHFlkCt1n28EuudPyq3QSQgYPMEU7Lgz_3rBCtkoF0vrWzg07BoLy5gXpMGJo6CNNlDMJm07lkcXKYQ2ro59iGoOP12KjuwCDuieoQqeh7Aw8Jyvuxy4Os2WWqcV07WbJ72XEVikELY1EXb_tOJZ20ak29HXAwk0ubkDQA24kdd5n9zw2ygSdrm6K811tEzifo9i0qKs1lEsZyOhRz6-fUwwYbOlyVtw_CYLmx2dL6Nfwby4xL9A8QEN1_s4VcFu2ZWOcMmOXQnPXUktRk=",
  "id": "rs_02e07f37acd5dfe7016ab448aab18c87d0a1f78adf45b30c73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The left gripper settled at 0.112, well above an empty close and consistent with pinching a thin part of the white plush. I’ll lift it about 7 cm to confirm it comes off the table.\"}",
  "call_id": "call_cUk3jpo23TFuIHJE235lzqlv",
  "id": "fc_02e07f37acd5dfe7016ab448ab059c87d0925f5daa265da11c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cUk3jpo23TFuIHJE235lzqlv",
  "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]: [-0.955, 0.8272, 0.4992, -0.762, -0.5613, -0.7712, 0.1111, -0.0555, 0.8116, 0.6014, -0.5003, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1918 left_y=-0.102 left_z=0.0896 left_yaw=-0.0482 left_pitch=-0.2692 left_roll=0.0302 left_gripper=0.1111 right_x=0.2776 right_y=-0.0044 right_z=0.1504 right_yaw=0.0796 right_pitch=-0.1308 right_roll=-0.1139 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.3333, 8.6359, 1.0623, -0.3639, 0.022, -0.0513, -0.1026, -0.8684, 7.241, 1.8242, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89644a8fdcdd3a8b79fb305078a1a9954224eeaf075625d412305e51c4cf260e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5425101d1215b84e3548be9b753032a641a748bc92842ccccb01ac5614bc284",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98dbcf2afbc340569a7515ff7c236066a358cba2ba6d6f68d7dd12ceb35ea772",
      "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 16 attempt 0 · /responses · status 200 · 2.829 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9768, 0.8429, 0.6376, -0.8364, -0.58, -0.7563, 0.9997, -0.0555, 0.8108, 0.6014, -0.4324, -0.0418, -0.1833, 0.999]\nstate[eef_state]: left_x=0.1987 left_y=-0.1148 left_z=0.13 left_yaw=-0.0763 left_pitch=-0.2266 left_roll=0.0118 left_gripper=0.9997 right_x=0.288 right_y=-0.005 right_z=0.1637 right_yaw=0.0785 right_pitch=-0.0627 right_roll=-0.1229 right_gripper=0.999\nstate[joint_eff]: [0.1573, -1.0872, 8.9231, 0.9988, -0.6569, -0.1392, -0.0366, -0.1026, -1.5932, 7.0359, 2.0147, -0.0171, 0.0611, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9543, 0.9024, 0.2955, -0.4976, -0.5682, -0.7666, 0.1115, -0.0555, 0.8116, 0.6014, -0.4782, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1905 left_y=-0.0982 left_z=0.0333 left_yaw=-0.0426 left_pitch=-0.2734 left_roll=0.0491 left_gripper=0.1115 right_x=0.2811 right_y=-0.0046 right_z=0.1546 right_yaw=0.0793 right_pitch=-0.1089 right_roll=-0.1169 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -0.8137, 7.6376, 0.9646, -0.4811, 0.1392, 0.0855, -0.0615, -1.2786, 6.9402, 1.8584, -0.0855, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.955, 0.8272, 0.4992, -0.762, -0.5613, -0.7712, 0.1111, -0.0555, 0.8116, 0.6014, -0.5003, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1918 left_y=-0.102 left_z=0.0896 left_yaw=-0.0482 left_pitch=-0.2692 left_roll=0.0302 left_gripper=0.1111 right_x=0.2776 right_y=-0.0044 right_z=0.1504 right_yaw=0.0796 right_pitch=-0.1308 right_roll=-0.1139 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.3333, 8.6359, 1.0623, -0.3639, 0.022, -0.0513, -0.1026, -0.8684, 7.241, 1.8242, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89644a8fdcdd3a8b79fb305078a1a9954224eeaf075625d412305e51c4cf260e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5425101d1215b84e3548be9b753032a641a748bc92842ccccb01ac5614bc284",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98dbcf2afbc340569a7515ff7c236066a358cba2ba6d6f68d7dd12ceb35ea772",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEiwb0MnXV_rpepfoMfewMAp6xdRl2tHo7p0-4zuNp4YUCPxn-DHVCvCCJXKeSjsvgO59mf6x0rhdt4dp6-wWi25VDTd4pxsMlm1Ir1fC2L5ohc3wmOojFR9SO48rt6F_ORJ2Reh5_suU7YYPDRXysi9ydRC34lqLP7CCStRPtAbS4PMyYbebtV-3jb9ZEclbXzC6ajRqLRylMdEEFmV0mTmfnfxKPq5RiNBoDsl-RUBcYMV3FeU5DnJq03xmjeG3kQzjGrJOgC189LzAIcqwjQ0EvrV__RBuQLk3ILzCGZ-gFd60BNJQTLltPBhn4I_EpLlUQV_VIkuO8UR6HxkjIUizT0lFlR_KclK-zdom6JmoaRPFv520OYM8h_A9QmZCQ40aUmYx_14JJERVAFI8bWTdkYE9zmekz-nAi6-JqMfqS8zOjgPe-oGn1ntVGqOEB5AWb6NO8uy2MprnT1-DWT7N-szo5e_vseUoO7PiBNTr_L3qabLo2FeGsVMWlI927_xEwkSp7FXZtjRHSg5cBnYc4U2Avhv8WFqwNkuQRvACDDbOnLTWdtmVVinWIaUi8fZGtZgsoTgDr-ImHWnmUpis2zt-rrzdsXN6VW6tS4IGKa7oPlLfT-IhDPysUycZd0XdNLKn91SBX1sTzb-peIq743aFxT2usEtFbmdlI6mXURMCrd4tLcN5Wi_C5Ipe5niq9W2MsYtE5LWXzSLubkIe_6ypArwaHeOXtWgmEoTnbdTzzf10z5kcMHDp1qL-Fu80t4zsFhXpdA3ESf7O-BFrFWSIRJbLEPScKHZ9XPRLzygFsTpnfFaLiWfYWE0E0baCBUngAnt93ZlYqQSCVUUXdwGI6PBWFluTuQZy3wNqunfRTtFhgSbVx_55Pe0h7Y20HrI5NepMT9TwE9Olq93d5yOdp17c5ldWJukgHYmju56vTwHg5ghANXbHGdmIvZq2KM9mlTb_FH-_dekEONNraAyMQwbNeL_6hHPKvNNB35HgGFyvV3oL-TSy5wxlv5zOm46lWagWG5pw_Kb30QJKGmTqgWWPl7c3492zxXULEfUm8uYvlzMz7YRBdHSLOSPg7zYT220Z4rZ5DiNaBpfRHXHxHntSk-JCoJ8qratGJWftl3WtPk32uQ3X9PDs6j625zoqXgTRL2AOzSjVSEcEtZSW7pd-lUv83RzEiY4fLBPM10RowOqTfN2Awt5aY8iL7Bz8FigZTpyHN_VLDxGlQVoI3vptlGA_IZlx6gaq4u7wmznI6xybBR6gu9eBTI1M-c-LAJtukpaZ3pwmyOLOQkziAMQIabtQ2HAojxwZj3KrCD3ijP9zrJG6roCi1KheSdNsqlXDmEreOWyPSME6BuvaZsSrgMx1xZ_fwBmBL-YjGac38OOKF-WmlsCjGwq1YJKVKL6DDzzxAaqs2J-NbnNphkt9rUZzlO6u_Y_LmrCCoDhR6xMbEabQcLTB20XOFZUxZfiC9l2sA99gsJBjGfIqJ3cB0g-aPulXy4tEKe9YFam96mCRLvtsoNT-BnLOcNXcWSeXbAxMeXf6r6yJalc1myRruS_5fjdSgNXXFmHq4uMEJRsYNO_5co37QGP8wPbTN9V_s3_4s_OdB1wddrJjqwlPK3M3YZBW3FN2IyTZqhFAA5IHJOLJfSbGxy5p5hiLsad8uRL99Kk7WYGocpCEQI1H-Q34-4gqDOhxCApYlw_9ZueWNVTcbeewzeIgWe6N0GuhBAVsdR849Vaf5lCA_574WYNAeb6vwwWzRNqn8N3YJnmX7T09c9Jxo_dHIEsSdrZDJZZnFfuVMM5XyCl1tLvHcDXctF-31GrLYaAf9t3ERqyiExhSNl8Vn0SzVzceKS6swXNxGlrCB4Fdly4wckOuGuY-LWFLvFt9l-VgiWZ4_L9lIlJXnRy6ePeRCObGNwGbkJIvzheFdR7Nk68rAbXYGy1VJ3lNyYXKAMQ-XdzmSkSYPUBmXUtrWuHSPNcT7acwQaDvvCaKFYee_l4TKRvwdzTqssTqYZcpkhvy_f1KJOjOKjboty3dJlR4DX37INsD9TJwZx6J_jaKFrVUzj-O9Ys3LP4cciYG4hNc0DiEQT3eKuZTQfIvgkZIlAnTBVNlWjb-PdexItjnuu9K2hhfo7eCpgjPK8ar5VJIJ-t67S-us3jgjeMkymBjesgeId2yKcvjxUB855CZySBvy9OaRfRBzy6Xm7UdxO0T5lVul_avhy99O-BRYTakEDgh3bFu8rj65ZpZdNe1SCCV2A_zkn2ZJiqRV2DeJCOc1cw7VmXPvQ1uFefjMILU_zNBvvOS4Vov-vYBYb9F3pDvG1eFRvc3FlpUT1sgbo=",
  "id": "rs_02e07f37acd5dfe7016ab448ad4c2c87d0a66159668e3289a7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.31,\"left_z\":0.18,\"left_pitch\":0.0},\"note\":\"The white plush rose with the left gripper and is visibly hanging from it, confirming the grasp. I’ll carry it high over the center of the safe’s lower red compartment.\"}",
  "call_id": "call_OmJ087FU003XlvG18TehKpAD",
  "id": "fc_02e07f37acd5dfe7016ab448b0172c87d09ec432cfc90b03b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OmJ087FU003XlvG18TehKpAD",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0889, 1.6939, 1.2602, -0.5568, -0.7906, -0.8009, 0.1111, -0.0551, 0.8154, 0.601, -0.5232, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.3004 left_z=0.1631 left_yaw=-0.0443 left_pitch=-0.0492 left_roll=0.037 left_gripper=0.1111 right_x=0.2739 right_y=-0.0041 right_z=0.145 right_yaw=0.0805 right_pitch=-0.1576 right_roll=-0.1102 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -8.1299, 8.8547, 1.16, -0.6813, 0.2125, -0.0171, -0.1026, -1.5658, 6.9265, 1.79, -0.0855, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8267db66e55df019812860f2fa84c41650bc56058e316ca39c28e62101b9fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7186a3cee540580dd4f73323b126fc5ce99c9b738555e62040d1718afb34973d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5b6643b25584a7c0905a0d33890399758f6ecaf98a77c4cb8093cced36e8ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 2.513 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9535, 0.9005, 0.3145, -0.5152, -0.572, -0.7418, 0.9997, -0.0555, 0.8116, 0.6014, -0.4549, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1922 left_y=-0.0993 left_z=0.0386 left_yaw=-0.0544 left_pitch=-0.2694 left_roll=0.0655 left_gripper=0.9997 right_x=0.2847 right_y=-0.0048 right_z=0.159 right_yaw=0.079 right_pitch=-0.0858 right_roll=-0.1201 right_gripper=0.999\nstate[joint_eff]: [0.4718, -1.2923, 6.5436, 1.3455, -0.2906, 0.0562, -0.0122, -0.1299, -1.347, 7.1043, 1.8437, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.955, 0.8272, 0.4992, -0.762, -0.5613, -0.7712, 0.1111, -0.0555, 0.8116, 0.6014, -0.5003, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1918 left_y=-0.102 left_z=0.0896 left_yaw=-0.0482 left_pitch=-0.2692 left_roll=0.0302 left_gripper=0.1111 right_x=0.2776 right_y=-0.0044 right_z=0.1504 right_yaw=0.0796 right_pitch=-0.1308 right_roll=-0.1139 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.3333, 8.6359, 1.0623, -0.3639, 0.022, -0.0513, -0.1026, -0.8684, 7.241, 1.8242, -0.0611, -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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0889, 1.6939, 1.2602, -0.5568, -0.7906, -0.8009, 0.1111, -0.0551, 0.8154, 0.601, -0.5232, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.3004 left_z=0.1631 left_yaw=-0.0443 left_pitch=-0.0492 left_roll=0.037 left_gripper=0.1111 right_x=0.2739 right_y=-0.0041 right_z=0.145 right_yaw=0.0805 right_pitch=-0.1576 right_roll=-0.1102 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -8.1299, 8.8547, 1.16, -0.6813, 0.2125, -0.0171, -0.1026, -1.5658, 6.9265, 1.79, -0.0855, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8267db66e55df019812860f2fa84c41650bc56058e316ca39c28e62101b9fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7186a3cee540580dd4f73323b126fc5ce99c9b738555e62040d1718afb34973d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df5b6643b25584a7c0905a0d33890399758f6ecaf98a77c4cb8093cced36e8ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEi1ZULoEY1bFRvBEWkpUasp-7_nrxpSiqBywkMe6ObIEUSo9PxNpfCtWMq4D4q4BcCl3QVna19gTSYRElfEly6DzzZ4PvttHnAFkgTOatsGrkbfdxtGR7bt44AMYnoMUi1WQ9c19iU7-3Avp5BMGDLOEqdPmXNAK8eu7Gu8MWJPZBBJxe7_yIgyW74f2pJagVQb-L_I6Zo73okWa8A-LrGe7-pW01cuvRVm3KQ8sj1DySI34e1uPcSEx8j4tuzJtUwDnusPbjQFBY7dIdgudiqUYf7TuyOqpH1l65VFmnnIs-6J-C9FQfo9r1G-X3c4N5__6dFfGXNezStnMDex6Z-dQ5GhNhFOElZns2-gboHSsExeaql_PipaF3MY8OD8TfTPWSIGkUzwHizA3noJGQshWFEOR56FaFvCCZd59ZEB0lG8dJTEkmPKH4xByT4DrKSBWQwNkrLvr-BWj5pTu2w661_ozj4LUODQl6cJ0cWQRjy-T52ZObPfaFA4Fd0GhoRu6y91brPz9AzgIbivzxhunrGqo0OSlLwoKT_fwKNX6w2whH_8Ikuz_QvfUETrPTlk8SGaWmCdFaqmd8ExoWVYmpE3CCBrB__rpEjUQpGjLeAt1q1F0bAkh3nnSs8R51IDE6muR_IJNVzeTcJytVTuEqJ12LtQBrLJ_itUzk060O6RMceglAu6V2g60IabCJ0IqYNX0TVZevWdeBxUCkLntt4AZ9OJjv7gpU_PdXUnv2QRYQ3VqQ9eEGHLFaaGuop5lFspC5kQw6WqNieHFzMa73TJ211kbJDZPDDn6eCS6zbxAcxIsFk_nOB-7CXAxUH621UHQ0alSm3rxJUCnysHN_3Srld-15K-kHykJ3PD57FxQP4rH3xj6kGealCSIG5GIe_NH3KK6Cv1QnutxWPUbCZK9dJwSVzRRKu_A-LkeIP_u1N5ujp3WMTzDwpvRzCmXFruxdvzlaBsPEmgj5fil3uEy0KrdxPHAE3wBrwjFBdBsEhhiZMDe5j_1KS1sm_WSKjd6GBYG8X9XH4QPSugBCaqJJsM-PxFRwd8frxebFMSCzCaxBczMu_2t5L0Ae5CP3JmGJ444Bzh7t4DcQvB1CFWnsXUIOvueGyXh6R-Q5y6scu-sxXwIFwzyuAsmHe8ycTb7Sgyk1vsqeWdbjZ_gwjoM3-96uJaUIBeBUW8BMdyru4lEhgqHNuiv-WVFoUk8zvxpsWopxIuUdIBgoXET3D63dmyxCuSVEcJ_uZNbAVWjCIviF4biDRG1AtyiihBqDHQPjpguC4Jc1CbF6py-WmgU_u6Sb_5dCQWuWMJMccx7357r4Nq4O4D6qe190jNpr9wD5kyv89m5-II9-iaPDH3Rx6wzZzC4dWsjaKIb7pTtizXI7jADJKlbWCk2TPwOupdf4Tsh_ZMfbBBVYrZSIv7fnqnFivoWoqBX8iiLW1T8zhM7ceWvbzSiFD2bPz6o-CdfA4kM6riEy0iwqc9f5E4Yl39w9bIaVDqtJNg6IlfuDGOlHo8jGuFBRn7xHVkqkgQw0BCKGFEXGAJ6uULiDGuUntnWMS6gj0mbifEpLYakNCiKlYFOH8wO3oILpBgoaaj60yHF4bl2UeiR6W5r9vFs-_nv3nYUYsOwQFXLjM=",
  "id": "rs_02e07f37acd5dfe7016ab448b3aa7087d0bfdc46469310015a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.31,\"left_z\":0.07},\"note\":\"The left gripper is centered over the open safe and the held plush is hidden beneath it, as expected. I’ll lower into the red compartment while keeping the grasp closed until the object is supported.\"}",
  "call_id": "call_hCot9CROrP0KA7wBIGaHroU5",
  "id": "fc_02e07f37acd5dfe7016ab448b48e0487d08f7a65e75eb965f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hCot9CROrP0KA7wBIGaHroU5",
  "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]: [-1.0855, 1.8427, 1.0897, -0.2584, -0.7868, -0.7971, 0.1111, -0.0551, 0.8162, 0.601, -0.5461, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.307 left_y=-0.3062 left_z=0.0775 left_yaw=-0.0441 left_pitch=-0.0627 left_roll=0.0567 left_gripper=0.1111 right_x=0.2701 right_y=-0.0039 right_z=0.1407 right_yaw=0.0811 right_pitch=-0.1811 right_roll=-0.107 right_gripper=0.999\nstate[joint_eff]: [0.294, -7.8017, 5.2171, 1.2918, -0.3394, 0.0171, -0.0122, -0.0615, -1.3197, 7.2, 1.7949, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482268174ac00d106ed8b67bcc349f1f84d5f8ca8df538d2c077f78d8a547f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c20e813308d84e1d7259c67d83baa76e41b7c2377028f0e1d8d5d662eb296a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12dca036d0aa481b58d0639e93c864c88e06a20ddc81b64c5dd0f95ceef4ee2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 2.603 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9543, 0.9024, 0.2955, -0.4976, -0.5682, -0.7666, 0.1115, -0.0555, 0.8116, 0.6014, -0.4782, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1905 left_y=-0.0982 left_z=0.0333 left_yaw=-0.0426 left_pitch=-0.2734 left_roll=0.0491 left_gripper=0.1115 right_x=0.2811 right_y=-0.0046 right_z=0.1546 right_yaw=0.0793 right_pitch=-0.1089 right_roll=-0.1169 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -0.8137, 7.6376, 0.9646, -0.4811, 0.1392, 0.0855, -0.0615, -1.2786, 6.9402, 1.8584, -0.0855, -0.0611, -0.0171]",
      "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]: [-1.0889, 1.6939, 1.2602, -0.5568, -0.7906, -0.8009, 0.1111, -0.0551, 0.8154, 0.601, -0.5232, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.3004 left_z=0.1631 left_yaw=-0.0443 left_pitch=-0.0492 left_roll=0.037 left_gripper=0.1111 right_x=0.2739 right_y=-0.0041 right_z=0.145 right_yaw=0.0805 right_pitch=-0.1576 right_roll=-0.1102 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -8.1299, 8.8547, 1.16, -0.6813, 0.2125, -0.0171, -0.1026, -1.5658, 6.9265, 1.79, -0.0855, -0.0708, -0.0171]",
      "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]: [-1.0855, 1.8427, 1.0897, -0.2584, -0.7868, -0.7971, 0.1111, -0.0551, 0.8162, 0.601, -0.5461, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.307 left_y=-0.3062 left_z=0.0775 left_yaw=-0.0441 left_pitch=-0.0627 left_roll=0.0567 left_gripper=0.1111 right_x=0.2701 right_y=-0.0039 right_z=0.1407 right_yaw=0.0811 right_pitch=-0.1811 right_roll=-0.107 right_gripper=0.999\nstate[joint_eff]: [0.294, -7.8017, 5.2171, 1.2918, -0.3394, 0.0171, -0.0122, -0.0615, -1.3197, 7.2, 1.7949, -0.0659, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:482268174ac00d106ed8b67bcc349f1f84d5f8ca8df538d2c077f78d8a547f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40c20e813308d84e1d7259c67d83baa76e41b7c2377028f0e1d8d5d662eb296a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e12dca036d0aa481b58d0639e93c864c88e06a20ddc81b64c5dd0f95ceef4ee2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEi4okgfxTzG603bJtBX9u1rECfFB7BR2pTmcDFurFNOyTzbA2BYkQbHeXF-5zNYH4IJJlY4SUWxlS3MwMJ6swGhJIIQccNOZt3xAwYjsY6xD6vz54idTfj30DkbNkkAl3fBhVaeq60S9zp1od19LjSqKGd0ox3HMd1-zK1jxmXl0xmvSzHU0Fcz3U9lzOLi3_AVIHmdRNH6xdHXHhC4UYvdXVVQ3uJGYBKB71LyInQU63DljIl3HtIxddAK0XO6z2KxaeYQ4ywWXlNgaKhruGCILpOhC3ZdL4IJg-iTbb_JphSTL7fErVEHINaM8xaN5auGp3QOt9iGYD0EgsoErO1XWwjW4Qj8i6jfAaa_UBxYmszwfy_gu6IJZWxI_Sz98nQH4No2ekz1_w8hAaTF2pYW1Uf75d2XWDSaAAj8v5c3Fp6s54W5IUZX-27nIuo5viQ_fkCtU8SzIru-Rs1xhf3iWS3H4jJhZ3yofGuEYlBcukACN7GmGk0V_0BuJsDdM7BLJH4H-kkfefvOY-uYtCrv4XGOOw8UN9f_UmIUxDbl1TP_E7zZvJ_tmPeP3fGqaUqmVOCRycnH2mXK1RbIWLKelbB7qscOeMXqn33MZRwZO7J6fFyXwjFlU_XZPq6W7H8gBXvjHtC5v0qiNQi8kLL2Mdg3jWKohOqgdvXUSgwR7uQAqHyejRo1x5DDIkzT3Sxb5C0PL7hK0fNqu8ZlWGHkNfFA3zZPlxqUJrHikrL7ZutsWHdH-Lr4ASpGGu6KRvhQokrGhUuRRWNvSaqB9FLt_wlx8emPZoP3BiDyjEPyZEsmvAfyMBLcjBsq7BWedYLg4KevAOreRrrB8o_kgqS7JUqM8yrwoA4GIY3GvX57AsYGcy3oJSidBQm5yJwLy3voJv7exLm8i7pWCBMEJ6bvhjJ9eGl0pVcz3huNpbZQYLlejEIYNv5T0ELDIgjIfy1zgK0vd_jqI7p5pzW0rZFwOHmP2r1qRxv-1cb1GSv7qW-J4zfBSUux9QrIZTMS9CeFq3REelVCY8KriIbFLOafcvHW2Tp5jRDIk_t9fr2Tg77tKsz8xVD9pl_8aF9j06mEzJisuX33ey1ughK6_olnYhmKf3twNmdQU2KXYhjxUoKi1MUDbSTnTvxSuEKtp8xL6YrvhAr3gUw7rqSao8UfI0c9LnOWL-Z35JJPuvau1vZNes33pKD5ANw-ILoHCG5AN340uxCztHYlcqNvuWxXqEqogrFgVWfiqzRoqMtsSUYrnOwSkvjq3R20yYq4zPI5",
  "id": "rs_02e07f37acd5dfe7016ab448b7567487d0a155176ab67ac1f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The gripper reached 7.8 cm over the compartment, low enough for the hanging plush to be supported inside without dropping far. I’ll open the jaws to release it into the safe.\"}",
  "call_id": "call_NQ1rYQRigMjKQKsNw1gDwIot",
  "id": "fc_02e07f37acd5dfe7016ab448b7a79c87d09020e90d2d0bfdcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NQ1rYQRigMjKQKsNw1gDwIot",
  "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]: [-1.0851, 1.8641, 1.0779, -0.2623, -0.783, -0.8013, 0.9951, -0.0555, 0.8165, 0.601, -0.5682, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.3044 left_y=-0.3021 left_z=0.0646 left_yaw=-0.0411 left_pitch=-0.084 left_roll=0.0837 left_gripper=0.9951 right_x=0.2663 right_y=-0.0038 right_z=0.1367 right_yaw=0.0813 right_pitch=-0.2034 right_roll=-0.1039 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -10.865, 6.7624, 1.1111, -0.4322, 0.0073, -0.0415, 0.0068, -1.0598, 7.0222, 1.7216, -0.0904, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b24c2d3a6b699dff5dd14945bec0bdad183fc032f91ed1e66b6ee0e7b046b75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa854506602599faa92d69c80c2f4525c5e03c08609aaa10ac07a2963bc7db1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a7176e40a3c66fdbec5bb63c2520c17b350a8081649907775659709b189d87",
      "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 · 8.241 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.955, 0.8272, 0.4992, -0.762, -0.5613, -0.7712, 0.1111, -0.0555, 0.8116, 0.6014, -0.5003, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.1918 left_y=-0.102 left_z=0.0896 left_yaw=-0.0482 left_pitch=-0.2692 left_roll=0.0302 left_gripper=0.1111 right_x=0.2776 right_y=-0.0044 right_z=0.1504 right_yaw=0.0796 right_pitch=-0.1308 right_roll=-0.1139 right_gripper=0.999\nstate[joint_eff]: [0.0068, -1.3333, 8.6359, 1.0623, -0.3639, 0.022, -0.0513, -0.1026, -0.8684, 7.241, 1.8242, -0.0611, -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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0855, 1.8427, 1.0897, -0.2584, -0.7868, -0.7971, 0.1111, -0.0551, 0.8162, 0.601, -0.5461, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.307 left_y=-0.3062 left_z=0.0775 left_yaw=-0.0441 left_pitch=-0.0627 left_roll=0.0567 left_gripper=0.1111 right_x=0.2701 right_y=-0.0039 right_z=0.1407 right_yaw=0.0811 right_pitch=-0.1811 right_roll=-0.107 right_gripper=0.999\nstate[joint_eff]: [0.294, -7.8017, 5.2171, 1.2918, -0.3394, 0.0171, -0.0122, -0.0615, -1.3197, 7.2, 1.7949, -0.0659, -0.0366, -0.0073]",
      "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]: [-1.0851, 1.8641, 1.0779, -0.2623, -0.783, -0.8013, 0.9951, -0.0555, 0.8165, 0.601, -0.5682, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.3044 left_y=-0.3021 left_z=0.0646 left_yaw=-0.0411 left_pitch=-0.084 left_roll=0.0837 left_gripper=0.9951 right_x=0.2663 right_y=-0.0038 right_z=0.1367 right_yaw=0.0813 right_pitch=-0.2034 right_roll=-0.1039 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -10.865, 6.7624, 1.1111, -0.4322, 0.0073, -0.0415, 0.0068, -1.0598, 7.0222, 1.7216, -0.0904, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b24c2d3a6b699dff5dd14945bec0bdad183fc032f91ed1e66b6ee0e7b046b75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa854506602599faa92d69c80c2f4525c5e03c08609aaa10ac07a2963bc7db1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a7176e40a3c66fdbec5bb63c2520c17b350a8081649907775659709b189d87",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEi7VH7IEnrn9l67iuh9RAvKEUctIzAieOOzufrLidvo62hAUVvgbGqBSEK3ObO7LOOQjluIexdcApQY-phPQ3a09WizoNkUVHo_2RDn3dJ8OkozcEBEOndRgwA5tC5hDQ56dbCB5eqEwj5D4kwwgvl7op3mjwbaJ7u3SDIdpnnMUP1YDfVN_Y9ZzqvclVPaLyeOWy4hhes0cMlQfH44P1jHEk5KWOHtfpeJp2B6dfYQoejwQ_k7HFqSjKIi8nR4ksZCRdh0NBF2uzCp-7D5fuGF3oIBfRabhs0xin_qIcSulbWPMjw_Pks25NArI54jJR_oDBrJfS-UXcoBKnUYcCbcp0a8lsza_0mE7uUeL9YNQzprJWR09vuHTC6cxYPk8qw2dy-a8OndT6YQrtkaGcENw13vGDu3hIEmDUP2UtiE5jaKAgcYQGHw5tW2G6RKydWxvqXNvNTGKxvOsywfpF0cAeFTl4_ZH-vmTxEwLszG_x0TK7mUJOfwQLuOJx8BJf3-e07zZVx463aNd676WA9TbTPAJ6-zm4RxWihERE1jbeJkSRStncnjyekwrRp2rxZXnZSxmwtLfVbKDSsh7JSibO3YP9SbJjrN3KSdomYMCJ2Z2fnolliFqgBYkWY7APjDLsB_0lcC5HNBubLhARySchp0KxkbovuCpsjzoDdtkLtKAAmuMmL_RBf-veW2hHBVd1PrfyhY_b-WfVNz_dxuw_8LQfXf7yDsvnA67Lbklnn6EmoQB3tDFFEjuPJ0cd4_9OgOQtYaJJ1S06Tg0haDMQRGeMwjst-gLi8EbosCKFl2Tfp8L2mre2NMyn3Bf3ZdqSLzGzSkMwG-R2aiTx2RsPX71RlEGKMCj3JKBT0x0DWs1ZLb59d6DB_UCI7EQ1Anq_HF-4LnaW5wpPg-DB8u8k3L7Jc1MAECnUpPj34tdv00ZWKGUMDYzoii_5q-UDY32O8jxYB-kenEJhrq_ec-ttSr2EiQsXTUwrsPj5ZAtTmQ_sNiaA9V84ufwtCh-i0gj2iROZ8CUrUe1Lh8pm8TbT3I8WOql93gebxtzy4AZJgYzhr88yvL1BNQSsZozgCPbQZR2G0uolpS9yTD6X5q2AoN4r1xy33m4PaJw1R6GgAJG8Bv4BYaUEQOW2w5tvSWWqD_RPrry2t-HKZQotJL2mGIat-7IDEEv_uRAjPoaCyReMSl2xvhqu68VuBVySrmD3PziUWQ2u9Ht4qj8Kvc4QNorT1hYkAS5NX7uFP9exnDTIi3qLjdbUfGlwZ8outX4taetpDwxiZXbFQ6PPHWaCxgbXiuqCHHCbDA4OM3GI2cmbAw4_y_1aVvgaEOIaBeOhb_wDplkHYnQPTU20Zq67ntEz8-_BmHUqLl-TAnuy9P6vPslSRTDXvwcVjdlxFB56bktPKDG6bT1lb2n1wLEqvDHVKmuWsTJc6dMcs3JYQ=",
  "id": "rs_02e07f37acd5dfe7016ab448ba6a8c87d082024d22efe9a53a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.178,\"left_pitch\":0.0,\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.178},\"note\":\"The plush is no longer pinched and appears below the open fingertips in the left wrist view. I’ll retract both arms to their parked poses so the overhead camera can verify whether it stayed in the safe.\"}",
  "call_id": "call_3WSMGZxt0lLGswbiVRducUSb",
  "id": "fc_02e07f37acd5dfe7016ab448bad8d487d0b7772783ae96000a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3WSMGZxt0lLGswbiVRducUSb",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0723, 0.8021, 0.5713, -0.3885, -0.1284, -0.0143, 0.9963, -0.0257, 0.9539, 0.7746, -0.6762, -0.0338, -0.1829, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=0.0053 left_z=0.1619 left_yaw=0.0275 left_pitch=-0.0356 left_roll=0.0799 left_gripper=0.9963 right_x=0.281 right_y=0.0023 right_z=0.1566 right_yaw=0.1061 right_pitch=-0.2752 right_roll=-0.0994 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -1.935, 9.4564, 1.9072, 0.0708, 0.1099, 0.1148, 0.2667, -1.8803, 10.0581, 1.7802, 0.0757, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ceab1cf11e7a12f0cb9767598062c9f2676b4f73876b195be14646c8a2a1e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe572cc0e3b0e156277964d4e2af5ac3ba415ed96a6679005dfae817d6b0107c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b3d4af98b7371c439862419ec0a4900fa5ef24679ee278539b4bc8db0564fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 2.328 s
model
gpt-5.6-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]: [-1.0889, 1.6939, 1.2602, -0.5568, -0.7906, -0.8009, 0.1111, -0.0551, 0.8154, 0.601, -0.5232, -0.0418, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=-0.3004 left_z=0.1631 left_yaw=-0.0443 left_pitch=-0.0492 left_roll=0.037 left_gripper=0.1111 right_x=0.2739 right_y=-0.0041 right_z=0.145 right_yaw=0.0805 right_pitch=-0.1576 right_roll=-0.1102 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -8.1299, 8.8547, 1.16, -0.6813, 0.2125, -0.0171, -0.1026, -1.5658, 6.9265, 1.79, -0.0855, -0.0708, -0.0171]",
      "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]: [-1.0851, 1.8641, 1.0779, -0.2623, -0.783, -0.8013, 0.9951, -0.0555, 0.8165, 0.601, -0.5682, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.3044 left_y=-0.3021 left_z=0.0646 left_yaw=-0.0411 left_pitch=-0.084 left_roll=0.0837 left_gripper=0.9951 right_x=0.2663 right_y=-0.0038 right_z=0.1367 right_yaw=0.0813 right_pitch=-0.2034 right_roll=-0.1039 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -10.865, 6.7624, 1.1111, -0.4322, 0.0073, -0.0415, 0.0068, -1.0598, 7.0222, 1.7216, -0.0904, -0.0415, -0.0171]",
      "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]: [-0.0723, 0.8021, 0.5713, -0.3885, -0.1284, -0.0143, 0.9963, -0.0257, 0.9539, 0.7746, -0.6762, -0.0338, -0.1829, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=0.0053 left_z=0.1619 left_yaw=0.0275 left_pitch=-0.0356 left_roll=0.0799 left_gripper=0.9963 right_x=0.281 right_y=0.0023 right_z=0.1566 right_yaw=0.1061 right_pitch=-0.2752 right_roll=-0.0994 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -1.935, 9.4564, 1.9072, 0.0708, 0.1099, 0.1148, 0.2667, -1.8803, 10.0581, 1.7802, 0.0757, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ceab1cf11e7a12f0cb9767598062c9f2676b4f73876b195be14646c8a2a1e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe572cc0e3b0e156277964d4e2af5ac3ba415ed96a6679005dfae817d6b0107c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b3d4af98b7371c439862419ec0a4900fa5ef24679ee278539b4bc8db0564fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjGxP0aY5Odzk3dpQ7K_cuuQlJWbDjUmUnZELtsqnu57A-venAm2YnpT46d8-gs6qzRi2ZoEOXBYsvfzRlHqfaPekOmo1WpUh36s5yeztL6HwX9J0T6lVQDDRgg6pr9YwwduOOgcr8B-RADwXh_jCOoNxFpVGZ2tqcHtDI93wL1Tc08ikXov-WwHIthrPz7Fu4nIV60RW5B9HaHwRay6tQ7dzlt7oVsf-5itq56HdC1-bHfeNqLy8VVawy8iaH5PdKw99yb9oHhlyHm4B2Jdy5pGhI-aDXwL3J2sL9tavjARVWrPackjiHxot6mD1dUwCdnPn9ZaMb0iT74eYi_N_Tsg5qIMonh7JpRwBE8Jwrd0o02jSv0qpUxqexDLzWrvhGitx4QbRoysZFY28o7j-UzaPwwuuzE-aAJ6dJTiScbNuy4ZyHIFdC2gIj3uBcI1ruppc03JVy7mfr5cbBZ3Amvc-Q0fv6ry8V09LsS24CaYrPuhfEyUoNCblkrfU7enh09lMQnI58tHbnXoY9XkPRpxlPJVsAPubLk0owirdE5j4odK9uxoT6ax7kaUZdRh6djLwdHKCna02WxR9SqDFikqfhR-cJmgHCqnAi03ejvb2iiGYppPGCsYRZF_hXFY3lC2Knv0I0B7AQSCBkZhXmFUqEqi5ScMEW4peh5b2T4Oo8lcCv1Ln8GNBToKtSowi2PmcHqJrItoPbEeYTSz3JOGHAuDlCGjuzVsfGRVJfL_bA6JVmQ-EKigs9Whk02pHqrQ6UQGmVDKJfdK1W3lpgQVy7-pD6KR41Zl5T4UQ5mY2hKwkpiO4SwE5pLtDKkJhleSDrHlEi0-zB3bHxjj3MU3Qsl4sb4hpfXYmwnHFXIgDeRUUB3RsUfrZLZMuXGCxO-GXgUBRadeHW3iDMOKYMwXil_03bG4nGF3ruIc8ttKA4GzZdz9D17rMQAifovjOLYpEeA6tmp0op4gptLtBk0isWEzH450Zc_ouU5Fhl5URu56Pix7GbDee_CDGFJetN06s_FHoa74hE9UEOi9KAWXFNvJFU-VhAlbFK7Fdiuzd2-rTGOrDPSMz3zPf-ONZCD-bnhLio4KmxgW1XleLmzxt5DlNXnJ9xmFilkXGkXRYOxwC5wU44d7O9P9xzek6ZMJWmG7osoOBkH1YeXSCwzkFM1NzHJ99whZAIwIYispfj0E_17TYmDIaU8AdB6XQGACC77iMmG4Zzh7Am1HY5X21Y2eSinncB7fGACeRmHPw8SXYz18iEtMt1kqk15t2j32CRGnV-2bXadRsqgTzOG8opYyy33Rw0_RtBn1nc69AdZ3LVn2K8MqHP63okVmIzzIMrsuXaeSVr1MpU7WCtNVzom1pcxHEu_f3Q7q412iDy489sXx3436hTEjrNCrqOmGzhiwEsMDSERmRd-gqKAGNI17Whqvp9dZoyhO_5yr6HJsJjGux1pOKXXEsu32SqSpJ-BHYtPtfIx3OGZTY9kMK8qenXE_qRFmDdolHs4Hqs7vSo1O-xjbpKYD4-oF4D-KTHpF8aezSjJI-77IanZBLifTkq9WMNldEQNKc9PKLCtp5O3UxFynlanyD8SqfaGTX-WeloXfz3zLrUAq2YeR8CqjvlQTutiUCedaZ5FPgI2AC02lQt3-_-Z_TyrbMCfPT3ZWJ9BRkLC_x997yDjBIXyulJ3bQEf2Cp3EtWnZ0f5HURwg677v23UrwplQSLgitclTigj_HQ-iMCNe93tEevUSXXmGoKRsiJNA3xoci9Rhk-FovQ2jH8SO_Mm_tpUdEcDsS78yuPULyXD5bkuL0kRZyhfLOItxUw-ojKinUiz7e_CCRnFPUS_tS0CY7Lq_-bxCXKXcCd6RoxthOqYw5g9N7LPlo-ZV1wMtg82zPuVxiaeanbOcBWkgRAdHg2X6HSPSvdNFYlOSOEVcT_Eem2GG4pZoHJ_TDMrMwp73bT3TxvaeHlRgkWJP3VR8niY2Ivm8um5mOrYXd9QJJpMFdcoLT_eIkrrXG8czMHezq3e4HNVlNiqh5xdXOLkXTpK7TSlWK21_nOBBb8uJeyRCUheEJN_Rshus73uPcAyhx_H0PRTwR521nKk521dB2WMc6PTEU18sNQVKC93GsvAUF4VikMxGtkcV-iNM5PLcpGz_7xFQKuZxNPHahwUWB406YL2whIz1aLJJm48ZNTGWNk5bFXJI7uqCWOjKSAiE6zhFp2wE7AV0qktUlqg9UmcdAgblxVmRNWENrCq6fTJ6aUAHJBTOcHoA-KT-VKpn2naOojQiNjjLYyoAROKuJaMKtZU1zjNMF3AD35naqDbozSJRlM7RqGKgN1gm4C7nNJVWFbf1aZFDMppYMSLH3sTiSJcFF8blToqUCPLDWzIT5ZR-ZYsE7s3NagiC6Xj8mhTxM3ojpFisXBMFLldIrePJ3RQwFOpePuaBAm1J-pVx9-ZCKMLbl2zNb2RZORvBauzGuiaTqBuZ9nHL_8WhAPLt2hwLVA3kInHqgj21LAnmjNBKrVIdhEtqjpfipFpZ4sV6VT8lHpGiJd754w88s5H5Trqb6CrYdS3eFtff_teIVyWMLwD1ZTFG3FsAYCdzwhKC324nex7pk5cOo6TFAVU1-1vX1RAYSV3xtBhWU0yYdHKiutNA5M2kGfyd6975Aay0ePun3PdGM2VSKQVsVS3Glc7W-MsiV2HQs_SiGHXRvv53XbFiWXIbqlPgwJsHkenuB2h0u7EI0p92aUFwL6AuHbNX2Lf00RcLxGqAuTVoTgWFRnSsY6OLhvlEe8yH66BfB412gsAIHFB91bWpQ5XQ9nB2m0ldO4_p8KH-Tw8aDlsG42ev3M-E_u45E32Ub1FG6QNkKfzhjXk6IxauzssNnMyJgMtIGbhEwkxWhA6HL4rRKSZtcROcblkjKWiXCsWNKB32wdC5Kc9oJJD2E5r2mI0ov3NJmXHLZTuh01aRWtSQTrRQqQpSelD6-zQ0EoH7Yjqohyi2CCC-jd-HrvWgnJYJOgnbKSkWoZKbNoG7SMyK5eagPqxVpbC7RcI4bN2KL1Jecpwdgm60OfmNueqIAqrbBjB-xx4Jp1quXu2_JxJ4Ev30iYOhf7dwYFyDCxCZtvYUi28PseR4CjErQqSKx_MJbpY9k9L_6hdasRpsVp1d824gs1k7S3OUX43HSh-dFa8T-80CiTaLF82_OKryIgfc7c_lAN1fjcO4Byjnkcpsr9G7_hRFpCLbEtIK2G2dXrvGhbiyMJ0boggj_LCiWTVf-dtqhYKfiQ-znpJsc5w9isREyd4kjdmE13iwKSHOtTV73vOljfJd8AhBi0Jb9LFyvtfymG5whW52y8UaPrOJvRG8befbesaiQaiErlznKGh-r5CmRyqVM6fSOUiRHa4JsWdzSg777HOSAu3KpqAGi-YIufApMsCtUZD_NivgGeHcJqD2y9UKoO33mKbua0tL1-hdS1aCUj9ht0b5jp80kZEC2gdFFAiQIDMY-nOW9qkuPVC-5s26VwGrSGAocyZPfdEhsWbtu8HtdPknCXEW1_5gkVjISZHKDDVU0Berd24-mjuMU-ANYMfoYYwByIs9xaR239hI-JVMySPdn-bfqin8Wu4g_ivWPhxkZIlaYmXhqxOXjD1Zf0er9rJZ5RJlpa77aGW2CVLJd7TBEZuW_j9o6fhsuLlSicbpLnh6oVI_T6B-uo1vdfJ6etPK6CW-XHibetCR7w7lODq6yj-3hr6BqG16Jjm8_n5K1BCqirhqQ0DCWQPBj2y6WjSpEXNpXofVGZUqr_xNP6oJU-aoi4Xw8TAK0hs2Zkrqrnc1kbeG_8eSfka1SJeMYuYhMbk6t3rnAe-pP6sRUTkAgMlj_QWRyooHhqz30RvQS2ZLRcC-kELsN2xc9eKHWNa",
  "id": "rs_02e07f37acd5dfe7016ab448bfc70087d090937b42209a6d4a",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjGAlq3ZrI3PNA6Q24U7HWP69TswMT2ZDGr-6FbJFZh-6xeDD4ePgr7VKUNQvNX_rKO7ILaoq6Y8v6qmRPlmlnVY2Nm0_PkA3DDxAKx19GvnqUY0vIjiUwvO-qljueGmVWFZOxVOx3njBpaPDhFB0ulp799Ipcz5UMoMmV4ejE4Ki4XsMVx_ev1kXZJSoKIEd83fy8yWRm5nExipq7_HFqv0HFaTtA8Z2ltIJV-hMIt3cx3076fslWFAqmi3JG_HLBVD98NMafK-Ofwe3tlYJPJ6GW1BpKScNnVllrgNP1I5A1tLkLZBqEllYBxz6nhWBoTNuPabhptZi6Ic1b9rE6l4tYU61q8C3t_BcdcwvHUUm9n1CNh-C4y7KTt-xVvwa-N_IJ4Btb3j15OyEri_QH_DymxPEi_dz5Lf4OGJuAILL5X2NZsefr43995271qnCQAqZZxsFc44hDxJmJ90YJCIq-wfC0xMJOi3XLOb-yUx3cTZHyPKjo6BiFCdMbivbqzm08AZrBJDuVMG7OBaNYHYE0WB2aKq9jp9Q71Suf9mRnBM3vxIdk_GYCACjnUH6_YG3KoTh26M3q-H8votH8exD-0BRInyT-ClEog9Pf1NFlWCqE-EXjAK2izmocU4vp4jGNNsKtmE-dRmCrU5P4KxLQbfIEiWEIlRcPTkh6xtfmVGpsoa6o4n4k9LAvgQdXNtQDdewF7-LEAksHFrmLf7pBGV7YS5s1yl41MQoKrw2yebgdAi3KLjpGh-rgnmGsetqd-TtA8NyOCtCECVxeoqymC75pl-yurGV6PyA5PIhXPoqHO36Pp7Vku9xyZ8hgdiRdphBMHgqt6DEzDwwMcf2l3NMJjCpuWZ1nDrIJG7FZLVpEi96c71jEr5elY7nkJ3CxwS8MWZnaU1Wv0Plz6AmHjG4pB0XHmEmwl4SabRgWYoWeMci5vzA-NzPmbZ6cbcEPag_UrT5i43Xv-7T9AZtuGqXziCPbWLZC1MDfnAtGoIlAhThEy7ues5QekSH52GISXPzNj8qR5OAr3rKyawXSQ3c75yO2jPf5L9VsedEwnD_q7gxxfIKFKD6RkwqL2vLUT0wa0rGd2ih27MK_TLETktDQq57Tbts0U3deeF8-dhNfhIjK5s_OOuL5Ot5z1RRZDvxgZgy1K0IQAbx3mqtSqeXMQWYOrdcl2MbzaxtX-k_6x5Kb_EdPJCYTpRVa5MNb_pj0BGhv1UYMQVRbwHtLIkXtLxoeL2xVvnXSy3ZjVa39qQhcbfF0zAacZlxaTiQ2N-Aurtd8ZhwDu_o5rxFr1cxzJjT9lSsZuYA2itwh4ejdqS3w4EAUrbBTSW08xTzTJbN04Ibl2SKEXgmH0x3Ngc4wKv8nNg8H-ZKtUWuuK75A14HeTfDiDp-Cybp7MxjI1yBGEyerx_9WOnRuUCmw7uGe2DVRGVV-svoBt5XLzxh1dP21MVBQuONIT3xVC8C4V6hF7akbXZP_EWiEhrGuE9yPl4wijEwZQKwpGQMyU-yRFhVv1SO7SQj2iuvlEwXyvNrJVlRDQzUke8ACu88O7ZY0a4Nv7jMKom3CGNnR_uOIBIp3duwtTVSrSuDNelbxnBgt24x5X-phDiRsUmg==",
  "id": "rs_02e07f37acd5dfe7016ab448c4e96087d0998029e68d0d0dd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.18,\"left_y\":-0.04,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The overhead view shows the white plush fell just left of the safe; the actual receiving tray is the red section extending toward the bottom of the image, not the upright red lid. I’ll re-approach the white plush at its new front-left position, then place it farther back toward the near tray.\"}",
  "call_id": "call_xCFtlQ0BaWTrt3okeTIFlthX",
  "id": "fc_02e07f37acd5dfe7016ab448c5bba887d0a01e2fd3c2466424",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xCFtlQ0BaWTrt3okeTIFlthX",
  "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]: [-0.8017, 0.4198, 0.4248, -0.8799, -0.6727, -0.5797, 0.9985, -0.0254, 0.9585, 0.7734, -0.7013, -0.0345, -0.1837, 0.999]\nstate[eef_state]: left_x=0.191 left_y=-0.0339 left_z=0.1211 left_yaw=0.0425 left_pitch=-0.0653 left_roll=0.0658 left_gripper=0.9985 right_x=0.2762 right_y=0.0027 right_z=0.151 right_yaw=0.1088 right_pitch=-0.3058 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-14.735, 2.359, 6.5436, 1.5946, -0.8816, -0.0952, -0.1734, -0.3624, -2.4957, 6.8308, 1.7118, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82dbf1e75ea70692c2c42d4ca861d51f492e83a4403689a3a0593ba5da826a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541635719c990c596d67ce227093eebbc7b1e4e78d3ebc644c001df17598c858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85dec9afd0c3aff7922c7ed5d7ee33051f75bd9496de66b620028b9ef3b7b12",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 6.648 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 72 changed as sent

message 80 changed as sent

message 85 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]: [-1.0855, 1.8427, 1.0897, -0.2584, -0.7868, -0.7971, 0.1111, -0.0551, 0.8162, 0.601, -0.5461, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.307 left_y=-0.3062 left_z=0.0775 left_yaw=-0.0441 left_pitch=-0.0627 left_roll=0.0567 left_gripper=0.1111 right_x=0.2701 right_y=-0.0039 right_z=0.1407 right_yaw=0.0811 right_pitch=-0.1811 right_roll=-0.107 right_gripper=0.999\nstate[joint_eff]: [0.294, -7.8017, 5.2171, 1.2918, -0.3394, 0.0171, -0.0122, -0.0615, -1.3197, 7.2, 1.7949, -0.0659, -0.0366, -0.0073]",
      "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]: [-0.0723, 0.8021, 0.5713, -0.3885, -0.1284, -0.0143, 0.9963, -0.0257, 0.9539, 0.7746, -0.6762, -0.0338, -0.1829, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=0.0053 left_z=0.1619 left_yaw=0.0275 left_pitch=-0.0356 left_roll=0.0799 left_gripper=0.9963 right_x=0.281 right_y=0.0023 right_z=0.1566 right_yaw=0.1061 right_pitch=-0.2752 right_roll=-0.0994 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -1.935, 9.4564, 1.9072, 0.0708, 0.1099, 0.1148, 0.2667, -1.8803, 10.0581, 1.7802, 0.0757, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8017, 0.4198, 0.4248, -0.8799, -0.6727, -0.5797, 0.9985, -0.0254, 0.9585, 0.7734, -0.7013, -0.0345, -0.1837, 0.999]\nstate[eef_state]: left_x=0.191 left_y=-0.0339 left_z=0.1211 left_yaw=0.0425 left_pitch=-0.0653 left_roll=0.0658 left_gripper=0.9985 right_x=0.2762 right_y=0.0027 right_z=0.151 right_yaw=0.1088 right_pitch=-0.3058 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-14.735, 2.359, 6.5436, 1.5946, -0.8816, -0.0952, -0.1734, -0.3624, -2.4957, 6.8308, 1.7118, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82dbf1e75ea70692c2c42d4ca861d51f492e83a4403689a3a0593ba5da826a43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:541635719c990c596d67ce227093eebbc7b1e4e78d3ebc644c001df17598c858",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85dec9afd0c3aff7922c7ed5d7ee33051f75bd9496de66b620028b9ef3b7b12",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEjJJPwOI_lSxCvpjXhLBfj0YmQxBux-0kV4j_5tEfiGKPGpegowJv4aWODAhKyoz515lqGXBcenb66Wbpq0H0dJ9vRT2l_EUeg35gjyf3otvm-AY4DRY6vAdOWTDisi_HSrwQzi9ise3o_Vw80cRvzepR129VT3gkCccdm7bDhiosf2B79JzND2tCc3MUMTqcRy0beROFOimzqqImn_AjGZvnPLgCPeIK_b_vwcdiTu4HuWdEyKhOXcFTuAw1vR9Oqg8hOvSlJBhTyZp_AhW3ScLNaZdQfX6M4q3VndN-13gxeYJMl-JxhGdVEH3Slp8GM9TSk8dHjA7iddaYjE5ojSKA4Ko_G4k41EaMgkihN0mKX1rGiyI5Kpy6QaTwnbopm4GjUaTLA5yq5jBo6VXWb66RCeqEF9yqzcllLDkbYL6yxODp1EsIV_crSnxwrbhRhR9MJmz9rbZikPR63XUrzUM_jnaoZWrUkRjdBGgtrMiAVIwp__0BaLkl03lLeQVFof-KQb-XydalRnwNycnVxTLp5NaC2eXdLx-FG9M9EaEoSIGpq0-qvF39sDD9RA1dQFosey5ZX3bS-ce7eNqayhWKEUBULMcDX1KsTELh94n9VvuNgW36wmXSopjNthYREpa-9hEh73DQtHcJJjdlDt9sLXUCYRxX1X9p62hvAkyg8BCrOtuxiBsG-FTY8Vlg-Sk1WunQqnsCtmumog9Hqm5M24Yf-CUZg_Dsp2ngQ4hz2yIvUxZtlLp7RW289K7f01Pvj9PwOdOl8l3TAfeI-EcgNI1ObT14ZR7EEWMdPXQrYCdRibwYuKKDpgQc_Jb2Ib3YaxSVfw4RqGCVhHW5oUfeItMVakux9eoHIUc71DXIhZNOHf6o45z-CgQciKUpgISqbtGzVry2toaXoBgAUUeZYQZnyFK2yE6nvezjWqsl8YGuReWRfZDPuCunIt1CoQfkNbsQih77rWZksqm_TA2PN0bP_3q6eZ_NZ-CiH7_8Sr9vc8R4BuwYeFUX3tLQNtF205hnJmmPYg3mkD74eHMfr3CR-11_NomG20LLT8vY4dNbZyw-c5PkoQIL-5CCwF2JM1Hja8jbfFXqzt5NJVMTq8HwWou8kOyywLMNTJ0L1Y6aWQZDsYSCFFSgg3TNkoUTsHgX-EzU65kTYA9nAjq6UEdzp1tJ-FLTuws7BS_kzKUzljfi77kOWvBbeUOhYPb_DwAJRB-qJRx-7fmwyq2V4gcRt7o3Mufm9xyQcsmB1k44Iz-0vw_rXdirms60GMtTo1SAplvcxPXnuXi2n5jetXhgbcWqi5DBsyp7Zl8T7M2ZtxL3YipGonBNsMHu6Pw9nVQUN9IUpXkJbyv6jOig==",
  "id": "rs_02e07f37acd5dfe7016ab448c8bedc87d08a5982df7b265f49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.19,\"left_y\":-0.04,\"left_z\":0.03},\"note\":\"The white plush is directly below the left fingertips at the bottom of the wrist image, while the upright red lid is off to the right. I’ll descend at this corrected position for a second grasp.\"}",
  "call_id": "call_HkhdFWjlPHlHCDSZnUxP401G",
  "id": "fc_02e07f37acd5dfe7016ab448c90fe887d0ae3cb9986ed76907",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HkhdFWjlPHlHCDSZnUxP401G",
  "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]: [-0.8635, 0.4183, 0.1627, -0.6197, -0.6918, -0.6476, 0.998, -0.0254, 0.9596, 0.7731, -0.7242, -0.0349, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1944 left_y=-0.0484 left_z=0.0572 left_yaw=0.0308 left_pitch=-0.0525 left_roll=0.0209 left_gripper=0.998 right_x=0.2718 right_y=0.0029 right_z=0.147 right_yaw=0.1102 right_pitch=-0.3299 right_roll=-0.0913 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, 1.4427, -0.1162, 0.3834, -0.5739, -0.0464, -0.0611, -0.1846, -2.1949, 6.735, 1.5751, -0.0757, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cced058d9ef80153c409919b463d719c36445941465310e253000a7c326c1c24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aacbf660c20af759e3b078a3c5440089e43d3e4add9ecfe24cd8ef495ebac758",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21a24e3dc09349c63c26b1839896f3922bf887f94347fac618ad2b146c20b99",
      "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 22 attempt 0 · /responses · status 200 · 2.357 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 76 changed as sent

message 85 changed as sent

message 89 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]: [-1.0851, 1.8641, 1.0779, -0.2623, -0.783, -0.8013, 0.9951, -0.0555, 0.8165, 0.601, -0.5682, -0.0418, -0.1837, 0.999]\nstate[eef_state]: left_x=0.3044 left_y=-0.3021 left_z=0.0646 left_yaw=-0.0411 left_pitch=-0.084 left_roll=0.0837 left_gripper=0.9951 right_x=0.2663 right_y=-0.0038 right_z=0.1367 right_yaw=0.0813 right_pitch=-0.2034 right_roll=-0.1039 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -10.865, 6.7624, 1.1111, -0.4322, 0.0073, -0.0415, 0.0068, -1.0598, 7.0222, 1.7216, -0.0904, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8017, 0.4198, 0.4248, -0.8799, -0.6727, -0.5797, 0.9985, -0.0254, 0.9585, 0.7734, -0.7013, -0.0345, -0.1837, 0.999]\nstate[eef_state]: left_x=0.191 left_y=-0.0339 left_z=0.1211 left_yaw=0.0425 left_pitch=-0.0653 left_roll=0.0658 left_gripper=0.9985 right_x=0.2762 right_y=0.0027 right_z=0.151 right_yaw=0.1088 right_pitch=-0.3058 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-14.735, 2.359, 6.5436, 1.5946, -0.8816, -0.0952, -0.1734, -0.3624, -2.4957, 6.8308, 1.7118, -0.0562, -0.0513, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8635, 0.4183, 0.1627, -0.6197, -0.6918, -0.6476, 0.998, -0.0254, 0.9596, 0.7731, -0.7242, -0.0349, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1944 left_y=-0.0484 left_z=0.0572 left_yaw=0.0308 left_pitch=-0.0525 left_roll=0.0209 left_gripper=0.998 right_x=0.2718 right_y=0.0029 right_z=0.147 right_yaw=0.1102 right_pitch=-0.3299 right_roll=-0.0913 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, 1.4427, -0.1162, 0.3834, -0.5739, -0.0464, -0.0611, -0.1846, -2.1949, 6.735, 1.5751, -0.0757, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cced058d9ef80153c409919b463d719c36445941465310e253000a7c326c1c24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aacbf660c20af759e3b078a3c5440089e43d3e4add9ecfe24cd8ef495ebac758",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21a24e3dc09349c63c26b1839896f3922bf887f94347fac618ad2b146c20b99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjRavzSvsK8oP6suJPbjZafRkeWNq5uqo4J99T0pv8yfisN_D5cHRjyX2JbZWkBdK5i2Lm9gj9gnKCyXKUke1u3X6WQLhxQytbLXFav9mn8Zras13fS-i_GeSejv-z2BwtsJ7hNpFJHBuKUetvxVrfoZIOKGML0agj7HZbwYDRFDI90nKML8-M4vUqYqdd_Vt24Wl4rA_0y30Ta3LUf7Q09gnkvRGZxxoiNZIhMQms-6HqPdbrdhSlS-HieNvBwFHFOknDhF6HlTNt56ZZf3fMDrTB9q8zQfU1o6KNIGD4svdmOYhOIcu8kDASFN6XdDjEGAhC2_pynIRxMdvAyKUw5GzLOGGNwTsoIPvlyq7GcqB2xLxr7WScmTIKDIpiOADrLwbUog3h19gv-bgquHsGdU9_MA1tHg-_GYuP9VdqoKbIcONJHUMIrTzyVQs97AvPVp7hs1U8O-S3dcx4WZc2LjhyIUpkL6MphY0d2kGYFwqhi9cqE_18NtM43zV5wQp6J4WiTABtNj_mIOJSOUIZcHWH46GGwYESccyA0jvgGN1sy4bnMrm4-yqtVoocPDRnHtIiuL9JoKvj85PWyT464CH4dD0cPe5tAzMUMwXs3_YNncf6xfPoXVJyWCSMSEuLDbw0mnhdJUV9wPH5u4C0qHNsPNC4iPWJnwkj0PwqPSjQSonc0vCmNzrj4yHZARcjXVtfyIzoBbvNHGKPWJZt6CJlH0q8ewYh3K6zZ5kEP78EaiqksyWU5H53OyylywPwixpsSqZSkYvUMycJrWcIfow39mdF1KjXDNOebNIBb78JBbJlaAvJ6sqzZsWOv__sj4XeRzPqd3SnQYFSyjcKnW-SRgqwGmgWVUczZIUSgurM7ob2LHx5vzwLtGFUDLGZGTMM4FsnG22p2gfmoKDAy0GCNIOscqufiowjvkaeDR6MMhtDzOjTjG76k3EH_GzxU6Ocze9QRP6-UFD1FGPfWiwgzD8JE6E1f1I5cM2GEfqppfEtn8R2q0ErRzcxbnV4cunCTx5tF-N_5LyXWftaUc3IqJGd_vM4-XYRN6eOabgIg9ON97Jq5VhBCCNkAfQ6mvuwrnHVxsRz70bbu_30ygIDeB2TLBBojiiYe0iBcDUINNhPeg5K-41f7GsCrs45Zn4S2Cdzg7v2TgJr5idXzsnrqqGzt4u8jZlkaCnuR0ukl0zVAqzA8yM4cPUcOjq66FNYcFGUjovmLE7y-o0UVTiwSkBTxU-e_ay5MOx-yVo-BFVFp1aZpVIQyTY1F7IEeRSB0sIblqOj66kbuyDpuzqH9TWeknJA57wnxg-hSmVX9fqjb_X3sZikROVNOgaKAMVquKNVOAvLRpz809RhIuoq9-e2N91aMlf2_TkYDBFJwUjCDgzaD5Zv0Yanht2q_u-ILwySgn5hf2y0K7C7HH4AFMMuw1IX7ap87I5kOb4xu12Ly-DVZbER6M50LnM50dx-2tBpZSwHPo_roe34bMyuP8q2ALpYgjpgmPl-XKSria6WaIydxwT-MrzLh07kjQQpUsgu1tKmYQiU-RIr5Wz0u9fvoJ8XTfbzheKKr5uFXBSNkMhio4sVvlRtQ0MGsMadbdth0xjbSWHpWYfXfQfq3ZO8WQoG6SE06-mlCupUNa-Cl1AY-yeVhZJV2pizZIPcXsuLyG622KScQd4gaYNHIS2joLp_aDsbdq6I3wOsWpFr6fitbAPNAFmcMOvK3ABwhOjcDyyrOBYj9gBohg36x3pvUENuqSpzhNiuT0W0lAgO9cv-PLa4z27guH7rmFebsUrUN1VgdPmdoE-db4U-nV9g2vES4kcgPs18UH55OXxewr1qZRjJbsfagYnyuTWSvdzEDRImw4YPgHzdCI2ep2nn1IijQzSJ5lhvgi1CIaLCetDtIgMyFadx_nvODblSSxHS5urr33lJ64LOGP837rFdRyZW-j5JziBFjN3gfYf1rFLEW9uFqJRzWxVd7NgV7jRVEtD04gLUylwQoW_NKFb8uCo00tm8MXnlrWFXqLn7uAvPlnXoAVNdztRM_uHi6aD8spwb8cDBCMupCzTCBvbl1z-SAJfwv1wQqVl-QekwWPr9iZ3WMXbMMqRMPj5WmvmHOQROIrAlLPhUDTMuhGI7G1c4xc_DhCjFQhKPf1FNPms8uisfaTlNHxabPh5EW4EwhTAXdNuJ21BKPqucDhr0PU5tLD48HTKmJFAqS_71HFN2KNbXDfnamLcNzmb6HsVXsLBoF84jwO5wOATlb-W1Bewea29UJL1Rv-iFWFSy8McrreqPVOwx9wy5FTKE8L14GlqzNm3S7fIdyeZZ8yKh4ynnkJaWdzMbU5BsuqYPQyRpOqux3mSdAU8gu22XLkAdZWlLlcPtfkPX2ua_iz9oDZRzqnqHVxYUFqUpo3zzmlUR6H5e0I7i9-uyDaHHSTALcVJs7T2KTkQIwZz7cq_DUIdcrYoRrY5mB_X5BIv8M4n_FTMyFMoKApTBJfa8x7M9UDuPu6kkNwBkwz307yueqvWlCm_Ylfoblkexc_K_8FKSGtQAG3EocR2kyWdfBkjl1800DaYooeAEZy1-IN4sm6wyGfk7cDwQWfZKuvceWdBDYTxZ1t1Eg09Dw0oLhxuQlJ73njLwemjhY-3zV9MBwWmwy_e5xo6L5vD2X6koYXH0LzT4NoVNyoF2zTlQyoPZVVUmIUxucapO6cOlYfgL_-CQTcUELFHdIMqtSUmj2-BQauhmcSJ4YUGgU3MPawQhYzdhIA7IIjtymYnL2KEw9luip_mrEHeTRsahFdJ-TbZAW8EjfNLiAtLWKTMktUWtYvO16LjklAh8DIWOusgmcHUQ4YbBQ2LU9BgJd3_hWj9pKq7lTeGYjyug59PXYGHTRQa971FpE6g3W0Ifh0UfkgXHKfmdhvsL98tSWwZLBRB85-fE9GHYAIzbLEbkIRMWdlhVnInCAodUfj240RGFILIRNVUE1bc9K410I5dKCQu44MX72RSUIPL3W87J6U3yYUqFDOrZwsvRwqC0rEiADHS3ZVlpxN2N8bYSclBtzb3CbOFeYXQWCDG8-n-pzfzKYVI_Xxn3FCM4YMy2i4CoYrtl_2dpHkSSKYgM68C2VYyUBOapNPapES3_PNzHgR2FC59zhhFnMvMlpqxFis_eWe840mT9pPXOy31jN54G8IXwC9JvMfJofEIqcO2-UbsXtM7pZ7zzaOpOhirNj2KdW7SSjc_myao_0Mw5OnyNLssd-bYBM8-7p8iwFk0jnqdETszHctYZWcsuc1XjsCQnZdGvpKJ2K5PfM8LLZdu0tyL0pgRBq95Y4pCIDuM9JAf2Fzpm9B69PDtp1ZB1KFG8XMy5pL789xdea7SpnJldL8a4n_FpLfXIrTBbbTAYILY6mQnlEg5oYiBR6vUtlGsMK5TJNjHfLml8waNuohD9SQ2kzrN-9MjZ9HnDSpYseBjsHWJHvSWklrVIjM4CZIrE41T7Eu1sP6WsNI_PHfQeZmQV4kG9Yrl58-IZRSZNROX1wfeL-PQJHc-yMEKkVB8hyzcGT3WZQzNy45inwn-fgfHR-srqQHwZJ1BgQXUE_fYf5-vRz5MNrd7Rf-rAA9NDsx-wNab-gOxNt8msjnszo4MvYud3iaa68sazDPOBDWstuAYVGFOj1aeU6TP5Gp0n4omOWsY1fvIv0M7ue9nvnDXrzsgPxdwf95AKM9JNZZXexO_NbeJ1mDo1W-WexGyR_-EKicvnJyuoqe4A1f6u_HOrqmJqqTbos8IoB",
  "id": "rs_02e07f37acd5dfe7016ab448cbb16887d08e51f2b472855a2f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.178,\"right_x\":0.2,\"right_y\":0.22,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The left wrist view is filled by the red safe lid rather than a loose object, so I will stop probing that area and clear the left arm. I’ll simultaneously bring the right gripper over the clearly visible brown teddy for the next pickup.\"}",
  "call_id": "call_x4jBxkbFzNK0BfuCNunsks4J",
  "id": "fc_02e07f37acd5dfe7016ab448d04b4887d090fabf88b653f100",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x4jBxkbFzNK0BfuCNunsks4J",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0776, 0.8303, 0.614, -0.4816, -0.1246, -0.0978, 0.9979, 1.1412, 1.3327, 1.0172, -0.9478, 0.5545, 0.823, 0.999]\nstate[eef_state]: left_x=0.2833 left_y=0.0036 left_z=0.1554 left_yaw=0.0656 left_pitch=-0.1114 left_roll=0.0206 left_gripper=0.9979 right_x=0.1962 right_y=0.2135 right_z=0.1398 right_yaw=0.1435 right_pitch=-0.3683 right_roll=-0.1297 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 9.6479, 1.7949, 0.1148, 0.188, -0.022, 0.1846, -4.7248, 8.3897, 0.735, 0.4957, 0.1734, -0.1148]\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:0bd6d66fd178d9955ed9c1eff76fa2da245927f2b386ee75f5822b7bf86bc4eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ffaede2d42a53b642ac8ff980b17420d64b553fc07dac9dc7d72885141ccfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020cb7e601b1add66d8254a1ab6c63b85831a6edf672957b54f7539aed5cd7a3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.27 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 80 changed as sent

message 89 changed as sent

message 93 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]: [-0.0723, 0.8021, 0.5713, -0.3885, -0.1284, -0.0143, 0.9963, -0.0257, 0.9539, 0.7746, -0.6762, -0.0338, -0.1829, 0.9989]\nstate[eef_state]: left_x=0.2897 left_y=0.0053 left_z=0.1619 left_yaw=0.0275 left_pitch=-0.0356 left_roll=0.0799 left_gripper=0.9963 right_x=0.281 right_y=0.0023 right_z=0.1566 right_yaw=0.1061 right_pitch=-0.2752 right_roll=-0.0994 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -1.935, 9.4564, 1.9072, 0.0708, 0.1099, 0.1148, 0.2667, -1.8803, 10.0581, 1.7802, 0.0757, 0.1587, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8635, 0.4183, 0.1627, -0.6197, -0.6918, -0.6476, 0.998, -0.0254, 0.9596, 0.7731, -0.7242, -0.0349, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1944 left_y=-0.0484 left_z=0.0572 left_yaw=0.0308 left_pitch=-0.0525 left_roll=0.0209 left_gripper=0.998 right_x=0.2718 right_y=0.0029 right_z=0.147 right_yaw=0.1102 right_pitch=-0.3299 right_roll=-0.0913 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, 1.4427, -0.1162, 0.3834, -0.5739, -0.0464, -0.0611, -0.1846, -2.1949, 6.735, 1.5751, -0.0757, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0776, 0.8303, 0.614, -0.4816, -0.1246, -0.0978, 0.9979, 1.1412, 1.3327, 1.0172, -0.9478, 0.5545, 0.823, 0.999]\nstate[eef_state]: left_x=0.2833 left_y=0.0036 left_z=0.1554 left_yaw=0.0656 left_pitch=-0.1114 left_roll=0.0206 left_gripper=0.9979 right_x=0.1962 right_y=0.2135 right_z=0.1398 right_yaw=0.1435 right_pitch=-0.3683 right_roll=-0.1297 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 9.6479, 1.7949, 0.1148, 0.188, -0.022, 0.1846, -4.7248, 8.3897, 0.735, 0.4957, 0.1734, -0.1148]\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,$blob:0bd6d66fd178d9955ed9c1eff76fa2da245927f2b386ee75f5822b7bf86bc4eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6ffaede2d42a53b642ac8ff980b17420d64b553fc07dac9dc7d72885141ccfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020cb7e601b1add66d8254a1ab6c63b85831a6edf672957b54f7539aed5cd7a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjVpemrLmUgvkcueorhQUpmqJQoPMVHRnNzKuLse9S9otPFU6YS_TFqTanj_I68-A5sOCgnaM9MRhI44RxexYHjoYpMnyfNqM3-ycbMlSKFsSHAc5b0twVtkHWFHHwTfvl0QjQm9ERamVBK_aeZhtFtBnR_SDZANLcDP3yGrDktvMuXVHS6r3sdqSQuqTK-fLeRrcCrPA3XNn1w1JlDceWUyRltieo--QZxUuI5uhOq4gXyT9izV3pK3ctGHGOOtfU3qKEeT4cZDAuxrujAoau9nGdp_P62ZUTfNaw1dJIKYxcnec5jABYHW5gINwr5AT0njXyjt-CoxlGjExCWFxjMAdE1mI_QyUrlPCAsAUAntCUd_QU_NMCp3lfmzNF5eb_-25Ih3zDYPfCcrYDpoP-r4s102mv6zhqnLT0TK3d05UZtGvS_ucPVRas9U2fkPTV2uSBEekZWSufUciVKKqB60SAeLss8PyNn0UhFhrlUCJFKHZzNWCX_zF7Wv7VIe2Y9tvsCAScwTbu96X0rwDiDAJX7va-V_Gl_5EEvB63Nbvp9_oQx0gyoyMteAqBWIPG91OHV3IU8EtOzJ4t5dSeBHIIwEzorKL9Up0DStei69Mo-rrtSV9LnjUC4unXFiDLsAM5SjBmy6Y0eTgoKUxG7LRUgRYbW7rFq247OsEhJ2Z9uvqbLVI7KDXqreWLIiPZcYhfhVnfCY2lo5mPestUecw2ssukIUyqYx2j9tSHCCy1BJyEpC1jfexvXWu_-hR3oMmEPs2W5Zn-gPaNYUZMZOKaijTNeM5CaLXZx-WJRyjDcWyVNBLEmBDydydSmHzPFZig01Tg5hh-QpkCzw9p3xA3SG7VD3Z2yfVUfw4NQytNy3a6zLCh-jfPAMY1yCHxTeoybq58rPZ4p94fBBuu45kWUlAimOns_bpFOhMJcAmaFqi7Wp7xsT4l23blwdida2ufL6Prx7UdBEZ-2NYXM-qBREvHHVExPJhUqvLb4QuBiObETbvH7LoLaWHhg6rPd4B1kEpxT69_GlhqoAW9HwAV0wb52sXDHVsY7s2IebmtzXO2aiREyrSE8S94MzFYq6VCOZuGx2CG11bMjdXAfjmOJB4h_GmhD72awtviNy29VJYC2Im6Fr00HuqoUYGHMlhUP2d-QUy4-8XoaN1S6inWXg86IgbWBX3OBMJ2bGOkA1ohMtEBbeUdthZzbztS3mblnBkpSc0vsB1QTFTaEbmdUrQWRhjJLlzA8cE9FOth_yrSGukudprWhnUne_VcZV5MJCEwk_-IqtNz19nIE-v_cLlyKJ2M_iWKoQNWkISL6h0iE46VXiKNhyciyDF5VVxUhM3UpgGz4tWHMA4zUumWW8697SIzXwz2QChWHvxALYdbvQSt83FgrAaiWLKPJo0fU_wtpOOG2jr6HZXqxGDrTwjQIdw5fFLb6tt5x0VEeTtdfgyoA0CQwHwfbtFRE",
  "id": "rs_02e07f37acd5dfe7016ab448d40d1087d0aa425b3faed027e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.22,\"right_z\":0.045},\"note\":\"The brown teddy is centered between the open right fingers in the wrist view; the white plush is also now clearly visible outside the safe at the lower-left. I’ll descend onto the teddy’s torso for a broad, secure grasp.\"}",
  "call_id": "call_5i0L5EPjO6sazZxA3M65dcIN",
  "id": "fc_02e07f37acd5dfe7016ab448d4a43487d09b5c7a0646bce965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5i0L5EPjO6sazZxA3M65dcIN",
  "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]: [-0.0734, 0.836, 0.6151, -0.495, -0.1165, -0.0982, 0.9978, 1.1416, 1.4616, 0.7498, -0.6106, 0.5442, 0.8192, 0.9989]\nstate[eef_state]: left_x=0.2816 left_y=0.0035 left_z=0.1518 left_yaw=0.0636 left_pitch=-0.1298 left_roll=0.0176 left_gripper=0.9978 right_x=0.1923 right_y=0.2091 right_z=0.0456 right_yaw=0.1308 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.8803, 7.0496, 1.7558, -0.1538, -0.0611, -0.0171, -0.3214, -4.9162, 6.0376, 0.8718, 0.359, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650be2369ba3a17abe54fcb2232897b0fab033e5440b1f7c4fe87c80b48ef52d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd29198d66708a8de94477be92946351105fc59c696a698954917b55eace58c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790725b1707b73eb4254cfa74c986858bff14436e76760bb6bac3b3c602519dc",
      "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 · 5.029 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8017, 0.4198, 0.4248, -0.8799, -0.6727, -0.5797, 0.9985, -0.0254, 0.9585, 0.7734, -0.7013, -0.0345, -0.1837, 0.999]\nstate[eef_state]: left_x=0.191 left_y=-0.0339 left_z=0.1211 left_yaw=0.0425 left_pitch=-0.0653 left_roll=0.0658 left_gripper=0.9985 right_x=0.2762 right_y=0.0027 right_z=0.151 right_yaw=0.1088 right_pitch=-0.3058 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-14.735, 2.359, 6.5436, 1.5946, -0.8816, -0.0952, -0.1734, -0.3624, -2.4957, 6.8308, 1.7118, -0.0562, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0776, 0.8303, 0.614, -0.4816, -0.1246, -0.0978, 0.9979, 1.1412, 1.3327, 1.0172, -0.9478, 0.5545, 0.823, 0.999]\nstate[eef_state]: left_x=0.2833 left_y=0.0036 left_z=0.1554 left_yaw=0.0656 left_pitch=-0.1114 left_roll=0.0206 left_gripper=0.9979 right_x=0.1962 right_y=0.2135 right_z=0.1398 right_yaw=0.1435 right_pitch=-0.3683 right_roll=-0.1297 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 9.6479, 1.7949, 0.1148, 0.188, -0.022, 0.1846, -4.7248, 8.3897, 0.735, 0.4957, 0.1734, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0734, 0.836, 0.6151, -0.495, -0.1165, -0.0982, 0.9978, 1.1416, 1.4616, 0.7498, -0.6106, 0.5442, 0.8192, 0.9989]\nstate[eef_state]: left_x=0.2816 left_y=0.0035 left_z=0.1518 left_yaw=0.0636 left_pitch=-0.1298 left_roll=0.0176 left_gripper=0.9978 right_x=0.1923 right_y=0.2091 right_z=0.0456 right_yaw=0.1308 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.8803, 7.0496, 1.7558, -0.1538, -0.0611, -0.0171, -0.3214, -4.9162, 6.0376, 0.8718, 0.359, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:650be2369ba3a17abe54fcb2232897b0fab033e5440b1f7c4fe87c80b48ef52d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd29198d66708a8de94477be92946351105fc59c696a698954917b55eace58c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:790725b1707b73eb4254cfa74c986858bff14436e76760bb6bac3b3c602519dc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjY0tSNM33TpqO_iJbo5f_VeUX9eAEnmR6czudgc041v6mq78GwgUs8eAdQPLnxdndrf2oHyTofPaZ6xiD7UvB3bx0-4n1iPUjxcDKQ4gDZVILdVbiCFs0cTaY1S8z8VA064R0sQNXAnqbcbN38qK55ckPNysCsFMX1Ze6ZWpd69W5nx8SlYPu8ysMvKeRAD5FLS1eCtOG_skImVLq_irY20tdQNqyB2B2UCNh9lkKm6EyykB0PrZ6NlYUCNpHUzNsPOHS5_N8r86i9xlk22LLrIWLm17bVXhMRVWTjXy3iLYRz3wXM3PvibPun0AfcQuE5a-evP5LTaIxTijIex-TuK1UW9JWGP2nfUj4JaYeHY2ZIjgdmF6y4ioYlhyd_mvyVCYfyW5IGzmGgkri5GYWFjbkMymnYSuArsqhyz9M2VLkQ2NqVAZyQyXhnqvnWYLLMXzjqkzFuo0S7f7eYtesPj2r8GBuFkr-lhqk9Q4U0sjg3Oim3aYX7Ocy8PMFRhRIykmjGcVIlLOGPS3r2ZUshKLSGkd_XwNm_5xBbRWigOaRoeMWmzdPsOeG3se1O4tYaa_wKmzb5Dh9Yv1TEEl73WiGbEDDywS-7NlNjWvkw1beqbP5CXETctnqpJHKtpJATa4D2c43gvhlUdwPhaK_mMt02fERMuv0KIGvH_8M5kkfCAghbdQ_xtCEzZMkL-SlpCs2PCum1sM05CEwsL5HEReZsuQAChtzt8U_P8Z3bavVJ5BPau3-lz-BX1X4NbnnUa-dOPYHbT6YYYyNbCWYtyDghSnhQ0ypT4DzobOI3_BU_4RoDKFDh4bzlrGLoXlBEe7azKBXrEM-5KzhcNBhyw7tmIJybDwgPA2MnW4lv1TzCUM6mSnVlFaJxD8_ZTuHhbxWCYpLdC6SnGz3B5-gBAFay6yFb2oqufEXrY-jf0UloC2nbDNLTWwlMHhWXqs8jF0B0Z5wSuCTIU3-iiXaANJmkSyd0iOtA6tqiRvDEBvQIPxGbx2tvV412GEMYhAn1dcIp6nFcoJbFYk8Yhk1NW4OsJMo-4LRUhd5jLUQjR6i53cTeiTLy32HwmNkhWxeMPmdPb_khc-9H0ZOHtHlaMVckmJIk1fhvi62_L6vS9xQ8JSKIyOSE-7XLWlQlBd21e1SimPF01XczQ_GHQrsNffeLwJ-vj7jf5QT3CwW2viprhMqyb6TrGMnMsGCv3xDK",
  "id": "rs_02e07f37acd5dfe7016ab448d7740c87d0b3cd248ce4535fd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The teddy’s torso now fills the gap between both right fingertips at about 4.5 cm height. I’ll close around the soft body and verify the retained width.\"}",
  "call_id": "call_b6O8zm5I3172kSfhcjaMTJe0",
  "id": "fc_02e07f37acd5dfe7016ab448d78d2887d0a023865686cab88d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b6O8zm5I3172kSfhcjaMTJe0",
  "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]: [-0.0731, 0.836, 0.6151, -0.5095, -0.1165, -0.0982, 0.9978, 1.1416, 1.4765, 0.7345, -0.6117, 0.5343, 0.8124, 0.0171]\nstate[eef_state]: left_x=0.2792 left_y=0.0038 left_z=0.1491 left_yaw=0.0642 left_pitch=-0.1442 left_roll=0.0196 left_gripper=0.9978 right_x=0.1884 right_y=0.2041 right_z=0.0368 right_yaw=0.1275 right_pitch=-0.4342 right_roll=-0.2077 right_gripper=0.0171\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7509, -0.0659, -0.0366, -0.0122, -0.0479, -6.5026, 6.8034, 0.6569, 0.3541, 0.0513, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa29d18869af9fffd9c62320f4912ab3f39bb07dd2686dc7ba2dc4c291b5b7ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d617dc6f612ab77b5dabb5a32f47fc398649de7d072317fba3a5b509a17af5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe206bfe64da33cf2d20d849ddb96b8c078b51d80dbaf017e1bfc1f1c429732",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 4.365 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8635, 0.4183, 0.1627, -0.6197, -0.6918, -0.6476, 0.998, -0.0254, 0.9596, 0.7731, -0.7242, -0.0349, -0.1837, 0.9989]\nstate[eef_state]: left_x=0.1944 left_y=-0.0484 left_z=0.0572 left_yaw=0.0308 left_pitch=-0.0525 left_roll=0.0209 left_gripper=0.998 right_x=0.2718 right_y=0.0029 right_z=0.147 right_yaw=0.1102 right_pitch=-0.3299 right_roll=-0.0913 right_gripper=0.9989\nstate[joint_eff]: [-0.6222, 1.4427, -0.1162, 0.3834, -0.5739, -0.0464, -0.0611, -0.1846, -2.1949, 6.735, 1.5751, -0.0757, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0734, 0.836, 0.6151, -0.495, -0.1165, -0.0982, 0.9978, 1.1416, 1.4616, 0.7498, -0.6106, 0.5442, 0.8192, 0.9989]\nstate[eef_state]: left_x=0.2816 left_y=0.0035 left_z=0.1518 left_yaw=0.0636 left_pitch=-0.1298 left_roll=0.0176 left_gripper=0.9978 right_x=0.1923 right_y=0.2091 right_z=0.0456 right_yaw=0.1308 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.8803, 7.0496, 1.7558, -0.1538, -0.0611, -0.0171, -0.3214, -4.9162, 6.0376, 0.8718, 0.359, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5095, -0.1165, -0.0982, 0.9978, 1.1416, 1.4765, 0.7345, -0.6117, 0.5343, 0.8124, 0.0171]\nstate[eef_state]: left_x=0.2792 left_y=0.0038 left_z=0.1491 left_yaw=0.0642 left_pitch=-0.1442 left_roll=0.0196 left_gripper=0.9978 right_x=0.1884 right_y=0.2041 right_z=0.0368 right_yaw=0.1275 right_pitch=-0.4342 right_roll=-0.2077 right_gripper=0.0171\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7509, -0.0659, -0.0366, -0.0122, -0.0479, -6.5026, 6.8034, 0.6569, 0.3541, 0.0513, 0.735]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa29d18869af9fffd9c62320f4912ab3f39bb07dd2686dc7ba2dc4c291b5b7ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63d617dc6f612ab77b5dabb5a32f47fc398649de7d072317fba3a5b509a17af5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfe206bfe64da33cf2d20d849ddb96b8c078b51d80dbaf017e1bfc1f1c429732",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjex0VH0GjUhYkG_sgwzXTqUdEFqBOU1SkB34BJb-1biN91Pnvtf6KLMHV_7YGm-HftDQtKiLA1A9-XS5gsXG5m4frv28JFtd8jV0ZJ9o8I7JgEyTB9perW9dVRuKFhDta-k07DIzjhMrRttzMtbgUkb5z6G1t2ojH3rdbHNh1J1WjXa3bgksD4v5ubjdlqR3nO4WbtunST5QKRu4kHVQC_tmnr4SuRATHo_yubDQIwGAv331b8LpcYv5QX3m-zVeDcy67heH6pjzQqttoZhm_60QzKPzwmsaWB_KIl4S--UZoQIvklzagjh0TK5bsza-UFlZ7w7JEgxzgu6gfaFPvZYynWmW3TGehJQwH40mIWTrGD0o31P7rQc6enQPqz--eNzespiZbZMMR5nTBs_a4FN_tUxXn6jdSabPg7jraM8nlx4I9wZxVjbcPgybaAekaz-nZ8aDn2Q5ZRUnBnreqqeU-Tg3fAMoeTyuTOTS1AK1noEsufhWrt-NmhGArvbVh27opT_2obmonr-jo4r15xUUHKStw3Gr0sqJkpQn-Y5jBRxremvye-S5RtNVORUfpkrccpWwgJvcc7hOq8MQCXhQSjg0kcw8X2myKbEXFaoOAAFdf44asJysSD5-MTZD5mb2-iPpwq9o83RXtHJJnD8qICjIg3bpctVO7ENURSnnChYXIqUzBJt5MXMHdyczxBYgrOZO6zZVkR41HopWX5uv25ayAl0xCRSUAm0SedEiNQvayEPIaaoCnSQg6u2sJJ9Gp2PqcjqzpxXWgl6524Lm4HoLASGnEhcX9qBjXr4melzwiCLyBWu3YIrhSIrNEAgogkgrsKPmxruaFYyO-jrvMxfbR9EGR37u7rxREcCS8bXa-0jfJuowjrOykQRW_vG8Q_cLC8sLjvJ6mwJGV8mx0on-vq40NlOsB3DFx9ClbU3koIR3m6tqz5ILkSh_pTKpjcjVDuh-8VguuTu99rNgQ74okO_4GHlG9u6gj4wz5iT1ecGLNtOKOCk38JyYVdLcA-cTqG3TCLwbkD--fNhvBajXUDPPryzD3_8WlU4KYCdutN2GizGFpkITX4D2jdAD8s2ycTZnBLC99_2R6kkKp89oyC4XwlnET_hcfLZACFKC5fuUSuuPr4fYLnMPnGGrpRGM2IKKUEktXPja4PgyExBuJKXVCoW_Kv9GZxi3ncn9Q4VwxwLiZl3-u14o3v6kIJ98UXkHw0jajcHttYxzAMahzsPhAGEDGf3wafEG-sBbFCgc3CrW_8Fw_VntJgo2WpnYowk_n4OKc4dR3fzKzqcr1_SnZfi8j__U8_b-5UH99N2wqAa7Cq5O3m7ERRD2HOgXjzrCtzZAoCZb1GVQh4Z5BQ9991uJOzmog2VTbYqURE8q3VKBzEsAVYbD9gFD71Cpj9AMw9qKhlsiPzayLoXtuu1ZH0eyLJTUr6kREHCQXOsdTWDyldIyNlMnLcuY3_ZBDtZpslYsXcv-V4WvafkV1W1qapURLzo6uBMYV7xuTF4qp2lPXk8R8m7mlR9cdbbrkjuHVMllSfu0t4xEMRLFNqLsF7Cx5zfuNNmkfykqwmsxvcausYcyvxCBRJzrg4e10ptsj1-btRmZcfJ5e1FFz7DYhAat3VLHX37vASR75jCaqpMQdSRU1xdJygWPRlGM7JHvQI3NXN5cFlB0bT0RqL2VC_lLOrqvfnxHLriiJHXofMNGH5tU-CCdIPidzJ5K2BBGR43At260FLT1iKQwKG4VSnR7527d48onJRIOmKtyJJW2Fwk5PfR-kSFPCq3ikA4ldBJ2R2y0UCYuQv2pPwOUBszhNfWSmXCnyxDzb8aEOBU6rYrMoDF1IaAfEQAZppVe532CJm4XEMmFSjYpsXFXGvKI2kDKcBKHwaf-Cl5NH2PYJ0qmdsAg-vFm8fgBbHqRArPirBl9qMRkIhBSe22YiOgTzMZ4pw8UQUSPUAq-4X1F_bJ1nm84wiWH4PfChi8X0wKBVHAz4VMNloKc_6bhIi0_ONbYiO5wBhscZVHU4moaNbs8zEOL76UsKqX2MzP4EIb1vLjn-MTNB3e7TwyusyWESibxIwlyg8xDpQ8Nydm3PSTW6OFoFpTHvBHb9DVH-Y4sXVciqork9SmrQlrGcsPzxtxtI6rEAJWnVNhH3CS2lp_EFn5foBYSvYdwvHtGpFWSxeW3lDrVQMweM2J6LJcXtIb4a6A0hLcjGyLB-3Ks92Vthvbuwp",
  "id": "rs_02e07f37acd5dfe7016ab448db50b487d0ba9ee91683c30e5d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.245,\"right_z\":0.04,\"right_gripper\":1.0},\"note\":\"The 0.017 reading shows the jaws closed through the gap between the teddy’s limbs rather than on fabric. I’ll reopen and shift a few centimetres left onto the solid side of its torso for one corrected grasp.\"}",
  "call_id": "call_MV7uldTJgcVy1lN1BtGxhzd7",
  "id": "fc_02e07f37acd5dfe7016ab448dd32dc87d0ae516ea8f0e4acd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MV7uldTJgcVy1lN1BtGxhzd7",
  "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]: [-0.0731, 0.836, 0.6151, -0.5175, -0.1165, -0.1017, 0.9978, 1.1973, 1.6112, 0.8642, -0.6712, 0.5377, 0.8658, 0.9947]\nstate[eef_state]: left_x=0.2779 left_y=0.0039 left_z=0.1476 left_yaw=0.0663 left_pitch=-0.1521 left_roll=0.0182 left_gripper=0.9978 right_x=0.1848 right_y=0.2334 right_z=0.0343 right_yaw=0.1233 right_pitch=-0.4573 right_roll=-0.2405 right_gripper=0.9947\nstate[joint_eff]: [-0.2393, -1.1692, 7.1863, 1.6874, -0.1148, -0.0171, -0.0122, 0.4855, -5.4359, 8.1436, 0.6569, 0.3101, 0.1392, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939b8cc9a0934abddfebddebdee238ff85e75992b9a3f793192e11c9696e91ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981521fcaf5a59d6bbced8bb7150d34f25ad563c723b62317a6fd67e6a6b3e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29665a13056c727dbc36536482fa1591a849e536168938c0bf2f61ba2d2f1465",
      "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 · 10.22 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0776, 0.8303, 0.614, -0.4816, -0.1246, -0.0978, 0.9979, 1.1412, 1.3327, 1.0172, -0.9478, 0.5545, 0.823, 0.999]\nstate[eef_state]: left_x=0.2833 left_y=0.0036 left_z=0.1554 left_yaw=0.0656 left_pitch=-0.1114 left_roll=0.0206 left_gripper=0.9979 right_x=0.1962 right_y=0.2135 right_z=0.1398 right_yaw=0.1435 right_pitch=-0.3683 right_roll=-0.1297 right_gripper=0.999\nstate[joint_eff]: [0.1436, -1.6752, 9.6479, 1.7949, 0.1148, 0.188, -0.022, 0.1846, -4.7248, 8.3897, 0.735, 0.4957, 0.1734, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5095, -0.1165, -0.0982, 0.9978, 1.1416, 1.4765, 0.7345, -0.6117, 0.5343, 0.8124, 0.0171]\nstate[eef_state]: left_x=0.2792 left_y=0.0038 left_z=0.1491 left_yaw=0.0642 left_pitch=-0.1442 left_roll=0.0196 left_gripper=0.9978 right_x=0.1884 right_y=0.2041 right_z=0.0368 right_yaw=0.1275 right_pitch=-0.4342 right_roll=-0.2077 right_gripper=0.0171\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7509, -0.0659, -0.0366, -0.0122, -0.0479, -6.5026, 6.8034, 0.6569, 0.3541, 0.0513, 0.735]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5175, -0.1165, -0.1017, 0.9978, 1.1973, 1.6112, 0.8642, -0.6712, 0.5377, 0.8658, 0.9947]\nstate[eef_state]: left_x=0.2779 left_y=0.0039 left_z=0.1476 left_yaw=0.0663 left_pitch=-0.1521 left_roll=0.0182 left_gripper=0.9978 right_x=0.1848 right_y=0.2334 right_z=0.0343 right_yaw=0.1233 right_pitch=-0.4573 right_roll=-0.2405 right_gripper=0.9947\nstate[joint_eff]: [-0.2393, -1.1692, 7.1863, 1.6874, -0.1148, -0.0171, -0.0122, 0.4855, -5.4359, 8.1436, 0.6569, 0.3101, 0.1392, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:939b8cc9a0934abddfebddebdee238ff85e75992b9a3f793192e11c9696e91ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981521fcaf5a59d6bbced8bb7150d34f25ad563c723b62317a6fd67e6a6b3e4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29665a13056c727dbc36536482fa1591a849e536168938c0bf2f61ba2d2f1465",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjjbsj_HbyY2s3lxEDqnrGDgvT9G3pfQEtqzLdHVjK4sSxVH5dEuu-ymqjT_2OyfwKrRVFc87jzsng1kAXc9eo_CD71S4ExzGJxkg47YmF7WMn4QfQ5Mk4arzd_UhLfkxobfk4ayMc7tWWggeeo245lNvh-6qQ3YbJM9WGZfpHfAhuPhgSUZX07Q_Xeryt-1S8FhRIkSmouRYEP4n8hJGWC3TOJvwvzvRAy90HgkiuW9OA2fTApWhWjc7zhHMH7I3o35JA1FJwTIDAGVCMDM99tu00EfbjHijJ_IQIYWagAIWDn8-jnH8HfG_WX03Wyx6TQOL3v91GYVEhhh-dDnIdo2cg15Yg1XXxoZ4bGqDNWLVI7SD91Qd8Pz4xa5kYFTcH15QrfAjaTo6sKhyfKgChhkOsaA9DkeTW2XTnk6vOn3rBq6hrI6swlxIJNKx3xDxofMb3TbU5nn-qWnQmkIh0GXeeHE-EDkpDe5nVl1W8UlJQ6nrZiPSXEYVpfPDkEeJsjJpEKPD5VfumZI_XJtsLg070cInfxsl3vREzF0Px9fkzTQszfTlyCLq-k4_ORaCsztD85jF2-NpjBeIT6SvJyH0vJlslOweLhTNxX6IWOfALNEYDZvYvDtZVvXLT9U3oJonI4faKrG-8bE21jab-M7s7YorkwxX-rVE9Imw-OJEdQ-RJulY4g50uje81UzUtK9fSeZhvPY0H54VNBg1wZIGxD4z1qynjJ7j-V8aoh-IVVE_vmilIxt3e9AfDGCK0ukSFFqlrxzD0KsgPAAwItSdkEgp2TKxA_OP0xXjzXyrfyRepNHSTgRpZqvWiqcKht8bbfJwjHQOQW5AfMPMtv_3pfaHsMI49pSqCeXkkTMEdJ3Wt4K5cfD5W5sxQ1he2p71tvVuIWDsnQ6XRvJs48pwGjQZxE5vGilRbRDtEZj-kGlaozq7uXrMvktLF-V8pxnkD6LSu-fty4MFwxad9hoJSOb6uwfrKJxfwyoj5m43QgvwkubUimlfeyzixsW1HDlauMFdD0IIy_M4wLSdxgPuA7hgkwKiTtwXfib27jEW_gWMBI3fHUzq2HLzSjWAzOTUu5h-sZgCcKz9JA-s-SFJbJng0reZ4jDFMIM9Fl5Lr2hI1kd8GAprwhiX2g_6tMv2TGLA3R-IfbXc-Cy5NLZqYLHWDNsK0EHwDSFmWB0kvO1UplILWMwH9snjM6PkwCkjE8clbBEXCGAWkFhfbkqdzUZTkIkBWClmomIAUYQj6BttpIRoSE8TekwLaliLP0Cbi3y0sltBUTG4lhKUj3dWjDlAFja9YPGkVQPpvKZEfBhco_f6PlYK7s12lxEfpttA4e3_Hy5lnEidzHXfAgwmJ0Mye-WOPtYq-hBlQpQNjTeDEML91OWk5eJEqpkXjRYq-R6M8BuwR9-Ic00xDIjaNDylroOPlht6YUMwMT_SwxPbTHgYPTD7z2AFfRlAUu1j0z4zvXzZXO4PR5r-GzAKiS1snwGyBuQXyMfFivXAyCuv13OHQPW9sPSubzbuKXh0BYXSuQz8qhdX1JMz_pEDan0wPf1zy1fn7u7vskCLey2WQfE2-ucyQDZVU-v6s65GDr4wcre99CpvbrBM1ODY65GtP-NixC69IWfbpLQShBxIlfoZAUXPstj4bnQcgBykhNHU_-MmFmEIOnOhS9SzVy2AFLb2qxXrX23sHNwguO89QZJTPp3NUFKsMq-JNvVu9Us04vIQKPx-eC1WqWzX-SaxFRpdW9RfJpon0pVKft1dPxdLTDC9p8tBA4IhRQEDqCgFzrdSO1sQNT7ABMU54dY1bouOaSY1ymexyiVpU-UOgeMkkwU_V-HsrbCJuACM9kx6cGS6KaWDqOYSOWheC_YL_YgC_TCtvgQb7U60VmpLHXlhINoc32KkqhelvYq1YSPdm8XkQ5rJUtqhC-roS7NULDdCZzzZ-W6slAUaCQhsZZVItdIxE8P9NErYEz-kM543DSkwXQqiYEw4CKD-jWweEGPnDXS7gCKcdHdV1ZjWAI4zm8-oZ5xaT3xNlg7GIRa9wqCyubVh8DyBI6XhzK2XaB9hRnPrLINkMyJxc4Xrs2NtLpg_2iBMZ3t4sQ832xl7ooPQFhg_c_wJNhWmgmM83EDMMJOqZg0vjaWgX_lost0SMOvTBNirgLQiM_EBAZC3fQxR6KyTGjWtRP26kXPKnpmGqmJAs94bL3krq2CUyym_OqTYxJ6ZpSZzHghaDdwO3I7QTcYPL5-6MdomT4L8Z79HOfjcY37Dc1PUfQNtviaPm8J-UWo605VigxAwfi1sLQYKDkKo-hCq92A2ElpwD0E94IV8q8OZX4GwpCe47Rz13bExcEtPUn6jEjpe9tw1gHyXA6afubTlSE-Q==",
  "id": "rs_02e07f37acd5dfe7016ab448e0497887d0a55a9e66592c46f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The correction moved a dense section of the teddy’s body into the jaw span rather than the white-tagged limb gap. I’ll close again and check the opening.\"}",
  "call_id": "call_NAB705nMGA5yeOEBXZLFnjTE",
  "id": "fc_02e07f37acd5dfe7016ab448e2d14c87d0b16609f3cbe5ca72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NAB705nMGA5yeOEBXZLFnjTE",
  "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]: [-0.0731, 0.836, 0.6151, -0.5217, -0.1165, -0.102, 0.9978, 1.1976, 1.6188, 0.8696, -0.675, 0.5339, 0.8646, 0.0169]\nstate[eef_state]: left_x=0.2772 left_y=0.0039 left_z=0.1469 left_yaw=0.0666 left_pitch=-0.1562 left_roll=0.0185 left_gripper=0.9978 right_x=0.1843 right_y=0.2341 right_z=0.0332 right_yaw=0.1232 right_pitch=-0.4636 right_roll=-0.2452 right_gripper=0.0169\nstate[joint_eff]: [-0.0342, -1.388, 6.9402, 1.5995, -0.1001, -0.0415, -0.0122, -0.0889, -6.9402, 4.9709, 0.5446, 0.3004, -0.0073, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68b803829348ca42fdf8f72e37f28dadd0f611be1bffddf56375a61e11ae35b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c64a8710c69795d2141c4021be49bfd457d557d310228ae324a0107bb46d795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f90bca55946ccaaf3a4e2621ff41dd5955c505846d0eeb0f103a2c8aa83a8b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.067 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0734, 0.836, 0.6151, -0.495, -0.1165, -0.0982, 0.9978, 1.1416, 1.4616, 0.7498, -0.6106, 0.5442, 0.8192, 0.9989]\nstate[eef_state]: left_x=0.2816 left_y=0.0035 left_z=0.1518 left_yaw=0.0636 left_pitch=-0.1298 left_roll=0.0176 left_gripper=0.9978 right_x=0.1923 right_y=0.2091 right_z=0.0456 right_yaw=0.1308 right_pitch=-0.4087 right_roll=-0.1802 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -1.8803, 7.0496, 1.7558, -0.1538, -0.0611, -0.0171, -0.3214, -4.9162, 6.0376, 0.8718, 0.359, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5175, -0.1165, -0.1017, 0.9978, 1.1973, 1.6112, 0.8642, -0.6712, 0.5377, 0.8658, 0.9947]\nstate[eef_state]: left_x=0.2779 left_y=0.0039 left_z=0.1476 left_yaw=0.0663 left_pitch=-0.1521 left_roll=0.0182 left_gripper=0.9978 right_x=0.1848 right_y=0.2334 right_z=0.0343 right_yaw=0.1233 right_pitch=-0.4573 right_roll=-0.2405 right_gripper=0.9947\nstate[joint_eff]: [-0.2393, -1.1692, 7.1863, 1.6874, -0.1148, -0.0171, -0.0122, 0.4855, -5.4359, 8.1436, 0.6569, 0.3101, 0.1392, -0.1294]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5217, -0.1165, -0.102, 0.9978, 1.1976, 1.6188, 0.8696, -0.675, 0.5339, 0.8646, 0.0169]\nstate[eef_state]: left_x=0.2772 left_y=0.0039 left_z=0.1469 left_yaw=0.0666 left_pitch=-0.1562 left_roll=0.0185 left_gripper=0.9978 right_x=0.1843 right_y=0.2341 right_z=0.0332 right_yaw=0.1232 right_pitch=-0.4636 right_roll=-0.2452 right_gripper=0.0169\nstate[joint_eff]: [-0.0342, -1.388, 6.9402, 1.5995, -0.1001, -0.0415, -0.0122, -0.0889, -6.9402, 4.9709, 0.5446, 0.3004, -0.0073, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68b803829348ca42fdf8f72e37f28dadd0f611be1bffddf56375a61e11ae35b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c64a8710c69795d2141c4021be49bfd457d557d310228ae324a0107bb46d795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f90bca55946ccaaf3a4e2621ff41dd5955c505846d0eeb0f103a2c8aa83a8b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjutGL6Xm0-UOvhjWnvte8qzCpd7CdrWjivEAyg2hDtagk3i79zlk_fjLaIYo283__ojIy36uKjrosSmfBiVY8T7UbtaIWQXrft1SQRKbGSGuEx0wEuBt05PhvhuoS0jRlWbVGRFPF4bCBvrgAyFFjAXZEdHe9Ay60hD4XB65pFOAxq3MuHQ_TYbupjPJxJCQRiYLJilmRrUYPRoO8uv4tE_gBxlDmW8tkgmR8-b9kHmTkJcdRBAcqszDf3teu1TKK6YqihWi_kClL8XPkmIGSOxCUg6M4GvWs-b6Hj-7TmPF44haZLwg9thuLbaempGgYBt5rNW0UzSWgUOaO4yKH54qQJ-LwpYb0oxEuqLFulkdP4XuKPQJhvlZImgafrQeEwPTQp4lPjBN6M5oqBpDXJzBXs7xqvoCIiu28aCbR7JjPC4_X6pjROzdQIo1W6uB-98Fhbvdeir2Bpkc6M2iEBQhSsL9cbLvm-HUIVP84MrqmyBrcvum0I8D_ixOgYb_wafy5d3z_Z1vSwofcGELR6Ty4tYan82fPEq67RWE8pkjiSY4vLtVMYWjSmC6XPnW13XyuWAxE6TeyK6npXNQFJYZEYgjyyLg34MXeOEqumTZ6NuAyJ-QV5d10UOZCEeS8O7-Ffvlhc3zR4j74RuxRqoItcsUy5L4iihFNcrpT7oXYszVdxJSwGirxJW8Eaq9aUwzDSWvEYAbJyDeQK6x2R4Di1ISB2t5kWX4SUTszIs741kI0aVnfeCARqxUMpFl6FKL78IpjGRpS6ZlzUMU8clVP-8y8-aFqtXTMPdSpaybE2GFywZiRrz7HJUtDRd1DsCogL4CmmmVAHNfix3cZQyFZaOmUy2tt71CA3XSdN_lkYl1rX82eHhNjVOdBHiLCKjGOXtxPyGRs5Jtmvawjvp5AYohC3cD9jsOLY3ZLzAkQuMGvDwTCaZSQtjigusWuxadan3KKcqiMerGH9FTr27xsOIcmvnudxbUBgyV1vnnahvhq7KK3SZ_Ut7g5OLOdboDlPOyEf-kSFVBJd-RXo3NMO6ToLMonar9UwAO8E2fZ4TAoNnKb2xv0llta0Ec_tLFxUdlBL5p_QkFfyxX52JV0EN3V57omC3P9Z0fH1BRYqeSBq6xqtxKfPgttRmNHaTHp8bYTvE5Pw1Lgcg1mwrBL8hMo085ssnWDcuiK5pkFSKS5cxfSGtJ_PeTdd_QZYB7pmlnXDwLW4bXOFGkI_3x2FbeCqPdoXDiIgYx-C-j52RCE-D4ehJ2sCKcNUdBinOChAfMSS5yyMIza2dBMYCs0owWB4XxISgVCVVkz75FuhupfX1P6hp-3CVBB0-8X1Kfh-aX-TCmeJVRAlmt7RfvzAyDfz8XU-UgfY4HDAnkAUBdzfA3xpkY5QjxbKLsV9YQOzA4DGLigQ8esSuO0DZnsir-mvgIACY12oPDdPdT8-tYBvIvqI3CJRz_YBy81KqNjOHw5kquYROliYlYZPRuYLccwpHMP72LQgxnoJ3xYUKItb4-8hSngbu8vR_TQU9terGuUbkSvHRl4dabLTlmipVY4UdQV2d2eM1YP5ZyqhH_dXmHeVGQZbb5kjhZB1ZVSDo8iFwO7zink55fG43aO1wosHGKs6qmJB47gnA3EFqb6giTTV3GQfkkZPj87pn9OzKyzv9ZL4lYrnvFaZOQwErsIGUF0fFSqiaVRopxPkaCvE9FVyUb2GZH89A1fmSr8Xupw2NtLcfqEUKoXdOk1xBXq9K8hZEzpSk0nhRIHgMb8AZDn8miX8zS9uHi5jWHSNElnwt0kDhLtleB85I1-AIEe08-VEoxyy8hkl2ni2MloTCOV4tbloI33lbGqfRzk3azeZM79P1dkOJsIBHCzmA3naZkKFsZx1RRsTTcrCICMp_l0L4QzZsXU1DO5hj5J7YDOAIQh7pDWAa3sJ8enOsJx-WOWdQMJ2_HEY2FQPCN0t9LZeTfN5pV7ZUoFFNjF_cI4b5r3mKqEQ6ORCGDbALWIsUje1FQlmlcBzwUm4LtBdKx55gAc9Xy_tw9C5b_mdwfJg-ivYrSc_Rgw4ohqF1toY3sN0yvVd2rUP8SRrh-SXuJu7IqIegZb9uMdwe2V7iAAhUjPEo1xv5MOYZADQowaL1gjUmdJlogYDhU5GPJOeIIhbFdIPDPYpIFbOnT4YAuf-92h08KcP-SHfrgTxNDMnneqs_9tjAutdJdtdhn4pAZDae83RJfGBD9wrNlt2BEj6Cc2j5fG64ohuqFObDFaFhwpb9jrOxRza4XZHoXvj-DQTrXxkb1CZpNhAOnh_mjPMpWGn5GklgtsYeg0VThvpZvfnVkIWdZtccp2NMR09AWmPeuZHG-NLVI13RaAVIuD_SFQPcAzwGY2yjAi0wBkMxMcPglZbWWfnAPD_3xhBT-8zMd5OQvfeOswHvq1x1UM3lvf80tKqdpQIapm8iasXz1ND4BYGI8eISMAJWl-FnKpWradvlatNlUeWUlRrj1bZfq4b4R9AswujitE7a6D3YpL5esR7O2uIwHP6C3L2orXJ_ybZeJ4Zp_W6HLyCwFQYSwd5k3HJR-1yudYDih5X-1vfdUECaLI2FVP6dXjCVeOyMm7-6KdY78RTBgtDeRUCZsUDRajimNw81TfME6_npDxtGkq_0eNNxIdJmyknOb9tPUvbw6Gu66H_Tl88YTTaozYk3YwAY9_J_se50ogCLuS8LoG0GMdXSf-GI2i9Dwe7dIpBC_TlIS8ajl_iWZmj5c6WXOBwXC9XN8pBUEIwU3K8BC4O3WOnWzPeP_w59LqXc7NSV1Y_CkF0iQhgvjf8BdeRSvX8OT0xkSwpguc3nDPQR8cjtMv1MXAgMSMmYeKfRMI4Lu5xA4xCqbBvTH0OB214dhYEh-IegL1o9ioyR1uI8NimRO5sKr3J1dxuxK8dM0ppZkzYArS3Jn3gAzhVYouGTm3yp7ZCRUloUumlp2qDZEgRxIR3y3aEHuGGemGglKdlZ2Ci2WsoiTj5BKf8k4Uq4pNxy4fVhpPdslhPem_rDb90ak8XEDfkqBVUMCLOohqzCjL_fE4zXVz769a1s_alE38ey_VMSRemY46Qx1Vz6X2nrgVj7bDwQPPEtxflJL23PeR6Zu05poZU5dKOPZD3yXFGGSj-hd6cf1gf_zHHdE3suLD6KlzsnRPMmC8DMOO9gphq4lusRILOvey8EyWhIbSfmGoyO-uHU8TjRxu82cvcTXVHV17Jrq1GpT7admE4_iUpWVHL6XTeHlAOGlVn4kMsViHvVguyY4tjMrzPzEKBFKyWlis5KZnbGQx5QsD1V2afkazfVFTCjXIQSEbZ91Y4k1EIpm5KDXUijazhLmYs7g_vDQjeVS0QMNRK-0vIERkf4yv08f4Fz_r-Qk0rPADYw2XvCmxLI4OnrhDJAVjn-Wf3wh4NYeVxG-5Zt-gTOljy0iCwZeTZ7Kn8a4nUMryEefx6SO4rmXDa6M48mNQD4onVtqxL1AApNCfovYy2FY4_PMamSnA_1sCS-wW4dv0yyhz832Qbg2FxS30YusysxIKqkR4wuQ6BL8vcw77DFzNDaTggXiuPp9VfS-xL3r-ktwrxWBzrkize81h4ZnzbdoftvuwacSIgrGaHevjc-M8Dbpka2hmtaAy9HV_joJ7eZjMPvxTEiGb_s6qtbEYR8KZqt-vIm7w53WcIkyxKMDTHM4DOtHfsny0PE2gdLk866IEwafxFICTMUQYHfsWFoIlFVSqQyypPsAyUqhIvLF1POO4OCYnq6sPCz9a0a-62ANsFD9mEvmY9mYdeQWBQf-LzTAI-Wl1lZsYoiwZodzftGZCx1jrPILI1EDcmrUmpwH2g1b291wKlfaTZUw9wCU9K4vjMW4IlXZdv4MTcQvRmra3S-jzKw7OQLUtWOI03M0TFhA8p3OmHDPsXw4feYOb6rxqeDmnP04UuPMXg9Q_piTWtfjREpEood7wvg3Z3kurXtwqBF2JJXXSd-hkQca50fsO1R7AVl4we4ZM4pJe19qdr4k_ZQrhITQJU-IzREDtAxrd38Z7BHZR_dJh_6WzgEmDJGeAXl0DTH8OIl8-_ciUWkwLYMsTjkqNstA7360lk0dBK57VZV4BPvHXDGM15RhjhStSF2o1bS8Mle8l-O7PS",
  "id": "rs_02e07f37acd5dfe7016ab448e6177087d08507bbc01c152fea",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjuHDSFq8DYDzQzHbqYOlje2v3WXNtl8WZgGZLe_fRN09T97RengEUFtQ8ZyRxW4qiRcaVAGjHLuOAvy4C4N01lc_YjR8OMVefpu_dLRiBeRvMLwkHJRMEwWoegSWd7o_VywNX5RBHVK4LeOc3OuEHhQgBWK-xnHGIDpD-PPXNz-LansGN7BD8mM6mE4ydrbp7Xz3n1mNYfY_PTeXqSXCGhG6SeOFJbZOaqNXiVk9lki4eqeF2FrdvSP9dJ2S2MKLf2WZAKLoUwo4Qpf5xlZVgpK9MVq9H2_SUAkqMEJIvQXeh95dtAsFhsLFwi7Xhb99eigaFEA8Gy7z5_utzHDuKRm_NlSdOaAe_BI9S2258O7GGG0k-QqnFU3lseeWTYB1eHg03o8cu77xAumig6siWWR6W7Oack94OIz7xzT2LrVdaY-bBp7VA7uh8fo5yAMIl4U4JvKgM3occWgJYg4xXOtRFjj1GC9qVlY8sb5TGMVw5YjNLb7lpAje6ZylfsVw4bjdF-x4BPn43NCmCZUh5i3bx5T1DRaeik-_0IxQJtRtpch-aSDczZ_A_vVQ62IBc93BOGvJ430VHSlqOdx453J9Jx1e8wyPwhux31k2ZNaUB5p0jZqDg1HPQhSJk8CJ1SsreRUrUfqQ0CNA7EE5B8UCi94knxLrZtT9H56NUAQSOIUBwZAQuFk0Qt4ZGmojBkPuQvmo9M6lqvFDGGSplJ_HPl6i8hmBOlHeE4z92xRiIMhC7jGBfUie8cUJgi0UvIcEasl5le30pYnUBH8s5JdwTRPsK9Q1bvNyboy5eNilIbiH2XcZDpBJihCda0duDIJwjCjpprDj-eYI8w4Kel22T33EL-p5aF7xYJ10g1IRGMLH8pbeS09AMnrgrEGM1czm_hudxYcMzESjP6VC7XpotPN3RXpf8EFsI0tVzPFKsR8iGxAn-XTETSNAFJ0fdt_r7SIsyOZs4fNMLzQlHS5xYVZ4miSHIl-Sgh2dCtFRmW4MEmaQuKhGiDVG7fCnjfYLDUQ0xb8dTuREUh9YjJUWnyMSUxkq9zICvNfSjE1otYoS4PofSuCBK1pgfy-ghnjGQsnULbsbELrfVi8yJOtZiL8yjY0eAJX0IfUM6PJtnLVehQqNtSqPVgrVXFCRe3y8cu5C4EJISdIR2XMOc2H2UQu-kMnJBOpmn0UTK7eLqU8dchHh7zrzJFopvP-dn5QyF3TdgLRAjbVPdgfeSG37LVBCLfk_aURcAkhKpr6LRRhJLh6oq1k6EgujYLeEYXGnlCv52ltNPggRJo5K9P2vaoDB31ozBdrsOHY59s_ap2-njSQ_nb0e4h65lVxjECugg6iPk2r6suywwUQOoabbcwUgf_jzMNblCoA9ilc_l-GPmkSpY7lUsafpfEbC8jr3zrduUMbMq4IDCjX0-IKAnu-tvvPi0hvmvzZOAfay9Q-8s2DbV1pnSj0cbUMmHf0fX93baBrXHEnSgIWxMEJMprx1eANEDhUaMHMGOt7lS7yqK5IPF7CrQNyxF6nLr_uq_Ix5lkipnX5mxyYtf3flTtaJeOMM0izPyTdlFTmcYMFQKGQdq0aN0BEjrKLumKISRvJ2J5_RPQ3bFzF3Rfmit9ez0veFci-2yDqt9HIKa6kklBN2IncM_9bOscypc6sApJMls4irOnWzeaAfGoP9wxPlKc8TZas4ekMaVnkKxN-CSMfSZbIDmlM15ekM1zGlo45qDhJc5vb8qJMh8Scrrs6jFe_ffeCWO7H-19HTsBneZ22ME_in7x1MfOdB3uLBdA2NhYe1zZXtHh8lAZe5JzntJKWDcunsN8irlDkLWwuMX1sqSZ6dEfFBw7X6_RyS2OxKpOCYudvybcab1jVcPpALUOHf6kdxXdIylo5BXADGbiOejfWQ9SfsXQnCIiS9UhvjadzITqoDig_pSpFt-XYEbSgnid9VNMbm-BSahpPFHRZlXxsoyUxfsZktxhh39t1KB5auxDlojA-QbNqLVB7Ir5idN1yCc468Li8uUlwrtcS1xFB0D6EXjQCx3-_u7G5_zJWoWuAogel8vhdSrHs3V0LsZQbRlKupUbsw-X7u_tihExggYYVsvDBFoeLvbdWi32JKMmQ-jpc0C8aUfUJD4LxverM68AD6DC4V_N54WxrJnsfKr7XbaL6LocEy9v99XVAEkuTQy8ElWf3C18VoZme6ohGozK53NF-5fpmPI6eDksKSX_bVaK9A7-L8ITon_oxAIfMO1y4u2azCGU6AP2-lxJyJl8PYXqr7TSf9IC_QO5My-CeKIklKhM-RFprbyMtFHr--rgmcyUTof7GJRibeSYiGiGBDla87SmZucpgHhkZVT5eIjT4SrC_i-Vqn1sRhSyA3t0bjUl4BpqhoS5ZNvTz7nVviNgHZNUztA2t5mkVL5ZA7wcCvkPEIBwXImnTRCT_CqAF0BnmA==",
  "id": "rs_02e07f37acd5dfe7016ab448eb79ec87d0a4582be81559568f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.22,\"right_z\":0.045,\"right_gripper\":1.0},\"note\":\"The second close was also empty; the overhead view indicates the jaw tips are still short of the teddy’s dense body. I’ll reopen and advance about 3 cm outward, returning laterally toward its center for a final grasp at the solid lower torso.\"}",
  "call_id": "call_4rvWpaHc0tUa3Pqfwpx7SywH",
  "id": "fc_02e07f37acd5dfe7016ab448eda90087d0a6cdc95e1d057179",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4rvWpaHc0tUa3Pqfwpx7SywH",
  "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]: [-0.0731, 0.8368, 0.6147, -0.5327, -0.1165, -0.1055, 0.9978, 1.0584, 1.6085, 0.865, -0.6666, 0.4999, 0.7166, 0.9948]\nstate[eef_state]: left_x=0.2753 left_y=0.004 left_z=0.1445 left_yaw=0.0688 left_pitch=-0.1683 left_roll=0.0176 left_gripper=0.9978 right_x=0.2113 right_y=0.2102 right_z=0.0321 right_yaw=0.0936 right_pitch=-0.5063 right_roll=-0.2938 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.4017, 6.9265, 1.6337, -0.105, -0.0024, -0.0122, -0.3214, -8.1846, 6.9265, 0.8571, 0.2662, 0.0024, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eab2de2695ee98ab054dc14514a5c5e3158b04c066b9c33a8d72d2fe3e17464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd6e2eef4cfd82641a393b409865380b6efd8218a55acb19b66d553cd213bab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257d7e3806385073752d0dc02d8892f5964234902cbd7c3b491999a0c4de71a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.29 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 114 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5095, -0.1165, -0.0982, 0.9978, 1.1416, 1.4765, 0.7345, -0.6117, 0.5343, 0.8124, 0.0171]\nstate[eef_state]: left_x=0.2792 left_y=0.0038 left_z=0.1491 left_yaw=0.0642 left_pitch=-0.1442 left_roll=0.0196 left_gripper=0.9978 right_x=0.1884 right_y=0.2041 right_z=0.0368 right_yaw=0.1275 right_pitch=-0.4342 right_roll=-0.2077 right_gripper=0.0171\nstate[joint_eff]: [-0.2393, -1.388, 7.0085, 1.7509, -0.0659, -0.0366, -0.0122, -0.0479, -6.5026, 6.8034, 0.6569, 0.3541, 0.0513, 0.735]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5217, -0.1165, -0.102, 0.9978, 1.1976, 1.6188, 0.8696, -0.675, 0.5339, 0.8646, 0.0169]\nstate[eef_state]: left_x=0.2772 left_y=0.0039 left_z=0.1469 left_yaw=0.0666 left_pitch=-0.1562 left_roll=0.0185 left_gripper=0.9978 right_x=0.1843 right_y=0.2341 right_z=0.0332 right_yaw=0.1232 right_pitch=-0.4636 right_roll=-0.2452 right_gripper=0.0169\nstate[joint_eff]: [-0.0342, -1.388, 6.9402, 1.5995, -0.1001, -0.0415, -0.0122, -0.0889, -6.9402, 4.9709, 0.5446, 0.3004, -0.0073, 0.735]\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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5327, -0.1165, -0.1055, 0.9978, 1.0584, 1.6085, 0.865, -0.6666, 0.4999, 0.7166, 0.9948]\nstate[eef_state]: left_x=0.2753 left_y=0.004 left_z=0.1445 left_yaw=0.0688 left_pitch=-0.1683 left_roll=0.0176 left_gripper=0.9978 right_x=0.2113 right_y=0.2102 right_z=0.0321 right_yaw=0.0936 right_pitch=-0.5063 right_roll=-0.2938 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.4017, 6.9265, 1.6337, -0.105, -0.0024, -0.0122, -0.3214, -8.1846, 6.9265, 0.8571, 0.2662, 0.0024, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eab2de2695ee98ab054dc14514a5c5e3158b04c066b9c33a8d72d2fe3e17464",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acd6e2eef4cfd82641a393b409865380b6efd8218a55acb19b66d553cd213bab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257d7e3806385073752d0dc02d8892f5964234902cbd7c3b491999a0c4de71a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEjxHNUZ89hmC4dw4NE7Yr7En31EkeJ4aCYRD5UbvIqa2TeCckKGSBJ8fUPRAkeUh8DVaivkgBVcQOWu51dBIs_OxGpuNEmCMaP6YdKwpriRV-jUpDQC4gqk1BHtnLbETS1dTec9m_h2bIHrkmwy1heQHQ1p0UKeJl3rNQVkGTcx7NqB3XWf2BU9iWMGWl8U2b9RiGX53hRl0ixXEz8cbmj_OrYG40rvdKeTuUFm2qzhj6ZgMjtx3bVHxQf69ctlqk8VksNXjBQC-8yKt9BJh4IUcuODnQIYbNrG2uFFERtzSzOdDcrZTgpvv7632ofhQaUKhgThApVOHF4uXi2zE87IKUh5UJOp9hSNZd4N5AW9mNFqKd7aknyRcXzCclYnRxif8QxwfO1PXiP0NThs6UJ08OhRm8QwOq5Enl_63zZ9ysi2y8CNqTunYB7RL21DCBIHdTGsSV48SAk8_ftc3lRnU2MThp9t3mMaJ2prCaEu3abCcC2lsSplQGZMVTzCUyyZZDmd1a0xJxV0cGMzbB_XT6gjs3EGgzUO3UH9ieAnbqQ82gr2q7dkAF4TlzWyKJIhJ6EKsWKyJGaJq1tP7TuowdgPKySTFFAKANs3d02IpN_2_CMv9l76tKO8r0bhVpD57biV24cOYB_RYx2K7XE-ThI4BVi-9y02pvm5xQC5J3f_uM3iA_Bi33T5xu0YX39BwEfnjKmetGlyxXP54IPtcYikMQ9ywq97rdZxLgGyVOwrCF7FeInBenz-LJtlf0QoVUZcEBmIyOBMYljoL3GvuBd36uFJ_KnOwinnzgl4vWr_lv0MP6k9YtWIxFBzcEzVG-X9p-EgOSMdT9OB4F5cOIXeWjyriwl8ZfL91B3ZbquwdzJ8N6y24vBg3pkwELw0A7x7yAPV49cNjc9EUBd0_6WdvlTpmW2gkSKP4T_N3lxdu73UPtYTcd-0BlUdB-rSKR64hcSYCqQNjGJdU2QNUyPsIZvd5CWzPAm8xKscnj1py8vusbwP1eXYXlSaB2tqwTBwqFJoytWuynOhf2B1Tc-SAueWfHucFWGtExq0qiLo54saVxasKbpTi8ygnBgXS9n_8t15feCc2CxGgULWqHHYR4PaTuc8Ah48psX_kC73yCb6HYO3gT9xzYZHI89qgRNANbizulEl3ks8_Tf2qTaTx4Rmq2Io5yGgOUGJLtr3E7QyuYKTzgB5sK56dFroKYUNr2H8vMiHA4WQY3n7nEx8Eky-O5lyk5-NZCeB_Om8pA7ziAeCika6K1tC9Qer2YkJEyoGf8Pf4uH2CWIF3B9Pkwnc4Y1jiE5MDYkqFV8=",
  "id": "rs_02e07f37acd5dfe7016ab448f0b47087d08e0e7e7d451890ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"After the outward correction, the teddy’s dense lower torso lies directly between the open fingertips rather than beyond them. I’ll close now and use the retained width as the grasp check.\"}",
  "call_id": "call_yIfEkECDq4E0UuPXT8fmIYzQ",
  "id": "fc_02e07f37acd5dfe7016ab448f0f2cc87d0ab3e197783074130",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yIfEkECDq4E0UuPXT8fmIYzQ",
  "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]: [-0.0731, 0.8368, 0.6147, -0.5396, -0.1165, -0.1085, 0.9978, 1.0542, 1.6066, 0.8646, -0.6682, 0.4892, 0.7074, 0.018]\nstate[eef_state]: left_x=0.2742 left_y=0.0041 left_z=0.1433 left_yaw=0.0707 left_pitch=-0.175 left_roll=0.0164 left_gripper=0.9978 right_x=0.2106 right_y=0.21 right_z=0.0316 right_yaw=0.1001 right_pitch=-0.5164 right_roll=-0.2918 right_gripper=0.018\nstate[joint_eff]: [0.0068, -1.4017, 6.8855, 1.6093, -0.1001, 0.022, -0.0122, 0.2803, -6.2701, 5.5179, 0.6032, 0.3199, 0.0366, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb0640103efc7170de289c6d3050cb1d0043f326dae29ef9d708f69b13e21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f3898aa42a54ecd1ec08bd656176472edcc57a645a09943e76ca054b93b915b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fb29cb563ea211c8717dc60c7627a0fe29e461050a0681b9f5764265c50730",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 2.299 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 114 changed as sent

message 118 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5175, -0.1165, -0.1017, 0.9978, 1.1973, 1.6112, 0.8642, -0.6712, 0.5377, 0.8658, 0.9947]\nstate[eef_state]: left_x=0.2779 left_y=0.0039 left_z=0.1476 left_yaw=0.0663 left_pitch=-0.1521 left_roll=0.0182 left_gripper=0.9978 right_x=0.1848 right_y=0.2334 right_z=0.0343 right_yaw=0.1233 right_pitch=-0.4573 right_roll=-0.2405 right_gripper=0.9947\nstate[joint_eff]: [-0.2393, -1.1692, 7.1863, 1.6874, -0.1148, -0.0171, -0.0122, 0.4855, -5.4359, 8.1436, 0.6569, 0.3101, 0.1392, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5327, -0.1165, -0.1055, 0.9978, 1.0584, 1.6085, 0.865, -0.6666, 0.4999, 0.7166, 0.9948]\nstate[eef_state]: left_x=0.2753 left_y=0.004 left_z=0.1445 left_yaw=0.0688 left_pitch=-0.1683 left_roll=0.0176 left_gripper=0.9978 right_x=0.2113 right_y=0.2102 right_z=0.0321 right_yaw=0.0936 right_pitch=-0.5063 right_roll=-0.2938 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.4017, 6.9265, 1.6337, -0.105, -0.0024, -0.0122, -0.3214, -8.1846, 6.9265, 0.8571, 0.2662, 0.0024, -0.149]\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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5396, -0.1165, -0.1085, 0.9978, 1.0542, 1.6066, 0.8646, -0.6682, 0.4892, 0.7074, 0.018]\nstate[eef_state]: left_x=0.2742 left_y=0.0041 left_z=0.1433 left_yaw=0.0707 left_pitch=-0.175 left_roll=0.0164 left_gripper=0.9978 right_x=0.2106 right_y=0.21 right_z=0.0316 right_yaw=0.1001 right_pitch=-0.5164 right_roll=-0.2918 right_gripper=0.018\nstate[joint_eff]: [0.0068, -1.4017, 6.8855, 1.6093, -0.1001, 0.022, -0.0122, 0.2803, -6.2701, 5.5179, 0.6032, 0.3199, 0.0366, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17eb0640103efc7170de289c6d3050cb1d0043f326dae29ef9d708f69b13e21b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f3898aa42a54ecd1ec08bd656176472edcc57a645a09943e76ca054b93b915b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5fb29cb563ea211c8717dc60c7627a0fe29e461050a0681b9f5764265c50730",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEj10rHA1JoRmBTzKZtiBPmgKXAYSKGey--ICdOxH1b_wnA34lxLTaHpNRTvnyGsfG4xE_tZEJpoPWedzV0Bv2B7QKk2DVHVR_NFJWdJrWtaOfDv4N1Z-MZ2HPlCvdUw2PX04_wOz1qiPif_qclxIKCv-9R61B9NzkBmxNGHlbEiNsEf4KHk5E9vFpjawTQzxTlugEEdHqGwTsrDK2TPnEBOurH5ZWZEZgetIKcbblWIlKgf4pdVF0XvOPUdxz4EGU2h_DQm6LPzsFl06_l1v1i4UTsn4VNftxEzZkNs5JOPVDVbTs7Mfohg8_xL4rzZPKsm0dAW_PWH_jNtFA_iMZXgK6oHmRnJC4jwhI-2ehnJCc5DsQocjIVvyhutVx_jEznru1bjv92sYrX9LsR09KT4fTkWpDs3dI62VcK91vI9Swt9f8zDbcPQESM5YXS6pXSursAZcj4CB_p41xtKkKofr3qG78r2QflnrBQSJhQGBAKTDKBhsQ1I4nQEHxNpw864DB-6W5HSYup8M_Mcye7_hGlQa3c0_dMxEz4MbJsthPU5BYGPJKGmv7zKoOAoKIrsD5D6gGvPid5rTtTNeE-rPVLB1dThYCAazARx6vwwVl8dVmwW2zuztzAucggrZYjacZ1CyJOhYsvzcB75Eky_lMz6B0iiUheAbrWtcIwd_QF3nY4KsPlDrNgGCWAX5kKg0KzXxuV2YbyCavQkIqUoPse2y4Ag5s64H0kHvNo94RPZxtPqR-ts9-CDLHMVO4mJpXCZssrBn4EcXM6tkhkss-5Bg8QEOQCMinMzNYmmz3Fp2EkH1KMQ_kS0FgAz8U1wgM2QqhGc_9uKqGIhZBV-3sFaNEVpXBtpnqJGfLLj9PgjI1aPKSJ-UVpmAyZ4sUq6lb8j2s7KC6UnA6fAPHO8MOEL-bKsFs-pjI3eW4M2HIFCAVN9MN70q6wCTp69hFq4kLLxLwTJqmCUmMqTuPPH6TGqFS1VAM90Pj-_IJYOyhVZ9f6CqYMwsO5Dyruh7z5eTXZumnAKicF_DsXhatwaj8AcptWFjDYNVlGNnDtnnqCqoibFubcabEnYFWDAZcdPgMBO9FU6Bf2r2iFF0TEt9-GMsCKt3q2l1ev4wldEz6pq2KQg3dE11wEoVq_ZHKeDrMOY2hOA4N0m9DO3np3HmeBwBuVkzqTumskZShxqJ7Y65xtmuB4oLYWvuLb1fme82Zx_sp-D5XD6m1QkKAyJ3-WVfDz3pjMxb1PQpIOPjTuUxY0qlCMbQkltmGdPz_oBuIZ7uUAzhAozhYYeNjswp0vPXZ7dnsuPyZJrwGWufJkcrkuv66rmbUY_c-7VfCebMBEs9FTBZYfix8P1yTwy19-9CKcGlwSod8NIXTsXC8sQRa62poA3yFDw77o4XgPojdJcFJMSxnWtyIgMHjxnTixoSAK5yKF1FqpNhFJIadNnxA-rTV724bB-Zk1nhUSalge1lkPO2O-TKE-XhKDq2gKe7DSzrayyfzDasN06TnA=",
  "id": "rs_02e07f37acd5dfe7016ab448f466e087d08294a556bef15492",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The jaws again closed through the teddy’s lengthwise central gap. I’ll reopen and rotate the gripper 90 degrees so the jaws close across the limbs and torso instead of along that gap.\"}",
  "call_id": "call_m8MeNrKfhQdjZ3gidXKMRiII",
  "id": "fc_02e07f37acd5dfe7016ab448f50d7887d0889e9cc4a7a73e62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m8MeNrKfhQdjZ3gidXKMRiII",
  "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]: [-0.0731, 0.8368, 0.6147, -0.5552, -0.1162, -0.1093, 0.9978, 0.6121, 1.3792, 0.6155, -0.3729, -0.1879, -0.8841, 0.9945]\nstate[eef_state]: left_x=0.2715 left_y=0.0043 left_z=0.1405 left_yaw=0.0712 left_pitch=-0.1906 left_roll=0.0178 left_gripper=0.9978 right_x=0.2168 right_y=0.1969 right_z=0.0242 right_yaw=1.3506 right_pitch=-0.552 right_roll=-0.2607 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, -1.2923, 6.8581, 1.6972, -0.0659, -0.0073, -0.0122, -0.1026, -4.3556, 7.7333, 0.9011, -0.2369, -0.0122, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47bc85a88303e85a1558038daaa0ea71deeae7fc2a25afbebd087b0f684acc16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88f5eff8c295de1a980bd5c1fc14f41db190539f6818886ce829d98a831f4ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9631f0993fbd301ac0420ac9bc819b313e4a69b75f01089cef5f45ce974e8f78",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.901 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 118 changed as sent

message 122 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.836, 0.6151, -0.5217, -0.1165, -0.102, 0.9978, 1.1976, 1.6188, 0.8696, -0.675, 0.5339, 0.8646, 0.0169]\nstate[eef_state]: left_x=0.2772 left_y=0.0039 left_z=0.1469 left_yaw=0.0666 left_pitch=-0.1562 left_roll=0.0185 left_gripper=0.9978 right_x=0.1843 right_y=0.2341 right_z=0.0332 right_yaw=0.1232 right_pitch=-0.4636 right_roll=-0.2452 right_gripper=0.0169\nstate[joint_eff]: [-0.0342, -1.388, 6.9402, 1.5995, -0.1001, -0.0415, -0.0122, -0.0889, -6.9402, 4.9709, 0.5446, 0.3004, -0.0073, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5396, -0.1165, -0.1085, 0.9978, 1.0542, 1.6066, 0.8646, -0.6682, 0.4892, 0.7074, 0.018]\nstate[eef_state]: left_x=0.2742 left_y=0.0041 left_z=0.1433 left_yaw=0.0707 left_pitch=-0.175 left_roll=0.0164 left_gripper=0.9978 right_x=0.2106 right_y=0.21 right_z=0.0316 right_yaw=0.1001 right_pitch=-0.5164 right_roll=-0.2918 right_gripper=0.018\nstate[joint_eff]: [0.0068, -1.4017, 6.8855, 1.6093, -0.1001, 0.022, -0.0122, 0.2803, -6.2701, 5.5179, 0.6032, 0.3199, 0.0366, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5552, -0.1162, -0.1093, 0.9978, 0.6121, 1.3792, 0.6155, -0.3729, -0.1879, -0.8841, 0.9945]\nstate[eef_state]: left_x=0.2715 left_y=0.0043 left_z=0.1405 left_yaw=0.0712 left_pitch=-0.1906 left_roll=0.0178 left_gripper=0.9978 right_x=0.2168 right_y=0.1969 right_z=0.0242 right_yaw=1.3506 right_pitch=-0.552 right_roll=-0.2607 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, -1.2923, 6.8581, 1.6972, -0.0659, -0.0073, -0.0122, -0.1026, -4.3556, 7.7333, 0.9011, -0.2369, -0.0122, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47bc85a88303e85a1558038daaa0ea71deeae7fc2a25afbebd087b0f684acc16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d88f5eff8c295de1a980bd5c1fc14f41db190539f6818886ce829d98a831f4ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9631f0993fbd301ac0420ac9bc819b313e4a69b75f01089cef5f45ce974e8f78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEj5GL9EWZ0rU0by_a0lrdoo7-6y1ZkdHw9vRuGNouoxKhZ1-Y-w2S2r1ePMOZIpRB5DDQMwUdGKTUR059wbCEqjeQIRGIeq1C7C8qi3YNGwO23PtdKhVYGkOy6YBKS13BVePMeXXlE2EC2Hbu_gV6ATNABmj6O8sk5XXx2TWFo4BkuCT0vWFaMb72xv7HRFbb_C5_n921BdnAi1EJ1qSREuzYbxPVDlerbonmwiZ0QlELWsjnAZCjNQoBiCeIyWP9Tk14PdHgmmQOVUPIaNPhRFOFClaqAzRCzLpA2_764Pb8p3B0Z19aNtn1VIDNln9AZoTms5sFU_DFBEPg7PQNGFPjpowf88Gwmj0tcG6SQmfqGGY_3SnFkDml_GQuIuDHTbfcUtyNoqptJ64m7giderdG5m85z89zZ-Gk8BaIfNGzACVnCP0LooMl9sAqtrkftC18PnhgPFfTYWn-pGNQpEiDauJ9AmQjwbogV2en_rWGZ1FEhS8Sz4whHPL5i7NCLT3o8XbOAq2egTiUgL3IXKICvUqcApuMjehptt1ULorJTK7kfJ8JxLUYIKBD9NjOa3w-6K767cvaDh6FXLwamW3YkqBJq2J2AWHkkya6fnRd3gsTfeeaicXo46z2WIGLxaEY_Ok3LhHMZYus-9T-HOHoKT655Ev2In7DyzRQm7jKk4YZk80NkWixK_dOLy7XhNwYuH8Qut7Z9n5pnYG9b2FwQ8PONu2uehDWx9wz4NLFehZC3-_Xxiv9teOcZihKcDR-P8FK09xv20oqPKcFv2wVXaWCf7LlnKwiU2-uQP9pqX_k014etHNXeWOzx8VTnnQ-SuDhU7miz15jbnaVfHl-wAFiOxtC1D8jIfeJY6Ghe-1MQjA4PRZDcEOp5fPCsSMUfE_eoye_wrsexkLdv0wxLNcBpg-iLFzjoqfr2cH6oI0xUI6mFCETjb5Es4LPc_ckX0kxB2ziNeAJKbsRdjhCknFkEt0D78I2C-lNBlv1ZacskQ6f2WNEIs-X1y6W52bEGTWhEYs1oi4bAcPZ2GG9dMVgBvHdEbBc3oufFHlOvmTVPrlhyD_nD-B4JPUufdMOc2WjZKHfvkeNP7nSTgp8AGkfcgFpLMH-nqa5i2s9tkQbGSx0tEnXxSA8zNnN9rt9lWNEGW_POiDf4rOYpCBikY-eA0C0um3XKCsWVXF9C2zhjWMMvq3WLVZltOoDbCg4Jbz0OzdOmbJ27bLZiGUBeNBgPXgYBFbT3omwwhuo_MPsgxrJZiVLsU9YNv0xkS",
  "id": "rs_02e07f37acd5dfe7016ab448f813f887d0bb4727d202630306",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"With the gripper rotated, the teddy now spans across the jaw gap and both fingers overlap solid plush sections. I’ll close across its body in this orientation.\"}",
  "call_id": "call_OVCkMA8m3wL5JtTLM7kcGmeB",
  "id": "fc_02e07f37acd5dfe7016ab448f855e487d09fc2a6f4127db803",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OVCkMA8m3wL5JtTLM7kcGmeB",
  "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]: [-0.0731, 0.8368, 0.6147, -0.5625, -0.1162, -0.1108, 0.9978, 0.6094, 1.3933, 0.6205, -0.3824, -0.1913, -0.8883, 0.0189]\nstate[eef_state]: left_x=0.2702 left_y=0.0043 left_z=0.1393 left_yaw=0.0722 left_pitch=-0.1977 left_roll=0.0178 left_gripper=0.9978 right_x=0.2156 right_y=0.1959 right_z=0.0211 right_yaw=1.3613 right_pitch=-0.5642 right_roll=-0.2452 right_gripper=0.0189\nstate[joint_eff]: [-0.0752, -1.2239, 6.8581, 1.6386, -0.105, -0.0464, -0.0122, 0.1573, -5.7641, 5.3949, 1.1209, -0.105, 0.0171, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646d6786804583ccf67ed30db5d9126d2400585496551f9940e26c659752bc79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbba8aef0ef54925b2f3da0beba29c152dbc7b415e396c686b4820d6279d85b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112a1cf8c9195e2edae39e20e59abdfab9bcd49173dd87ddd09016a1ec3854a1",
      "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 31 attempt 0 · /responses · status 200 · 2.488 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5327, -0.1165, -0.1055, 0.9978, 1.0584, 1.6085, 0.865, -0.6666, 0.4999, 0.7166, 0.9948]\nstate[eef_state]: left_x=0.2753 left_y=0.004 left_z=0.1445 left_yaw=0.0688 left_pitch=-0.1683 left_roll=0.0176 left_gripper=0.9978 right_x=0.2113 right_y=0.2102 right_z=0.0321 right_yaw=0.0936 right_pitch=-0.5063 right_roll=-0.2938 right_gripper=0.9948\nstate[joint_eff]: [-0.1436, -1.4017, 6.9265, 1.6337, -0.105, -0.0024, -0.0122, -0.3214, -8.1846, 6.9265, 0.8571, 0.2662, 0.0024, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5552, -0.1162, -0.1093, 0.9978, 0.6121, 1.3792, 0.6155, -0.3729, -0.1879, -0.8841, 0.9945]\nstate[eef_state]: left_x=0.2715 left_y=0.0043 left_z=0.1405 left_yaw=0.0712 left_pitch=-0.1906 left_roll=0.0178 left_gripper=0.9978 right_x=0.2168 right_y=0.1969 right_z=0.0242 right_yaw=1.3506 right_pitch=-0.552 right_roll=-0.2607 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, -1.2923, 6.8581, 1.6972, -0.0659, -0.0073, -0.0122, -0.1026, -4.3556, 7.7333, 0.9011, -0.2369, -0.0122, 0.1148]\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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5625, -0.1162, -0.1108, 0.9978, 0.6094, 1.3933, 0.6205, -0.3824, -0.1913, -0.8883, 0.0189]\nstate[eef_state]: left_x=0.2702 left_y=0.0043 left_z=0.1393 left_yaw=0.0722 left_pitch=-0.1977 left_roll=0.0178 left_gripper=0.9978 right_x=0.2156 right_y=0.1959 right_z=0.0211 right_yaw=1.3613 right_pitch=-0.5642 right_roll=-0.2452 right_gripper=0.0189\nstate[joint_eff]: [-0.0752, -1.2239, 6.8581, 1.6386, -0.105, -0.0464, -0.0122, 0.1573, -5.7641, 5.3949, 1.1209, -0.105, 0.0171, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646d6786804583ccf67ed30db5d9126d2400585496551f9940e26c659752bc79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cbba8aef0ef54925b2f3da0beba29c152dbc7b415e396c686b4820d6279d85b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112a1cf8c9195e2edae39e20e59abdfab9bcd49173dd87ddd09016a1ec3854a1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEj9hnqcBRwg_K3dI2bZmmE0X9vPodOUNLroLydGF0T9xLd9OZp8Mn7bU4aeXBvcSDWJGG0Vm9hB39IZHqhtVZeNXINHIwHYz-1Cf97fJOautgDHWOV4BEHFBNoXdyLDQhzNjoKAAZzoGwTag5UIW3N56vZIOvX2DnXfLiE4c6pzIVpUMTBwQ-SeRCcoGjPBZUlltaZQNLY9qX3F3IJegPWHMNJ46YjAkb9TlXwBbfVgHfmhGFp4AGLPHJiUgQCpO-VZCb5f7bLErDIs2aUbvmIWoIJMwhz_u56AWeKPrhJDTAbPQwCwcbYlATX-QBMWfZCzE5OwxeYGw8ctRO7k-T6_HkRAC87gZ_wt6TD-Ib3WEQ2qcRY4ePwlHGm-yqPnncNnM9Gao18wK2bslFN_a9w8jmXc10dvAVxg-39PWJVcRk3Nl3CUE2yWlFjIZpLHRf9tNeG3IQA8N_7H8Mj3TQ-qUPTNGmGeUmfdAY46qXWg6N95TlSU1OBLPoavsA4edoDK60Zynovac_W9SA-jLT8PQ3X-9uJXHNOUrtyAncs36Ds6te4616Qq7pokQQQNnvn2pB2sJ-OjH81_mECSsgSXPG9q3mP2tJP-HvcbWWXHiLojM0bOdFOTFS8ZMZW_TGG1ZSXRVP4CiFb7e7-i_XFkOhJfBbC7i-qnyVOsKOQWElfkkiY0vjWdrAr724alHnGD1Jq5NEnv735b5eYLP_8t-4Pehmywlp84rBr_gHQoTQm-tvuC_SLJmUcP_YnZbBtig3c01QnK1B58NZVpd2ijE7Donm-EhQLiUAjMcxSTw8p6L4S5IJAxdMbGr_IgZxhj18W8aOI3cXtT3HfXqciBUapdhhpa_Uzil4c2R6p-a5RjCTnTlwkRVNXVrfewURB67x5BGg2zjr_RhHwkMiYx9GnUVPY665UG2HN1CHDncoYaRpEH5uCfBbeM7-1gUotPymoBP4JLbG61esaXLMta8vWJz6yWbHR3ThbhG-lvZYzrgmcVSKVBhSRmBbxWYVyXa5VCIFX_d3Mdumw4JnTxb3XWV39D5sztEIHNRpvmfFhSyR8hYNRwfWMgo4cqpMK9_6hV8vAhTK2kXTHIuyIr6JSNiuhOp4rhSnL5xVML_ThzvjXcSnGDlGWR-1xNkjLbPviN9TvT5lvTHeSfbKf4Z8OnRTCIYwoVT-ynCdCOPnRrqf6ufI8fastzl_kq0d2yRAdfpsSBt_W_efDgbwysOFpg66Dhl8YnNN60wzkfCy6pYL5irpNhpMg3281ymcxwAZ4pNdVq_VXvwAfQj9SaHuDFgYxeeWYTudnYJQxHIDNZE5txAtAF80QcaHGBLa_pHdM8pWMxyERo946zntyztL8dL2KloUQ-dwfSkwFzTZ61ygaiLPzHSesKuFYXl0GIynBEJwj9gJRTq9S8Bj10X1atSPb2J-dkzmfd8XF6PggjKJT0nbUvaMx4DWSfb94UhwRSJSvyE0qlrg9LHQo1R6T5fEoEifOsPAVyNtHJmMKEiBbxi0OghQQ0uQeZQ9VopReT2NJIuWSJizaDD8cOPemApHju9ReekkbUK76dQwVhoAOXETF6uPukKgbITTFStV-ycxAfUEq2rEqRlqhAj91tV41kVDUu5kHZkzUAiBKHrNRGEye8dPt92de6v5nz17scQFLvrfhT-jIFAJNF5qcTqWEqSf0IgH_IPvdH7MU7TFETXpIYzra9APKDQIqAfGiq-ND7lrquR1MyfeC7PtpVmnG2GyxDexftbQxwMJFLm-tf5o42nY0DqiH2zBoiZc_ZLeXhc52gPjRX_jRfX_HdXML2k-lh2ajwfdUnVnsnV4RGahTbes7PBCmMaDzPOjAiy_660l8vNS7Dx4UgD_7PcKpQZ0XZDwV-VZ6-dFk=",
  "id": "rs_02e07f37acd5dfe7016ab448fbac1c87d09fa89fdc5f2c7320",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075,\"right_gripper\":1.0},\"note\":\"The rotated jaws still closed empty because the grasp point was only 2 cm high, underneath the teddy’s raised torso and between its legs. I’ll reopen and raise to about 7.5 cm so the jaws close through the thick body rather than at table level.\"}",
  "call_id": "call_WlisoLSS40HM9O9OxCoIe8fJ",
  "id": "fc_02e07f37acd5dfe7016ab448fcaf3887d0a10b0b9597976087",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WlisoLSS40HM9O9OxCoIe8fJ",
  "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]: [-0.0731, 0.8368, 0.6147, -0.5701, -0.1165, -0.1127, 0.9978, 0.6094, 1.3121, 0.7467, -0.6243, -0.1913, -0.8894, 0.9946]\nstate[eef_state]: left_x=0.2689 left_y=0.0045 left_z=0.138 left_yaw=0.0739 left_pitch=-0.2052 left_roll=0.0178 left_gripper=0.9978 right_x=0.21 right_y=0.1919 right_z=0.0607 right_yaw=1.3774 right_pitch=-0.5892 right_roll=-0.2175 right_gripper=0.9946\nstate[joint_eff]: [-0.294, -1.3607, 7.0222, 1.5995, -0.1197, -0.0513, -0.0122, 0.0479, -5.6274, 8.4308, 0.9841, -0.1685, -0.0317, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ceeef33b919366355dd742abb55564171a010f2b2babd5416ed282e736d56b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69191841cb13695550c6b9a516d39e2cdb619978f7fe2b81ebc255d7268f5e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81f2ab9c2e78a96ef4ec037f44e6b8c8167df09cd7ab460218aedfdd1265564",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.449 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5396, -0.1165, -0.1085, 0.9978, 1.0542, 1.6066, 0.8646, -0.6682, 0.4892, 0.7074, 0.018]\nstate[eef_state]: left_x=0.2742 left_y=0.0041 left_z=0.1433 left_yaw=0.0707 left_pitch=-0.175 left_roll=0.0164 left_gripper=0.9978 right_x=0.2106 right_y=0.21 right_z=0.0316 right_yaw=0.1001 right_pitch=-0.5164 right_roll=-0.2918 right_gripper=0.018\nstate[joint_eff]: [0.0068, -1.4017, 6.8855, 1.6093, -0.1001, 0.022, -0.0122, 0.2803, -6.2701, 5.5179, 0.6032, 0.3199, 0.0366, 0.823]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5625, -0.1162, -0.1108, 0.9978, 0.6094, 1.3933, 0.6205, -0.3824, -0.1913, -0.8883, 0.0189]\nstate[eef_state]: left_x=0.2702 left_y=0.0043 left_z=0.1393 left_yaw=0.0722 left_pitch=-0.1977 left_roll=0.0178 left_gripper=0.9978 right_x=0.2156 right_y=0.1959 right_z=0.0211 right_yaw=1.3613 right_pitch=-0.5642 right_roll=-0.2452 right_gripper=0.0189\nstate[joint_eff]: [-0.0752, -1.2239, 6.8581, 1.6386, -0.105, -0.0464, -0.0122, 0.1573, -5.7641, 5.3949, 1.1209, -0.105, 0.0171, 0.7741]\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 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5701, -0.1165, -0.1127, 0.9978, 0.6094, 1.3121, 0.7467, -0.6243, -0.1913, -0.8894, 0.9946]\nstate[eef_state]: left_x=0.2689 left_y=0.0045 left_z=0.138 left_yaw=0.0739 left_pitch=-0.2052 left_roll=0.0178 left_gripper=0.9978 right_x=0.21 right_y=0.1919 right_z=0.0607 right_yaw=1.3774 right_pitch=-0.5892 right_roll=-0.2175 right_gripper=0.9946\nstate[joint_eff]: [-0.294, -1.3607, 7.0222, 1.5995, -0.1197, -0.0513, -0.0122, 0.0479, -5.6274, 8.4308, 0.9841, -0.1685, -0.0317, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ceeef33b919366355dd742abb55564171a010f2b2babd5416ed282e736d56b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69191841cb13695550c6b9a516d39e2cdb619978f7fe2b81ebc255d7268f5e44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81f2ab9c2e78a96ef4ec037f44e6b8c8167df09cd7ab460218aedfdd1265564",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkBJx1X54D5uh6jO9NMyjg70L2lT8AQdIkvEFYqhhVqCSZWyBBqTBHes8s1NQytUPvGB3T73lrUgvXH3fGrUmP1yNj59WSdFQpmlppS9XvmmkEVWmqRQ3zqAGgCNvBDx5nsN5TomNLVf-szvmJ8nt8VxINonaRqjBohw0sSU6TGu7NJdJwHjfraxplNB37Usnbo4O1A_si8hFW80nz9MxnKyC9x-8P4dSBxv-WHlf5cvqiDJluErGTDcUy-Hjhh5BacAnIhL9o432FifgcbpUgWdStmlnvqtGNgBBWT2wMHFsQPBicMvxpvAPp8cVfw-p3mg-K-97kNpvfeLFmclNAOz-NPttbGaqZ3qIPkPIjWf40uK-XBKIjVFeJ0n74i3r4vgUq4SSgOCIThuAr0jYrYsIGZfxsuElD86maRP-LGKC9SGAP_tYGxl3Odq2Go6ieMfTxtHZJSy1VH6NdmafXGWHvkTfOOqikfbHH8yscMYeFuwPIzXyNHHB1vgvE2B9IjkH3SjauY6R3UhbVbMZr5qRugoFvFlzYYSys2b2V30Ad1TFAhv1pTTAgHGluXZC5gUgzEfhppP8Ir3c4mTDAGM8c36YPBnXESB0twh03WbCy5nhlJEGaO4i9usVOVa33e2ZP3SxGLGL7nnFqkPkWIvIh078Ji87D9HJS1CfNTQ6tDNgVrmt0-5-Ak2p8HQXi3C6Ow9m8HOr-PMPN1CWfuoVEhTrHIRnCEWXFqziuQM335vORULzTPCBwNwBmNTQGfwcQNW0vCbJDVDy5haONI1xSPWVvQWYgoEi1WUaVrdVLa_mp3H6HnO5vb5n2M43C2yp8GDo5K4OKQ__a4j1hamyN-BC-IfwKbE3kYalxLaGI5wiy6zOa0CQKhV4hfqUmb5DKuP4aLgkQP4zqU7VvyunfHUdIdxSaSybhUBf-U_Vn5MoH-v50-N4s2dRgFdCJabgbkMOrUijTfddan0xlA9jD3Lz3hHcChMQm_cD80l77GtCTY0VPk149UB6NUhtzchSQmO6o5SE8pn827wHO9Tap4eAvmOZLLAyEBNQn3lrl3lEkoXuntc7C_etlHEkyTl-3h6Md_rc_LE596XtFALs_rx2KAvLSlC1_Ja5Pa4Ukb8fmeBzpqV44sez9GNQhEzMiBcFg7yilk8xSGNP9WXlCbSnz3YC8am6OyuYqe4Oq3zmPzYGZbwd6KzOb8-IVb3UqAZVfuYW26C_2n9FwHvVizpSSrLjHAtHrFaE9MR-s=",
  "id": "rs_02e07f37acd5dfe7016ab4490020c087d098f2df30a68dcea1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At the higher grasp point, the rotated fingers visibly flank the teddy’s thick central body instead of the gaps near the table. I’ll close at this height.\"}",
  "call_id": "call_4Y3JEX0HEWKhEViNsASwNyvY",
  "id": "fc_02e07f37acd5dfe7016ab44900546887d0b9ce10d5d02257d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Y3JEX0HEWKhEViNsASwNyvY",
  "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]: [-0.0731, 0.8368, 0.6147, -0.5838, -0.1162, -0.1131, 0.9978, 0.6094, 1.309, 0.7471, -0.6498, -0.1913, -0.8894, 0.0178]\nstate[eef_state]: left_x=0.2665 left_y=0.0046 left_z=0.1356 left_yaw=0.0742 left_pitch=-0.2188 left_roll=0.0193 left_gripper=0.9978 right_x=0.2054 right_y=0.1887 right_z=0.0594 right_yaw=1.3879 right_pitch=-0.605 right_roll=-0.1988 right_gripper=0.0178\nstate[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6093, -0.0904, -0.0464, -0.0122, -0.1846, -4.0274, 6.106, 1.1746, -0.1441, -0.0562, 0.7497]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1e40cd74f0a103458bef82abebf1d90d6910868ad7725b26e03525945c137e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964f158ea84c18c0ac8493b5ea536f9833a81120f1d82e56f3debddd354c2e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981dc661c9e926522eadd5414c2a1dd10f8a911a8bdfd17f0c4721ad7952c25e",
      "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 · 8.475 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5552, -0.1162, -0.1093, 0.9978, 0.6121, 1.3792, 0.6155, -0.3729, -0.1879, -0.8841, 0.9945]\nstate[eef_state]: left_x=0.2715 left_y=0.0043 left_z=0.1405 left_yaw=0.0712 left_pitch=-0.1906 left_roll=0.0178 left_gripper=0.9978 right_x=0.2168 right_y=0.1969 right_z=0.0242 right_yaw=1.3506 right_pitch=-0.552 right_roll=-0.2607 right_gripper=0.9945\nstate[joint_eff]: [-0.1709, -1.2923, 6.8581, 1.6972, -0.0659, -0.0073, -0.0122, -0.1026, -4.3556, 7.7333, 0.9011, -0.2369, -0.0122, 0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5701, -0.1165, -0.1127, 0.9978, 0.6094, 1.3121, 0.7467, -0.6243, -0.1913, -0.8894, 0.9946]\nstate[eef_state]: left_x=0.2689 left_y=0.0045 left_z=0.138 left_yaw=0.0739 left_pitch=-0.2052 left_roll=0.0178 left_gripper=0.9978 right_x=0.21 right_y=0.1919 right_z=0.0607 right_yaw=1.3774 right_pitch=-0.5892 right_roll=-0.2175 right_gripper=0.9946\nstate[joint_eff]: [-0.294, -1.3607, 7.0222, 1.5995, -0.1197, -0.0513, -0.0122, 0.0479, -5.6274, 8.4308, 0.9841, -0.1685, -0.0317, -0.1245]\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 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5838, -0.1162, -0.1131, 0.9978, 0.6094, 1.309, 0.7471, -0.6498, -0.1913, -0.8894, 0.0178]\nstate[eef_state]: left_x=0.2665 left_y=0.0046 left_z=0.1356 left_yaw=0.0742 left_pitch=-0.2188 left_roll=0.0193 left_gripper=0.9978 right_x=0.2054 right_y=0.1887 right_z=0.0594 right_yaw=1.3879 right_pitch=-0.605 right_roll=-0.1988 right_gripper=0.0178\nstate[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6093, -0.0904, -0.0464, -0.0122, -0.1846, -4.0274, 6.106, 1.1746, -0.1441, -0.0562, 0.7497]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1e40cd74f0a103458bef82abebf1d90d6910868ad7725b26e03525945c137e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964f158ea84c18c0ac8493b5ea536f9833a81120f1d82e56f3debddd354c2e61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981dc661c9e926522eadd5414c2a1dd10f8a911a8bdfd17f0c4721ad7952c25e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkHwI947iqPRaSj_MIdf-fgA1l3UivLnkWqD72UN6SSJaDSDJu7K7dI9hc3SFGVzF7m649UGtS0bn2Tat6o9ojbbv1wg6HfjEL7akRS1TiNns37LFkl9dlFrcyGB8gXrGySp-Rg3iXIcOvmBT5vaB8DjEIGC8omuSFF1lGWsg9RLLjgyHNFIq5WdZTojFkulceADPM2-X6olHA9f8scLbmrKVfV9kcfIDM7WJPMHnruo7nuOVnhORtRNXw7_8l4S11Ckbl0MLS-0osROeuH8jPvULtV0CXAxIuu4T-5UxMu9Z5oXTcLAje8a7M9QHkHOr_fumiPBI6SnFkbDeC_sSH7iSVe9H-LmqyFw6W02_5hkEGkRugclPQ06q6w9yScq55_3aHL0ycFk3zS8_zvOnbTryMKFfwY9YkHvATunchcpc6jeAmzjuSRU5bPjeLSn5T4KdanHUWzObqso9NwlqI0pvrgcqJUtzyzo84zNf2LQZKJzwOgVNmRcBk91iypifye5GOwSCX2rhlXYyL3Per5TZVSnDGqe43mynfBKnqmVz_IlpgXq3jBeE-GztNVgsoqFOpRVu0fHxh2L-Nfn5e2MxxeD2ujOxsY5uuMOnq6RKppN0LQFC0zBKV-zEzYUDAmfinCmiTPK2XxgL1r9tv2SuHJb55Zs9FgQZETHRZ60RBrrQfKnNLzNqftFyY61MGBqKaBuNfK3BXbUU0AtpneruqB4hGYXsY5eWnaErH5VO1MTM9ZxSF-YORKpcNu1tTzdH4_VwnrMAd_idB3r0DgUzzhM2ipUJXCecuruNWUpIxxCqR2blGmSwyxCV9r_hwhxNSS3Jb-O-LOvdSZnlZsYZ0_p2biJKMWqAP8SLRZ5sd9q8UDb97RKMTNYy3-hg3YbKRKymV8FM9jM7uKWLQiIBKyXIVfgKA878fyMSPv5qlhfpcjPysvjnL8hHy_LKwq2f6hCgmHX3I_X7tbXc1cIE3ewc6l8K7uC1L2yTlByRNt3OGhoqlPDsrCp_MDuSdDvhzoHOmNgAmPZa2DbbldnzwujxIIWWfEpZQGcOTCEgrMdzTXKo4L3GwI-OUbkrUjh58jqkl-M2U4pjBj7jaN467lWrIJWP8_n-Z-TfUtdS1wPgq1IFH_jNRKHxlYUy4v69qAYVQ3-pf9jmVcaNdmoR-nRDCfU5_pb4ukek594IFVIkioFEgmnffXiVkx7_kUOYrmjEze8iVjrMW8oKWMcMnmfzj4M72lubTEnri7RyyHA2wR7ykTDavD3yYjP-5zw5Yu_xXyP7RPUnAH8E-Osb2qhttGZOrnNH0RKtHozVlGSAoss7k78h5fMtEmKr8EHTikTVJ00rbykRYZcQfe075VN0WJgG0BL-UVvVOliKF-qz5gh1D1EdmH0t2oYrMMT5RPyrCa2to_EqWmRQTqI9wC-yx9OEz1sXYkKDh9U6G7E5WXZYMRT-G-43k1RKcZG6tPhEQKTbNmS-PpMSkIW_3sylwzQXDTC0zb2hh4bC-cTZtv9a9m2c2f-ATzsjsrw10f10VVgKzmTaD7c5taIFS0NkLli_Gvkd1rwwu20uYYyWizHqlrdzERc_pOd7jRBv6d9-N2zN2Njg7XWwIZOwXYtvhmsxniKTmFmKPBRHFp_k5Uqi0HObABU2lFlJ0Qa0rhSnFawlyQ8x6nCqzXbzl2_Xggr5V4an-UeFY__3gUm3-ywZF5dstimTHMfa8aND9l-_Gl3bmK5Wp-BbjVx5Pw6RjklaTZVVAFY7uad0lbxLhLt09iOCZlbOdOVFQDJAhLZsW4t2wMjLoW5tt4hECq4b4J47E_H4KC4MvtaLoajItlW98EOOxzKy9Am1w60VNgIzOaSzDj_oPiCXVdUGeh4rKtF2T2yJXWl7F9EfCmaRQfarmT02laxBa3_0KmikggWKufZkI7XzHlzVCuwVt-JNIeJfdT1fQZOEYmBIsHeroQghUb9eqomEa2f5mqWQZdZE8KtpggllOnIyXpMf3vErJmal1NDYrTUqdVyQ_sQrauEUUm0a-eG7eJPreYZEm9ZNQVZQk86hh5QJrQrQwWpduWf2Y_QIg9xS75vsRber-6as9L8EAiCcCX3psFIFlvGYzbVFbaLjz7tZCBgS0Bqc0YFttRRPdKYADM0bKTZzWZj87s4ICcQhp5ZYmQ9nVxAXGUG5ziZ6VWWQCaczDoE9Ah2JcbE4OzUJGU39m7XQg1v0hN3CDTLZit9XZNddQBe1HID1ZXxcDyFJu6HynrH4cQ5VE5tWSlqbf2ej1inEwUtxskxBmMgNJbZcSHyMpKfi-OXqgVTateOnzNfvWqwKCbTxxi1T_OHPtfZfwF3XcneI06qA4FGu4QGBSEus6uHRlsHp7fgm1PRUmhLUhpf2GniyA6DoipTAD8U--S0eIPqt8bpVsC7akazTvTdWP0HxqElm_kZPxBx6m8nLO9ZI_R8iqxjr1BrWLnV4ld2jZG53ACyn0AYnGAVhGgywXtGXzwCtBHMLyDY0TVDVskgPSRluwDRqcyGkPYYphpTI2WHtBHWJEn8e_SzMPb4Oz2KoyXmFq2SdyN3JeO2KPE5ddhes1899BynUaIGeHqTNYiiZkgeWF73RJ09O2IZromuaV0o6sTB_tnQTqblLUXcEpfD799UspmvyuGwBSNprSXf1afg31bF6YiNxRTmVkcYXWFaZnTLotYwKMYfEyubBxeXT_RNiGMIMghyrdHbfRQ8M-0jzDy6p_ErgKj9cYGIjZ70DUi7pXLHAHgNtJjYts-eCoUHZ4sT17MhF6uFJ635pqwsgtDBq31NFKGEJg85lG-YnW4cGgyTms0bhaCOJjVoKNo0s-joDRNgaY-e3O9RBtXsqrOfTZOv-86rNcsYuMR2m4DepSKY-7qyOP-QtAodFtBO67jpq1uoXyYx3XSTllQcxluqcliP6vo_in-L1xtaE8MFLGrQANQuJDfX0J9AFKi64gtBhPYjDvzB83K61fqI30sfOHpYkdOwRFXKLPi7hxk9YmmftIB11H5coM40IVApykKYqJao1awqru-EfazteOPHl3ZOLKAXFUZWGA3CYRfUFQRNGjlYQ==",
  "id": "rs_02e07f37acd5dfe7016ab4490370d887d0a41f8467c4b86727",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.17,\"right_y\":0.4,\"right_z\":0.06},\"note\":\"The teddy remains just beyond the fingertips even at the raised pose, so repeated pinching is not productive. With the gripper closed behind its body, I’ll sweep it left into the open red safe compartment instead.\"}",
  "call_id": "call_9Buw3c7KmQoKqkKBq2RaEfEq",
  "id": "fc_02e07f37acd5dfe7016ab44906d39087d0983c29838fddddbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Buw3c7KmQoKqkKBq2RaEfEq",
  "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]: [-0.0731, 0.8368, 0.614, -0.5884, -0.1165, -0.1127, 0.9978, 1.1564, 1.8465, 1.2724, -0.6235, 0.0135, -0.4057, 0.0208]\nstate[eef_state]: left_x=0.2656 left_y=0.0048 left_z=0.1345 left_yaw=0.0745 left_pitch=-0.2241 left_roll=0.0207 left_gripper=0.9978 right_x=0.168 right_y=0.385 right_z=0.0538 right_yaw=1.4136 right_pitch=-0.6374 right_roll=-0.1968 right_gripper=0.0208\nstate[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.5116, -0.0806, -0.0464, -0.0122, 0.4171, -8.5265, 7.8701, 1.1355, 0.0611, 0.188, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93897ed2e3fb4cbe9b675e80c8689237fc4970bbc97c5568bcb7cf8e86e673b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769e50a93ae7540ad6dad0b139e083d0d2be203da0b3fb0ef9db7ee4b5569346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4263289dabf8937a16a65b425451c1e39b107fc4ba2a4b56bdbf85139cedb45",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 2.49 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5625, -0.1162, -0.1108, 0.9978, 0.6094, 1.3933, 0.6205, -0.3824, -0.1913, -0.8883, 0.0189]\nstate[eef_state]: left_x=0.2702 left_y=0.0043 left_z=0.1393 left_yaw=0.0722 left_pitch=-0.1977 left_roll=0.0178 left_gripper=0.9978 right_x=0.2156 right_y=0.1959 right_z=0.0211 right_yaw=1.3613 right_pitch=-0.5642 right_roll=-0.2452 right_gripper=0.0189\nstate[joint_eff]: [-0.0752, -1.2239, 6.8581, 1.6386, -0.105, -0.0464, -0.0122, 0.1573, -5.7641, 5.3949, 1.1209, -0.105, 0.0171, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5838, -0.1162, -0.1131, 0.9978, 0.6094, 1.309, 0.7471, -0.6498, -0.1913, -0.8894, 0.0178]\nstate[eef_state]: left_x=0.2665 left_y=0.0046 left_z=0.1356 left_yaw=0.0742 left_pitch=-0.2188 left_roll=0.0193 left_gripper=0.9978 right_x=0.2054 right_y=0.1887 right_z=0.0594 right_yaw=1.3879 right_pitch=-0.605 right_roll=-0.1988 right_gripper=0.0178\nstate[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6093, -0.0904, -0.0464, -0.0122, -0.1846, -4.0274, 6.106, 1.1746, -0.1441, -0.0562, 0.7497]\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 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.614, -0.5884, -0.1165, -0.1127, 0.9978, 1.1564, 1.8465, 1.2724, -0.6235, 0.0135, -0.4057, 0.0208]\nstate[eef_state]: left_x=0.2656 left_y=0.0048 left_z=0.1345 left_yaw=0.0745 left_pitch=-0.2241 left_roll=0.0207 left_gripper=0.9978 right_x=0.168 right_y=0.385 right_z=0.0538 right_yaw=1.4136 right_pitch=-0.6374 right_roll=-0.1968 right_gripper=0.0208\nstate[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.5116, -0.0806, -0.0464, -0.0122, 0.4171, -8.5265, 7.8701, 1.1355, 0.0611, 0.188, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93897ed2e3fb4cbe9b675e80c8689237fc4970bbc97c5568bcb7cf8e86e673b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769e50a93ae7540ad6dad0b139e083d0d2be203da0b3fb0ef9db7ee4b5569346",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4263289dabf8937a16a65b425451c1e39b107fc4ba2a4b56bdbf85139cedb45",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkRaY0hCJP-k3g6qTLI-6b6Wr2tIkGPdyDILC3tJmUhtt52z02WZoan2IW7236a5fFXPOQtAy614rQWiTyavHP8DPhlFGf3I7glf1QlquXCsWjoP1UeNxT94tov1POPuQho9aI9nYELW3X9kD0XGmgzVTK7ht2aLXcJEVzJ2lLpiRp5tCyX2LJqY4-WO6HXpG8_ptG6OcV0dJQUQr8l_zhVqpA3VKJMWaqQqohPhXS3qRRMSB5b2JZxPNcGATNR8jSHHhJ2IaMWMKihZJe_UdkaU2RuPoDcZfyLrRkrUVibpjlCPDSKxn5QIHC0cyQqj3D3qX1OMzMf5DMp28362lCdnHQTYcchyYXLys_nZrn7inNNEmEExpyyMFwvtLk7obr3BEJ3_oC1uRFD0evkAU9auBX34pJ7gHe6VUDDGy-AXkyFIlImbZm-HEoc8xYVdFkTy3Du4dStCG-HIXkepDYeYc3XYVzGN-cB9FI65SsQm1AQgWoH2glpjT8EHJ1l4-v-NW3GJwnOfEu29wKprWvZVq0UwnW7Cvdf_qBoXBWA1LgjFolLx4uwReudWEdcKofMAEVNRtZG7aTomA0lTGsxcQ52LSYkyzbpg019NiAWG8GO5XYc8uL5knGT4gQU2oXJfVjy7BZ3_fphWyBEpKCKSHbVHwmUy1kY1XiAlV5tUGsMhbRfWAtLDvw3ixisbzE1RIJJAIyQaETzlBywXF_RjlZt_J59IVlwR9x9hexD8zzIZR8A3R3z4BliOSkGTiv3fjojIxTVY4yEvY_xxnhXS9ePwWOxXEewjVuxeYkxQGv8gK1Vvfd6FiG7FaLMpNqTuxRXmySrP86Oh-x5qJtGYKGrNSC-De1RgiY_2QlFZdV5xldaDt5609IGv9KVnbAL5JnMRggZDjZ1DWPAR1I7WCFpPoGejPP_0Gmqhhs5I7wq9Wn7oyKcmViL2liTsS2yVaqwC_slE56qAyp942ebmng7BPxmz5lzLFnB7qEKQmOVGpfSJztGBEIZvcWrPfMqWiD_ZylWbgn-N4UBHhq1JEcHZPTfT3TO94L67fK9UsKew-iR6WEj_TvE6N_U_L5yfzAXwqmAg8brCPkcSRnaKNiykAWvGhivx1blFNfbZ_y_XgHVT8YaE87R_vgtWUg-AU0wkiukFt9u6zJMTksSqox4zXuojBPo8Z5NfTuxag-l7PIcgr9ITNLlz6I4UJWw3DDlVb6NwD_enzecu-qQIjLnSNbG_DeUvKPPBeW2dafXNTR6exLOwY1fQLPnxJlgbiN_gRwuCj-ANDfd4k6lN-6xoME9gAHvIzfku0pJizy31WJbbVpcKeAm-3fSytxQtnkGQcIIz3r8B3O4zgbmkUCJzcWv8F3ORI_PtVw53Bzm2DemWGkVU_MORGQCVP-B0-nYmwKzKgQxESzqyu1a4IrEAlrcQDmZQ3wuxk_QYyUv6ziJTwQJ42kCNS_qaadR9LhargUXEOi4e_gBjJ4UdCjlwHwOr1VLOK1f10skWmyl2cJ2_olKgdT-2MnT1SlDEvw1ojilPA000hwotFSwqq-vbtgRCiIIR0seCkcMqPdo1xgCbfUFDvK7safSXkC-tfAGtJFVasEz_8buIi0DfUx9vKOqEeV44FTPtd6kM2augn2ZdLtf88TtZSufmeZ4cnvN6zsr9c4o6ZDNq5p6SWJA2VJ65CdWBV40iyaJ3YIykarxQbvaBxOICqmTbqG2v247fSlDR7QRIQbYNeLls2d5rFKH8-bn7MeQy_f4mEnrfNAKGfbGpjJYxtzZx6WG3OXwfO4f2qjwWJdg5o8L_2prU-YKAcG1UVsn7G0y7lrESD198b7Hm2QfZTgvrxhhtMl8z6rx27li8js_zu6yS-ohZrGBzJruo87Ltm_dghXFAzXDoVQOwdgt9ToLRbyyR_-8VAtvZKmY4Um8wTg2YKjQqAcxJzIweEqlNCeGKQAag6yL0fNG5Ih75ArO5mgqULVBPompvy6hFpYmKpSSRtEf-DoGo6hh2QQXtETPMV-I1sl1ybmWc8R08B6KR7y7HoiPQh45NRYbMDNxG1oU65pWKOmvWvYQjxOYDbyXb8xAGyhbouumrCLpUz3nwf2h2q7TBJvS5x4QQPhR2TyZs7zg4vQ6-F2Z0EY-ClhPNoyOOGk75kGLErylIUY6UQwdJ2i-wA_A-FmL0Y3u4J0xWcjyH6qlbnLs97J2wEelfd-IVUjIxeWO9sy3rlNO5dyb2A93giyYsogUyrWnWkv-BerPZrUJxe284nlBprmQpyD_73NW6uJ_takFQelZadV-gywc6Hz-m3AEVECApQZga70xZUbHMA5qlUC3wNFZPZADIO6nY8wRaJMEq4890GSRaRJZPROKdaele5_hsGHnsqIC5Xw3xE3gxTRFiurB93-EJTwbVpG_O0yyVR1hNxS0boOTrdfrN87RUsQoi8q-z-iRh6gyJHcOiarCCqSqq2m-a-ZAJzExo2hRJdtVn9wHp0SQYGpW6rr058wGXk9gWfE0Jnia6npTH8QeywcP8kWiu18LQW2Rh3O3XcalSRJ3WQeh_ITctkd__6oR51LfSbXM3KgNxLpV9cxzpgPbyBlMXhWeCibGY4UfNP_hlGA_Qsj0oqUz7vohf-OaOCb-6Znec86y4-CmWLmsCTLJEDmsTdMWsmHSkhfUCziwBLknkYHbP8JoFruHBo5O-hCTjqOIhsog0qpUEd3l0n0_AGIVP_qhYLT4UkE_2vM5dHkQTuWNWCHBmtXBTUFoHM9dEdhOdTYaYYZdDPQ-wmgijOnawoMsSSjekVOmlH4yQy9sTYiDa-t6ChLqL71Jv1Ov8QIFSOdg_cyhvWwjcDh3Z-qEIvh_uX7IbqIZ1LHPU2okis81qsIZmrHuQMG1VBlFQglwrOkW0wCpPALS4p6oP6QWTAHOfc6itcmKvjt4-sGaX97LfmF2b7yMNAI6V4z_DOJZ5px1HBxO_uTJnz3DGhC8mSLyrNzruQqLBaVH0nxXFZCvazZynsUVclmIORlOzJS-E45hvNJ_cO0pSxWxrbeq6USVvfiDRyZ1uyF6NDWyv-HtCLDnZTcGWDYznhrlzxRFHv7A8Lq-v6qxfXJKlWO0BnooDfVCn9g6e9wIkfEZ",
  "id": "rs_02e07f37acd5dfe7016ab4490cfb7c87d09352df73c5e61b71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.18,\"right_z\":0.12,\"right_yaw\":0.0},\"note\":\"The sweep carried the gripper into the red compartment, but the teddy remained just outside because the tool was too high to drive its body. I’ll lift and return to the teddy’s right side, then make a lower sweep into the box.\"}",
  "call_id": "call_YwvcfEhyi88w6WmuzZPxJHyC",
  "id": "fc_02e07f37acd5dfe7016ab4491095dc87d0aa8700c3477e5ace",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YwvcfEhyi88w6WmuzZPxJHyC",
  "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]: [-0.0731, 0.8379, 0.614, -0.5922, -0.1165, -0.1131, 0.9978, 0.9146, 1.4723, 1.0794, -1.0405, 0.3485, 0.6445, 0.0208]\nstate[eef_state]: left_x=0.2649 left_y=0.0048 left_z=0.1336 left_yaw=0.0749 left_pitch=-0.229 left_roll=0.0211 left_gripper=0.9978 right_x=0.2131 right_y=0.1837 right_z=0.1026 right_yaw=0.0666 right_pitch=-0.6491 right_roll=-0.2406 right_gripper=0.0208\nstate[joint_eff]: [-0.335, -1.4291, 6.8171, 1.5409, -0.1197, -0.0415, -0.0122, -0.2393, -7.5419, 9.0051, 0.6569, 0.3932, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6f18836b10a4e57a46dc83081f357910827e31110dd5197ebb370aa6b6d71f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e05e297db30b8a987a429ee2890a22c51571e1be645b6630e5c2ef30d041725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944633cef8b962553d93b129cd57c7598d7539338b3a54bc93896dcbbcf17728",
      "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 35 attempt 0 · /responses · status 200 · 1.957 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5701, -0.1165, -0.1127, 0.9978, 0.6094, 1.3121, 0.7467, -0.6243, -0.1913, -0.8894, 0.9946]\nstate[eef_state]: left_x=0.2689 left_y=0.0045 left_z=0.138 left_yaw=0.0739 left_pitch=-0.2052 left_roll=0.0178 left_gripper=0.9978 right_x=0.21 right_y=0.1919 right_z=0.0607 right_yaw=1.3774 right_pitch=-0.5892 right_roll=-0.2175 right_gripper=0.9946\nstate[joint_eff]: [-0.294, -1.3607, 7.0222, 1.5995, -0.1197, -0.0513, -0.0122, 0.0479, -5.6274, 8.4308, 0.9841, -0.1685, -0.0317, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.614, -0.5884, -0.1165, -0.1127, 0.9978, 1.1564, 1.8465, 1.2724, -0.6235, 0.0135, -0.4057, 0.0208]\nstate[eef_state]: left_x=0.2656 left_y=0.0048 left_z=0.1345 left_yaw=0.0745 left_pitch=-0.2241 left_roll=0.0207 left_gripper=0.9978 right_x=0.168 right_y=0.385 right_z=0.0538 right_yaw=1.4136 right_pitch=-0.6374 right_roll=-0.1968 right_gripper=0.0208\nstate[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.5116, -0.0806, -0.0464, -0.0122, 0.4171, -8.5265, 7.8701, 1.1355, 0.0611, 0.188, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5922, -0.1165, -0.1131, 0.9978, 0.9146, 1.4723, 1.0794, -1.0405, 0.3485, 0.6445, 0.0208]\nstate[eef_state]: left_x=0.2649 left_y=0.0048 left_z=0.1336 left_yaw=0.0749 left_pitch=-0.229 left_roll=0.0211 left_gripper=0.9978 right_x=0.2131 right_y=0.1837 right_z=0.1026 right_yaw=0.0666 right_pitch=-0.6491 right_roll=-0.2406 right_gripper=0.0208\nstate[joint_eff]: [-0.335, -1.4291, 6.8171, 1.5409, -0.1197, -0.0415, -0.0122, -0.2393, -7.5419, 9.0051, 0.6569, 0.3932, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6f18836b10a4e57a46dc83081f357910827e31110dd5197ebb370aa6b6d71f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e05e297db30b8a987a429ee2890a22c51571e1be645b6630e5c2ef30d041725",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:944633cef8b962553d93b129cd57c7598d7539338b3a54bc93896dcbbcf17728",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtEkW2bJzqcaazfVfcFgY8gMx1FQMxashDd-bcNCBRi1gpiSEWCJjbODw6XbKxAhnbH5vNNAzVeH2Uk9WYyQNY0GMfdiwVYtSAB7plwLjJkxPcjv3dnYJDECUpRPBPc9oz_xLPgHvbnFsDmytJcDj2D1pKii3OEJF9PvL0geXKUmC479mXeqoSChgeY7u7U7NUYDFad2hILKmLUNu3ULEEIp94XewQtvOJ788G7VvtXIFqWLn8M4RwhWBLDyY1bNBKZoDSYo99tuqvUxqzM3fJDcXnH9cZ9_DO7fuHmQBa3DJMncokvFlIXb6h7_M3HJ6mF-UjmHcGO6ioGycpAuavYtBF-Ta6S_zs1BimbPBYfpQxXwdEjXtxdsqhzcOa_80AnMYO9aijByZXwYcpyEA4SZqAI7SGJqMoqxB_SdbuLWJ2wsp5nU4z34ITCC2yfsKQv9R314QlZ-9-qqHmupituTyToFVEGF5l-5TVRnd5HyEj0ok_kSJ5gsOPH-tKEfwg5RG_EQppaC08YEUJTuqNfpzSjfCmTsHT2_KP4G7VQCbVl4fN9GEsorjaEhwzPDwTHdOMKkZ20ac8vpJWNNyKchLucw6Z24uZJ28KIuN5LM7Ut-YCkTUIHKzVAFksUaBE-UNxiP1xdSOoiHsLXP23-a3oTi61eNDwD6__pV3Xcb18DD71fnfS0ruz2ede8xLfl9hKrUp4xR_7XiWY6emNNH0jZKhrA3OWXt6079xbfi0RZWscsoKNcjjrempYsBS6UqqKoT9-rJPQtLLWxGnhi_ueW8m7jtpDxQ3vmvDJkvvz97A0OmFmyWetQT6jBaplGz_XS6m607o4bmgZpL4YKRBeW-SfleqEYIo26qcQOuNMlTZD8ifQaDumB_zvmyFXVle8PGjJomvXa4yCQrm1IdVhgwqrzXjGeotdZhAU4ZJhnpi886MkhKBxG038YF6sOkcw6oiROCmIT_cEdFF4N4cVIccECEDW8e7HmaN-PVRRvUykbdPkH-IrMGeAwfTggavVzUrAWu9kl83Xb1g7eWpjlJ-bLunMM0H_q1tKEHaLm5YGmG0AciuCYCnQ9t2VxV7c-GNEnb6FRlkBD2lrzsGZho04z1cq8uBxG5JFGptzotD64fkrbrTiUQ7nmKIzqif15EL815Irf6LcLvsD1eZ2ixPELxawYyXDTTyWaDdYdNLYfjLhPkDvkA3d0FWAbNgcWM3vcEfjH6ZluRpPVkwJ_UwHsg4zEKs_hWIkMSiM_4lX8ewumZ9jdrF7VP2oKi_ZVkPnuOywTwla_e2QMfJ71PxK3PiCeWrGLOQOZsx_q5m6lWHa67zfPos77JuJdZ4Lg752PnCmpt8HN7arQxeZFXgkPVTbRF8lCYnHVldyFBU_c2qKjX2nuP1UB0srj_8ACvGZcgKTO2IuRQeGEJXkM9GRdEfJovyYDsDAJCJ7aa01KVWzzxIxoEiW0kqTyrNc9vW3j0P4A5s5YR0SgWXtQSJeLiNal7M8duuURIl8Nk=",
  "id": "rs_02e07f37acd5dfe7016ab44914b30087d0903ee169614c6dc0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.18,\"right_z\":0.02},\"note\":\"The right gripper is now directly to the teddy’s right with its body centered ahead in the wrist view. I’ll lower the closed tool to table level behind the plush so the next lateral motion pushes rather than passes above it.\"}",
  "call_id": "call_HFydLbsWftaSCe6P0ICK8bqP",
  "id": "fc_02e07f37acd5dfe7016ab4491561b487d09a5b4a15c5d78629",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HFydLbsWftaSCe6P0ICK8bqP",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5926, -0.1165, -0.1131, 0.9978, 0.9127, 1.5455, 0.815, -0.7238, 0.3702, 0.6376, 0.0208]\nstate[eef_state]: left_x=0.2648 left_y=0.0048 left_z=0.1335 left_yaw=0.0749 left_pitch=-0.2293 left_roll=0.0212 left_gripper=0.9978 right_x=0.2086 right_y=0.1711 right_z=0.0241 right_yaw=0.0438 right_pitch=-0.6475 right_roll=-0.2812 right_gripper=0.0208\nstate[joint_eff]: [-0.0752, -1.3333, 6.8034, 1.4676, -0.0952, -0.0317, -0.0122, -0.6496, -5.0393, 5.4906, 0.5397, 0.315, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:613079ae3baa9a765ade26ea4353f6c44ee92e1a5cd42371fbca9f52db0bae80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8ffc8925fd606862d0c2a4b79d07fec31af377d2dad12b9957a992ab1a0c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ff45ad6e8107cd76d2f1c13dc6ae531767f39754afc8c7640eb238be5df491",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 6.643 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 134 changed as sent

message 142 changed as sent

message 146 changed as sent

message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.6147, -0.5838, -0.1162, -0.1131, 0.9978, 0.6094, 1.309, 0.7471, -0.6498, -0.1913, -0.8894, 0.0178]\nstate[eef_state]: left_x=0.2665 left_y=0.0046 left_z=0.1356 left_yaw=0.0742 left_pitch=-0.2188 left_roll=0.0193 left_gripper=0.9978 right_x=0.2054 right_y=0.1887 right_z=0.0594 right_yaw=1.3879 right_pitch=-0.605 right_roll=-0.1988 right_gripper=0.0178\nstate[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6093, -0.0904, -0.0464, -0.0122, -0.1846, -4.0274, 6.106, 1.1746, -0.1441, -0.0562, 0.7497]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5922, -0.1165, -0.1131, 0.9978, 0.9146, 1.4723, 1.0794, -1.0405, 0.3485, 0.6445, 0.0208]\nstate[eef_state]: left_x=0.2649 left_y=0.0048 left_z=0.1336 left_yaw=0.0749 left_pitch=-0.229 left_roll=0.0211 left_gripper=0.9978 right_x=0.2131 right_y=0.1837 right_z=0.1026 right_yaw=0.0666 right_pitch=-0.6491 right_roll=-0.2406 right_gripper=0.0208\nstate[joint_eff]: [-0.335, -1.4291, 6.8171, 1.5409, -0.1197, -0.0415, -0.0122, -0.2393, -7.5419, 9.0051, 0.6569, 0.3932, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5926, -0.1165, -0.1131, 0.9978, 0.9127, 1.5455, 0.815, -0.7238, 0.3702, 0.6376, 0.0208]\nstate[eef_state]: left_x=0.2648 left_y=0.0048 left_z=0.1335 left_yaw=0.0749 left_pitch=-0.2293 left_roll=0.0212 left_gripper=0.9978 right_x=0.2086 right_y=0.1711 right_z=0.0241 right_yaw=0.0438 right_pitch=-0.6475 right_roll=-0.2812 right_gripper=0.0208\nstate[joint_eff]: [-0.0752, -1.3333, 6.8034, 1.4676, -0.0952, -0.0317, -0.0122, -0.6496, -5.0393, 5.4906, 0.5397, 0.315, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:613079ae3baa9a765ade26ea4353f6c44ee92e1a5cd42371fbca9f52db0bae80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8ffc8925fd606862d0c2a4b79d07fec31af377d2dad12b9957a992ab1a0c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ff45ad6e8107cd76d2f1c13dc6ae531767f39754afc8c7640eb238be5df491",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkY9aYrY3fS-p_WT-D040tBIxUoKtkqRHhw_Nv1naXxpc6vNxeOpzs-sEk9tY6t9mFP4hUmHswZRQeSPJKcwd9_GKCqL8N4HImhGA28B9k5y-Q4l5HYilBppi2VYT1f9Q_1brEVGeoGON269Zp3aSLs480IP_FSY9Z0ySzmVWGufosFYTnE5K3kRtxQPBV8NKCGo3rB3IFwo1Git9p6EDD-kO3AJRLlk6UmsBlv4ciflgd06XCbXhfLOaAr-jAPKogN6PSTpW8VFzsdOqCdRr6DiUqNC4IeY2On-FJ8jkxyFEtelI4gWO_kdAzIUQ3gnOyy8qwY1rZLr2PdeAvAJDNjabFzN6e5PfoI5imEK7bQa3kfQEJuO-qagzZvFtXGeOpTzuqXaxB_BbLKwfwwja6F2MAUSaRoU59dGWGTfdqdiaD0Dl0KQjz1wQCV33DcLq1xKX0N7CtHYljwzxmMDjssj-5dj6_BbiRIGZ_HzwJZoLTiKOUr8OsoNecpa9a6fsMRdHPV_WQDM_eRbjRdQEgqDBVAhA7z_qYwm_oR_yaEWM9QjEDHuKbEEUzLUpZTJX4EA91xWYtXHliiUMoqiFAgpIFnKeBlsQKSdp0sGtF-FGpCBnxWXlyFa3lOO0zOzql5jVolxBf6dHixLdviFqa-wrmvtnRGcy-CwdZy0XMyc_a5hXsYmFekyhB0x2ZX7sJd8xer05mNJ9t8wrZvS_cpBoIZDli8k4mcfiJM_UHZTFVYYQAIsoGtIH7bTuh4IY2BObZ9iVZcntgp1UXFqtpVKUwca0bPFxteBDp3vYRV-ByIBlLeN7M5NCkSRAnLTkBed8-hHoDJX_3LDArwzFhulU8q5LmulEcErdFndzRbPvY-rCTdmon3xANfwzf7yY3d2HX7_kDEEbaOzqjHS8pOI89xvmCohBBOoME9guwP_2JHuPBi-KsjaextKIH57VldLoF8gKQodpfYZu9ORcs6TXO_cFW14U8GR2aNOuOFUS-KFGiO4GwE8o999ZFmMJDCbaeusAgzZ4nzD41-nsVtfq-eJiN6s5VK2QXPcUpq5gWgOGpobCUhyV3kPHUFA-LFVTaVFeLD25c8L0zxricOY7UFTK8-XgTZAFAESGDjV0Jq2XD1S9jeOKhb3QSF7iWyV_ntYuz0428b4WOml3d7LNiaj25YbudJwUvV0ACbv3nX9f-s3QhFCJD_LhyljLol",
  "id": "rs_02e07f37acd5dfe7016ab44917b4d487d0969946187db06c0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.4,\"right_z\":0.02},\"note\":\"The closed fingertips are now at table level immediately behind the teddy’s body. I’ll sweep left across the table into the safe opening, keeping the tool low so the plush moves with it.\"}",
  "call_id": "call_4XIWFJ2fOKiZ8XCLG4FLBAcs",
  "id": "fc_02e07f37acd5dfe7016ab44917dc8c87d09d7068a33b24a491",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4XIWFJ2fOKiZ8XCLG4FLBAcs",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8387, 0.614, -0.6075, -0.1165, -0.1131, 0.9978, 1.2259, 2.2818, 1.7908, -1.1954, 0.4786, 0.9806, 0.0208]\nstate[eef_state]: left_x=0.2622 left_y=0.005 left_z=0.1309 left_yaw=0.0754 left_pitch=-0.2448 left_roll=0.0236 left_gripper=0.9978 right_x=0.2119 right_y=0.3598 right_z=0.0243 right_yaw=-0.0483 right_pitch=-0.5959 right_roll=-0.4393 right_gripper=0.0208\nstate[joint_eff]: [-0.1846, -1.388, 6.7897, 1.5849, -0.105, -0.0464, -0.0122, 3.3299, -10.6598, 7.9932, 1.0916, -0.2808, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b24a7770afe3658b9ee4915224a990f37f2bfa2037e96d6b06fdd5f805d4a53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e61465246a9f2967b4318794c1e7ca043de9df1a65eb01cbd972cc1678bb977",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a5c0e818dbd7ed60f03ffb3dc86cf7838f51b0f7392c5aade5bae5d2b748ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 2.266 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 138 changed as sent

message 146 changed as sent

message 150 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8368, 0.614, -0.5884, -0.1165, -0.1127, 0.9978, 1.1564, 1.8465, 1.2724, -0.6235, 0.0135, -0.4057, 0.0208]\nstate[eef_state]: left_x=0.2656 left_y=0.0048 left_z=0.1345 left_yaw=0.0745 left_pitch=-0.2241 left_roll=0.0207 left_gripper=0.9978 right_x=0.168 right_y=0.385 right_z=0.0538 right_yaw=1.4136 right_pitch=-0.6374 right_roll=-0.1968 right_gripper=0.0208\nstate[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.5116, -0.0806, -0.0464, -0.0122, 0.4171, -8.5265, 7.8701, 1.1355, 0.0611, 0.188, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5926, -0.1165, -0.1131, 0.9978, 0.9127, 1.5455, 0.815, -0.7238, 0.3702, 0.6376, 0.0208]\nstate[eef_state]: left_x=0.2648 left_y=0.0048 left_z=0.1335 left_yaw=0.0749 left_pitch=-0.2293 left_roll=0.0212 left_gripper=0.9978 right_x=0.2086 right_y=0.1711 right_z=0.0241 right_yaw=0.0438 right_pitch=-0.6475 right_roll=-0.2812 right_gripper=0.0208\nstate[joint_eff]: [-0.0752, -1.3333, 6.8034, 1.4676, -0.0952, -0.0317, -0.0122, -0.6496, -5.0393, 5.4906, 0.5397, 0.315, -0.0464, 1.0281]\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 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8387, 0.614, -0.6075, -0.1165, -0.1131, 0.9978, 1.2259, 2.2818, 1.7908, -1.1954, 0.4786, 0.9806, 0.0208]\nstate[eef_state]: left_x=0.2622 left_y=0.005 left_z=0.1309 left_yaw=0.0754 left_pitch=-0.2448 left_roll=0.0236 left_gripper=0.9978 right_x=0.2119 right_y=0.3598 right_z=0.0243 right_yaw=-0.0483 right_pitch=-0.5959 right_roll=-0.4393 right_gripper=0.0208\nstate[joint_eff]: [-0.1846, -1.388, 6.7897, 1.5849, -0.105, -0.0464, -0.0122, 3.3299, -10.6598, 7.9932, 1.0916, -0.2808, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b24a7770afe3658b9ee4915224a990f37f2bfa2037e96d6b06fdd5f805d4a53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e61465246a9f2967b4318794c1e7ca043de9df1a65eb01cbd972cc1678bb977",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a5c0e818dbd7ed60f03ffb3dc86cf7838f51b0f7392c5aade5bae5d2b748ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkhNqspSi0EiHeX-MKXx9smU8g-Xp0Yg2b_EVxjzI-ryBV7aDchxFcX8JGmpS3FscAvjOdd7_evc0tbUApmmpaN_U9ZIXlzA9HskOVJh6VBfss--81Jpz6YY6dvV52tF0ZOS-lWBuhc5faf02p6hGft7554Oyio-I4cVFfUdnzQ0RWjEuFEEag0rQXbpu0bet8P899yHfo0aWSO6ojrwdcC6-2_zddhPBS9jokMyrPtTupTdHNURXtNiAlPRa2aOZxUFOJDYeKXHInN1eYkuILPTp7OLri_bxwD4_058sFhqtJ78IkKweNeDUoO0OkUCMpotZyHdasZS6QXa9SIKTB6_bpyyN-uRpmTCcJIFR2IIX-8L6UrtHbqPWsc1zxgquQ5i5SNlehC3ibQS0MPPl3J9jUVx_iEan3WaSoUsuPFi1hbP5ZlZZMsM_DQeNrnBZiQJrh3WlVsAjKVnLF05Uez1-VwqaM-JlJm611r-gWm0UShs9Xb44LFMxNK4ezkaWUD82zf9AO_O_-a9hN677AunAVTjr-8PepRUUy1BnCtdZiPZGYnGW3u8q8UDjRIKSVujNwHWGCmRO8xuLSv2xP7gz8E_udkqiZ5IzfuSMu8dHP9zwe3c012uZZvl-6l0w0Pkz3lI6Eab80DzJ_6VwB4-ZAIrowUxo5X0ewaXHb8x6XUvOOuB7NYWG3IdpIXwSJbd1DFNCgs7W0h6Df7S-8skAcfbDQlNslEjFcPNkybwrAdAKhcF9d6tHDElkH4xGfFI2aKcgH3GhqBzy8_rGvsGBWaE78mozrpOozfCxgtza-jr3Hv-STX8HQhXx26c-Mmo5tTwF5-a7rVjPxy8GIU45FkNWUEAbrxfE_PLeSEvHv2WQhd1XHrhnmrO5ZPBdpvtLv4vnKbDG-IpBP2SvGdddv1vAy4tmD41Ni2byMPkgTXDnTcLwRI4zbWsQM3v5xg76L4q7-CSK9BcwAT79RrsOlKUOFIMQ1_2kno3r3mCpBHUtDxpPkolSThLANOhrLSui4al0JxmaEBT-K_L7ALFQ4zlwROODMvQb_yKk1VFOI6gJESK-Qe9DBMdlDAeQS0Gt298jzng83dVKLjIJHeQ4XyU8FcsqLukxXobZisVu1PNjwJFpZCHlVNt5iGF7J10NDO9aIDq0VMXzrY0QafvBN3qTPPKg0S50V6eTX2PW16hqfezFMmOyL2sLz62UfGa95us8i_dbt-VhLmnTfUh8Cbqacozkva5y_dSo15aFa4hpeNI32Sy5HluhWIzcMXwPCv6arojo0vpgi6MbJ8J9ZAns4j2Tqpvmul0-JhJwaK4lzO9VnDwPK-Bp47tDhW1k2nbZqAvAp8rO6G82UOai_Qx1GhUg7KEGXby1oANTOlUhRH-6qjNrBRpyxt7MXJPyCLfXQ1hm6pGyerNcnDZA3WP_vO9gAn4PhMe0TZjCWgSOCjAfl5fiOcC4LwVP0Bw4ePXJZ-r0p3c2RDhVzwpPisgRDHcz6hKWFpXwXLWOyi0lz5jSzmXWBll0MczD_sBZDevYY_b7vj53Khy1oBnANYmZpt_1JMKAlsW5GFLETab-1IKHHDZgnYUGbWiWE0qsY0TQMr1V4Jjx5575PzXxhRUxNVVveCscuWRWVhZGrW3cN9QL1NlnRI45XBjx5qwdECEwn5JR0xHnX3rLYBurQ6Bgx4t8ycYkTRoL7Hd-BcrHOfOVTgCrtx_OgMZiCeRg0VQgW6SFCJL5iZB5PQiRNJ1PLVSX55L3DGtImVrO9ebTEBTg0FeNNti0Zd3l3TvtxyMlMj96iQy2QxbjRGrWlNiihw9iKnY3thnnzkNYxal4QlHsjqCzgsmeMyOGzRVSopY47Ug2e0x7K4YFHyKISX0adqK3CjZ_yk8d1fUkduIoBFI6zxR_-Pl07_5PmrDMVGnD5DitJHjE_jJgRe7OLj5i7EKh10KlcAkKrnPVjjcuODVv_fRJKpkBMFLT-wweT9tm8-ePCCqmfVO9CAGDHx6Rqnnj5PpmwywJlYyxwQT_53I81tB800J90a0kyI0AYGX2EsIU13gcEYPZJSDN3M_fMZ2b1lrJRbixZCJb31PoifB-hSsaO5-p2Zjkb2Qn_58QlGm77yIT1KYYHLjiVkxOU-fICYDOSqwFRrRuLBMQJ-XFmsQ-L5bfx_ObQBaNZi_Y5PdEZCp-jWMHpfCsZr3SEsnCUeqnq81H0oipZ1W1OjUf2k680B-7RvuBVCoO6st5qD33WBLl1vWVUQdYZ9iI-GXkqg2xzHxzAyi4_qmGFXteAWmPtImqmcfGvQUIW2_NT59-igq94luuJ2tuF5F-2kT5xDE2aQiQIMSQxZCLi2MmxuWzO7fR1ZxQqlNhCYT7Yc4e165J1PUVZgyhLlhPQUuOW4d3-czy0teSWHYkg_rWs3YJcFgz9pn_LN6dvKH8y0NmiKeigKoqGNtcj1E1rfudt4bGTIHhzLaIRjXQJUj0OaF2J7BRNM_AjfUwBIlOIHmDdgXbP2ifJaZgiInmyATAcv0tCH5Mi33LmuJbuySy9v_n85Qam1QwXt8RyvtZgRfvsRipPKide_d3eABUZHW_LUC-bdvSl2dx972kI3RMHtiMPXLdOSmzzIpgZvvdkwoGu7mL1yFqQuebPgbWn13KLNlbZKJNohQucUFUxoqZtrI1cL5QJELbp7oM2Ie-lrks_z-ksGrDp3nUmYqmcFUV-inT3CLbr9ZTWLE_2nxTA69jTyWZ744V3pquqG26plFeyiyVNdW5m3MKTpfS2Uqa053SDgyPomWam39GNjOvROCWNIwee2arXAmgu6ar7eXuJALa8lAJvqEY39lJiIFXfSBNhFKOLR14sucaEu2aj3gk2ObUv4qMbsUTSZnY36dWmXxhHuhUG0RZWUYG4GLxICJmQAEW5zDMauSpVE3xk8-VpiABjEn0vDXNYzOld22M762RALQkOxD_uLgWrNOlXucVfFMEHcPzlT9iihG4lBatYORQLHrDTAkcwdqfxoAeI_UQD4HSiP8uRDzsNxW1VmYw74NtOTm6YOSNtaWkWw_Im3gpz0S7BySnQ0bfDLmdnjLL0-BEGwR8eOjZGCD57Bj9Eyfs5Qlu1IqzsrIxsXNF5_5TyR4coE7jOjxQKH9Sw_l0K3zz9PYmxmm7rdzVD_Oc9COSxtC7vQ11QXerHQ83LBsf1Dz2KA3tSwyIbTyNiwythotwH6APa9kPYHzdy7ZjaT6eqPW6dE2tN4Kg7xl_YFCYqvhwh8JvA7EPA-5fMSKELk8X6AbjpIxRWu0kq04UHFNrtCStVlLOy05B_aIRweZR0QCXR3yaxl3hz0x2Pv4Mgw1XNxq7R4ylxIYLYSI_L9qbDNodhXTM6kYyhfG8EpaDCCKcecNVg1qx3vztSpXDBrMnqZo6t1DkfktQjqzxRv_1F8IP79Izm7SYZPLFLuZCa2Ix1GDihs6kWVS6gSzzLKlq8ChvSErf3YkXEMF61VWKg0URgMapVCj_fT-oGlL_Dv7vSm_hpOrWnGFqojDOy7jE-CLLF_Dou0GBLFFu8I6u_CMBgJIkJT15XGN8OEm61cNQLj2pxFU2rpu9q3Sgb2-RBpt9NyNzP-OwOdrEaGyLCsjxIwPfoIrVxVPge7w-sb_NS3H9OOnrx_cmhVzKdH1r8G4AvqAs1aAtlJRdYpuu297Ovh3ML-QIseXuKGvgzjM154TIfXaDPHvjPd7GwgYAY87g==",
  "id": "rs_02e07f37acd5dfe7016ab4491bf1b087d082dce68f45942120",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.1,\"right_z\":0.1},\"note\":\"The teddy stayed to the right of the arm, showing the previous start point was on its safe-side rather than behind it. I’ll lift and reposition farther to the image-right of the teddy before making one final low sweep toward the safe.\"}",
  "call_id": "call_K9CVOLdmS549By20Zcdtzkim",
  "id": "fc_02e07f37acd5dfe7016ab44920262487d096a78e80e3bb359c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K9CVOLdmS549By20Zcdtzkim",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8387, 0.614, -0.614, -0.1165, -0.1131, 0.9978, 0.7647, 1.3289, 0.9009, -1.0321, 0.469, 0.495, 0.0223]\nstate[eef_state]: left_x=0.261 left_y=0.0051 left_z=0.1298 left_yaw=0.0757 left_pitch=-0.2512 left_roll=0.0246 left_gripper=0.9978 right_x=0.2184 right_y=0.1039 right_z=0.0951 right_yaw=-0.0741 right_pitch=-0.6043 right_roll=-0.432 right_gripper=0.0223\nstate[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.6239, -0.1148, -0.0513, -0.0122, -0.1162, -4.7795, 6.2564, 0.5495, 0.3346, -0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f11a3231d4855df1b29912d91d68bd97702a6a9459635735d20db1d3eb9d5a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf25c1eacbfcffa80931efc44525bf78c64e33a3edff953d29eaa55fd41a73ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2e0a108acad3bdcb4dcc3ad3dcddf096f5498bea74cdf77a80d40c6c955115",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 3.244 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 142 changed as sent

message 150 changed as sent

message 154 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5922, -0.1165, -0.1131, 0.9978, 0.9146, 1.4723, 1.0794, -1.0405, 0.3485, 0.6445, 0.0208]\nstate[eef_state]: left_x=0.2649 left_y=0.0048 left_z=0.1336 left_yaw=0.0749 left_pitch=-0.229 left_roll=0.0211 left_gripper=0.9978 right_x=0.2131 right_y=0.1837 right_z=0.1026 right_yaw=0.0666 right_pitch=-0.6491 right_roll=-0.2406 right_gripper=0.0208\nstate[joint_eff]: [-0.335, -1.4291, 6.8171, 1.5409, -0.1197, -0.0415, -0.0122, -0.2393, -7.5419, 9.0051, 0.6569, 0.3932, 0.188, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8387, 0.614, -0.6075, -0.1165, -0.1131, 0.9978, 1.2259, 2.2818, 1.7908, -1.1954, 0.4786, 0.9806, 0.0208]\nstate[eef_state]: left_x=0.2622 left_y=0.005 left_z=0.1309 left_yaw=0.0754 left_pitch=-0.2448 left_roll=0.0236 left_gripper=0.9978 right_x=0.2119 right_y=0.3598 right_z=0.0243 right_yaw=-0.0483 right_pitch=-0.5959 right_roll=-0.4393 right_gripper=0.0208\nstate[joint_eff]: [-0.1846, -1.388, 6.7897, 1.5849, -0.105, -0.0464, -0.0122, 3.3299, -10.6598, 7.9932, 1.0916, -0.2808, 0.2271, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8387, 0.614, -0.614, -0.1165, -0.1131, 0.9978, 0.7647, 1.3289, 0.9009, -1.0321, 0.469, 0.495, 0.0223]\nstate[eef_state]: left_x=0.261 left_y=0.0051 left_z=0.1298 left_yaw=0.0757 left_pitch=-0.2512 left_roll=0.0246 left_gripper=0.9978 right_x=0.2184 right_y=0.1039 right_z=0.0951 right_yaw=-0.0741 right_pitch=-0.6043 right_roll=-0.432 right_gripper=0.0223\nstate[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.6239, -0.1148, -0.0513, -0.0122, -0.1162, -4.7795, 6.2564, 0.5495, 0.3346, -0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f11a3231d4855df1b29912d91d68bd97702a6a9459635735d20db1d3eb9d5a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf25c1eacbfcffa80931efc44525bf78c64e33a3edff953d29eaa55fd41a73ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd2e0a108acad3bdcb4dcc3ad3dcddf096f5498bea74cdf77a80d40c6c955115",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkl7-BGE821a8RD7I1FJpUfSHSdBJkbHNoE409rzPxTdXrD12iW5wXonrV3e3ZWGCr_ST0irewSJBuKynuH44RM86TDZVbAR4kF9PchXzpSHtIYsfNSroVJhhdC9eqD_XxN_QaHEj52s6Vs3y5D_LJjcRTEj1XOkDiPXohMuG-fa4O8gtsVryMf5CyHuj-l-JyolVJFNqQrUyYPoCtiDgFFGaUID4hWa0IAxqNeniNb7mSrDvlrx1I5oFBJTsJy4tVgGgcMEaoZ-CnwtlgXzCsfjr90cocaNzaMsPEB8px0BIQZ3uOvHII7pYXNsE8aIZv0yqdkSX8myoWCwGT_J-I2ioxNQJVQ-8bAfhblxHd7IySq3lP8K_Mops1lchgei0U1pmX-xZC5ckJyM0mI_lcBQc0NjcOXiQTpvpGM-eTDOzgtKj7LdvrF0ptQOzqZFdDDDeK-ZESMcCCYGbyxQs1Eie1Tu1AWh1ZnQ40mq8BKfOzGESVFkUuhG6ZLYUdNXkE626lEAULI5rgA7zb4EtH4JJYthgv5KdQRfABN3zDks09wn8XBsEU4HAR4GYGGEPSxP_949gjfJu1wUvsJZhOozCmsTqe4wjiPzTEv6dg31UDbvcumeR-nQJTB5OROHEvfn6JRf_1dSbAW0TWawvwN6rxbahKMXjN60ZEidUt3sP_k1XbxVezjZ75mJ1CkNnvystVRK1d7TRi9_7TFAIUjUkcn7p_X_tE04HHomN9xed27bHlzurmLKprKEeOTr7twKJ5hLK9vxFuAHlB0PxQ8lqVoZnrCLuyIKFNfc0AWzLILjsF9DgwHdKt9h1oOf3MHdY08QahPiuudc2ocjaKhZ99q1X0-x7P9Vc0BqRL6jtfej9VWyWkeHzZPOgVTNV3c65io_813mQj5VH8fklbbLIIQrNw2yhyWsjnZCHwFVn6xkydn2yAOzzOIoSl711jPcHWR-3xfMfWRreIqkOVw7cwDBwjftIon6Qf5KW_dhpHHcQ4xsEk5C0cSQuxYK02279DHVu6uHP8Ge3qA9l4ZaU0chRghxF14Ynxx-LFyZwF5VkWJLbRV60diXUv5C7gMyTzOhr_tG-pVKL_p7d9cpPlD798Ypg_P5N69s1_zb9nEi4nMVXCixVxXRivgVcGHX7UaCyjB0XzDvj5E7EZWZeSG-tiB6RcKw_JkxaSyroDGtcM7DaOUAQE-jabcD1-NR0y1G10jvak9oxPmEByN2Yav2xSVDI_02Br1R9NKcmYjWg7r5Zd-YqrFzgMgylNz_L1RGcu1N1K2rJkEZk0I3w==",
  "id": "rs_02e07f37acd5dfe7016ab44924a87c87d095b1e6bb0b8c672e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.1,\"right_z\":0.02},\"note\":\"The overhead view now confirms the right gripper is on the teddy’s image-right side, the correct side for a leftward push. I’ll lower to table level while holding this lateral position.\"}",
  "call_id": "call_KzuWSHRD16tjc6pqSGm5iAFM",
  "id": "fc_02e07f37acd5dfe7016ab44924d21c87d081924c68b1ab636a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KzuWSHRD16tjc6pqSGm5iAFM",
  "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]: [-0.0731, 0.8387, 0.614, -0.6159, -0.1165, -0.1131, 0.9978, 0.7517, 1.4223, 0.6754, -0.7753, 0.4587, 0.4709, 0.0233]\nstate[eef_state]: left_x=0.2606 left_y=0.0051 left_z=0.1295 left_yaw=0.0757 left_pitch=-0.2531 left_roll=0.0248 left_gripper=0.9978 right_x=0.2061 right_y=0.0905 right_z=0.0227 right_yaw=-0.1007 right_pitch=-0.6591 right_roll=-0.4925 right_gripper=0.0233\nstate[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.4579, -0.0952, -0.0659, -0.0122, -0.4171, -4.2462, 5.6, 0.5446, 0.3199, 0.0024, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744a63939edad77defe288cbb6e032c56f1719058d0a2820f0089f431598d4bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b61ba6bd8fa16be2eabe55f5192e8f747f0b5413d3a35fdc769eff59111cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044457a9af1a6267f518f11c259902ba45cecfd347f85e9a4406ed1b7a879409",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /responses · status 200 · 4.855 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 146 changed as sent

message 154 changed as sent

message 158 changed as sent

message 146 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8379, 0.614, -0.5926, -0.1165, -0.1131, 0.9978, 0.9127, 1.5455, 0.815, -0.7238, 0.3702, 0.6376, 0.0208]\nstate[eef_state]: left_x=0.2648 left_y=0.0048 left_z=0.1335 left_yaw=0.0749 left_pitch=-0.2293 left_roll=0.0212 left_gripper=0.9978 right_x=0.2086 right_y=0.1711 right_z=0.0241 right_yaw=0.0438 right_pitch=-0.6475 right_roll=-0.2812 right_gripper=0.0208\nstate[joint_eff]: [-0.0752, -1.3333, 6.8034, 1.4676, -0.0952, -0.0317, -0.0122, -0.6496, -5.0393, 5.4906, 0.5397, 0.315, -0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8387, 0.614, -0.614, -0.1165, -0.1131, 0.9978, 0.7647, 1.3289, 0.9009, -1.0321, 0.469, 0.495, 0.0223]\nstate[eef_state]: left_x=0.261 left_y=0.0051 left_z=0.1298 left_yaw=0.0757 left_pitch=-0.2512 left_roll=0.0246 left_gripper=0.9978 right_x=0.2184 right_y=0.1039 right_z=0.0951 right_yaw=-0.0741 right_pitch=-0.6043 right_roll=-0.432 right_gripper=0.0223\nstate[joint_eff]: [-0.0479, -1.3333, 6.9949, 1.6239, -0.1148, -0.0513, -0.0122, -0.1162, -4.7795, 6.2564, 0.5495, 0.3346, -0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 158 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0731, 0.8387, 0.614, -0.6159, -0.1165, -0.1131, 0.9978, 0.7517, 1.4223, 0.6754, -0.7753, 0.4587, 0.4709, 0.0233]\nstate[eef_state]: left_x=0.2606 left_y=0.0051 left_z=0.1295 left_yaw=0.0757 left_pitch=-0.2531 left_roll=0.0248 left_gripper=0.9978 right_x=0.2061 right_y=0.0905 right_z=0.0227 right_yaw=-0.1007 right_pitch=-0.6591 right_roll=-0.4925 right_gripper=0.0233\nstate[joint_eff]: [-0.0068, -1.2923, 7.0359, 1.4579, -0.0952, -0.0659, -0.0122, -0.4171, -4.2462, 5.6, 0.5446, 0.3199, 0.0024, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744a63939edad77defe288cbb6e032c56f1719058d0a2820f0089f431598d4bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b61ba6bd8fa16be2eabe55f5192e8f747f0b5413d3a35fdc769eff59111cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 427):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044457a9af1a6267f518f11c259902ba45cecfd347f85e9a4406ed1b7a879409",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEkpBU0P4KqRqKVRGrn_6mrdehd9uWHBzsKvHm0r4-0NyM6yhrnaeZqSUbCrqod-RAaVE4oTfCRb9EdHIMwasd3raiS87nspi8Ephe0wae1ttAz85YAFMzhxCMb21vDBKnCMtFFrYBtB3BRuvWc-BzyP9xaF4izgO-8-9MBvMk2ngT76KSxUogWmXDRNXU4hmJN2g23N2c8vyZQIR70cPHPwmkNMN9WH8sU3UtQfOLT5vO-6xjRcf0uGq9yRYVfOw6wdmpHem3rM48C52iqim4VVdrFl1O6GJKtFkfq-dxMwUOn_50lll8iJ4sfAidRtL1H2Ty4PC1hRiaWtsOC85BbATEgvT1ZPXk-yRjVZmcC0rWbudbPDDc1LknXb0Gp-gFPonHElh3ZMfPKSzvVTjLlPXVsiaZ6ojCyivT9q06AHlFJkvWOp6uyG6wUuSNV8KvSGkuITZkYQqkRQrxIyrVrq5tvxmlkZXkDA3H10ZsvPyUAp9oRPrryVMwSlSk9O5f70jEgXj2O1_sd9gljkQ8WqXsB8PkFsoxu81wbEukfzE9DDDg3qIpvseurfv-gPXIsJ4Tlg0351bJTPjm0IzzUxxZQl8gWZwR6d5huEck-VpDMKmCFbf83oZ5-oFeGpvXVfJGuxK1hPpu5LvpDkHj7QNbdIHjjBfYV1kqHXUdjg1PmS4mHCVOz3fFZvwktyy8R5gnxLs8aROpw84cVLuZkXWpe0YRI90JUJgStRULPYbKNsPmv8sZ2YFwGYLUmkhuLvs3NF1QSRifO2Fktr8CuulmsqaT6U_ZSFLVcHWIBMjpydsYzBm0gSv_dGRRtqeHCnrh5xbp72tzQQPZOwRojG4i8F9CNbh2s3pxj8FdIjMNPwm8MC9ABC92OyRMu2LttLjJQXh_9weHYgCLGJl2XPbNhlfo-LCuw4L-a7XnhsDl0zntZK8aKucj3NMAZd4LQzxCnyOPdbzLpST8529I-QEVfw9d9Ug4hkKkXovhC7vQ0Hmq_FCSJ4wWffr8RPwzZqMVsQdjdw9fyiG6ZUq1KDExtQvH62Y43avPIpFlEKTAq1bV7O7SETyeECcAu2SnXTaXmJfO9D3Yo57pgcQW8PXJlL-8KUZ7dbQFHU9UL3ObUUsyIM0zpu6d4x_cMYe-9Llbo1oOlcvmvx70SL_f3BS275SnN34tuTTJsAQYHHgr6gXpsEeNwyezIryjt7bKKnfj6ThEBrXYaBUBwHzP96C4ob5IEL6EwmiH8PLbROxko=",
  "id": "rs_02e07f37acd5dfe7016ab44928195c87d09e0c85003ffb9b8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.4,\"right_z\":0.02},\"note\":\"The low closed fingertips now overlap the teddy from its right side. I’ll sweep left into the red safe compartment, which should drive the plush ahead of the gripper.\"}",
  "call_id": "call_9mapDp1eoLRu3MoLytTn6jjf",
  "id": "fc_02e07f37acd5dfe7016ab44928642487d09437a271073b7c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9mapDp1eoLRu3MoLytTn6jjf",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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]: [-0.0612, 0.8417, 0.614, -0.63, -0.1509, -0.1089, 0.9977, 1.2549, 2.4775, 2.1239, -1.4628, 0.4828, 1.0382, 0.0235]\nstate[eef_state]: left_x=0.2578 left_y=0.0144 left_z=0.1271 left_yaw=0.1154 left_pitch=-0.266 left_roll=0.0569 left_gripper=0.9977 right_x=0.206 right_y=0.3779 right_z=0.0267 right_yaw=-0.1401 right_pitch=-0.6072 right_roll=-0.565 right_gripper=0.0235\nstate[joint_eff]: [-1.4974, -1.5248, 6.8034, 1.6581, 0.8034, -0.0611, -0.0171, 2.1265, -11.3573, 7.3915, 0.6374, 0.1197, 0.1832, 0.9841]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 453):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa2d3c350c5fdcce715619ce4e04ffefa356819729caaa2bd0f589d7885fa08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 453):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86fa8bc7cb887ad75f4de7cc5ed762a80f46c07f568fc1513a9a8dbce18e3c20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 453):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b2b8804282120458cbe1dc6d3209d158a9f2f8150130a30052f0b36f7de024",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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