adhoc

completed
2026-09-23T20:59:54.814907+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
228.8 s
total steps
387
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 white plush is centered in the left wrist view but still has clear space below it, indicating it is a few centimeters short of the fingertips. I’ll advance the left grasp point slightly while staying high and open to align over it.
move_to
left_x0.3200left_y0.0010left_z0.1700left_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, 0.6033, -0.3931, -0.0196, -0.0341, 0.9993, -0.0319, 0.7948, 0.609, -0.3958, -0.0181, -0.012, 0.9996] state[eef_state]: left_x=0.2928 left_y=0.0014 left_z=0.1773 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2933 right_y=-0.0026 right_z=0.1788 right_yaw=-0.0007 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.6359, -1.4838, 10.2769, 2.0195, -0.0659, 0.1783, -0.0855, 0.4171, -1.7162, 9.5248, 1.9365, -0.022, -0.0269, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0.001,"left_z":0.17,"left_gripper":1.0},"note":"The white plush is centered in the left wrist view but still has clear space below it, indicating it is a few centimeters short of the fingertips. I’ll advance the left grasp point slightly while staying high and open to align over it."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent noteThe white plush remains centered on the left jaw column after the advance, so lateral alignment is good. I’ll descend open to just above its mid-height before closing.
move_to
left_x0.3200left_y0.0010left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.9215, 0.6102, -0.345, -0.0193, -0.0383, 0.9993, -0.0277, 0.7986, 0.6151, -0.4114, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3076 left_y=0.0012 left_z=0.154 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2922 right_y=-0.001 right_z=0.1773 right_yaw=0.0048 right_pitch=-0.0137 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.0752, -3.8632, 7.6923, 2.1416, -0.0659, -0.0317, -0.0904, -0.5538, -1.5248, 6.5436, 1.8437, -0.022, -0.0366, -0.0073] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0.001,"left_z":0.045,"left_gripper":1.0},"note":"The white plush remains centered on the left jaw column after the advance, so lateral alignment is good. I’ll descend open to just above its mid-height before closing."})
tool
executing move_to over 8 steps (0.8s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteAt grasp height the plush is well to the right of the left jaw column, so the overhead alignment hid a lateral offset. I’ll slide the open gripper about 4.5 cm toward the table center while remaining low.
move_to
left_x0.3050left_y-0.0450left_z0.0350left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 1.2209, 0.297, 0.1684, -0.0193, -0.0383, 0.9993, -0.0292, 0.8005, 0.6151, -0.4374, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.0317 left_yaw=0.0029 left_pitch=-0.1743 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2886 right_y=-0.0014 right_z=0.1716 right_yaw=0.0033 right_pitch=-0.0415 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [-0.0205, -4.1368, 5.7368, 2.0, -0.0317, -0.0171, -0.0855, -0.0205, -1.3607, 7.0085, 1.9023, -0.0415, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":-0.045,"left_z":0.035,"left_gripper":1.0},"note":"At grasp height the plush is well to the right of the left jaw column, so the overhead alignment hid a lateral offset. I’ll slide the open gripper about 4.5 cm toward the table center while remaining low."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe lateral slide brought the plush closer, but its center is still about 5–6 cm of image scale to the right of the jaw column. I’ll make one smaller centerward correction before closing.
move_to
left_x0.2940left_y-0.0750left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2558, 1.2362, 0.2955, 0.1333, -0.1577, -0.1768, 0.9993, -0.0292, 0.8024, 0.6151, -0.4549, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2936 left_y=-0.0444 left_z=0.0222 left_yaw=-0.0378 left_pitch=-0.2135 left_roll=0.0039 left_gripper=0.9993 right_x=0.2862 right_y=-0.0012 right_z=0.1676 right_yaw=0.0036 right_pitch=-0.061 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-0.212, -2.3316, 8.4171, 1.8486, -0.2906, -0.0806, -0.0904, -0.1162, -1.2376, 6.9812, 1.8291, -0.0513, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":-0.075,"left_z":0.025,"left_gripper":1.0},"note":"The lateral slide brought the plush closer, but its center is still about 5–6 cm of image scale to the right of the jaw column. I’ll make one smaller centerward correction before closing."})
tool
executing move_to over 3 steps (0.3s)
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 last low slide tracked only partway, likely because this near-table pose is awkward; the plush is now close but still slightly right of center. I’ll lift two centimeters while completing the centerward shift, keeping the jaws open.
move_to
left_x0.2950left_y-0.0750left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3103, 1.24, 0.3019, 0.115, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4572, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.2908 left_y=-0.0527 left_z=0.0214 left_yaw=-0.0324 left_pitch=-0.2209 left_roll=0.0079 left_gripper=0.9993 right_x=0.2858 right_y=-0.0013 right_z=0.1671 right_yaw=0.0031 right_pitch=-0.0633 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.2803, -2.5778, 6.1744, 1.5946, -0.0611, -0.0317, -0.0904, -0.0889, -1.2239, 6.9812, 1.7314, -0.0464, -0.0464, -0.0073] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":-0.075,"left_z":0.045,"left_gripper":1.0},"note":"The last low slide tracked only partway, likely because this near-table pose is awkward; the plush is now close but still slightly right of center. I’ll lift two centimeters while completing the centerward shift, keeping the jaws open."})
tool
executing move_to over 2 steps (0.2s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left arm is not tracking further lateral or upward motion in this low pose, but the plush now spans the space between both jaws and its body center is only slightly right of the jaw midpoint. I’ll close and use the settled opening to test whether it is captured.
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]: [-0.3111, 1.2449, 0.3019, 0.1146, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4778, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2902 left_y=-0.0527 left_z=0.02 left_yaw=-0.0328 left_pitch=-0.226 left_roll=0.0094 left_gripper=0.9993 right_x=0.2827 right_y=-0.0012 right_z=0.1631 right_yaw=0.0034 right_pitch=-0.0839 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.0615, -3.0564, 6.1333, 1.5409, -0.0904, -0.0317, -0.0855, -0.212, -1.0872, 6.9675, 1.8339, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left arm is not tracking further lateral or upward motion in this low pose, but the plush now spans the space between both jaws and its body center is only slightly right of the jaw midpoint. I’ll close and use the settled opening to test whether it is captured."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gripper settled at 0.01, confirming an empty close; the wrist view also shows the plush fully ahead of the closed jaw tip, so the grasp point remained too near the base. I’ll reopen and retreat upward into a better-conditioned pose while advancing radially and slightly centerward for one corrected attempt.
move_to
left_x0.3300left_y-0.0700left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3111, 1.2449, 0.3019, 0.1036, -0.1997, -0.2222, 0.01, -0.0292, 0.8024, 0.6151, -0.4999, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.2883 left_y=-0.0521 left_z=0.0182 left_yaw=-0.0304 left_pitch=-0.2366 left_roll=0.0104 left_gripper=0.01 right_x=0.2793 right_y=-0.0011 right_z=0.1588 right_yaw=0.0032 right_pitch=-0.106 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.3077, -2.8376, 5.7641, 1.5849, -0.1099, 0.022, 0.8523, -0.0342, -1.2239, 6.9402, 1.8242, -0.0562, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.07,"left_z":0.1,"left_gripper":1.0},"note":"The gripper settled at 0.01, confirming an empty close; the wrist view also shows the plush fully ahead of the closed jaw tip, so the grasp point remained too near the base. I’ll reopen and retreat upward into a better-conditioned pose while advancing radially and slightly centerward for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe corrected pose now puts the white plush squarely between the open jaws in the wrist view. I’ll descend vertically to table-level grasp height without changing the horizontal alignment.
move_to
left_x0.3300left_y-0.0700left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3233, 1.2343, 0.6292, -0.26, -0.207, -0.2478, 0.9949, -0.0292, 0.8024, 0.6151, -0.5236, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3219 left_y=-0.0658 left_z=0.0864 left_yaw=-0.0201 left_pitch=-0.2593 left_roll=0.0056 left_gripper=0.9949 right_x=0.2755 right_y=-0.001 right_z=0.1543 right_yaw=0.0035 right_pitch=-0.1296 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.8137, -3.2205, 8.8821, 1.5897, -0.1441, 0.1441, 0.1001, -0.1162, -1.2103, 6.9128, 1.8437, -0.0269, -0.0659, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.07,"left_z":0.025,"left_gripper":1.0},"note":"The corrected pose now puts the white plush squarely between the open jaws in the wrist view. I’ll descend vertically to table-level grasp height without changing the horizontal alignment."})
tool
executing move_to over 4 steps (0.4s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteAt the low pose the plush body is visibly centered between the left fingertips, with each jaw on an opposite side. I’ll close fully and then verify the retained jaw spacing.
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]: [-0.3279, 1.4246, 0.5026, -0.0387, -0.2066, -0.252, 0.9984, -0.0292, 0.804, 0.6151, -0.551, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3126 left_y=-0.0643 left_z=0.0152 left_yaw=-0.0135 left_pitch=-0.3506 left_roll=0.033 left_gripper=0.9984 right_x=0.2711 right_y=-0.0009 right_z=0.1489 right_yaw=0.0037 right_pitch=-0.1586 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.3487, -4.8068, 5.4906, 1.4628, -0.1441, 0.0317, -0.1783, -0.2256, -1.2786, 6.9265, 1.9072, -0.0513, -0.022, -0.0073] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At the low pose the plush body is visibly centered between the left fingertips, with each jaw on an opposite side. I’ll close fully and then verify the retained jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe second close again settled at 0.01, so the plush was squeezed out rather than retained and is currently hidden by the left wrist. I’ll park both arms high and open to reveal the tabletop and re-measure all object positions.
move_to
left_x0.2930left_y0.0000left_z0.1770left_gripper1.0000right_x0.2930right_y0.0000right_z0.1770right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3279, 1.4342, 0.4961, -0.0471, -0.2047, -0.2596, 0.0104, -0.0292, 0.8051, 0.6151, -0.5728, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3078 left_y=-0.063 left_z=0.009 left_yaw=-0.0077 left_pitch=-0.3741 left_roll=0.0347 left_gripper=0.0104 right_x=0.2675 right_y=-0.0007 right_z=0.1447 right_yaw=0.0038 right_pitch=-0.1815 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [-0.1026, -5.641, 5.9145, 1.3309, -0.149, 0.0513, 0.8523, -0.0205, -1.2513, 7.0632, 1.746, -0.0659, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.0,"left_z":0.177,"left_gripper":1.0,"right_x":0.293,"right_y":0.0,"right_z":0.177,"right_gripper":1.0},"note":"The second close again settled at 0.01, so the plush was squeezed out rather than retained and is currently hidden by the left wrist. I’ll park both arms high and open to reveal the tabletop and re-measure all object positions."})
tool
executing move_to over 11 steps (1.1s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteWith the arm parked, the white plush is visible again just left of the safe; in the left wrist view it is about 3 cm right of the jaw column and slightly short of the fingertips. I’ll approach high with a combined outward and centerward correction for a fresh alignment.
move_to
left_x0.3200left_y-0.0300left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0483, 1.1145, 0.9302, -0.7891, -0.062, -0.0612, 0.9955, -0.0254, 0.9352, 0.7475, -0.6441, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2945 left_y=0.0003 left_z=0.1595 left_yaw=0.0271 left_pitch=-0.39 left_roll=0.029 left_gripper=0.9955 right_x=0.2815 right_y=-0.0001 right_z=0.1555 right_yaw=0.0081 right_pitch=-0.2505 right_roll=0.0089 right_gripper=0.9996 state[joint_eff]: [0.4581, -4.2598, 8.9778, 1.4969, 0.0659, 0.1929, 0.0171, 0.1983, -1.7709, 9.6752, 1.7851, 0.0024, 0.0073, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.03,"left_z":0.1,"left_gripper":1.0},"note":"With the arm parked, the white plush is visible again just left of the safe; in the left wrist view it is about 3 cm right of the jaw column and slightly short of the fingertips. I’ll approach high with a combined outward and centerward correction for a fresh alignment."})
tool
executing move_to over 4 steps (0.4s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe new view still shows the plush right of center and with a gap below it to the jaw tips; the previous radial target also tracked short. I’ll raise slightly and command another 3 cm outward and 3 cm centerward to place its torso at the jaw convergence point.
move_to
left_x0.3400left_y-0.0600left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1669, 1.2564, 0.7887, -0.6209, -0.1043, -0.1371, 0.9985, -0.0254, 0.939, 0.7471, -0.6689, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2976 left_y=-0.0278 left_z=0.0886 left_yaw=0.0003 left_pitch=-0.4983 left_roll=0.0408 left_gripper=0.9985 right_x=0.277 right_y=0.0 right_z=0.1503 right_yaw=0.0084 right_pitch=-0.2795 right_roll=0.0099 right_gripper=0.9996 state[joint_eff]: [-0.4308, -4.9709, 7.1316, 1.6044, -0.2711, -0.0171, -0.1734, -0.1162, -2.2769, 6.7897, 1.7411, -0.0366, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.06,"left_z":0.12,"left_gripper":1.0},"note":"The new view still shows the plush right of center and with a gap below it to the jaw tips; the previous radial target also tracked short. I’ll raise slightly and command another 3 cm outward and 3 cm centerward to place its torso at the jaw convergence point."})
tool
executing move_to over 4 steps (0.4s)
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 position again tracked short while the readback reveals the wrist has unintentionally pitched almost −0.5 rad, making the Cartesian approach poorly conditioned. I’ll explicitly restore a level start orientation while moving to the corrected approach pose.
move_to
left_x0.3300left_y-0.0600left_z0.1000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2016, 1.2716, 0.7788, -0.5842, -0.1276, -0.173, 0.9985, -0.0254, 0.9394, 0.7471, -0.6792, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3017 left_y=-0.0351 left_z=0.0853 left_yaw=0.0084 left_pitch=-0.4823 left_roll=0.0418 left_gripper=0.9985 right_x=0.275 right_y=0.0001 right_z=0.1485 right_yaw=0.0085 right_pitch=-0.2901 right_roll=0.0103 right_gripper=0.9996 state[joint_eff]: [0.0342, -5.1761, 8.1846, 1.1306, -0.1294, 0.0708, -0.1734, -0.0068, -1.7436, 6.8581, 1.5018, -0.0464, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.33,"left_y":-0.06,"left_z":0.1,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The position again tracked short while the readback reveals the wrist has unintentionally pitched almost −0.5 rad, making the Cartesian approach poorly conditioned. I’ll explicitly restore a level start orientation while moving to the corrected approach pose."})
tool
executing move_to over 17 steps (1.7s)
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 noteRestoring the wrist orientation fixed the reach: the plush torso is now centered between the open jaws and close to their convergence row. I’ll descend vertically to grasp height while actively holding the level orientation.
move_to
left_x0.3200left_y-0.0580left_z0.0150left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.334, 1.1515, 0.4374, 0.0132, -0.268, -0.2218, 0.9985, -0.0254, 0.9409, 0.7471, -0.7013, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3196 left_y=-0.0576 left_z=0.0831 left_yaw=-0.0037 left_pitch=-0.0903 left_roll=0.0145 left_gripper=0.9985 right_x=0.2709 right_y=0.0002 right_z=0.1447 right_yaw=0.0087 right_pitch=-0.3138 right_roll=0.0112 right_gripper=0.9996 state[joint_eff]: [-0.6496, -4.1504, 6.2291, 2.0147, -0.3053, 0.0464, -0.1734, -0.0752, -2.0855, 7.0359, 1.5946, -0.022, -0.0562, -0.0122] 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":{"left_x":0.32,"left_y":-0.058,"left_z":0.015,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"Restoring the wrist orientation fixed the reach: the plush torso is now centered between the open jaws and close to their convergence row. I’ll descend vertically to grasp height while actively holding the level orientation."})
tool
executing move_to over 5 steps (0.5s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe fingertips are now at table level with the white plush lying between them; the wrist blur is from the plush being extremely close rather than a remaining depth offset. I’ll close on its torso and verify the nonzero retained opening.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.342, 1.4834, 0.2111, 0.535, -0.2863, -0.2291, 0.9984, -0.0254, 0.9424, 0.7467, -0.725, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3041 left_y=-0.0515 left_z=-0.0024 left_yaw=0.0085 left_pitch=-0.1203 left_roll=0.0324 left_gripper=0.9984 right_x=0.2662 right_y=0.0003 right_z=0.1406 right_yaw=0.009 right_pitch=-0.3393 right_roll=0.0121 right_gripper=0.9996 state[joint_eff]: [-0.7179, -3.5624, 3.2752, 1.3993, -0.2125, 0.1538, -0.1734, -0.1026, -2.0581, 6.8991, 1.6142, -0.0757, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The fingertips are now at table level with the white plush lying between them; the wrist blur is from the plush being extremely close rather than a remaining depth offset. I’ll close on its torso and verify the nonzero retained opening."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe empty reading and close wrist view show the plush entirely ahead-right of the fingertip point; the overhead view quantifies the miss at roughly 2–3 cm forward and 3 cm centerward. I’ll reopen, lift, and move to that corrected pose with orientation constrained.
move_to
left_x0.3450left_y-0.0850left_z0.0900left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3454, 1.4918, 0.2008, 0.5545, -0.2863, -0.2371, 0.0104, -0.0254, 0.9466, 0.7467, -0.7433, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3023 left_y=-0.052 left_z=-0.0045 left_yaw=0.0095 left_pitch=-0.1194 left_roll=0.026 left_gripper=0.0104 right_x=0.2627 right_y=0.0004 right_z=0.1368 right_yaw=0.0091 right_pitch=-0.3618 right_roll=0.0131 right_gripper=0.9996 state[joint_eff]: [0.1983, -4.8342, 4.9983, 1.3651, -0.0904, 0.0904, 0.862, -0.0068, -2.2906, 6.6393, 1.4872, -0.0269, -0.022, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.085,"left_z":0.09,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The empty reading and close wrist view show the plush entirely ahead-right of the fingertip point; the overhead view quantifies the miss at roughly 2–3 cm forward and 3 cm centerward. I’ll reopen, lift, and move to that corrected pose with orientation constrained."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe corrected approach now centers the plush precisely between the open jaw edges, and the overhead view agrees that the fingertip point is directly over it. I’ll descend straight down without any horizontal change.
move_to
left_x0.3360left_y-0.0810left_z0.0100left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4202, 1.3117, 0.4343, 0.2012, -0.345, -0.276, 0.9954, -0.0254, 0.9474, 0.7467, -0.7513, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3358 left_y=-0.0807 left_z=0.0694 left_yaw=0.0019 left_pitch=-0.0487 left_roll=0.0078 left_gripper=0.9954 right_x=0.2611 right_y=0.0004 right_z=0.1355 right_yaw=0.0092 right_pitch=-0.3706 right_roll=0.0135 right_gripper=0.9996 state[joint_eff]: [-0.5812, -5.6684, 8.4991, 1.7656, -0.2466, 0.0464, -0.1294, -0.0479, -2.0034, 6.6393, 1.3651, -0.0611, -0.0073, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.336,"left_y":-0.081,"left_z":0.01,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The corrected approach now centers the plush precisely between the open jaw edges, and the overhead view agrees that the fingertip point is directly over it. I’ll descend straight down without any horizontal change."})
tool
executing move_to over 4 steps (0.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteAt table height the plush remains centered and now fills the gap between both fingertips, unlike the earlier off-center attempts. I’ll close on the middle of its body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4252, 1.6012, 0.292, 0.58, -0.3531, -0.2821, 0.9984, -0.0254, 0.9482, 0.7467, -0.7692, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.323 left_y=-0.0753 left_z=-0.0023 left_yaw=0.0084 left_pitch=-0.0947 left_roll=0.0297 left_gripper=0.9984 right_x=0.2575 right_y=0.0005 right_z=0.1328 right_yaw=0.0097 right_pitch=-0.3893 right_roll=0.0139 right_gripper=0.9996 state[joint_eff]: [-0.4034, -4.1368, 3.3026, 1.3065, -0.0952, 0.105, -0.1685, -0.1026, -1.9214, 6.6256, 1.5116, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"At table height the plush remains centered and now fills the gap between both fingertips, unlike the earlier off-center attempts. I’ll close on the middle of its body."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe retained opening is only 0.021, normally an empty indication, but the plush visibly shifted onto the closed jaw tip and may be pinched by a thin limb. I’ll lift about 8 cm to make the definitive overhead motion test.
move_to
left_x0.3220left_y-0.0740left_z0.0800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4252, 1.6096, 0.2821, 0.601, -0.355, -0.2897, 0.0212, -0.0254, 0.9493, 0.7467, -0.7883, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3218 left_y=-0.0744 left_z=-0.004 left_yaw=0.014 left_pitch=-0.0916 left_roll=0.0237 left_gripper=0.0212 right_x=0.2536 right_y=0.0006 right_z=0.1299 right_yaw=0.01 right_pitch=-0.4095 right_roll=0.0147 right_gripper=0.9996 state[joint_eff]: [-0.0068, -5.7504, 4.8068, 1.453, -0.1392, 0.0513, 0.9988, -0.1299, -2.0171, 6.5846, 1.4823, -0.0073, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.322,"left_y":-0.074,"left_z":0.08,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"The retained opening is only 0.021, normally an empty indication, but the plush visibly shifted onto the closed jaw tip and may be pinched by a thin limb. I’ll lift about 8 cm to make the definitive overhead motion test."})
tool
executing move_to over 6 steps (0.6s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe lift confirms the white plush moved with the jaws despite the thin pinch. The safe interior is about 15 cm centerward and 3–4 cm forward from the current grasp, so I’ll carry high to a point above its center.
move_to
left_x0.3600left_y-0.2200left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4252, 1.2285, 0.3267, 0.2493, -0.3565, -0.2855, 0.0294, -0.0254, 0.9539, 0.7467, -0.7956, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3164 left_y=-0.0716 left_z=0.0628 left_yaw=0.0111 left_pitch=-0.0242 left_roll=-0.0034 left_gripper=0.0294 right_x=0.2522 right_y=0.0007 right_z=0.1279 right_yaw=0.0099 right_pitch=-0.4213 right_roll=0.0154 right_gripper=0.9996 state[joint_eff]: [0.0479, -3.9726, 8.6085, 1.9707, -0.1636, 0.188, 1.033, -0.1573, -1.8256, 6.5846, 1.3358, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.22,"left_z":0.18,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"The lift confirms the white plush moved with the jaws despite the thin pinch. The safe interior is about 15 cm centerward and 3–4 cm forward from the current grasp, so I’ll carry high to a point above its center."})
tool
executing move_to over 14 steps (1.4s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe carried plush is over the open red base, with its lower body already hanging inside the rim. I’ll lower it into the safe until the grasp point is just above the interior floor.
move_to
left_x0.3550left_y-0.2150left_z0.0700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8074, 1.5204, 1.0336, -0.3077, -0.6266, -0.5537, 0.0294, -0.0254, 0.9539, 0.7467, -0.8139, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3545 left_y=-0.2154 left_z=0.1621 left_yaw=-0.0129 left_pitch=-0.0352 left_roll=0.0043 left_gripper=0.0294 right_x=0.2484 right_y=0.0008 right_z=0.1255 right_yaw=0.0105 right_pitch=-0.4396 right_roll=0.0159 right_gripper=0.9996 state[joint_eff]: [-0.5402, -7.0359, 8.9504, 1.4628, -0.6227, 0.0659, 1.033, -0.212, -1.6615, 6.7624, 1.3944, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.215,"left_z":0.07,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":0.0},"note":"The carried plush is over the open red base, with its lower body already hanging inside the rim. I’ll lower it into the safe until the grasp point is just above the interior floor."})
tool
executing move_to over 6 steps (0.6s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe plush is resting inside the safe against the back wall with its body below the rim. I’ll open the left gripper to release it in place.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8169, 1.6756, 0.7918, 0.0303, -0.6422, -0.5583, 0.0293, -0.0254, 0.9539, 0.7467, -0.833, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3457 left_y=-0.2083 left_z=0.0639 left_yaw=-0.0067 left_pitch=-0.0679 left_roll=0.0511 left_gripper=0.0293 right_x=0.2443 right_y=0.0009 right_z=0.123 right_yaw=0.0106 right_pitch=-0.4586 right_roll=0.0169 right_gripper=0.9996 state[joint_eff]: [-0.3077, -7.1316, 5.4496, 1.6239, -0.4762, 0.0122, 1.0281, -0.0752, -1.894, 6.5162, 1.4139, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1.0},"note":"The plush is resting inside the safe against the back wall with its body below the rim. I’ll open the left gripper to release it in place."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe white plush is released securely inside the safe. I’ll park and re-level the left arm while sending the right arm high toward the yellow ball, whose overhead position is roughly 16 cm forward and 12 cm left of the current right grasp point.
move_to
left_x0.2930left_y0.0000left_z0.1770left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.4000right_y0.1200right_z0.1300right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8177, 1.6939, 0.7731, 0.0185, -0.6411, -0.5629, 0.9959, -0.0254, 0.9577, 0.7467, -0.8532, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3393 left_y=-0.2023 left_z=0.0493 left_yaw=-0.0027 left_pitch=-0.102 left_roll=0.0825 left_gripper=0.9959 right_x=0.24 right_y=0.001 right_z=0.1197 right_yaw=0.0112 right_pitch=-0.4827 right_roll=0.0176 right_gripper=0.9996 state[joint_eff]: [-0.0205, -8.5812, 7.1453, 1.37, -0.3687, 0.0122, -0.1148, -0.0889, -2.1402, 6.5026, 1.3895, -0.0513, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0.0,"left_z":0.177,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.4,"right_y":0.12,"right_z":0.13,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The white plush is released securely inside the safe. I’ll park and re-level the left arm while sending the right arm high toward the yellow ball, whose overhead position is roughly 16 cm forward and 12 cm left of the current right grasp point."})
tool
executing move_to over 18 steps (1.8s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe yellow ball is now visible in the right wrist camera, about 3 cm left of the jaw column and still well ahead of the fingertips. I’ll make a modest outward and leftward correction while staying above it.
move_to
right_x0.4300right_y0.1450right_z0.1100right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0578, 0.8082, 0.5613, -0.3721, -0.1062, -0.0959, 0.9984, 0.4324, 1.4635, 0.762, -0.0589, 0.3317, 0.2375, 0.9996] state[eef_state]: left_x=0.2909 left_y=0.0055 left_z=0.1588 left_yaw=0.068 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9984 right_x=0.3762 right_y=0.1142 right_z=0.0989 right_yaw=0.033 right_pitch=-0.13 right_roll=-0.047 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.6068, 10.0308, 1.873, 0.1441, 0.1783, -0.1734, 0.0615, -6.147, 9.1966, 1.9658, 0.3443, 0.1685, -0.0562] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.145,"right_z":0.11,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The yellow ball is now visible in the right wrist camera, about 3 cm left of the jaw column and still well ahead of the fingertips. I’ll make a modest outward and leftward correction while staying above it."})
tool
executing move_to over 5 steps (0.5s)
step 189
assistant
agent noteThe ball moved closer but remains left of the jaw column with a clear depth gap to the fingertips. I’ll advance another 4 cm and shift 3–4 cm left while lowering toward its center height.
move_to
right_x0.4500right_y0.1750right_z0.0700right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8131, 0.564, -0.4011, -0.0956, -0.0929, 0.9982, 0.4648, 1.6474, 0.8524, 0.0353, 0.3683, 0.2523, 0.9996] state[eef_state]: left_x=0.2874 left_y=0.0037 left_z=0.1528 left_yaw=0.0572 left_pitch=-0.0657 left_roll=0.0 left_gripper=0.9982 right_x=0.4068 right_y=0.1369 right_z=0.0807 right_yaw=0.0278 right_pitch=-0.1185 right_roll=-0.0585 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.7162, 6.8308, 1.9219, -0.1978, -0.0611, -0.0366, 0.1846, -7.5419, 8.4991, 1.9414, 0.3443, 0.105, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.175,"right_z":0.07,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The ball moved closer but remains left of the jaw column with a clear depth gap to the fingertips. I’ll advance another 4 cm and shift 3–4 cm left while lowering toward its center height."})
tool
executing move_to over 4 steps (0.4s)
step 193
assistant
agent noteThe overhead view now shows the right grasp point laterally aligned with the ball and only about 3–4 cm behind it, despite the larger-looking wrist-camera gap. I’ll descend to ball-center height while commanding that small final forward offset.
move_to
right_x0.4600right_y0.1500right_z0.0250right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0978, 0.998, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996] state[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.0648 left_pitch=-0.0725 left_roll=0.0004 left_gripper=0.998 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996 state[joint_eff]: [-0.3624, -1.4701, 7.4462, 1.7021, -0.0513, -0.0171, -0.0366, -0.3897, -7.7197, 8.2667, 2.0147, 0.2906, 0.1245, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.15,"right_z":0.025,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The overhead view now shows the right grasp point laterally aligned with the ball and only about 3–4 cm behind it, despite the larger-looking wrist-camera gap. I’ll descend to ball-center height while commanding that small final forward offset."})
tool
executing move_to over 5 steps (0.5s)
step 198
assistant
agent noteThe right arm did not move at all toward the lower target, indicating this vertical-tool pose is at an IK limit rather than in contact. I’ll raise it and pitch the tool forward, which increases forward reach on this rig, before descending again.
move_to
right_x0.4500right_y0.1500right_z0.1200right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0982, 0.9979, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996] state[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.065 left_pitch=-0.0725 left_roll=0.0001 left_gripper=0.9979 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.2239, 6.9812, 1.6337, -0.0611, -0.0757, -0.022, -0.3897, -7.4462, 8.253, 2.0098, 0.3053, 0.0904, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.15,"right_z":0.12,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0},"note":"The right arm did not move at all toward the lower target, indicating this vertical-tool pose is at an IK limit rather than in contact. I’ll raise it and pitch the tool forward, which increases forward reach on this rig, before descending again."})
tool
executing move_to over 13 steps (1.3s)
step 211
assistant
agent noteWith forward pitch the arm reached properly; the ball is now almost centered in the wrist view and only a few centimeters short of the jaw tips. I’ll advance about 3 cm, make a 1 cm left correction, and descend to its center height while retaining the reach-friendly pitch.
move_to
right_x0.4750right_y0.1600right_z0.0350right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8169, 0.5636, -0.4133, -0.1013, -0.0982, 0.9979, 0.4835, 1.7664, 0.7498, 0.6121, 0.4496, 0.1596, 0.9996] state[eef_state]: left_x=0.2856 left_y=0.0049 left_z=0.1493 left_yaw=0.0651 left_pitch=-0.0816 left_roll=0.0012 left_gripper=0.9979 right_x=0.4432 right_y=0.1501 right_z=0.1042 right_yaw=0.0235 right_pitch=0.2183 right_roll=-0.0255 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.5248, 7.2274, 1.6972, -0.105, -0.022, -0.0171, 0.0615, -7.0085, 5.4906, 2.1709, 0.2564, -0.0952, -0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.16,"right_z":0.035,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0},"note":"With forward pitch the arm reached properly; the ball is now almost centered in the wrist view and only a few centimeters short of the jaw tips. I’ll advance about 3 cm, make a 1 cm left correction, and descend to its center height while retaining the reach-friendly pitch."})
tool
executing move_to over 5 steps (0.5s)
step 216
assistant
agent noteThe yellow ball is now centered between the right fingertips at low height. Because it is round and could eject under a hard full close, I’ll close only to about a 3.8 cm jaw gap to secure it gently.
move_to
right_gripper0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8204, 0.5636, -0.4294, -0.1013, -0.0982, 0.9978, 0.4786, 2.1098, 0.794, 0.9707, 0.4553, 0.1585, 0.9996] state[eef_state]: left_x=0.2832 left_y=0.005 left_z=0.1453 left_yaw=0.0653 left_pitch=-0.1009 left_roll=0.0036 left_gripper=0.9978 right_x=0.4698 right_y=0.1603 right_z=0.0395 right_yaw=0.0076 right_pitch=0.2724 right_roll=-0.001 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.6068, 6.9949, 1.7802, -0.1148, -0.0269, -0.0171, -0.5675, -7.8974, 4.9162, 1.0672, 0.0855, -0.1197, -0.0562] 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":{"right_gripper":0.4},"note":"The yellow ball is now centered between the right fingertips at low height. Because it is round and could eject under a hard full close, I’ll close only to about a 3.8 cm jaw gap to secure it gently."})
tool
executing move_to over 6 steps (0.6s)
step 222
assistant
agent noteAt 0.4 the ball is still visible in the wrist camera and the gripper met no resistance, so the jaws have not yet secured it despite good centering. I’ll close moderately farther to 0.2 rather than snapping fully shut.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.4355, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0069, 0.4484, 0.1608, 0.4054] state[eef_state]: left_x=0.2823 left_y=0.005 left_z=0.1441 left_yaw=0.0654 left_pitch=-0.1073 left_roll=0.0045 left_gripper=0.9979 right_x=0.4729 right_y=0.1631 right_z=0.0424 right_yaw=0.0085 right_pitch=0.2962 right_roll=0.0165 right_gripper=0.4054 state[joint_eff]: [-0.1709, -1.388, 6.9538, 1.7411, -0.1001, -0.0024, -0.0073, -0.1573, -10.8103, 3.9453, 1.4872, 0.1197, -0.0757, 0.0513] approver: 6 step(s) modified (delta_clamped ×6). 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":{"right_gripper":0.2},"note":"At 0.4 the ball is still visible in the wrist camera and the gripper met no resistance, so the jaws have not yet secured it despite good centering. I’ll close moderately farther to 0.2 rather than snapping fully shut."})
tool
executing move_to over 3 steps (0.3s)
step 225
assistant
agent noteThe ball remains visible with its lower edge just ahead of the fingertip convergence, so closing only pinched its near surface. I’ll reopen and advance the grasp point about 1.5 cm through the ball’s center while holding height and pitch.
move_to
right_x0.4900right_y0.1630right_z0.0400right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.44, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0065, 0.448, 0.1604, 0.2039] state[eef_state]: left_x=0.2816 left_y=0.0051 left_z=0.1432 left_yaw=0.0654 left_pitch=-0.1118 left_roll=0.005 left_gripper=0.9979 right_x=0.4728 right_y=0.1631 right_z=0.0423 right_yaw=0.0091 right_pitch=0.2958 right_roll=0.016 right_gripper=0.2039 state[joint_eff]: [-0.1299, -1.1966, 6.9538, 1.7021, -0.0708, 0.0073, -0.0171, 0.0205, -9.6205, 4.2598, 1.8046, 0.0659, -0.0269, 0.1587] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.163,"right_z":0.04,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0},"note":"The ball remains visible with its lower edge just ahead of the fingertip convergence, so closing only pinched its near surface. I’ll reopen and advance the grasp point about 1.5 cm through the ball’s center while holding height and pitch."})
tool
executing move_to over 8 steps (0.8s)
step 233
assistant
agent noteAfter the 1.5 cm advance, the ball’s center is now directly between the open fingertips rather than ahead of them. I’ll close to 0.3, enough to retain the foam ball without a hard squeeze.
move_to
right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0586, 0.8246, 0.5636, -0.4511, -0.1013, -0.0986, 0.9979, 0.469, 2.1498, 0.8528, 0.981, 0.4488, 0.1455, 0.9946] state[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1401 left_yaw=0.0655 left_pitch=-0.1266 left_roll=0.0066 left_gripper=0.9979 right_x=0.4849 right_y=0.1638 right_z=0.0423 right_yaw=0.0073 right_pitch=0.2973 right_roll=0.0016 right_gripper=0.9946 state[joint_eff]: [-0.0479, -1.5248, 7.1453, 1.707, -0.1001, -0.0611, -0.0171, -0.7043, -8.335, 6.4752, 1.8388, 0.0415, -0.0611, -0.1636] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.3},"note":"After the 1.5 cm advance, the ball’s center is now directly between the open fingertips rather than ahead of them. I’ll close to 0.3, enough to retain the foam ball without a hard squeeze."})
tool
executing move_to over 7 steps (0.7s)
step 240
assistant
agent noteThe jaws now visibly press into opposite sides of the ball. I’ll lift and carry it high to the right side of the safe interior, using the right arm’s near-center reach limit.
move_to
right_x0.3600right_y0.3800right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8253, 0.5636, -0.4576, -0.1013, -0.0986, 0.9978, 0.4717, 2.1525, 0.8566, 0.9897, 0.4335, 0.1463, 0.3051] state[eef_state]: left_x=0.2789 left_y=0.0052 left_z=0.1387 left_yaw=0.066 left_pitch=-0.1338 left_roll=0.0075 left_gripper=0.9978 right_x=0.4857 right_y=0.1685 right_z=0.0439 right_yaw=0.0214 right_pitch=0.3041 right_roll=0.0113 right_gripper=0.3051 state[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0904, -0.0708, -0.0171, -0.5538, -10.4, 4.0957, 1.7411, 0.2222, -0.0708, 0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.38,"right_z":0.18,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.3},"note":"The jaws now visibly press into opposite sides of the ball. I’ll lift and carry it high to the right side of the safe interior, using the right arm’s near-center reach limit."})
tool
executing move_to over 18 steps (1.8s)
step 258
assistant
agent noteThe overhead view confirms the ball was not retained and remains just to the right/front of the safe. I’ll place the open right gripper low on the ball’s outer-right side so the next diagonal sweep can roll it into the safe.
move_to
right_x0.4900right_y0.0800right_z0.0450right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8295, 0.5636, -0.4728, -0.1013, -0.0986, 0.9979, 1.0462, 2.0323, 1.7092, -0.5484, 0.7933, 0.7143, 0.3017] state[eef_state]: left_x=0.2765 left_y=0.0054 left_z=0.1349 left_yaw=0.0663 left_pitch=-0.1531 left_roll=0.0099 left_gripper=0.9979 right_x=0.3632 right_y=0.3835 right_z=0.1792 right_yaw=0.0433 right_pitch=0.0144 right_roll=0.0094 right_gripper=0.3017 state[joint_eff]: [-0.0205, -1.6615, 7.0906, 1.7607, -0.0659, -0.0464, -0.0073, 0.1436, -10.7419, 8.212, 1.243, 0.5495, 0.1832, 0.1636] 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_x":0.49,"right_y":0.08,"right_z":0.045,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0},"note":"The overhead view confirms the ball was not retained and remains just to the right/front of the safe. I’ll place the open right gripper low on the ball’s outer-right side so the next diagonal sweep can roll it into the safe."})
tool
executing move_to over 26 steps (2.6s)
step 284
assistant
agent noteThe right fingertips are now on the ball’s outer-right side at table height. I’ll sweep diagonally back-left toward the safe interior, using the open jaws as a broad guide so the ball rolls through the opening.
move_to
right_x0.3800right_y0.3600right_z0.0450right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8303, 0.5636, -0.4801, -0.1013, -0.0986, 0.9978, 0.2543, 2.0743, 0.7341, 0.9718, 0.2672, 0.0875, 0.9985] state[eef_state]: left_x=0.2753 left_y=0.0054 left_z=0.1334 left_yaw=0.0665 left_pitch=-0.1611 left_roll=0.0109 left_gripper=0.9978 right_x=0.4815 right_y=0.0807 right_z=0.0321 right_yaw=-0.0136 right_pitch=0.2262 right_roll=-0.0158 right_gripper=0.9985 state[joint_eff]: [-0.0205, -1.4154, 6.8855, 1.6093, -0.0952, -0.0513, -0.0171, -0.2393, -8.4171, 5.2171, 2.2393, 0.1001, -0.0073, -0.022] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.36,"right_z":0.045,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0},"note":"The right fingertips are now on the ball’s outer-right side at table height. I’ll sweep diagonally back-left toward the safe interior, using the open jaws as a broad guide so the ball rolls through the opening."})
tool
executing move_to over 24 steps (2.4s)
step 308
assistant
agent noteThe diagonal sweep retreated before making lateral contact, so the ball stayed put. I’ll reset the right gripper directly to its outer side while simultaneously placing the left open jaws behind the brown plush, preparing both objects for short inward pushes.
move_to
right_x0.4900right_y0.0600right_z0.0400right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000left_x0.2400left_y-0.1700left_z0.0450left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0582, 0.8322, 0.5636, -0.4957, -0.1013, -0.0982, 0.9978, 1.0237, 2.244, 1.1515, 0.5533, 0.9497, 0.4152, 0.999] state[eef_state]: left_x=0.2727 left_y=0.0056 left_z=0.1301 left_yaw=0.0666 left_pitch=-0.1785 left_roll=0.0134 left_gripper=0.9978 right_x=0.3793 right_y=0.3534 right_z=0.0399 right_yaw=0.0348 right_pitch=0.2769 right_roll=-0.0401 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.4974, 6.9402, 1.6874, -0.0904, -0.0073, -0.0073, 0.3487, -10.4957, 6.8718, 1.7363, 0.4176, 0.1245, -0.1148] approver: 1 step(s) modified (delta_clamped). 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_x":0.49,"right_y":0.06,"right_z":0.04,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0,"left_x":0.24,"left_y":-0.17,"left_z":0.045,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The diagonal sweep retreated before making lateral contact, so the ball stayed put. I’ll reset the right gripper directly to its outer side while simultaneously placing the left open jaws behind the brown plush, preparing both objects for short inward pushes."})
tool
executing move_to over 25 steps (2.5s)
step 333
assistant
agent noteThe right wrist is now immediately outside the ball, while the left jaws are staged behind the brown plush. I’ll make a mostly lateral right-arm sweep at constant forward reach so it contacts the ball before guiding it left into the safe opening.
move_to
right_x0.4700right_y0.3000right_z0.0350right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0813, 1.3613, 0.363, -0.017, -0.799, -0.8108, 0.9984, 0.1959, 2.1185, 0.7013, 1.0557, 0.2176, 0.0666, 0.999] state[eef_state]: left_x=0.2325 left_y=-0.1596 left_z=0.0327 left_yaw=-0.0257 left_pitch=-0.0544 left_roll=0.0539 left_gripper=0.9984 right_x=0.4789 right_y=0.0598 right_z=0.0189 right_yaw=-0.0182 right_pitch=0.2283 right_roll=-0.0166 right_gripper=0.999 state[joint_eff]: [-0.294, -3.959, 7.4462, 1.4042, -0.696, -0.1392, -0.1734, -0.2667, -9.9761, 5.3949, 2.2784, -0.0415, -0.0708, -0.1197] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.3,"right_z":0.035,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0},"note":"The right wrist is now immediately outside the ball, while the left jaws are staged behind the brown plush. I’ll make a mostly lateral right-arm sweep at constant forward reach so it contacts the ball before guiding it left into the safe opening."})
tool
executing move_to over 21 steps (2.1s)
step 354
assistant
agent noteThe ball rolled only a few centimeters and remains outside, but the brown plush is firmly bracketed between the staged left jaws. I’ll push the plush straight forward into the open safe while maintaining table-level height.
move_to
left_x0.3800left_y-0.1700left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0851, 1.3724, 0.3653, -0.0231, -0.8005, -0.8204, 0.998, 0.7731, 2.3024, 1.1694, 0.7326, 0.7113, 0.2523, 0.999] state[eef_state]: left_x=0.2315 left_y=-0.1593 left_z=0.0304 left_yaw=-0.0227 left_pitch=-0.0602 left_roll=0.0598 left_gripper=0.998 right_x=0.4664 right_y=0.2989 right_z=0.0327 right_yaw=0.0405 right_pitch=0.2811 right_roll=-0.0199 right_gripper=0.999 state[joint_eff]: [0.1983, -4.5744, 4.8342, 1.1648, -0.3834, 0.0757, -0.0562, 0.1162, -10.6188, 6.6393, 1.8877, 0.2906, 0.1538, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.17,"left_z":0.04,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The ball rolled only a few centimeters and remains outside, but the brown plush is firmly bracketed between the staged left jaws. I’ll push the plush straight forward into the open safe while maintaining table-level height."})
tool
executing move_to over 12 steps (1.2s)
step 366
assistant
agent noteThe brown plush is partly caught at the safe’s front edge, while the ball still needs a clean outer-side contact. I’ll push the plush farther into the case and simultaneously reset the right gripper outside the ball for one final direct sweep.
move_to
left_x0.4400left_y-0.2000left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.4900right_y0.0600right_z0.0350right_yaw0.0000right_pitch0.3000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6586, 1.7382, 0.6201, 0.3473, -0.5678, -0.4561, 0.9985, 0.775, 2.3081, 1.1713, 0.7006, 0.7063, 0.2516, 0.999] state[eef_state]: left_x=0.3627 left_y=-0.156 left_z=0.0258 left_yaw=0.0386 left_pitch=-0.0474 left_roll=0.0372 left_gripper=0.9985 right_x=0.4638 right_y=0.2988 right_z=0.0242 right_yaw=0.0535 right_pitch=0.2529 right_roll=-0.0438 right_gripper=0.999 state[joint_eff]: [0.4444, -6.6667, 6.9538, 1.9463, -0.0366, 0.1832, -0.1734, -0.253, -12.4239, 4.8615, 1.9951, 0.1636, -0.0073, -0.0171] camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.2,"left_z":0.035,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.49,"right_y":0.06,"right_z":0.035,"right_yaw":0.0,"right_pitch":0.3,"right_roll":0.0,"right_gripper":1.0},"note":"The brown plush is partly caught at the safe’s front edge, while the ball still needs a clean outer-side contact. I’ll push the plush farther into the case and simultaneously reset the right gripper outside the ball for one final direct sweep."})
tool
executing move_to over 20 steps (2.0s)
step 386
assistant
agent noteI could place the white plush in the safe, but the brown plush and yellow ball remain outside and the lid is still open. Repeated grasp/push attempts did not secure the round ball or get behind the brown plush, and the remaining call budget is insufficient to finish safely.
give_up
hindsightExplicitly command yaw, pitch, and roll on every Cartesian move; when they were omitted, both wrists drifted to about -0.5 rad pitch and position tracking became poor. For this layout, approach the white plush near left_x≈0.34, left_y≈-0.08 with orientation held at zero. The yellow ball required right pitch≈+0.3 to reach x≈0.48, but the fingertip grasp point was still about 1–2 cm farther forward than initial wrist-camera alignment suggested. For pushing an object forward into the safe, first place the grasp point behind the object toward the bases; approaching from the safe side merely leaves the object behind.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6201, 1.9575, 0.8978, 0.3351, -0.5343, -0.4194, 0.9984, 0.1936, 2.1612, 0.72, 1.0756, 0.2115, 0.0628, 0.999] state[eef_state]: left_x=0.4272 left_y=-0.1901 left_z=0.0251 left_yaw=0.0307 left_pitch=-0.0263 left_roll=0.0204 left_gripper=0.9984 right_x=0.4825 right_y=0.0604 right_z=0.0095 right_yaw=-0.0129 right_pitch=0.2237 right_roll=-0.019 right_gripper=0.999 state[joint_eff]: [0.4308, -8.3214, 8.4444, 1.7167, 0.0904, 0.2369, -0.1734, -0.1983, -12.0547, 4.0957, 2.0781, -0.0317, 0.0073, -0.1148] camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could place the white plush in the safe, but the brown plush and yellow ball remain outside and the lid is still open. Repeated grasp/push attempts did not secure the round ball or get behind the brown plush, and the remaining call budget is insufficient to finish safely.","hindsight":"Explicitly command yaw, pitch, and roll on every Cartesian move; when they were omitted, both wrists drifted to about -0.5 rad pitch and position tracking became poor. For this layout, approach the white plush near left_x≈0.34, left_y≈-0.08 with orientation held at zero. The yellow ball required right pitch≈+0.3 to reach x≈0.48, but the fingertip grasp point was still about 1–2 cm farther forward than initial wrist-camera alignment suggested. For pushing an object forward into the safe, first place the grasp point behind the object toward the bases; approaching from the safe side merely leaves the object behind."})
tool
give_up: I could place the white plush in the safe, but the brown plush and yellow ball remain outside and the lid is still open. Repeated grasp/push attempts did not secure the round ball or get behind the brown plush, and the remaining call budget is insufficient to finish safely.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.374 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6033, -0.3931, -0.0196, -0.0341, 0.9993, -0.0319, 0.7948, 0.609, -0.3958, -0.0181, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0014 left_z=0.1773 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2933 right_y=-0.0026 right_z=0.1788 right_yaw=-0.0007 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4838, 10.2769, 2.0195, -0.0659, 0.1783, -0.0855, 0.4171, -1.7162, 9.5248, 1.9365, -0.022, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e910f777d2cc6e72e3d0407cdb68a7adfb65c9d72c523d3b09c70bf35882158",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ec983f3047740332211a0d81eca553eb3df07a538fb1b5e5678a7c8cc8f23c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7b67eca10d45977e3fb6220bbc4987905ee3c43350555406cc669b7eb8c87a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 2.356 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3c-B1PkbmPMGPDHDmTm1lxEoucfZ5zPaSTU1eWYaujs0F7hTQl9UeGrj7o6BHmXSFH9luJh11aEL_8s3Nlmeqf0ySk6HUyN1aPg_LS8YWscdW2zas8h_WT3vnVBi28jGayT0y04OnAX2j7ua0q2o7hBSu_Lu_yflV4d39hVjar9J9dc3TAXv4I1JZxnN1HRTmsewYv6ZY19ExVSbilGw4taMHno8vlU605UYpUUSFqnv-ncw8xhnHdZHxWWUY9vN7mLFuTCRlnTcoyD3fuOi3lMU63rbMP2YhyqU_w65FPqj7lXrdmr0plyGY9xPLLMBEKBSLN58Qj1PRFvGpIPsYQKArKiaKH1QyphaNGCF7yU7D9_k2GkUF7CEt6YoZCw3KAWwWexHNHKj5j9ZlkudM3EW16jimu8dC71JYMdGf2aMnvr4i_Ff4NKmPwc4cgJSlotr8xsQ5bYWxWNjX2DfrEvo0o4B5--ZGcQQfdrvNmqIq6zxkMJaWCgmHoPUqQZ-AUKcF6L4yOpDy-y1D6lcnbvDnxeqLw16j4K8uhuSip4UqfJOQSaL68siKDVmBatmSu-sbSnoH9m9HLqq7BDp5DAIERikk32IEKhHzs0SKtW7mazxi1JiGBbFHoIitAgpp5jt0kET6Rtg0y6nkwcYEZbXQTzccNyzE4AvjAdjGKV8HLrCChQnGmnp0Gj-0hV0nXkIcYLwbF5dxTpEs2T-3TzMt6Mq_v96nd-mUWfg65-6g8q1znPCSEsNElqa_Os2GfK2gv2dcyqsvN_rjodFVhoqCkaZmZuSoRTtrf4jfMkhphz16bz2RMu9G_uDTGRIpWX7wEqZQs6_TMmTKmXQVfRZlF_mtzR-i4Rmx13btUM7jdYt4pfMAgI2AdhX9osyC_DEgUqOd2Pmyqx0XxSrAHM0rZdJid9kG6Nu-zefvL1D7L7XIrLeB0-TQAguspBXziUp3ctFZk-dYomaxSq4B5KH36aUHenUqwqtH7FhWLnrlpFhv7P_J6yFIGCX9uslzzEuV_8wj9CrfPURVO8-q6H7IEstToKbbbGlVrKIGqe9qnQTl8XxDYaRc1BnxAD3IH-lXbChzEoJz-Iz9_qTWZQkFpQxHKze6Qhm3K4zTYsEAlVV-cKX4h5pD8B4VyOJ5fHKn9tlN2Wvl9HA2TrZjpjRBRlh8lfxZB2jGlcx1xax_rJY9_p9K7S5elmLsyDxdJyiYOIMID-O-eSwS7dC0jjlTMQTzBfZPwmtRKT4NAmolc6twjxzKme3VWwOBFZF56cAjmQ0ptCxBxY6zw_SeaJ1lF7teW3VSyKr8PYKBwgv2EFPAuTOfrnTXjn0c5oCRr6jCgdLUaf73jOe0tbmzq1eBqyDE88YXabHD6qdvLCqSnJ_qny-Gi3UpFKL3C-sPBhW_rlqKihQ3vWUI-ChmK6L5XKv4TuXPl-IturNj1E56vX46J4hwhuFynPshiqWvEbi_AGIFwdPXFw1WAftsDdA5Ef9txpfM9j28wO3R_J2egRd86nTjXt6Nm8N-TEyEoTzBr77TqqQS2tSRWBaQBMRZTIO9CCSDdVOs5N0o5hsoFTEJ6J2s7s-yA4jzC0I3gsjU6IDVh9h8nOAGzpKNpbDU4BwbbCKhKer3wjC0JXlmds9dpyIs72yhvZbw94gubpwuplfLy4KqASl8DhuXYZ624iD6TrjYNwqt9fkYotqHCKfza2xrn4Q7vER-htTvMApQA28K8hKlz4pDXR4Mt8hUHYG_CEhE5rPFc4nbHWFNqUctM-iKRlvVtogK86OdLN1dzRZWoG-3QB1qiz3TqIr9BnyJkL759kpPcJIzuCNFyzRinEucpvYbXxKz0K507U2y6ZQFrjLoRxpuwA6rBmMbScsdBz4V6ITuV7IJa5HDBO3QgLojwBgjkqVrm9RQT43uGRDMVbPZpzu5iB6nju0x1dwTt-aRntHkZrp3eYNRPDeBSE0r3pgV7nmPTaHSa-sMT0V_Kz5jGO3jefHmxp_JjUmsI_BkGr3hw7iJy7obeyL6mu3j9WFkAB8I9fcslf76jzvoaurkU_fcieSe0Ib20nhLNVoe7ZWEWEQYVU_uhfPsMvWLReQHpEdkzncNopfZnTGslgR0IVBo4KPwJs6M3uQHfe8h-UHVMuzYnFa6rUYqorVO32SWOvw9hohU1Zf4miYBxbDQGA4BwiZLZS7gOlVuGQYTayFjz0JnRf6CR2GJC86kn-sDnfS56zkyadWpw2o37dmj1bn1I8wmL1wufZ7oUme9ZxQH3Y_uY7sYnQ6vvvrjfvStDSkRS3kWohKTJOQSXgHuBuk4wzkSl9Kx3pZjx8-kib9XFsjZI6XUA3c4EUW-tTZaJc3UJNRAZ1NewTUvbh5IF3qHamHqYH5f7ydqQbr5k-YQhh2-jPg8TOTrtYYeWvG0J6RFXX9ALwL0gsVksnnXY3mlabcZgc_5VnxEieHh2X_y-7dj81cdvp5uoQsob9xxRkyM7gU7s88uxlrzqBzsHeWkqEjCa8-9fY-cAOK_1kHzAaVndTBDKbSRWfIF0TeeWprWyeL_GOcvcK-s26EWS_2rBo3DE-NRDFsTrdLezdEiUUQb18nOQqZDpISvWyxhPs_FfFI2IuCC8i-YPC2uYYdR1Li1B-kGCByiQ2faezwBRH30Urwp9dcVfHZL6AIXb_sBTRn2IX0-lcwlvJUyyKwx8_xNeUn5ZubGgivmY-MKEcDXJKv7UaUDaiutAj4eoDFgyfDD9_p_O-whWD6zVCd0uVf1y4RgDVSit4UuHHUwrS39tNe3BQoHSbM3hipwSGzlBrUcIiT54I4NhRgAOEBZhLv9xs4dJcj_yEZW03CtVBkQg1NgqyUCBlqrnoumEieox_2U7YMB8Esx2qMhpYaC9WphSlsN5I_G-mPkJBoACmdjfLQhKSDbTf56NEplN4fQbRA4fTJBrvwIojkfsL4KCq5Jvqm9W5YwMXShJXMxwzeJZqCwmyfctTHE1q-CV7y_UELiSVIGIDWd6-F3fo6816I4HS1IXSjHt2TFSCLl5tYsFo4GV3QQ5qAJTMPxgYM7R1XFHb9Y-jE2dsbO7TXz2mNIA1ALfylvtzkuuduefZ7EuI7y8Nlp5gEr_Tdxv_mL0oeC6edEiWxw_7K50iJWV00GKd-5bbK3LR1as_evI_5z-5YdmkLb_aaNLIVwDjsBkMc_0W-MSMYpd-S7XRstx6qKtKPA-XmttbP_ilWWwSxwao7epfBH1AC9vKOrc3PmRDHtFvHmhqdGuZoT_OKSLZkuMii2vGK9eHMTkpxWYUqdUchLfPHMGBNN-Z6Ep0iAZToL3bNQbD6o9K_9SPGq_S67lHWOV_uFs5W6BXO0qWk2M5HHVVM-2oAGtSzVPM-g63R8pSusTW1HPm8aJfGs2Oj8-i3BUaz24xwTfoa-oBbunyDEKAmXByqANUWvyawgwtKXFLsPICeM58joIpgBuRI0EUBBRxv21FK6-5dDhvMXEHPzTe_eZcIg2sdDjywh5hTbuVG-ukgNKlj_F-vtDknpEqm_SAnJiDuFY0W_nn8grHmjeqs7KS5q4NKOc-gRgWIJO5qQVeyIgOUeHquTGc1OVj59oI0l6Cgoa6ellOj5GbelbVrFh2724oMQXAmsW-tknRkF-C4p0RLOtALPg_3-Ljtvs7fPNDCONyUVbxf0qNF7iGiT1upbcPhrsAFET3uDVHZ1Qa4K2onWP82Whv1U6KM3mlMhxPye5nkxZQGEhQN8AkCIO5nx5vdg2UiAgnZxsiNBLen98bKLFjizyo8EcBiIXCn80ztjLdULi6i8wvWUGwifMyNpk3Ph35vwJR8RTy9BLqflKMXrgZvYfX-gUvOQn2gJ4HvZiG6ALrIHiSbK98gih-ndMAM79RufEJaC6phYVIcf8u3jufMZ-zJ4gT48txHE51EyeHm3smAGeElFRlGKp66L5gGJrWlWqaZQcDSesfEgAaXsqaxLGQpY2kEgXAWQZkVQI7bcgJ2uj0S03SSy_1JHt0A7U33SxZ4bEE48XwVh3Q3tMiOlNdAL0Gi2A5Y01UWa4OQxbYs-s3QE=",
  "id": "rs_0e58d6586580f960016ab43dd3ffbc87d0b9120130a5b3d1e9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3c2cwTjalWvxX4Fs1F-zVNPHtm5GgVFh_dln5-lIlrrq9SUl_xjoEBOUn4otny7IGOrA0H_QteGGLOpWhnRO5DApah758wLDoNKa-2Dat5Z1pH9zN0i1nMmGmdEUOsBAohD8p03PaCGt3zVcyLML_I1JsQGOYCUxPast9ZWo8tZ0L2_DS5A4dXm04yMGoVhMvhUSSvKuP3czPqsTr3u03oItlXc9EVMiDN0r7r48SVw60XtVXw4lIhmOi2Ck2yQ43sRfmF9h3oJm1MiPdxj95nfdY8aaNrGIEf9zmgtTdu-7mFdsyS23lWr7ydkjuneG7KOLD8a4_lMRXPjVs-gE1RPASuPlbN2j_GJwCYfOVhX6_MeFPoKslyfCubWUDYTxOCeFJGJG3CtnkyLTCGBWvK4bkwDymyJUQmuOSZu0PIh2XPODXmsR6DbpAomzsfr2oOcGIQFSvBuAOzuAWCL_rNcMOH5f1-hjgX4RqPHQghVr5cCo2MPceQIsiRy1mdOp3I8yBz1jnQ1u0xZHYwkipPrz82DgBMIzada8dTzBUXLFvDWlwk0yO29lYP6mCh_Ev0M_sXW6aIP8HrHKU4oV5wZ6tKGTJSB14DKGCopTSqfbT0hi0NmU5Bb7ojmA2aAJeGFZmxTPuyt4pMzSG57fkb_usweFMYdSrfp5R0lFEENS49MByBMjSc1ooTYf_V7FG6yRd12xJgZpfKf4Koe8a1_K6ezpkYYDalAb_ha7hcuRAC0nU0Ubhv-645rGpK7m7Ls8SbzpzlNjlJxa4XVEEhU3WFsmbvU_fG6b5Df-rnQOYxr83MBzG79WWZSODsJZWtsnA4fdfwbDUxILrYLgmOaxU7Wv25UpuBTMV2C2mGQQXrbt1ieH0l0dtlT5x-PDRIOPgJRbXPTRjx6A5osttt9FKf04J-2VPcHmsm3ZDOtBZTgdTNG11JZM9JMTTN1oSFP-6HCbXow3Yvq8mgmadUnnl-p5-GJv6JCYGm_fs2WB2MyaeHwVKXWLtfymETo5nn20CYuce9yy7UrRJNNi3XTJUAgdnRz7Vj0pQssh5BUoK-Oylwo8RDIJUH_IS-fkyU45gw78qZL6ueCMfMGF8iqrNuFIK8PsR-yCAd4G2eWyW2--HucoCyK7Sk_Jd3_XGAFH4kt7FNVcpge3dPUcOvjlm8shP0oLYShdAOa4Qux5ymxMhUrmxCkNodo1WnNng2IofJKx-JO7SayUlnMkZ19h5HLlJ63pPJbE8fa_YQ8F8dpHdsJMiYWFtnpzCfkROcjdXGYGj4FNlk7dNkE-qOKNJ4nbNtPxtTLB184yqtvvVXXaNm41F3oButzDKvJUB7vfk59zngHfW_90POZst2KCaxCOzAvrR1HvHpsN3Ii-T-X5uQ7QruRd1Rc9MCSvbGQdHggCjpOxYtelOE_dBprw88exJLNQGzNx1aYlEe7clkK5ML85bhljTCDDcXeXXwkYYqhtTTXMqXjguwIxc9pCfxHQkvMlQ-x3AwxWoXfKnkV8i-Yllz6nh012m8_kzl8Hq8YYgLQM_XkbxLzzsMBzDl-Y3G_cAnATrTN8953CJwx9lIf2EPWertdDKi6UHC5dXeP_RTdznXpwPd5_A5M-EKy-geoYgghkhS2ghdRHjaXTgZdkvz8CSSE1cv57SGA6kvS9z4k6NhmAzfy7GiIBNSxN4ThvShmNIm8H91E_HnWBrpyslODhcu0Bf46o0pQf6liIRUEiYjEVcruYqujaPYJknJrmgeHL2UDS4XvwAOk6aNfOZWfVHXNJF5E4g7rNex5uecxvKb7dIXAyg2qTInejsL0sHbOMETFe0AOr4StM9LpyCOA3kcT2IvzrUv0kKWRT9w9EHOhEPwX0NF_HxB9WvUxp1sbp2vTQh3VXwPDMhfSJ8jVcuT03SuOUy29VCITCextgRhGHOAN_PEjXXsEt8S9kCNZcFHEwFAhQEYaghh3I5gHhsH3xh5yWPvWSANqwYVJufEDqIAVY5if2QmBYwe4k7TFvNOgNs9jmU=",
  "id": "rs_0e58d6586580f960016ab43dd9722487d0bb15c0fcfc072b07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.001,\"left_z\":0.17,\"left_gripper\":1.0},\"note\":\"The white plush is centered in the left wrist view but still has clear space below it, indicating it is a few centimeters short of the fingertips. I’ll advance the left grasp point slightly while staying high and open to align over it.\"}",
  "call_id": "call_Uso9fQDV6wFCBfrfMHHEdAS5",
  "id": "fc_0e58d6586580f960016ab43ddb104c87d08f488aad68229592",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uso9fQDV6wFCBfrfMHHEdAS5",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.9215, 0.6102, -0.345, -0.0193, -0.0383, 0.9993, -0.0277, 0.7986, 0.6151, -0.4114, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3076 left_y=0.0012 left_z=0.154 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2922 right_y=-0.001 right_z=0.1773 right_yaw=0.0048 right_pitch=-0.0137 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.8632, 7.6923, 2.1416, -0.0659, -0.0317, -0.0904, -0.5538, -1.5248, 6.5436, 1.8437, -0.022, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afac8f79ab29b9881d4515fe4c5603d9616dbf03166aa4cca8469e1e42dd402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b796d582590d3454b0dfd9d42aa38c89f5cd51bd7a7cdfd268e0415783822951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b86db5336e82ffbaafed2ea4afb0e889a490d082802ad2dd38f08f44fa99243",
      "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 · 4.847 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, 0.6033, -0.3931, -0.0196, -0.0341, 0.9993, -0.0319, 0.7948, 0.609, -0.3958, -0.0181, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0014 left_z=0.1773 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2933 right_y=-0.0026 right_z=0.1788 right_yaw=-0.0007 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4838, 10.2769, 2.0195, -0.0659, 0.1783, -0.0855, 0.4171, -1.7162, 9.5248, 1.9365, -0.022, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.9215, 0.6102, -0.345, -0.0193, -0.0383, 0.9993, -0.0277, 0.7986, 0.6151, -0.4114, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3076 left_y=0.0012 left_z=0.154 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2922 right_y=-0.001 right_z=0.1773 right_yaw=0.0048 right_pitch=-0.0137 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.8632, 7.6923, 2.1416, -0.0659, -0.0317, -0.0904, -0.5538, -1.5248, 6.5436, 1.8437, -0.022, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5afac8f79ab29b9881d4515fe4c5603d9616dbf03166aa4cca8469e1e42dd402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b796d582590d3454b0dfd9d42aa38c89f5cd51bd7a7cdfd268e0415783822951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b86db5336e82ffbaafed2ea4afb0e889a490d082802ad2dd38f08f44fa99243",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3eQOKeDaJrm_eGpC8kZ1LG1fNCsLKcFGTHIklGbbGdFaKJd5mCEt3Cmpbjfr_luF-CYeU3iVc6lK2Vn0RZg6c7w8bpXrFRGrcSWgd_V4jfZEUPCLGC5RqPrIgjldb5ohvZ1MO864CybSPkdwXe4dyk6IN3nOLJf76kV3jW5B-yOXe2OwSxPdni8cOPlU9R7IRao4NQrCD9BsMsGvWZysYENkkqvXfE8jRRsyHc4kfrjXC44CZRN7Fw0vuAD7BJYECw1BK0HKKHfcMeSroX64r3Vy6DGiushRv7tk4XHF1MquTa3pKooJaoc_2qpTDTotBsjPZqferZK8zCfDprUR8pX8oUzntJK35xIEkkfZvIESaRRB_vnSj6Yo8Zs229IFTHhRaoD2EXz1hHy93H90w2exQnGsU6XpW6ifIj22B7dKC9O0Urgqh0tCD0f9D_7WrpBpNLtJm-w0Ph6zrIkxpGRS8B4I5VXjp57zqBszpvuOw_pUdYPWd8uBy8CoRzKX5HyEgOuo2ltZWf1Mu6ZFReqiF5F4Via5B3rqxqV2BNhuJ3RtWy1EYBLLqSkvhgyuVrtob-NS6yzQxsF5-I_h3IeQMJlYbtstTr8DCtSLJ1EpkaEj1Hk7-bacZWvbzl9obIbjTKNwTAZBxgqF-V2gyLk0LEb3BgHkCj1rKJjprWXfZDYtVyHr0TeT9p-lVWfSqssp1J5i9dAGqsbeVXae5c8AJYy3OLktIVHavEQZ6v78w6ZRyVuG7daAAK7PhvOlXVH1nQIBstipcfvJj9oIND0lAui5LWwU6gH-fIJVioSQt3Dv09FWEvTEKFeIecON8Nfz54H2wW8ilbWYqBMnRYSetLQZ7nThnflib3sI5o8jaEUGnkhjgiDOVzI4FACvujExCeTnrbYaruHYYhgBiHvTR_A06x-3touKPMedMZA9un_7QrLbNs4n9Q9A1U0rFchN-x75sZvNmm-cYij_2u04PfDKLQNT63-j8dt1a8BoURlAJx0R40K2kSkZznFyOel-Glot-OQjHFqCrCIJW2mzwxV54oqquSVUDxS9VVFPrhhqKExyVG7w3PO2ZiD0PStAiOrBaZbvc8a8C3JVkErq0uMyLH3ks1CBRrpx3Cc3nY1qxClwp2qxk7aJrtDi_oNIkS0QzCdvf5lep_-qPzAea_0ktQmlctc-GUaq5YrQBT_7xJeeFAqn7LbSr-sAX_sc36GHb7Jqxug-9RDgVsmiRKz0cjGRKRks2o1e4FyGkKfqd6cuE3TA2ccNlt86zrGsTuqcAXx3m2smVgR5RLuOCxwo0d4U2LpD8CYAPlXyRMUJAxY37cK2bPS5IJ0eyYU-DNNp9b8yxD1F-f8ga2UR9k0f_tOz-9hMJ7n8gy6mSke_23DN-CxqPYb7M8OzM7NqOh3uI51oVxGDnEO8QfzRl_Re5XmRCwsDN0JB53XRbjTx_illyYYyF72n44_1VEabuwJ3B70G17uQohojcOGk70JxHj8yULDenVkGdb1FrBs0eMRUWB1d5zU4yOsFWW",
  "id": "rs_0e58d6586580f960016ab43ddd929c87d0bf61d054fd7cdada",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.001,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The white plush remains centered on the left jaw column after the advance, so lateral alignment is good. I’ll descend open to just above its mid-height before closing.\"}",
  "call_id": "call_kwQMzlHifpE0dqC9qqFB6oKQ",
  "id": "fc_0e58d6586580f960016ab43dde237087d08eb82d3991fa63d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kwQMzlHifpE0dqC9qqFB6oKQ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.2209, 0.297, 0.1684, -0.0193, -0.0383, 0.9993, -0.0292, 0.8005, 0.6151, -0.4374, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.0317 left_yaw=0.0029 left_pitch=-0.1743 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2886 right_y=-0.0014 right_z=0.1716 right_yaw=0.0033 right_pitch=-0.0415 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -4.1368, 5.7368, 2.0, -0.0317, -0.0171, -0.0855, -0.0205, -1.3607, 7.0085, 1.9023, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9cec300983db9a224fc883e387735819b73a7542599f2e2aa96feeb7c3eb5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a32d1ffaba34fa2e9a24f438f52d429c5e3af906d434b6ee288439f45d292bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d7fd75d4024e63ed9014da8aa3eb62e33c86962c21d97cfd36e7e2884b7620",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 3.448 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, 0.9215, 0.6102, -0.345, -0.0193, -0.0383, 0.9993, -0.0277, 0.7986, 0.6151, -0.4114, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3076 left_y=0.0012 left_z=0.154 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2922 right_y=-0.001 right_z=0.1773 right_yaw=0.0048 right_pitch=-0.0137 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.8632, 7.6923, 2.1416, -0.0659, -0.0317, -0.0904, -0.5538, -1.5248, 6.5436, 1.8437, -0.022, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.2209, 0.297, 0.1684, -0.0193, -0.0383, 0.9993, -0.0292, 0.8005, 0.6151, -0.4374, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.0317 left_yaw=0.0029 left_pitch=-0.1743 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2886 right_y=-0.0014 right_z=0.1716 right_yaw=0.0033 right_pitch=-0.0415 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -4.1368, 5.7368, 2.0, -0.0317, -0.0171, -0.0855, -0.0205, -1.3607, 7.0085, 1.9023, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9cec300983db9a224fc883e387735819b73a7542599f2e2aa96feeb7c3eb5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a32d1ffaba34fa2e9a24f438f52d429c5e3af906d434b6ee288439f45d292bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4d7fd75d4024e63ed9014da8aa3eb62e33c86962c21d97cfd36e7e2884b7620",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3kRNnbcvdDxxlYRjeu82IosNdwUsYBdY8YcYygUbKIGo2RcSKBzk8ndOtgLRtED9AerbRgpZmk8R_acq-sDusa-CBS5urcZeih_bzOXzFZ5l5Yfa_wWlo-Km26K_ntSk2-sQumRubowJPMr9vSskAuxEmt1ykSUVUC2OrWnz0P7MYICZhZmYSCLdRj4IEoZIL46txHV4e8qRPqdv3TJ-Ep7bTVaIZGBBYa6H-tB3jz07bGMDXXLzK6cs84CPFrX-Q-NUxhjr_8rhQPij7EVQmi7YrcwqZPPmM2mZztggl1b2Th3yrKlwRzzz2u70papSs4KGxi9kXUtl4HyxDyRV2NyMFyvLvWao3vKx39ijngQVeY5AXHXYjRyEm_8o202IoLvmYTvDs_O-qQwgTw5RaLHsv0U_L2OllaLgxHCsGpVCm0P3Znr0Qc7MViefCHlLO0e0_AMyrE8fHsorT_R_CMTFQNnBtRycwVNnmRzBLGdHaAn5xOUMPCRBEyinFOC3H2kCNnErPrDzF5QPQgEsV_IvO_51WiWjTwhO7NHPo4-g3gQYwd3sMg_5bmaFwvcKO4_83AR1JXkP5QpB6aE7Rk3dq5I1ibcRNP-ee1H8qKPFkNlYES3WFnObQoFvG3pV-fxB3ZR6VdUQ6w2yXka48SVqyh2DJqBGrXG2oLALtrNOUFPZJQIZx3STAZ6iUdzACoQGlYf5AIMXe9lE8lGCogKSdQYt0_6-SlpoQq0JYWJq0LPXi_ohSidMVOMVP5VZsqQ_mXTvO_JmjiBVvzDxJ3GfkN37VzXPaPjG7thvvoU5Q4LKuvlw8_OwIP3fYI_uXRRQdemiDMgYGC8t5y31EUds7kvzZeB_G6FRyEaiLtZzxAHlBy3Q0lkWl0hjucooVOvh9Bwte1mtOmctfZ1vy65rArioU2iaAerRjBR0d3ok77wE_hzS6FShAU0QIKyKvFxPLpfJrSZ1Znkn3UOrHH-XHiwozrbQbpv9aHY5HdNZJA_kFLa5nubXwcFpd8XSqgdU51P9_BMLxurk8Qsf9p1iXJdI3mEUEobsFd8I-X1CJ__9F-MT7_nuUDlxeasIAisHUsNfYTZ8VT7jbd0xVKp7GnhGoeQW41J3q5HIKoNu9CK0cMmgRB3LgimAI7hAeRkkP4NQBYvaBnVODD0z1OxTVtsBjo8Mm8yOuG3Nb9X_rtKokhdUxaFpqZ20mSnY66yQu8MTI3RTLKIAF5UpisqWOx-IAynYc2-8t3kBY--xfsAUrXsoK3iAG_GPo1pF7qg-vb6h0aAWxasDxxaVjd9YXmF1n45rvcnjRgxFA4cRpRgqGb3K-woW8syDwszksSfID5v5XtBNrdMtbaZFlduSBPZ7mpBQhvsPgnLZn3gOPj5dHH4unlwXQHzNrnbBQEsHcuAjwXnKwapz0CsjpvNmM4mpNybJihWA0VwKA_kWbpKCO8r24vkBhXfw6xyy3fCfpLQ_OzpZs5rJdzcbdHj_79ze2KJZAO0eCIF6noP0AE5cjHIEycz2u9VKJ720yfaGzImEQgVBuDoz5EFRosv8ibeoe_c2eafPUg20YGFA2MU2d-3pWipx0gpyAt1HHPBTAF8knDjE7YIB2jA9hz3ggtrUaOB3d86VEXu1iiM9q05q6VFxC0FCxTLbzJFQqyyUTsgHn-CCJsNwaQefHA1BCTiG3AOtd3NajJpCF-NlPI-gYrWKMA82Q3UXFoGZb6ANOpRS5enTJBNZslvFafkbAhUEovE9yttns8Wf773K48fDqK4NrGs7KrfcyI_6_v-8agzyaPPW7XmGBkxgVVTY-_5iAQFqpMlZi1Bst0CiWtl3uK_FGmnpO2dgqYgLiRur6PkYLFkdib5yc3ybJ3FE7n4Ox_b8BwiP8k8DQr7Nqc2o4eR0WMHGZEjl5EaDMCtyyhIQNGlqVzl-_pLXSSBZQ17FO2Mc-czpgUPHW6vCwcnBo8nk6VVTO1H62srVFK17jq4oPzzgGGYpwPcl6VzpzRQxKa4bW4FwWF-JRv2uXLYJynn1sePldlF7tuM3u8xf3hxaxyNLRhbiQEFSvwkM-hnmrFuwq_PLG4EndYVAesgwxPhgMoQlCZ4O9t2rcDGDLAvO6UmcB3CsQ9FuUnggXevCG7IMt-BdwmX0emjQgTdMDzskQ7gTRM3EbWFbJtZ0KSYbZUDEHO3JxvTVCIkm8xtYGg1Q0bCNahQlKNHe1i8hIkplPfMqqobIAS5fisFFtffIRakmA-OUNft8H8kKNhg_aidWCgzx3aNPl2KtFczeqhy25WsFq9H4IOK_eMFrK-n7GrpzcwCDXc8j-MimeVMitdRSFgsAHqbXmhQLbd9zuk3ak1euGYaltXqLL_jkJVf_jYL81u6PQq2iXjxA==",
  "id": "rs_0e58d6586580f960016ab43de0b88087d09125d2a662ad5905",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.045,\"left_z\":0.035,\"left_gripper\":1.0},\"note\":\"At grasp height the plush is well to the right of the left jaw column, so the overhead alignment hid a lateral offset. I’ll slide the open gripper about 4.5 cm toward the table center while remaining low.\"}",
  "call_id": "call_RpJShyMS6VcdRBaqkUWZmCoL",
  "id": "fc_0e58d6586580f960016ab43de3616887d09a236b810ce9f221",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RpJShyMS6VcdRBaqkUWZmCoL",
  "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]: [-0.2558, 1.2362, 0.2955, 0.1333, -0.1577, -0.1768, 0.9993, -0.0292, 0.8024, 0.6151, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=-0.0444 left_z=0.0222 left_yaw=-0.0378 left_pitch=-0.2135 left_roll=0.0039 left_gripper=0.9993 right_x=0.2862 right_y=-0.0012 right_z=0.1676 right_yaw=0.0036 right_pitch=-0.061 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.3316, 8.4171, 1.8486, -0.2906, -0.0806, -0.0904, -0.1162, -1.2376, 6.9812, 1.8291, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80911ad02c82faf58e8260f91df8cd286a7225804ab945e453e1f233355fe93d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0155b0f12aa1b9fa75ddda9eee28cdce03d3fac963e3e32436de721037472724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5ac8149b7049eec63699acdd4e2e507c33bc0cfabef41607ba90dd90ce5d64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.157 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, 0.6033, -0.3931, -0.0196, -0.0341, 0.9993, -0.0319, 0.7948, 0.609, -0.3958, -0.0181, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2928 left_y=0.0014 left_z=0.1773 left_yaw=0.0002 left_pitch=-0.0011 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2933 right_y=-0.0026 right_z=0.1788 right_yaw=-0.0007 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4838, 10.2769, 2.0195, -0.0659, 0.1783, -0.0855, 0.4171, -1.7162, 9.5248, 1.9365, -0.022, -0.0269, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.2209, 0.297, 0.1684, -0.0193, -0.0383, 0.9993, -0.0292, 0.8005, 0.6151, -0.4374, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.0317 left_yaw=0.0029 left_pitch=-0.1743 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2886 right_y=-0.0014 right_z=0.1716 right_yaw=0.0033 right_pitch=-0.0415 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -4.1368, 5.7368, 2.0, -0.0317, -0.0171, -0.0855, -0.0205, -1.3607, 7.0085, 1.9023, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2558, 1.2362, 0.2955, 0.1333, -0.1577, -0.1768, 0.9993, -0.0292, 0.8024, 0.6151, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=-0.0444 left_z=0.0222 left_yaw=-0.0378 left_pitch=-0.2135 left_roll=0.0039 left_gripper=0.9993 right_x=0.2862 right_y=-0.0012 right_z=0.1676 right_yaw=0.0036 right_pitch=-0.061 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.3316, 8.4171, 1.8486, -0.2906, -0.0806, -0.0904, -0.1162, -1.2376, 6.9812, 1.8291, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80911ad02c82faf58e8260f91df8cd286a7225804ab945e453e1f233355fe93d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0155b0f12aa1b9fa75ddda9eee28cdce03d3fac963e3e32436de721037472724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd5ac8149b7049eec63699acdd4e2e507c33bc0cfabef41607ba90dd90ce5d64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3oXKnSjgkHZYHtFWpVtaQtK-YE1dDFJthFubIYyMPmxiqqg7FEOOqiqtzmy5tjgHyupQZGWtWfaxatXttPnMYL8GgiBvuKplSLYJoyoCRYo--7U3O0Geq2iQ7ajJvVluSXIPLYYX9TUWCtlutvoXgtiEBaBpjQ6SENCtHqjtLW7PgyFwtP9DY3mR2H3mQPf4d-Y4ZyHueP1ugQoMvRvmJQZrKeNX2jMONm3f-Gb-bpCqT7nxqG04nmN9AI8yLvYP4qgvOM71v4MMLXqP-JGbet6ik_tBvwKola17w8OG23uw05CtYgj9NUouJgPaK7SYwasbH3_jhjlrBiigq2whkY9ZM5MX-k5Y_Gc_weGfrPEgs_qiUNWloLBWAHz2pNioQUMU-AoAl2dPzP0TuHlSpC3zZGTdJrxmTENyDZLCJrDQlcp-ZpbOktUOkVq5iai3sxlv3qf0u6KWdIGYYVMx44j13lv4cALDdQS_BwKc4g25gPCxhZPMskPhGNalUoLI4EOpMqbwEClLeOSIep5nMwE2GcMIcCFcXZ5CKw9zw6RwtAJ52eRgV9zFaYr2mvFUjO4eo3euHTVJD3gE-fI-1l2I6jgiGhcFMJYlXEIh_tyoDFcBjzDX7cBp5Jrn01JKtfxgvtBHiGOZrbxw25AL1f8neeTNiZcNG2PBT_4vcOEJgBrvI7QT7P8POrYyV8F2L-7d0ghSl8bBuChrMjV2buSzvluqzQdVNTHdSOzzHC3rKQOZCfIp125doYn3Om9Xs_xvn7ZWW_H-h3pzBJG-4sHjuFyEMIsCP6mpAKi6AtP0zY6-yzTcF_bYdZGrbPB6DyWb9mKwhLYz8973X4GoRpnTc6szhWH7ZqSAWEUvVmLkW5PmEbzBQe-A6-Zh1LMLZJiP8l4UkK59-pJTaWlGP63Qp-dNBamnQnsz6ImScFPrKktK97JomU5vTAyt3vQTwIcl8QM5CybvJoWD7IFhQ2_Mic5dCGdf9KPwUKAqvgv7YutR6MOZaCFPz5kMPIiIh1uLt9QMjA2Kidhw2jhOV7mmRoSmGxxrVRjVvRDKnqFJlRu_-j6ZMjpp6QUoL4ie5Kd9YMtsUgXgIjs4yb7jbZ9xS9d5QofLLdYss9RkOuQz7KxEd2IYJ9U70kndpsVDOe6fu_qYEVAH7whYC14zPxteGLqx7_4_BYbWIO0mYMTRPhsKxBcx-pdTzOHmnRCEuWNdBj8umiRItjCX0wwHkznlxarGQzpdEdSitEpMjqHlJ8YtRqSIAPhCzE67Uqa9FTQjQ9vmIbBFwXsUWOIbV9yq6zJgGLG1a1ZUwCbOFzxubxMJTfCfGyni5cwlgp4s1HHQ0pBUlyF0J8lI6oWZKMCq1V6Uz3fldlrz3JEKhExbuYXQGxvaO3tLiEEXTz_uA_-QKFhasmJt8dePWZ8V2LDZvjE9mHgWeCtEAQ426yFWBdOdh5YHdIgrp0C8TpJ833tUPbTtOu8VU53BTnZuHZLdr2muoYMcPVtQIM_OKxUl7oPh0u-odOJYcJoTniGnNteYWSSVrsDbaQQxip0yn732zK7InLTaWuHx_NxlKvQsAYdUnrWVLd-odsjl32qfY9yfVBMj3Lqp015vdvSpobGJbTzC66jHa27ozWahX5drarHmdz0pqOYeO401qRwbmqv_RlLxfLr61eFAzvm6NfQzIog-RZ9qGXGR-5qUeiuCw=",
  "id": "rs_0e58d6586580f960016ab43de5d9d087d0b1078786920c77d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":-0.075,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The lateral slide brought the plush closer, but its center is still about 5–6 cm of image scale to the right of the jaw column. I’ll make one smaller centerward correction before closing.\"}",
  "call_id": "call_l2vuvrpn5ZhihlOUIhEJ8DLW",
  "id": "fc_0e58d6586580f960016ab43de73a7087d09b56c05358218e76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l2vuvrpn5ZhihlOUIhEJ8DLW",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3103, 1.24, 0.3019, 0.115, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4572, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0527 left_z=0.0214 left_yaw=-0.0324 left_pitch=-0.2209 left_roll=0.0079 left_gripper=0.9993 right_x=0.2858 right_y=-0.0013 right_z=0.1671 right_yaw=0.0031 right_pitch=-0.0633 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -2.5778, 6.1744, 1.5946, -0.0611, -0.0317, -0.0904, -0.0889, -1.2239, 6.9812, 1.7314, -0.0464, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1442ccab900b03cee5030a8b7e69313ab049b7d19409bd5dc62d2fe1468b72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de9cb17fddb84550a7f19563d5904675f74a65468aff44f53fee61c0db90ccc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7344f7a75b7344dfa0c2ed7b9f01e9fd8e1f44d3505f1a84acdb56aef50ae5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 2.481 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, 0.9215, 0.6102, -0.345, -0.0193, -0.0383, 0.9993, -0.0277, 0.7986, 0.6151, -0.4114, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3076 left_y=0.0012 left_z=0.154 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9993 right_x=0.2922 right_y=-0.001 right_z=0.1773 right_yaw=0.0048 right_pitch=-0.0137 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -3.8632, 7.6923, 2.1416, -0.0659, -0.0317, -0.0904, -0.5538, -1.5248, 6.5436, 1.8437, -0.022, -0.0366, -0.0073]",
      "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]: [-0.2558, 1.2362, 0.2955, 0.1333, -0.1577, -0.1768, 0.9993, -0.0292, 0.8024, 0.6151, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=-0.0444 left_z=0.0222 left_yaw=-0.0378 left_pitch=-0.2135 left_roll=0.0039 left_gripper=0.9993 right_x=0.2862 right_y=-0.0012 right_z=0.1676 right_yaw=0.0036 right_pitch=-0.061 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.3316, 8.4171, 1.8486, -0.2906, -0.0806, -0.0904, -0.1162, -1.2376, 6.9812, 1.8291, -0.0513, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3103, 1.24, 0.3019, 0.115, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4572, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0527 left_z=0.0214 left_yaw=-0.0324 left_pitch=-0.2209 left_roll=0.0079 left_gripper=0.9993 right_x=0.2858 right_y=-0.0013 right_z=0.1671 right_yaw=0.0031 right_pitch=-0.0633 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -2.5778, 6.1744, 1.5946, -0.0611, -0.0317, -0.0904, -0.0889, -1.2239, 6.9812, 1.7314, -0.0464, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d1442ccab900b03cee5030a8b7e69313ab049b7d19409bd5dc62d2fe1468b72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de9cb17fddb84550a7f19563d5904675f74a65468aff44f53fee61c0db90ccc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7344f7a75b7344dfa0c2ed7b9f01e9fd8e1f44d3505f1a84acdb56aef50ae5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD3sEGBpgWu5aaKXZeeKQ0ibzn45vtiO1UnTg5Q4Wp2Ytogm1W_NhA8-gsGsiTp6mA76K75gEwumQdRbUZO6zUxV9wucovocoCYWqIvPapUocGW4GEmIycV-Ea9IKwQbiqSmcGdakWm54olA1gdXRYOn6Nt67sL60Mal248jpOdnZ9UNaszrrgioqCT1MpmYu-S2LnevbHHDBPL0esKx_74eSUKEdy_WPx0XwHF_LmXYm0hkscWK7ylgZOAQMPzpacw5I2LFxjAu2iUF_pXJEWDLQh2u9JoMzXEBffGyhaGuJzWUsQxDjvm4VLKtgWe671UDRYvsbJK8b0W1_eO_KVn403xOKG71imtTTJ_P6P_kgtxLsNvuI_rWF0v6nvHhaOBQBof1TNu97qH9HuJ3W7uMQPhs68fH-pki0zbPzU9fVqabFz43WN9sdPnjnc8nIxj0NUiaw0N_ScQIBAxlTV09GJP8Tubdx8HehJrY4bNgD01K5MQG9ccLm-WkYmzfvF-pTmqPwdnGZVL_5ardHFVPTJj9elF6fj2aY7xIv6K7V-IfsSP9ja8DBEdKey6sMJ__LSlpwqwhT0k4SmaImKN2p4R0AtvFrIrdciRiCwN2Ig9d5iS30An_lzZPnVOOO_SsRG-GaT703mK0BeZJ-bm6ss7HQNEt_010mEiUNOVMfGkvfpR1_WnwikUp4ci4v1lkQ_OqFoh1tymabJel7ETjFba2sXls3pnM4tUvkoFmp2TCd23R1o-hX9p3wnInvGzQjg5vJh0r0LKYuQNWysYNvU3x1zbqW47kC1w3ZNidNY36sHvwFkOUYcDsd5Qc7PiTm_7GSefLHyZYzd0rsv6nkxAoypAdm_762W0z_TjH8Mk9Il-Q7qvg1ZcQu_tlsLbOBmfRhiEz37zLOfOLTRTO4lu4cM7kd7LEZpKPEdDs0hqM_3yx34hntF1u8iU4M1iMGjl0fa3StonQghqOOhp7ipaAJvnsrHMlMDlTrqhDqi9RngCrwcZGhOIoWHv0c34XIWETiAWKDhIgnHY0_TMNezl85CCpjEqEbcLKtBwnSO9kVXdCBm8NTbqNGXHFnraTkO5l13J0R8l64Kqi7cq0A8W_EFDso4QlMMICdUWlJL5FW96RQdl2kB4qLdwwL_aJ3cEuDu3b9Gwx3_bvtvk2AvpG2tkNJlk3I7QUdou9Ud0_Fj1OhMSIHMQlbPzFjz7kaJ67zLnOBEi42f5ADnGhGufPHsqI62XrGKeyMzXvEGqD0Mh3vR6Rhzh9nCRjEK7dqkHrTHbD4CpV4DpDm39eHSXgX052IR9dfSmaBQyA499tvHOKjh00lmE8nHgTJNKkYg9Mw1XOttjItuOgoIdIoJrAcGVHwINTwhsxJv7AKPwYN2QzkYcMV-UmJU32zmjeXFTh6FFEcaEqP6H_c0_QiypijXsINdkDKf-d7Fr-m4flWs7jg8nlgQ3_5lxSwxw6eyYaiXpK2koNBAD2XZPBj7mPPR3yghA7FEyvxtm7Nu3z003Go0LRhsoQ_Fghu4mdmeJ5UYQJTAVi5R0YIdle-fw3G2HbO8BgZrmNCxlvuIig5v8X4XJsWA_J7G9EMaa9LjSTkhBbLZGYGBDMho8FDTcZWMA7HAYDsm-lk2EHiaWvNQlnt19JawsjwZb7pdyrUPmLzQEBMId8HpXgUQR0Ak9xPzU0Zr4K3fU14Z1hVyhid2ZIFD7xwL1scGLgzKlCf9weBV5MCZ9oiQo7KeWYf3Dz4-_Xe3GagDwIRa4RI2wYdT0BUrxB9TQ3flCy0pRUgu0SE9mdTzEMb_ng9wS4-OAEBoBe5u8kdqey27nSb7bFRtLPlxg4QEeY4UgmWmWwOtQUX69Oi4Pe01-PSDiglSpTm9p5aVZtjW-wRvSKO93RCs3Um0jQiasrJhtj0l-4Ou36AGTfzKTkAaEOy5lobuTbCgJchzSooM0lnNMYHSiukaOINfG9kpeHFWheqjTF-rYUPa3MuGbLv5T7qqTBFA==",
  "id": "rs_0e58d6586580f960016ab43de9938c87d080467c4eed3a6608",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.075,\"left_z\":0.045,\"left_gripper\":1.0},\"note\":\"The last low slide tracked only partway, likely because this near-table pose is awkward; the plush is now close but still slightly right of center. I’ll lift two centimeters while completing the centerward shift, keeping the jaws open.\"}",
  "call_id": "call_O8jBgRSa469EodjKEfqQ6fOo",
  "id": "fc_0e58d6586580f960016ab43deb9a7087d0ac13affb491a3236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O8jBgRSa469EodjKEfqQ6fOo",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "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]: [-0.3111, 1.2449, 0.3019, 0.1146, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4778, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0527 left_z=0.02 left_yaw=-0.0328 left_pitch=-0.226 left_roll=0.0094 left_gripper=0.9993 right_x=0.2827 right_y=-0.0012 right_z=0.1631 right_yaw=0.0034 right_pitch=-0.0839 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.0564, 6.1333, 1.5409, -0.0904, -0.0317, -0.0855, -0.212, -1.0872, 6.9675, 1.8339, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10a215a18dcf402cccde56132f6531402f37fa8abc96e52e3136efe476b64e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538fba8ab2218b4552b843d9ffdd2f62011092c04c63db9d8546a77a50785619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0001f2f19b74b669d432a6f1a36ab52fc055c29e8922f2ec0f69c1d4d44b2ff8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 4.317 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 1.2209, 0.297, 0.1684, -0.0193, -0.0383, 0.9993, -0.0292, 0.8005, 0.6151, -0.4374, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3048 left_y=0.0012 left_z=0.0317 left_yaw=0.0029 left_pitch=-0.1743 left_roll=-0.0003 left_gripper=0.9993 right_x=0.2886 right_y=-0.0014 right_z=0.1716 right_yaw=0.0033 right_pitch=-0.0415 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -4.1368, 5.7368, 2.0, -0.0317, -0.0171, -0.0855, -0.0205, -1.3607, 7.0085, 1.9023, -0.0415, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3103, 1.24, 0.3019, 0.115, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4572, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0527 left_z=0.0214 left_yaw=-0.0324 left_pitch=-0.2209 left_roll=0.0079 left_gripper=0.9993 right_x=0.2858 right_y=-0.0013 right_z=0.1671 right_yaw=0.0031 right_pitch=-0.0633 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -2.5778, 6.1744, 1.5946, -0.0611, -0.0317, -0.0904, -0.0889, -1.2239, 6.9812, 1.7314, -0.0464, -0.0464, -0.0073]",
      "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]: [-0.3111, 1.2449, 0.3019, 0.1146, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4778, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0527 left_z=0.02 left_yaw=-0.0328 left_pitch=-0.226 left_roll=0.0094 left_gripper=0.9993 right_x=0.2827 right_y=-0.0012 right_z=0.1631 right_yaw=0.0034 right_pitch=-0.0839 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.0564, 6.1333, 1.5409, -0.0904, -0.0317, -0.0855, -0.212, -1.0872, 6.9675, 1.8339, -0.0269, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a10a215a18dcf402cccde56132f6531402f37fa8abc96e52e3136efe476b64e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:538fba8ab2218b4552b843d9ffdd2f62011092c04c63db9d8546a77a50785619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0001f2f19b74b669d432a6f1a36ab52fc055c29e8922f2ec0f69c1d4d44b2ff8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD3vxP1pA-S8dX0CbRvBWodXc6DSa5cl2jOH9XzPOAqN1_ZRf9Ex3_QxqvtC4VwYUua2n6y2MPyyYlljnjXCgMNxqKOHpbrHyrU_hUQ_jWjP1X_VJ37LFWsaLqJ89GOb9q2fzRGVwcK9yOzvW3GPfUzQSGWynE7rLFklJLR30XwqHSrqJnTjwHwhFKV9ing7uQ8cS2Z8DRTtZdDXNZtAMzzYYbS6GlGaSqREA3yt6FDxNrxPpe-jAUoZCRH-7VXx2Rvf5Cc4dwaag500wE0ruYJgL8Yeo02o_d-BWO-BrvjEYU0fwxymL_IrqNl-JPVCe-78HIucnETcIS_dSqOrvtKI2frpQM4bVMCAKmHZx2_GxP2ncutKrkCu7_1growuTS2OPKbPDkBwRC-d7tOOjj7F-VjtqLPoaX9znGRs-yeUTMUW5I5oVgp2M8PfdCDIAcz6ecrLJ-YLvOTLNcj0Z0oHaDggwnQ0tdCxM1UYB8OKmbdOQmYAW5w3re5tJ2yK71Tq_TV6uZaGkkfF3BUhKWf23TwoxdxRqwRMQwougJ9PUukbOKNUyHN6_3viobe-iYohwuRssK4sQ9iPvRRr2_XKFKjXrRHDLi-3vItTk21Mdk6BJoaaAjBpwvJ1LcF4NF1XHWEuiN8FqNqp4LE8TlpFmmo7vR6kMF1uOEMo9HmilCl0BcsVFKwxTOgFHnsrK2jeAPQVaHGtd3Q1rRT-BBCQxNiiTQwoYw7R8tf3MMF6bNRu8LKrdgj-ZKe6zbsXgRKuca7fhY9VZETD9oG52LTV5EeTHaY8rZVcDE8PdMR7wBLNvVU7sSzRI4AuF-p2OuRI1FzX8u4rYTgaUjzEqh1jrvD5wbVHxxW4X95o1YFXHIUXwja651p07CGIfn7YSTImyp7m8fExl7rBxJvXY6ny9UhS47zgH2FR_OjGCCPIkpbyrTOe6VxMRQH_mcPcXChfT8k8nHHs_5VGRrr76HIhGg7h0_6JTIw3j5hSAFNf4uf6F1wkdqh4TWUseRvGn3BcrB__s5u3OPRkRuoYilOLBhcRQnRmZMwRcdZPHyqZC6ynhgWLj03GN0lE_du8tiedi1yc87CKQ-p7v3a9e0kXlMWdOFkCGvX7jxdzo3FU-YLHSJpZH3Loee_49kCcM5WYur0cHQ9KaTRyhxhpQTMXGkKRnqFFUZQpixtSLzaOckRtG-JSopbSdiPNExoy0qZuxz1lmw1rMBR8QTCbpLfbyFFw2ACip75p-Wu6Bp3YDH3oGlgI8-63dstWMrnVy9J-a2DzNxA5kqOPiRHPPAXwq9uRz_qXynGMVf1wMxQ0Xa9XUK8QgN3FSQS1cbmniYBK1sXSkh6pf0gGkI4GaYxSO_QG_xPiis9VI3yJ6y7I4H3zH0Y9oTAArpvX-SByVIVGpvmLVnhPPxHwnNGHnKou5LBtNHwr0iEgsOWwCyNsWI-RViW8CrazlUSox655_U4iepEoam7_DsSauzP9j5zzYSqED2jTPiFL-b2FszQv-NqSImW7A8JSytJpLrJi9RzV",
  "id": "rs_0e58d6586580f960016ab43dedc33c87d09d35ad6eeb86e205",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left arm is not tracking further lateral or upward motion in this low pose, but the plush now spans the space between both jaws and its body center is only slightly right of the jaw midpoint. I’ll close and use the settled opening to test whether it is captured.\"}",
  "call_id": "call_QoTLCXO5Yeltb1kBjoMGCAs2",
  "id": "fc_0e58d6586580f960016ab43dee5d3c87d083822b489a60448a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QoTLCXO5Yeltb1kBjoMGCAs2",
  "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]: [-0.3111, 1.2449, 0.3019, 0.1036, -0.1997, -0.2222, 0.01, -0.0292, 0.8024, 0.6151, -0.4999, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=-0.0521 left_z=0.0182 left_yaw=-0.0304 left_pitch=-0.2366 left_roll=0.0104 left_gripper=0.01 right_x=0.2793 right_y=-0.0011 right_z=0.1588 right_yaw=0.0032 right_pitch=-0.106 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.8376, 5.7641, 1.5849, -0.1099, 0.022, 0.8523, -0.0342, -1.2239, 6.9402, 1.8242, -0.0562, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c19f6aaeb426ad14ae0200427bcb921d0bf62c1ff95ae22d9885f8df01c081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5312b924018b581e1a18a7f2830982343965ce5994cf85fed7a9ca6919055118",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac9ec96815eecb6da812a01a7ba27b7e121210c176b42d5010a657fd20f4d56",
      "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 · 2.051 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]: [-0.2558, 1.2362, 0.2955, 0.1333, -0.1577, -0.1768, 0.9993, -0.0292, 0.8024, 0.6151, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=-0.0444 left_z=0.0222 left_yaw=-0.0378 left_pitch=-0.2135 left_roll=0.0039 left_gripper=0.9993 right_x=0.2862 right_y=-0.0012 right_z=0.1676 right_yaw=0.0036 right_pitch=-0.061 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -2.3316, 8.4171, 1.8486, -0.2906, -0.0806, -0.0904, -0.1162, -1.2376, 6.9812, 1.8291, -0.0513, -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 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3111, 1.2449, 0.3019, 0.1146, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4778, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0527 left_z=0.02 left_yaw=-0.0328 left_pitch=-0.226 left_roll=0.0094 left_gripper=0.9993 right_x=0.2827 right_y=-0.0012 right_z=0.1631 right_yaw=0.0034 right_pitch=-0.0839 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.0564, 6.1333, 1.5409, -0.0904, -0.0317, -0.0855, -0.212, -1.0872, 6.9675, 1.8339, -0.0269, -0.0513, -0.0122]",
      "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]: [-0.3111, 1.2449, 0.3019, 0.1036, -0.1997, -0.2222, 0.01, -0.0292, 0.8024, 0.6151, -0.4999, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=-0.0521 left_z=0.0182 left_yaw=-0.0304 left_pitch=-0.2366 left_roll=0.0104 left_gripper=0.01 right_x=0.2793 right_y=-0.0011 right_z=0.1588 right_yaw=0.0032 right_pitch=-0.106 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.8376, 5.7641, 1.5849, -0.1099, 0.022, 0.8523, -0.0342, -1.2239, 6.9402, 1.8242, -0.0562, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c19f6aaeb426ad14ae0200427bcb921d0bf62c1ff95ae22d9885f8df01c081",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5312b924018b581e1a18a7f2830982343965ce5994cf85fed7a9ca6919055118",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac9ec96815eecb6da812a01a7ba27b7e121210c176b42d5010a657fd20f4d56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD30dC3XbypCJKHTITi_J-i7MYfduBBViuqgzJeOr-zbmxadkaYIqFE2OEi8l1P4p3EyaGMc9NU_1eLkDxOf1DaW1mBwjZ7vTBEDRf7eWyvWBcvfutDWYGCHDAfCZQfTWJRPahIYKUFa9RtMYnMY5jIYx8bSgnr85QowuBAkZK5LhjQoAIySzONw4mXRlxhzcFWdHrWeoqa-7PxasfvsHQ-sCeDC9TR5xIG4vsFZtOaZylg57pK6ByCaJs-RzctOJ84ROpuVOUaCkdjappIxoFcxIIY1xXU-03oje-Bpj7zZBqI5JkGVcjYR8zVAaVHhBvGMuvq1rG0-1cV7s8GzM0DlJe9bNY_uJJvQGElA7Q4JvPsEIdTT4NCzwdKeJLn9WrR8APyg7AP9hrenGxqgoA03LLDttBLW2U2kJ_mFhA564frfYyob-6_EeTUxumIj1Z4KLfOqm9355-YoR9MUGHWlbPR4Q8k1GUf0oPZXlHnjdb4d5ti-zxjewGMi7x1RrGzKnm57rRgSoZrLZ6bYHoLQAJDt08TNwI5zYnbmgfQ5FTgZKa8Dkvp9vN4M4BCZ2XcWaq3olD8bEpPQGSew1Zaw6LzZt7xEIEK8obnujqTk1CPO0QxLVcywt8FXjj7EQhdWaCiaDHdgARLnwrYOi-SATubmJvta2_p7K8J8EvJb1hqvO-UrKPxvgc2Ui9LSWUKd45JM7nbQrj6k12cw6yy0fDqUxIeGbtiqOQDkTZcViWM0bHHIYcehXtjJ5eJKXRSs31Bx7jEFlgafz46lLM9T7zZRGDFF1sVLjZHcsic1JUP_e6_oTxoi_b0039xi3aL8OIyWQ_6eqaLGgV8cobtM6bEn4ryzRN6csrAzuft5tmEtDEvoTszitjW9N_oBAanTHsOb7qcUI8CaXHI2k0qGEV5PhOH0bYwVP1Hbfb5Vjp-8IH094fzlA6nL6SB4faSpGLA2rhUSlowE_rw6jZC3M_GALwlSXzzJBbHQ9s2vVSDsdZEX1-n06fUeugab8Zg8krQcCm4UHwGjcPTsf7idXLBRmQm0wEPfmnQTd_ZlDeLhSVLX-yRLBpqpdJRI9rV4tYejkvvPN-TV7NtJfw8fA0F7M8dliYs_9ftOGYaUJ2YRYG4VabGOPHu06lVf9cyz7kHjju3YfPNuDrYyYC1CD8puS0TFay8PI8T7B7ApKyykF92Yu594GrCBH05ChlWyVIGLYtgJpiVxPYpu-S2vnHrj5YN-QzM3DDgzWZjworV-jPC5e1YYGlCerJFXlQn73zSMBrXMaiKKFVT_dQOx6b0T0f5BM5wVMA5pe6ivoy5ZyNLdRiCjpcWz3xd-Io9Ls-j0v8cf6x6-kTIijPKCLucK4wU8ZhvrRWJSwLFHiI4w-NrjG87sI6CNPoWATAo13R-QFkbzfI9q-PNKZelwJNVbqjXSsST2K1WWHt-BIewI6dS-X7XmBzLrfzWeIt81CPuTYITUKgFa2R4YaTVXdC9YHMzH8Do8_BsPkYVmQrRw-N-T3S7TptU1-Zh9MHOkjTLVJ61zrri1EPRIw5dJJPjQTopYgwHPBDqjMUfxCazxVWYKTOP9rNzQsodR7-zT2RaX6Fyd50liNjVj8KwRYjXwFsxdLxgv5M-qxEQ8_PccNadxPgSJ7FQH9pS9QTHtT58-iHkv7a315MdbxJ_rCRyVHVezUo2I3YqMeO0ywFvW3eCWo02_mWAG7FcnWjFDy5bqr2S4AIYUdNwLUiWJWb11K0FBKAoLpyfKZ1J2oCO9SsrwCDNRuHY4_ltQW6f7BDpVJLF1c3lNtpRp6tSbfGUenRCXuAbfEckbpML-iL1iiNiKyvH_rVKLb1CMMKpDuAskITgJlp2ao-FcuaELdjO9YM3cOcXIi8C8F8DRT9E=",
  "id": "rs_0e58d6586580f960016ab43df1a6b087d0b81059b2501b45d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.07,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"The gripper settled at 0.01, confirming an empty close; the wrist view also shows the plush fully ahead of the closed jaw tip, so the grasp point remained too near the base. I’ll reopen and retreat upward into a better-conditioned pose while advancing radially and slightly centerward for one corrected attempt.\"}",
  "call_id": "call_iQQvO2J0j3sTLGeZohLl0q6d",
  "id": "fc_0e58d6586580f960016ab43df2f18c87d08558812195dedf37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iQQvO2J0j3sTLGeZohLl0q6d",
  "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]: [-0.3233, 1.2343, 0.6292, -0.26, -0.207, -0.2478, 0.9949, -0.0292, 0.8024, 0.6151, -0.5236, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0658 left_z=0.0864 left_yaw=-0.0201 left_pitch=-0.2593 left_roll=0.0056 left_gripper=0.9949 right_x=0.2755 right_y=-0.001 right_z=0.1543 right_yaw=0.0035 right_pitch=-0.1296 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -3.2205, 8.8821, 1.5897, -0.1441, 0.1441, 0.1001, -0.1162, -1.2103, 6.9128, 1.8437, -0.0269, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2b34e56cabd2a266f609e7858020aeccd28e2dfc8a2805220a9a9e1b4c71cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c5d81c272eb5e256569ef02da222cd1bbeb404b454a58ded3d5a15ca6b75fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d417c540adc4d30a8432586c4b9089a3202b670fb59e3842d258bb96263eae3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 3.086 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]: [-0.3103, 1.24, 0.3019, 0.115, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4572, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=-0.0527 left_z=0.0214 left_yaw=-0.0324 left_pitch=-0.2209 left_roll=0.0079 left_gripper=0.9993 right_x=0.2858 right_y=-0.0013 right_z=0.1671 right_yaw=0.0031 right_pitch=-0.0633 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -2.5778, 6.1744, 1.5946, -0.0611, -0.0317, -0.0904, -0.0889, -1.2239, 6.9812, 1.7314, -0.0464, -0.0464, -0.0073]",
      "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]: [-0.3111, 1.2449, 0.3019, 0.1036, -0.1997, -0.2222, 0.01, -0.0292, 0.8024, 0.6151, -0.4999, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=-0.0521 left_z=0.0182 left_yaw=-0.0304 left_pitch=-0.2366 left_roll=0.0104 left_gripper=0.01 right_x=0.2793 right_y=-0.0011 right_z=0.1588 right_yaw=0.0032 right_pitch=-0.106 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.8376, 5.7641, 1.5849, -0.1099, 0.022, 0.8523, -0.0342, -1.2239, 6.9402, 1.8242, -0.0562, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3233, 1.2343, 0.6292, -0.26, -0.207, -0.2478, 0.9949, -0.0292, 0.8024, 0.6151, -0.5236, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0658 left_z=0.0864 left_yaw=-0.0201 left_pitch=-0.2593 left_roll=0.0056 left_gripper=0.9949 right_x=0.2755 right_y=-0.001 right_z=0.1543 right_yaw=0.0035 right_pitch=-0.1296 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -3.2205, 8.8821, 1.5897, -0.1441, 0.1441, 0.1001, -0.1162, -1.2103, 6.9128, 1.8437, -0.0269, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2b34e56cabd2a266f609e7858020aeccd28e2dfc8a2805220a9a9e1b4c71cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88c5d81c272eb5e256569ef02da222cd1bbeb404b454a58ded3d5a15ca6b75fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d417c540adc4d30a8432586c4b9089a3202b670fb59e3842d258bb96263eae3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD33qR_bFSChICtntlNuGoR4Jsf2zN5ZsCBMsSyQdMlBKKNhCPNaXnYuC00TPqDDh7sbyJigtC3_o-5Sh6AmekJ_-zjaVTi-WzES6ARNl4GbljIQKVa9Vur_UYWarLYL9kFbCZPj7liyaxb5CVEWkU6N-kDmlFE4N57XyDIh04oesulJtLuHDbCt29UFf9CdYopkXM-chcf-O8kBNV-PGP-NDW0_FwDzMnZHWODARH3iL-v4L8nLsSBF0WYRSYDHc-PO6IHZV-2w6gZXeB4kj4QsPoRSyjWphNI2YzVBZMritVc1Tw3atjBdZLxmmmKoJybRmz1USvNAdc8EksR4lI3HlXiMzfQtzE-2feRwuZb8qhcJOm6QUuyzVGVycuBtQfgU0olhAOPzc2_3uwN_iHk6Ae9lpoKNUGDHFabBUacrMQfM_BRcr6qds0SRrYDb3vkuenfjwXkdh5nR-nOEtW7L44BDeP-Fj9g2MAdpwQxtxnuobkMAKZwo6ylhJk8hUSL1cHYJcyT8qSnBjLmtjx6SX9l_kFOoWWK15Gqy_07D6TNB2qp4Igtop2ysBMR0ImC7aiUQWxWdOpghYgXpBqGchi3v1PZ_SUgvI2FS1Cxn4YC2EdZdC5F4rQkd5JuNkTb0bBrUKrWiXRIlbXle6fr6EzatsUuoudUo_HWUklTGg0dMsasDlfjWCYsrv1Fy1quYoZ_-pC0sVfQaiYWgR3L0wc0lGelW2ysjMGYCu0EKT-TpdGw8akNhmp7WDQsS7OoV0i_shxCEUp-dc9vXyzJUptIAbKR0SxTeERWVhCb1oWYJyjnMiglHvc62MoHsyk0rILdo3DU9enux1K7WBeJjh9QiMikw3d-AGtfH0AzZzlG3u6M0ekcDeZKwX-oDrb7E72yNlZA7Ss2Jj3m5FDaE6iRoASwYSGybIlzkX8DQBnNjJlFJkM5QTyANDGlRyOlJW2yzWRQewMc4NepnjK0Gg1qgo3IG5SbP79_JmAXZc7qTcmmFu0yi9XxvSPr_BL5CUBSZZVpk4MYmIMdjs2U49SD8YHSYhZTxyNc8fJ4X6SMR8FAcZuaNgoqwYVwSo3V7erjqrE9c-T3le2pQFzfqVHVdx1dsaKBO4fWjVq5_l7RVI7W_19XQH91_APj1ANKprWW5AOOiWpoJj4Cy28YVTV0IVD7SwWoKGdceSEksvg4xi38LaD_XkOmXpgd1Wxd5YvkVlICCL_RQa9AYkK-dFfDlGaWgMT4JINboSlVD126NdCTYDJR1rjz0WU3bSazWwk8L4pcObdcq78cnLYw0r5YeDbStv5zikRPsB5u0qN-Uj9kY0o5anQo7YXfSvo2R",
  "id": "rs_0e58d6586580f960016ab43df64a8c87d0a8bf2f3d91eac571",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.07,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The corrected pose now puts the white plush squarely between the open jaws in the wrist view. I’ll descend vertically to table-level grasp height without changing the horizontal alignment.\"}",
  "call_id": "call_ZpGegUvGg1wxVl2Y89TVLJY9",
  "id": "fc_0e58d6586580f960016ab43df6afdc87d095781cbaddb2e320",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZpGegUvGg1wxVl2Y89TVLJY9",
  "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]: [-0.3279, 1.4246, 0.5026, -0.0387, -0.2066, -0.252, 0.9984, -0.0292, 0.804, 0.6151, -0.551, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3126 left_y=-0.0643 left_z=0.0152 left_yaw=-0.0135 left_pitch=-0.3506 left_roll=0.033 left_gripper=0.9984 right_x=0.2711 right_y=-0.0009 right_z=0.1489 right_yaw=0.0037 right_pitch=-0.1586 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.8068, 5.4906, 1.4628, -0.1441, 0.0317, -0.1783, -0.2256, -1.2786, 6.9265, 1.9072, -0.0513, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe46a501ef0426fe89bf50b35d3a99a4381401d12c7a4cf677ddab50af90624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0358cb733a51dc7207a3e20ce2d9cde182ea90a138a7e226e4b3a056b2b3c6be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa6282348a5a5feff7bc61862d4f4f7a4badac055aabf406de6b149e4772a66",
      "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 · 4.571 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]: [-0.3111, 1.2449, 0.3019, 0.1146, -0.1997, -0.2192, 0.9993, -0.0292, 0.8024, 0.6151, -0.4778, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2902 left_y=-0.0527 left_z=0.02 left_yaw=-0.0328 left_pitch=-0.226 left_roll=0.0094 left_gripper=0.9993 right_x=0.2827 right_y=-0.0012 right_z=0.1631 right_yaw=0.0034 right_pitch=-0.0839 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -3.0564, 6.1333, 1.5409, -0.0904, -0.0317, -0.0855, -0.212, -1.0872, 6.9675, 1.8339, -0.0269, -0.0513, -0.0122]",
      "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]: [-0.3233, 1.2343, 0.6292, -0.26, -0.207, -0.2478, 0.9949, -0.0292, 0.8024, 0.6151, -0.5236, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0658 left_z=0.0864 left_yaw=-0.0201 left_pitch=-0.2593 left_roll=0.0056 left_gripper=0.9949 right_x=0.2755 right_y=-0.001 right_z=0.1543 right_yaw=0.0035 right_pitch=-0.1296 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -3.2205, 8.8821, 1.5897, -0.1441, 0.1441, 0.1001, -0.1162, -1.2103, 6.9128, 1.8437, -0.0269, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.4246, 0.5026, -0.0387, -0.2066, -0.252, 0.9984, -0.0292, 0.804, 0.6151, -0.551, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3126 left_y=-0.0643 left_z=0.0152 left_yaw=-0.0135 left_pitch=-0.3506 left_roll=0.033 left_gripper=0.9984 right_x=0.2711 right_y=-0.0009 right_z=0.1489 right_yaw=0.0037 right_pitch=-0.1586 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.8068, 5.4906, 1.4628, -0.1441, 0.0317, -0.1783, -0.2256, -1.2786, 6.9265, 1.9072, -0.0513, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfe46a501ef0426fe89bf50b35d3a99a4381401d12c7a4cf677ddab50af90624",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0358cb733a51dc7207a3e20ce2d9cde182ea90a138a7e226e4b3a056b2b3c6be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aa6282348a5a5feff7bc61862d4f4f7a4badac055aabf406de6b149e4772a66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD36f5377C-q4Q8Vihl3coaXJqUkUiBql18oFR5z9w4pGhdDjO5WBaDMNBYPdHBt39j9EZkPOHVzwoIhb8mAIsghHsOKlKoSWGiwHGCwc171NIcBkOjNV6dvFxpr2PqCXZrgQ_wrZX97NFcKSdscppSLq9Z1-_XDWEeDfWrpoJfTMIY9OV4b8_4NiMic2GY4_qLrRgH7lb5gzCbHhshYThb2vjG01y1ENZLM31FQlRPN5Fu4OsXNmnDSmV3_mUD7C3iCPMmMMMULmRFOKYtDqgp-JuMaT7u_6f2i1pDoFRKlS4P8tshQiJogJwrq73mw8mdMmIkHwfP73wjvMR5Jvm9QsONYdFYSxcZyIvsOa31RAiVviD_FNjqJkZUBv_46bS-n0Cy-KmWElYuFugij1_U8-TGKz8NVPkxzCz3C5JhgCQqVTFFgw1F87FIfWud3jsAdsi11Qj_ZiIxZfx5D0FYp3Y8iP2pe49B5Eu82perWBxK9AKiNPVFzP1kWUmuhk7Nz0iR1aazHT7i5FFJWBNMg8XmzJb09SlfWDwJfmvkOpZw0RaQAmfUtOr4z-1OMzOfrcgJLqtsDzxDqNArTYIBUtQREmF4gZDyPTwPMTYKGsY8JLEaYvr7y4dWvmpc7VmHsAZWeg00o3wxvjA3q-70tv_bCSSHJjA5RRmopVeVTrZADbYURDP5ou5dDRJGg5YRwpxK5xe8pLHvhrQQppIW4h8B6VzCwD_BkcFVRf5-nTvgZeNOGWv9824ZqOHnwogCR_9VvEgBrNZ_rz8Z7AN6B9rNmcvQu9LiHDhSgfCe7Wn8YZVj-iGUkFQttmyd8iRdqw9rS6a3sXb_15OZRXEezPGNBXZNY3cCWlsPUG84hjdw1iqtmZy7Rl_Mp2wOJ4G5gS1tlhaPqKOMWdGuLH23KiZiWfrC4YYJmMjy5JLhAra2HpMZojtAiZx-UuyMaI1m7rq75i5ZGinIz_eaHSWuDmTTPq4rB-rG-qi9aQQzTP2SGpI8AhVnkTxPRVskFtigcrXjHRchjrxK633TMNMsWaygJ6-OZCFXUCY-_ar1_u6hSdneMW8-_lEPpaoyfjKpxyTJcziebJb8mRNwL3KXxlAOr5PsRaOjdB4O7vKHf4s4on8eRo77DuXeTAjdFlLO7wFGREoOJ6pS-RDmlKD6CfYu8xeMpiEoTkYNQo2hwkBebE7fV_hMcX1BX4-RXK23l",
  "id": "rs_0e58d6586580f960016ab43df9e93487d0a1cd7f98bcea6f13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At the low pose the plush body is visibly centered between the left fingertips, with each jaw on an opposite side. I’ll close fully and then verify the retained jaw spacing.\"}",
  "call_id": "call_9jFHQ8VscfAVM4yl1CzqHnOb",
  "id": "fc_0e58d6586580f960016ab43dfa13c487d08bea7c9ea33b439d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9jFHQ8VscfAVM4yl1CzqHnOb",
  "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]: [-0.3279, 1.4342, 0.4961, -0.0471, -0.2047, -0.2596, 0.0104, -0.0292, 0.8051, 0.6151, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.063 left_z=0.009 left_yaw=-0.0077 left_pitch=-0.3741 left_roll=0.0347 left_gripper=0.0104 right_x=0.2675 right_y=-0.0007 right_z=0.1447 right_yaw=0.0038 right_pitch=-0.1815 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.641, 5.9145, 1.3309, -0.149, 0.0513, 0.8523, -0.0205, -1.2513, 7.0632, 1.746, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb658f6d4554bec3367f1e7aa793781733aa0cb56a7c1b029cab52af134365bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:592cd6be21872c2e29c065378837472f5af4464b0e70c8623c231b1cf67b7283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fff06f5ad395e13c4411150a3a9605c7fb6cd323a3582ba25a074920e781f10f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.693 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]: [-0.3111, 1.2449, 0.3019, 0.1036, -0.1997, -0.2222, 0.01, -0.0292, 0.8024, 0.6151, -0.4999, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=-0.0521 left_z=0.0182 left_yaw=-0.0304 left_pitch=-0.2366 left_roll=0.0104 left_gripper=0.01 right_x=0.2793 right_y=-0.0011 right_z=0.1588 right_yaw=0.0032 right_pitch=-0.106 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -2.8376, 5.7641, 1.5849, -0.1099, 0.022, 0.8523, -0.0342, -1.2239, 6.9402, 1.8242, -0.0562, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.4246, 0.5026, -0.0387, -0.2066, -0.252, 0.9984, -0.0292, 0.804, 0.6151, -0.551, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3126 left_y=-0.0643 left_z=0.0152 left_yaw=-0.0135 left_pitch=-0.3506 left_roll=0.033 left_gripper=0.9984 right_x=0.2711 right_y=-0.0009 right_z=0.1489 right_yaw=0.0037 right_pitch=-0.1586 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.8068, 5.4906, 1.4628, -0.1441, 0.0317, -0.1783, -0.2256, -1.2786, 6.9265, 1.9072, -0.0513, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.4342, 0.4961, -0.0471, -0.2047, -0.2596, 0.0104, -0.0292, 0.8051, 0.6151, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.063 left_z=0.009 left_yaw=-0.0077 left_pitch=-0.3741 left_roll=0.0347 left_gripper=0.0104 right_x=0.2675 right_y=-0.0007 right_z=0.1447 right_yaw=0.0038 right_pitch=-0.1815 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.641, 5.9145, 1.3309, -0.149, 0.0513, 0.8523, -0.0205, -1.2513, 7.0632, 1.746, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb658f6d4554bec3367f1e7aa793781733aa0cb56a7c1b029cab52af134365bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:592cd6be21872c2e29c065378837472f5af4464b0e70c8623c231b1cf67b7283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fff06f5ad395e13c4411150a3a9605c7fb6cd323a3582ba25a074920e781f10f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4AjKD7mCA830RBIttR8tJd1xKnxzBl-CsQ-N981LV1fhm06Jzt7osHpZP3g4OGF0yVOK1jcUGQCE1vIz9PK_Yu1Mpr1WLmUYbER1m-jyTu1qiDKhKA2MCw6n2m9y_ZXJpEEr9DlC7vjCy1NQ6kZFLSIi3NfzrvMF5fz56X80SV5AJA3OFpo_h0NXxWMgmnYMmb1faSFtjwrnrvOHH3Qes8hF2vmwdMlR-rKsMdg6n5hFKOWrnrVISEOIWysbK5fSAnJpWIujYef-FpRQIjiItIqFyWkvm3fgFjRRpFOrSwpYlbAmEmqIEkwLQgyR79T1uT98vbjl-muiO9tu-mdTuUTpZlPWuTFawEgVXe-p5ex8fqlEK5CUFz-kgDGR4g-RA0efkEr4dJz64BKvNUyjWX07sKTODzb0moWipyzr3i0AuvaK9JbENO6N6C6HDUEY1-cpCWtHJWqqtrhWGhfDIA5lZI595lALLj24weBzYqwQZomKvRcmbt12Kg-UH_yhQNVc27M7nt8ze1owLs_bYvopqkompUgq-mKFm16c2S5s7Jdc9i7GByUr9GFh1F0b8gVVZ9xfdIwwSDqHT2pWGuzfNcfWClgeZaWpzSPik5StS54--DBAKVP03tmtZMyAqNraTjfCkK97dx6ShGz825WoyfJ3kmuKcEa2kNkjGPYU2sBWm-z2UdGTEPh3b5xi1OujF1aSkN175lqFQe6-tCIVGRt9KN3FER503D1XWJ5gj3SevimiI8Ivcx-ngL4yYVGfFSlcn9qpebnLi7oC9habzGCs_f3emeeLLKw_isncY8_PwvUxRxnOfaeQL0PNsCOsulUJyRRn7Z3e4uukUiH5TkJDIeTHk0Xx67lU1IVGh3Q4MtpXH5TO9gZXjnApSIhiGXR56bKq5QJK6QdHaGtQKPSCN9wjgmOqUd8ewJ4xPCJpd7cEbPzliBBoURvniXDHIih9uHn3udRap5caZ8HWXm-Q2LF3n9fiPosyLmbtnaByoVDAxm1LwoL12her-u9sWNFXicbskJU4j-x1I05YU95T5E8RWX9hHpwzykvDTsIAf7dDip-aXbjqRiSF5NqlyhiSNT0oryobU9U0Bgyh1ARqndD4S5nVmHvkvcVXQFuHOMdekWqNStQdZblcO_1pPnFJCfVC9pIUaRQ7oy8epVRippeydlv9tH10JS4XuIi0RClE5QkJEbHmZbc2yiuUyB9W2umbOIemjsqHFtSLPnI9YIWO4QdrOg1sv0RxO0hWOJvhoQKgSXfIvAX7bDxgChm1Aztehg19RULDG44WMeTgDAo-3gDv6UNtzibgp5m-nU5O8_WOiglEkc4cJXddjzSug5ybTfoNme8rTJAJe4ze5GnnFGSVrb45_WVSoCZCe6gHygDeQbEn1ZKXWUoeniQs-tBndxb0qkVJgga4RcV8uu4BpbLNO4Ldza_TkQ39GeLRv14-MfN9mzeOTlkiVJTPEBcqZJ4at31IAxcs3wSq_QOEj6oXS9Rw9FZ0PFGVaf9LMsNKpcJJisY9obev1VqhI2OARaLmWSsv7__I4f39D3SLCMcWPGUznx6VvV0ASj7ZZe-RkeESSWpwJMPCCUAxsnBLnn6Ej56lBbUYolo_kT94PfvPoA84pbcpZn9vsqaf0mjQAQ8Iw3DzPla4ali2riGRrShoCIbEOZq07W42XKgF6MaEs8WVRrHV7QsyNU4fPrHisfqQkIX2YHXLDwMdXv33s64jgoluFK7nJ4pnf1fmTBB0RROgl4GRpCtm9NaOlo4uGe3adzp9OloCM80rOtwvoArhXT6eJyCw28l2kBGq-3kX3JJ8VZO0ZH2ZdpvkNHWd7YqSEgavsaKiVUkFrP9NsnXf2nRLVZbIHpDQVvtfbBT3kDEuA7DyH4TtAF9p3FAIMI7h-mDKVnHyr_Vms8po04XLzyEE5YjVoHSL8X6OGnb8HxG9z15JE3ZgHRmWOpTVyG2lhxtXQd8d5WsFSTSXBcoGxfEPoHKAQvaC-YV2RtyHR5B3fNJJFRt1ZXhJJ_1g16PtUf_jqh6TkPYb5fImhHsW3Ka4VdU0Nk1xE31ZK_xhqT4oJC9bIoaZfIrutsuIcHswEiPZm8e1d2IAt6Pz-kRwADPx8A9hTizoCeAG1jqyjVPS5bG76U1M-I5_UTYB8BCwMiajRMO66EVFrFC8zXls6LHT0ed-kd3aAxwF6760Fcgt1qVT3mTzFhuINpQ91INBWu_G2hlCi0Vh110lbojjSLuJeeZvrsGWX5-9wdmmNiZRv9-TLJmSchHtHDSiv8f9kGxvgKZvV8kthoJ7T6IhrxigdVII8jNlrmtctW_0VgcqwSqqNFaQ3WMVczI-Kl1xWwBIyxS2mGbuaZiOlPihXOppROLpJbCuzsDe_mMHvaN88S-3GAQnxWVj3sf4ws-h71OuCWuO1uZK4QB8BrJA3_UB15-e-4bo2NpPBibOcZwStVMIpUBOOdG8zYVHAGFz6GHMWKqc25TXXUFbzyBI7hZSjrPw==",
  "id": "rs_0e58d6586580f960016ab43dfcd29c87d08513229bf2b0e708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.177,\"left_gripper\":1.0,\"right_x\":0.293,\"right_y\":0.0,\"right_z\":0.177,\"right_gripper\":1.0},\"note\":\"The second close again settled at 0.01, so the plush was squeezed out rather than retained and is currently hidden by the left wrist. I’ll park both arms high and open to reveal the tabletop and re-measure all object positions.\"}",
  "call_id": "call_EGwDg5CMsJyTyP7BNDf5gUUM",
  "id": "fc_0e58d6586580f960016ab43dff406087d084c650a26334bd67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EGwDg5CMsJyTyP7BNDf5gUUM",
  "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]: [-0.0483, 1.1145, 0.9302, -0.7891, -0.062, -0.0612, 0.9955, -0.0254, 0.9352, 0.7475, -0.6441, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0003 left_z=0.1595 left_yaw=0.0271 left_pitch=-0.39 left_roll=0.029 left_gripper=0.9955 right_x=0.2815 right_y=-0.0001 right_z=0.1555 right_yaw=0.0081 right_pitch=-0.2505 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -4.2598, 8.9778, 1.4969, 0.0659, 0.1929, 0.0171, 0.1983, -1.7709, 9.6752, 1.7851, 0.0024, 0.0073, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e9caa9769e012065ed34a473244d941c274a139f06dc6a6b5b2fe4593b843f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ee0b1d18e14b91bf9e79f5860a2db0d4e5ae256fad8c9f9eb150fb36318937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7009d35d131012d63a56a6991b900c3ff4979766b0d585bdb02382f81c4937a3",
      "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 · 3.143 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]: [-0.3233, 1.2343, 0.6292, -0.26, -0.207, -0.2478, 0.9949, -0.0292, 0.8024, 0.6151, -0.5236, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3219 left_y=-0.0658 left_z=0.0864 left_yaw=-0.0201 left_pitch=-0.2593 left_roll=0.0056 left_gripper=0.9949 right_x=0.2755 right_y=-0.001 right_z=0.1543 right_yaw=0.0035 right_pitch=-0.1296 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -3.2205, 8.8821, 1.5897, -0.1441, 0.1441, 0.1001, -0.1162, -1.2103, 6.9128, 1.8437, -0.0269, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.4342, 0.4961, -0.0471, -0.2047, -0.2596, 0.0104, -0.0292, 0.8051, 0.6151, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.063 left_z=0.009 left_yaw=-0.0077 left_pitch=-0.3741 left_roll=0.0347 left_gripper=0.0104 right_x=0.2675 right_y=-0.0007 right_z=0.1447 right_yaw=0.0038 right_pitch=-0.1815 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.641, 5.9145, 1.3309, -0.149, 0.0513, 0.8523, -0.0205, -1.2513, 7.0632, 1.746, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0483, 1.1145, 0.9302, -0.7891, -0.062, -0.0612, 0.9955, -0.0254, 0.9352, 0.7475, -0.6441, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0003 left_z=0.1595 left_yaw=0.0271 left_pitch=-0.39 left_roll=0.029 left_gripper=0.9955 right_x=0.2815 right_y=-0.0001 right_z=0.1555 right_yaw=0.0081 right_pitch=-0.2505 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -4.2598, 8.9778, 1.4969, 0.0659, 0.1929, 0.0171, 0.1983, -1.7709, 9.6752, 1.7851, 0.0024, 0.0073, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88e9caa9769e012065ed34a473244d941c274a139f06dc6a6b5b2fe4593b843f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2ee0b1d18e14b91bf9e79f5860a2db0d4e5ae256fad8c9f9eb150fb36318937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7009d35d131012d63a56a6991b900c3ff4979766b0d585bdb02382f81c4937a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4FZBA5xs9U0ZQeMU5jB2jWd84oWrOvhT93E7xvr_pv-lKEkashwExKvEq_29QkIzZ6dquzxvZyRl_qG8tS1XzcFc8Joj7cJBwnNVKJLif6PMyEOTuAskZ6ebRq-WmMMtQ4WkCVSwUh_ZCN6onaSS9GDrKgd45s8jjmhZfOq-GP0Y3845rdGpdt9uoMruEXFKX38RhIi1jnWdYPeN6Vx4T9iuTANwGSCMFfn7SQIwyHE9o7BfnRi4VuJoE5qMBFps2gmrp9OXVYn5NDu3VyIvc-Yjh6wkUuJYGQJD6DakArEMt_F025AooVLygc-C58STXPeWq-XxC6YpdKOW_2IecsaxYMHAzdl3cdv1izUGUkghv4c8foVf8nHVpJk4tIZyh0Tog9pzXTZAghSxY11WOY_VpJkAWXoFAkdMZ0QZ-s4EUnEv4wBhehlE6sw6Xne5BWxH-7wFtSqX__2mIHtjhFqpX-fNpBcJGBwSetfCi8T5dsDimkOfqutJ_vhGwQdJsOcyoSWIgPf3li-GLqozLdTVwgkygLu89aF4Zrt8L742puaMEBzRXOT5-zNdaIRM6HULOHjua9iljcADkbUrAboMakQX5vAtCp3znGJubIaPS9nyk_QXkQ1gvnZop5IW5jBHLeZZj9ml_qH26hzO3KRLE0s-v0Ld6entKLF6dst13-Q0-tOndd6ZI-SnKFhALl04zURprI4t6F6ydCo5DJiPackgvvQKDnZdOBfLeowNZPQdgvKrzlwcHU88ON41kVKAnISXhbn2abeU7focFfQA7RTKWXbjcfefQmRVUoiuzWyQXyUY65Dg4rwHtTCdrnPGSaHUD5enxDNGfddO9EHta64DAE_h1H6xE-b9Wy_V_7OidN0g-9SU1vgMumQ-wd1XhClJPf1xh00AAvZS8z-OxtdhybXKjpD3M7VwlLg0tgunON7Uy08dm8tQbziw23W5SvF2UT-FVa4XwSEn5wxOeB3_phftnN8VmwzBDSKAmEEgF_cJJcUsnwOv2zEc_Kcxr7jpX763csAfso_KOU7EfmomfQ-bkKnqX_lYoXGDvEAzrEaK6bnmBQjar3dsnGl1BdfaY0liVotpsMC8kSv6JBfXyGaw8qHUtH-tCvkuzBo690Lh5O-vGm6bg-ibgR5uWSMBjwjzW6oiO6Urapl507QwdMvq1USOcb_K1Zh3OTxRmSTW5_kGXWeHo_SkDUN0ZDrhi_5bAugWtbmQ6CIGM3CJcjo8zu4a49U0J6-vJgrWg-DIZJg9pS-OD9YZGx-iqG0lYM5irbWtlqYS7h6UsV6zmmlMn2o_WZdq_c6VGeK9IWZAWmB7IdMFPnjxiTWFUIaSfvCsvngf-4mcQS1Mw3TYCUZDi8h69Lj-XiS8TZQKbc9s9R3d1ZcS--xatfDrs7t2yQzM4V9Vpg9ITEKeLoFKT9QXLgHL3U2-1zJl2n_yB3E1a4YPWSf9ORJEI2MhVHiiVP_J4IMGLS6g5KJhbKexvW79SSZgkCESabyQsFtg31miFq4HlP8qQFFE-xwsH1CqUutPWvE6Vnw9Ygs3Gry93nppOH0nSCwxMCZkDmWPGiMd_SbFpSfFZSdKrMx0x5RJPhslL_Cm1OJZ47pKKvEAxRC1FckRwbFdXqxe3S71wyLjIHON7k8_3GRVE2bt2a8s7VwOOy_K-LK5X6dAS2SdiUOxtXcohDRGdpq51w-4INX9WkZlEI71Xz5PcxA1eVKimDz31aVFQOecSr2Z97UZnnR9k8e_B1EimbvBiNw7AO0yFDmPIQXfwyKpm1iyl2kuggV-Ia_TL9m44bBhNy16eKrGcxDYf_37LL6mgsXXLRRCvBQg7e8sK6TMyFcQq50H6ZxRBbp4HHZ294i8EBD8kDeWdtLRE2N2QFOdLL6SqMkK8o4tGtwsZ3yPqKKAXxC90fVBgneYNHR7FFuw==",
  "id": "rs_0e58d6586580f960016ab43e0293ec87d089e4da47c551d458",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.03,\"left_z\":0.1,\"left_gripper\":1.0},\"note\":\"With the arm parked, the white plush is visible again just left of the safe; in the left wrist view it is about 3 cm right of the jaw column and slightly short of the fingertips. I’ll approach high with a combined outward and centerward correction for a fresh alignment.\"}",
  "call_id": "call_cgK04LHZk4q6QxCY2t84QRM9",
  "id": "fc_0e58d6586580f960016ab43e045ee087d0b91a886785353966",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cgK04LHZk4q6QxCY2t84QRM9",
  "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]: [-0.1669, 1.2564, 0.7887, -0.6209, -0.1043, -0.1371, 0.9985, -0.0254, 0.939, 0.7471, -0.6689, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2976 left_y=-0.0278 left_z=0.0886 left_yaw=0.0003 left_pitch=-0.4983 left_roll=0.0408 left_gripper=0.9985 right_x=0.277 right_y=0.0 right_z=0.1503 right_yaw=0.0084 right_pitch=-0.2795 right_roll=0.0099 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.9709, 7.1316, 1.6044, -0.2711, -0.0171, -0.1734, -0.1162, -2.2769, 6.7897, 1.7411, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de67f2099c0725057dcaf2dcd5a0970341277be53b5061107e3f87690d0cd0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd85960d4ca4293ee8a1d29f20e7f7b66a876d7a50521e04dae1a4cbaf157bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b265bee3fe0a338d60b2e2ba979c7389a65e17c74579e42e8d4694c1e4acce09",
      "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 · 3.49 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.4246, 0.5026, -0.0387, -0.2066, -0.252, 0.9984, -0.0292, 0.804, 0.6151, -0.551, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3126 left_y=-0.0643 left_z=0.0152 left_yaw=-0.0135 left_pitch=-0.3506 left_roll=0.033 left_gripper=0.9984 right_x=0.2711 right_y=-0.0009 right_z=0.1489 right_yaw=0.0037 right_pitch=-0.1586 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -4.8068, 5.4906, 1.4628, -0.1441, 0.0317, -0.1783, -0.2256, -1.2786, 6.9265, 1.9072, -0.0513, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0483, 1.1145, 0.9302, -0.7891, -0.062, -0.0612, 0.9955, -0.0254, 0.9352, 0.7475, -0.6441, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0003 left_z=0.1595 left_yaw=0.0271 left_pitch=-0.39 left_roll=0.029 left_gripper=0.9955 right_x=0.2815 right_y=-0.0001 right_z=0.1555 right_yaw=0.0081 right_pitch=-0.2505 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -4.2598, 8.9778, 1.4969, 0.0659, 0.1929, 0.0171, 0.1983, -1.7709, 9.6752, 1.7851, 0.0024, 0.0073, -0.0562]\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 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1669, 1.2564, 0.7887, -0.6209, -0.1043, -0.1371, 0.9985, -0.0254, 0.939, 0.7471, -0.6689, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2976 left_y=-0.0278 left_z=0.0886 left_yaw=0.0003 left_pitch=-0.4983 left_roll=0.0408 left_gripper=0.9985 right_x=0.277 right_y=0.0 right_z=0.1503 right_yaw=0.0084 right_pitch=-0.2795 right_roll=0.0099 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.9709, 7.1316, 1.6044, -0.2711, -0.0171, -0.1734, -0.1162, -2.2769, 6.7897, 1.7411, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de67f2099c0725057dcaf2dcd5a0970341277be53b5061107e3f87690d0cd0c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd85960d4ca4293ee8a1d29f20e7f7b66a876d7a50521e04dae1a4cbaf157bbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b265bee3fe0a338d60b2e2ba979c7389a65e17c74579e42e8d4694c1e4acce09",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0e58d6586580f960016ab43e06623487d090fe90c560ab53fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.06,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The new view still shows the plush right of center and with a gap below it to the jaw tips; the previous radial target also tracked short. I’ll raise slightly and command another 3 cm outward and 3 cm centerward to place its torso at the jaw convergence point.\"}",
  "call_id": "call_lxNq9zIIu34RXhEhEV4gn5LT",
  "id": "fc_0e58d6586580f960016ab43e079fe487d0adb7a58d4f716b71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lxNq9zIIu34RXhEhEV4gn5LT",
  "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]: [-0.2016, 1.2716, 0.7788, -0.5842, -0.1276, -0.173, 0.9985, -0.0254, 0.9394, 0.7471, -0.6792, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3017 left_y=-0.0351 left_z=0.0853 left_yaw=0.0084 left_pitch=-0.4823 left_roll=0.0418 left_gripper=0.9985 right_x=0.275 right_y=0.0001 right_z=0.1485 right_yaw=0.0085 right_pitch=-0.2901 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -5.1761, 8.1846, 1.1306, -0.1294, 0.0708, -0.1734, -0.0068, -1.7436, 6.8581, 1.5018, -0.0464, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d293207b87186dfd3b953b6185abf172a3397a22b0bdfc913e44ddd4effec03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9bd22eecae04db2483f2e984cab801a5e43d6219562cf11f83f7d859dadb04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439ae03104191887158a9fe718cfecfe972323490880e8edf2a49721d20d567f",
      "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 · 2.295 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.4342, 0.4961, -0.0471, -0.2047, -0.2596, 0.0104, -0.0292, 0.8051, 0.6151, -0.5728, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3078 left_y=-0.063 left_z=0.009 left_yaw=-0.0077 left_pitch=-0.3741 left_roll=0.0347 left_gripper=0.0104 right_x=0.2675 right_y=-0.0007 right_z=0.1447 right_yaw=0.0038 right_pitch=-0.1815 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -5.641, 5.9145, 1.3309, -0.149, 0.0513, 0.8523, -0.0205, -1.2513, 7.0632, 1.746, -0.0659, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1669, 1.2564, 0.7887, -0.6209, -0.1043, -0.1371, 0.9985, -0.0254, 0.939, 0.7471, -0.6689, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2976 left_y=-0.0278 left_z=0.0886 left_yaw=0.0003 left_pitch=-0.4983 left_roll=0.0408 left_gripper=0.9985 right_x=0.277 right_y=0.0 right_z=0.1503 right_yaw=0.0084 right_pitch=-0.2795 right_roll=0.0099 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.9709, 7.1316, 1.6044, -0.2711, -0.0171, -0.1734, -0.1162, -2.2769, 6.7897, 1.7411, -0.0366, -0.0317, -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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2016, 1.2716, 0.7788, -0.5842, -0.1276, -0.173, 0.9985, -0.0254, 0.9394, 0.7471, -0.6792, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3017 left_y=-0.0351 left_z=0.0853 left_yaw=0.0084 left_pitch=-0.4823 left_roll=0.0418 left_gripper=0.9985 right_x=0.275 right_y=0.0001 right_z=0.1485 right_yaw=0.0085 right_pitch=-0.2901 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -5.1761, 8.1846, 1.1306, -0.1294, 0.0708, -0.1734, -0.0068, -1.7436, 6.8581, 1.5018, -0.0464, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d293207b87186dfd3b953b6185abf172a3397a22b0bdfc913e44ddd4effec03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b9bd22eecae04db2483f2e984cab801a5e43d6219562cf11f83f7d859dadb04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439ae03104191887158a9fe718cfecfe972323490880e8edf2a49721d20d567f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
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  "id": "rs_0e58d6586580f960016ab43e09f45487d0ae437d8d6d876ef1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.06,\"left_z\":0.1,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The position again tracked short while the readback reveals the wrist has unintentionally pitched almost −0.5 rad, making the Cartesian approach poorly conditioned. I’ll explicitly restore a level start orientation while moving to the corrected approach pose.\"}",
  "call_id": "call_ZwwTdtp6e9WGz2txPwXQMhff",
  "id": "fc_0e58d6586580f960016ab43e0b305087d08809476664d46258",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZwwTdtp6e9WGz2txPwXQMhff",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.334, 1.1515, 0.4374, 0.0132, -0.268, -0.2218, 0.9985, -0.0254, 0.9409, 0.7471, -0.7013, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3196 left_y=-0.0576 left_z=0.0831 left_yaw=-0.0037 left_pitch=-0.0903 left_roll=0.0145 left_gripper=0.9985 right_x=0.2709 right_y=0.0002 right_z=0.1447 right_yaw=0.0087 right_pitch=-0.3138 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -4.1504, 6.2291, 2.0147, -0.3053, 0.0464, -0.1734, -0.0752, -2.0855, 7.0359, 1.5946, -0.022, -0.0562, -0.0122]\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:aeb2975a24b64297a2471337ccdaf755f28a0dff5f02bfbcad2c3de3d81165c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a7ff54a969751636e024a3d41c841afe15e70717125103042f8dd1b0a520e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:913ba953a358a15202bb7ec526e57856ad90bccb3c538d82ec85e2f0acec1c7f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.902 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0483, 1.1145, 0.9302, -0.7891, -0.062, -0.0612, 0.9955, -0.0254, 0.9352, 0.7475, -0.6441, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=0.0003 left_z=0.1595 left_yaw=0.0271 left_pitch=-0.39 left_roll=0.029 left_gripper=0.9955 right_x=0.2815 right_y=-0.0001 right_z=0.1555 right_yaw=0.0081 right_pitch=-0.2505 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -4.2598, 8.9778, 1.4969, 0.0659, 0.1929, 0.0171, 0.1983, -1.7709, 9.6752, 1.7851, 0.0024, 0.0073, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2016, 1.2716, 0.7788, -0.5842, -0.1276, -0.173, 0.9985, -0.0254, 0.9394, 0.7471, -0.6792, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3017 left_y=-0.0351 left_z=0.0853 left_yaw=0.0084 left_pitch=-0.4823 left_roll=0.0418 left_gripper=0.9985 right_x=0.275 right_y=0.0001 right_z=0.1485 right_yaw=0.0085 right_pitch=-0.2901 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -5.1761, 8.1846, 1.1306, -0.1294, 0.0708, -0.1734, -0.0068, -1.7436, 6.8581, 1.5018, -0.0464, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.334, 1.1515, 0.4374, 0.0132, -0.268, -0.2218, 0.9985, -0.0254, 0.9409, 0.7471, -0.7013, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3196 left_y=-0.0576 left_z=0.0831 left_yaw=-0.0037 left_pitch=-0.0903 left_roll=0.0145 left_gripper=0.9985 right_x=0.2709 right_y=0.0002 right_z=0.1447 right_yaw=0.0087 right_pitch=-0.3138 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -4.1504, 6.2291, 2.0147, -0.3053, 0.0464, -0.1734, -0.0752, -2.0855, 7.0359, 1.5946, -0.022, -0.0562, -0.0122]\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,$blob:aeb2975a24b64297a2471337ccdaf755f28a0dff5f02bfbcad2c3de3d81165c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a7ff54a969751636e024a3d41c841afe15e70717125103042f8dd1b0a520e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:913ba953a358a15202bb7ec526e57856ad90bccb3c538d82ec85e2f0acec1c7f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4QWh52y-Wrq7KK-mtYrZ_mv0h8PA3ecMetvU2E6PBvMMvETnp4F7NvUOHS74gMoUpJ6a4bWX2wLaQZbP8MCGub-yKOEZ6pO4N6JDEUgtXchvxIgLurtAEUQZNgqCYBRS-H8-5eAOMSl6EHNFrqHYw6y6d7zbUIqNvk8nRL687qjUjtQVHpFKExbrn-e36_uv2jHg2IqB5Ae5__PlxARSDHDRu1ls_-LE2AVLkJ0sg2ONhgqQIlKgttPc48BuG7PYMPuueSLYHtfUdlscA76vUU-WWmU9i-88t7rNQfc4wLmop8ojseMtESbNMuZ5MsKgpfFgWq6iyB5QxOkhS9iARyVqcGOiUyGMMED9FOg7Rp4484Pg_HhHchhSieHXBReQB_uRYPOcpwHpi3oK1zvN9tqGTo3qm0jJJoMlVYOXsiLauHCajZmOn6zmDiiEjVPsZlKxBePNaYDNaNu4WIJD4bq4xOC-F3huYzQyDfNDthjH6GtY4_yfYWgIY5w1gsfAaYEwfPiRQQCzB0BoM6BtX7k8DnxJAU4TsGpTtc_EeeF6j6kIUKMA0XASY_kC09guhAFzAXllarC3wFcEpMUiFopW474qgV8PEgM7o5gE6J9cK1N3PdhbHOsGos-9E_c9xd0WhWvISgEQTLKfRz2QckXp4oFiRf4g0HQgN-lnq_Q2ux6Py98WYL0CmFrb8MvZN_OUySfFYQpBLj8zoBW_AP3H7VUkojE9AOznWIMgQpVf-lFvbVrG9uyKEKDAcK2xn6k3P0YuJN_gUWQXEctFxh3PIHxMM3fP_u5sftnKbaNNjlmYbF1dCViy80f2mw15NOaeDWE0eE7d3YMfZj7uXP-t8QqxRF2o4QiGjQ_0ZrCvOnl-RTl6VC4ZVIFTfZL-dbOpSt-0j0p7wk6oC2eBOpBKluKBqz-t2Rm2yTjOcIdP2aLwXZ-CjQmrfjXaqdDY7gl-drXn7boTr0F1rurxXyGtW3iwbVI46AbQSUWydRHIYppT8TyLn2iWeXQYsVy2L4NnnwQF4bDUWsDRxcy6i_6T_sJSScTtoLv6LY9h6EcEiIVVjb_qWFw2LOzMtcbUYOs0QfsB8cpZll9f9YZNGHDMVqc7lhkJAFNprYVIBEjZfeYs-1XhluE3Hm5OGh3SU-FoNAjz0ZbjY_xgBVHbK5OvPXJedES2_s2l3QPaK5WX4NPbkkTjMmSI3iSWXW0M_89k5-LzNaVXaphWQurFvrmI-M9Dc4IPIZ6_8Ve2XdpuJYRhwESWARPgppiIddMdk8RK4NkXOIwa1Kst5nPh0yYqfnUzFyfZ3aP3DVZEfGOJ9U8n1W93n5jz7ul_uOrKbQNV9fdzlVf_q_LijMg2f3bQ==",
  "id": "rs_0e58d6586580f960016ab43e0f0b7087d0b1df3cef309ca9b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.058,\"left_z\":0.015,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"Restoring the wrist orientation fixed the reach: the plush torso is now centered between the open jaws and close to their convergence row. I’ll descend vertically to grasp height while actively holding the level orientation.\"}",
  "call_id": "call_JcMY0qzY3KJngxl4rvhRPbsD",
  "id": "fc_0e58d6586580f960016ab43e0f5a2c87d0be14210e81a1111c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JcMY0qzY3KJngxl4rvhRPbsD",
  "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]: [-0.342, 1.4834, 0.2111, 0.535, -0.2863, -0.2291, 0.9984, -0.0254, 0.9424, 0.7467, -0.725, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0515 left_z=-0.0024 left_yaw=0.0085 left_pitch=-0.1203 left_roll=0.0324 left_gripper=0.9984 right_x=0.2662 right_y=0.0003 right_z=0.1406 right_yaw=0.009 right_pitch=-0.3393 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -3.5624, 3.2752, 1.3993, -0.2125, 0.1538, -0.1734, -0.1026, -2.0581, 6.8991, 1.6142, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f5de0a25dd0bb0c79ddc993984f809b52919cad7d6dd4d21d86430e780f6e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0730b13e6d20f61802ae9e7e6b627965c6d834524e8cbc843f006a2ac271e05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ff007e1c485e21fa144d682abbc58f149b331af5b2bc7f20cf6d8e15d0dca97",
      "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 · 4.286 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1669, 1.2564, 0.7887, -0.6209, -0.1043, -0.1371, 0.9985, -0.0254, 0.939, 0.7471, -0.6689, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2976 left_y=-0.0278 left_z=0.0886 left_yaw=0.0003 left_pitch=-0.4983 left_roll=0.0408 left_gripper=0.9985 right_x=0.277 right_y=0.0 right_z=0.1503 right_yaw=0.0084 right_pitch=-0.2795 right_roll=0.0099 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -4.9709, 7.1316, 1.6044, -0.2711, -0.0171, -0.1734, -0.1162, -2.2769, 6.7897, 1.7411, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.334, 1.1515, 0.4374, 0.0132, -0.268, -0.2218, 0.9985, -0.0254, 0.9409, 0.7471, -0.7013, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3196 left_y=-0.0576 left_z=0.0831 left_yaw=-0.0037 left_pitch=-0.0903 left_roll=0.0145 left_gripper=0.9985 right_x=0.2709 right_y=0.0002 right_z=0.1447 right_yaw=0.0087 right_pitch=-0.3138 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -4.1504, 6.2291, 2.0147, -0.3053, 0.0464, -0.1734, -0.0752, -2.0855, 7.0359, 1.5946, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.342, 1.4834, 0.2111, 0.535, -0.2863, -0.2291, 0.9984, -0.0254, 0.9424, 0.7467, -0.725, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0515 left_z=-0.0024 left_yaw=0.0085 left_pitch=-0.1203 left_roll=0.0324 left_gripper=0.9984 right_x=0.2662 right_y=0.0003 right_z=0.1406 right_yaw=0.009 right_pitch=-0.3393 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -3.5624, 3.2752, 1.3993, -0.2125, 0.1538, -0.1734, -0.1026, -2.0581, 6.8991, 1.6142, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8f5de0a25dd0bb0c79ddc993984f809b52919cad7d6dd4d21d86430e780f6e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0730b13e6d20f61802ae9e7e6b627965c6d834524e8cbc843f006a2ac271e05f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ff007e1c485e21fa144d682abbc58f149b331af5b2bc7f20cf6d8e15d0dca97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4TKoaZvQ5fgYWFXp4R9hy6R-xVgblYHNAXP8vM6jNwAwpMx0Sk6-eq_IzzVm47LrL3P6w5cDi7C8rArlSw5ZZNbTTbu07JiwVL9RIch6wOCEY3PNxNxbG-_3ZWt2q6tK-diTzo_r3aWOZfPR9TM52F_tbXT8AIyqQvwR48o6S9qZam4ABI2elfyRqVl4mWKJbczCXTCq-wqQn0yl1RQRl8oTWhuf4gxcdfrzAf4jJclBnD1PSbWGVPZTydU1V3fHgeGVAdsae0dAZcM5yhePraU0w2F6mSQ4X1udf4v2o7hscHqLJdlT98hr1Wc4qGnCs1DFCeYDCK2tOLmi5hk3amYUMBnNY7_2jvwodwv1Nk50BKRjh-KBGGWqeAmhlGXiWTHd4eBoKgzzWlDkqJsscIh1hD4m6ZOBAOVWuyZfpZ1tQ5Bejq5BRu1LqBDRtc5rVqsbJ1GMZYmaBTrQ3uNEJ2_flZ7LCVSMqZ5BorbIij4mCOxi2wAANhKL4aAH6_Ipjc9nLokjgeEylvjetTpPK0HdTQM40uT5KUDfuEM4vGeEecF8bLpw29Af2QldT5KAeJa3OBxcLlN3OYNNNp87_gmIJtdkt71aGG61NMACc5KPIU9ld3sspJeq0-Bh0mOeobBmDDPMd9kz8xdUihcDFhBlJ2pm6246AnJNrHO-cKSxUpGt3JXy-IjNtZYe5JMB6cpBxnoWyu3N8j6NLbl8-xcV9fr_FSHTgInHiVHyPUJHM1VWwNaNhF_reIPPNTDLKs5uOtmyR-s9y7_Dbwo7iFRE6vzT7nguNpNMolOLt_ckpXEcckYjuhdzCcQF9U1h2q0HH8JZKQgrgdt88_43DHE-pfPhpMlOrNXvsdwsY8aehrv7x5FrszmPzEnanNHNuWP-Z8y_uZFxb4yrofKjikQZhd4_Z2Ps-cvZw4AJVRMF82Lexm2ht6vG_xwLpqKa0CzfFIoKjS5bKEqz2Jk43Dqyw_ZqnYM5W23U-z-ciYva1iVSWc0p7MOTxzgEa49FecSgxFY9JAxggVmGTkm1-v-mV1-1pMdS--K4M9Ij_L01B_y8fD911dI8YLTFnGzvLHSSgd9iyBKwK8Nf8syYZ7aErSwaEDQtx8-OaWrWpCc2HZ8RxudMwEe7QajhNNBugnGKYJAgyRyqEr9cjcX1d8cA24GgjuhBa73EbwrcswaphE-_hsnqFoNHkQpKaIlgc2QHVQoZWXPDxtKiaTGeV0PwwC29xd6I4xI2q8eSg6TBYwuviYkSVFouqoJ9IyEnl4Avy18NQq7LmQlH2KAdPLEZMem9E4EaZAc4FsRwGjai8jbJaqNWlldYR742MC8dAkr9RazamGsUXrXQr-wYDl2ZPlgsZE7ucLYT7vjkefwrAr_M5D7MeNktCPxhR4L6w65HRC4OSEiD16-L7jqRyBb6a-oiSby_vstaa8Gu96aZ5a4nDBLjWYzrAbP4zHUGqlK2NebJrVb6neiOWk6eKLbLfl8b5ZKSnVGL4sI5Ne0-sNonLrwuqqd6k5xM9FejuCf_h0gsqDFgg_f4EGHjUhmpUpK4e40KvZkwPdE1mi1RI=",
  "id": "rs_0e58d6586580f960016ab43e11f8cc87d0a5b4784590f3a2f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The fingertips are now at table level with the white plush lying between them; the wrist blur is from the plush being extremely close rather than a remaining depth offset. I’ll close on its torso and verify the nonzero retained opening.\"}",
  "call_id": "call_AbnJPYvAGEtcKmuWTrcwmAK6",
  "id": "fc_0e58d6586580f960016ab43e12aaf887d09853cdb9270434d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AbnJPYvAGEtcKmuWTrcwmAK6",
  "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]: [-0.3454, 1.4918, 0.2008, 0.5545, -0.2863, -0.2371, 0.0104, -0.0254, 0.9466, 0.7467, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.052 left_z=-0.0045 left_yaw=0.0095 left_pitch=-0.1194 left_roll=0.026 left_gripper=0.0104 right_x=0.2627 right_y=0.0004 right_z=0.1368 right_yaw=0.0091 right_pitch=-0.3618 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.8342, 4.9983, 1.3651, -0.0904, 0.0904, 0.862, -0.0068, -2.2906, 6.6393, 1.4872, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9efd511a00b9be7e93442f9b79aab53ce2faf69adaf41700de1fa88fa06a39f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea117e3b92a56129145adbc12c8b7716cb84ef35cf1799fe9ae754c99ef0f58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a65186cd58cd27c9edc690458caae90f6b9cba490edb0ba6c37759676f754a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 2.797 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2016, 1.2716, 0.7788, -0.5842, -0.1276, -0.173, 0.9985, -0.0254, 0.9394, 0.7471, -0.6792, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3017 left_y=-0.0351 left_z=0.0853 left_yaw=0.0084 left_pitch=-0.4823 left_roll=0.0418 left_gripper=0.9985 right_x=0.275 right_y=0.0001 right_z=0.1485 right_yaw=0.0085 right_pitch=-0.2901 right_roll=0.0103 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -5.1761, 8.1846, 1.1306, -0.1294, 0.0708, -0.1734, -0.0068, -1.7436, 6.8581, 1.5018, -0.0464, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.342, 1.4834, 0.2111, 0.535, -0.2863, -0.2291, 0.9984, -0.0254, 0.9424, 0.7467, -0.725, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0515 left_z=-0.0024 left_yaw=0.0085 left_pitch=-0.1203 left_roll=0.0324 left_gripper=0.9984 right_x=0.2662 right_y=0.0003 right_z=0.1406 right_yaw=0.009 right_pitch=-0.3393 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -3.5624, 3.2752, 1.3993, -0.2125, 0.1538, -0.1734, -0.1026, -2.0581, 6.8991, 1.6142, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3454, 1.4918, 0.2008, 0.5545, -0.2863, -0.2371, 0.0104, -0.0254, 0.9466, 0.7467, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.052 left_z=-0.0045 left_yaw=0.0095 left_pitch=-0.1194 left_roll=0.026 left_gripper=0.0104 right_x=0.2627 right_y=0.0004 right_z=0.1368 right_yaw=0.0091 right_pitch=-0.3618 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.8342, 4.9983, 1.3651, -0.0904, 0.0904, 0.862, -0.0068, -2.2906, 6.6393, 1.4872, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9efd511a00b9be7e93442f9b79aab53ce2faf69adaf41700de1fa88fa06a39f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea117e3b92a56129145adbc12c8b7716cb84ef35cf1799fe9ae754c99ef0f58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04a65186cd58cd27c9edc690458caae90f6b9cba490edb0ba6c37759676f754a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4YUDCGctoDD5kLlKRpIDahFRbVfsdzJ1zaFrsC0SZ1ELHlelRZ_eiYgat8-jsEDm1GaKirA1fUmGIue8dwHEFdmnYiB-QMFfaXH7GL-IFjI8O4wPGDKQ-YGvWIPLU2mJPfRbfDeXC6fcutWlZLYbPGcA8ripPZ0shz3kWus0_6IiLLGHnSicbyHWOWkQM61PITHC_ReIvc57MYwYDEvMYz6RS1RZlmyKjeCvENlUr8e-Ix5CMIR8dhgLAM1DikARMU512AjJxAwodXd-pRWVKUJNDclRwaVS_lMOUuKRHMnfXYxFv8nMtDH_6jL1wlbvrvLX84YwzalJGd_kLJR2-gxmhHh7stkShU9uwGQMYgkqSpOJdUwsv8JqhyG9b_Ew8aqKR3yZ3pWd7tNynBOwJTyezIkFWdmh-n6Lx2IMDkTk4JRVOGg9xE-soYSrxvG1pAQK0zhca3O5opcqWADPbTRFTrv3yCSSB3xIJ9_nirL9dmqosaRbD8z94BM_CUJjWV1rucpLT4Dk1ftzdEH1NsZ_4ZQZJMCf9rl-NKhaB0f7mesHPsmI1vOBXECiC-PTl9X5ZOwaYHHWd-3JgpOB5dCn141eW6YQvmQaMc9VtaANCFzOcLhB39tnyMGkc5HU7SGIcd-m28xLNYQaOjROiusRCwVwTbCNOePvQJe5o3_dcJg08I_iDAiWof6o89YY9wjXm1cNQju4FvCEqaD7xmQo1bJfKNNnhH69bbcKtoqh2y9r102JZZroVKSrVdYeEJz0CQRTvTA2iVOJ2DvHXpQM4anN5lQ9_4Ges4hx1X6VF9xS0yZ38OtpAua15BdG9_r0XA37DmzOz8K6QylAKsmEJr0DiJONypKE6t8ribI53n0HDO4tL6B5izZhdAXT9L88gUxxqqY7XTA8IvmpoyLNuLnLSHMZb3lpj53TKnW3oy8Sg5wzifnd1mBZExm0I6Ihr9enAWRsdP_Lh3php-WZalmlWFeZ4W35OVL914g3hgPVO3MUsXpyfVQR-YBh8Gi9P2XuQRNP96HURrlei-ScLWGEUgZ3E6g7fo8aHhysmEg61j11xOYPGsTvqD6ykFahClxvu9Lcd8Mz6WpwayTb1CYWFimqfdtAHaVoUMAiVBwP1bqbfY4hdUKfIji8kSXBcQ7p5Vl03NHB0XwNfxfVTyNrtd7TN2d2gZh70kCZz7XqdOLHrsFWqoer3d7ZGyyl_hbv0TpGKnad8o7dMZaMcFXecdCkBC0HIRC-qhQLcUdBuLNZGD7gOWYHRj7YfenDAkwXIk-1Bhmhgl-ZZYWC3oaV-ma8GR7p3zmq7FgB45re_41KFr8OKb_jOqHE7bmZ1BKDA2ffy80AEPTVGAEpA3uvKxzyuf9vblulHyGAbwTWmq6l0OVchliIqjSliSCy4SSPssb-Wrg2YxsIqvs16wYCfkv6X54a5EDf0RJURw_QuKY4qCGJvB74S6XFrQJyFEsctXIBts6Yza62rDpSv9VDR_ewGEXwUoCQ7Ldx_ZDCevZDXsVEEKUufjtOlcKwVeiwvuPyDGUBjAauOvDYtPAhnJfQly34el7ahMD85AzTUlVhTA2mTXc5DjLsHI9l8azoz__Jds7Kj6DyCqQKViXW48lheCcIc3nhWlg9xLyJG-1ipgEUL7k9KZxV8dj4tnELeAlhNUcgMr-fsoyU6CNRC-Nql1y3kZgx3GxAYqMCkXlnzB_IYDt4K8hijGi4rmOoK3YgHskikQDQoG-eL3NoqpzIzixh6g8eXDAd5Vw2wkCHaUp9DkO5j8_QjXVGIYoO04NlKw3eUHtfVRrQPNUdEB6bCmaJBYMLqPTf1yXbBU6wa5vS4TRa1geVa7UlulR7ziqTbdWF45HcRGlVNkFX_j9yLEStafgghDmEYumfEKnS1UJ3OQzQfWaqk55LMnfBREamsNjc735LHO97ClvdT7Wm-R_UTltCb45-lMVnaF_aStmUI3s63DikgbDt1T4MEPTZfvDhLpmPCk9loKAWUEbsyHY97V_11mOTX1sCi1f90TNz0GEpOc0u6sBZV5BjvfiTYskCIC42TSaTZXpCiI4Rc4wJ7PXdTLDQ-3iwoOi-v5TQJ1q2c-t1lc5fHdJA2qBpE-8svrg5vMApZtkvXlBkWSRrjT0SgXhWWARt6IWEuiNQtd7ywCs-5kX4MuxzfluVpIoEiR6e4Va8VyGd5QCyXiCwpE_7rPYFO2YInd9JjoMcfrLwCOvY4S5dlAVQzdO7Wud0I1Y_fUuIEJew8vlsLx-4BtK_LCkjYELRPDgTPwapRxelZ05Sd7o4A3S4egekvVF2ToKzPCdZhMFVRpFFdQnJcTc02au0fLr7BaYWakLy8bS7ly4LFu0n6yoM2QpWe9VqHqCA1hIma8d9ofjcxhdQEeXqgOnDE=",
  "id": "rs_0e58d6586580f960016ab43e1598ec87d09d4c9593bffd33f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.085,\"left_z\":0.09,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The empty reading and close wrist view show the plush entirely ahead-right of the fingertip point; the overhead view quantifies the miss at roughly 2–3 cm forward and 3 cm centerward. I’ll reopen, lift, and move to that corrected pose with orientation constrained.\"}",
  "call_id": "call_s4X2p0jR7ArjbHofzHJ5e8I4",
  "id": "fc_0e58d6586580f960016ab43e17d5ac87d09f33e35a3f2d8c81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s4X2p0jR7ArjbHofzHJ5e8I4",
  "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]: [-0.4202, 1.3117, 0.4343, 0.2012, -0.345, -0.276, 0.9954, -0.0254, 0.9474, 0.7467, -0.7513, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0807 left_z=0.0694 left_yaw=0.0019 left_pitch=-0.0487 left_roll=0.0078 left_gripper=0.9954 right_x=0.2611 right_y=0.0004 right_z=0.1355 right_yaw=0.0092 right_pitch=-0.3706 right_roll=0.0135 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -5.6684, 8.4991, 1.7656, -0.2466, 0.0464, -0.1294, -0.0479, -2.0034, 6.6393, 1.3651, -0.0611, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0069385e203c50e79eab7d6951797d3070d7b7da41e380dafbf529df58c11054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b775445b5c2699687a3895694665225bfd63b323972c7331159df9c891b69c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6210dd0cdafd108c2dfd68c0f5cd28716106d13deb3baf815510d9351bbf909",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 2.163 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.334, 1.1515, 0.4374, 0.0132, -0.268, -0.2218, 0.9985, -0.0254, 0.9409, 0.7471, -0.7013, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3196 left_y=-0.0576 left_z=0.0831 left_yaw=-0.0037 left_pitch=-0.0903 left_roll=0.0145 left_gripper=0.9985 right_x=0.2709 right_y=0.0002 right_z=0.1447 right_yaw=0.0087 right_pitch=-0.3138 right_roll=0.0112 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -4.1504, 6.2291, 2.0147, -0.3053, 0.0464, -0.1734, -0.0752, -2.0855, 7.0359, 1.5946, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3454, 1.4918, 0.2008, 0.5545, -0.2863, -0.2371, 0.0104, -0.0254, 0.9466, 0.7467, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.052 left_z=-0.0045 left_yaw=0.0095 left_pitch=-0.1194 left_roll=0.026 left_gripper=0.0104 right_x=0.2627 right_y=0.0004 right_z=0.1368 right_yaw=0.0091 right_pitch=-0.3618 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.8342, 4.9983, 1.3651, -0.0904, 0.0904, 0.862, -0.0068, -2.2906, 6.6393, 1.4872, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4202, 1.3117, 0.4343, 0.2012, -0.345, -0.276, 0.9954, -0.0254, 0.9474, 0.7467, -0.7513, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0807 left_z=0.0694 left_yaw=0.0019 left_pitch=-0.0487 left_roll=0.0078 left_gripper=0.9954 right_x=0.2611 right_y=0.0004 right_z=0.1355 right_yaw=0.0092 right_pitch=-0.3706 right_roll=0.0135 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -5.6684, 8.4991, 1.7656, -0.2466, 0.0464, -0.1294, -0.0479, -2.0034, 6.6393, 1.3651, -0.0611, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0069385e203c50e79eab7d6951797d3070d7b7da41e380dafbf529df58c11054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b775445b5c2699687a3895694665225bfd63b323972c7331159df9c891b69c7a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6210dd0cdafd108c2dfd68c0f5cd28716106d13deb3baf815510d9351bbf909",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4cGk1LqfwVGNnMGBcRYwk7SkJcaTHvcQCi6dT8lRB8c9OsrLP31YkqMHD28dmQM9L200AElolH0ncukQRfGZaQbv8-PYYMxDbLXXc8xgoQ3uV7rBzA-k2Z9kBSZDLxVGjPVKJl1XtlaY8xZUvRBSx2Cai6C2oheCXNSbrI7-RUbvXEc74D3K3nN2ZbdCYXrEqmDCziooPAytHOI4F-XH89A70mUMT7F9N5rIDBf9lWAlNnlcNl-GZYj2LCHs7mhCx9D4rkHvM-hQJushU5tr-_zLhY7qoDdvMQ5y0tfT-SNErcS8Iu7f7dQgMed5bAWa-Za46K0T6Mz3OrSW1MHZXcSrpR4ON3vtlZTkuRpEmBTigqDJGzCKDA3f5gsMpBJ9IX1HZ86eMrw8fogZtbjGib2c6ATLf4edF9ddd-5HbzKXc381pAkxyjr8Vv384NBNILfdAiAB1psnDBJvPEzNvchVYK6c_D1gDstUcT-UjmumnHw3eXuQet3AQOJGAn2t1hEu2W1cX6qPjymhmDvmU0AUUkDgYx7L5V4QC-JRu4LWtMl4m88thOxvOmXS-RrctAeXD-NhlfQwk9SHxofDQj2BUt0KIRlDZkR8Cgng98fGRJtyGfvhDgcFHNzFi8AAHO3seoL71nukd8sUPq9lOZYWQqB88naA9Ls2eDAF2vjBEE9CV_bW3i4debhknhVvKtYrVtHZRHOF5qjqNBoxd9M_w13TOL8k7Yuv30L76qyy5qCwI8MmMPiK86p7XzQtj3YQLARgij4wt8OMr9sUU33KsuORdz90ZR7UZekacGa0pdvwkyxuDApAjWht0X3KmrFMzvp3vugqP9zYGX_BYQaLOPpMvmWa6rblXvGhC3EK9oQZs4UmasGZf3GUf1uUX8dJkTNewVB2ZCbo6BWWZ7Il-ySPM9jKuR6qGjvHouDxU9I-GD1noZt0rXBcuACH2hdLDU6h6u2HIshYwdh_3DsuTaZbgb7sgmRVlE3S3Pm0wLSQrkHFFEn6zo1CM4u-Cl6N1obevzKcDW3XCdvehaordr-myKoYhGifSdCG44zuiRZJVwdWJWv-fG86xooVPTBcent8cpI_YR5sjZpirEo8KoiXVXKdtuaOR0e7bzJ5Zx3DzsPHsWURa4FWqeK-r7q4svmx0oGWHa5OBjXEcQv2E9yvC3VJ1MI3-aZJ_UPOYdHXlRt_YsK78_zMIO8uOQ8GDWNkvzm0ebDUot4ml0UYmm4DtG6XQn9VZc6QXlRPjlcVldTP52HqbK_qTLEfxTgvGrRQaXZfDW6PdN7pHGe0gs4L-ixgIEJ3bGHtta1VFWxiMQy4R1RG5bOU_aBmw1Py0fva0cvKk0TYzMzmTOQlSYAW-AWomzFa45PN3d2dI=",
  "id": "rs_0e58d6586580f960016ab43e1b6b6c87d0af94258bc55b95ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.336,\"left_y\":-0.081,\"left_z\":0.01,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The corrected approach now centers the plush precisely between the open jaw edges, and the overhead view agrees that the fingertip point is directly over it. I’ll descend straight down without any horizontal change.\"}",
  "call_id": "call_xKIbmO6lF3sqklyMr7tqVRWt",
  "id": "fc_0e58d6586580f960016ab43e1ba89887d0bb5d4742beb2add0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xKIbmO6lF3sqklyMr7tqVRWt",
  "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]: [-0.4252, 1.6012, 0.292, 0.58, -0.3531, -0.2821, 0.9984, -0.0254, 0.9482, 0.7467, -0.7692, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.323 left_y=-0.0753 left_z=-0.0023 left_yaw=0.0084 left_pitch=-0.0947 left_roll=0.0297 left_gripper=0.9984 right_x=0.2575 right_y=0.0005 right_z=0.1328 right_yaw=0.0097 right_pitch=-0.3893 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.1368, 3.3026, 1.3065, -0.0952, 0.105, -0.1685, -0.1026, -1.9214, 6.6256, 1.5116, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fecf67b8e1796c3e386e830345746f01893581bc383ec65a25d319a85b66c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04537c9a65ca05a0290f684f9bb4b0c4cd95d94bc348e2ed09b72925f5830194",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74ee19438d0498bb359679e2575948584e821d0661ecf92f895345c37abc217",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.286 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.342, 1.4834, 0.2111, 0.535, -0.2863, -0.2291, 0.9984, -0.0254, 0.9424, 0.7467, -0.725, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3041 left_y=-0.0515 left_z=-0.0024 left_yaw=0.0085 left_pitch=-0.1203 left_roll=0.0324 left_gripper=0.9984 right_x=0.2662 right_y=0.0003 right_z=0.1406 right_yaw=0.009 right_pitch=-0.3393 right_roll=0.0121 right_gripper=0.9996\nstate[joint_eff]: [-0.7179, -3.5624, 3.2752, 1.3993, -0.2125, 0.1538, -0.1734, -0.1026, -2.0581, 6.8991, 1.6142, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4202, 1.3117, 0.4343, 0.2012, -0.345, -0.276, 0.9954, -0.0254, 0.9474, 0.7467, -0.7513, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0807 left_z=0.0694 left_yaw=0.0019 left_pitch=-0.0487 left_roll=0.0078 left_gripper=0.9954 right_x=0.2611 right_y=0.0004 right_z=0.1355 right_yaw=0.0092 right_pitch=-0.3706 right_roll=0.0135 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -5.6684, 8.4991, 1.7656, -0.2466, 0.0464, -0.1294, -0.0479, -2.0034, 6.6393, 1.3651, -0.0611, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.6012, 0.292, 0.58, -0.3531, -0.2821, 0.9984, -0.0254, 0.9482, 0.7467, -0.7692, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.323 left_y=-0.0753 left_z=-0.0023 left_yaw=0.0084 left_pitch=-0.0947 left_roll=0.0297 left_gripper=0.9984 right_x=0.2575 right_y=0.0005 right_z=0.1328 right_yaw=0.0097 right_pitch=-0.3893 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.1368, 3.3026, 1.3065, -0.0952, 0.105, -0.1685, -0.1026, -1.9214, 6.6256, 1.5116, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fecf67b8e1796c3e386e830345746f01893581bc383ec65a25d319a85b66c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04537c9a65ca05a0290f684f9bb4b0c4cd95d94bc348e2ed09b72925f5830194",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74ee19438d0498bb359679e2575948584e821d0661ecf92f895345c37abc217",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4eIKFFttaQE_aJ3qv5MewJ92byGH6zPI0udgKMu7u829v56RZzv1gHcg4XSsBHDS1agd7gZNQf8vY5TjnlBC4gVuMuRd_5NHRSr13ZiDKuGRgSHhqlcjhC9ozF0ebiKBMOO8Rzam-ewt8f2V0mtC6cGuRVqFIm2H4gj3obGbNPQRpiYtBmA7xSAerf4hLJL0-GNk5NHxdILg67XkLX8HGXekp86VG-7oIs71KIIlmmklEtw4XLG3TpXgucWO26BcWlnCY6ihEC2udk04R1f75oY6UoFxu_OJajyUM6PCcw3oAjK9adZnJwK8Q15IhfrcPtJ2PwfROHO-2GUPX-yOJgYXKhT7lQl01LHxoV9cbYCSjgMSZbb_ey8yqb-M0i-kHgAbZaseCthh17PvthDlRAw-s9Ohjtztl3ILbMlSw37OMmU_nQmn2V3he7QcRx8xCONzIWfoUtwlvVzO_gU_g16e4py_KqDbWf5E_QJ_uZQAZfPhTvXvT2fZJZzsLQpwFhcR1gxtuV8LBLFRIHLywtF-chIoneMt6f-hRIr4DdfoegmxsNas2ISeP90DHd7p95f1aYxd4M4WKtPnaGpMoBfkuunVHWDeVSBpWrGNZw2JHwhaviLKJhNaI-ikjB75yjrixRWU8W17vBkCvOs6qSeORTorTMxzx3CcRCuNqJ2JOYkmCR71dZQFiyjTDZLrdBmj2EzXHaqQDZNXnmuvuGG8PXSrHhw6dctQmWTzRPYxqUdpr-LuV5t-LY4VmrCyKwFOZ1629gmsTI284BK7FJzI6OctjoCJTicOqVJK6gluoGYY19CVeoNuerQgDKQSthfbfAOC3uoJ0kDmjycQQzBdfpiJICoJe3m2yE3lvPZG18dx7OzGHQd6AyAu4kxo7JGKNy3LBd9KdUCa6MpKlMJyhHahffvHpP8kqwpLRFt6ubngjznxswp0fvY4TqT4iC3K1iXvQR1BadHv4Zg1JZibUbzRGQeJgDpi9jxVYLUwFAmhdPg9bAOnB775SLClgXQgQJixKrJkShedxLTKNcGfrtU2CcvnG59JsLkFM56CRZiAYn7wk-TfwCni8OFJiLA_vXOlFztIpMqKLGUH7K18og0j_X63_RglbVFzSwNmgLlW51FFtjXzD5AbOrj6r9MAeA5mrDRxK9zJUWETsrN0xj00Mx6KWA5OH0uGMQIC3dYlGnA43HrOplASwk0O23e8GKnaTSRJGsMmaZJO0IfAcXlgQg2EBIaFSghEIWSpNutJchbnh_d-eVR2zYKY94j2sqHk2F2NvQMsv4V3S3Vw==",
  "id": "rs_0e58d6586580f960016ab43e1df5c487d08a454b1127f6f86e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"At table height the plush remains centered and now fills the gap between both fingertips, unlike the earlier off-center attempts. I’ll close on the middle of its body.\"}",
  "call_id": "call_ivB6nzacU16BOQXybbyi1uXa",
  "id": "fc_0e58d6586580f960016ab43e1e3a6087d0aba431e28258114c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ivB6nzacU16BOQXybbyi1uXa",
  "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]: [-0.4252, 1.6096, 0.2821, 0.601, -0.355, -0.2897, 0.0212, -0.0254, 0.9493, 0.7467, -0.7883, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.0744 left_z=-0.004 left_yaw=0.014 left_pitch=-0.0916 left_roll=0.0237 left_gripper=0.0212 right_x=0.2536 right_y=0.0006 right_z=0.1299 right_yaw=0.01 right_pitch=-0.4095 right_roll=0.0147 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.7504, 4.8068, 1.453, -0.1392, 0.0513, 0.9988, -0.1299, -2.0171, 6.5846, 1.4823, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b263dcc4d54307615c418916f356e253c6d2c998ede8b87d447710067f77345d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e204d51249130738b385e177daf5567754405f4fd0ba1f09362ace79b49e32c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a35d37744a6338e45311a8cafbee361e67411ca8e8e9845fb81abedb29442b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 8.04 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3454, 1.4918, 0.2008, 0.5545, -0.2863, -0.2371, 0.0104, -0.0254, 0.9466, 0.7467, -0.7433, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.052 left_z=-0.0045 left_yaw=0.0095 left_pitch=-0.1194 left_roll=0.026 left_gripper=0.0104 right_x=0.2627 right_y=0.0004 right_z=0.1368 right_yaw=0.0091 right_pitch=-0.3618 right_roll=0.0131 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.8342, 4.9983, 1.3651, -0.0904, 0.0904, 0.862, -0.0068, -2.2906, 6.6393, 1.4872, -0.0269, -0.022, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.6012, 0.292, 0.58, -0.3531, -0.2821, 0.9984, -0.0254, 0.9482, 0.7467, -0.7692, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.323 left_y=-0.0753 left_z=-0.0023 left_yaw=0.0084 left_pitch=-0.0947 left_roll=0.0297 left_gripper=0.9984 right_x=0.2575 right_y=0.0005 right_z=0.1328 right_yaw=0.0097 right_pitch=-0.3893 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.1368, 3.3026, 1.3065, -0.0952, 0.105, -0.1685, -0.1026, -1.9214, 6.6256, 1.5116, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.6096, 0.2821, 0.601, -0.355, -0.2897, 0.0212, -0.0254, 0.9493, 0.7467, -0.7883, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.0744 left_z=-0.004 left_yaw=0.014 left_pitch=-0.0916 left_roll=0.0237 left_gripper=0.0212 right_x=0.2536 right_y=0.0006 right_z=0.1299 right_yaw=0.01 right_pitch=-0.4095 right_roll=0.0147 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.7504, 4.8068, 1.453, -0.1392, 0.0513, 0.9988, -0.1299, -2.0171, 6.5846, 1.4823, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b263dcc4d54307615c418916f356e253c6d2c998ede8b87d447710067f77345d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e204d51249130738b385e177daf5567754405f4fd0ba1f09362ace79b49e32c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a35d37744a6338e45311a8cafbee361e67411ca8e8e9845fb81abedb29442b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD4j-9yUM-GOdQGXaLsubKPVsTIqBrjwCkbnd5ZiM0o6MqvYPP9UcYH6AmiBb90vzre_hbV6hcpQ6yTQFqx7kCEwS8reNcHdrwXa0Y6wdzdEZRWmsC4CnRgJ_nDDCxuOWwk8iwvcBm4BF_LKmi4UL0SFhEZCYmJn6YAN_N3lTOUm_vVcwSc-BcPT0XHywGyiVO5S7KTG53Zs3d-WpIiXQ5fM3YrdxLynFT2XOq7AR44tnnu2FPvA7a_9ZPDiVkbRchcwjKHJlFTq7GyJ811FghgoQzb0ZxRS51lL8Cgo8JjkIuZSUCZ4prDoRx5RMIEvJ1D-1Imq6MFP_e-JhQ0YwuJhILHRzW6ZvP33jofUPTlA5XJlLPXtsJl5Ab0hz1LGi9EJvSCB95tdrhhd34F51bclJcdg9g5vLpzdu9KWZGtfqkfXcDyxFSk5bVMLRxD3Oqfco7O4iF-UL6iiq4G92GVMfBd5ZNcuswujvXcr4eUshE4CQtDRKUCwLl8J770Z9oWKwdxYlem5gYsIYuMB5Ayd30WcuuU6MOpSaSvY0vkWPiprpKx-5dya0kKJX7z6QJAUFqWkFteZ45eeSR3q9J88FYmHu9ut8eDEx1YIgnSdE2wkIQqQp5LVfZQs3expTYMfd6cvi0Ax-u2FSkChIJqckzGkyngxbxDosyR9rJcPWWDw6-jIvOB2-eYKeGJ2pJ1FJh1bDYLt52PrdlFWh5bAnSq1gg0njj46GX96IjMF_AyO_ohsqnpBLfrs-8U05uxkEg_8nJSp25peSaK-MZqQV2p4n3ECmqdWXl9Zzcfa-tn8XzCysN58pFl0-KIRYKmNzVO5vh9lU6CcfvBAyZZQT7Ql6oBw2IsmWAmKsINyM8aUjlMvzBRZ8nazJzij5v9y0f1fQ1ngcHo4rAXSxtvh55Snx_u--e_dSFWXK9ODSgAb1vQh3AX8PEsDT9NzDmSqg68Yj5A57012Uq3UcwldLYub4oDZ-KrA35nPwbGLfhAu-N80xGqqbp4hJgUV8imj-mPyxtb5S3flAkVB0gbATAA_gcnzT-R7fX7TeJM6Qau9Row4phdi8hjRwxAJiOV5fhsBSKnKWiWIXtyDdCjz_fBykNg26yqcbnY0lsFqSlJhLP-c8DPjhadk00e_FTNjph_-ZAZoKz5ZmNeEEjtkySzTd5XbrscWJgmG2deW2dd4BxJIdZN5DjYGfJ4fgJCEmF4sXqlNO-3OWZio_Bbzcwf1MfoFLUCE20IQ59ZgU1b6ngEA3H_5PyIOnNp3oeK-RnggTr0nNfgtaFPlzxZaYVVSjeRc86w2rJo_HPuYvbE1Dxr6zKatzJX1LmAVlviMPMVJPfla9jb4IawxqPXaeajosNZ2BMXytRT_uiF2H-MvmNPoCUloJkyDyoN477BLxcIwzCAA62IzSJ_nz0Pai7O9Ww6Ja68Eff9TMIwFgD6F1Q5K7z4_k6G-B5hZL5bkVm3BF2Ff5Nve9qMQabXqlD77sfroZzKQjXLUwWMTuoLM8S2GY1cppCJSby1QNt0edefSbKvXBMay6wYzCIyVU5NK4WGkRAeL7RH1lPlJCaG_7Cg0T5Q1UltUAngLHoZ9Zi6U6C_ZEOiuNmFTAvByg3bRXtozeW_JYozfofbgD0yIA3jRVLLqwjvBc_gMYPgsjrpC-EDh95sFWw7SO_qGvo6iZKMz-ysHT1ErOViyR0kLLTfmtslF-wPWQsiIWCbhihUYaTTWkALbzwKEMLMH29NByKHvKC6MvCE0r4eyxvo=",
  "id": "rs_0e58d6586580f960016ab43e21366c87d0b457657ba7b9c541",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.322,\"left_y\":-0.074,\"left_z\":0.08,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The retained opening is only 0.021, normally an empty indication, but the plush visibly shifted onto the closed jaw tip and may be pinched by a thin limb. I’ll lift about 8 cm to make the definitive overhead motion test.\"}",
  "call_id": "call_bbperiOR9PeS4qSSsHRZbloc",
  "id": "fc_0e58d6586580f960016ab43e223b3c87d08088362515f09c86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bbperiOR9PeS4qSSsHRZbloc",
  "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]: [-0.4252, 1.2285, 0.3267, 0.2493, -0.3565, -0.2855, 0.0294, -0.0254, 0.9539, 0.7467, -0.7956, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3164 left_y=-0.0716 left_z=0.0628 left_yaw=0.0111 left_pitch=-0.0242 left_roll=-0.0034 left_gripper=0.0294 right_x=0.2522 right_y=0.0007 right_z=0.1279 right_yaw=0.0099 right_pitch=-0.4213 right_roll=0.0154 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.9726, 8.6085, 1.9707, -0.1636, 0.188, 1.033, -0.1573, -1.8256, 6.5846, 1.3358, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9d07479d42022deeaf4d85640a92dd87814117d7269bb22ff21c6486fc0f00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e092b521fd432e9889bc9fb4035368529b98b153b425ed4f18f86843ce405d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ead5893f9c05a9facd2119c004e0eec9d174f80ee297f68c9badca51215a51",
      "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 20 attempt 0 · /responses · status 200 · 5.009 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4202, 1.3117, 0.4343, 0.2012, -0.345, -0.276, 0.9954, -0.0254, 0.9474, 0.7467, -0.7513, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3358 left_y=-0.0807 left_z=0.0694 left_yaw=0.0019 left_pitch=-0.0487 left_roll=0.0078 left_gripper=0.9954 right_x=0.2611 right_y=0.0004 right_z=0.1355 right_yaw=0.0092 right_pitch=-0.3706 right_roll=0.0135 right_gripper=0.9996\nstate[joint_eff]: [-0.5812, -5.6684, 8.4991, 1.7656, -0.2466, 0.0464, -0.1294, -0.0479, -2.0034, 6.6393, 1.3651, -0.0611, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.6096, 0.2821, 0.601, -0.355, -0.2897, 0.0212, -0.0254, 0.9493, 0.7467, -0.7883, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.0744 left_z=-0.004 left_yaw=0.014 left_pitch=-0.0916 left_roll=0.0237 left_gripper=0.0212 right_x=0.2536 right_y=0.0006 right_z=0.1299 right_yaw=0.01 right_pitch=-0.4095 right_roll=0.0147 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.7504, 4.8068, 1.453, -0.1392, 0.0513, 0.9988, -0.1299, -2.0171, 6.5846, 1.4823, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.2285, 0.3267, 0.2493, -0.3565, -0.2855, 0.0294, -0.0254, 0.9539, 0.7467, -0.7956, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3164 left_y=-0.0716 left_z=0.0628 left_yaw=0.0111 left_pitch=-0.0242 left_roll=-0.0034 left_gripper=0.0294 right_x=0.2522 right_y=0.0007 right_z=0.1279 right_yaw=0.0099 right_pitch=-0.4213 right_roll=0.0154 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.9726, 8.6085, 1.9707, -0.1636, 0.188, 1.033, -0.1573, -1.8256, 6.5846, 1.3358, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9d07479d42022deeaf4d85640a92dd87814117d7269bb22ff21c6486fc0f00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06e092b521fd432e9889bc9fb4035368529b98b153b425ed4f18f86843ce405d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ead5893f9c05a9facd2119c004e0eec9d174f80ee297f68c9badca51215a51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4rYZ6OXQl8g6XiK1Fl5v0EgMUSdhQRL7ejtNgYSO1K1jpY-fpDkTkF8sZONUJEIlWGoq33JKXT8gCQhC0z-M6QTq-QMbXB_oA-lfkyZ4rA3qjNFvZvneBKEGcvhgpKtKSwiQH_UYFs6kpg5mlYGCe0zONi7FOewmNbV15GnAEyGAvAI5ewgesMrma-FZTKxzG3aqE3GW1V7162A_g3-cPn6nqL4i0xVO0pkuRnGD3jkBLi7CJ0tAZS1YWOFajFknUCaf_3-DkhxY8dAZZXI1h0RVzUeQool8pms-J33IBGEuEYX3-TzJXX4QTmixih4ZwySYbfaUKzvfd3GZAQhxlqdvQz-xrIQIdAurKkCzzcBukRmahnP0mwP9d0s189ckAZgAtGUYqOz8Kd9Rb31Ruz-mGUeveazaaxYq2C_I86ITIFLZLvtBlDSl9xA5V23kssM5bSL7uP6bjuJ8X4sNerR6h0Ti_LkJBHiUy65oCf6KLyl6PM70UrIK9YF7s9wSzGH3Lqr8t3uVYOSMIvbrZobskDzDZ4lSIjqsyM9aG5heHSZmNsKKbg72SOOsA8b0xo6EWOLWtIoBS_LeDNgoMeoTpefiryD2gvUHGTSjQNpSp7BoA7UbQgzpND_3gGlHHNT0GusJWApR_j5lJ5SeT8lVcs1wGDV_vKamnRebu5AKwFJKe7Y1GZmQ9-_gTrR6XqXWz9bi2rICE7RSgJhZvvSsOgTUcWwMq5MLYy5ZeeaSTL6yg55PziBzLKh8qixO-_Itjh1ybOfwL_9HqGstLoFFLTNmtgMYQSixQ9lUIu5I5vnjywgvRit0Uy0hqaspk6VBK10WrwJoqAKJZdZ02JLDhWXTYdoFi1qRC4BB7fzysmwnxT1fFRLF5bRYVlBBFAi4V8xH2glQW0TxzqNeHXWpjmv-nOp1MVjQ35Qp8dumpMw5jhKvXmTQyyka4GJ6h9Vdc7hlr1EaCm6TiPcyK-m6XS2ZVT2nwq8egAdRNMUIEW-OmCWqRkSLOJyc8ANYsGSoq1dLDvoFpGBZIfdj0bfpQgcaIWBhx0ZhSOa0QEDMk5ivsCBmBNO0v9BZBumaRJo-lMzsxTNgPkHFpJvFxu3bkAyFmZv4vOPYAy_iJLoAu23C58ci7dSYO8L1rxkMe26jz9HTOhDkbA8RNK5cdelK6ocnLl00AVoOwdI_pBcc8zCtNzFpp1nMT7mWzeX8JB0W3MBH5_bnjWinqGA2Gh-j1Jm7ojVO8JoxiMX6Xw_Oy8LEpFGvWXtyp_k7xIPGWxQzBQaa4gRCIta1d8BgdpMidiNVxHjpoild3QqDzf10KvqNuRUnKpzeQto9IgayWcoAKkqBjAgSr8h6TkwvQAPLp-Y3Vh55KEdzeyjBLcJcj_iYr2El6tWEAI4YKUnykWy-gD69ldm6mtbbIA1YCA5uZd-SUSageQtsNmYJ53IiIDHycuwpbigA4gwLkadWvNpOxDVpZAw5dg_qh3bYU9S5XkgzLZXf-21brW3xGdwYIETHCKcdSEP-ZJXmb6splde-Gm5klerKcwT7ajlzdPr2QdnAVWqL2bXvKJIylQtZJIQsyTeNeiykbWF9K8Cr2HZRH_gj9WYETICYQMY3IZHtHfigTSEgJq7RHJDaVJo3lEGKszNlf3qAMIuLXqFlSvqgovd7-zU7Al7HxzkqVGW9EjXRud-r_U4Slr-5Mw-DruaWWjdh0i7rCUBlM7ewgAk2t3Sv0oLwUdMm-DW4ChG05ZmGmaiTelu0LSC7NvaiEseVmpj4swseYUB2aUOf9ZKamnrpFbt9N83DGeVhUf0Jat3ey6AW0etONFBwVEeRtsPHZCacNXxBd5FVZs4u_QAN6CYRf7_VFEBugEy2MsOJPYDIDnjT6MrFvIbnXpmqIIVFWiIhHlWVw97viw4szY7DlnFHg4uEfDbjr0_RZde6js5GXpyqjQnJR3o_javwUVwWn4zfUc6NzTP4_n4zxsPbHtw64W0RHtfjt609J3-S7glNopz4cOOa8gUnf20-7uq7VdBp1one7cBjhtlTDz7MRGtQyN7c62cv-keRLzxG9ZxGE5ZceaML6XVDSg23yvwxHRFRRx_m4hzaCscHGWbhr5_BjEXNm9MccmreDBl1zIMJTq01PXez10upy49szMxiYaYdyvJ6HiW0qNVoHPeRodxxrxvQ-nNd1kSi1_XyasfpXsucQe7qQ_zhFAHpJVlJ1F5VFA6rFAaeDhdnYQFnan3zJI-bLaMXAi2PBtg9agI4u3bs4sY_iSS6kQe6UyGJHDrF0r01D4qVAio0sMpuuYjJMxj76z_YSQuxNpoeyKglpdHpJYFfuI8AJb09F25RY7oRhSnfY4BdEF-zsReETRYM7NL_33Dn8UHppkcHTrSwjmcBSbg2U2_jDITvebwCS6KInHmx1ajTIESRrvedrwiJ1gsfmOjaA9BRkOLyDhyXruTgJhScQv5qk5l6b2QX2hbmBwhnH64XXyEdq-O3Y2sf4Yr-o0y0KsNmQzvQcRlTK8wiorZ1G4BGMgUrvF3aRSgo6jN4gBgpy1feV_KzhT6VizOrl7Bp1-V8-XOr_LXE7Sf1mTdE5p3YwjvV7bbfg5y_PlhGrgXaRRt81b1jCOxaxb5tuBImFx3FuEzJbeN2ewt02qbaqfjjAny4c7GwUekkxnwAp6muN8KxDYkur5IZrzbcbm8crOvGmBuee-SxuOwwas6kqduy8OlyBXmw9egyV6S2hFxNArJmkWDwlBHPcplT9flN4ou2W1cp2wwV28Nxe8P04HrynFuA3Oxveafi1oQQbvnRrfg1WWAfxLFhhF1XB78cdPMShaZNxbUIeHCxUyC1fRAyXafEfx9QdjJEJfuIDjdzANTPimr40WuF7YCH14qEk-yxdbotUOcYQxx3MOSz4dY9ScOMzAYFgH8gJNzrFxKUk61QAG_yUoE495UxyudjYqRbz_lub5NSrMGdGqiV-h41oX1uAcOQMsUAqMrGwe4DFXv7wdDAs6WTpFZTv6Bl51IjF7kPoD0esUGLFPDimPuUBLggrpkusi4MyIXMYKDbivpphPIsThRcbVs5NXSHwbl_Y-4g==",
  "id": "rs_0e58d6586580f960016ab43e25428c87d091297ebed1774b0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.22,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The lift confirms the white plush moved with the jaws despite the thin pinch. The safe interior is about 15 cm centerward and 3–4 cm forward from the current grasp, so I’ll carry high to a point above its center.\"}",
  "call_id": "call_R5jZiXPc2we8iDMIhyQJPQ3B",
  "id": "fc_0e58d6586580f960016ab43e2950ac87d09a788d9e8468f989",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R5jZiXPc2we8iDMIhyQJPQ3B",
  "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]: [-0.8074, 1.5204, 1.0336, -0.3077, -0.6266, -0.5537, 0.0294, -0.0254, 0.9539, 0.7467, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3545 left_y=-0.2154 left_z=0.1621 left_yaw=-0.0129 left_pitch=-0.0352 left_roll=0.0043 left_gripper=0.0294 right_x=0.2484 right_y=0.0008 right_z=0.1255 right_yaw=0.0105 right_pitch=-0.4396 right_roll=0.0159 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.0359, 8.9504, 1.4628, -0.6227, 0.0659, 1.033, -0.212, -1.6615, 6.7624, 1.3944, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e9ebe7a7ba3d41e2bda9db942e698997518b229bf3debd7ea4b208c3cc4688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4910ec9eb14ad7f7a9a1c67a33520c96cd074bc0d181289623a01d6d97f9b148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e0ac04c80aa2db062d2ed25dd5105d65e0cbfb1c586d93cde90cee84b0b149",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 2.069 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.6012, 0.292, 0.58, -0.3531, -0.2821, 0.9984, -0.0254, 0.9482, 0.7467, -0.7692, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.323 left_y=-0.0753 left_z=-0.0023 left_yaw=0.0084 left_pitch=-0.0947 left_roll=0.0297 left_gripper=0.9984 right_x=0.2575 right_y=0.0005 right_z=0.1328 right_yaw=0.0097 right_pitch=-0.3893 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.1368, 3.3026, 1.3065, -0.0952, 0.105, -0.1685, -0.1026, -1.9214, 6.6256, 1.5116, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.2285, 0.3267, 0.2493, -0.3565, -0.2855, 0.0294, -0.0254, 0.9539, 0.7467, -0.7956, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3164 left_y=-0.0716 left_z=0.0628 left_yaw=0.0111 left_pitch=-0.0242 left_roll=-0.0034 left_gripper=0.0294 right_x=0.2522 right_y=0.0007 right_z=0.1279 right_yaw=0.0099 right_pitch=-0.4213 right_roll=0.0154 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.9726, 8.6085, 1.9707, -0.1636, 0.188, 1.033, -0.1573, -1.8256, 6.5846, 1.3358, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8074, 1.5204, 1.0336, -0.3077, -0.6266, -0.5537, 0.0294, -0.0254, 0.9539, 0.7467, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3545 left_y=-0.2154 left_z=0.1621 left_yaw=-0.0129 left_pitch=-0.0352 left_roll=0.0043 left_gripper=0.0294 right_x=0.2484 right_y=0.0008 right_z=0.1255 right_yaw=0.0105 right_pitch=-0.4396 right_roll=0.0159 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.0359, 8.9504, 1.4628, -0.6227, 0.0659, 1.033, -0.212, -1.6615, 6.7624, 1.3944, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e9ebe7a7ba3d41e2bda9db942e698997518b229bf3debd7ea4b208c3cc4688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4910ec9eb14ad7f7a9a1c67a33520c96cd074bc0d181289623a01d6d97f9b148",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63e0ac04c80aa2db062d2ed25dd5105d65e0cbfb1c586d93cde90cee84b0b149",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD4ysL-pkxEnK2uaqq2o15FHCQ1WaQb8WbB8ZyaWpnFaaOnBshMrra6MLiQdF_M9U8T92Wqo85aflMWZ83BE1LPH_CnLAysfiQ0axneSdd1Pywn3TDFAbdedceM3G_kmAmmPUL_QqimmX5wndRkOxFhhOCG8UVh8CLX21VXsKn6gyQzBj9xbfN6LleuP-EUjd4fqgHZG92qGpA3Oq5F-4encGYfIEkWO8j8UZ0OJcl0EnB6sRcypJ34VDqWbpo1QYlP7_mfze-by9v3yctl7RsqzYo7R7lE1Yi85ASMbmFQ8QLszKFKQPwxa0b5VqHFucaRi3GnQeN-MA8y-aJLuGD1ebHLqEe9fvR-LNcHtU-KRT3pLAH3EW-Jg6XpFF3zRfMjKr6ahm_Wo7inwzBLMz0f2CHJQq6SqLfN5i2worV2B6WcQuhODkGHVPyG8gfw7XcdPKU9-izBrXLOJKT3_ssG6Fc9XWv8aQnCShTYkpYsR5XvfaO8I30qWExHcy06N0mXBwS1tbW-bDSKllFh_AcP-yVWkSDrV03lp6WTpFVd7v28bHDE_tdSXYmrc67wXBF30A_tOXIZyahi_yVdCdg-5C8r_2fg-FVGtX0UtL84MQ2ajG_xbCmvXEq61LiLHo455RBuu7ltqN27JzfCBvnn62Ro0A_eGyS6L_EC4T0XZNO4wyuOa6gPqFDODj7pfjoAWuPYaScN0bwES7qkWP1yxLrbvD5YM2mYg4haD9zCi3cEChZsjjuZIjaksK4DZwogC2kG9AgjUacMLGPbj42J50CLpSUYPvA2IAJCgds14gkYGpt87eh2DmodJ51CYy3WLX_HRO0oEYW5FSXyzULNprV2UGSKi6A6GKGQcZw0FaPbC5hKIBHK8AUR66psFNcy_7IobefsQg-4rk9ZO7CHKW9t6eJ-83d40ixBVrVhe6-mUCavLVryzC_QUPZJ2kTSkBbNwInkoCh65RGOvQnkCMMmWlYaXevLr2o7mwcd5xuow4f6oiASL-iYfHvUQXxK9kngZx-S343nrC13x1Jca9dk0y-RUWqJoqK1Spk0hPDLUJCDXYyX8ZRKQqaiZOhLfcdIdW-oxSLfcuQ7Ieajet23NunyYM2k8Mdx4OgPqTStQKJ3Z2NFvotpkCibU3J8MIfx2HdY57TH4zzXb4kZmEh2nM3_pxn1TIqkIvuBjRt0bKaFTT-gSC-n-v_C1EeHn5RY2if1o00Nkwtd6GN1jYKNGg5m-F8v9a6b-CX8EW3I7wxCzSXH414Bd0EyyE_WvCLpo6mURV72Lv34LY5rWvxIOavuHi1VRMY5SYsRUgFi55Sx1KBqAjV-5vJu23r7wGSWufQWfbbO4iwijtYlTbjlIKTfyzQ8ihQAi_PWQtNQos2pw1fAAw9LwhEHA2i9--AbqBRWpQNwQUao8lxn-Z20cB4gpwF_fxuEmiyzFJlXDpxkA-wyRyXLwiLCpUlFnWz6q4te4v-9jFfIt2nFp4_C-IKNfbkoUQRDbIbNqa74X0g8rdZBR8Bopb44rpl3DLad24OnC_CgTN_5G2Y-o4PcZufPMks86UggRauIpqCbvQRrAFfpqtHHMqnOx3VwbtKU0nlf8RiQK1MFXUt6ae3SkyyzMdB5EPdq-CwBV7PgAJ1wS6hTOX_KdGIbo6UQq8Mk5uV-lEoBBcrdxpCcvp2Geuw4Xpe_Vv55ZHTaMR1kcbAXp3ZuVS8zr2V6IsxNnee9Q-3whYL7kUSVpWX1EzQ==",
  "id": "rs_0e58d6586580f960016ab43e2f7e5087d08b3a34c1cb1b0895",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.215,\"left_z\":0.07,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":0.0},\"note\":\"The carried plush is over the open red base, with its lower body already hanging inside the rim. I’ll lower it into the safe until the grasp point is just above the interior floor.\"}",
  "call_id": "call_ABQm9VlHBtBEhYqDaQBVdXGA",
  "id": "fc_0e58d6586580f960016ab43e30dfb087d084a02c1e868bd89d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ABQm9VlHBtBEhYqDaQBVdXGA",
  "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]: [-0.8169, 1.6756, 0.7918, 0.0303, -0.6422, -0.5583, 0.0293, -0.0254, 0.9539, 0.7467, -0.833, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3457 left_y=-0.2083 left_z=0.0639 left_yaw=-0.0067 left_pitch=-0.0679 left_roll=0.0511 left_gripper=0.0293 right_x=0.2443 right_y=0.0009 right_z=0.123 right_yaw=0.0106 right_pitch=-0.4586 right_roll=0.0169 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -7.1316, 5.4496, 1.6239, -0.4762, 0.0122, 1.0281, -0.0752, -1.894, 6.5162, 1.4139, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cfcf06c5920259668ddde83bf7563b1b8fa54ce44de1412e93234d7577b55d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78130ca9d822cc9d7c65d4c9e5bee3dea7133d93f66615da69a10e888f4e5a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9d49a67aa69ff3bb069cdd4793a4b4415fb6132959e7c54c93587a88d1f50f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 5.742 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.6096, 0.2821, 0.601, -0.355, -0.2897, 0.0212, -0.0254, 0.9493, 0.7467, -0.7883, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3218 left_y=-0.0744 left_z=-0.004 left_yaw=0.014 left_pitch=-0.0916 left_roll=0.0237 left_gripper=0.0212 right_x=0.2536 right_y=0.0006 right_z=0.1299 right_yaw=0.01 right_pitch=-0.4095 right_roll=0.0147 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -5.7504, 4.8068, 1.453, -0.1392, 0.0513, 0.9988, -0.1299, -2.0171, 6.5846, 1.4823, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8074, 1.5204, 1.0336, -0.3077, -0.6266, -0.5537, 0.0294, -0.0254, 0.9539, 0.7467, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3545 left_y=-0.2154 left_z=0.1621 left_yaw=-0.0129 left_pitch=-0.0352 left_roll=0.0043 left_gripper=0.0294 right_x=0.2484 right_y=0.0008 right_z=0.1255 right_yaw=0.0105 right_pitch=-0.4396 right_roll=0.0159 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.0359, 8.9504, 1.4628, -0.6227, 0.0659, 1.033, -0.212, -1.6615, 6.7624, 1.3944, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8169, 1.6756, 0.7918, 0.0303, -0.6422, -0.5583, 0.0293, -0.0254, 0.9539, 0.7467, -0.833, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3457 left_y=-0.2083 left_z=0.0639 left_yaw=-0.0067 left_pitch=-0.0679 left_roll=0.0511 left_gripper=0.0293 right_x=0.2443 right_y=0.0009 right_z=0.123 right_yaw=0.0106 right_pitch=-0.4586 right_roll=0.0169 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -7.1316, 5.4496, 1.6239, -0.4762, 0.0122, 1.0281, -0.0752, -1.894, 6.5162, 1.4139, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0cfcf06c5920259668ddde83bf7563b1b8fa54ce44de1412e93234d7577b55d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78130ca9d822cc9d7c65d4c9e5bee3dea7133d93f66615da69a10e888f4e5a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e9d49a67aa69ff3bb069cdd4793a4b4415fb6132959e7c54c93587a88d1f50f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD40WtiVZkV124tNGY-0TFl0w4atrbZEtuDI_QOlJymyMHkNhkELO5bTm4UTpTUPmsgd-_8Kzo5O7Q4UlBHkBiojLaRl12M0OHg_ZcXjwtpe3OubsYA1-3JxuTmqw8ypsOuTQDdSoK-matSRKa-k0xe4-gX5k-Sz6RxYan0UCihYJxb40wnF8y3fqOah41PBw-q6j-32Tsq0LZ3oOZRymN9G8qEz7i6dE1NkjpP65XlR6Pkv3bk-VzMbzoGlxUvPmXIlEtW4-uKz360_TpMhxnyPqTm-kfVgVZVO-EW_BAiXFh3b742y86DCEurHSVfo1DSbbgxeCZHCaJjZY9b5i8_qrfw_BDPpVAgY4zswnX-pB3jirOp4aFdOmBdqg90bYfhozttrF24K-n0bbZNj5v9JUwkZZlSNA_6JoVoItyDyeTPvrJL42157Be2Alcds7vAO-Ds1_2uRqebDCW144CS34UXzfoKg3Gik1sW8RHrbOWmz6VMGg-9jfG0QRXn9hRfmmwhJ8qGeUPKHke7DqhyFVyP_26p67F-mhlpE_--AjlJMOhRBQ-Cs2UqNKBPBVqn5sscmoSYNBIBnLY4brzzSKoussSiNtaC5Zs_Uo_SuqJdPQ5b-nKh2UTYnpJJhYGMLDKEah6hH_UCvxnFMz0Dj91Kg1jg_u9SRIojjp6MomzvrSJh1K6W0GGtV6z5vnSYQG738SUd--lwV1wQsPZFBuHmRZw2wG9-w30A8KYjw6DqB3SH_YAGtaK6OkHsoPhp0ZK413vTHALa1Zw3JMCr138yK2CpN-V5jOXD-Dex7RNYB1bOSTHijjrVqKe-xUN8fs2QyrX7gEKqf0XIOhJS4YRQK_2NMPde5TZ4oKfLP_dstxsUdWSpowdHK27loTJP-fk9AADeQ8vH7MGcDy_xs4zAHYOhmGYPzfgmeF7nMjmBdsRik4uaGWaNpqGUpuD1STPjeX779zUF1vePqRDgbOHdEnI-N2hGKEwTZVo9LdLjS0082mBJPCtpNQFaR3imLbXXWnmJId2r96tUhRPAFkC1A6K9984czZ1mmcDCqYbOOOoqJfC27GL5TpGgs6rMqMkMQs5V2CUbEgHBhNVbNGOTTKA1--mJIGMCTb26NQVrsVhA0h4UT2yMl4cihtueMzQ_QCGJhVVwClzIGquurP_YNehBaTIa9a7gDPa77-8JcdAvibQ0hxSWUIYPrMhBKk-9GF1jk36Zc57nLSEhhBSDey4hn-HQZqzEOU6BRo-Yhde0Ia64fdt-Sx2EV8CpE",
  "id": "rs_0e58d6586580f960016ab43e33ccdc87d081337896c64be798",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The plush is resting inside the safe against the back wall with its body below the rim. I’ll open the left gripper to release it in place.\"}",
  "call_id": "call_AGXplRj09fnfJunDJhbQqPM3",
  "id": "fc_0e58d6586580f960016ab43e33fdf887d08dea00999d8a7269",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AGXplRj09fnfJunDJhbQqPM3",
  "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]: [-0.8177, 1.6939, 0.7731, 0.0185, -0.6411, -0.5629, 0.9959, -0.0254, 0.9577, 0.7467, -0.8532, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3393 left_y=-0.2023 left_z=0.0493 left_yaw=-0.0027 left_pitch=-0.102 left_roll=0.0825 left_gripper=0.9959 right_x=0.24 right_y=0.001 right_z=0.1197 right_yaw=0.0112 right_pitch=-0.4827 right_roll=0.0176 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -8.5812, 7.1453, 1.37, -0.3687, 0.0122, -0.1148, -0.0889, -2.1402, 6.5026, 1.3895, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22771990c73ba1ea8840c07ecd73eef4d34a7fab2d118c507ffe566f97cfc9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545864a3d72730092f941aac13809b16b9156df927bf590200cf5bea32f297d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b2777d6c993f67e2c49a18fba4daa1adc2da124cf5481d156ca624bc317212",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 3.744 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4252, 1.2285, 0.3267, 0.2493, -0.3565, -0.2855, 0.0294, -0.0254, 0.9539, 0.7467, -0.7956, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3164 left_y=-0.0716 left_z=0.0628 left_yaw=0.0111 left_pitch=-0.0242 left_roll=-0.0034 left_gripper=0.0294 right_x=0.2522 right_y=0.0007 right_z=0.1279 right_yaw=0.0099 right_pitch=-0.4213 right_roll=0.0154 right_gripper=0.9996\nstate[joint_eff]: [0.0479, -3.9726, 8.6085, 1.9707, -0.1636, 0.188, 1.033, -0.1573, -1.8256, 6.5846, 1.3358, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8169, 1.6756, 0.7918, 0.0303, -0.6422, -0.5583, 0.0293, -0.0254, 0.9539, 0.7467, -0.833, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3457 left_y=-0.2083 left_z=0.0639 left_yaw=-0.0067 left_pitch=-0.0679 left_roll=0.0511 left_gripper=0.0293 right_x=0.2443 right_y=0.0009 right_z=0.123 right_yaw=0.0106 right_pitch=-0.4586 right_roll=0.0169 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -7.1316, 5.4496, 1.6239, -0.4762, 0.0122, 1.0281, -0.0752, -1.894, 6.5162, 1.4139, -0.0464, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8177, 1.6939, 0.7731, 0.0185, -0.6411, -0.5629, 0.9959, -0.0254, 0.9577, 0.7467, -0.8532, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3393 left_y=-0.2023 left_z=0.0493 left_yaw=-0.0027 left_pitch=-0.102 left_roll=0.0825 left_gripper=0.9959 right_x=0.24 right_y=0.001 right_z=0.1197 right_yaw=0.0112 right_pitch=-0.4827 right_roll=0.0176 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -8.5812, 7.1453, 1.37, -0.3687, 0.0122, -0.1148, -0.0889, -2.1402, 6.5026, 1.3895, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22771990c73ba1ea8840c07ecd73eef4d34a7fab2d118c507ffe566f97cfc9cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:545864a3d72730092f941aac13809b16b9156df927bf590200cf5bea32f297d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2b2777d6c993f67e2c49a18fba4daa1adc2da124cf5481d156ca624bc317212",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD47RPr7TIn4bxqfYD0aLoMqxtcRoXLv1ssktjGP-cRRNXtiBVwUxYAXvBMrC1mkXLnu6laL4VkzfkBtGvSyVD38UUulUJM5dtEIw_LXwKYa5HhphwR5jLxv3bT6IGw9azdp5la03gxYoRdHj0okT9soCiT4psoaSGzMOLisIDNIG1m3NRDlK2C1_wslev0bSJZyph8xmcc8AVtvuCGtOaRKJpcQ0cb2H1NHhEtv7BuFQEjNrnFw0WD04wmj2gsAFRjBcN1383N_t0MpYusOvOi7Lb7412BwptnIBAw2kMeqnVkzMXHvDX7no6B4Ck7xWAaIu9zr1PJQEZdZWyUXsLkfXxg7cI77PNwi6SCAkIkLqmCEtzCGbkfBuux74dNjannyQcuelb8WRWdKJRE4I8vEQ9NxlFvzDja_BGgU0BM44kLo6E2SzhNldaQsGhQDJnJQj_81HUtnewxfsBdGQl6p3JYyakJ8uaA3P4mOJl-5ZWh66IuBytdqLFWfLagLbnqeJtY2GiHz0gWuhhSWIj6Zm2b_jU7AwOB4aQ1R-dvU5tkQ5JMjIru7lnnN7rmL2xnR2u3YOtVf7hLuLXQs42NYJQyyRBCYvolLwc-xQRuzFUExuN6C8Ug87pk5akwfbQfNQLoA0EpadEVj2XcGAtaNmjj5yuCWLMCrUfDHnWAg_Gwi7BqMsTnE3oitM3fYahT1IE5cLBOm9ecdQhkfuTNVAnhBydEnthSCVJ4FD8cB1p2OhkDbF3xGtbOq7i-IdWGQD5ZS619PLz5bQEzt0bYVpwAXYKmJd9NilNn-STja_jkMd5bzOYOKd5fp2ZtOVB0Hv0wXlNAlJHZ_N9uWBRkJANvGmhG2Ipzo20FknezXYLGOKLLe9WYvFJFtQ0q25c_yVjvw6YrCWS81pci9gtToNP24vRuXlDgWzaG4b0buxMN_BaL12AI8JHryN42PPYw7hi4rTWp3wEr6nQ1CZPe3s4YQoOrTn27EyEMt9r8H97udjn0ZJ3wS_5tKbp8cd2c0bzge3oi7hbZHdwOgQ5AMvfRfUFuVmoo-H3mFY6gwX72mWEvKB4xf5lkYLF7upFJsevIlXg4J-iHGYOnKeCk7VwsXgQw5Dp1jhMpaRTCPmr0aLLlPBfn7GP9xqCl43i0aXNsfOH_mAuxb7LMCd84IfihC8QuPmM4GKiGcNbgym7ntZWf4OZyj7Hjx96wOhROXQ4AtrXL_C7CfDNIoi7HvbyQne13GdpTB5RPWthAaoUKgZohzXEf_1eLtddzcf_CJoPUGx8ms4i_ZTVfJoJK5XMu59Jk_TF4ECX_8SfHJdTLqErGvgRSzW8dDZKTAsYnqGpDlvQa0g4SKEbd0Qw-DSApS-tuPM47qKEJ4CZjvY7zJAZ8qK2W7rXX4znzh6JJ6Rs5zkmzwM-Wc5NHINknQBOdB1NX6IJMqsW9ggShlKVUTO08f84bAKcON5alIT2_2lzmQhO_dbFsM865c3kyolOT_9F8RXN349xonZLUPGiWgYMuHb8hNZzsbJCJVA3rBALTNzl1tk6xcVDDt-W0sKNug834ciNVUDxZ4UhJaTf3IhXI4mcsQSId40T3KF5EXiHx3D0RcpJdDgXWzCJCQnM_qf3AThEHSIUIcSXfd-FnLuvo7eabVbCjg7H4UPAfVZQoZ6qNq-Eut74eKvWt28_SBxyvXlJDgc2spLZXddWyKaI5vQOcFqBTWHFyPJGhQ9pBIG9JkrZBwzk22UHq-ef6ACuGoKyOGfzbLEIqqK0e0zY_6GdOsVxlomGO3jdW9k8FQVkmRriX7i1cIcMLP69TKwW_8D2hsYeVayEwPAapUL0tAyU86U2FBo-PASQefTzlfm9zo0hnKsgF_fGO5pua9b99Wcx9pJSsGbe4tgvosyKjqLouUzjXX3Rd-5jyqhWxaCsfXQ3DjToySjXSQvyNUTBnprPTvmgCKKn9LoBqEOmBmXxxGuDY1ZQkfjy7EoXtfeBFMXi5QrBBzhHqX4jqJoSDPFV1yYe-Fnmf0a11E0o-aO0uWfhVizUJWaYuTcKmKkUWNEHILH0_5WMswc_3HFMVWVKWOmJel49JRulkEJ-Vuw7JbLY-xUiZM8ZkpTrVkzq-yrsoFoiLkDel9hVoKTdf-b98MldCrMqnZJrz9vmZ38xIwXEu39Ryjdp3TBp4oA4wvE_jPU4YIy0lcm-bxLUTGoOiEVh5DFU39u6EMH847HCFSOaR7ZuVP1FYJraC_9-wvvcG8LHMQGYpKDegjVeFCrP0pir-zm3temNAaxoxi1nKQJUmDUzC-Hl-OaRRnyw7loETzN34AMx4kyi9g7yFg8A461VAq2rN0uyOcJklaa5POh2Xn9LGNH1-wnmImtpOObsIp1CtuByYmYLL0DDZtrMldAL4fDqG_-DiW-g60OnS--nbq5HMYFjXXtqgOcZ5o8M_lrcfnipk_XDSKKpKmbsjkIPRl7UQ7_iW9zdCzORImt5W0XFEUw0_kd-guynSZrLoPwHgdPV7gyNuwsUOYi7qfGjZfBwzDPWW8lH5-cNez5vlkFxOifeWGndV7WC7owURgL4DSOrMrdLb9UrcVVurCV6d5xhZRSDISMOrfcTfabRTpvrCiw7tyGduiKrldO_hQopgH-DzA3aOmHsR7MI2EOqlN9oMUUnY=",
  "id": "rs_0e58d6586580f960016ab43e36c35087d091dc982a645b0a5b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0.0,\"left_z\":0.177,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.4,\"right_y\":0.12,\"right_z\":0.13,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The white plush is released securely inside the safe. I’ll park and re-level the left arm while sending the right arm high toward the yellow ball, whose overhead position is roughly 16 cm forward and 12 cm left of the current right grasp point.\"}",
  "call_id": "call_XlfRzOj4B8wV8PMtqE49sY64",
  "id": "fc_0e58d6586580f960016ab43e395c4087d0b877018809865436",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XlfRzOj4B8wV8PMtqE49sY64",
  "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]: [-0.0578, 0.8082, 0.5613, -0.3721, -0.1062, -0.0959, 0.9984, 0.4324, 1.4635, 0.762, -0.0589, 0.3317, 0.2375, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0055 left_z=0.1588 left_yaw=0.068 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9984 right_x=0.3762 right_y=0.1142 right_z=0.0989 right_yaw=0.033 right_pitch=-0.13 right_roll=-0.047 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6068, 10.0308, 1.873, 0.1441, 0.1783, -0.1734, 0.0615, -6.147, 9.1966, 1.9658, 0.3443, 0.1685, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d7352a178acb09ad93dd569c1f0445ccc7d63de3e40c8f9e124264b4ac5e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4dd4e691596665d6b2e5869a295ebdf4ffa216d9908c4bc141204806e5f994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3afb37812fee617d2caca3993c139365d7099ed73eaacbde7dd126b6f67cf1f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 3.719 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8074, 1.5204, 1.0336, -0.3077, -0.6266, -0.5537, 0.0294, -0.0254, 0.9539, 0.7467, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3545 left_y=-0.2154 left_z=0.1621 left_yaw=-0.0129 left_pitch=-0.0352 left_roll=0.0043 left_gripper=0.0294 right_x=0.2484 right_y=0.0008 right_z=0.1255 right_yaw=0.0105 right_pitch=-0.4396 right_roll=0.0159 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -7.0359, 8.9504, 1.4628, -0.6227, 0.0659, 1.033, -0.212, -1.6615, 6.7624, 1.3944, -0.0562, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8177, 1.6939, 0.7731, 0.0185, -0.6411, -0.5629, 0.9959, -0.0254, 0.9577, 0.7467, -0.8532, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3393 left_y=-0.2023 left_z=0.0493 left_yaw=-0.0027 left_pitch=-0.102 left_roll=0.0825 left_gripper=0.9959 right_x=0.24 right_y=0.001 right_z=0.1197 right_yaw=0.0112 right_pitch=-0.4827 right_roll=0.0176 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -8.5812, 7.1453, 1.37, -0.3687, 0.0122, -0.1148, -0.0889, -2.1402, 6.5026, 1.3895, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0578, 0.8082, 0.5613, -0.3721, -0.1062, -0.0959, 0.9984, 0.4324, 1.4635, 0.762, -0.0589, 0.3317, 0.2375, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0055 left_z=0.1588 left_yaw=0.068 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9984 right_x=0.3762 right_y=0.1142 right_z=0.0989 right_yaw=0.033 right_pitch=-0.13 right_roll=-0.047 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6068, 10.0308, 1.873, 0.1441, 0.1783, -0.1734, 0.0615, -6.147, 9.1966, 1.9658, 0.3443, 0.1685, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5d7352a178acb09ad93dd569c1f0445ccc7d63de3e40c8f9e124264b4ac5e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4dd4e691596665d6b2e5869a295ebdf4ffa216d9908c4bc141204806e5f994",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3afb37812fee617d2caca3993c139365d7099ed73eaacbde7dd126b6f67cf1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5AIhJbbPEyl3iCW1HbrDtMhRsw6mh2K-PaUdftRRP0-PchgGtdRQEnHxnVM650D5FUbOQp7e1HEC6vPinHTkVee0NZRVrCQUQzSC37jJ4A-__3MjI27DlrqrgMJL-fFHFTk84tLmpNnEEoAwyHtbo-QsKMs6JI4XWAKucBPlNvwFzaf04Qz4YHtzwEsoKL1LYsRQWMZUBA_TpuPj8qA6d1e37GApiL-BH2VZgtfZNArny1sjaB1uBiDAWQFO6VmR0OIJ5Pnf2GBUamWnHfjvF2CrazaGd8JznMfBygq381dCQbrBF3ORGhgP7Ms8DlLjhOt9-M2qYT945rKk1hkKF2JX1oHpDzYFi1TZwaVF3SRTEk7gOZ-uoPM2gRTwmUiHUkT0ByT5Hlhw5b9tYLxB4vKChQ6vf0N-eNi5kOIXw3T7MNomXuBxHUfZ3Xq8tOIeAGK4h6uw9ze-XbOShChN-QcxEs5ELUB0sD-n4_AsWVWPN-iUtDFdIbxIYDigH23SxIhIq14JB0U46il8uZu8anXHum4FAZv4pCBEbjuXUxL66M0XoBr2JLmK6vUXZIfAEGSSl_oxFYoPAlw3gl56CTOfrNcHj16k1j8yinDh5u3B-hDUodDs_ONW7KjOc4ovxk5VdvE00LMn5vE7dSVgtwsW7MepfiFy0lkPtFMypknKtjRdGlsSG53oL_WqvdZ2BL4f1nbwV3qMTedVK-bZIHniHWm0r4mhhedjnM8QuOY3YCkdFMyTptqimLhg3xYqyAYsug9zGZB6VVlwvzzzuaofybj7WsQGwkWgdPf_cr4XGPBXBV3TdIYDSw78UsuL1oSHOWE4r22pwSfuDFAEAiEnSKauB9ry9BNA0d_3gZsu2-HTWlQlFBp9SCQ437YVm2UvjsYYWFi2DlFgG_ZyW_bArHdEZmpmqwxZ-LXnt7EvJeXxAz-pT-WnUBVBIydwfgOh9WGdIBtKRodJmknsPnNPVLoUO9Q6B_3swHPN6fhMYSPwtEJ6-DAtjVHrbSa8GODDY_BgUjifVD1PYJRUCRcsh7GHnYuURDQa8j2-zGrgCYkD8OiWZUEr2R7IcOLyFtmGsIlvBfMPBr6lvqof0cWjITOFADsGNqSrbYDzsnmYkNW9CBiYKk_rjO-yjORkrGR60YUZgTPGWEWAUIZtFSdUP_LTgTpDG_jGzvOO4Wz71JlzOSrmw5FaOVINCIQEMq2hRWFSK1At3JgyOR18aBfDB9zTGoKh-qe4NTF_Wl43Dbh-M2urTKCPHPcu1ig3XmEq3W53T1-kwrOO0IadHAuXAvqdqAvaS4_NSU5TxWEowLcHCx8WbcijEfVr7843Hz28cRNCE3sreyF-SV4UV-GNMvnPPrF-1XX8KcOSsiZYR9NqRvcQEKnWg8PS1t905R0K1QiQ8ub3vZ8r6Sg9vJ2OYXL1aGMJ9g5CvlvqaYtprbRTRQPdhHsxBr9MLVMus0Yh8LAL5W5VUOxWXKlHbB_oG8ENLaKE7OlOB4ZOzAvGk4r9ceApiwfYqm-zdITZA-8Nwd5fi9PGLeVI5fvVLjNiAgoderAw1TiJ2vWCV1ak2io94yTlbGhW99aZO6gZ20MU1PALJhUsgDfuHjzUdWtTyEJdCpA6HlaCiqsNLNZD9eae-QkKpfU4LzbQuUcsEpJ3BXz9BUf1q-22r2iFwm6Wx39shV5L9XzPLSWwFXqccKazEBDR9_E9OZYu9Q2pmI1jFNM-Z7f2yQ0t92iywkHQsE3r2gPLC2vV_O1Ob-9G7dWf7ZnascSqBpHRkMdlLo_NyQIXAsnZlsb8sQtYxw7MnKGC-s8XRAatwf4Bk7zRhEAqfVYEKfY_NqCpsf7b62VXj6W-LVS6rpxM3kQxmXOdffEQah2wkwMtMDnPbe6-BV1etMGDGrAUlualQVpzdCsBNtELqeK9edqneVLTYbXg==",
  "id": "rs_0e58d6586580f960016ab43e3e577087d0ac709f61afd9a94a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.145,\"right_z\":0.11,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The yellow ball is now visible in the right wrist camera, about 3 cm left of the jaw column and still well ahead of the fingertips. I’ll make a modest outward and leftward correction while staying above it.\"}",
  "call_id": "call_duUm4RQY6W6iXL3CVz3LiCbU",
  "id": "fc_0e58d6586580f960016ab43e3ff2bc87d08e3276d44affbf0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_duUm4RQY6W6iXL3CVz3LiCbU",
  "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]: [-0.0582, 0.8131, 0.564, -0.4011, -0.0956, -0.0929, 0.9982, 0.4648, 1.6474, 0.8524, 0.0353, 0.3683, 0.2523, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=0.0037 left_z=0.1528 left_yaw=0.0572 left_pitch=-0.0657 left_roll=0.0 left_gripper=0.9982 right_x=0.4068 right_y=0.1369 right_z=0.0807 right_yaw=0.0278 right_pitch=-0.1185 right_roll=-0.0585 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.7162, 6.8308, 1.9219, -0.1978, -0.0611, -0.0366, 0.1846, -7.5419, 8.4991, 1.9414, 0.3443, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1a2815755ee10d84244d37fb5c11ca2775574e3ba2e6d56d97628aeb3b4842",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81efd620ce3522f10b78d600b43225f85734d008557994e2560e8c2f33f3bd7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e251c120fb1383d38eda356fbeb7e9bd772ea90b63b1d3234a0b9c3587a418c7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.516 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8169, 1.6756, 0.7918, 0.0303, -0.6422, -0.5583, 0.0293, -0.0254, 0.9539, 0.7467, -0.833, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3457 left_y=-0.2083 left_z=0.0639 left_yaw=-0.0067 left_pitch=-0.0679 left_roll=0.0511 left_gripper=0.0293 right_x=0.2443 right_y=0.0009 right_z=0.123 right_yaw=0.0106 right_pitch=-0.4586 right_roll=0.0169 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -7.1316, 5.4496, 1.6239, -0.4762, 0.0122, 1.0281, -0.0752, -1.894, 6.5162, 1.4139, -0.0464, -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 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0578, 0.8082, 0.5613, -0.3721, -0.1062, -0.0959, 0.9984, 0.4324, 1.4635, 0.762, -0.0589, 0.3317, 0.2375, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0055 left_z=0.1588 left_yaw=0.068 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9984 right_x=0.3762 right_y=0.1142 right_z=0.0989 right_yaw=0.033 right_pitch=-0.13 right_roll=-0.047 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6068, 10.0308, 1.873, 0.1441, 0.1783, -0.1734, 0.0615, -6.147, 9.1966, 1.9658, 0.3443, 0.1685, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8131, 0.564, -0.4011, -0.0956, -0.0929, 0.9982, 0.4648, 1.6474, 0.8524, 0.0353, 0.3683, 0.2523, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=0.0037 left_z=0.1528 left_yaw=0.0572 left_pitch=-0.0657 left_roll=0.0 left_gripper=0.9982 right_x=0.4068 right_y=0.1369 right_z=0.0807 right_yaw=0.0278 right_pitch=-0.1185 right_roll=-0.0585 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.7162, 6.8308, 1.9219, -0.1978, -0.0611, -0.0366, 0.1846, -7.5419, 8.4991, 1.9414, 0.3443, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1a2815755ee10d84244d37fb5c11ca2775574e3ba2e6d56d97628aeb3b4842",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81efd620ce3522f10b78d600b43225f85734d008557994e2560e8c2f33f3bd7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e251c120fb1383d38eda356fbeb7e9bd772ea90b63b1d3234a0b9c3587a418c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5EB9ViCbljUYMcroOS7IF63Yyk9r7I61WjrZNYsbXZqm5vVIlI63wuX0oQy10Uek8RqFDZMyvdFxDfEczOI_00wd9LEv35C6liQ1tIu33dvu7Q6FuUunBF9FaVnTYDtb8K_aM1SK3BMVR4JZ5tyZ_LgDVVLhJJ_AWPulgOThczKvc9_BcKsOCjXS-gIGYLxkxYX9cTlyrQvPdnzfWXDuE_bvxJGR7m062YKmmNiczvyZPzLGFNfGlrcV1WEL-R4eFw5jn_7cv1aLHvrbiRW-1kPSshHPnqt5wKYle-48bVmTt79rxtvO7z-vX-eyDAqsSojTaU-w6cn5pk-HmgmiQ0neqgh6Z01Y2cOCENdgiNlcjeRk6iPzTvxYWbWxZWJF66tqTvD9v67tftPrks7IYCXbMC1Le1jC49qkg-hINmWgRKlApsbY44A1Kl_S7jtdFLuoG3m1euq3o_Dw7mEjLLC9R-BRu6g3_4up9Wc-gsYyjzH8r_l2-BHT0fxjJT3t7lZI4sfhHAq3Gft1JfG5tvIaStnMbiA24Dt6Z3gnyimzerWqcTG7qMLVbNn91g-y5QP0Cv2V_G0FbqX10l04tN3htn0DtZLZHjdfR-hNHW-CI490eYeJgUw9gpSGUKSAymGvVRbH-tszkMTVtE6KbpNPxJj4beVh4_-XXqJxAMjrqbhkwv8XnAOYPdRCk_zyVhFa72KFsirutXdaa8O5Bi-0Grycn8-8du0mkKXb8xIPukdGS2s6Y3h_buxsdXtI2sAogU7YZidx10uQoLvwr0cPN75LHR2VnNJPaM-0A9VykDPoAUJAUMLbXSlDbHDHDKxETfPROAXvW_umLSmPlTfu9la7y7nP5Q_8mhYdmTN2RCfjVcJYiHudq2Tue3y34LA4f_Co66tI8l2WQp3NrzMkxnt24nW4MvnetrGO0KHi-tlN-P_65hM9eNpmuTqfOfCHhrMqrvq48i-LUBvpXFd3RdYwZXlLviy4vmG-xdb_mRH-8M8sSWVB6PsnxaLnUqcxMiPcNPANN0Wlu-fmLH6_BZkcz5qVDTbazVDNWRXHKF3yHvBE0Mu3H-8fx018jB9qWk8U8yMMrBmqYcGumWDKVciVz-CBBBbShiqf3MFGCCu8Jiep4pYsOJj3oHRBPz_BT1gvKYZQyWJoPtxjAWOVl3FsHktdRfbDv-ILQCyEfX9283dzpeUPGSPz60BFNoDaXl2P-Y5gGcvLPFdEpXp6VEMPg7HCozi2_zJ-kk_yfqMLgaocWh0gZlR5cM7r6GuaV_VW6IgBsxZ9qqAUdnb4VJZGjiywYDyGAg0tIciBzGxYucx2h4zVH_wQt-pZsRjL7yrLk9r5T7rE4wRhGUdFbYtmlHNwqa6p14S125IzHkp89BjfsD8JGe-pPFrc0LwrKRfYPppoqPdgV1yoi8DoLa3JeAgT1Vlo-CBuvjNw4CgmgSedJHNhlHU7b5KuIEoPo1_smVOIsSwJaDIrlvs1bfphMLDKShFmK1G2rpN-VIUwq3supLFHeFsY3uugfldXarBm2CWw63iwfJthBA07-95kmAIaUAP9vN6YsNljm6tP-n8fUmN5DVHj3DGnQYOnxPiJ0FXHynFhlEX9f0JQRdgxUY-i6U2HbBz5WlVyyTTnvulnRxQxK9bFIox0mQieqnlKV_vEzAcluLS6UoXw==",
  "id": "rs_0e58d6586580f960016ab43e4278bc87d09ae0648e9a1175fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.175,\"right_z\":0.07,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The ball moved closer but remains left of the jaw column with a clear depth gap to the fingertips. I’ll advance another 4 cm and shift 3–4 cm left while lowering toward its center height.\"}",
  "call_id": "call_u8npciqzcXTg1n3LURBlNRot",
  "id": "fc_0e58d6586580f960016ab43e43d66087d0b85e843e7b31af72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u8npciqzcXTg1n3LURBlNRot",
  "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]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0978, 0.998, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.0648 left_pitch=-0.0725 left_roll=0.0004 left_gripper=0.998 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4701, 7.4462, 1.7021, -0.0513, -0.0171, -0.0366, -0.3897, -7.7197, 8.2667, 2.0147, 0.2906, 0.1245, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17276d76d0f87842cebb3ab7bd823c3ae3514143299c74d82c1736c45ac91124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a422f8e54ff29855a04ba5a8bdcd59b6d733fd0241e875bb6d31801b8efbef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad16edf2ddbc0664dbf3a4de8d94528da60ff7534b8de9a3cc87f8ff5f5f76f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.086 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8177, 1.6939, 0.7731, 0.0185, -0.6411, -0.5629, 0.9959, -0.0254, 0.9577, 0.7467, -0.8532, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3393 left_y=-0.2023 left_z=0.0493 left_yaw=-0.0027 left_pitch=-0.102 left_roll=0.0825 left_gripper=0.9959 right_x=0.24 right_y=0.001 right_z=0.1197 right_yaw=0.0112 right_pitch=-0.4827 right_roll=0.0176 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -8.5812, 7.1453, 1.37, -0.3687, 0.0122, -0.1148, -0.0889, -2.1402, 6.5026, 1.3895, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8131, 0.564, -0.4011, -0.0956, -0.0929, 0.9982, 0.4648, 1.6474, 0.8524, 0.0353, 0.3683, 0.2523, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=0.0037 left_z=0.1528 left_yaw=0.0572 left_pitch=-0.0657 left_roll=0.0 left_gripper=0.9982 right_x=0.4068 right_y=0.1369 right_z=0.0807 right_yaw=0.0278 right_pitch=-0.1185 right_roll=-0.0585 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.7162, 6.8308, 1.9219, -0.1978, -0.0611, -0.0366, 0.1846, -7.5419, 8.4991, 1.9414, 0.3443, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0978, 0.998, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.0648 left_pitch=-0.0725 left_roll=0.0004 left_gripper=0.998 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4701, 7.4462, 1.7021, -0.0513, -0.0171, -0.0366, -0.3897, -7.7197, 8.2667, 2.0147, 0.2906, 0.1245, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17276d76d0f87842cebb3ab7bd823c3ae3514143299c74d82c1736c45ac91124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a422f8e54ff29855a04ba5a8bdcd59b6d733fd0241e875bb6d31801b8efbef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad16edf2ddbc0664dbf3a4de8d94528da60ff7534b8de9a3cc87f8ff5f5f76f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5JE-gWwWgiw9mm4z-qVePAEQIbPptz7wqfwZbxY3_zVQOnlrjAfCoXOC3usjBLeM9xG_thpzpkFWe6-18MCvRjyQSUehvDXrJwy816O32uPYfYLaE3VKyKdOP2iVlPXdqS6SR-ytKgCpDWytQnke1PKUaSvBXHBxpdFK_JkX6c1bZsepo5OngaZKmB_7vOIYx9TrlsAvKd0HvlvB8SbvQ-e-52zQSs-hy34Fl21Fjy7DujfSZUwWKFUcMaXLPRgMFzeefofaDhdwkGNttm2mQiJI1nl9FJ-moqkV2Bx1sVryRAPoSOxmKDuxswIxP2HjcBKCzTp_-tJeTXA8i89oZ1mzlkCRqLs4Chrlw6oPI0EmM7bfR08SbTVYxCbBeUEBT3gtgxEL7HLQGlUfAyWaId3HFHbsyDT4qeOLYfyCDEI4C_Ohi76N-ewQUqKT96YlgwtEyj49e8CjaCw_mfzBXJf_r5TPfp0mzZgkiKjIxO5onNP_00rty0ecR1OBm863eFlRyUWsPwQCxC0cFpjV57jzTaHUgDaRnpyhGRSjkoXpeDq9naE7Pyrj92_DQ4W56pI7xUSwjwDE-IWn34LutivePJ3FPsNlHQjfatKK_nFAy2xOhRxwnGyixEw0Tq7DhbkhZABxhh-aBE1K1ODOm_2DgLVWadX5SEaoRjEJ10Fv19q0KsM1dYHvBGYgfVoBYcWeYsdlBz5COeFngskVet_K29_deB9ZNQPwIc24rE0IC8fnOqZRbG8zL0oTRxdEJLziDRF9vEpQAIYbBTH519U0u-2Srln3tu0CRvf4e8i9eLvHJlkyOJak3kIHOhc4bGBL6NmiOnMj3o1QxrJV1LgLlLE7-ra1mb_Ian_Zovl1IoNHMYaHLueMin4QRqbeDHgYV8ZJ8ykNpW1PYFiUxmQ0t3IXwFu3RO5_l38fFRGFDuFWIzns4bzQOPGFWwidkP-RWafYknIDnr6dS6CtkWSF_HeIHVXRIizDqyixshTGQbVK2dKRKVITxVEfh8-e2fClArPyhSAxnMDz38AoPqy0RzJIREaJQnWPciC_39WWxJJVlL6-M-B9fwg2nvDpMg5ecDX-wIKpuktk2syXCxIIZ5cTFMhjbGC8_60Hd84jLyIhoxsU-yc2Q3_yEMH7ESjGtxhhUM3GULoSFdFI46KsO5xOFEQM2ABjskioN4Grz7SrukFedEOCCHc4kiNhEC5hfQfidn9NkpoT16z97uf7Ll6-g7OsV09ChERIJfTow-xXxNKQKYkNca_M5jDnUlMsaGB4PjIw4F8rFkozS-d0yDCaK99z8TH0ZjGnRjG7XiLFVsfMZE2pCXOGFCbFPJz8reCmmaW5EF6x3wHM7Uy1SEt4zzbpxKcPMl6kNaxDYIC8sWgfUirh0OwcfhsurM0LwzeZfoLAFyucZM28k0_yTovEYYAAtWm1PnLH-ISqPItL6cx0oVSbix-KyirNeoHA92SMU0iI1dGOwsmP0P_NllmgLTG72Q4cMaIuP9ImmuOT9BYII-YQrvqFUZuGHekDFf7Xv3UFN4v5JSR_hT16anERUBED8Avm7R5de2JQeKW9NvvYRTPxrXnar07M1XZ3a4RsGjky7RvGXo4EkQMLziEsiZFPJ89AndRRiAH7SQjwGLg9_KvsO-aR6Zc5ZhsTeifc4xPXjgDxjFB2ccv6AdUrvmx6vifWS5BJ-n8XT5Oc6xQOkKVa37gTWTThSjm7iPyDWREuTsUGvvz11mUdkbVpsm0SFaur7YOdiKEWU37gATikYTTM2KSsA2LD-W0XqvHNfagSL0nKjoCcQVwlRBasSsSm_MEv4aX2FWTDx54XKvT7MsB2uAwZ1dZwsDlioIq8Dlrw8krpb7DwNTnnHrXE-fYRt--9DMOzjShT_ialFn5NUHU24AjodCE242NYZ7mbMFFFvr44MThx_IR_LNDXrjPWHzCX_rn-i94iMv7KbLoTiXasC5WCnpQzy_hehyASQVhiSt-BqUuYAymJBMp_wVwLEHNRMwzVfy86RwVe0qWVzLhsaJh7vGIanr7r_MTKQoOT_bLGqPDOc4E4Nz4PqsrS4V7eXvacd8rxxpQCDmqBkGPuK6vYil_TgRUTbGIg9CZaHzfHwU-NTkQXqfFe_IL7vZnM-qJ_r5jQjCcnezND1rRz6GSMDgPdLP",
  "id": "rs_0e58d6586580f960016ab43e4685d487d0a657d25bbcc48c60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.025,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The overhead view now shows the right grasp point laterally aligned with the ball and only about 3–4 cm behind it, despite the larger-looking wrist-camera gap. I’ll descend to ball-center height while commanding that small final forward offset.\"}",
  "call_id": "call_xDngStbz0U0afMczuzDuaKOW",
  "id": "fc_0e58d6586580f960016ab43e48cda087d0aac50f8b546fe63a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xDngStbz0U0afMczuzDuaKOW",
  "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]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0982, 0.9979, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.065 left_pitch=-0.0725 left_roll=0.0001 left_gripper=0.9979 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2239, 6.9812, 1.6337, -0.0611, -0.0757, -0.022, -0.3897, -7.4462, 8.253, 2.0098, 0.3053, 0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3500b0778dd52f3638240d9a54bea98e8c6852a5f130d7020808d5aaa385993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9464e2421e9c71078f01563b542b6f6c4f4d398ec9b4c6c2626ce92b86ebda92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb08d45a3b761fb6717235148852e892a3c4950b8981dd986c2e860a34e1a48",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 5.342 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0578, 0.8082, 0.5613, -0.3721, -0.1062, -0.0959, 0.9984, 0.4324, 1.4635, 0.762, -0.0589, 0.3317, 0.2375, 0.9996]\nstate[eef_state]: left_x=0.2909 left_y=0.0055 left_z=0.1588 left_yaw=0.068 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9984 right_x=0.3762 right_y=0.1142 right_z=0.0989 right_yaw=0.033 right_pitch=-0.13 right_roll=-0.047 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6068, 10.0308, 1.873, 0.1441, 0.1783, -0.1734, 0.0615, -6.147, 9.1966, 1.9658, 0.3443, 0.1685, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0978, 0.998, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.0648 left_pitch=-0.0725 left_roll=0.0004 left_gripper=0.998 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4701, 7.4462, 1.7021, -0.0513, -0.0171, -0.0366, -0.3897, -7.7197, 8.2667, 2.0147, 0.2906, 0.1245, -0.0562]\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 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0982, 0.9979, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.065 left_pitch=-0.0725 left_roll=0.0001 left_gripper=0.9979 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2239, 6.9812, 1.6337, -0.0611, -0.0757, -0.022, -0.3897, -7.4462, 8.253, 2.0098, 0.3053, 0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3500b0778dd52f3638240d9a54bea98e8c6852a5f130d7020808d5aaa385993",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9464e2421e9c71078f01563b542b6f6c4f4d398ec9b4c6c2626ce92b86ebda92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb08d45a3b761fb6717235148852e892a3c4950b8981dd986c2e860a34e1a48",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5NZvFsTAoMkTHC7scFvzNxURAL4MglD__pC-Ug0zOxOXvTlZtJ2XYMwya0Xqgjk8o_DAoyJ5cYq1i4fcNxRfPGXk7d_zx5G-ZlA0Gk7Yv9qklfjLQ8bYEguGLpyorn_-6T454tWt2yas8pDNiIX4O2de_hw8mqjqWUrM82ZbvXk66JHxFpZ2gPvyOxs4Wy4YAci21iHcs6fbYHxEYmfZv9Qv6n_xLGvwfxNXX5y8eGXhjSvorJCW1e1bLRXW8qoa_mYnRRx99WK_x4SgDbxgPMTYSkfxcmwEuxoeEOJJrBzHAaseBm017uCtDOEh7TLYrVzbV1EiB9CAo7EgZ-ABwOoom1iyGwPwP76GxtHh4PI7PGa_8927op3ty-MRmGGWdwP4IXcpkhiEyvQPvAX7qBTjPHQQOIIyKB8gsw04Sevuaqcm3xaRXJvNraqgof-BWyGlekCClRtbroH-EeMhbY_iMSIFSsMXnt-GRWlpoGx6-vRpD75Fyg1IS9bZAkp-DrM8WHWSWFL00wBOWslrNrwLkW1avURHpyb93epL073JBJY6lZFLOaoWv1PvzWOk726UzSPBU5gAdxITGuuKDsu5KweDRllOAwcJeYAusADQTpDl_dfm9nVCfjyrMCcMwiLUkZltf_IYR5JfG5e8fDJtduzViht4UOmrNmeCj9CLVV42QQKdfthHKTtbbWeffFmqyAp480kFAQvqYdkuZ26EBrKH3uZAifGyxzPS_OFBvgBd1K1oERkJIcwiwJCwudLXicoc2eaYdkxssUktyLauudHZYtY1No9DsQbaBazf3Ok6Y7zpQcWp37p8ZbfZe-DOvvYJjpDc9aW-Ykvg36Nhqezs-jelA_DsDao7YJzwD59X07-icrp_cK446dgeqgweQxgGusbKg97JScz1z818o1hXNW1JGhe2PaDsNDPmUTHGRLiIJWCxu9goXGJsta7Ooo7Lh5LZzvukao__fOabC-sNABw7Eluuyvn_0H2udRNx7AmO99KejZypPgHpZTY-73BogZUKgOs00EREpMJpEAUgYfntaobFvMitiQlQaOfhIC0YQZ03GhoTcu_BHzXQgbUjS6blmm7e8R679SXEp0cB0IfTejObc3Ot5Oyd0SCm6OhajileMg7E5_Xg7_uVcdn58IJ0JZbe6pO3XtT1s_BhYHUntJ4n3pEOSWS98ga3k9vP-PzSAbHwTF9I3UQY2nKrQZYAoelkZn6R5A9xx1GmswWdmXpTlv4B6QyMlzhVbx5avNpyaObKU_AUzrgiHH2g7K9uuOHcRMiBxyz8SBOzF565CHI1p99Jsp41XbVAW_bduGmLRUqPJs3iUvG0i-wGChq91G_hPYl5dY-XiOEgWJm1lvt6WjvUa_0CuwT6Tcxwl5DW7c84gV3lJc2FOvVPMJwREctamclves4l2kxaUVrKStig-5K8NeUiQ11tb5cOFy377ojoF3_Aarfoc6Srg8ZeOz7ZVGIP5xqK9bxyAtPQJw-Di-HdSG5BFKH71xaL9AcGrt8qfFJaik",
  "id": "rs_0e58d6586580f960016ab43e4bc2d487d0983198056d0b28d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.15,\"right_z\":0.12,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The right arm did not move at all toward the lower target, indicating this vertical-tool pose is at an IK limit rather than in contact. I’ll raise it and pitch the tool forward, which increases forward reach on this rig, before descending again.\"}",
  "call_id": "call_bzWyj7VShYNocOcrRTLv0OGe",
  "id": "fc_0e58d6586580f960016ab43e4c7de087d08c94783a4a0966d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bzWyj7VShYNocOcrRTLv0OGe",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8169, 0.5636, -0.4133, -0.1013, -0.0982, 0.9979, 0.4835, 1.7664, 0.7498, 0.6121, 0.4496, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0049 left_z=0.1493 left_yaw=0.0651 left_pitch=-0.0816 left_roll=0.0012 left_gripper=0.9979 right_x=0.4432 right_y=0.1501 right_z=0.1042 right_yaw=0.0235 right_pitch=0.2183 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5248, 7.2274, 1.6972, -0.105, -0.022, -0.0171, 0.0615, -7.0085, 5.4906, 2.1709, 0.2564, -0.0952, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d9c947b91dc1d688d495f088ab643763de30684c6688e2a7d612c6dba44925",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a98b68158ee99902a6612ac2b3a6fd8649f6d9304e391dacdb44089adbcfff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:743000d2cfb3dff53a948dfe9ce86603ab0113f2f18f020c66872a16f12a8d63",
      "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 28 attempt 0 · /responses · status 200 · 2.34 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8131, 0.564, -0.4011, -0.0956, -0.0929, 0.9982, 0.4648, 1.6474, 0.8524, 0.0353, 0.3683, 0.2523, 0.9996]\nstate[eef_state]: left_x=0.2874 left_y=0.0037 left_z=0.1528 left_yaw=0.0572 left_pitch=-0.0657 left_roll=0.0 left_gripper=0.9982 right_x=0.4068 right_y=0.1369 right_z=0.0807 right_yaw=0.0278 right_pitch=-0.1185 right_roll=-0.0585 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.7162, 6.8308, 1.9219, -0.1978, -0.0611, -0.0366, 0.1846, -7.5419, 8.4991, 1.9414, 0.3443, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0982, 0.9979, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.065 left_pitch=-0.0725 left_roll=0.0001 left_gripper=0.9979 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2239, 6.9812, 1.6337, -0.0611, -0.0757, -0.022, -0.3897, -7.4462, 8.253, 2.0098, 0.3053, 0.0904, -0.0513]\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 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8169, 0.5636, -0.4133, -0.1013, -0.0982, 0.9979, 0.4835, 1.7664, 0.7498, 0.6121, 0.4496, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0049 left_z=0.1493 left_yaw=0.0651 left_pitch=-0.0816 left_roll=0.0012 left_gripper=0.9979 right_x=0.4432 right_y=0.1501 right_z=0.1042 right_yaw=0.0235 right_pitch=0.2183 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5248, 7.2274, 1.6972, -0.105, -0.022, -0.0171, 0.0615, -7.0085, 5.4906, 2.1709, 0.2564, -0.0952, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d9c947b91dc1d688d495f088ab643763de30684c6688e2a7d612c6dba44925",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29a98b68158ee99902a6612ac2b3a6fd8649f6d9304e391dacdb44089adbcfff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:743000d2cfb3dff53a948dfe9ce86603ab0113f2f18f020c66872a16f12a8d63",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5Ta1YzSKSbHuZqFNvFyT43bOMQE22rSJX3yKor1sThmf2Qk0QgKo4_5OCe86FlXwqILd3fdQbiifKoA1Jhj8QEeJPYm3NS7vFR92HI4ziwXjdUA0ifLsPFNTODTJSKQvVvycQ9pvQprLb6Asx037urtZWPVzxDRNzMZ45EJ9sNR_0rGjMaj6qjxSBm6uKOI9LfMFyzPEBr3qPOwep_nL0qbNodAoPgT7tcFi6vIEjkcTDGRj4q3YxWqlwnJrec1EXP8XRGRlA5AI4zsecLb1vcXowE0XWrsGQQZL43ZKMvGnT8rPBq-z_QeGC37IpkuT6X4z4zNkzW0RR70wy6De8d2z43LQsKtiNYe39Z52UdOjn44-rVz3ppGaXQ3-NYqJcPoqrxNqs-0odZr6pbhmsjXELTolQ2ehdKMwsqpljMycsocGlQMfDVJmENG78KghpekwllrACLLcUfQj9qLcNmAVvU-tqoZBlrIGY4h5Clh_6nFks2EL1DWQKHw2UprNNUTtS6oYWv8tDNZdZ2Hl6CIIl5lLB7OVy6LaN7XflskxOxjZAYWX6tiy1E24wsue4K9f0i2APdisg67OzNtCRZaQIF-2LC9uySJrySiA_6X6PqKuBGnPtSaISg--GxiN8uQEwTXHnzIC8ToVWutUUCtWLVIEiOKWdy53JMhOD4_xMkV2DjqIJ2DP-_KdPn_VVF3aga91S__zwo1Yc-X1ZKmr0_n6eIsSyYv95m6eCQ9txget9tyfhYmkZaQpbufwsjJb29AVO2KOvG42IaV1fZK3QdtpGlYERXDJU0nPPTEAru5D4GBmVm_ytRYpTSuuAAKG3mhpXhxBDBU6h-ipe_tTg3_RgZEa3OW88jPr9QEtlrD7X7cM3-JQX1frvng65WOBfzIKZ4l_XBiHFsaAaSnXHF50LpaVa8di_9dfC_jpj1SIWti1uOBhWPHVFsgBhaP-Wo9tj5tByBnkVHlicUC1YcJ3rMSnJnNFci2M5OomtG9gYcenYgWDqEzGCXDdx5gyS5Z_7UprdTSoO71Chs7xCTUkCiJPqTKC5y30laiMhnnYotUlt5CxkU5k_mrvRR7Nyzx2OrmdL9qCfuL3mAEMOr-FBLgAniao4jY2tW6yXEj6PUjDuzloZAQ3a_mH8PADjzQuwIH4Hkt3Di9jmKikK7R-2cmDgoLw4qlLVbyHjUxnxuoQVFr5gEzojR1hj1Lyabj84srqzP1stkHqQVy08tcPFyVI5PuC5pBv1DY04fkZ7Hh-DzyFJahkcdzeY7orz5gH5CvvY3CMKSnttx6UxP4jnAO2Ydh3Nwo8yqhr19uW2B_8GNgGUYjViRc3bj1aGprAVyVDlmwWTg_mYht6Pf7ebhEf-jNtliKx60yJ_UcOkHg9AtfNUQhSm3oq7jUugKSYM_FbZLJLURfzUKDZUGF4ZVIdPI5Z0WdpG-JTiTHOv0UQz9B71gi74ysMGEw-wB01y8a-K9PqxQiDSp1EELc916N5mcRPK757MO5MTPRWWGzRnkPVrL62WTt0vBoGsqO3pgQBWcM1gBfCcwqhAuJDkZ7CBo2M_10Jhy3edwy9IldAeVG5nxGjsH7ldHMP3EwTrPk9gUVv6s0vbcoZnEBcCCs6vF0emWQMYQsNCuJ979fzgwbuVfYbwGRB_X2oEj-Bsc1xW9FFGHH5U-2h0_oNrF2JoGohUoxvq6eW5G_BYl0vyj30p1Gd5D-tp61JGWgrrMa7O9NghD8jEPPdm0N9ZiBDOTRRB_0cwPz40=",
  "id": "rs_0e58d6586580f960016ab43e51679887d0a4710636c9279f1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.16,\"right_z\":0.035,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"With forward pitch the arm reached properly; the ball is now almost centered in the wrist view and only a few centimeters short of the jaw tips. I’ll advance about 3 cm, make a 1 cm left correction, and descend to its center height while retaining the reach-friendly pitch.\"}",
  "call_id": "call_ViqVdbJOya4iratSxk7wOCnp",
  "id": "fc_0e58d6586580f960016ab43e52d1b487d083c0b4c9d50ec4f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ViqVdbJOya4iratSxk7wOCnp",
  "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]: [-0.0582, 0.8204, 0.5636, -0.4294, -0.1013, -0.0982, 0.9978, 0.4786, 2.1098, 0.794, 0.9707, 0.4553, 0.1585, 0.9996]\nstate[eef_state]: left_x=0.2832 left_y=0.005 left_z=0.1453 left_yaw=0.0653 left_pitch=-0.1009 left_roll=0.0036 left_gripper=0.9978 right_x=0.4698 right_y=0.1603 right_z=0.0395 right_yaw=0.0076 right_pitch=0.2724 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.6068, 6.9949, 1.7802, -0.1148, -0.0269, -0.0171, -0.5675, -7.8974, 4.9162, 1.0672, 0.0855, -0.1197, -0.0562]\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:55177a1151406e0af501de7445f35d2b367d4ab38fb00d669dfc643ce631a4b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28ca7697fb83427d2b1b8a6b1b8bdd10d340a622d07f60242b63737fff96837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b45bef52496e2ab1793f530d5055fb7418dfcdb3e66ff1be51e3384c06053cee",
      "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 · 4.298 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0978, 0.998, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.0648 left_pitch=-0.0725 left_roll=0.0004 left_gripper=0.998 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.4701, 7.4462, 1.7021, -0.0513, -0.0171, -0.0366, -0.3897, -7.7197, 8.2667, 2.0147, 0.2906, 0.1245, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8169, 0.5636, -0.4133, -0.1013, -0.0982, 0.9979, 0.4835, 1.7664, 0.7498, 0.6121, 0.4496, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0049 left_z=0.1493 left_yaw=0.0651 left_pitch=-0.0816 left_roll=0.0012 left_gripper=0.9979 right_x=0.4432 right_y=0.1501 right_z=0.1042 right_yaw=0.0235 right_pitch=0.2183 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5248, 7.2274, 1.6972, -0.105, -0.022, -0.0171, 0.0615, -7.0085, 5.4906, 2.1709, 0.2564, -0.0952, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8204, 0.5636, -0.4294, -0.1013, -0.0982, 0.9978, 0.4786, 2.1098, 0.794, 0.9707, 0.4553, 0.1585, 0.9996]\nstate[eef_state]: left_x=0.2832 left_y=0.005 left_z=0.1453 left_yaw=0.0653 left_pitch=-0.1009 left_roll=0.0036 left_gripper=0.9978 right_x=0.4698 right_y=0.1603 right_z=0.0395 right_yaw=0.0076 right_pitch=0.2724 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.6068, 6.9949, 1.7802, -0.1148, -0.0269, -0.0171, -0.5675, -7.8974, 4.9162, 1.0672, 0.0855, -0.1197, -0.0562]\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,$blob:55177a1151406e0af501de7445f35d2b367d4ab38fb00d669dfc643ce631a4b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28ca7697fb83427d2b1b8a6b1b8bdd10d340a622d07f60242b63737fff96837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b45bef52496e2ab1793f530d5055fb7418dfcdb3e66ff1be51e3384c06053cee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5WgZQVbLXKQE7HMAvp9iS2lEwBPj99qGHVqMjYg719jSaPQiGP9CqpMkNJc40yqQQCrFiOAAbc_BoCJp-CNIrClgr7sXGxk_O593g_1O7GUMVWOS2F1eMFulGnAuaUXeZH_RbICsBffxyqDHO7tQPc0gP9mYuhwuXgvQ8G-ldubMScVhut_JuLTnDrwb_0wpYHvIwpN_KKRU9XhL6HrEwLkZwva3vsj1poOtqsgre5J82WXJ-nXGzRtVE0uyax-srthHR619FBeoidF5tXAARXF4k5ahwYhK_Rs9-c6szfU36m1ucqfUIZyZi10PxnS3xDZAzUBHLVGnLyHOna9Xrr1_x3-L4HN3mGTm78Dix6y80kOaACgvq-1QadceVgwYzwi1081G5mzXbYj9O4Na44bNghAvQfjMs-OrBNuxim8LZVAnE3wr9BWIgwLjJX16EWmFJjlcDG9VhQuaiz9HwA33QqxM7DxAMV5Ls21Dh2kwU_pHEva-FO1nOkO9neJWz9Wv-8nhxacYO5JAMNPELKw212mjAWwU2nrxe0ymianZbyw93xqFCB_GK7bBbH9GVZVvghpvO_hRt9RTIh1skbqjBToXjtmWbz0PSObX2Ie4_680WqHZDa3yJa7Oqet_E0L3ARhwCqdORl1U-BokAwS4puA3eqecegKszFNHwQ12wM-vHMFkTO5xr6lcDoHwBwIOuHX-dnf26B9ZetFi8_X-ce0mhKTabgQZJXWkDkAL3jSBojbMA_Xiksl5pUqb0DREPVAJ2CQgtylBxfsJr-QgqhhiszbfMqWfekiMN7Pci1rkkslqY44oAuW-BbTuPnHJFz7JI67vI9fPrUWoS-KhR2JLa8YfCXig_rEyv_jU16q_n9P1y8-db0ph5PrVcb02zuu9qUgOfL26aWGETcQ0FgNrtLBUzaXzk9xEqe0hWuZj7FsdUttkdonaFxlneAGYPSX40xDssWO8GMiFz77yAmKsLvTITr6slmd6Xc-q3TGUWsjAxb158TqgzvnXAG2DmAYlAqB2aw8hKe_EsQ7PpDQhfkPZ2kIYuyojD_EpqjBZS9gON9lC35V2vYplfAy_-2GJPyL5JqnHvElQohHt2u3KA1Q2zwRIxSFCZO8k1I9TPHDi6YZRm5tXBq7WO8SfxAcTlNZnFcKNvx0OCWzGMdCTHr2P1m0P0jlzw9L-ZfA8SFced9up0ezeUlOnqh8frcX8asRiazIdEb6MnEGHxXeVfTfxQnDVU3mUYU4-AdOJ6j2FebtlTeknIqfWIs0auPm6H2sJyL-10S8saE9tIsuEy44mWm16BKbPcZrjdXbVReGRTeOLEGGZg_Il0gfbPKkF_qASavUXwr_eHiwhoI_j0_gfXrocXuDK9vt_AC78_zHYz2kfmT13C17wzCwxlRWRk3VNmYU3BHYwfPEg==",
  "id": "rs_0e58d6586580f960016ab43e56088887d080798ca378db7f82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The yellow ball is now centered between the right fingertips at low height. Because it is round and could eject under a hard full close, I’ll close only to about a 3.8 cm jaw gap to secure it gently.\"}",
  "call_id": "call_BSPEyUstoP8hxYohmnaK3uZo",
  "id": "fc_0e58d6586580f960016ab43e5637ac87d0a1323bd72ea02656",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BSPEyUstoP8hxYohmnaK3uZo",
  "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]: [-0.0582, 0.8207, 0.5636, -0.4355, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0069, 0.4484, 0.1608, 0.4054]\nstate[eef_state]: left_x=0.2823 left_y=0.005 left_z=0.1441 left_yaw=0.0654 left_pitch=-0.1073 left_roll=0.0045 left_gripper=0.9979 right_x=0.4729 right_y=0.1631 right_z=0.0424 right_yaw=0.0085 right_pitch=0.2962 right_roll=0.0165 right_gripper=0.4054\nstate[joint_eff]: [-0.1709, -1.388, 6.9538, 1.7411, -0.1001, -0.0024, -0.0073, -0.1573, -10.8103, 3.9453, 1.4872, 0.1197, -0.0757, 0.0513]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d8464065f0b0fb0b2d8abc1a4583e93a5b19221852a6c0e5d09ea8f418f7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af26c8328ed7ddba2f0b527975fbb483e45acb8b1cbebd58595ea60b60fdacd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b94ded51efefe88858aa90f0efe8e7a8ee35f0d92c12d69fe95853d6862e092",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 5.754 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.815, 0.5636, -0.4061, -0.1013, -0.0982, 0.9979, 0.4675, 1.6592, 0.8677, 0.0887, 0.3744, 0.2592, 0.9996]\nstate[eef_state]: left_x=0.2866 left_y=0.0048 left_z=0.1512 left_yaw=0.065 left_pitch=-0.0725 left_roll=0.0001 left_gripper=0.9979 right_x=0.4178 right_y=0.1425 right_z=0.0914 right_yaw=0.024 right_pitch=-0.0652 right_roll=-0.0325 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2239, 6.9812, 1.6337, -0.0611, -0.0757, -0.022, -0.3897, -7.4462, 8.253, 2.0098, 0.3053, 0.0904, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8204, 0.5636, -0.4294, -0.1013, -0.0982, 0.9978, 0.4786, 2.1098, 0.794, 0.9707, 0.4553, 0.1585, 0.9996]\nstate[eef_state]: left_x=0.2832 left_y=0.005 left_z=0.1453 left_yaw=0.0653 left_pitch=-0.1009 left_roll=0.0036 left_gripper=0.9978 right_x=0.4698 right_y=0.1603 right_z=0.0395 right_yaw=0.0076 right_pitch=0.2724 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.6068, 6.9949, 1.7802, -0.1148, -0.0269, -0.0171, -0.5675, -7.8974, 4.9162, 1.0672, 0.0855, -0.1197, -0.0562]\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 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.4355, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0069, 0.4484, 0.1608, 0.4054]\nstate[eef_state]: left_x=0.2823 left_y=0.005 left_z=0.1441 left_yaw=0.0654 left_pitch=-0.1073 left_roll=0.0045 left_gripper=0.9979 right_x=0.4729 right_y=0.1631 right_z=0.0424 right_yaw=0.0085 right_pitch=0.2962 right_roll=0.0165 right_gripper=0.4054\nstate[joint_eff]: [-0.1709, -1.388, 6.9538, 1.7411, -0.1001, -0.0024, -0.0073, -0.1573, -10.8103, 3.9453, 1.4872, 0.1197, -0.0757, 0.0513]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d8464065f0b0fb0b2d8abc1a4583e93a5b19221852a6c0e5d09ea8f418f7fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9af26c8328ed7ddba2f0b527975fbb483e45acb8b1cbebd58595ea60b60fdacd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b94ded51efefe88858aa90f0efe8e7a8ee35f0d92c12d69fe95853d6862e092",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5bs0g1BSxXSNtHBmYHyfn4k193wsVqhbvIs5WRQ-GN-hi3Y2wZclUw3aaZCrPw3o5yAJ6Dclcm364nFCTF4BZtSYrWwy4g9CVEG61RgAb0xlG__vioQ9VVziBRDrTkJ56V9VTmv0n4xseuRyghJGRi18hoKdHpR8hG1vI38p33uegDgyKBjBcS5Fo2gAL0qY-8S_tLIPgpMev3XnvO9xAzVCMWqbI1Sc6YgjJvOZWNgO8Xdr-j50zqHGFdcavQL9WjDkiXRT64ENdTTiBe9Kbpagpi0h76PVebDoblnbir3HpFkpKYsfWulO1ss0VKJ46gGa8JQmGwh8y11IyDjdhZ3ycc6MNIBbxNcFdaiCmx6p9VKF00pxciZxD76upkGTZeqvjCNySguuan4YPkVEXkFis4TqF_sYe1aHBiCamZSiFsy908oivfQGljdM8zQdrr5tcHQJ77fhYoVdE_V88MYiyB_xhFoVCDj97NLk6R7yLPh-aE-tAv-sfLB8aBHbg2lXpEgyADurtoIRmGAxHL0rhiVR0w6j9YkBGHYI0THO35_imzqdc9Pm-CYWpbvn876cPAfJ0f3wuUOD9v1oxQP8ZXUFSuL7sCZEcS4ex4lEy5KZtQszGHoaF1I_2Mcm-9xEnRBQtPrVyd3wEtzBnwz660tPX88kEqV3zispQ9rCsYks2VzyAFCUn6TvHLhEcdfzE1kA9tfrMf5I3XCE1AykGFAsZtJHnJRpGS-J5JZqrBV2jWik5oJRe5ct8NfpaaQpHg3JPjCt7-8_ogjj0jcP98oj0bS6v1icfa-s2h_hBSyldJZba1atq4spzukr0o8gfMckcvSPbimUFeRIAxonMT8GoT_Fk-yDLrB9wz6MB96XL6FZWjtaGcrCaB5KgXXw8bYCKx8QwVo__23B-pDCXjhMsxHAXY04wr5JxppJoSD5uZpxNc5hdIuHFleGJqRjaWpVs4NtE1mkcjNKkscuA5aXox8Q1p_hSpr5TtngeeFAaCOLz_RDKmAFlFsw2qx_ltiEIZ0ET_OwgegRJb00bDUkzS3oCu44xAOrLN9FpGcLxegtqaGkaYaiA9mQjvwody2tniqSj1Q5lRjyRKOelswS_7hZ_OUkqLr7pQZYEzgAAOlxDcA6Z__GggXSiEHeTPjpa6Hs5jODZQVfYn5a1l05z9aTmMoRJvk3yiLvGOHOCzCEsXd2iTtM3CXHqWdbgT_A3LxWK1re0wgNzVIqdtk-w67x21ldYCdOcQvXqAhc1ZriRSIIP_XvqpPTHYMb2lHT1KqQnhAoHuRzdMHZf0lTjIBqa-KcoLeL2R4EIKqkSUqtJOKOpAAm6r3LLuOLJMmU22RuLE9qzcygV2JlGKCMGym0mGXeeU30XSzBFfX7rVz8oDPvTlufjZooOJlvr_YBdsfc8SE5Yr3AnD_e3Of6OWvX5VdFGw27ZFJiHQelX3bG9lPee9lWlTDWc9K84GVVNUAYPi7-k9p1u2aYSp6xNeT-qR7iaBKNIA_9TPwL8y7rxOTlWugLybQYCkvQ7IM9_puN5h6pC3Pc_iedeTwwQOkIG1t1WDYRN6e-nEqtWYmb6kqqGvU8TFNF2yXm630vllDu7VaIVFxovRDn-9WP7zELGF5xSO9_qeh4TZ34SoHEJj3w32ob7Oq2f22zg1ruSXwEsK7iSl4H8mLFdNTa77xUFlFLKwMqq_2XLxqNIijr1X6p_MIWXqkfog2IQjxuG1JtP1ixg0Dz0GEiyItdfl_yn5s0VRFiSZUd4oI59xTBYGJhxCLYf_gQwtTQM73LdWsZjmXovMEhK6aXhS2yz7EqByF2PNqZs0N9fzb5tV8fQq_5HXn1k8eBbf-3tXswsGKroCd8BK8uU1Z8iwmyjA0VlJIqjPn4b1y2twRr2xGssIozjK_b4bbxGM3D1iMp7l3wPnNfRps_CfaFnLGAUUzfZ97vZJilsLfT7aIYfQ09TAGrzhFBPGsWCKXaqOC8-SgUlY1SYnhLbGNt-OlCkQXtxIardC6qkfQLujYWwqkpEyRR6NQlFIuVNihb_Ft8XjqdnUg88iZ1guGRJREEjGP5rNTt4_-mh_mmfPk3_Kg8r5lj0v_lzFNQ1kalGkgnSfrMGYlr2PMsmWSg==",
  "id": "rs_0e58d6586580f960016ab43e58ad9c87d090b60b2a28f713fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.2},\"note\":\"At 0.4 the ball is still visible in the wrist camera and the gripper met no resistance, so the jaws have not yet secured it despite good centering. I’ll close moderately farther to 0.2 rather than snapping fully shut.\"}",
  "call_id": "call_BUDWgxF1A9Rf2U2IYi5Usw69",
  "id": "fc_0e58d6586580f960016ab43e5a9f2487d08b81148891036616",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BUDWgxF1A9Rf2U2IYi5Usw69",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.44, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0065, 0.448, 0.1604, 0.2039]\nstate[eef_state]: left_x=0.2816 left_y=0.0051 left_z=0.1432 left_yaw=0.0654 left_pitch=-0.1118 left_roll=0.005 left_gripper=0.9979 right_x=0.4728 right_y=0.1631 right_z=0.0423 right_yaw=0.0091 right_pitch=0.2958 right_roll=0.016 right_gripper=0.2039\nstate[joint_eff]: [-0.1299, -1.1966, 6.9538, 1.7021, -0.0708, 0.0073, -0.0171, 0.0205, -9.6205, 4.2598, 1.8046, 0.0659, -0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006768a4e50a9b813ba0ae60f6d230b74759bc5d2f3239be05fcf7b56d349dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afba3c58604db5aaa7f01559f7185590e6d38e70832e351f0b60b7d4dceb061c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2876d754a2c1beea90ba229f75094240268cd6ed5034f2aa836ca0905adb53ee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 3.469 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8169, 0.5636, -0.4133, -0.1013, -0.0982, 0.9979, 0.4835, 1.7664, 0.7498, 0.6121, 0.4496, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0049 left_z=0.1493 left_yaw=0.0651 left_pitch=-0.0816 left_roll=0.0012 left_gripper=0.9979 right_x=0.4432 right_y=0.1501 right_z=0.1042 right_yaw=0.0235 right_pitch=0.2183 right_roll=-0.0255 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5248, 7.2274, 1.6972, -0.105, -0.022, -0.0171, 0.0615, -7.0085, 5.4906, 2.1709, 0.2564, -0.0952, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.4355, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0069, 0.4484, 0.1608, 0.4054]\nstate[eef_state]: left_x=0.2823 left_y=0.005 left_z=0.1441 left_yaw=0.0654 left_pitch=-0.1073 left_roll=0.0045 left_gripper=0.9979 right_x=0.4729 right_y=0.1631 right_z=0.0424 right_yaw=0.0085 right_pitch=0.2962 right_roll=0.0165 right_gripper=0.4054\nstate[joint_eff]: [-0.1709, -1.388, 6.9538, 1.7411, -0.1001, -0.0024, -0.0073, -0.1573, -10.8103, 3.9453, 1.4872, 0.1197, -0.0757, 0.0513]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.44, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0065, 0.448, 0.1604, 0.2039]\nstate[eef_state]: left_x=0.2816 left_y=0.0051 left_z=0.1432 left_yaw=0.0654 left_pitch=-0.1118 left_roll=0.005 left_gripper=0.9979 right_x=0.4728 right_y=0.1631 right_z=0.0423 right_yaw=0.0091 right_pitch=0.2958 right_roll=0.016 right_gripper=0.2039\nstate[joint_eff]: [-0.1299, -1.1966, 6.9538, 1.7021, -0.0708, 0.0073, -0.0171, 0.0205, -9.6205, 4.2598, 1.8046, 0.0659, -0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006768a4e50a9b813ba0ae60f6d230b74759bc5d2f3239be05fcf7b56d349dd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afba3c58604db5aaa7f01559f7185590e6d38e70832e351f0b60b7d4dceb061c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2876d754a2c1beea90ba229f75094240268cd6ed5034f2aa836ca0905adb53ee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5hoYZpuA34EmbTh4aE7BrmBtdbjg-kbuMvOpRgrjvY8qew6kEdttZKGsKeGTqd1gqqWCh2e5_R1g6YVOjGKdWiIky6CELSjT36-NmpAkn984gi3Ldw_scPhsbC-3ID0qGq49BIR1H0uQiZeOnnDtFAMtEd3MeGj_Pgb7Zqa0vEEvpIm3L1fhHQuMqM2w7eNhooXIC8hD3eXwWyv7YQRFlf9Ncb-HRmrP4VjnPyW28N0y5fkFLTLgJu63MwCDfer1-3fZcI4PEhoi6yiWq1guRpXP0gvlWalahqR_cKyb4eS3M8Jj1Mqm_zieLix7AX4D1lX0NpU2cGO6DWMcjtPdJE4B-6OUgc2a8731feydmFSPmHQao8mroZMTFGBEZLlihgVzx_DY3FqTJBwxJ0LZT0Q9Imec_u-hcF0w8cN9cnwhwyABZl3ZkQXOJGH6vqm4vdY2CkLNprEWhWpfqG1yh24-odatQA0lAt2pmjr4Xch1hNLIutXP-Ptj0FzBOYD4NEqyuV_dndz7GVdb3MRemHh2m5v7ETnItWNMjXaMqnXjuSCDtJq78YJJ6uNQL5SBhnw2knu0j5V8F6Yamot0iqB0nvHhUFAv2YS5M8j7CovI9FgI57FUYXen8EnZvRUG2k6F29wffCHMXZTWgmOwp77GPXBPjAafKiRxBO3VcCdIqvdfuv62SObW_cMv019cQw7KjnvXHKmoYm-LIPQhlEtjcvPlN4SEdfFyghy6iKlPbGJzmDm0PFiSrn58JTP2GoXWUBHLu-TqyNEZ1OP05CCeCNURrKHGasQBIPFChSncq9riA54BZQ32Qk6LpUlPmokryvkTMvccYj9taAmXktbPqkFHRpt2kVHc7bPwikRxk1n6jCwDywJBhSaXjwDE7Pty2MsQ2bPg7JZkMKQS6O7UWYUDYxXGW2JOwpsarXtLRkInyCEFOt0ZBGtk0XvTpmz_i8fjkfMhZ2uBKKh_cjHJvWOPbkOk1dFW87SOzKD9LddlRsFAOefjgqEnjy_aarUnxpMDT3jm-KtJYKmDQc_Pp-tEf14SYs2ZVm3Qy_99r_IQ2XFmEHvMYrdOlYbYI07UznMCBlJ9SxykyKFkRnD5RIqcWAtTY1A4Hqc41f8-DnMhpwhGwfFpEfepen1xxf6TQmy6ZeSKhvzxyW_qSWKzrqsMta4Iwkb1MaqtuNgLgt7A8F5IBaWaEx43jKJaiFGmMeFOcOev7MMT2plX06CJjqFLPF_afvoy61wpnawOf_hlwYQkikvmr1XoFYP7-7khKMp7zT6nzqzQ3x1w5TTaPpoLPNCQ2aFHyyeCc2fzWIrrPg8ud9b9Mg92_opY1jiou9lHHV_N4A43qtWYwBtKILZcS_SoqnaFtlK3ueEPmLNjpobcVhUaA5AVOL-31dtgB9K_EfPv3glz35kkxYpnho0BGkAGtbcSooAP6LHv3Ov7CsATjbtBYJ_rdGP_42QpYixmGDHWvseyhMC6fFGbokrGFH6O3RXtYDTrVxe_T86EoOQ8WNv1dEZTVqK45AWBBM_6SpzniQ5xQNYG48HX8hXQQbbKuYXil5vKz9OKdpzl9RDFOXxH0mQkqh7m_yERrX07FXrKFQSuFD-EZSp-E80o1SS7hUNfi8QtaCbzj_smVjszrotWCSM0u4KcVPCmHnMcrdwnicUc0U2AdEhQdmnEwfABsv7yVmdoXodMPpnD-pA-TVM3BtIY0DpPObPcGlyUClxtMxhwYOwSp-CI_pe5JNuUUvYxpfsEk9aJOZVwea8YKTkPX1AOvjT3ycUdsU2Qi6SgJJ8mt-nypg3m6ninHsMmT35xNl39RFO54wFpc6Iemi06C9QsmEPIQpPSVPg8ZqJW6TZU9Sv-cJtbXgc0wwuHq3TtP9Tq2ST-b8WZ8tkCBkopBDuTp_dFdO-c8G3cIyotgNYVxiWhU3osDVuFfBIax75Ul9LNs1jMorSxVKL8fO1PQwF58kNKyIewChoVexnHA9X-O_KIZMbr2Yzgbqd8T6Oh8JE-yqy-6RlmlUfVfWpN-oAaavW4DZ",
  "id": "rs_0e58d6586580f960016ab43e5e870c87d0aeb9a7f2c09fe496",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.163,\"right_z\":0.04,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The ball remains visible with its lower edge just ahead of the fingertip convergence, so closing only pinched its near surface. I’ll reopen and advance the grasp point about 1.5 cm through the ball’s center while holding height and pitch.\"}",
  "call_id": "call_Dgs2UAhTt3pYLMQcgmB3briw",
  "id": "fc_0e58d6586580f960016ab43e607b4087d0bdbc7c8168ab2d50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dgs2UAhTt3pYLMQcgmB3briw",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0586, 0.8246, 0.5636, -0.4511, -0.1013, -0.0986, 0.9979, 0.469, 2.1498, 0.8528, 0.981, 0.4488, 0.1455, 0.9946]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1401 left_yaw=0.0655 left_pitch=-0.1266 left_roll=0.0066 left_gripper=0.9979 right_x=0.4849 right_y=0.1638 right_z=0.0423 right_yaw=0.0073 right_pitch=0.2973 right_roll=0.0016 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5248, 7.1453, 1.707, -0.1001, -0.0611, -0.0171, -0.7043, -8.335, 6.4752, 1.8388, 0.0415, -0.0611, -0.1636]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78574582ba3fb66137ae3c0353fdbd995970073c3c794d2a8d6c66ecec270689",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c054ef1c7b282cfd6870c8afb0d80a5f9007ac369f76f866b1a582070e013f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7ba5cdf8c4a7af33f947274a33676942e95e23c09f64e83d87b2c5dd8b78d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 3.847 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8204, 0.5636, -0.4294, -0.1013, -0.0982, 0.9978, 0.4786, 2.1098, 0.794, 0.9707, 0.4553, 0.1585, 0.9996]\nstate[eef_state]: left_x=0.2832 left_y=0.005 left_z=0.1453 left_yaw=0.0653 left_pitch=-0.1009 left_roll=0.0036 left_gripper=0.9978 right_x=0.4698 right_y=0.1603 right_z=0.0395 right_yaw=0.0076 right_pitch=0.2724 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.6068, 6.9949, 1.7802, -0.1148, -0.0269, -0.0171, -0.5675, -7.8974, 4.9162, 1.0672, 0.0855, -0.1197, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.44, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0065, 0.448, 0.1604, 0.2039]\nstate[eef_state]: left_x=0.2816 left_y=0.0051 left_z=0.1432 left_yaw=0.0654 left_pitch=-0.1118 left_roll=0.005 left_gripper=0.9979 right_x=0.4728 right_y=0.1631 right_z=0.0423 right_yaw=0.0091 right_pitch=0.2958 right_roll=0.016 right_gripper=0.2039\nstate[joint_eff]: [-0.1299, -1.1966, 6.9538, 1.7021, -0.0708, 0.0073, -0.0171, 0.0205, -9.6205, 4.2598, 1.8046, 0.0659, -0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0586, 0.8246, 0.5636, -0.4511, -0.1013, -0.0986, 0.9979, 0.469, 2.1498, 0.8528, 0.981, 0.4488, 0.1455, 0.9946]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1401 left_yaw=0.0655 left_pitch=-0.1266 left_roll=0.0066 left_gripper=0.9979 right_x=0.4849 right_y=0.1638 right_z=0.0423 right_yaw=0.0073 right_pitch=0.2973 right_roll=0.0016 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5248, 7.1453, 1.707, -0.1001, -0.0611, -0.0171, -0.7043, -8.335, 6.4752, 1.8388, 0.0415, -0.0611, -0.1636]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78574582ba3fb66137ae3c0353fdbd995970073c3c794d2a8d6c66ecec270689",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c054ef1c7b282cfd6870c8afb0d80a5f9007ac369f76f866b1a582070e013f3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb7ba5cdf8c4a7af33f947274a33676942e95e23c09f64e83d87b2c5dd8b78d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5l7wwRhcDrdpnAvyb6KC9zxepxgGvrrNfR7YBy66xriEhlHrg_Pi0BCR4nXhg9FyoYWEZOP3QaXTemCTQD2A52KagKpi79UJwGYLsS0V3ksgP-90427NCBNAsT417ZA1BRk7ottDwGUleJSyCF7SFacr65tTH1T74jBWHhpWUlLdynHioYV9l2sUO8YomXI_JW3Xe8e4JuOx8UvLwOQHnsr3q4uulLCOWkrIcZfwcj_tLEN13fEEI_DEQ6Hb_rhFqwL_x03w5CQS-eVO3Gal3KxGyrklhI6oaxNihzYC3okMvMz6IYZw8WglmFkKYRErfdR6IKfefm5hoe2emV8jff0XM3BtXNfxWas8Qc_y6O4PjNZmhoEJtJaAh69mewHLUxXJifmyeqDeUiq3rsO2PcVGjE8xN_ID0Sh4kchyeI-fzJXYTXicwFMjcCr-fPGBl4Kijmzo8gtjT9ufBfcP4uSvRK2_3qYGr8dNhL-yUbPTwS6UtePrJv8F7nHJo7DyNgPiiq_oe-A4rdINFUl9L2v-7fXS3L3PxhqDkfHc-GMbMiw4AfLiY1Rr_rKVZ34v3D-xBpFZELtO-NirS7mJI6WzS2SRfQbkWVBx0Tox9dWNWr_QAK1DZ6BZoREinmsQFwjrROcA_DTnEMM_ccNhRLt0OO9DuENalLTY4BAERFo7wKGkebeHKbjZKMaCBZVpveHSXjBxRXhipW9UZ1q56xn_FIjza--zrJRhuDMPdMHlP7kd_XjjgtsCmKInbgyIAY2MIjUlFrqu0LeOeVfDKracNg1GdYLv9waLCkON86jUSNZzFJPlmOZ1eNMqOrJl5Hqy2MqQs5LGbhu3KB3dhNOt34dOo5hUmZnE0tlOrqizUcjxN8kDETajU2B7BTPM_d_KktMy1iR2VLgNnAG0Tcs-a4EoVSpbRUPLP2OQGryZVNd_S4LoY6uemJJCvFeKTJwplJgjfWtstjYCBY1Yp3p3HOK1M6ZFMdvs4HepkTAaWLHnJcGYf5Xhauw_RhNmuPFJs2g1SU5RwDvgyrEnJZg9PNDWpZf8CwmTkHLVp69ZjbfcdWf-GnbdBoBzQ0sHqcy-ciWlJZ1XnJI5K4Z4T-jbYffVtpU_5uBta76luL8y7QcyO3VWFcOXBKY4DbroEzJXGLLKrfxjnCUoNtNVxBaExw9HusIiU0p0nssVntrQQF5uUOVSfui8mP6co2p0kd99_weOo0U3y5HtXallOqxBXF075AvL7psI_j6cdHfepbMRT6eUEFKVgNkXxZPtwd",
  "id": "rs_0e58d6586580f960016ab43e64861087d0845d46f5fd8266aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"After the 1.5 cm advance, the ball’s center is now directly between the open fingertips rather than ahead of them. I’ll close to 0.3, enough to retain the foam ball without a hard squeeze.\"}",
  "call_id": "call_rzqLcGTBD5X874txb3ta7Ont",
  "id": "fc_0e58d6586580f960016ab43e64e00c87d09719281d1ef9b8c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rzqLcGTBD5X874txb3ta7Ont",
  "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]: [-0.0582, 0.8253, 0.5636, -0.4576, -0.1013, -0.0986, 0.9978, 0.4717, 2.1525, 0.8566, 0.9897, 0.4335, 0.1463, 0.3051]\nstate[eef_state]: left_x=0.2789 left_y=0.0052 left_z=0.1387 left_yaw=0.066 left_pitch=-0.1338 left_roll=0.0075 left_gripper=0.9978 right_x=0.4857 right_y=0.1685 right_z=0.0439 right_yaw=0.0214 right_pitch=0.3041 right_roll=0.0113 right_gripper=0.3051\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0904, -0.0708, -0.0171, -0.5538, -10.4, 4.0957, 1.7411, 0.2222, -0.0708, 0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7de0b99b01d1175c4ea08e7e8db50b73b4be483242e5a4ee9e97da5ec09bee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e412a94e5654d6ceb0646082acb63806fd4c747217837ba4c85be3f2df2eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d81e7fd78ddc3bd52a0abaabbead083b7fe28fa2a383d2d2e21b3ba517a0c5",
      "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 · 12.49 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.4355, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0069, 0.4484, 0.1608, 0.4054]\nstate[eef_state]: left_x=0.2823 left_y=0.005 left_z=0.1441 left_yaw=0.0654 left_pitch=-0.1073 left_roll=0.0045 left_gripper=0.9979 right_x=0.4729 right_y=0.1631 right_z=0.0424 right_yaw=0.0085 right_pitch=0.2962 right_roll=0.0165 right_gripper=0.4054\nstate[joint_eff]: [-0.1709, -1.388, 6.9538, 1.7411, -0.1001, -0.0024, -0.0073, -0.1573, -10.8103, 3.9453, 1.4872, 0.1197, -0.0757, 0.0513]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0586, 0.8246, 0.5636, -0.4511, -0.1013, -0.0986, 0.9979, 0.469, 2.1498, 0.8528, 0.981, 0.4488, 0.1455, 0.9946]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1401 left_yaw=0.0655 left_pitch=-0.1266 left_roll=0.0066 left_gripper=0.9979 right_x=0.4849 right_y=0.1638 right_z=0.0423 right_yaw=0.0073 right_pitch=0.2973 right_roll=0.0016 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5248, 7.1453, 1.707, -0.1001, -0.0611, -0.0171, -0.7043, -8.335, 6.4752, 1.8388, 0.0415, -0.0611, -0.1636]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8253, 0.5636, -0.4576, -0.1013, -0.0986, 0.9978, 0.4717, 2.1525, 0.8566, 0.9897, 0.4335, 0.1463, 0.3051]\nstate[eef_state]: left_x=0.2789 left_y=0.0052 left_z=0.1387 left_yaw=0.066 left_pitch=-0.1338 left_roll=0.0075 left_gripper=0.9978 right_x=0.4857 right_y=0.1685 right_z=0.0439 right_yaw=0.0214 right_pitch=0.3041 right_roll=0.0113 right_gripper=0.3051\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0904, -0.0708, -0.0171, -0.5538, -10.4, 4.0957, 1.7411, 0.2222, -0.0708, 0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7de0b99b01d1175c4ea08e7e8db50b73b4be483242e5a4ee9e97da5ec09bee6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e412a94e5654d6ceb0646082acb63806fd4c747217837ba4c85be3f2df2eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d81e7fd78ddc3bd52a0abaabbead083b7fe28fa2a383d2d2e21b3ba517a0c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD5qFIISW1IjmWDRm6Bg25JIslgFDrd_f4uuYUIxK2NhUN3339A642yulh-ifPb-ltky7RepmlpqS2ZR1atD8C3q16DA8C6a_uyZt33Hz55yQpbjI9BunynPchOykYw9nFn2wWdTobZZRU7hviWxfCRDU57RaNN4kWiPr78PnFkdQ_i6Y3ezRp0JUzCKdPZLT4bXZPT4XADJRMUzrJbnmmE69RDjkndchUTz997Ku55fB1kwwEBVlhvLxndcuQ3POlp7inxtq3RJQl0ARmaxquHf5YpMKnjuTehsYR6xHkPsBpCoN9gJfL9qbjEAEiyjd2e1pZzxyRmlhEb5zNmNgpdGmJQEydx6SDkvz0xBlgdvWrehseu8BxzsPC8f8C0W0q-M9PQowxtNzgmaOjniRhEduDWaSPEcK4yjDMTZrGDgXoU9B0EZxxZC1wEVC3PjvduNqHCEm_TYg5S5s-rvN2_oPHmanrheCdpdg8bR-iJCMNd5_RIEIq6--n87IwqP9oiKK9LMS2NhQlugxmI57toPtN4hCHae1biF_nnw-QSbj7dYOphb8EtvOz8k8RFDdpxdzZg8PKf53ZICZDkYIq5Pf6n_YIwS5K_l9k3_UkZmK_cSZ6XQ7UgaFlFS0ZLYUNL5A69nplaoU37z41fWDQAPWWtfxoeMx9dpRk1HOBKZhIRwWZCSzAxPHSURqF0V1zXCMVFlrXn8NcNX78MSg1DTo9g4pCZrMC9rQPnL23OAzZCr2aYUSmK4MHUUQtDxGGvrSFqxswgGnFcjDICYv3b2UMj4fOv3IwZGViC_RszKu6s0pSzcye9Zn6IsdqWumg1ZuY6JJ7HiXA78Taqrfb_Y4NZOlZXOPeIRtPhyF0BL_tOuMmkItJMlBMIb7pfQr2n1jOkdYqTzIpqaESXw7OHFAKkp8clFKQep1HqLkDECcw0FElb7YRJMAqBRQAtJ1dUOu8wNk39oFl7MJ5IgYcSyra-sO07f95svUPYI3WDo6FXIxAcfDWIctTzaY1HjYiXu0Xr-FA-U6VC9yhklxO9LJAztB-MdeH5vp4jYTLHzx0nrmWdm_qDShPj--SYOlnl2iyuz8PcPb94Kg5CJxvmWkivFxg1qnYF0mWF_DshFH5W5hk_d0jkqnzwKgwmbAGHuYpx1SvgzzD_-jPZu6GhFOEp2sef44sDHNsTIjwhdGNBVwGavO_vDxCmh1Z0hgmF7HMi73IuCnSEB6LkQs-AjftrZxbzGAdCAzmejjPlfuyF-b5Lf7NnGzRdtACWhwVUr3bNy9lGJ-iLgbIcWo_8vsd6_HU_Kxo203XEi-sqJObe_QFC1By2gH0SMfIcOMV85HH8ZZs-hUr3Z1UYpvUQOoAcbqJRMZpiq9gdWfCmetMXFAuxS6HH5RM3AMEBWYECBxcuXSxgIjWqIyUWwuzJ-Qu5-b20lcpH-TM4nu0hCgWJGlQbeAT05GgtMlvpIupqG-RRPIfR-AQHnK_AnLSyDqfm7Pfts9A_hEx7Fti1HFCgDoxjT9fD1CJzK052JhqjeidPqpsV8RwOOgsSR7Ex_PHi34khNE9c2VnPM0v85HsZX1bFwDwlwxWxEO3A5kMv5-XwCQ0drwmPyurI4BjF3wVYDYojHFZXII7eI6NmR_7vcHsltxsIXlsqSkUzoy0Vcuzq9c9j3ivQI_rxhbqaxTrFzRsyvyrqcNybqfvcSSrZ2HxTJ4wLn0_5bVuTptIGCWFBHpbOwMJ6n6pPPpULaVjJYJlNJTQpMiwg3KJdk8Fsxj-KZAfN0FL9f7vCOVOdRxTN8sIUaQYJ3J3cfdYtqt0uehveDeZbtopW_0hWZH8XDhvQ2iudZiC3n4PdUuWPpIQ49biEomrhfuNTZtuT_MCktWULXxqiTB-8TfIQfRrk3z78gAU8WgHQ1JGv1_GE-Wys9_N2VYcAMZbyj4h5QHEYnCRVq87dvW90KEP5qlJ9hGzArwf0wh2odROG2OY00",
  "id": "rs_0e58d6586580f960016ab43e678ee087d09eab17843afa8158",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.38,\"right_z\":0.18,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.3},\"note\":\"The jaws now visibly press into opposite sides of the ball. I’ll lift and carry it high to the right side of the safe interior, using the right arm’s near-center reach limit.\"}",
  "call_id": "call_lBmwePE0VigUbC2KQuMKbCjJ",
  "id": "fc_0e58d6586580f960016ab43e692b4887d09d6bd5425ed8a825",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lBmwePE0VigUbC2KQuMKbCjJ",
  "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]: [-0.0582, 0.8295, 0.5636, -0.4728, -0.1013, -0.0986, 0.9979, 1.0462, 2.0323, 1.7092, -0.5484, 0.7933, 0.7143, 0.3017]\nstate[eef_state]: left_x=0.2765 left_y=0.0054 left_z=0.1349 left_yaw=0.0663 left_pitch=-0.1531 left_roll=0.0099 left_gripper=0.9979 right_x=0.3632 right_y=0.3835 right_z=0.1792 right_yaw=0.0433 right_pitch=0.0144 right_roll=0.0094 right_gripper=0.3017\nstate[joint_eff]: [-0.0205, -1.6615, 7.0906, 1.7607, -0.0659, -0.0464, -0.0073, 0.1436, -10.7419, 8.212, 1.243, 0.5495, 0.1832, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5eef1659cab38e585bf7e9b2eae49c7127ff502480b90a392a2e173a434368f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd68f9387b58aebc26f84f1e1201991cb35154947ad30b5fa143f1782b276b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e3c14b4d0e5a9e6aaef5522a86ab805d61f801ea36ae643913e25f05f58283",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 2.3 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8207, 0.5636, -0.44, -0.1013, -0.0982, 0.9979, 0.4786, 2.1242, 0.8001, 1.0065, 0.448, 0.1604, 0.2039]\nstate[eef_state]: left_x=0.2816 left_y=0.0051 left_z=0.1432 left_yaw=0.0654 left_pitch=-0.1118 left_roll=0.005 left_gripper=0.9979 right_x=0.4728 right_y=0.1631 right_z=0.0423 right_yaw=0.0091 right_pitch=0.2958 right_roll=0.016 right_gripper=0.2039\nstate[joint_eff]: [-0.1299, -1.1966, 6.9538, 1.7021, -0.0708, 0.0073, -0.0171, 0.0205, -9.6205, 4.2598, 1.8046, 0.0659, -0.0269, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8253, 0.5636, -0.4576, -0.1013, -0.0986, 0.9978, 0.4717, 2.1525, 0.8566, 0.9897, 0.4335, 0.1463, 0.3051]\nstate[eef_state]: left_x=0.2789 left_y=0.0052 left_z=0.1387 left_yaw=0.066 left_pitch=-0.1338 left_roll=0.0075 left_gripper=0.9978 right_x=0.4857 right_y=0.1685 right_z=0.0439 right_yaw=0.0214 right_pitch=0.3041 right_roll=0.0113 right_gripper=0.3051\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0904, -0.0708, -0.0171, -0.5538, -10.4, 4.0957, 1.7411, 0.2222, -0.0708, 0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8295, 0.5636, -0.4728, -0.1013, -0.0986, 0.9979, 1.0462, 2.0323, 1.7092, -0.5484, 0.7933, 0.7143, 0.3017]\nstate[eef_state]: left_x=0.2765 left_y=0.0054 left_z=0.1349 left_yaw=0.0663 left_pitch=-0.1531 left_roll=0.0099 left_gripper=0.9979 right_x=0.3632 right_y=0.3835 right_z=0.1792 right_yaw=0.0433 right_pitch=0.0144 right_roll=0.0094 right_gripper=0.3017\nstate[joint_eff]: [-0.0205, -1.6615, 7.0906, 1.7607, -0.0659, -0.0464, -0.0073, 0.1436, -10.7419, 8.212, 1.243, 0.5495, 0.1832, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5eef1659cab38e585bf7e9b2eae49c7127ff502480b90a392a2e173a434368f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fd68f9387b58aebc26f84f1e1201991cb35154947ad30b5fa143f1782b276b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23e3c14b4d0e5a9e6aaef5522a86ab805d61f801ea36ae643913e25f05f58283",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD5488zxHXOUPV-N_pPNSb9yTDQgXkYhOaO9AlIltpGoQ1ArAjz6jXaAsQHut2Sc29eQK9pAzi81UtKdotRDLlwRe2RaJ6WfLChTFWroc0Ib658afCR8eDkAeawKIGfQh8gaocT9Oj-VXUS_JwnEwU18wDn_WXbZw3S8YyVi499ogIDp0tQHu53yiZ0DFs8GcroQdGPA6UNcI5-U_1tGIY8sEstBEiXPZyMDOtWVfNMV8Is-XiOXHBB0-fgKa0mwnoAuvT4f8Qw2NnP_-n1fmClH_OuWdRxCUA9EwjkTmJM7itqKCZ0uQVgWSnZf945fwkso3bp9cOOW6MyD0Gn8NnxPXQEMara05QvP3DNQBa7NrR0Q3yjqQ-LAU6AUD6kF4cJn6x6Rea9rBzkjPwECE7RGO42FGRDpJP1gTZVCzSfesptKBHdF7nilsLvwES0_5H1j97dgaARA2lu_SQLd0cIEQR3iVfYfEaN-jeXy1pGSyZAmeS5xMsIhp1tK8nt-baXzuJ3T5ceKxzT8BiSHpDCTQFQ80BFxIbf0VXv69kyTvtSegAwsUcqtsJ-mJQ4H6Z75DGHXTfx-5nuMomhv0NEa3hew_AtXKMKb5EftJ55p2QHcV5SZ2lbGWOIfe2Ndqdg14ivoRejj1j2FwxInHgnEyuZ_zh5Yp1kQC3ijo9Q-WDPxgFoe4ulSudHKDkgrOMkIGEG9TBRwPJIDfwdyMT6uUeSlImBkQEZuWw8KmV6BbOaPq3-MA4vBdArDRVYcMW-vT8E0BiMqWhmHbKgNMjUlLttq4rVbPZ3AHzo56OWYtObsMwigxArS5-9WL_QT9Xs16mMTgWxJo7ixc_Hg6L_HVQ3jVcHkJvreJ7Xlco0v74DMeHH7Qa0mE_7JOwm6yLKyO7G-cw-_bWgKvNTMmHh5wO2pPxH2ZYXSpjwnlqBUgJkvA644HrRmCSjdMnRjVlRUdiN7iYBpSVZUVgt49IpDPVGCX5P1lXSUmNxFLFQNJv9e5bOmrlCxj4SJsWRd1BdA3uLCZ2qLXVJRIK88PW8xePbBYhdTMjLQQIhuaf66sCpSSNpbpcT5Wt26d3ryP55iA6MFtR6OisLGQuaHiGVPCsdRwX6jwN0Ik0EuN6YP0fweMlZd2teyu4ucnzBiHSJ6tzRlQhhb9lcDv28Xd8oQ6CP7KoFifAc2nQgwg3Bfh7l7P66hqzL-vhmActEHts4TO0ADJzOnNuLWVNk0cvNVIV8k9T3w2MO9gGwk262u-PSA7O3i0qUtiuu93ve7ghwSGGBfYE0oebFeHfWr4PCiSlyd4C20qS7aFPEbOahp0S_PAl5ediOcYWPYVQXrMmAj3p8uDP2tqw__Jsnc1j5itIUDXrD7EFn4-wWzOycgc4SwR33JMJ_anygG634JIN9M6AeemufCzLT0z7L6-qe9_27ZHX5cRDiP9qGdwon5uVcMlfuvx8-dVojX8SerDzhaF3_SidpCy4RUOI53l9QuvBvKOwRO2SmexThcxFhUOOVeN_UPrIeWoqESBMDt9C3gYKq6PwdB6kA3BtqOJJasSr1MqaHJFPXh4uSx7SioOZZW9HuxQ0e0j90EO14v59E6tIxXrEesTPArRzwFfoUeGLVLqExJ0z3Wojl8dyHuShUMwfXCskMb8qxwgcI6_Ln3-wR1fwd2cfX7C1qKqVBB8XOeG9NgNOZzVJxzmukENaHTYs1DZEy3oeOhCcnP4r7m0LqTgkBuvqhNzjw2V46o_I_iTA88Up4Z2GkVPQk5zD711xpzzHBWo1DGTqz6SONG2TFjDuFPRlIlRG3zjdP9o-w2NdJGBq1Pj0J1JLto_Kx7rOxYwXTTyhs_nzKswKOzF0G4LSwSyr1IMZvoFOxbn7Y2BGl14TN1-YcPi9_8BihPRGnYl06ag7bGECQEoidaR5_mKeC_MFgdu4xSlMUaWa0c7XMI9uidAM-FhsHbeBhuacgwcDD0niP5xvlfLlnX-QdjgTjNApShZHp9konrlAMy0E0r_Rm4T6iuqtQ89JfY3OuLE_d1mNaYiFE_ndzRn5UZYj0w2sBaFen4Go-cXybektXHArDirAR9voAc7cx1cyhhQSlKqP7dvwE7k1SWP1_Aaf81odKkKTSUPznX3NHf7iS-XQ930pVQAc038NE5etsWN-KL5SDw3rTnj6kYsJv_vin2U3BHeIfx7ciKcuFMcmbaEiaAJpp2oD0dgkjxJp1m80NFkYo-27ofF2jUNl9l-i7eiy3B_1v-E7cQ02MU7IggnWNKSQWJ8C1PGnrLuRwzAa3AT7xkYy4K7D26fM1Mhoouf8pEYTpwn809dOAs5WTiI1rkXbAKGySClsMxbeuqY8P_CxX1LumHjtfYxOMdoFUeSA5FUm37AxAIWKGTrTTpLt2C0qPtH3uQQWFjCXkISmKf6PTsRBrBizvnPSwYmNr-ZErlK6mcvn3RiuOSc8K3wtnUt-a1RfMmpXuv551VJfsxl-xmnlALiqcgY8GnkAn0QD3yC4TIZejsEqF6JyPOod3xtdxuIyWNvpe_g-PSnymiRTQYuSRIoB56M4t0CyTm79X4Gvp3WgGztrRXmwBcbhKVDvtFsHXkt41w48vXGRq5UmpvrLgtsfEKX2aEaIjvBx1Q8FYa67EgG5syq78aWH_kGjCUOZH8aYoIklHIJR18HgahVU36jaC4ssr33dMzg6H0liNQ9q07qXn4s8-3Ral8vKu5qi8iHGPDwVQKY3PGfp7fWjM7t_O9gDYrmdJ0ojTLA49brT5GPuBLW9etwfZ8xo7CbccCIUaqPsHU9SjSj3Uuu04QL-BgypEMa7DVbvXcPVzFrR5y8cg0cvOsQnNXm4AwFBeF0VQN-xiFHOjrOsyiMSgubBnM0gzJU-zT92ZpYkwDlfCxm6JRfa9HKNTDTQndm0LJ9_c_LrZNDU1BGlbiLFUuZPQFJCrp-t1DcM_6vQDjLun9NzfXipP7CROiduaFC0HxaUtb6N_AKm0Co_CArOTU60dAoYhp5M8pz9k4qmDvVGzVHJ6yAV9NC_mnfdjMSncWpFhngeO9PxNaq0vfFGhOgVNaCkOHMFMcJMNQKSVZ13SwWVGGKNMJTrskdpe2wD1042ghKvMNHMKqaQK5dQhr-ucTBaW1YoiEuto13zxOMOU6zXrPWNrj68IhmWdH8lU0WWdCjfJlDxyvhTejvDPJHZmjM9C6edM0-5WNzkKdz9-6rNEM4CqUmGHcV4dtCMRXbhPKp3ox_Rps8CSu8cdhuHRMvXAFkQRZaX9SZHKFCGxsVmCy0odXcb0OQsYeg-lJZ0_PHuN18kjcltpuaZXk6ng2ZbQ6ia3hwkRmhrNvO-vJwidCTtONMcntKyACwtwaMBmdXuORd-oSqgtV6coVpeqdm9WBv46ovc5CswbIzGKo_NfoikxUOO1W8GuJ1z4e_Je5HZCguh6H7u5YSKAPN3n98E3-Hd7yj6JCeokQi7_iQ_Ljmfrp3lLqNPJvjuUGbZGCCE4L_1EKLtWMubn-p_zM4SbptnTuPLp6_EVxi-eTXp1mUXczNUJ-9hVRkdpP6jFZbs-GMx1NGkHzf9ZWhmqNlisnDp8HO5ZuVKxKp6eKfquPT_yUCOP9ZqCeYzD7ihH8E-7EeZiLqlcczLVBsWcFQpcm3Z_GmtfTer10oWmF62wf8FEYwjWtx5uPi6gz27rF9-ywYDZCRu1a-p4OBoztEEvpyaAyin6Tx3s_wkOCcph1uw_5LE2OfI58EHM8aZyZie8yUfThL_vPpOVZdklHIQsB1V-uxNkviAPi2c6X2Jx01tBbZU5Zsn83PTKRBPKmSQY91vcxmRMFngzPk4v6cMgnyhmaJv6GrdMk097KsKOnYf_u6MzOFoUuEQC8JV5DEcPBIlGoaWyMfhF0riMbl58zGrY3TFRTcOTErUl1IiwQW2wz-uYQx0c6AM3ViU9gST1gtSbgTbz1s_vaPknr",
  "id": "rs_0e58d6586580f960016ab43e6db02887d0863419e8bb4ece9d",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD54ev44FqxrbfoFjGJOMRkOpt6AlZBnbvL5aXMcWriJ8fLgX9kqb60xMqFB5_-_xNUwYhLeWFo9mVi4WR9ttyaXQAu4IOwlxjk6TY4mOeKWfNbX3RW-7pIX5a5xExIYZ0VzAhNUFnbdyWGtMaVj3XZKwun9A_v26pTqPLuHVD358PwraRtRKwXfV4nU1nx8Etk_b76PfPidNiL4J_bE3hp9FrSjHLCuA9TXQVCmutjDc_H8aaoQ5T9_Q7E6O6kuA-lC3pJanXvBrE6ryw3NRa9E1FBWWKCvjpqdE8NgbmuLR91cXBRn1S-gCC8_PA7XwlW2bb6TZXn9ENMRaLXposZzrAT4adixR-137MswCRU4LT5plGMYULftvTNOq0FJCyInjU9TblsrY-1uUl8OgQds5ejFuy90JHtJlX8ZEQ3OAjRsBc3CiaeH2x3tQTuS044wStZpE6GNXwKwsgjxAZLymddX9uvWRFjSrjHb6GexX0vIGN4niShzsY9P2wXqEp3j8HdyQcSeKCAnXRy-1ZylfGyJfxrtzSnDRm1RdfYsfwEsMBQ9QURZ78670nrVlC5knsEZ-DEf3WgxBxyEWHP7GUUJ4zBEBQrNtlh38dn1FAhrNvz_aWK5seInO5ku2qMP6OR3jq0TYRwwhkdMYGsBFEf_ufkOFebLa36U_0EEFXRl8KTFzKyOnecviqhrWw2d0m1cEy6v3duP7wvmMVgV8QJsk2yVt6dhQNfSCTpDiTbRC7JJvw0rUpF3_k-MSNMO0dTx-jc3leB1rkYsM2GBghtAp66Tf2C319sa1rqYaj6n_UpdtCuWGNTWLIoASXVUzxoh6kkOWc6p68hamfLFUo7rcfGOTLjIJVUeq6g0NNep_eTcjO8WmHElD0X97ORhJX0Kk3qmf5HiKVlb8SxOKtTJ056day56wHLKBbSOj7_cVFC0C170B0Q1MGyQGL78cDdBbtmdtw8kRkKT14QwB_g5hO6GPYndfmfIGtkP4m0wowK2UxuPpcfPHk4E_htMZBfeH2st9M8Cng7V8HvXcWIRwuV0nRedaEg9nFw49clLEainAdSKahi2VG_hyN7Ok3yOcDItmJTl0O9oVgSDm6dNzdux9-cRoYKbdI1rVcKR9tazig8o95L2MrE60nREFFGDgy-pJWhACZWxYbZyWf7DXGUoTVG6jrx0J_Gm-uRt6OrdgWQPfv-WHeBued0rpz3FzLojW9A2ZaxOqn3Dslq1MVlyR6b1LW_sv3BT9n5zefMwoMwSjLKFdkrTcGCbW0CyDvfGQJxbhnMfhkfgIz669PVmQtPRRZw1WlIe1SR84sqVlHOojyt8sTxGNPv8Qc1vVn1mPf7BfQCjdN3SdCv5M9OotAtW-rpnxOAvV-yYDAlGjdU9_r-PlA9iTjm7icAnKb3tB0W48rOmU2jo93sRjHA1-ae5ArM138ivdtk9gA9P8FwV9_RwOoeh6ht98N2p9H02rIrRt06b1-N3ZkmmZHbgBk4NTALBFsr-v9aBlfuNmzBX44lYC73Go7TaM7B2l3Zu5S8YY61RbHIhq2C9-Kk-FZ-206yP3AufRB85O-ioUbbaSyK4gHUYn5LlH8R1clemj2u7TVf84qOmVpKnwHa4j_Dlwt_VmOFAQ0IN7OILSnsxKe5Q4sxvBQs2sS5HmGivPphheA6KhalbYIsOElhAO0Nlo1TXry6i4vbWNHV-EWxn8w5giiVEXGwGKrRo6RSaY3fnHLrnCSxeotpp8vxPKe4fjrnpOsdG6LxW9ExVBW8D4QNV_jSRcl1IGJ89bg6aZYP4GcLtqKw5i49_5m9bh43Rc2AFZQ2MV3xQ1HJaROso4o6gzlCHlhOU68VbF0DIqRXhqG58Y1E8TIae1qAkgbgkhV12w_3BjbfyQ4hDGQ64ECcMtJ5mUBwpGf5pVQE5OekWP0k7xnyMRotswYHbEfexwTvVnmyjTKZiMqFFIJufWqOMChW7o9yh5d8mfAuTulAQKD0bYagt7N5BzM0XqCcBmCvQTR2qDmp932eY8AZnav5aPCN68suK50IEDsmNhsp90Bx08YobV0MPfnL4waUpd-QYuFUoPUT74IhLoGlVqRYuNbE9X2PxsDG2wIgpOl3S3Kv-b7Sf-Xbq2hFLRmAoKgF5Sdu6Ynj7zkYJH5yN5S_kIPZ-KzrNTA4ZTDafuiLBKG-Wxpop7Kd8HhdkzVbdfvxmaiqsxts7MuXhTBaRrRlg2u9CWU76QNeDGxp_xiMo_LRXD0k6JGj0RBunHe8TLmVYGayIeIcwpXGG0utekglU2hh16K2HzhpzNqpNIg38I28mJToZRlbe2dAAiyxdBAkLC3p25QzL3ppTMv3mEdl0l40cDQlwwmP_x1QOzDehrKctjO750_P-rjCW7h79Ky7xSrMD_fVec7Gaq5eEly1RcLKaAuGvj7VlvGE7SEFwypo3XG1kSs0HvGBP2DRZ7Ge-DAO0p30xydoJiTuVfagokg1TrVfQRiX5-qPnbN61NkdFNYsfq41I9YeTdZu81aBggghBp8V1YrjVowbPu_NMWDwaUVqJ-lF5sGADnz6MXisPwu0usXKpsykQu31HSF_vkokamfu3cv0jqZO5LKYRO03s-qb4pD5X3w0z7MqmA_Su6CzDQKedERNgIExwmS9joy_cErUQ6zEWe906HeLr_hEw7vO9BOtCwQSzH6qwKBi0Rlyc53cPF7GPtDdffcF95pNcutlSTO8o1Sk426LJtoqoc5vhvcR8gCEGhQdc-LhkoGKn09sGJkAbD07f7GjBrOPR2z9VGu3_RN0UlxIA9v4IvgoSeQfaj9lCfzwL5r8IE_spQuGAYh12Mz9UhIL9jtO03PA7Ah2s0sZIn4kxIn2le2vMbZatRS8dBeqSnnEx8zVdTw8p7m4GLP-rlZllUl9aDQ9lNHWFs_6dmEWM_Ynxynyq_ETXT7aD7rn-aAgQHEJRcdA9hhLplXuP7DVWhziD2B87dp9EeVFBoPEI4-RGwsCVXH8kRQ1rE9yt3beKG4wUam715STTRfjeXEGVVn8Hef3xCGLrhoTgLU9qWsPHcTg8reUyeM2UkENxDQ25Dk3ui4NJ9WNa6N0dTjaA25ZOcWt9t8MDJ38UIREaf-iBeofK-9cp2-Fhui6iYYx8i_YyAOUQiSVLRpK0w9RdKXZtwcntt1Wp5ZqI4TE0Gb1Tfpcy2hjlM8SVZ2dhClV9imfbSF6dEf1GspwtAdh7Vhvr_Gw39xEcHgRnTJSY7nPt1yiuCd_1W7hSmB3UdsF-NQ8ZMjr2EmySnDnkucrpSuDH96MJhs3vDARpxA0Sq8I-gpMeTq7XRCcHYN4td5CSNHr4mLQdV7iTHNt_5Suief_rpFlQaSEG4cJy-i4-YESaiaNf_I-6e5klx89LcQp8oFsWlUH3Si6ZGuwlntrmDdNc2YIqxaK92uvEFXWq04eK8m_BtSewOL-kdqFT263-YXCmJQd0HESLybiE2tc-qZQIHtO7JMEW01EMRqP7dFKDgA1I",
  "id": "rs_0e58d6586580f960016ab43e72184087d0a7bb776cfaa6a740",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.08,\"right_z\":0.045,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The overhead view confirms the ball was not retained and remains just to the right/front of the safe. I’ll place the open right gripper low on the ball’s outer-right side so the next diagonal sweep can roll it into the safe.\"}",
  "call_id": "call_WTpAN8Z8FsSpY3WHipt1whSe",
  "id": "fc_0e58d6586580f960016ab43e77284087d09ced16dd6d060c10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WTpAN8Z8FsSpY3WHipt1whSe",
  "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]: [-0.0582, 0.8303, 0.5636, -0.4801, -0.1013, -0.0986, 0.9978, 0.2543, 2.0743, 0.7341, 0.9718, 0.2672, 0.0875, 0.9985]\nstate[eef_state]: left_x=0.2753 left_y=0.0054 left_z=0.1334 left_yaw=0.0665 left_pitch=-0.1611 left_roll=0.0109 left_gripper=0.9978 right_x=0.4815 right_y=0.0807 right_z=0.0321 right_yaw=-0.0136 right_pitch=0.2262 right_roll=-0.0158 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.4154, 6.8855, 1.6093, -0.0952, -0.0513, -0.0171, -0.2393, -8.4171, 5.2171, 2.2393, 0.1001, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41223a1ac7bc2fcdea46510fd2c0e468c172c996b814878907c66f37b63c6af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d4e9696cf96453d3ca6a7714bac1386331f5ffbc0cfcd8e8fc75a5f636c764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c9ce749c60105644e39cec9ac23066df6eeeb19b3405741023fa5b872eed469",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 10.55 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 127 changed as sent

message 135 changed as sent

message 140 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0586, 0.8246, 0.5636, -0.4511, -0.1013, -0.0986, 0.9979, 0.469, 2.1498, 0.8528, 0.981, 0.4488, 0.1455, 0.9946]\nstate[eef_state]: left_x=0.2799 left_y=0.0051 left_z=0.1401 left_yaw=0.0655 left_pitch=-0.1266 left_roll=0.0066 left_gripper=0.9979 right_x=0.4849 right_y=0.1638 right_z=0.0423 right_yaw=0.0073 right_pitch=0.2973 right_roll=0.0016 right_gripper=0.9946\nstate[joint_eff]: [-0.0479, -1.5248, 7.1453, 1.707, -0.1001, -0.0611, -0.0171, -0.7043, -8.335, 6.4752, 1.8388, 0.0415, -0.0611, -0.1636]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8295, 0.5636, -0.4728, -0.1013, -0.0986, 0.9979, 1.0462, 2.0323, 1.7092, -0.5484, 0.7933, 0.7143, 0.3017]\nstate[eef_state]: left_x=0.2765 left_y=0.0054 left_z=0.1349 left_yaw=0.0663 left_pitch=-0.1531 left_roll=0.0099 left_gripper=0.9979 right_x=0.3632 right_y=0.3835 right_z=0.1792 right_yaw=0.0433 right_pitch=0.0144 right_roll=0.0094 right_gripper=0.3017\nstate[joint_eff]: [-0.0205, -1.6615, 7.0906, 1.7607, -0.0659, -0.0464, -0.0073, 0.1436, -10.7419, 8.212, 1.243, 0.5495, 0.1832, 0.1636]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8303, 0.5636, -0.4801, -0.1013, -0.0986, 0.9978, 0.2543, 2.0743, 0.7341, 0.9718, 0.2672, 0.0875, 0.9985]\nstate[eef_state]: left_x=0.2753 left_y=0.0054 left_z=0.1334 left_yaw=0.0665 left_pitch=-0.1611 left_roll=0.0109 left_gripper=0.9978 right_x=0.4815 right_y=0.0807 right_z=0.0321 right_yaw=-0.0136 right_pitch=0.2262 right_roll=-0.0158 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.4154, 6.8855, 1.6093, -0.0952, -0.0513, -0.0171, -0.2393, -8.4171, 5.2171, 2.2393, 0.1001, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41223a1ac7bc2fcdea46510fd2c0e468c172c996b814878907c66f37b63c6af4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d4e9696cf96453d3ca6a7714bac1386331f5ffbc0cfcd8e8fc75a5f636c764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c9ce749c60105644e39cec9ac23066df6eeeb19b3405741023fa5b872eed469",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD59rAzln8A5M9b7kJc_ORxUMEC5pQocMgatyrJo5VsIUtrF-b8HWY4zDg5J1zQ2T2LqsHSfJ3ajXDkRKc1wPO1hl6_BsYFmcMNmN65zJTfsvfWxM_ugbta8Bf_xAI2vIsp8LZzK-ijqZ3XepK2M138RAOJIHTv9JHU3qPcHGmn18qKl0Pzfq6-jn0AdvPtARl3sR_Rlii-3Rxqh5TfnjwpKTjG3MLolRpu2BKJd5b7FxcHf_JqLw51eV5fXygBk4f_cmY9y5kHmi5WH_qZhnEUlDWE7UqXVIndhttHPp6SYO6MO1JXy_lXlvKKlyq_ZaMVlGH8k3nt6hKjxdQaApFbtpAtndUgXXOYfz6kEaj3uXNR3adBkJL_7XUbM3_dx4vl5ngIZ5YDoPxHWSdUN3MPLgvsHe5IqXikunLh0Pw8fhnXFsYX8-tQXQ9IYqQQk5QuPPx8dNIBObzsUn5gO4Qlma1vxtUMoy1JR1sR4DGOkBQpAfQA3Vsx-klm2FhJSsFqbHwB6t-W26sGk197WT7pPlAqygLFWDW2sRWw4gMHb56h2KmWanp7r3h5Tlnwci5ad9E4UmREw4sp1KKkZUrMk1N1mtuiHcdwgfD4ZF2GNidmlB9jWIVMCj_lMuNdKsETSU_OYBdjrNYf41CaUGcOJEhkPkM1g60p1T67JuvI8_TEkCFwQm7TE3ZOsdX-qEhlpvq-drId4SuoiyZoIcznCim2vduBnT2fJCboUcggcJrA_DBW7DUiad3gBmv_Etd8V_m--Ic-H1Hhs49ZXQf7mZoNFHhYnroCd_hHK6jOyKI0UG24642Kgtix3nELU9ytlZfad2gUlaxQitMyg5v2sP5Y6s-gKms6bfzFH_FgaNZ0M9nO66ng3ifZeahTzSOrqyQUWQINVU58NT4ljDHBLWqG3ko0N9e2iCMka86JpflBzC53QOiy3R8qtrhHtmhNLUgwnatGwrU05F6S1h8nNUivjYrz8Q9mv1aqGMXH6_4-I8yRZntquPvV9qnIJLssNAt7bmmARr6WxkVSE-di0AYU_FHx759z2DgDqQlAtpX7N5ifbnKuOJS6cDi5vhy-UAt3NUBsRzG8EwKSdXspWcUBQXR-jAqSyfE7BtbgEJizxQOHEjctaLfLqVjDUWgJhe_AU8NGSsQ6FLFyiixfEHtVn9ZIq_ayzcgVVcdqUTDU7Gm7nDJbp2_H-yifwSsVOlh62HklEeFTxXaWDHefBD46JGWsB5jKDMPBXROfk3LpYc5wPO40yPQkVW04xGsXP39EyNJPmt-MqMkSUk2tNENN7Rt3-jkm0h5mofCFEvXowkq8o2KCdUMnmybnLoZFv",
  "id": "rs_0e58d6586580f960016ab43e7bf3bc87d09a40322a13ed96cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.36,\"right_z\":0.045,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The right fingertips are now on the ball’s outer-right side at table height. I’ll sweep diagonally back-left toward the safe interior, using the open jaws as a broad guide so the ball rolls through the opening.\"}",
  "call_id": "call_cQ0qht450jSJNFxnW9pSrMBZ",
  "id": "fc_0e58d6586580f960016ab43e7c5a6087d09abfc1289dd654f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cQ0qht450jSJNFxnW9pSrMBZ",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "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]: [-0.0582, 0.8322, 0.5636, -0.4957, -0.1013, -0.0982, 0.9978, 1.0237, 2.244, 1.1515, 0.5533, 0.9497, 0.4152, 0.999]\nstate[eef_state]: left_x=0.2727 left_y=0.0056 left_z=0.1301 left_yaw=0.0666 left_pitch=-0.1785 left_roll=0.0134 left_gripper=0.9978 right_x=0.3793 right_y=0.3534 right_z=0.0399 right_yaw=0.0348 right_pitch=0.2769 right_roll=-0.0401 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.4974, 6.9402, 1.6874, -0.0904, -0.0073, -0.0073, 0.3487, -10.4957, 6.8718, 1.7363, 0.4176, 0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71e85779d921e7116e1bb3d5bc734f691d24ad3e53be0e613825456bdd8d1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4b407c8db8697885acfe978426e66329b3f74e2fc26423f3cbb07b97d2ae99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa36dc0e8e8e376ca268f7fb22c5f4d5b0ef320689d985ecb4b8379ad2dfd21e",
      "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 · 10.51 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 131 changed as sent

message 140 changed as sent

message 144 changed as sent

message 131 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8253, 0.5636, -0.4576, -0.1013, -0.0986, 0.9978, 0.4717, 2.1525, 0.8566, 0.9897, 0.4335, 0.1463, 0.3051]\nstate[eef_state]: left_x=0.2789 left_y=0.0052 left_z=0.1387 left_yaw=0.066 left_pitch=-0.1338 left_roll=0.0075 left_gripper=0.9978 right_x=0.4857 right_y=0.1685 right_z=0.0439 right_yaw=0.0214 right_pitch=0.3041 right_roll=0.0113 right_gripper=0.3051\nstate[joint_eff]: [-0.1573, -1.4154, 6.9265, 1.6728, -0.0904, -0.0708, -0.0171, -0.5538, -10.4, 4.0957, 1.7411, 0.2222, -0.0708, 0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8303, 0.5636, -0.4801, -0.1013, -0.0986, 0.9978, 0.2543, 2.0743, 0.7341, 0.9718, 0.2672, 0.0875, 0.9985]\nstate[eef_state]: left_x=0.2753 left_y=0.0054 left_z=0.1334 left_yaw=0.0665 left_pitch=-0.1611 left_roll=0.0109 left_gripper=0.9978 right_x=0.4815 right_y=0.0807 right_z=0.0321 right_yaw=-0.0136 right_pitch=0.2262 right_roll=-0.0158 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.4154, 6.8855, 1.6093, -0.0952, -0.0513, -0.0171, -0.2393, -8.4171, 5.2171, 2.2393, 0.1001, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8322, 0.5636, -0.4957, -0.1013, -0.0982, 0.9978, 1.0237, 2.244, 1.1515, 0.5533, 0.9497, 0.4152, 0.999]\nstate[eef_state]: left_x=0.2727 left_y=0.0056 left_z=0.1301 left_yaw=0.0666 left_pitch=-0.1785 left_roll=0.0134 left_gripper=0.9978 right_x=0.3793 right_y=0.3534 right_z=0.0399 right_yaw=0.0348 right_pitch=0.2769 right_roll=-0.0401 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.4974, 6.9402, 1.6874, -0.0904, -0.0073, -0.0073, 0.3487, -10.4957, 6.8718, 1.7363, 0.4176, 0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71e85779d921e7116e1bb3d5bc734f691d24ad3e53be0e613825456bdd8d1d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4b407c8db8697885acfe978426e66329b3f74e2fc26423f3cbb07b97d2ae99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa36dc0e8e8e376ca268f7fb22c5f4d5b0ef320689d985ecb4b8379ad2dfd21e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6JQnldumvTeYXXFvLNZKFHg4CecyPKk4LvqdEhNyFMxBx7CMc0qaOIf9M8E4x5oKgwySZ5DMNBKzY1xJ5xPRBYsr-sW_JM_SKauAlQHbjqkTRAraA6yaFMCmbem3zKU3irP04Ki-Y65vU3EuhBxJgi1XB0TmUmnIdli696Nlhs7pACsNk2DS-6zHtumihMyVZDATu4A8qvnTQvYU4UhHVMaF6Z_nBK24dJNUeqVWpjVdO32XpSGSGAXT0wZU-VXIjGznF2gbGbocPbLFwP3wEyqag1damcozF5v-_r2u0aCzY39GazNDKZSE0CObz20RFsbuec6qf99Ye4wqqMcFi3kxHdmDoE-LiHcpj-uaVrMlgD88JuP86p80dXFoNfbMGtREFQRyMCSY-rF2UzQUbN_6K0YDmEfbNWgshRhdPIJexoOvenrBLumkGQP89WLWmuJ-i8ed5hU87YQGMpkJFLVKxh-Dl5dmL8daK9P0M4bWeTqgTQXj5Qn0n9M0NLlAyDD4Uablsnl0ZUZE9-Vhj9kZ_YmM9fvsoppM8-3l8rdZHBSu7Uxd_drZiD2D9OTBhSYm8pRA7xVcRP07OGoKtMDsZMN8XJS-3RWzgwELGBMCDQvjQQIIpQrQt1EFUxVQEGvca-S7fA7gXUyvEJ6T8gZ4lsQ_7N2yKjF6hDFqWUrtBuCzxv69Qkx8nI1DrYnbk0hQpnRRZhigU5Yucf3sBu7cE7nG54ScOWk9-JZLAeH7e5in00q6Kgkbt4qqXsCjchMljiZRK5YKYsd6N4N1gI3StMTuq-DFsJqktvh0vrSbm1-IIJXOZf8TQxp4NgeGpUMwqQI4QodHnC5LsUxUhHMZXWGucUFKjscnnXj8TtAxHWzUyPN1HGliBummFMm1vKDioWZNmY3lrciPXWQ5M9ni2nWBZqVvljeQGn7i5c18NoWowXvi_rqX3fegOtwkVI5-4pBqKjpUlD1QVay1gE9enrX4Wl3uYrmbybf_EJCMeVU7oYhPWsqOHgfzOpuE4cYc-bGS6X96s2wIfbsY56-3jq0etRps-4kQTcGMhebNuhruQlT13Wfcnk4nfHstHScrRCmcQTLmDoUgKYpoh4fbXEPcOfY2sEAlhNFhJQBY7iQOZpjSF3zBN0wdmo9vddTGvQENokNrr9nU7rCweuqTtU_59N8AJ46RiZ7kqRSEoqGmEc4W2ahRqZjC1-5EZ9WMOmjhGSRj0NhkoLB19_tO12vP6ngJ1HY8o39x_ZSv_TdjfU-U1OJxinsovRNzYe9C2B8CQl5QWDBoqW8T9TkJxdggi6QIhC0YnnB_C4Xt0JIupvBAMKt4ScLOzsQdd0SJjF4klAG58TOIeNBQFMvf1SFFZ4_WrZcMiQL_Kf_3qeYGb_2Vqkt1zS04Sz9UyiISVX2CdmbEbqfKexWqi43zUgmzl74_lhcd8yegzqImYZDc5WGglNDV8vbZjXjB47LBWIq2x18uNFK9QidG46fTgAshGmrWX0vRjpn5i98FtDF8WWfjKI5fPZ225acHqhYo5DIzvItACuc_2TiaCQ_E-IxBJYK4-SBJ5LyejgjLRY9ooVSr99PCYhVRP6iDjd7g51Tu7yGfK1Ez9U0_FVz3wxA7EYQHsOTVr1FoLmbcYJRnaNKganeT8KApGBgkr0-8DOjrNkEc64gpmP1bQfHxCB1hUzph2gIMUvFgAa1cIx2eRUHgNefjXFdv58t3NEuRkEhvFkkuAfFou7JtB758bqFZAS4q0NPEtoGUED_kU0DiuwEUdJJKi2_Axav0PoMuQqy94L4veNLH82uaiTltQjn3FcuCmoLJ-2hXQhx2_E44ETl29Tum2NeYkx1VbPGEi0WbXr6YMCe_VLHx2dN0clAPe0gItlzTz85Nd_-gud-rvygCqtTPls2n-9es1NJcUgIl9u98ohjJBV-RKQ-qts5IfJoyWaQalDtrdM-lM9vzVhTNDDfkCP1KJ3e0Q9EW5K3RvTnN6h3_jKvOP-9Gcd89L8ht8zETQ7lIN1JsKGCBOMHxTJAEvQBJ9dm-ilkiQNZZlxI2vtjHi_B96AAhXlIMo-oF6DvTOghyPQI6uqrSzbbBTvEMIlFK_e9nY78xPpcxeL_1FxpLj8bkg6MN5pyGySUmYfto8G4Yk-OFYveX7XBvuGOIy_Ne_B8s9bsd0Ko6xCmuON-TGQdxOLn4CtLljjPvHjJic2snLqoQwUmkXaRz228JzV-XbqmzcRT9fDGGrTMteca3Mrtmr_ntz-AJeyIuJTay-gMVcS_y8kfwbi8nXPYk2F0kBHXuKJUPTdpfsq6A2e5eTeE3yoMoA2z3ePmEWph2B8eBLUP8pMkF0NJVv6_NbpZqvRdrcOi9JooPlE8PhTAm9KH7AoSa6wG6pplm8jlW5SBDF5AWGK2qxFTU0J9Dpefd4YlDYUtuOKg4Lp3rl93pmmlpwOROIWPf5yuuegZIf0t8pkv6KBnnAuxaO6yJ1Q6LiJov0L3kl3HE-NH6xSo9bS9B8X9yi8RsgXBhTlDzFEOb54htZrb8gwB4CiR0q1W5xnbjlJFcjlsxnstf9nVSHj7Iaw2e6nXW93i-4yJLximj62UkFD_Yy_3oo0gj0S4alLQWPMAKC6WwC9ziG6fJsGhPlMQLN77g_10gMhlvhKycevLWBKbjF3fE7tC70-VTrcU3_TEozRDhpssuRh19mtgVaHGOgkKcTvHLXpf1Sxsm-RSG1ASi2AeBB9XYVuGtMbzJKIXWMvRj52_IJzjMW0cv7T_s7xqOS0YELK773NuPjaWxH5MUPpxtkTSN4rgYA2ySRwQhrNjqmn0QIn2DK4vbw-i8Dd2dx8OyJK-4nGJ2M13DjLh9TTlzZbLeEzaEg-hAdjjipD60Du9pvgzqY4fI5jfg-UqJvwvyOqo6SA5-qTh-fckluyjdWKCE5DVovXOmphKjADviZv0o7-o5hY44cJQGiqcRvKYzneZfsX3e5liqjgZ0zllrnl-v8fk_IhJ5cwXcimnIEkHC6IidTW6bW9kbEpv8QTE0ZOTMq0hh5Hp4U9mcynVTW9m1ldaXrogN2xRr8KM6F5B_-oJf7rhn5rQUJ8Xn5P9Z2Ak5aDn6aI93oeCUEW53R68CjeJBU74UdtNlOd6x4j15X8K6_SwWfNI7uT0xX_1aYtAANX3DrMFVh1D1tYdTjdvV0O1j7AEyJbqtbSnlfJCy-JIJwR5MxC9wtmVRokPudswkCq3iza-YHHz3E8UYjx8c5et_rezoqeyNPl4XvKtNPVsbMRifSx0a1os0qX6xGFax__ydodjrYPZj3uwi58aWCtDotNULH5JmTUDIsVVKTOnCOYp4lyTUVhG0GCO-ZH8IaJpwyWZThpPcTEsL82G617lU3CSFybz_Amhaf2FBZilBjMIhIbql7w9OnxglhHl6o3aV8Mi5PyVampma1xR-uNZJY28YF0SbRuI0RK8d5foUGEpBKyB73dyBCyu2NLwB4ETq3mtqSVPPqTGjrfYt6htBdH6WzulD6ev4wNfHVtdYXADYNMwDh5CZsJs_ZvCpLvVzlHgxugdZ9x85wWr1WvbeNGRlH6JNfFooAPKii8zjQaTLFAYXE52n8d20bGrndC6tFBIyWSp4cRFHhCv4OsSyrqo5hrxMXDeC_2_jZN7pqE6LFqcsjZO9LnhJJNXsLFuSHpv986xY7XuU5FY3PHQ37edNH7G5d2FsNc4I8GsWT_GXuP-IRd3jrsjpT0zC2bNjOVnICpAltA1JZsros1wsh1ZS0bqQ4nludbzYWu8-PBf1dcX7SkqDu3XuXs-2oWhrMmqs4KLGr9giBfFpYZ8Sa1gkgRJlZQ6kF8I9lrSUz_UgnrMUMPTO0Yi4OEVy1X7Pw9ECIgiFnJ_9XZOYm8EarMok5Vkb4CbS0GVLaoxdopZUx6OrwRj-ZliKJMgLwOG4frUMjgRxNRggMY3d4L0B9JX1Epyk1Y1MQQoi4pI8oWMEmESMKPXBZo8hUuJ0zrywXzzwc=",
  "id": "rs_0e58d6586580f960016ab43e80d40c87d0bde05e58d9d0fe41",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD6J0WDnp-XJmG_z6gkGVDAfeG1G6eel_7spVRHp-aj7wnf7oHrwdoNrSK9GMGXI32suHDli7vUtu5dh9ULvh3iBn61BG9nu5mtEbvQizFIZpMyQVJDVRmmsJm-CYaYz83L7-tru32CkTjUAimp8ji-vNY-t85TkbzNTW5FCBf496Z9OWYHY6SEwRyGhKNEdJADNfabHD-VlTFlufaMjtheFpotPxT2iFUlgBnpatxQU3AYUnwVERYS1Ieljw1r9wpC5E8Uo6NNKtUk2TI76U9evCHrswBlO081KRY-OQbNqOQEXjcWhfKy3KHEQJ0VVJArpbwDWreibokUVFBCxR5PeL3akZQCzlwCowjzZI4cU0cy68CB52_F7n891HGVUIjUMt0GUF9HbOMXAIWkD53EQjDgHuNMO0SgCf5ZL9Mn5A9Py5hYZYBNPb3CgnQJSzbYy-21Lj9yqO6og6RhqF4h3dnnkV0zFierQiT-14MR4gCMn2XTu_eoILg-BGYqIOIW8GT9qrGa7u2AH90YLzAH55tyK8TIiEylzzOg4Y1eT7ayrEddfNvY0Fx17S6iXknUCic47fd8mxQ_Ok8d0BdgDVdAtfmm-bY79DaJj_7SUuP8o9VQ24yjDf5e85nuh1qfYBMcDQS463OdiihGqY0AcbF0wXI4qS2a7jEM3LL2Bl0npCqYgJjLUeYT6tQ4Ie7r0neYI8VLY2OuRPHs9_JDC3ghj6CbPEVSgEscF8VH7BHylpY3HAFN21Oi-BVvzvIf9M3pZRQttLXx3MmiiQmU0BaBigieGarztY-WlXXhtRHqtkX4DKSTfJcKoYtTMPHG8Z5RPg6o1zaWFdtmFCk0Fu1vbiy06yckWka6uz1uaN6vnjDSAQ-P6uTpEW_NRH8eqS0IZrTxeZ2fa4Z8dh0qFcwCBkGRyODOVslOxbb6jRJeURtrLzMLnuQZ0u0-_YS2r6eWuCg44QS48ZUySxg2y5EnQzzIyThbeXazHS4KtSeSALc-DWKRaF1-PDu67FbuQaDqBTg80xM4BLcxrLPPJ0ZXkygxw-wFeVUPRktLTH9-nwOWzeYE_zkFuQ0X41K7kHxqP9WjpUolmT2xu3V8SD8cWafZq3VTeVPqCKI8XfY7S02o5I7QuZDM1e463-lnXpNHigzj4ZfyeWeFKz7WWxk_hSFc0E_-nOzruDUwuPFZ1dug5IIekkpzZdbtr1qT6Zla00yxXL9Dz_gPVSTeTLjeLuoWECTUQ2B-Nb5rlodDVdcH1hzh8GRdcEGN15wufzrJhop4lNeb5x98gHvjIwyo5Ge9tixK_ib7e67uGNyu7Hjnevdq8GUgCYer0cdpITrZUmbkuoLeHSu77EvymMxITYvGHz4Az80QYKOIc_3-ELzp2grD6sUsz-cY4kZa7dz5r3-vu5EDltZc0HMcDDXQlNSROyQDl2C1BfDLktEDvZmIJGoAmaqXW1vckXGit0hsLEIiN7kOmnYVqwhjhiBVSjx_as1k-tGQ9xKQDMjExZYCTKm4UtWY-x7cs24Rd4--elng42xD4QOp4rJWkiYc5CaVBfpQGQ2k97nYPTimMHZzuXwCx4QHv5J8ecm8yd6iN2-cvw59PumyC68OMNPRwrbiQd5YskLir7VBGQluBTa9S7QKo5Fdd5rYBS3L0V3Bb8_tg8JCma8XjdOTA5skVxj5i09AteTjZSPpc20gvezvmn6bo-VwczrKEC5_AhImHdOgMONH3wekRbTKM6EgaZrciujKOYoZ9CXpDMFf6f-DlwwcDSyo-0CEkGT1Wrl-iSMXtbjPNgXBGUtXttwqCy0LnP4oUQ5w8aCKN0PXMmvuZpoqTEbBRkoK-z50jP5eeSmKhA9AiX_DMfYLwjMJ6bkci1bR25ZkIEHhP8sLMha7qBldlqDwBXppXrdOOC6AQ63V6Qh6REhe29fYgdB6PpwwUJ9xNx9N6SY0oyS41iqILaiA9GtgQr6Fex8-s",
  "id": "rs_0e58d6586580f960016ab43e86bd7887d0a4dfaf455a478f75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.06,\"right_z\":0.04,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0,\"left_x\":0.24,\"left_y\":-0.17,\"left_z\":0.045,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The diagonal sweep retreated before making lateral contact, so the ball stayed put. I’ll reset the right gripper directly to its outer side while simultaneously placing the left open jaws behind the brown plush, preparing both objects for short inward pushes.\"}",
  "call_id": "call_FTFAbc1Hg7Pg7ZpJPjq9ycj7",
  "id": "fc_0e58d6586580f960016ab43e889df487d0b49ddd571ed487c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FTFAbc1Hg7Pg7ZpJPjq9ycj7",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0813, 1.3613, 0.363, -0.017, -0.799, -0.8108, 0.9984, 0.1959, 2.1185, 0.7013, 1.0557, 0.2176, 0.0666, 0.999]\nstate[eef_state]: left_x=0.2325 left_y=-0.1596 left_z=0.0327 left_yaw=-0.0257 left_pitch=-0.0544 left_roll=0.0539 left_gripper=0.9984 right_x=0.4789 right_y=0.0598 right_z=0.0189 right_yaw=-0.0182 right_pitch=0.2283 right_roll=-0.0166 right_gripper=0.999\nstate[joint_eff]: [-0.294, -3.959, 7.4462, 1.4042, -0.696, -0.1392, -0.1734, -0.2667, -9.9761, 5.3949, 2.2784, -0.0415, -0.0708, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81342e7fca606d19040a00a61bc5068de3a891b7626d7f34e0cc4e05ca0132b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bfd95bde5244c9bf5b66da6ae260406b9e0edbb328e370a1d77c8a99b140d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab6a6a831cc8336b797406f7a5bb976de36627e0c5955b968dd620c017743bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 4.864 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 135 changed as sent

message 144 changed as sent

message 149 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8295, 0.5636, -0.4728, -0.1013, -0.0986, 0.9979, 1.0462, 2.0323, 1.7092, -0.5484, 0.7933, 0.7143, 0.3017]\nstate[eef_state]: left_x=0.2765 left_y=0.0054 left_z=0.1349 left_yaw=0.0663 left_pitch=-0.1531 left_roll=0.0099 left_gripper=0.9979 right_x=0.3632 right_y=0.3835 right_z=0.1792 right_yaw=0.0433 right_pitch=0.0144 right_roll=0.0094 right_gripper=0.3017\nstate[joint_eff]: [-0.0205, -1.6615, 7.0906, 1.7607, -0.0659, -0.0464, -0.0073, 0.1436, -10.7419, 8.212, 1.243, 0.5495, 0.1832, 0.1636]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8322, 0.5636, -0.4957, -0.1013, -0.0982, 0.9978, 1.0237, 2.244, 1.1515, 0.5533, 0.9497, 0.4152, 0.999]\nstate[eef_state]: left_x=0.2727 left_y=0.0056 left_z=0.1301 left_yaw=0.0666 left_pitch=-0.1785 left_roll=0.0134 left_gripper=0.9978 right_x=0.3793 right_y=0.3534 right_z=0.0399 right_yaw=0.0348 right_pitch=0.2769 right_roll=-0.0401 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.4974, 6.9402, 1.6874, -0.0904, -0.0073, -0.0073, 0.3487, -10.4957, 6.8718, 1.7363, 0.4176, 0.1245, -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 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0813, 1.3613, 0.363, -0.017, -0.799, -0.8108, 0.9984, 0.1959, 2.1185, 0.7013, 1.0557, 0.2176, 0.0666, 0.999]\nstate[eef_state]: left_x=0.2325 left_y=-0.1596 left_z=0.0327 left_yaw=-0.0257 left_pitch=-0.0544 left_roll=0.0539 left_gripper=0.9984 right_x=0.4789 right_y=0.0598 right_z=0.0189 right_yaw=-0.0182 right_pitch=0.2283 right_roll=-0.0166 right_gripper=0.999\nstate[joint_eff]: [-0.294, -3.959, 7.4462, 1.4042, -0.696, -0.1392, -0.1734, -0.2667, -9.9761, 5.3949, 2.2784, -0.0415, -0.0708, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f81342e7fca606d19040a00a61bc5068de3a891b7626d7f34e0cc4e05ca0132b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bfd95bde5244c9bf5b66da6ae260406b9e0edbb328e370a1d77c8a99b140d08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ab6a6a831cc8336b797406f7a5bb976de36627e0c5955b968dd620c017743bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtD6XPizkGVEAGtzWnHXujhIOA2ciNiVP9jIynGlJnLTXUkwuS-CkOHvhwU_5ibTU8fvyYQMDqp-dfz7NDk_oeBAjRPHm--yAREHeDr2L4FyWCDcHevBVTE072YsTQq6wLO-oot4w9sAYF6FZjnZ9GbmtCJhF521Fa0Q3AFcRkWmLFuQHWS81GxoYr1uZDdyMBHnhJcfuNs54CTanoXf1QzqncQItusmAUK0AMLfVe7dlAbRutNpUaBE5OmNooLt4SJlYMHeusD4v5rxUFxO1OQ1XEY0Eh0CJqsWS9uDutKeLjM9MIop7tirQz57lpUZwpJMtyZlgCaEedGCGI3LW0P1lGI_u4JpmJaUYsa-QeDcPsSjEwKWQFFmL6E_EHaWuOFtFu7jPabYsoFqTgAPuQLTgJZahIss1sQdTPJArCYUGlr_5X9C25ZCTdeJijlBL344dLRcVgQWwyvpXPW31ENDOF7HJa8N5RAsxkGZaKtH3Mj9SKaU01hhw1dBCIW4WikvuYY4Bvvz3JmC0eZXKH3TMCI28BegcTEum8XJ1ua3YZz1GzOc4ay9GVOMCH042aSgVZT6-gXtwYma-MhqZ3Z6AXzt7BxoLWLmsDtBu_kb_b79G_sDMhLrgjhsvFbA_LpNK4wzZJd6NjsxvCPIx52GSTf5KPmfvALKAaFikHIO49Nxlbyrj1Q6G1lKKdHuAwi7WDoboPyQkAogeOqOIh73LzppU_jTVTxWRKrWTUE_pXL5aQmO07B8BSKXqaCa0nUqQYfQEHUr3Ceu6fcUa8eSIYfjNBauCuRjSeLbSUGRzG0R8zvLzbv2iJSeHeSPq0nj4oDIstE86tVTED6OZILJxPpS7zXnS83HcLLPZ3xJzq8s4QjJZrndT6vHwrBpdunEO7mab9BOR5fw1BpnX_z41rOWWp4OuQjc8Iaf0z4yAXbouWm-BOXPI7lscuBTNgF3RHU5EIv4skB43krWEELFJ-cq_0-FteSSpYPDjWXcp6xsCtUFmLX-v-adjojPthK78vQ1wZED0bv1OKHpE7_5jX8X2N3Hi7onB3E2hdkxRFDCX9wb2ldMQEt8pdSF_oc2ND5Y4iOHuENZHmGWcslbdLOz-IDTmwFnfI_DglpdPjVRHAK2xNjxo3cDSbNPTXXi4g1rFHbZ4ofsVHE2lVMZIsn3nwWUywHYHUJHgu3udIwzYgbxrC2V3TcaGYVrPjAIzkSXuasYwnhSuGehbD6VCXVCnswR8XQzWIf4mgvmJPXNNvXrMJr1eKgcfKp7BV62tBmAw-UTTCWvCN9661mrXPkI_bRpmv4niQs9l7WYmCoSiLcxsSuHkPzkiw51NdS73bYjtzKDEpSeM5lD7P61Cxv4LazR4yo7izZMdQ3AJYXHdfO4c_COLYbKRLSCJhn3rrV8j-MJ_g4Yv--5sVEl-oKbJiIV_5HDsUFxdYYnIXrbnf4NfJ6RaByG1Sd9BloJ2bgJE6EOrRpbbBmoQKtxtRbn1BG6Du3OrVWJ5TW4mSdnCg1PZYqDufUQUgGO8qd9UzRUuaML8fJjhPV2wiR-qSQCJpE2FziLqXV4xZRMGRq9tL4pOKcIWqdhVZYx_aYm4Hj2Ce0CJv25_TxY4jBsUQmGkbxhfJQnH8gBBkMEZ2oqu4kJEmcR-iGoDbIdK-ltZBpKjfsikQO89dubpGkCDoA==",
  "id": "rs_0e58d6586580f960016ab43e921dd887d0afa04c3f34d94fd3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.3,\"right_z\":0.035,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The right wrist is now immediately outside the ball, while the left jaws are staged behind the brown plush. I’ll make a mostly lateral right-arm sweep at constant forward reach so it contacts the ball before guiding it left into the safe opening.\"}",
  "call_id": "call_ZqFAXGay6V8tEsJCPIrQL3e8",
  "id": "fc_0e58d6586580f960016ab43e94857c87d0b5e20de31efc42e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZqFAXGay6V8tEsJCPIrQL3e8",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.3724, 0.3653, -0.0231, -0.8005, -0.8204, 0.998, 0.7731, 2.3024, 1.1694, 0.7326, 0.7113, 0.2523, 0.999]\nstate[eef_state]: left_x=0.2315 left_y=-0.1593 left_z=0.0304 left_yaw=-0.0227 left_pitch=-0.0602 left_roll=0.0598 left_gripper=0.998 right_x=0.4664 right_y=0.2989 right_z=0.0327 right_yaw=0.0405 right_pitch=0.2811 right_roll=-0.0199 right_gripper=0.999\nstate[joint_eff]: [0.1983, -4.5744, 4.8342, 1.1648, -0.3834, 0.0757, -0.0562, 0.1162, -10.6188, 6.6393, 1.8877, 0.2906, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03ea6e8d2972d17a2db0e07b92646f1fa68f11b1afaf04c5aa0c9c7efe87387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99825cf8c99643405cd33ea8ce68b2fd6ed66e82440f7887de49916d0561d4d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a15bad975362055923d15e9f4a015280eda5baa77d72d51ae4b63536679f57",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 8.757 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 140 changed as sent

message 149 changed as sent

message 153 changed as sent

message 140 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8303, 0.5636, -0.4801, -0.1013, -0.0986, 0.9978, 0.2543, 2.0743, 0.7341, 0.9718, 0.2672, 0.0875, 0.9985]\nstate[eef_state]: left_x=0.2753 left_y=0.0054 left_z=0.1334 left_yaw=0.0665 left_pitch=-0.1611 left_roll=0.0109 left_gripper=0.9978 right_x=0.4815 right_y=0.0807 right_z=0.0321 right_yaw=-0.0136 right_pitch=0.2262 right_roll=-0.0158 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.4154, 6.8855, 1.6093, -0.0952, -0.0513, -0.0171, -0.2393, -8.4171, 5.2171, 2.2393, 0.1001, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0813, 1.3613, 0.363, -0.017, -0.799, -0.8108, 0.9984, 0.1959, 2.1185, 0.7013, 1.0557, 0.2176, 0.0666, 0.999]\nstate[eef_state]: left_x=0.2325 left_y=-0.1596 left_z=0.0327 left_yaw=-0.0257 left_pitch=-0.0544 left_roll=0.0539 left_gripper=0.9984 right_x=0.4789 right_y=0.0598 right_z=0.0189 right_yaw=-0.0182 right_pitch=0.2283 right_roll=-0.0166 right_gripper=0.999\nstate[joint_eff]: [-0.294, -3.959, 7.4462, 1.4042, -0.696, -0.1392, -0.1734, -0.2667, -9.9761, 5.3949, 2.2784, -0.0415, -0.0708, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.3724, 0.3653, -0.0231, -0.8005, -0.8204, 0.998, 0.7731, 2.3024, 1.1694, 0.7326, 0.7113, 0.2523, 0.999]\nstate[eef_state]: left_x=0.2315 left_y=-0.1593 left_z=0.0304 left_yaw=-0.0227 left_pitch=-0.0602 left_roll=0.0598 left_gripper=0.998 right_x=0.4664 right_y=0.2989 right_z=0.0327 right_yaw=0.0405 right_pitch=0.2811 right_roll=-0.0199 right_gripper=0.999\nstate[joint_eff]: [0.1983, -4.5744, 4.8342, 1.1648, -0.3834, 0.0757, -0.0562, 0.1162, -10.6188, 6.6393, 1.8877, 0.2906, 0.1538, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a03ea6e8d2972d17a2db0e07b92646f1fa68f11b1afaf04c5aa0c9c7efe87387",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99825cf8c99643405cd33ea8ce68b2fd6ed66e82440f7887de49916d0561d4d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5a15bad975362055923d15e9f4a015280eda5baa77d72d51ae4b63536679f57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtD6d-YTYRpxLizQmMV2vd-bfOYcvz5RpWlaF0kRboJ5vuTaKHYrdPgEqRLZLhAT-LWOUb_l8BQmYklSeBpCw8BDwxlrFAJjAjvr30rwCwmFr149lDZzMrVbl9HZ51d6SKNyGQIwVNbtjwc-K1mHlQ4btbjwRqRElKYisQGY6ek_4qWZ7YY3Tb6DRObBWeOEGjqasgNgT8rfZQVEJDCMg0cliQgS2H7cYFaEscTthLBwK8ohndx_Dli-rWugRNVILk-QfGSW_WzQ8sb6vfgOOYs0TL52Mlxe6RQozQCJYhTGafJ0OLiNcltNYVa9Y3AAMmx9BzDV4p7FbjZfVgvFNtEERlTwhNK4QpaY4pH_556yJxP6TUTJ0sDShdg7SrU8Qh4-nmP6CuYJkFFuAew8LQ7xAJHSsT3FvkKPOqhEQ1Q5QbYXqO7uGDQLK8BvT5ortHZRpSGkKCiGtr7_jEAZFi20WD851tClFpyXVBXQQcDImVDuNFGhHPcQoBRDReRcQMcxefPFauCcFY_sHETEjgF5EZxhRFiIXi10VFWREHP3WNpxal95jG12Iaa9ElVF0fy6at8rrxEwTPFP1hXcztua9wdBuRRydaq1lZOmno5VClsn90enCKJmRsAecIkPvFI3ZXwNMyyAjLF2GOqPRgRn_323QTLOGaTV_YFPy8sOD5_nyGF3-6GKIiLmtNAm3dJfTiYCu4rQyQXCh0tg_HwSY_Q3Z1mdpAxgriRwwcb_umrgYAZloeA99HGYfRPuYcK2qjq8srnSNSj0KPwNdh9f8iP_PUa9dOJSf9aPPHvbI6DSnyYIs2ztVV6f6dxwOW_WpjRpO-TUGOoqTbdwtxI9LxN4BB8HDhWQuhYFYLYrxm3iJSsW3iV-9m_PoRiLFM9Zu6QdPDP9doHl0778WNeHQN5zYj3kb4CpmGAqQ1RJUMidus5GefR-1yVfwfbQIOKhwO7bjVAguWsnZBGH22pVk8adLlLHNErc3xDzK6jcUTN1NlpoUiNHhpZO4_ZDlnXJC6O_77jTraqRsezlUuX6_RBVXYUFfHeVRvMeGClsJQleFn_lEXpv752uFF5RCOk9gXH-r075oK4O1BoIfS0KpKtGZx4jkZD0eF1tlIUtjJp2aw5Wx8SsxBolPWiEVu1y9CMRv1Kl-BDZ92T522Wi3UuswhWkJUsDbLExSjTQLwcQ8vD4yjNza32J8Q4Ikj4ZnVeIFXi3MyctOP3UdkkCix1Knd3u5nL4oC05x3TfLmT5PxSklJXPInVs_DPwBGkKkq6EKKhw7bUXj9i0g5DVxO3fqH3hcbosBW9-a3wKXldEh-0YBqdWKPr1_S9NKbKerVc6z8f7AybEp9BEmgEcfy-Aa48kUzWhEYKauPC_j-6s-6wAXiq4aIv3mBNwuaySlWSwKoxMEGP6tgcrbNHiBKafdLwWxxLGNrrd7RGu9t00xDaH0cR-GrIOePudO0in42xFuZPydHoPli6f_ArelhE5t-UTaSPyg9mhGKD7fucaAnpfWTSxKPWy_wgxPyEX9Dxg2JvD-Q_QXZWkk_dPwYttewXHWnizyzXrUeK9oV3gw21D3vF-ns72LcFeCRtuDhTlySZjc7pYgNFx8o03Q48v7rUfKzF9DWIfpw-q4aVUMw2s9dJtdtlvEXQ2lLio0t0pH5vCmCyLZQfWZXeYp-0WgF6dydjySG46rhGeTgHpS2pZtfMzT3FcOBVCSoURSexZBV_3uo7ztlKwK9Ou8PpttXS303gUerQ0hWr8FQnWquQaxeSYUqGDWHlvcWeCRkBJhKRfl2j_PldlSHMeiGQ==",
  "id": "rs_0e58d6586580f960016ab43e9a500487d09402cf80d48dbae1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.17,\"left_z\":0.04,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The ball rolled only a few centimeters and remains outside, but the brown plush is firmly bracketed between the staged left jaws. I’ll push the plush straight forward into the open safe while maintaining table-level height.\"}",
  "call_id": "call_qNxoT4rgTc1I7hsfLg6U3C4o",
  "id": "fc_0e58d6586580f960016ab43e9c8b9487d09cf9887960b3dfd5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qNxoT4rgTc1I7hsfLg6U3C4o",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6586, 1.7382, 0.6201, 0.3473, -0.5678, -0.4561, 0.9985, 0.775, 2.3081, 1.1713, 0.7006, 0.7063, 0.2516, 0.999]\nstate[eef_state]: left_x=0.3627 left_y=-0.156 left_z=0.0258 left_yaw=0.0386 left_pitch=-0.0474 left_roll=0.0372 left_gripper=0.9985 right_x=0.4638 right_y=0.2988 right_z=0.0242 right_yaw=0.0535 right_pitch=0.2529 right_roll=-0.0438 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.6667, 6.9538, 1.9463, -0.0366, 0.1832, -0.1734, -0.253, -12.4239, 4.8615, 1.9951, 0.1636, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4216718bddb8be9a3a63a8e095fd8e166f474b128ee014766ac5a4ccc3fc9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ef1da7721f7ce94f65aa5b0eb88aa4a2787191f9e292e6dbae94aa99489702",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bfd5a9e5efb4ce58b77b698131489745085198bf48e5ddbccd16d8611f38ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 5.819 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 144 changed as sent

message 153 changed as sent

message 157 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0582, 0.8322, 0.5636, -0.4957, -0.1013, -0.0982, 0.9978, 1.0237, 2.244, 1.1515, 0.5533, 0.9497, 0.4152, 0.999]\nstate[eef_state]: left_x=0.2727 left_y=0.0056 left_z=0.1301 left_yaw=0.0666 left_pitch=-0.1785 left_roll=0.0134 left_gripper=0.9978 right_x=0.3793 right_y=0.3534 right_z=0.0399 right_yaw=0.0348 right_pitch=0.2769 right_roll=-0.0401 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.4974, 6.9402, 1.6874, -0.0904, -0.0073, -0.0073, 0.3487, -10.4957, 6.8718, 1.7363, 0.4176, 0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0851, 1.3724, 0.3653, -0.0231, -0.8005, -0.8204, 0.998, 0.7731, 2.3024, 1.1694, 0.7326, 0.7113, 0.2523, 0.999]\nstate[eef_state]: left_x=0.2315 left_y=-0.1593 left_z=0.0304 left_yaw=-0.0227 left_pitch=-0.0602 left_roll=0.0598 left_gripper=0.998 right_x=0.4664 right_y=0.2989 right_z=0.0327 right_yaw=0.0405 right_pitch=0.2811 right_roll=-0.0199 right_gripper=0.999\nstate[joint_eff]: [0.1983, -4.5744, 4.8342, 1.1648, -0.3834, 0.0757, -0.0562, 0.1162, -10.6188, 6.6393, 1.8877, 0.2906, 0.1538, -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 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6586, 1.7382, 0.6201, 0.3473, -0.5678, -0.4561, 0.9985, 0.775, 2.3081, 1.1713, 0.7006, 0.7063, 0.2516, 0.999]\nstate[eef_state]: left_x=0.3627 left_y=-0.156 left_z=0.0258 left_yaw=0.0386 left_pitch=-0.0474 left_roll=0.0372 left_gripper=0.9985 right_x=0.4638 right_y=0.2988 right_z=0.0242 right_yaw=0.0535 right_pitch=0.2529 right_roll=-0.0438 right_gripper=0.999\nstate[joint_eff]: [0.4444, -6.6667, 6.9538, 1.9463, -0.0366, 0.1832, -0.1734, -0.253, -12.4239, 4.8615, 1.9951, 0.1636, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4216718bddb8be9a3a63a8e095fd8e166f474b128ee014766ac5a4ccc3fc9c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ef1da7721f7ce94f65aa5b0eb88aa4a2787191f9e292e6dbae94aa99489702",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bfd5a9e5efb4ce58b77b698131489745085198bf48e5ddbccd16d8611f38ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
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  "id": "rs_0e58d6586580f960016ab43ea0450087d0a93257f3b4ea5174",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtD6nvPz5vA9BnLkVaqy7RwNgqxyv4oIxLWoHi1CiEkk1sHvVnD0IwBGUNI1eIqXNmCsdKjJdBZMUXn_AT3vWZgVkCAtlQ7j9-0s6OoLn2taUo3vg4NPOSb_avPokbJg94i80NkqS3ZQ6UyTp0CK3E098tgxfU_gkA9VZ6aSAsnu832GuoX0HTkpgK6gAFP9o0VSJDfanFUBH7SeKv5fJKjVyPpojLdu6CVCDd3SK7HqbTgM0N35P9zxarYUrfn-o3GjvV2squIHbESob0ajLyyj0zCt8gFk6qVI6XmAXavFxb7c6IUa40vJMl0dWdoTFOvST3dKMXm5DESLosGb4TqX8nd7-HmonZXyujo7YMQFiqZRurryJsm5YVfTmVlg0uU8yfTIMROs0tGM7quvaAUnY7KA0gI0R6DiToRnJafFiD3Hl_u9vNO7rliUfZcpcZGC-4On_aPQTuctcnuOFO6WQDc9_p0PMVu6uo7HU_uiAGjEszO8ZdCfOMambmbHoyDzE6-qBfXk0Hov4tQlq5vVWl1LL60Ljpt8PjKBa9EPuNVeiDYw69OEqb8lVcfUDrKk0dXKcEN0FGl8Mx_f82bjVFcWPMM8qslUDSoqgtoMnSFIfC6-EVYjfCnnVvylntvOl9UxN6_dNDn9J3qBczt1W1ZhFq5-y6_xWu4oaaVyz8K5lNmlD_KHhzyz3z9gpCqM6uZyrYe-80mBj--rNOQAGmTz3wbyK9Iv-8TnpKt94sD0JIiD5oZOCJtlQgMgpSm9u4S2CRqqIyFwRQFbpEI8zTmaXKQxMV5-ZZ_w58QUpUsS0k1042NFmuGvXQss1BeXn_lTu4cCKQv-zSqhM5seflBZaJsbBcSW7vltTVElJPXgOkpj4RfsNlzxzRgt5BOPlwXCq8Hyr-nrCVAcj5Axlz6EKq1bIw3uh5HBrMT5RPuX-9LGKBvacxZ34xzsZunWoeH-WZJQVlBmW7iLAiRBsBgBrdbtD2E4ikfereQjcLda-OKBhDUvkPjjOr8HZLAHCgv0b7Yc0zys0Zr_zhO3ShEAJAGkSFa4ZfnjD1EJOWo2nGCX9I5dG-BHIFi3ACllVoRQF1qe86EUbBkUpsHlX0NFmc5VDU5L0UwV3ZXW4Ax6iyUt5o77R2uV_h7YATTZPVYY47bVwrnrOWV7r3mxm6Do5ZpjpVFMlmkClOzgaVkJtCIZQNI6bSAxTw2gyv1X1GKcAzqsbpCIOM-K0etJh50ApuS0hUQ-kyK5gtT_IR-yguN0_cx_j0-TdwicvIQAaeeNhL8t2KhBiWJTR6XyxazdqawyHwAHwL7d1nwOV5NsUhJjmwK00G1vhl0aV2gfIMhr3SZpmK8BOQihxBumUJH5zy2KVjGy0V9E6v7-IehRqfHjCsvPs6NCGswkGPrM9LHjga6WpjHVVfSGksHMxWVGav16TR5xgop-oWKFZP92nDy797JZhHlhA55tcHLiBe7uk6fYY4WxgLxjxGdnvBVXudJKlylkET8uP-uaSzPAyuUcIDah8KCvf7S4wfQ9sNLgb2AEcLTvjTCFTqAipExvyG1IrtV3JTTTRfZtFRwJli-aBiKbl9ehsOV2AcKbXNIWcGGG5Ymtamy4m6C1Ml6m48zc_d4lDj9A6Eiyuba_d2BpRwDJfdZRRB32aPRCetqk9U719pA3D0G1PlV_daQ==",
  "id": "rs_0e58d6586580f960016ab43ea58a6487d0906ff7014144c860",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.2,\"left_z\":0.035,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.49,\"right_y\":0.06,\"right_z\":0.035,\"right_yaw\":0.0,\"right_pitch\":0.3,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The brown plush is partly caught at the safe’s front edge, while the ball still needs a clean outer-side contact. I’ll push the plush farther into the case and simultaneously reset the right gripper outside the ball for one final direct sweep.\"}",
  "call_id": "call_UwVYAGTQjSnuSexprCFISRZE",
  "id": "fc_0e58d6586580f960016ab43ea6b19c87d09623c182ec28eb42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UwVYAGTQjSnuSexprCFISRZE",
  "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]: [-0.6201, 1.9575, 0.8978, 0.3351, -0.5343, -0.4194, 0.9984, 0.1936, 2.1612, 0.72, 1.0756, 0.2115, 0.0628, 0.999]\nstate[eef_state]: left_x=0.4272 left_y=-0.1901 left_z=0.0251 left_yaw=0.0307 left_pitch=-0.0263 left_roll=0.0204 left_gripper=0.9984 right_x=0.4825 right_y=0.0604 right_z=0.0095 right_yaw=-0.0129 right_pitch=0.2237 right_roll=-0.019 right_gripper=0.999\nstate[joint_eff]: [0.4308, -8.3214, 8.4444, 1.7167, 0.0904, 0.2369, -0.1734, -0.1983, -12.0547, 4.0957, 2.0781, -0.0317, 0.0073, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bb1f39464f67ddd93c2e57057fd77702708a2a15b049f08aa65ab0469461b8a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71abd5004d35aed58afb7e1e0b084d901874b89d9950cc530038a11dcddfb4fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81226e77ce2b48845ba73eb03bdebf23829e1d37d437390bdfe317508a525034",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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