adhoc - adhoc_5ebc9184.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 182.8 s
total steps: 352

operator

scenes

trials

errored

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

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

user

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

step 0

assistant

agent noteThe safe is open on the left, with a yellow object near the middle-right and two plush objects below it. I’ll bring the right gripper above the yellow object first, keeping the left arm parked.

move_to

right_x0.4000right_y0.2900right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.606, -0.4038, -0.02, -0.0193, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4581, -1.388, 10.3179, 1.9658, -0.0659, 0.188, -0.0464, -0.335, -1.4838, 9.7299, 2.0781, -0.0513, 0.0317, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.4,"right_y":0.29,"right_z":0.15},"note":"The safe is open on the left, with a yellow object near the middle-right and two plush objects below it. I’ll bring the right gripper above the yellow object first, keeping the left arm parked."})

tool

executing move_to over 25 steps (2.5s)

step 25

assistant

agent noteThe yellow object is visible just ahead and slightly to the right of the right gripper’s jaw column. I’ll advance a few centimetres, adjust sideways, and lower partway before the grasp.

move_to

right_x0.4220right_y0.2700right_z0.1050

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4084, -0.0193, -0.038, 0.9997, 0.8394, 1.8309, 1.2922, -0.2943, 0.6357, 0.5175, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1745 left_yaw=0.0021 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3905 right_y=0.2835 right_z=0.1361 right_yaw=0.0357 right_pitch=-0.0473 right_roll=-0.0446 right_gripper=0.9996 state[joint_eff]: [-0.2393, -1.5658, 6.8171, 1.8339, -0.0611, -0.0122, -0.0122, 0.1573, -9.3607, 8.5675, 1.5409, 0.5446, 0.2076, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.422,"right_y":0.27,"right_z":0.105},"note":"The yellow object is visible just ahead and slightly to the right of the right gripper’s jaw column. I’ll advance a few centimetres, adjust sideways, and lower partway before the grasp."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteThe yellow object remains in front of the fingertips and slightly right of centre in the wrist view. I’ll put the open jaws at its height, a little farther forward and toward it.

move_to

right_x0.4320right_y0.2530right_z0.0280

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.411, -0.0189, -0.0383, 0.9997, 0.7746, 1.887, 1.2648, -0.2211, 0.5919, 0.4694, 0.9996] state[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1737 left_yaw=0.002 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9997 right_x=0.4097 right_y=0.2681 right_z=0.1072 right_yaw=0.028 right_pitch=-0.0789 right_roll=-0.0667 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7363, -0.0269, -0.0562, -0.0171, -0.1436, -9.4838, 6.612, 1.9414, 0.2662, -0.0757, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.432,"right_y":0.253,"right_z":0.028},"note":"The yellow object remains in front of the fingertips and slightly right of centre in the wrist view. I’ll put the open jaws at its height, a little farther forward and toward it."})

tool

executing move_to over 6 steps (0.6s)

step 34

assistant

agent noteThe right arm stopped well above the requested low pose, so I won’t close on the lemon yet. I’ll tip the tool forward and use a slightly shorter reach to try to bring the jaws down beside it.

move_to

right_x0.4150right_y0.2520right_z0.0350right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4278, -0.0193, -0.0387, 0.9997, 0.7597, 1.916, 1.2385, -0.1776, 0.5755, 0.4458, 0.9996] state[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1703 left_yaw=0.0025 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9997 right_x=0.4126 right_y=0.2642 right_z=0.089 right_yaw=0.0373 right_pitch=-0.0968 right_roll=-0.0839 right_gripper=0.9996 state[joint_eff]: [-0.0889, -1.2513, 7.2274, 1.8486, -0.0611, -0.0513, -0.0122, 0.1026, -10.6598, 6.1607, 1.4774, 0.3297, 0.105, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.252,"right_z":0.035,"right_pitch":0.28},"note":"The right arm stopped well above the requested low pose, so I won’t close on the lemon yet. I’ll tip the tool forward and use a slightly shorter reach to try to bring the jaws down beside it."})

tool

executing move_to over 13 steps (1.3s)

step 47

assistant

agent noteWith the tool pitched, the jaws reached just above table height, but the lemon still appears ahead of them. I’ll advance about 2.5 cm at the same low height to surround it.

move_to

right_x0.4420right_y0.2500right_z0.0250right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8021, 0.6064, -0.4503, -0.0189, -0.0391, 0.9997, 0.7845, 2.0945, 0.8745, 0.7601, 0.7479, 0.2581, 0.999] state[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1646 left_yaw=0.0024 left_pitch=-0.0656 left_roll=-0.003 left_gripper=0.9997 right_x=0.4161 right_y=0.2507 right_z=0.0428 right_yaw=0.0139 right_pitch=0.2587 right_roll=-0.0589 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.6205, 7.0222, 1.9072, -0.0317, -0.0562, -0.0171, 0.0068, -7.2684, 3.7402, 1.1941, 0.1685, -0.3785, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.442,"right_y":0.25,"right_z":0.025,"right_pitch":0.28},"note":"With the tool pitched, the jaws reached just above table height, but the lemon still appears ahead of them. I’ll advance about 2.5 cm at the same low height to surround it."})

tool

executing move_to over 2 steps (0.2s)

step 49

assistant

agent noteThe lemon is now centred between the right gripper’s open jaws in the wrist view. I’ll close the jaws and check whether they retain a nonzero object thickness.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8028, 0.6064, -0.4549, -0.0189, -0.0387, 0.9997, 0.7631, 2.1605, 0.9134, 0.8612, 0.7261, 0.2188, 0.999] state[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1635 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4321 right_y=0.2559 right_z=0.0423 right_yaw=0.0186 right_pitch=0.3054 right_roll=-0.0382 right_gripper=0.999 state[joint_eff]: [-0.294, -1.265, 6.9675, 1.7411, -0.0317, -0.0269, -0.0171, -1.5795, -8.4308, 4.8615, 0.9988, 0.3101, -0.3199, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The lemon is now centred between the right gripper’s open jaws in the wrist view. I’ll close the jaws and check whether they retain a nonzero object thickness."})

tool

executing move_to over 10 steps (1.0s)

step 59

assistant

agent noteThe gripper closed almost completely, so it missed the lemon; the wrist image still shows it just ahead of the fingertips. I’ll reopen and advance roughly 2 cm before one more grasp attempt.

move_to

right_gripper1.0000right_x0.4670right_z0.0330right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0193, -0.0387, 0.9997, 0.7429, 2.1876, 0.9443, 0.897, 0.6926, 0.2161, 0.0086] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9997 right_x=0.4439 right_y=0.2594 right_z=0.045 right_yaw=0.0196 right_pitch=0.3268 right_roll=-0.0035 right_gripper=0.0086 state[joint_eff]: [-0.1436, -1.3607, 6.9675, 1.6923, -0.0708, -0.0562, -0.0171, -0.8821, -8.4444, 4.6291, 1.3504, 0.3053, -0.0708, 0.7448] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.467,"right_z":0.033,"right_pitch":0.28},"note":"The gripper closed almost completely, so it missed the lemon; the wrist image still shows it just ahead of the fingertips. I’ll reopen and advance roughly 2 cm before one more grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 69

assistant

agent noteAfter the small advance, the lemon sits between the open jaws near their tips. I’ll close again and use the settled gripper width to check for a grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0193, -0.0387, 0.9997, 0.7067, 2.2185, 1.0134, 0.8082, 0.6369, 0.2203, 0.9946] state[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1597 left_yaw=0.0026 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9997 right_x=0.4604 right_y=0.2597 right_z=0.0334 right_yaw=0.0381 right_pitch=0.2749 right_roll=-0.0171 right_gripper=0.9946 state[joint_eff]: [-0.0615, -1.0598, 7.0359, 1.8144, -0.0855, -0.0464, -0.0171, -0.7726, -9.6205, 7.1179, 1.9609, 0.1783, 0.0513, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"After the small advance, the lemon sits between the open jaws near their tips. I’ll close again and use the settled gripper width to check for a grasp."})

tool

executing move_to over 10 steps (1.0s)

step 79

assistant

agent noteThe jaws stopped with roughly 6 cm of opening, consistent with holding the lemon. I’ll lift it clear of the table and check whether it rises with the gripper.

move_to

right_z0.1500right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0189, -0.0387, 0.9997, 0.7132, 2.2181, 1.0153, 0.804, 0.6315, 0.1864, 0.6178] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9997 right_x=0.4588 right_y=0.2637 right_z=0.0332 right_yaw=0.0691 right_pitch=0.2716 right_roll=-0.0501 right_gripper=0.6178 state[joint_eff]: [-0.253, -1.1145, 7.1179, 1.6874, -0.0611, -0.022, -0.0171, -0.7726, -11.0154, 4.6154, 1.7607, 0.1245, 0.2564, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.15,"right_pitch":0.28},"note":"The jaws stopped with roughly 6 cm of opening, consistent with holding the lemon. I’ll lift it clear of the table and check whether it rises with the gripper."})

tool

executing move_to over 8 steps (0.8s)

step 87

assistant

agent noteThe lemon disappeared from its tabletop spot and stayed with the raised gripper. I’ll carry it over the open red safe, aiming near the centre of its tray.

move_to

right_x0.3990right_y0.3750right_z0.1750

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4961, -0.0189, -0.0387, 0.9997, 0.7143, 1.9518, 1.0855, 0.4191, 0.6235, 0.1719, 0.6161] state[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1133 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4545 right_y=0.2623 right_z=0.1171 right_yaw=0.0925 right_pitch=0.23 right_roll=-0.0911 right_gripper=0.6161 state[joint_eff]: [-0.0479, -1.0872, 6.9265, 1.8095, -0.0708, -0.0513, -0.0171, -0.0068, -12.3829, 8.6906, 1.9756, 0.2711, 0.0464, -0.1783] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.399,"right_y":0.375,"right_z":0.175},"note":"The lemon disappeared from its tabletop spot and stayed with the raised gripper. I’ll carry it over the open red safe, aiming near the centre of its tray."})

tool

executing move_to over 10 steps (1.0s)

step 97

assistant

agent noteThe yellow object is still visibly on the table beside the safe, so the previous close did not carry it into the tray. I’ll open and park the right arm to clear the view, then work on the objects nearer the left arm.

move_to

right_x0.2900right_y0.0000right_z0.1800right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5144, -0.0193, -0.0387, 0.9996, 0.9894, 2.0132, 1.4425, -0.0284, 0.8272, 0.3199, 0.6166] state[eef_state]: left_x=0.2758 left_y=0.0018 left_z=0.1518 left_yaw=0.0027 left_pitch=-0.1316 left_roll=-0.001 left_gripper=0.9996 right_x=0.3959 right_y=0.3721 right_z=0.1619 right_yaw=0.1445 right_pitch=0.1946 right_roll=-0.1313 right_gripper=0.6166 state[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.7998, -0.0708, -0.022, -0.0171, 0.1436, -10.3316, 8.7316, 1.8926, 0.4713, 0.2173, 0.0317] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.18,"right_pitch":0,"right_gripper":1},"note":"The yellow object is still visibly on the table beside the safe, so the previous close did not carry it into the tray. I’ll open and park the right arm to clear the view, then work on the objects nearer the left arm."})

tool

executing move_to over 32 steps (3.2s)

step 129

assistant

agent noteWith the right arm parked, the white plush is unobstructed just left of the safe. I’ll move the left gripper above it, slightly forward and inward, to line up a side grasp.

move_to

left_x0.3200left_y-0.1200left_z0.1150left_pitch0.2300

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.8078, 0.6064, -0.5255, -0.0193, -0.0383, 0.9993, -0.0605, 0.7959, 0.6056, -0.4164, -0.0448, -0.1963, 0.999] state[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1488 left_yaw=0.0021 left_pitch=-0.1464 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2901 right_y=-0.006 right_z=0.1728 right_yaw=0.0797 right_pitch=-0.0205 right_roll=-0.1309 right_gripper=0.999 state[joint_eff]: [-0.0342, -1.5385, 6.8991, 1.6728, -0.0562, -0.0317, -0.0415, -0.1436, -1.6205, 7.9248, 1.9512, -0.1734, -0.0464, -0.0611] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.12,"left_z":0.115,"left_pitch":0.23},"note":"With the right arm parked, the white plush is unobstructed just left of the safe. I’ll move the left gripper above it, slightly forward and inward, to line up a side grasp."})

tool

executing move_to over 13 steps (1.3s)

step 142

assistant

agent noteThe white plush appears low in the left wrist view but is off to the left of the jaw column. I’ll shift the gripper left toward it and lower to its mid-height before closing.

move_to

left_x0.3250left_y-0.0720left_z0.0470left_pitch0.2300

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6712, 1.2224, 0.3386, 0.3195, -0.5884, -0.3012, 0.9993, -0.0601, 0.8005, 0.6052, -0.4541, -0.0566, -0.2096, 0.999] state[eef_state]: left_x=0.31 left_y=-0.1164 left_z=0.0928 left_yaw=-0.0391 left_pitch=0.1181 left_roll=0.053 left_gripper=0.9993 right_x=0.2849 right_y=-0.0035 right_z=0.1639 right_yaw=0.0976 right_pitch=-0.0626 right_roll=-0.1284 right_gripper=0.999 state[joint_eff]: [-0.2667, -4.4513, 5.4632, 2.1709, -0.398, -0.0073, -0.022, -0.1026, -1.5521, 7.0496, 2.0586, 0.0562, 0.1392, -0.022] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.325,"left_y":-0.072,"left_z":0.047,"left_pitch":0.23},"note":"The white plush appears low in the left wrist view but is off to the left of the jaw column. I’ll shift the gripper left toward it and lower to its mid-height before closing."})

tool

executing move_to over 4 steps (0.4s)

step 146

assistant

agent noteThe descent put the jaws near table height, and the white plush is between them but left of centre. I’ll centre the jaws a little more over its body and raise slightly before closing.

move_to

left_x0.3100left_y-0.0250left_z0.0480left_pitch0.1000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4648, 1.5909, 0.1246, 0.8383, -0.4744, -0.1795, 0.9992, -0.0601, 0.8036, 0.6052, -0.4725, -0.057, -0.2104, 0.999] state[eef_state]: left_x=0.301 left_y=-0.0567 left_z=0.0052 left_yaw=0.0078 left_pitch=0.0235 left_roll=0.1383 left_gripper=0.9992 right_x=0.2822 right_y=-0.0033 right_z=0.1595 right_yaw=0.0986 right_pitch=-0.0838 right_roll=-0.1254 right_gripper=0.999 state[joint_eff]: [-0.0889, -6.2564, 3.6991, 2.7033, -0.1441, 0.1099, -0.022, -0.1026, -1.3744, 7.0222, 2.0, -0.022, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.31,"left_y":-0.025,"left_z":0.048,"left_pitch":0.1},"note":"The descent put the jaws near table height, and the white plush is between them but left of centre. I’ll centre the jaws a little more over its body and raise slightly before closing."})

tool

executing move_to over 3 steps (0.3s)

step 149

assistant

agent noteThe plush is still ahead of the fingertips rather than seated in the jaws, and the arm did not reach the last low target. I’ll lift out of contact and advance over its body before trying the grasp.

move_to

left_x0.3400left_y-0.0250left_z0.0850left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4465, 1.7615, 0.0433, 1.1755, -0.4702, -0.123, 0.9985, -0.0601, 0.8062, 0.6025, -0.4942, -0.0574, -0.21, 0.9989] state[eef_state]: left_x=0.2963 left_y=-0.0491 left_z=0.0027 left_yaw=-0.0058 left_pitch=0.0946 left_roll=0.1475 left_gripper=0.9985 right_x=0.2786 right_y=-0.003 right_z=0.1535 right_yaw=0.0991 right_pitch=-0.1104 right_roll=-0.1206 right_gripper=0.9989 state[joint_eff]: [-0.253, -3.9453, 2.4821, 2.2295, -0.2564, 0.0855, -0.0806, -0.1573, -0.841, 7.1726, 1.9658, -0.0611, -0.0415, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.025,"left_z":0.085,"left_pitch":0.25},"note":"The plush is still ahead of the fingertips rather than seated in the jaws, and the arm did not reach the last low target. I’ll lift out of contact and advance over its body before trying the grasp."})

tool

executing move_to over 6 steps (0.6s)

step 155

assistant

agent noteThe left arm barely lifted from the plush-height pose, so I won’t keep pressing it forward. I’ll back it away and raise it to free the arm before approaching from above again.

move_to

left_x0.2000left_y-0.0750left_z0.1800left_pitch0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4465, 1.7615, 0.0425, 1.219, -0.4911, -0.1162, 0.9985, -0.0601, 0.8062, 0.6025, -0.5007, -0.057, -0.21, 0.999] state[eef_state]: left_x=0.3005 left_y=-0.0475 left_z=0.012 left_yaw=0.0098 left_pitch=0.1371 left_roll=0.1446 left_gripper=0.9985 right_x=0.2775 right_y=-0.003 right_z=0.1523 right_yaw=0.0989 right_pitch=-0.1169 right_roll=-0.1198 right_gripper=0.999 state[joint_eff]: [-0.3214, -4.4786, 2.1265, 2.044, -0.2076, 0.022, -0.0171, -0.0205, -1.0325, 6.9538, 1.7118, -0.0415, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.2,"left_y":-0.075,"left_z":0.18,"left_pitch":0},"note":"The left arm barely lifted from the plush-height pose, so I won’t keep pressing it forward. I’ll back it away and raise it to free the arm before approaching from above again."})

tool

executing move_to over 11 steps (1.1s)

step 166

assistant

agent noteThe left arm has cleared the table, though it rose much higher than requested. I’ll return to a neutral, elevated pose above the white plush before descending again.

move_to

left_x0.3100left_y-0.0800left_z0.1550left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.055, 0.7067, 0.638, -0.1001, -0.8593, -0.6846, 0.9985, -0.0601, 0.8097, 0.6014, -0.5404, -0.0574, -0.2104, 0.999] state[eef_state]: left_x=0.2432 left_y=-0.1504 left_z=0.2956 left_yaw=0.114 left_pitch=0.389 left_roll=-0.5772 left_gripper=0.9985 right_x=0.271 right_y=-0.0026 right_z=0.1436 right_yaw=0.1004 right_pitch=-0.1606 right_roll=-0.1127 right_gripper=0.999 state[joint_eff]: [0.1026, 0.1436, 7.9658, 1.5311, -0.2027, 0.1245, -0.022, -0.2393, -1.4974, 6.9949, 1.9902, -0.0708, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0.31,"left_y":-0.08,"left_z":0.155,"left_pitch":0,"left_roll":0,"left_yaw":0},"note":"The left arm has cleared the table, though it rose much higher than requested. I’ll return to a neutral, elevated pose above the white plush before descending again."})

tool

executing move_to over 13 steps (1.3s)

step 179

assistant

agent noteThe white plush is visible below and left of the elevated left gripper, with the safe directly beside it. I’ll move a little forward and left, then lower only partway to keep the jaws clear of the table.

move_to

left_x0.3350left_y-0.0450left_z0.1050left_pitch0.2200

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4938, 0.9836, 0.6003, -0.2859, -0.4305, -0.3752, 0.9985, -0.0601, 0.8154, 0.601, -0.5682, -0.0574, -0.21, 0.999] state[eef_state]: left_x=0.3047 left_y=-0.0762 left_z=0.1529 left_yaw=0.0508 left_pitch=-0.0189 left_roll=-0.0288 left_gripper=0.9985 right_x=0.2663 right_y=-0.0023 right_z=0.1371 right_yaw=0.1012 right_pitch=-0.194 right_roll=-0.1069 right_gripper=0.999 state[joint_eff]: [0.1436, -2.906, 6.5026, 2.0733, -0.0855, 0.2222, -0.0171, -0.1846, -1.6752, 6.8855, 1.79, -0.0513, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.335,"left_y":-0.045,"left_z":0.105,"left_pitch":0.22},"note":"The white plush is visible below and left of the elevated left gripper, with the safe directly beside it. I’ll move a little forward and left, then lower only partway to keep the jaws clear of the table."})

tool

executing move_to over 8 steps (0.8s)

step 187

assistant

agent noteThe plush now fills the lower centre of the left wrist image, with its body slightly left of the jaw column. I’ll advance and lower a few more centimetres to put the jaws around its middle.

move_to

left_x0.3480left_y-0.0280left_z0.0530left_pitch0.2500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3241, 1.1637, 0.2554, 0.3882, -0.3511, -0.2131, 0.9985, -0.0601, 0.8173, 0.601, -0.5949, -0.0574, -0.21, 0.999] state[eef_state]: left_x=0.3223 left_y=-0.0404 left_z=0.0811 left_yaw=0.0696 left_pitch=0.0948 left_roll=0.003 left_gripper=0.9985 right_x=0.2617 right_y=-0.002 right_z=0.132 right_yaw=0.1022 right_pitch=-0.2223 right_roll=-0.1022 right_gripper=0.999 state[joint_eff]: [0.2667, -3.5487, 6.0376, 2.2002, -0.0415, 0.0757, -0.0122, -0.0615, -1.1009, 6.9675, 1.7411, -0.0659, -0.0513, -0.0171] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.348,"left_y":-0.028,"left_z":0.053,"left_pitch":0.25},"note":"The plush now fills the lower centre of the left wrist image, with its body slightly left of the jaw column. I’ll advance and lower a few more centimetres to put the jaws around its middle."})

tool

executing move_to over 6 steps (0.6s)

step 193

assistant

agent noteThe white plush’s body is centred between the low left jaws. I’ll close around it and check the gripper opening before lifting.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2459, 1.6375, 0.1612, 0.9817, -0.3168, -0.1452, 0.9985, -0.0601, 0.8219, 0.6006, -0.6132, -0.057, -0.2104, 0.999] state[eef_state]: left_x=0.3344 left_y=-0.0235 left_z=0.0244 left_yaw=0.0829 left_pitch=0.1117 left_roll=0.0389 left_gripper=0.9985 right_x=0.2584 right_y=-0.0019 right_z=0.1277 right_yaw=0.1029 right_pitch=-0.2453 right_roll=-0.0989 right_gripper=0.999 state[joint_eff]: [0.335, -5.9419, 3.0154, 2.3565, 0.0415, 0.0122, -0.0122, -0.1846, -1.5521, 7.1043, 1.6093, -0.0708, -0.0464, -0.0171] 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":{"left_gripper":0},"note":"The white plush’s body is centred between the low left jaws. I’ll close around it and check the gripper opening before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 203

assistant

agent noteThe left gripper closed empty, and the wrist image shows the plush still ahead of the fingertips. I’ll reopen, lift slightly, and advance about 4 cm for one better-centred attempt.

move_to

left_gripper1.0000left_x0.3700left_y-0.0250left_z0.0600left_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2432, 1.6489, 0.152, 0.9859, -0.3157, -0.1493, 0.0146, -0.0601, 0.823, 0.6006, -0.635, -0.057, -0.2104, 0.999] state[eef_state]: left_x=0.3308 left_y=-0.0219 left_z=0.0191 left_yaw=0.0864 left_pitch=0.0962 left_roll=0.04 left_gripper=0.0146 right_x=0.2544 right_y=-0.0016 right_z=0.1238 right_yaw=0.1039 right_pitch=-0.2679 right_roll=-0.095 right_gripper=0.999 state[joint_eff]: [-0.3214, -5.4496, 4.0274, 1.7216, -0.1148, 0.0269, 0.7595, -0.0205, -1.2786, 6.7487, 1.6532, -0.0464, -0.0757, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.37,"left_y":-0.025,"left_z":0.06,"left_pitch":0.28},"note":"The left gripper closed empty, and the wrist image shows the plush still ahead of the fingertips. I’ll reopen, lift slightly, and advance about 4 cm for one better-centred attempt."})

tool

executing move_to over 10 steps (1.0s)

step 213

assistant

agent noteAfter advancing, the plush’s torso reaches the open jaws in the wrist image. I’ll make a small final forward and sideways adjustment at its body height.

move_to

left_x0.3730left_y-0.0330left_z0.0370left_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2371, 1.7161, 0.2111, 1.1107, -0.3328, -0.1062, 0.995, -0.0601, 0.8249, 0.6006, -0.6579, -0.057, -0.21, 0.999] state[eef_state]: left_x=0.3578 left_y=-0.0234 left_z=0.0419 left_yaw=0.0887 left_pitch=0.2079 left_roll=0.0488 left_gripper=0.995 right_x=0.2501 right_y=-0.0014 right_z=0.1198 right_yaw=0.1049 right_pitch=-0.2923 right_roll=-0.0906 right_gripper=0.999 state[joint_eff]: [0.5538, -4.6701, 5.4632, 2.3028, -0.022, 0.149, -0.0122, -0.1573, -0.9231, 6.7214, 1.6239, -0.0366, -0.0415, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.373,"left_y":-0.033,"left_z":0.037,"left_pitch":0.28},"note":"After advancing, the plush’s torso reaches the open jaws in the wrist image. I’ll make a small final forward and sideways adjustment at its body height."})

tool

executing move_to over 3 steps (0.3s)

step 216

assistant

agent noteThe plush now occupies the space between the left jaws, and its body is at fingertip height. I’ll close and check whether the jaws stop on it rather than closing empty.

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]: [-0.2665, 1.8969, 0.2325, 1.2419, -0.3538, -0.1051, 0.9963, -0.0601, 0.8268, 0.6006, -0.6724, -0.057, -0.21, 0.999] state[eef_state]: left_x=0.3611 left_y=-0.0314 left_z=0.0161 left_yaw=0.0746 left_pitch=0.1839 left_roll=0.0674 left_gripper=0.9963 right_x=0.2473 right_y=-0.0012 right_z=0.1171 right_yaw=0.1057 right_pitch=-0.3085 right_roll=-0.0877 right_gripper=0.999 state[joint_eff]: [-0.1026, -7.1453, 3.9726, 2.3468, -0.2564, 0.0513, 0.1245, -0.0752, -0.8821, 6.7077, 1.6484, -0.0464, -0.0317, -0.0171] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The plush now occupies the space between the left jaws, and its body is at fingertip height. I’ll close and check whether the jaws stop on it rather than closing empty."})

tool

executing move_to over 10 steps (1.0s)

step 226

assistant

agent noteThe jaws again closed empty beneath the plush. Its raised head is farther forward than the grasp point, so I’ll reopen and move forward at a higher height to try grasping the head instead.

move_to

left_gripper1.0000left_x0.4000left_y-0.0350left_z0.0870left_pitch0.2700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.268, 1.9137, 0.2432, 1.319, -0.379, -0.104, 0.018, -0.0601, 0.8303, 0.5999, -0.6949, -0.057, -0.2104, 0.999] state[eef_state]: left_x=0.3694 left_y=-0.0299 left_z=0.0304 left_yaw=0.0992 left_pitch=0.2537 left_roll=0.0524 left_gripper=0.018 right_x=0.2428 right_y=-0.0009 right_z=0.1126 right_yaw=0.1074 right_pitch=-0.3349 right_roll=-0.0833 right_gripper=0.999 state[joint_eff]: [-0.2256, -6.2291, 2.9197, 2.0781, 0.0122, 0.0904, 0.823, -0.0752, -1.388, 6.7487, 1.5507, -0.0562, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.4,"left_y":-0.035,"left_z":0.087,"left_pitch":0.27},"note":"The jaws again closed empty beneath the plush. Its raised head is farther forward than the grasp point, so I’ll reopen and move forward at a higher height to try grasping the head instead."})

tool

executing move_to over 10 steps (1.0s)

step 236

assistant

agent noteThe plush’s head now appears between the open jaws at the higher pose. I’ll close there, rather than lowering back under it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2588, 1.6619, 0.3672, 0.931, -0.382, -0.1089, 0.9951, -0.0601, 0.8341, 0.5995, -0.7101, -0.057, -0.21, 0.999] state[eef_state]: left_x=0.3923 left_y=-0.032 left_z=0.0725 left_yaw=0.1127 left_pitch=0.2429 left_roll=0.0531 left_gripper=0.9951 right_x=0.2397 right_y=-0.0007 right_z=0.1094 right_yaw=0.1083 right_pitch=-0.354 right_roll=-0.0796 right_gripper=0.999 state[joint_eff]: [0.253, -7.2274, 6.8444, 1.7998, 0.0024, 0.1148, -0.105, -0.1846, -1.2923, 6.7761, 1.4774, -0.0806, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The plush’s head now appears between the open jaws at the higher pose. I’ll close there, rather than lowering back under it."})

tool

executing move_to over 10 steps (1.0s)

step 246

assistant

agent noteThe higher close also came up empty, so I’ll stop repeating that plush grasp. I’ll park the left arm and bring the right gripper back above the yellow object for a more forward approach.

move_to

left_x0.2900left_y0.0000left_z0.1800left_pitch0.0000left_gripper1.0000right_x0.4700right_y0.2600right_z0.1500right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2565, 1.6547, 0.3714, 0.8974, -0.3824, -0.1131, 0.0095, -0.0601, 0.8345, 0.5995, -0.7246, -0.0574, -0.21, 0.999] state[eef_state]: left_x=0.3911 left_y=-0.0307 left_z=0.0693 left_yaw=0.1157 left_pitch=0.2225 left_roll=0.0575 left_gripper=0.0095 right_x=0.2368 right_y=-0.0005 right_z=0.1072 right_yaw=0.1096 right_pitch=-0.3686 right_roll=-0.0766 right_gripper=0.999 state[joint_eff]: [-0.335, -5.3949, 4.1504, 2.1074, -0.0464, 0.0122, 0.8083, -0.0479, -0.9915, 6.653, 1.4725, -0.0757, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.18,"left_pitch":0,"left_gripper":1,"right_x":0.47,"right_y":0.26,"right_z":0.15,"right_pitch":0.28},"note":"The higher close also came up empty, so I’ll stop repeating that plush grasp. I’ll park the left arm and bring the right gripper back above the yellow object for a more forward approach."})

tool

executing move_to over 22 steps (2.2s)

step 268

assistant

agent noteThe lemon appears near the lower centre of the right wrist view, and the left arm is clear of the work area. I’ll lower the right jaws to the lemon’s mid-height while moving a little farther forward.

move_to

right_x0.4800right_y0.2600right_z0.0700right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1886, 0.8158, 0.58, -0.3843, -0.2985, -0.1577, 0.9977, 0.6785, 1.8965, 1.0908, 0.3252, 0.5426, 0.1314, 0.999] state[eef_state]: left_x=0.2912 left_y=0.0009 left_z=0.1667 left_yaw=0.1299 left_pitch=-0.0099 left_roll=0.0588 left_gripper=0.9977 right_x=0.4551 right_y=0.2543 right_z=0.1248 right_yaw=0.1493 right_pitch=0.1803 right_roll=-0.1167 right_gripper=0.999 state[joint_eff]: [0.3077, -1.7162, 10.0581, 1.7265, 0.0171, 0.1099, -0.0171, -0.0068, -9.6615, 8.1299, 2.0537, 0.3346, 0.0464, -0.0171] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.48,"right_y":0.26,"right_z":0.07,"right_pitch":0.3},"note":"The lemon appears near the lower centre of the right wrist view, and the left arm is clear of the work area. I’ll lower the right jaws to the lemon’s mid-height while moving a little farther forward."})

tool

executing move_to over 4 steps (0.4s)

step 272

assistant

agent noteThe lemon is centred between the right jaws at their current height. I’ll close on it and verify the grip before lifting.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8181, 0.5873, -0.4198, -0.2924, -0.1619, 0.9978, 0.6617, 2.1239, 1.0569, 0.6098, 0.5446, 0.0776, 0.9989] state[eef_state]: left_x=0.2874 left_y=0.0005 left_z=0.1623 left_yaw=0.1271 left_pitch=-0.0399 left_roll=0.0614 left_gripper=0.9978 right_x=0.4707 right_y=0.2551 right_z=0.0536 right_yaw=0.159 right_pitch=0.197 right_roll=-0.1562 right_gripper=0.9989 state[joint_eff]: [-0.1026, -1.4291, 6.4068, 2.0391, -0.1832, -0.0269, 0.0024, -0.1573, -11.7675, 5.5316, 2.4005, 0.149, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The lemon is centred between the right jaws at their current height. I’ll close on it and verify the grip before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 282

assistant

agent noteThe right jaws stopped at about the lemon’s width. I’ll lift straight up and check the overhead view to see whether the lemon actually follows.

move_to

right_z0.1800right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8207, 0.5873, -0.4313, -0.292, -0.1654, 0.9978, 0.6617, 2.1468, 1.0451, 0.6029, 0.5312, 0.0521, 0.4886] state[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1594 left_yaw=0.1288 left_pitch=-0.0533 left_roll=0.0628 left_gripper=0.9978 right_x=0.4658 right_y=0.2539 right_z=0.0358 right_yaw=0.1877 right_pitch=0.155 right_roll=-0.1942 right_gripper=0.4886 state[joint_eff]: [-0.0205, -1.5658, 7.0222, 1.7167, -0.1294, -0.0171, -0.0122, -0.2803, -12.7658, 6.188, 1.7411, 0.1929, 0.1685, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.18,"right_pitch":0.28},"note":"The right jaws stopped at about the lemon’s width. I’ll lift straight up and check the overhead view to see whether the lemon actually follows."})

tool

executing move_to over 10 steps (1.0s)

step 292

assistant

agent noteThe lemon remains visible ahead of the right wrist camera after the lift, so I can’t confirm that it was carried. I’ll reopen and move the grasp point farther forward, then check its position again.

move_to

right_gripper1.0000right_x0.4920right_y0.2480right_z0.0750right_pitch0.3000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8207, 0.5873, -0.4355, -0.292, -0.1661, 0.9978, 0.6682, 1.8999, 1.0912, 0.2771, 0.5365, -0.0086, 0.489] state[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1586 left_yaw=0.1293 left_pitch=-0.0572 left_roll=0.0635 left_gripper=0.9978 right_x=0.4535 right_y=0.2475 right_z=0.1137 right_yaw=0.2251 right_pitch=0.1191 right_roll=-0.2661 right_gripper=0.489 state[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6923, -0.149, -0.0562, -0.0122, -0.0889, -13.8598, 10.5778, 2.2198, 0.3297, -0.0269, 0.022] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.492,"right_y":0.248,"right_z":0.075,"right_pitch":0.3},"note":"The lemon remains visible ahead of the right wrist camera after the lift, so I can’t confirm that it was carried. I’ll reopen and move the grasp point farther forward, then check its position again."})

tool

executing move_to over 7 steps (0.7s)

step 299

assistant

agent noteThe right arm is stopping short of the low forward target, leaving the lemon at the edge of the wrist view. I’ll first raise and extend the arm with a stronger forward tool pitch, then approach it from above.

move_to

right_x0.5250right_y0.2450right_z0.1800right_pitch0.4300right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8207, 0.5873, -0.4507, -0.292, -0.1661, 0.9978, 0.6571, 1.9324, 1.0878, 0.3233, 0.5343, -0.0456, 0.9957] state[eef_state]: left_x=0.2831 left_y=0.0013 left_z=0.1558 left_yaw=0.1296 left_pitch=-0.0717 left_roll=0.0683 left_gripper=0.9978 right_x=0.4595 right_y=0.2454 right_z=0.1052 right_yaw=0.2353 right_pitch=0.1224 right_roll=-0.2939 right_gripper=0.9957 state[joint_eff]: [-0.1436, -1.347, 6.9402, 1.8193, -0.1538, -0.0562, -0.0122, -0.4991, -10.1675, 6.5436, 2.044, 0.0952, 0.0171, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.525,"right_y":0.245,"right_z":0.18,"right_pitch":0.43,"right_roll":0,"right_yaw":0},"note":"The right arm is stopping short of the low forward target, leaving the lemon at the edge of the wrist view. I’ll first raise and extend the arm with a stronger forward tool pitch, then approach it from above."})

tool

executing move_to over 11 steps (1.1s)

step 310

assistant

agent noteAt the higher forward pose, the lemon is no longer ahead in the right wrist view. I’ll lower nearly straight down at this reach to place the open jaws around it.

move_to

right_x0.5050right_y0.2450right_z0.0600right_pitch0.4300

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8227, 0.5873, -0.458, -0.292, -0.1692, 0.9978, 0.6029, 2.0274, 1.2461, 0.4973, 0.5667, 0.0742, 0.9968] state[eef_state]: left_x=0.2821 left_y=0.0015 left_z=0.154 left_yaw=0.1315 left_pitch=-0.0803 left_roll=0.0688 left_gripper=0.9978 right_x=0.5156 right_y=0.2442 right_z=0.1579 right_yaw=0.0591 right_pitch=0.3509 right_roll=-0.077 right_gripper=0.9968 state[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6874, -0.1685, -0.0269, -0.0122, -0.3897, -10.1812, 9.1556, 2.21, 0.2759, 0.1685, 0.105] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.505,"right_y":0.245,"right_z":0.06,"right_pitch":0.43},"note":"At the higher forward pose, the lemon is no longer ahead in the right wrist view. I’ll lower nearly straight down at this reach to place the open jaws around it."})

tool

executing move_to over 7 steps (0.7s)

step 317

assistant

agent noteAt the low, far-forward pose the lemon is no longer visible in the wrist view, which suggests the jaws have passed it. I’ll retract about 2.5 cm to bring the fingertips back around its centre.

move_to

right_x0.4780right_y0.2500right_z0.0500right_pitch0.4000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8234, 0.5873, -0.4583, -0.292, -0.1692, 0.9978, 0.6159, 2.2726, 1.1072, 0.8917, 0.577, 0.0406, 0.997] state[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1537 left_yaw=0.1316 left_pitch=-0.0814 left_roll=0.0691 left_gripper=0.9978 right_x=0.5045 right_y=0.2434 right_z=0.0534 right_yaw=0.081 right_pitch=0.3595 right_roll=-0.1087 right_gripper=0.997 state[joint_eff]: [-0.1709, -1.2513, 6.9402, 1.6239, -0.1441, -0.0464, -0.0122, 0.1573, -10.2222, 4.6154, 2.1026, 0.1832, -0.1245, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.478,"right_y":0.25,"right_z":0.05,"right_pitch":0.4},"note":"At the low, far-forward pose the lemon is no longer visible in the wrist view, which suggests the jaws have passed it. I’ll retract about 2.5 cm to bring the fingertips back around its centre."})

tool

executing move_to over 3 steps (0.3s)

step 320

assistant

agent noteThe lemon has reappeared at the bottom centre of the right wrist image after the short retraction. I’ll close at this more forward grasp point and then test whether it lifts.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8253, 0.5873, -0.4591, -0.292, -0.1692, 0.9978, 0.6537, 2.2868, 1.0336, 0.9939, 0.6128, 0.0334, 0.9973] state[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1531 left_yaw=0.1316 left_pitch=-0.0839 left_roll=0.07 left_gripper=0.9978 right_x=0.4839 right_y=0.2472 right_z=0.0424 right_yaw=0.0887 right_pitch=0.3764 right_roll=-0.1168 right_gripper=0.9973 state[joint_eff]: [-0.0342, -1.1009, 6.9402, 1.6337, -0.1685, -0.0317, -0.0122, 0.5949, -12.0137, 4.2462, 1.917, 0.0855, -0.0562, 0.0171] camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The lemon has reappeared at the bottom centre of the right wrist image after the short retraction. I’ll close at this more forward grasp point and then test whether it lifts."})

tool

executing move_to over 10 steps (1.0s)

step 330

assistant

agent noteThe jaws again stopped at about 4.7 cm, but that alone does not prove a grasp. I’ll lift high enough to separate the gripper from the tabletop and check whether the lemon moves.

move_to

right_x0.4780right_z0.1950right_pitch0.4000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8295, 0.5873, -0.4728, -0.292, -0.1696, 0.9978, 0.6731, 2.2795, 1.0187, 1.0321, 0.6353, 0.0265, 0.4903] state[eef_state]: left_x=0.2801 left_y=0.0019 left_z=0.1495 left_yaw=0.1324 left_pitch=-0.1009 left_roll=0.0754 left_gripper=0.9978 right_x=0.4781 right_y=0.2517 right_z=0.0495 right_yaw=0.0854 right_pitch=0.4045 right_roll=-0.111 right_gripper=0.4903 state[joint_eff]: [-0.1026, -1.6889, 7.1043, 1.7265, -0.188, -0.0317, -0.0122, -0.212, -11.8085, 4.4376, 1.6386, 0.0073, 0.0366, 1.0281] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.478,"right_z":0.195,"right_pitch":0.4},"note":"The jaws again stopped at about 4.7 cm, but that alone does not prove a grasp. I’ll lift high enough to separate the gripper from the tabletop and check whether the lemon moves."})

tool

executing move_to over 10 steps (1.0s)

step 340

assistant

agent noteThe lemon is no longer visible in the right wrist view after the lift, and the gripper remains partly open. I’ll carry it over the safe tray, where the overhead view can confirm whether it is moving with the arm.

move_to

right_x0.3950right_y0.3750right_z0.2050right_pitch0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.831, 0.5873, -0.4797, -0.292, -0.1696, 0.9978, 0.6739, 1.9263, 1.1103, 0.5285, 0.617, 0.0261, 0.4891] state[eef_state]: left_x=0.279 left_y=0.002 left_z=0.1479 left_yaw=0.1326 left_pitch=-0.1089 left_roll=0.078 left_gripper=0.9978 right_x=0.4749 right_y=0.2531 right_z=0.1617 right_yaw=0.1153 right_pitch=0.3526 right_roll=-0.1414 right_gripper=0.4891 state[joint_eff]: [-0.0752, -1.388, 6.9812, 1.6142, -0.1294, -0.0366, -0.0122, -0.335, -12.3966, 9.3744, 1.9414, 0.2466, -0.0171, -0.1294] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.395,"right_y":0.375,"right_z":0.205,"right_pitch":0.28},"note":"The lemon is no longer visible in the right wrist view after the lift, and the gripper remains partly open. I’ll carry it over the safe tray, where the overhead view can confirm whether it is moving with the arm."})

tool

executing move_to over 11 steps (1.1s)

step 351

assistant

agent noteI could not reliably grasp or move the objects into the safe. The yellow object remained beside it after multiple lift-and-carry attempts, and the white plush remained outside after repeated empty grasps. Closing the safe now would leave objects out.

give_up

hindsightOn this rig, a right-gripper reading near 0.49 after a close did not confirm a lemon grasp: the lemon remained at its original tabletop position when the arm moved away. Verify transport in the overhead view before placing. The white plush was still ahead of the left fingertips during low grasp attempts; those attempts closed empty even when its body looked centred in the wrist camera. Pitching the right tool forward allowed x≈0.50 m at z≈0.05 m, whereas lower-pitch approaches stopped short.

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.189, 0.8314, 0.5873, -0.4808, -0.292, -0.1696, 0.9978, 1.0031, 1.9755, 1.459, -0.0025, 0.868, 0.2218, 0.489] state[eef_state]: left_x=0.2789 left_y=0.0021 left_z=0.1476 left_yaw=0.1327 left_pitch=-0.1103 left_roll=0.0785 left_gripper=0.9978 right_x=0.3939 right_y=0.3736 right_z=0.1946 right_yaw=0.1686 right_pitch=0.256 right_roll=-0.1787 right_gripper=0.489 state[joint_eff]: [-0.0752, -1.4017, 6.9128, 1.5507, -0.1538, -0.0366, -0.0122, 0.2393, -10.0171, 8.9504, 1.8974, 0.4127, 0.2369, -0.0269] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could not reliably grasp or move the objects into the safe. The yellow object remained beside it after multiple lift-and-carry attempts, and the white plush remained outside after repeated empty grasps. Closing the safe now would leave objects out.","hindsight":"On this rig, a right-gripper reading near 0.49 after a close did not confirm a lemon grasp: the lemon remained at its original tabletop position when the arm moved away. Verify transport in the overhead view before placing. The white plush was still ahead of the left fingertips during low grasp attempts; those attempts closed empty even when its body looked centred in the wrist camera. Pitching the right tool forward allowed x≈0.50 m at z≈0.05 m, whereas lower-pitch approaches stopped short."})

tool

give_up: I could not reliably grasp or move the objects into the safe. The yellow object remained beside it after multiple lift-and-carry attempts, and the white plush remained outside after repeated empty grasps. Closing the safe now would leave objects out.

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 · 5.539 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"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]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.606, -0.4038, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.388, 10.3179, 1.9658, -0.0659, 0.188, -0.0464, -0.335, -1.4838, 9.7299, 2.0781, -0.0513, 0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686729e60d85656e5c70cf7915c7f57b2176f33a84169683c76949f3e790da4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fa00656ee72757cd6d83941bc2961e84b27b1a2ab9a39c526c7fe97436b1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d38ca95417283d295f777eb6abda21a56eac203381efb8850a51e9043bf3348",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.478 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

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  "id": "rs_0da3cbc07170221d016ab43b20a2a487d081d9cc23055ab76b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.29,\"right_z\":0.15},\"note\":\"The safe is open on the left, with a yellow object near the middle-right and two plush objects below it. I’ll bring the right gripper above the yellow object first, keeping the left arm parked.\"}",
  "call_id": "call_7kbBBxloY2iy4ixq3u7HngPy",
  "id": "fc_0da3cbc07170221d016ab43b2409b887d0bef2ce255fdee2ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7kbBBxloY2iy4ixq3u7HngPy",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4084, -0.0193, -0.038, 0.9997, 0.8394, 1.8309, 1.2922, -0.2943, 0.6357, 0.5175, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1745 left_yaw=0.0021 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3905 right_y=0.2835 right_z=0.1361 right_yaw=0.0357 right_pitch=-0.0473 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5658, 6.8171, 1.8339, -0.0611, -0.0122, -0.0122, 0.1573, -9.3607, 8.5675, 1.5409, 0.5446, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d1538a259692e2caf0e5a638b77c9d3b4e4cdf12950082fce7d46996412d93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76fd117b8c860adc0a7ace00c5ce469fa503acdb8b64e4dccfe047e6c7950e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4127f4179d91543c629f2dd89b3bc8d747ced4b1af1c27c1471b27b215473985",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 4.145 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.606, -0.4038, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.388, 10.3179, 1.9658, -0.0659, 0.188, -0.0464, -0.335, -1.4838, 9.7299, 2.0781, -0.0513, 0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4084, -0.0193, -0.038, 0.9997, 0.8394, 1.8309, 1.2922, -0.2943, 0.6357, 0.5175, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1745 left_yaw=0.0021 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3905 right_y=0.2835 right_z=0.1361 right_yaw=0.0357 right_pitch=-0.0473 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5658, 6.8171, 1.8339, -0.0611, -0.0122, -0.0122, 0.1573, -9.3607, 8.5675, 1.5409, 0.5446, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d1538a259692e2caf0e5a638b77c9d3b4e4cdf12950082fce7d46996412d93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76fd117b8c860adc0a7ace00c5ce469fa503acdb8b64e4dccfe047e6c7950e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4127f4179d91543c629f2dd89b3bc8d747ced4b1af1c27c1471b27b215473985",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtDsqEIY7AxlRB7RDn5XBY8chZxXdBq23_UwLkF1tN5BPefKhSmxv8SfipKssA9NxL0gI0RnJWQKW80WKQOA4BZtoOTORhbAusMXlbYusGIxOp6qVH9-w--dzmQMxJmXotvoq6iZFjuFFKWmnq0pe_vxoswFzh3o6X-Bjjed4GEf6BcrEspmSDWH__ON6s359LV7MC8D1PQihFfxDHaBovKz_o5gzOQOfjViMEghbX93p97K_rzr157BE5MYAVqqeBTvraRRxz2BZ1uUX0fYBsTz3_BfqdPX5FbKavuv16c4o1bwrrzZDTqKJKqlOVquwQPFbX1J6FZGjIYR_FJ9R_NMyi35dwfAIcWfZBeBZi919sqs1f9JEP-zWW7oULJwR_Hv6iTTLU-sQcbut1wER79CW2QQOrzs53pAbgyDdpzwoyqzfJTYE99lTIkMr1fpG2fEHc1Bl0PdfLQy1sFybbGuYYzBZDpU53CC3WfGCG9kH1Srdv4FKySNW09Pym5stTd7cd4JLrI7OQ4yzn2dM_GLQdhKEWutzS1AOi82NuglXSDvPfTqzaJ6SBKiVHEZenjCFQ3D8nGpbYZ9D4RfkD5LAUERyLTWYyBS4QfwzQO_f_asW3eLjUBaj0cCODBspQtDqHNBxUQ5d7yELV5qA6xxZ8gEeCdat9mZ9bwAXorwu7p3BXPJZ9-C98wqRv0v6bu24d0RDPizu9TmuaIm7msyBggv5aZ5wvPlk2rB_YSpv99rwEQAxgeZH7jyRVaLsEdCbfNdGE6vT72lXgcXi6qHznj1xZ7zZ5KWPT_xNkgUW-LSlXHGb-SSMJMQI4IGetVE27sF74mMrgafdDxA4qkmR6UhA0nzpnjFGMhCynrkW7JoWaR8sasN80lj3xH-UsWpjUQMYjwOpnEVf55SXzr-u986OQjK3Io_tySVKcyIemCtHUNm5Bw7VU44viC8w9AOhvb__VZrW3Y1TbKQnMLNKABuhdw9Mvc1G2HmLbhUStB202QvBOn48cbollfJDa_sSbEvCCiYfzUUckdNvS_9ROdK-MBXZPtgmh2fWiy0AJRhvl9K-f8BEs5wXiJGKpberChx20vrzFEgnx2HRl_lSwOlbtqgfgnn7NFdNhK2VGlY-FL-iYjcsb19Irpv64ufTABNfBaBZc6r1isKZFV9vuhLxHB2gfto6hLVV1LanpdBJNlORbqx32iGlw0Rbjpvg-4cJs95PMPOGH1xaV3aITL_nFNIBzHPqbfG8Bez1aNkJr_1wk2kVY1HQtRIBlHMwNSbK2bIWkXVYiilwpqlap7oBtS3Nj1qsiwKrR-2SLX7UI1yhGd1RwdqgmjTZpaHZIS5Ye6yvrG0RgTGCPEuprzKOQsxedjuasNI28fNK6-3qrVxNouaSV3AbTNpTuqAnp8xf3hEa-bGxgdmjv6UYRxbK-RkfvT73YHn-9HIbZea91bcEi1xjhs3HtDf9aiz2bdHvj9PZwz5Nn4W2QJUTT9rjK6vY6NBcsMoqKBKmdCwawEA-FBPmN03e1qtRMX7mzK3ROmnlN1E9trc_TGPvUdCiduvKTlA4lnXz4sSPWYhxqvRGTGSEdZRH2T5sDDrl-CXcvJx06Yr5EAOVJ1Jy2PzWloSMLvpm-j1K6QsdDE2mA3nmWLv8aP_J8majLoWZGlKeAckjqT5yu1BI3PKY9bNQAxE_wRq4QXjKX8YKVr_8WzUanHfj-pSx2GKBhO-j-hmCUb0TJYPomh-j-VrN1_7gsv7eZzYiYlaO-3AB6Gc-ug7on5iiSwKbRW-ofczx6Ar6HpG1B2OPWtzZsvM6DvNCU3uzzF0HzDy3FZCyM2EuY5QwXed15hx3XgAC95RAoPf7ICVLQqExkpcE5S0dt17l_p-9-nehS8C7C0meQBXn8pYyZneojxsY4zcmZlzDHiQ4AQmV3xv1Z7BVldURjdSjtH47EH1Xixb1_d_454c=",
  "id": "rs_0da3cbc07170221d016ab43b2882f887d0871b4213f5f80e11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.422,\"right_y\":0.27,\"right_z\":0.105},\"note\":\"The yellow object is visible just ahead and slightly to the right of the right gripper’s jaw column. I’ll advance a few centimetres, adjust sideways, and lower partway before the grasp.\"}",
  "call_id": "call_zm2LrZJtBw5bkcnJueX0Orap",
  "id": "fc_0da3cbc07170221d016ab43b29fb2087d0b52246efb10d47fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zm2LrZJtBw5bkcnJueX0Orap",
  "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, 0.7975, 0.6064, -0.411, -0.0189, -0.0383, 0.9997, 0.7746, 1.887, 1.2648, -0.2211, 0.5919, 0.4694, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1737 left_yaw=0.002 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9997 right_x=0.4097 right_y=0.2681 right_z=0.1072 right_yaw=0.028 right_pitch=-0.0789 right_roll=-0.0667 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7363, -0.0269, -0.0562, -0.0171, -0.1436, -9.4838, 6.612, 1.9414, 0.2662, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1403d394c63c355dfd8ec1d48a7f885b29a3b1e0d9115b2ce52ad86ead8bb7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d91494c511a3338848179a2bccd44dd0eece95514dce0943dde4e4fbeac30ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b6fb42a336f160a9854738258e159cb405130cca81736912f6e116c84aa8da",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 3.601 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4084, -0.0193, -0.038, 0.9997, 0.8394, 1.8309, 1.2922, -0.2943, 0.6357, 0.5175, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1745 left_yaw=0.0021 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3905 right_y=0.2835 right_z=0.1361 right_yaw=0.0357 right_pitch=-0.0473 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5658, 6.8171, 1.8339, -0.0611, -0.0122, -0.0122, 0.1573, -9.3607, 8.5675, 1.5409, 0.5446, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 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, 0.7975, 0.6064, -0.411, -0.0189, -0.0383, 0.9997, 0.7746, 1.887, 1.2648, -0.2211, 0.5919, 0.4694, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1737 left_yaw=0.002 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9997 right_x=0.4097 right_y=0.2681 right_z=0.1072 right_yaw=0.028 right_pitch=-0.0789 right_roll=-0.0667 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7363, -0.0269, -0.0562, -0.0171, -0.1436, -9.4838, 6.612, 1.9414, 0.2662, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1403d394c63c355dfd8ec1d48a7f885b29a3b1e0d9115b2ce52ad86ead8bb7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d91494c511a3338848179a2bccd44dd0eece95514dce0943dde4e4fbeac30ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b6fb42a336f160a9854738258e159cb405130cca81736912f6e116c84aa8da",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDsvdKvMlM2c9tfgMIu5l0SGnSHkw6Wm3yil8ZvO9MlAOBhyOG5ECbK5B1c0Hvwwp2NM9pJQUYHUkWx6N5BOrWamZZ0vssYmxdKu4-zEpzjSyyi7FlQncjWkQli4wxze1ogDvfRmoxOUWKw_9gWgFGj3cgVTReOcSRTTRwe8WIoH2-UC4ikS0IbcZ712TWvEUIAr321j1NlWi--dwzZkMlFJ56_9r29rHrXYbdtzCVblDqF5I4Axe9kM2kycGnJZE-oTLU3-ZwOFe8P7fa-M4ZUwzpbT44DvZdStEoWtRu2w3qtEi4a2GI7BwJJKEYAVg2Rbrr2hA4SwGLc0wio1_28nfZd6LVgnZj728b9wOIENfQEQF7KwBpIOFGjXh9Uhxfv8DM_hUTQ6eT0dYeOlaSu_OKIAzgJm4SzPtFpK3xlHEcXGP0qb8OR_j1eR5F8N_It3UAH4rz3hT4bUhaKtM88i3g7ewHe3bUIjSLpb68SKmQvf1dBfNXZ-bLpgkIT4GtMWiuHAkP8O01gMvpJHrFVduf0WkpU63Rz-vdOJ3fOOvL0bvRQ7mUWFgG4wnI3etRNXF5_acNgBOYMQjD3dkRT5lOqypuPzgfKIYN8jsWNHpsAeB0hGXkmRSGdCZF7a1Pp9_1UHJx77-x2ffXbiRK9sQFq2zGVY99k2MCrgsglwE_MY5CQPDjhnKsPbN3b2IRDl8rGc9qoAP94F0mffOQ2oOGj1sFl8GuXExLLlTzoLKTFIMuv9G4OfF1hCDyLPt4R3_R7wcpE_ZMl9t2eSix51BXKcUV9MY_Ip0dbNiYBqREZlxL0orpgisQNdAUzpMtAWZqxV_xZm88IgJFg80cV5wNJAKzGL2SPihtHQGyt4rhfpvDB1671xeCsdar_6zQRA3dKjtoBuRfPJMBUDz8XS6fm8cK4SKSKDCPd4zyeAgErMO9T_YEKLUoK9vzsAtuEAwko7sD--g5G4uWGxCAjR4GaPNoR-m6u_09jnFfP4Q_Alw-jba0lm_T8hIHBHnLVMreRiNwwhOBsdmiDryanRIOUEu744fJ8Zyyzts9XstH5UmBui3begcvUkRmy7yJ_Rf4ITbRdtmfztFhpbcYwT_cVRRoVhulzSVPmWXxBmA5gb1qygrOz8DGww3Qy-Eks9BigP8tY2mqUaTe2rgM8Wj8rg7zD6PftLgu3cnzbfYNglJznROVipkQfHhrTya8DNhawdQgM1FSdsDoATKnx9dnJkaoTQdKFQOAQVqz2yXd3-7SO6CKOpDNr97wA9kLIKkMQodSDbtNQ8sXssI14vsvGLnUao-tjNC-yVlc86f86m4sEygTEX_v9sskbFYrM9KJO25uRjenJMm1ztrEKHWaFEatIL-BlFKj7OS5SwwAfKu8IPksnpz33zhPAjP2ewvRYh_G4bTesq9upOroIWAtctmIHOzPfYROCi2FZuiL5LOy2y-ais3WvClEg6woBxfChkOyRHOiqdNj5jX0A3IVoNw779aR0Zk_yT2tQ8lKcqn8k1widR-McB5RQ3qGgfIxVCdixn2gQBtSCAd6g-REB6w1e2GY0sVjkzwD0OUHE5iRpIKpI3JUbfj9dWjwCpp-NCgBEZha4IgD5N_ZU_vKedJ1GOTBS363AQxJHAuYtDU8HeehNkWfxiNhos-5eaItPeAveAYhOXriIvSFCFIAY4pG4GKmTHU0fuh5wZ2ltcjn4BebaSAPTlyqjxSfjc9FI4CfQ6-xceD7-aGzTVZrVfHaY0FQPxPgiCMkaphnUcRLmNswAGj_aulW-ZJzqZy76bPZwKT4plKKZ0QdCQsVAMbp3vUlsboAivDRncWKkB79PLutKtfF7Y1DBwKZMz2D8jJm-f6pAN5SV9gHJC6FA5nyUJxfDTIQIZOEdE7lQj8kJoUyQ9ZO0AFMBzIR-_",
  "id": "rs_0da3cbc07170221d016ab43b2c919887d0bde8f83197875b75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.432,\"right_y\":0.253,\"right_z\":0.028},\"note\":\"The yellow object remains in front of the fingertips and slightly right of centre in the wrist view. I’ll put the open jaws at its height, a little farther forward and toward it.\"}",
  "call_id": "call_O2jRYHZ1SdcYH42Mp5xZjWdI",
  "id": "fc_0da3cbc07170221d016ab43b2e262087d094f7fb43e6ff3bd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O2jRYHZ1SdcYH42Mp5xZjWdI",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6064, -0.4278, -0.0193, -0.0387, 0.9997, 0.7597, 1.916, 1.2385, -0.1776, 0.5755, 0.4458, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1703 left_yaw=0.0025 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9997 right_x=0.4126 right_y=0.2642 right_z=0.089 right_yaw=0.0373 right_pitch=-0.0968 right_roll=-0.0839 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2513, 7.2274, 1.8486, -0.0611, -0.0513, -0.0122, 0.1026, -10.6598, 6.1607, 1.4774, 0.3297, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627e5f79c1c5eafea935b71c504d023900a4b8c157da4f28801aaa0fe17bd995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb91aa89d869ca233a5ec032427fe67eb163702d7f8e079eb558fca5a3c1ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd232a5765bd8991e9f420ccf4c5207b2d2511d033333c75810b65bcda31170",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.952 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6037, -0.3916, -0.0193, -0.0341, 0.9997, -0.0212, 0.7933, 0.606, -0.4038, -0.02, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1778 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2918 right_y=0.0009 right_z=0.1762 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4581, -1.388, 10.3179, 1.9658, -0.0659, 0.188, -0.0464, -0.335, -1.4838, 9.7299, 2.0781, -0.0513, 0.0317, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 10 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, 0.7975, 0.6064, -0.411, -0.0189, -0.0383, 0.9997, 0.7746, 1.887, 1.2648, -0.2211, 0.5919, 0.4694, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1737 left_yaw=0.002 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9997 right_x=0.4097 right_y=0.2681 right_z=0.1072 right_yaw=0.028 right_pitch=-0.0789 right_roll=-0.0667 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7363, -0.0269, -0.0562, -0.0171, -0.1436, -9.4838, 6.612, 1.9414, 0.2662, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 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, 0.7975, 0.6064, -0.4278, -0.0193, -0.0387, 0.9997, 0.7597, 1.916, 1.2385, -0.1776, 0.5755, 0.4458, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1703 left_yaw=0.0025 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9997 right_x=0.4126 right_y=0.2642 right_z=0.089 right_yaw=0.0373 right_pitch=-0.0968 right_roll=-0.0839 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2513, 7.2274, 1.8486, -0.0611, -0.0513, -0.0122, 0.1026, -10.6598, 6.1607, 1.4774, 0.3297, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627e5f79c1c5eafea935b71c504d023900a4b8c157da4f28801aaa0fe17bd995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb91aa89d869ca233a5ec032427fe67eb163702d7f8e079eb558fca5a3c1ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd232a5765bd8991e9f420ccf4c5207b2d2511d033333c75810b65bcda31170",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDszYfKtvvmw-zVleJ14lFlW-ju1xc9otXz9A9uagXRdvllDLgn3s2dD_ADKLa3jPJQ1yaUDxF2BYz1wXYEgvnEjCLJFud3BMoYsDEomqhbHsGcOwTlfJ7_zRZbNPUvySzhnpmK377tOPsOTbZIaoALe46QzG-mEM_JkrIv1YBVFoU1ga39UxOIeH1fdNr_UWGFcg7Hb7PSY7ArN1GScWsISMdbWKGZraBE281ydZWJ3JSsPr4P0kXOTC08mZ7EcnnqNgkuYkb8MZAh6ux9AqF8R-8665jl9KIn4w7s9_BHGKX0zoMf5oXtq4qHppJPb03ai_Spzf_9lgLiIs1z-pgHQxafmfmB9L43E7myJWzMl1-EvouS_hW-r9vqlJyvt6OaletiTWM9Wa6A53bbj_dbWFAwkxzT-InZgzAX6-bSJy-CMIUZ82PYXETklzq8qm-kMXeDmlzXnnEH-Y75A76UCPaxkydaEtlg62yrQu6LRlzHEKr-zVw9o05zFM_j4dxUGRfWrZVGOk1Jv5fXCopzlPBAuErjI-LeK-nWvm-eRzZB5eKF1HimhcUOG7RM3DcvF5Zdo5Hoyl1ctjnGhSPCYEgVTlrQDsoGhFDg8IJ542tVxpdPWF-qLszmGKaMOaM8mUBcfHQe1cz6-5KPupBCVWsf3-3kM2MRY46OjNopUlq_3Mjuq5DpWIIJUCL5dOzy7O3NZcw0pfd8t1f8jEKuUZb9v-3An2rIwd6wrbm43MD0q6WCT5dQ6g2bNZPMHC0Sp9B-FMssxKqZo2i3wyNygvtIsugPKogyh0H0oHWH7ccB4hoP17fupgu0HpbAxZscngfXfWhFH8LDpaGV8OdJlknd0sqBrAuV-e7a3bAhosoM-dEQhhb7RkSuC0irqQfGE7cWZMgScpQX1M1wd76_RaC2nCwvvDZ4k6n46F3z_f_DMDvdC08fMTflQZsywFu47TD_-DuvWk0VfYvRrfiPXf3dx-me07HQIlk43LIxyQbC3Wo9248Sw8N6DL7bt-Bgq5Hc8wAh4RCf7xaW3SZXRPvvWE-Xsz-6UIJrQ0qN-C90gyKAI_sjcZIt1bNNcZ5pMnk8xcyC5jUpMoqfaEpAA6VtBXBR7gsWVUGJNMAphxQMkx1H2khPjaY-Q0CU8iTSDngxjxecd1V5lXdQkeB6VVU1pt81HFj1vVn_pZ8CIVCRxvAhSCZ-Lz4jpO25nSCRfgeGEswp_SfDxT494thW3pH0T7uUkWTGnoTONgu1XtAWefq1tJga1BRDSHZRDYozHMf0lvdUHHXwbnXVjtP1Gm6JrRmNZITuRCgsCKQdYPzEIoPQGtP-aeT0FjkZt31giGAVNsBEZ9Im9j2RNa_FU0YRdlSC9OVfJURzbIJ0zEerOhWYTeBa5J_Xpo68RMF9ZFbPHrUkundMoFlkynNBWR_oLvWu5lrqmh6S32cDMFPhWvdOqP0g-PzE4YNWZ_hwvM7Kj0XYYpAYFkT78pDkm05R3RPGnM_26tjx7JcYW3fCaEtnfvjjUkAx3HhY0aVtRDgn1euUqaJhxNlprgIlVmzzukt6n6mOKVEOrOCo7JatxMOaufI0yTf5LydqksqZCC2zQMpNJUyGC2vlG1IZQEGstCW0WFnYqi3UVv0GMzxzms3qw9xyWuRnrDrD6iZbv5azXY-bMA7TE9oB-d90oqDIGWYggSBfTpcl4ZPF-yTVKud5x49yeFvqi-_-vZVpp93DlAj6DVXeAL4KclqgemnFy65_Ck5f5hsUS167IULsKb7NIRtCqqk0aa0kNwI55a3iV0nC7kW8cB56hWmnczjHRBvBruedgrlDB9ftrnsskexG7CiSz2v_tJYKTWwAh",
  "id": "rs_0da3cbc07170221d016ab43b30dd3087d092b4bc8fb634732f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.252,\"right_z\":0.035,\"right_pitch\":0.28},\"note\":\"The right arm stopped well above the requested low pose, so I won’t close on the lemon yet. I’ll tip the tool forward and use a slightly shorter reach to try to bring the jaws down beside it.\"}",
  "call_id": "call_Pkt02pmYcrNqSRDVRTKqUaeB",
  "id": "fc_0da3cbc07170221d016ab43b32537087d0aac94a8facf88bd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Pkt02pmYcrNqSRDVRTKqUaeB",
  "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]: [-0.0189, 0.8021, 0.6064, -0.4503, -0.0189, -0.0391, 0.9997, 0.7845, 2.0945, 0.8745, 0.7601, 0.7479, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1646 left_yaw=0.0024 left_pitch=-0.0656 left_roll=-0.003 left_gripper=0.9997 right_x=0.4161 right_y=0.2507 right_z=0.0428 right_yaw=0.0139 right_pitch=0.2587 right_roll=-0.0589 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.6205, 7.0222, 1.9072, -0.0317, -0.0562, -0.0171, 0.0068, -7.2684, 3.7402, 1.1941, 0.1685, -0.3785, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec202e8739ac576f0c89c49b78bb0f346fae03dae3d63ce5f332fc7cd341189",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71816eb619e3c9c889f337bdf8d8e511625a60d554fede4945ca80c6bcbe3ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430085101b6642baf4cbea250918c8fc640a787ea7c7327c159f2e7de6e9b537",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.359 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4084, -0.0193, -0.038, 0.9997, 0.8394, 1.8309, 1.2922, -0.2943, 0.6357, 0.5175, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1745 left_yaw=0.0021 left_pitch=-0.0183 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3905 right_y=0.2835 right_z=0.1361 right_yaw=0.0357 right_pitch=-0.0473 right_roll=-0.0446 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.5658, 6.8171, 1.8339, -0.0611, -0.0122, -0.0122, 0.1573, -9.3607, 8.5675, 1.5409, 0.5446, 0.2076, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 14 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, 0.7975, 0.6064, -0.4278, -0.0193, -0.0387, 0.9997, 0.7597, 1.916, 1.2385, -0.1776, 0.5755, 0.4458, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1703 left_yaw=0.0025 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9997 right_x=0.4126 right_y=0.2642 right_z=0.089 right_yaw=0.0373 right_pitch=-0.0968 right_roll=-0.0839 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2513, 7.2274, 1.8486, -0.0611, -0.0513, -0.0122, 0.1026, -10.6598, 6.1607, 1.4774, 0.3297, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 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, 0.8021, 0.6064, -0.4503, -0.0189, -0.0391, 0.9997, 0.7845, 2.0945, 0.8745, 0.7601, 0.7479, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1646 left_yaw=0.0024 left_pitch=-0.0656 left_roll=-0.003 left_gripper=0.9997 right_x=0.4161 right_y=0.2507 right_z=0.0428 right_yaw=0.0139 right_pitch=0.2587 right_roll=-0.0589 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.6205, 7.0222, 1.9072, -0.0317, -0.0562, -0.0171, 0.0068, -7.2684, 3.7402, 1.1941, 0.1685, -0.3785, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec202e8739ac576f0c89c49b78bb0f346fae03dae3d63ce5f332fc7cd341189",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71816eb619e3c9c889f337bdf8d8e511625a60d554fede4945ca80c6bcbe3ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430085101b6642baf4cbea250918c8fc640a787ea7c7327c159f2e7de6e9b537",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDs30OAYbBNY4ivozyE8bThu5DENJ3pKj0jaIermVIB5YQPPbKuMNHZgLuexddmy1KNC4GXiZwWPpq5cmHXlli-SIoCAeqT-7W9QE960cW6ii-84Bb5tlq4w5zFUWbTAlEGsXCdb4kdAUrmzoM57kcn_JbCtqPEhtkZzmxjbjBkssUbhLfMFa4io6CmndEs52nicVnqgnNS_2f6NyuNuvBy3gVI5FHD3QK9lo_CIGMNuJ-308CwX7nCpGtTYMLLbXhO_YQy2Z7qu3cX8G_U4b4-xfvOBWi79dAP6dQd0V6qduN7Yde4aZ31fzzIKuCsfd2oFl_HMkNMQd1CTQ2XxhTyPOqT7NGdCuaaCsyhYZNHClRKszy_yihWqRf1HrjekLiT9BmUSsAgqymjpHdu1zyJpxydQEM1sege79N_AwWhbGSVMB-BeZQuITwwm6mCV_888FifBPQC8o4-l7qNUR15Xb61aULDdsXHsOZIGBw-4o6AHhIYHaISeMmOXop8ZPxvGWkp7NYR9xIUakNEFxcbwY-2F34RgQWMEiqSWGBLM-uoOsZddnWlRxA0fLvm6bevkd3EkA_Ae5B_5_MnUmj66t4Gl_YJj3dKU3Pm5V2aNU3suGTT0cO-4Q1a3bW3f2tw5ZwSZEPrdBGvimbJ4r0gmNxSiuUvIa8h2AxgZjTas7fwNYztF6TkoViFruU4JZWJ5VczLlLRIhyleoMrQB2Z2U2srnhnnXszoTn4q7Wi9pAEgTrAO8khHTt3AmOmE9WYK_2wld-OYufwIC793jUxbpaPTyLEQ5UGUW0wcnWT46zGc8pS162yh1Fov5TIE8CP52qZ6j5TcM90_X-vfkGIFI_ss1dI90LUS3TeZVG4uJavzUKvFDB0pWt5_I6D88jKgci4A7YS7Ci2YKhkjuazEKEkjA0qjyV-2mE_bzOJ6vCLzX5NRDpvDTMJSvvgF-2cSOTxw09fQALqX7YE6XkBoDxcZpDughaTROhlluiu46ZVc-uQ4UrBjmzD-L2KNIWl_Fy15TblEMhwuFTu7iEvxtOZhCKUGziMlvJjOxV496w2fLPCfiXkEj_hhZxZA8iHrVOiE8INJpJUWMcS9DCHR9S8mNr83DtWRsJ5yFAOpp_7fWSx7goKY8z94fWn_Fz7g20hz8iJY6ZvRdlwBT_5HbLUfNrWQzkdHGbon3ruR3Kb4G3vSTe6zw5MvCBJX61cukcYcU1xHBrbJKwpIGnyQRJWHA01V62H98K4bzlJjXgTIz8ImBlU5MJ_I7uoiv1FMJT7cUtAVrA24Gu5JKQFXk8MfyBX9uutT2eoQ6IVSk5kDzjBW-HUmJp7ZobM5rif02OuiBTlXZ07FkY_o6ooY24ltdFzZous7HYU5V-DtV2QQqYcT5U1KqR3KAjHXQJFBY2rPN4cQvxOivIoj_nY64Z4-NEef8ev4e2bHN3wL5IwECG2MvYcvlVcUm9C6LXj87H0EDx9gjoHZ3AmDrUtOEmK2rwGffF4Edr2Amx7-DKrrVu09RiG-LcdLYSmcwzPBSfTPnNYHurMnutJ09icrxeYtu5w-X8yXWMkGXyolLlS3t_x77n5tA4j7DD5hYNJeOMI4Ymk8LCg2bvUfgmbLVPIuRZ5z-atv_LTcggbECXd2_KPaVLjlvvcMPWzc0KZ9Gfu53D3RjF7CHySAP8IO5Yd8FYpkAQrZAKPakfok6knLAoVKV0NR7hayog1LFbKX0qd1-3cb3XRxJXtviaoNugfVc4ARfK-AOI1OFEAgCYt-rr2hS9zS0BN9e_My4KBwM0WaGMiTorAtW1gLqTHGHMiq9uj92cw_tYJUfqPDMhL-xGtnrXUVHaV1VlUjvt5zpBLWtpwyIO-9EPMqk1zx7Q==",
  "id": "rs_0da3cbc07170221d016ab43b355a6087d0a0a1687f9b1f96ee",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.442,\"right_y\":0.25,\"right_z\":0.025,\"right_pitch\":0.28},\"note\":\"With the tool pitched, the jaws reached just above table height, but the lemon still appears ahead of them. I’ll advance about 2.5 cm at the same low height to surround it.\"}",
  "call_id": "call_sH9mYSAsXsgnfzOpdneo2fcQ",
  "id": "fc_0da3cbc07170221d016ab43b36b82887d082d8f1497cb8f9a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sH9mYSAsXsgnfzOpdneo2fcQ",
  "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]: [-0.0189, 0.8028, 0.6064, -0.4549, -0.0189, -0.0387, 0.9997, 0.7631, 2.1605, 0.9134, 0.8612, 0.7261, 0.2188, 0.999]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1635 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4321 right_y=0.2559 right_z=0.0423 right_yaw=0.0186 right_pitch=0.3054 right_roll=-0.0382 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.265, 6.9675, 1.7411, -0.0317, -0.0269, -0.0171, -1.5795, -8.4308, 4.8615, 0.9988, 0.3101, -0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4356a2937484d19473fc0d091f4a3a6a357fc53e33d80648abbd4e100da4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf23538ed13b84cfb93e60a3f63fac24d186aeaa6c0c9bb87be1e4b852b12357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9dedcf8595ffe8b0881ba24d208b17932a615e7907752e2ca522a922445631",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 2.568 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 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, 0.7975, 0.6064, -0.411, -0.0189, -0.0383, 0.9997, 0.7746, 1.887, 1.2648, -0.2211, 0.5919, 0.4694, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1737 left_yaw=0.002 left_pitch=-0.0217 left_roll=-0.0033 left_gripper=0.9997 right_x=0.4097 right_y=0.2681 right_z=0.1072 right_yaw=0.028 right_pitch=-0.0789 right_roll=-0.0667 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 6.9812, 1.7363, -0.0269, -0.0562, -0.0171, -0.1436, -9.4838, 6.612, 1.9414, 0.2662, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 18 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, 0.8021, 0.6064, -0.4503, -0.0189, -0.0391, 0.9997, 0.7845, 2.0945, 0.8745, 0.7601, 0.7479, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1646 left_yaw=0.0024 left_pitch=-0.0656 left_roll=-0.003 left_gripper=0.9997 right_x=0.4161 right_y=0.2507 right_z=0.0428 right_yaw=0.0139 right_pitch=0.2587 right_roll=-0.0589 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.6205, 7.0222, 1.9072, -0.0317, -0.0562, -0.0171, 0.0068, -7.2684, 3.7402, 1.1941, 0.1685, -0.3785, -0.0708]\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 22 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, 0.8028, 0.6064, -0.4549, -0.0189, -0.0387, 0.9997, 0.7631, 2.1605, 0.9134, 0.8612, 0.7261, 0.2188, 0.999]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1635 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4321 right_y=0.2559 right_z=0.0423 right_yaw=0.0186 right_pitch=0.3054 right_roll=-0.0382 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.265, 6.9675, 1.7411, -0.0317, -0.0269, -0.0171, -1.5795, -8.4308, 4.8615, 0.9988, 0.3101, -0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea4356a2937484d19473fc0d091f4a3a6a357fc53e33d80648abbd4e100da4b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf23538ed13b84cfb93e60a3f63fac24d186aeaa6c0c9bb87be1e4b852b12357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9dedcf8595ffe8b0881ba24d208b17932a615e7907752e2ca522a922445631",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDs54yY427Lx6Ylaez8fKBgWF7C1tDrWMX-E9C_72Qg3DpTRyCYILuf8BDBs3YQ_n16-DNn2oalzyRGr5C5j39YkMpGfermW57Z7N-YlgSHnl6C7mmSRlXob611dlJ78YXinQBgjNieK1hS9Stck0FxW5pdl73_BJHun2zetsuAPYg-OTpZb7PIJUPSpHWYeC7uZP0Q4ke2ofXxJf2xFO2sRdhKc-lOtxdD4nbAOfUy1C2H3hx7d1SHh3bMjJmo8_UFP-4Lf8BzthyYq1j6HwwCjGpv1GFwNSa-u4BO1sdue76PDwdI90PoFNuIDPzJe40KljNinI4GGJL0ihrNovYszCIODi9oNhi0Yd0DFFrWB_XE0LMmBMPGr06gwp3E8zvZ520ubZ66ndUMn5ut5vUYGQ18wbHKAx0PMHndhpzozy4QaRzb3UEOuTuvXIBEy-3PExzbuij8rGM5BFinXpR-xxeVY31VkBwKde3kMDT5-OqgeQAIArbsth8FkRUhfe7E8PKmhUbZ1sZWOtuI4Qfk5H4O0zxsMP3pjqddGsoYbiFGimDKN3eC9wxA5XhH8B8V934nbmjNI0rU7Sw1iIpX8JrGSAF_cN90RnTtDXr0PPZEg2Ujifj1ji8dY2oOBNT1Qw0B4A0UIYO93sXwqTEKO9r_MFcJ1JVRi7u_CVqBGXQ-rW8px4-SbRD01nwN5k4sfptPIWzzIuJuOCanYCefZKX-g9pH1bKRI7SmHMfzoZqD6WEoffT_gpczQaVnEdNBa-sMQLeb9uvU56xKafmp8qq6MaiQMQWaMzW-8ma-DmJkr_auheCquOPr4GVlEygXcW1ZSlX_eXDZ5b35_Y6dz4TuaPhNKXNv1-yH6Z6TI465yhzxkxNnXPOztNB8cG6s7_8NXu04PSVXgsC0rPnsWTHyAFbFGYUvfXXbo8hJtKFioyeQPxn41YEMZ6-4eBe1wd1NrRYw3_R1guf1QYJo3XTx_8nfXJ-5jYJXIgcYVym53qGspavdcYG8LowN5ZWA96z45xURCiJmZG2GkerpGYUaHXkDz3up6rKa1SpYpkNkSzvF_li2KpAlMkYg1mIwxQP_hgtoIkS74mXHxJk3SdRm9d8dXP6mRF4Oaqw-5dYPKuE0G4QwvyVbpApoyelDwoWTrb6SqwcdL4VAk6AN36TdwbcxCBrbdV6xus-LZ0TWJjkS7qQwLltolSTqzCKQRZNCORakiv_G4MYm0iKIVxy31lMcnoTswIrmF9gg7RqdYQiWghe11JA8a-qJrM2IGVIexXQsBQNJuYoWb_O7-9oEZRsiHwy2duoYM3gt6F5ecTsnflcQuw7pZ_Sr3fYhk9_AFvJZEKSNPy87DEq5sIR1G3cF2wuQXdXvZstm8xDFQao_qBaTioISYSnSoybf2XSWcEvpBkn_XcLbT6hVwfhKdRZv1gaBkcXSX56xVi64fi0OZrYwnjrryGMz5AT1tx9R0DZx1ccr_HkO0IiOpglBHvBpz-1Ch5qMeNg2rtGc=",
  "id": "rs_0da3cbc07170221d016ab43b38754087d0ba8c2e489f034d5e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lemon is now centred between the right gripper’s open jaws in the wrist view. I’ll close the jaws and check whether they retain a nonzero object thickness.\"}",
  "call_id": "call_WV2No1KL44HAZzfBRWBIowGH",
  "id": "fc_0da3cbc07170221d016ab43b390f7087d08235ffd630162f27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WV2No1KL44HAZzfBRWBIowGH",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0193, -0.0387, 0.9997, 0.7429, 2.1876, 0.9443, 0.897, 0.6926, 0.2161, 0.0086]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9997 right_x=0.4439 right_y=0.2594 right_z=0.045 right_yaw=0.0196 right_pitch=0.3268 right_roll=-0.0035 right_gripper=0.0086\nstate[joint_eff]: [-0.1436, -1.3607, 6.9675, 1.6923, -0.0708, -0.0562, -0.0171, -0.8821, -8.4444, 4.6291, 1.3504, 0.3053, -0.0708, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff228d6d67734c1aca7d4c33579a2d0e5d49cefdccddd4e4408f8ea5327f2c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240100c7a2c6ba206bf6c35a6fd3c0733c9764c8c778bed7900ef65d43fff96b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4528bfc80db7a8f80c4668dd77160697955246df78b309e35dba56f26f7c9d0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.666 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 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, 0.7975, 0.6064, -0.4278, -0.0193, -0.0387, 0.9997, 0.7597, 1.916, 1.2385, -0.1776, 0.5755, 0.4458, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1703 left_yaw=0.0025 left_pitch=-0.0385 left_roll=-0.003 left_gripper=0.9997 right_x=0.4126 right_y=0.2642 right_z=0.089 right_yaw=0.0373 right_pitch=-0.0968 right_roll=-0.0839 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.2513, 7.2274, 1.8486, -0.0611, -0.0513, -0.0122, 0.1026, -10.6598, 6.1607, 1.4774, 0.3297, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 22 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, 0.8028, 0.6064, -0.4549, -0.0189, -0.0387, 0.9997, 0.7631, 2.1605, 0.9134, 0.8612, 0.7261, 0.2188, 0.999]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1635 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4321 right_y=0.2559 right_z=0.0423 right_yaw=0.0186 right_pitch=0.3054 right_roll=-0.0382 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.265, 6.9675, 1.7411, -0.0317, -0.0269, -0.0171, -1.5795, -8.4308, 4.8615, 0.9988, 0.3101, -0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0193, -0.0387, 0.9997, 0.7429, 2.1876, 0.9443, 0.897, 0.6926, 0.2161, 0.0086]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9997 right_x=0.4439 right_y=0.2594 right_z=0.045 right_yaw=0.0196 right_pitch=0.3268 right_roll=-0.0035 right_gripper=0.0086\nstate[joint_eff]: [-0.1436, -1.3607, 6.9675, 1.6923, -0.0708, -0.0562, -0.0171, -0.8821, -8.4444, 4.6291, 1.3504, 0.3053, -0.0708, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff228d6d67734c1aca7d4c33579a2d0e5d49cefdccddd4e4408f8ea5327f2c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:240100c7a2c6ba206bf6c35a6fd3c0733c9764c8c778bed7900ef65d43fff96b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4528bfc80db7a8f80c4668dd77160697955246df78b309e35dba56f26f7c9d0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDs9nBI5t5v0JPTenLNtVT0WmTZen0WouNb71WGN8cGPSMRcgRkrIlgUdJx8Hy8RDroni5zUrHh5_PX6f9gcLDACGXMY7vbVbe_c84aIad9MZzJujBtoTpwdYuNf3eJM28ocAJid8FRyJtCddLSt48wxaQYP1wc__m4-VbQTcHiKholXn3_xgAEMXP5B5e4nFk6QTisEmvf_UVMT0QBTkqqI9SzZY1KuWevVGO2s5XJKbgJy0PY3tdUYsuPjLkiE6WQs4R4-ouUaIpZMR5RvU9dCpaq4mGoDQyGKMvq0kZjCUBhdv1CK_TYBNBV9Dr4XuBbls3iCYSZTtuu93P4PwzduEOr4IJ8TlQhOuMZq2KCvzTdv9jA-IervtiSq4PuhHYvkrIznPbqEtWS6zgHoU9FwUVVZ5RlAdd482b3XOxn704IDfQhHmqHjmwDoHCpdg8f6wWMS9TBLtQ00vpf4kAgCKF3RN2sFvkI70Sxi1H8MQ6vOqJqjGQsMNzr1XfsjRi143_-1w9379b66AXL8LrCoPbiR7FTWgSA5b4-CIHiMlXVfeGes0H9JIPx6KsqcErxqPew2RYtf8JyMkuYZzDSCTOsugbI_eGUfdlAZa7-ITxqf3CldALvHUOAbXn6UmctMotawuocwCmnX_tQcrvX2zaz8pIGkoih_r90tRMvMDPcWPxmPX9GmcgFOnj6twN0dVwL0raIMvFsL7sYH4Wzt0sQNaJZtTsjzHjdWk4lmjFyxKOBM-phMuhkc0D4S9-V57LOT6mM2hDmBFWj6yqkLtKwCBHtnG-vwExu8e-B9ymB6XNGcyUIHwR1z29FWV1pNPLPl_sjf8MupmDDT-t05kLm7QtKNSPwhCxJcS7xa0EZSMzxgbd--wRqbEb-q1MR-WVKgTPOGKloKtaIyWnGbQksbWi2tdlEewS7DbVMPxAnfZfRw9U-a4lLZkziZevo0FSDO4lFKEUaCeYg2yFPLZLAwB0Wk3E3G_nr98TkRcNfXv_QA4kiqQZ6fWURWaIKCEjaqgZorIWRt5NAkEtrV9yw6EKEXKlM7OKDoRGhYqKkPsYmnaIc5RWZYef07m09ZWo7nJkYksHTS02AiWyshxPHelTE3IC2PG2arQ73TUeePDEzraM3837Xd3C9va482k9Cnyr_Ve1Zs7e-n8kHlMFDmac5kcZq2nLJ17F2WD8tXsSfzZSZ-xLz_8UCONYxEqmHaO_8Dvn9dPl0mZKtJ2ZL5MtGdxEjV-rb29lZPonW0c1U5WMLZHMPKi7n-qL-qr11VY47Yvfx9M2a83suYm-sHK1ezoBCO3yCQ96Jkl9vV9BX6P-zqYVfqQE32ArTCSP2FiO81yFv-ZcOMcvbRRvaSyUtzRdAC8PzO4gM9gKOT5M4cZj45dk5uwPLf8jifXIunV2moJAG5qDORY0ZuxfLmjkHPCm-MPgiRm9wIySIhvR6LvF4vvN9VdCET1r7B-3OejZARHTa1mZiKa0t4EYLfBYwsSUCD8i_sfZ-wqxefHQ0cptLoF89-t0xgIuwrgytr9To-CbRxtRPhmdMddC3-LijV9NpHQpo0xICWKhiy7i76gcMf_zYwNYUuDuDRWZW5F9k16C7DM6qdxSxEbOy22b-QJElAcvV22lMLa9HhGhYYXEV5ijhhJamrSbQT1OsgjB1ngy-5RmgqrlUH7Q==",
  "id": "rs_0da3cbc07170221d016ab43b3bf8c087d0b9b8fe14e8b10c59",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.467,\"right_z\":0.033,\"right_pitch\":0.28},\"note\":\"The gripper closed almost completely, so it missed the lemon; the wrist image still shows it just ahead of the fingertips. I’ll reopen and advance roughly 2 cm before one more grasp attempt.\"}",
  "call_id": "call_ry089vz7iT9eiPwONpB0tCj7",
  "id": "fc_0da3cbc07170221d016ab43b3cd32c87d09bba5f4b8a658ad1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ry089vz7iT9eiPwONpB0tCj7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0193, -0.0387, 0.9997, 0.7067, 2.2185, 1.0134, 0.8082, 0.6369, 0.2203, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1597 left_yaw=0.0026 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9997 right_x=0.4604 right_y=0.2597 right_z=0.0334 right_yaw=0.0381 right_pitch=0.2749 right_roll=-0.0171 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.0598, 7.0359, 1.8144, -0.0855, -0.0464, -0.0171, -0.7726, -9.6205, 7.1179, 1.9609, 0.1783, 0.0513, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb5549c2cbf4e63e58cfc43f83da3f1786065b0737422ad8ae3df4e3381313f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd15f5d13c63a96efe3cfa96cf2219b7455f0ce3cf9382ee7f1465992034a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3ec85e7125fcdd34777183db45009ac7294f69fa96536a4669be48bcfb1329",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 2.517 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 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, 0.8021, 0.6064, -0.4503, -0.0189, -0.0391, 0.9997, 0.7845, 2.0945, 0.8745, 0.7601, 0.7479, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1646 left_yaw=0.0024 left_pitch=-0.0656 left_roll=-0.003 left_gripper=0.9997 right_x=0.4161 right_y=0.2507 right_z=0.0428 right_yaw=0.0139 right_pitch=0.2587 right_roll=-0.0589 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.6205, 7.0222, 1.9072, -0.0317, -0.0562, -0.0171, 0.0068, -7.2684, 3.7402, 1.1941, 0.1685, -0.3785, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0193, -0.0387, 0.9997, 0.7429, 2.1876, 0.9443, 0.897, 0.6926, 0.2161, 0.0086]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9997 right_x=0.4439 right_y=0.2594 right_z=0.045 right_yaw=0.0196 right_pitch=0.3268 right_roll=-0.0035 right_gripper=0.0086\nstate[joint_eff]: [-0.1436, -1.3607, 6.9675, 1.6923, -0.0708, -0.0562, -0.0171, -0.8821, -8.4444, 4.6291, 1.3504, 0.3053, -0.0708, 0.7448]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0193, -0.0387, 0.9997, 0.7067, 2.2185, 1.0134, 0.8082, 0.6369, 0.2203, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1597 left_yaw=0.0026 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9997 right_x=0.4604 right_y=0.2597 right_z=0.0334 right_yaw=0.0381 right_pitch=0.2749 right_roll=-0.0171 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.0598, 7.0359, 1.8144, -0.0855, -0.0464, -0.0171, -0.7726, -9.6205, 7.1179, 1.9609, 0.1783, 0.0513, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eb5549c2cbf4e63e58cfc43f83da3f1786065b0737422ad8ae3df4e3381313f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd15f5d13c63a96efe3cfa96cf2219b7455f0ce3cf9382ee7f1465992034a91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c3ec85e7125fcdd34777183db45009ac7294f69fa96536a4669be48bcfb1329",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtBjQ2DBcqXQKEIzN1TXfwN29ESEdrhoFufL6S2RlsGy6pi2cYFqv4jLeF83VzJ6oeJGRqvwyF6_o0SkYebtLsWeuvSuVqGcG0tXPJbqmrwYSwRQ8Mf2fuUosjvgNIAIRMudVIRG6BAZfAACg79eBqGlzhyZhe3ZUqlYl9yTqVEfS1gNqtpq-zOFiTA98z7vyxkV8U_8qIaciTZsGef7CYmn3Xk30bs5Ry2Ja0vQmLuwq1op6e5T6H2Sg7Z0eVaTDQz4NLQmApCdPLHBm50XN1KRoo2l2ksMIxVROrnUzTfrJVlGM0j2h6eqH6l7Dy2eCtH5oN6T_aYvjqBmCH5nXcklqzfToeZ-zcjblIDyIwqXzF69DZQwPSSut_IA2JRzD83mldZb5llbnkBCWmv3cvcaR9ODFPWaH54INCo_4d_S0CIircf586Fn7Vtk_eA2kd_LJycC00q6wZ5nhZk_dDuYZCss2HXTZEzVkRpqo5UJROzaZw1DW9cpu9US9UJsPQ14TpY2CAT7WtjAW3xtWtLWPLURBSLswRZiTeHQp5LnWRqfLQd5-ZwpWI9oGNc5beLuuYfxdOD9IdLf2dbjVTkGPc_MairGCxpCmsLEEyO9Woh7qGIVerX9hMyy_Vbav3sTzNxxLgDF4dH1bbOLNCcmzN26ulwy_Mia2ODZl3J8EPb8cCJHVSC8oH62EnEbfjQqWmVlrBvr1IVdd2PfzHWGKhamjwnS74NfWT-vFda3fn0wgXm2eY4WrmZT1avTR157TpniteCLe1-eTIL-3f62v0tzX8Yin1duEOQV5LRbzqXn2kT2NJmVAsUyxWAhoZ3Xzi-6b2eVCp8ksP8dgmUlmrgfr1UomBAYrkav663eB0pOg-FN6-Br9-h49pmYw--9sgGBf3K-IsJTnN_Ew--V28dLzWQQYclpkjEvAuP-hXBP0NlNuw1wFlX8ShqI1tVm1UGsZTlRq1ziiQo9Dc373hHJ0KKItMofDETnre1RLM_-eP0fgo9Abqvk92bYT_XsVhlk3RVNiit9IxvScB91Yy4j7hQDeBOBco0qEYzgTG4ubCETD3t7S8rVbYIXP5wDyufkR7DTb2GoKUs1-e2e3zD47xV4oXTaF_H34lPZs69WnOX8zr0POEsR8qOkR0kp0Ffmt1kgT4U3V8dBgpMtGI7cK9sZpqYdG9NIYjRIw3OIKGX_lFLdEwfpDI6SOS9lktH0AuUd5NBF9Tk02wpqpQ-qtvkMhpp2pW2h91IbcscdOsj0t5AZtpetvo6KU1Q",
  "id": "rs_0da3cbc07170221d016ab43b3ff02487d0a62c78611cfcb576",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After the small advance, the lemon sits between the open jaws near their tips. I’ll close again and use the settled gripper width to check for a grasp.\"}",
  "call_id": "call_DRwb3liZYFslke0MbOi0Ycfw",
  "id": "fc_0da3cbc07170221d016ab43b4042d087d0b92e268fd4dcefeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DRwb3liZYFslke0MbOi0Ycfw",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0189, -0.0387, 0.9997, 0.7132, 2.2181, 1.0153, 0.804, 0.6315, 0.1864, 0.6178]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9997 right_x=0.4588 right_y=0.2637 right_z=0.0332 right_yaw=0.0691 right_pitch=0.2716 right_roll=-0.0501 right_gripper=0.6178\nstate[joint_eff]: [-0.253, -1.1145, 7.1179, 1.6874, -0.0611, -0.022, -0.0171, -0.7726, -11.0154, 4.6154, 1.7607, 0.1245, 0.2564, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c79a9e2398bcceca66a9b57c7ebd19df94e720c68b7ff6d5d8692747fb788d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc1abaade48cbe40e994933d9cae79fda45cefbd2d9505c05eb63420ea3bb4b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adf314009fcb26ffe1f594c48ad2828c482f8ded6e7555a877fc9478c15e812",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 5.021 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 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, 0.8028, 0.6064, -0.4549, -0.0189, -0.0387, 0.9997, 0.7631, 2.1605, 0.9134, 0.8612, 0.7261, 0.2188, 0.999]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1635 left_yaw=0.0022 left_pitch=-0.0709 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4321 right_y=0.2559 right_z=0.0423 right_yaw=0.0186 right_pitch=0.3054 right_roll=-0.0382 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.265, 6.9675, 1.7411, -0.0317, -0.0269, -0.0171, -1.5795, -8.4308, 4.8615, 0.9988, 0.3101, -0.3199, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0193, -0.0387, 0.9997, 0.7067, 2.2185, 1.0134, 0.8082, 0.6369, 0.2203, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1597 left_yaw=0.0026 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9997 right_x=0.4604 right_y=0.2597 right_z=0.0334 right_yaw=0.0381 right_pitch=0.2749 right_roll=-0.0171 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.0598, 7.0359, 1.8144, -0.0855, -0.0464, -0.0171, -0.7726, -9.6205, 7.1179, 1.9609, 0.1783, 0.0513, -0.1587]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0189, -0.0387, 0.9997, 0.7132, 2.2181, 1.0153, 0.804, 0.6315, 0.1864, 0.6178]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9997 right_x=0.4588 right_y=0.2637 right_z=0.0332 right_yaw=0.0691 right_pitch=0.2716 right_roll=-0.0501 right_gripper=0.6178\nstate[joint_eff]: [-0.253, -1.1145, 7.1179, 1.6874, -0.0611, -0.022, -0.0171, -0.7726, -11.0154, 4.6154, 1.7607, 0.1245, 0.2564, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6c79a9e2398bcceca66a9b57c7ebd19df94e720c68b7ff6d5d8692747fb788d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc1abaade48cbe40e994933d9cae79fda45cefbd2d9505c05eb63420ea3bb4b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adf314009fcb26ffe1f594c48ad2828c482f8ded6e7555a877fc9478c15e812",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtElXq_F2tZpy9fLrYBBUQtxQGnQXkyMveFS6-CX9zWSwRwC08R2XL3YtpN9GDr0j7anslHuBIpKw_huklXjOuuq27KFOeIa4wCiu9cVKCnSdanYKumZb2Z6MDTUceZ83Sj_IQHqsf3hmo9LUPtFDILpX8HVB7nHK3YAG3b_hRZRJ5KM7ue1tta_-5m_jBmrwvJlMiJwQVNcF8OeeYEcGkkIFfem_RlzGEE1Y6WliYytkDXWU0KoMq9FWdjd-LDYwxHYVS6XsiaEnBP1A8co2l6gHYi4rwn35uFMXeDiJKFTGskFmyPkD6dYabseHWOgh-KyjngeDvTbrB4a_kgITMDhDvfyFIQTiFxcMarr5eFUqR_gX6gNjP0_pTrQl_kyiuP9g_Eol_pGCQrRYXEAgmNHvIkWwQhPVR358cGVgMSeBMtAtzp1jpsYzhcYl_qmvJZkjXalP8p34pKVFvXTtCgJIroDpKPElx25rQq-2XUU9Ce4GL8rbt8mc8Ob7mQRQU5OQQ3ccp6p9s_pANDBrnoOjCezlNI8QKFjxB7OTrvb_ktjreCpLt9aPYouz9QcrbIAFArzrIsQyZSUkxE8TJf9GqDlWogzWHkzzk1rRx18QTOl1ubsAmqKgBectUp3RE3Bv46uoXlrf5H3hwfmLig04HTUTeiBNmdBTT_Nq0Marnfg6gV9H3zF8SDD5Xr4x_3V45RgZ_aGtEmDlY96Rw-DK_KOK8TXWNt-i8iJEfR17qjW1wLFj-8rh_RJ8qrXZJWYkCzW1Cymfy2Ici9cJxZCUfOGDRbXMajr4z_FZveQb4_PaQ7EUPHpLb1ahMELwwwSmulKVgh4G-PoOMm57xuouJz01WeHrJwRpVRJtnWMNGd2nqr1R9pJodIHYssDBKPh3aW4_TGqUjP8J1XkhmRTALXKoJsfB6Rp7sOollYdCH2qA2ZOseioVMAo2YBp-tXYRMviHBajbxgWe1_dsfv65cvc6Sfewxp0WzrKvVBb6tBcWTSSkCBjG87YkOxdBFHKdbQNUT4hqm4fx9Uiy1eUjdPe8w0y8Ma1aizGzVhkMXGNUYWXOnl5cwenv_5WgBEW_0aoA2Xd0J8bNP-VmIbf_xqXnID6AyDbDbIjHmbIn6rdR3q-Rmf2PQmbiw-pM_kX5esAKSmj2SMvP4iEpBHeG6CxWAeLW1sOzVacp32VsdFWDLhPa3qVsQ4959VcRfJTXlXUxx7wWvqQmOIXpgvivlN5Y4_eqpsGlk6j_Q1UzinFuNQ-qj4FAmthP0GgpvncNpNJvrJ0LTkjuV4Kr9rkmvwGGW7DX_KH-_8QDT-U-ByLlj7KUkUDh461YvITSa7zMqkVbkY7NPVRk3B9a7K7gDjNu28khrrYHEwaSEmr-Ag7wWY3hiMLQX3KbYJAvA2AMf3pxGKBTCF_XWe4G-P0YU3Rs24-oVh5SyRmLXhyXbbejS_wqbMNrjnJtxu-8ortMjqA3n2PPsJkOKwNHG2nrnjy44leS3-jI6okjGebnTDlpWZYsWZPWwNwykj2sF0RowXAIfJikthQvwjrq2ypanYWvO3FVZlnanXZ5mJSYGRYGkbMlanMjlLnC52bOxA0_gL9m8y8KOEvoMqr0YQYCOae0LRy7Z4hWRF-PztVDYJCRUsk0WnC0gk9jRgPg_OiyIAOt9lPh3xgGzYu6XtMJjqRGpE6oO3xAmcN1R1V3cTnXZi6wB7T-inv89X4Zl_f5-DzzohCst2E48GmVQA2H_aM0bGBblTkRxyljE8jOc=",
  "id": "rs_0da3cbc07170221d016ab43b42c5cc87d0a5393d76f10e42a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_pitch\":0.28},\"note\":\"The jaws stopped with roughly 6 cm of opening, consistent with holding the lemon. I’ll lift it clear of the table and check whether it rises with the gripper.\"}",
  "call_id": "call_RR4rKamEvPfj3hzn6kauIKQM",
  "id": "fc_0da3cbc07170221d016ab43b43e6d887d0b8216e64932127af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RR4rKamEvPfj3hzn6kauIKQM",
  "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, 0.804, 0.6064, -0.4961, -0.0189, -0.0387, 0.9997, 0.7143, 1.9518, 1.0855, 0.4191, 0.6235, 0.1719, 0.6161]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1133 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4545 right_y=0.2623 right_z=0.1171 right_yaw=0.0925 right_pitch=0.23 right_roll=-0.0911 right_gripper=0.6161\nstate[joint_eff]: [-0.0479, -1.0872, 6.9265, 1.8095, -0.0708, -0.0513, -0.0171, -0.0068, -12.3829, 8.6906, 1.9756, 0.2711, 0.0464, -0.1783]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721757f039ea90a2254b05dd836e1455df641c2d01305feda35f702e0945c5f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf4540c1c636843a8d2b701cc2a2138785580484c1f4d006b94821bc32c351f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84fd48ea2538fcc56ad4197e2b8b7ac8783fb515a86b2deeb6f5b9cd0b83b49",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 5.38 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4583, -0.0193, -0.0387, 0.9997, 0.7429, 2.1876, 0.9443, 0.897, 0.6926, 0.2161, 0.0086]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0755 left_roll=-0.0022 left_gripper=0.9997 right_x=0.4439 right_y=0.2594 right_z=0.045 right_yaw=0.0196 right_pitch=0.3268 right_roll=-0.0035 right_gripper=0.0086\nstate[joint_eff]: [-0.1436, -1.3607, 6.9675, 1.6923, -0.0708, -0.0562, -0.0171, -0.8821, -8.4444, 4.6291, 1.3504, 0.3053, -0.0708, 0.7448]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0189, -0.0387, 0.9997, 0.7132, 2.2181, 1.0153, 0.804, 0.6315, 0.1864, 0.6178]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9997 right_x=0.4588 right_y=0.2637 right_z=0.0332 right_yaw=0.0691 right_pitch=0.2716 right_roll=-0.0501 right_gripper=0.6178\nstate[joint_eff]: [-0.253, -1.1145, 7.1179, 1.6874, -0.0611, -0.022, -0.0171, -0.7726, -11.0154, 4.6154, 1.7607, 0.1245, 0.2564, 1.0281]\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 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4961, -0.0189, -0.0387, 0.9997, 0.7143, 1.9518, 1.0855, 0.4191, 0.6235, 0.1719, 0.6161]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1133 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4545 right_y=0.2623 right_z=0.1171 right_yaw=0.0925 right_pitch=0.23 right_roll=-0.0911 right_gripper=0.6161\nstate[joint_eff]: [-0.0479, -1.0872, 6.9265, 1.8095, -0.0708, -0.0513, -0.0171, -0.0068, -12.3829, 8.6906, 1.9756, 0.2711, 0.0464, -0.1783]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721757f039ea90a2254b05dd836e1455df641c2d01305feda35f702e0945c5f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaf4540c1c636843a8d2b701cc2a2138785580484c1f4d006b94821bc32c351f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e84fd48ea2538fcc56ad4197e2b8b7ac8783fb515a86b2deeb6f5b9cd0b83b49",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0da3cbc07170221d016ab43b4640fc87d089de16759c81cc09",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.399,\"right_y\":0.375,\"right_z\":0.175},\"note\":\"The lemon disappeared from its tabletop spot and stayed with the raised gripper. I’ll carry it over the open red safe, aiming near the centre of its tray.\"}",
  "call_id": "call_kIlUosv9aB0Uu1nxEHGjn3IO",
  "id": "fc_0da3cbc07170221d016ab43b49983087d0b38b9f3b9a5fcd09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kIlUosv9aB0Uu1nxEHGjn3IO",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5144, -0.0193, -0.0387, 0.9996, 0.9894, 2.0132, 1.4425, -0.0284, 0.8272, 0.3199, 0.6166]\nstate[eef_state]: left_x=0.2758 left_y=0.0018 left_z=0.1518 left_yaw=0.0027 left_pitch=-0.1316 left_roll=-0.001 left_gripper=0.9996 right_x=0.3959 right_y=0.3721 right_z=0.1619 right_yaw=0.1445 right_pitch=0.1946 right_roll=-0.1313 right_gripper=0.6166\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.7998, -0.0708, -0.022, -0.0171, 0.1436, -10.3316, 8.7316, 1.8926, 0.4713, 0.2173, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812d4b1a8fc4d9514860d4f07ec1eae9fcb8b75218d4040ee145b6da5a291120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685aa258f69bc7d0dd0b2eb32e57aa3a0f6ce5a351ff4b7625012fa0b6c999f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1271e87d767231a9ee65398f08aceb704b0689084e42fdda2bafcc11a3dbf7c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.162 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4728, -0.0193, -0.0387, 0.9997, 0.7067, 2.2185, 1.0134, 0.8082, 0.6369, 0.2203, 0.9946]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1597 left_yaw=0.0026 left_pitch=-0.09 left_roll=-0.0019 left_gripper=0.9997 right_x=0.4604 right_y=0.2597 right_z=0.0334 right_yaw=0.0381 right_pitch=0.2749 right_roll=-0.0171 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -1.0598, 7.0359, 1.8144, -0.0855, -0.0464, -0.0171, -0.7726, -9.6205, 7.1179, 1.9609, 0.1783, 0.0513, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4961, -0.0189, -0.0387, 0.9997, 0.7143, 1.9518, 1.0855, 0.4191, 0.6235, 0.1719, 0.6161]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1133 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4545 right_y=0.2623 right_z=0.1171 right_yaw=0.0925 right_pitch=0.23 right_roll=-0.0911 right_gripper=0.6161\nstate[joint_eff]: [-0.0479, -1.0872, 6.9265, 1.8095, -0.0708, -0.0513, -0.0171, -0.0068, -12.3829, 8.6906, 1.9756, 0.2711, 0.0464, -0.1783]\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 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5144, -0.0193, -0.0387, 0.9996, 0.9894, 2.0132, 1.4425, -0.0284, 0.8272, 0.3199, 0.6166]\nstate[eef_state]: left_x=0.2758 left_y=0.0018 left_z=0.1518 left_yaw=0.0027 left_pitch=-0.1316 left_roll=-0.001 left_gripper=0.9996 right_x=0.3959 right_y=0.3721 right_z=0.1619 right_yaw=0.1445 right_pitch=0.1946 right_roll=-0.1313 right_gripper=0.6166\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.7998, -0.0708, -0.022, -0.0171, 0.1436, -10.3316, 8.7316, 1.8926, 0.4713, 0.2173, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812d4b1a8fc4d9514860d4f07ec1eae9fcb8b75218d4040ee145b6da5a291120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:685aa258f69bc7d0dd0b2eb32e57aa3a0f6ce5a351ff4b7625012fa0b6c999f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1271e87d767231a9ee65398f08aceb704b0689084e42fdda2bafcc11a3dbf7c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtQFBUsYqUHbXvSa1QGGLPcDKMuTz21sIHl90BdUQ-qNpgA1ldbulDTylpCHQbfmsjiwCfYb-GfXAU8IgkqeC1my7r6GQJDcQbSDtqMf2V4qP0JogUEPe3nlUf_QGuKBx6mPYXZZB18tD6pJyV8WOAq7SNAfINLnWb5Z9BkkmOkv61jbuqIXcq9OCPch0TXbeEyItRJw2WUYf5I-DPjJg1rsQ77wezlPY3ojq0bHk2i18xkgVF7bHFGrvm52ZKe9XcNX79Y3Gf43TkKNtZL-P6304Xa-vADB3CAYaW1-NU9LVrU3F4CldRgyoJ8Dx2gYqOKR7PMa60ky2Bg0_PXgOxYb8ET2V2IamQ8mxSrJvhKk3lRuEis5f-CQ8vF7HchYRD-6qRWsCczMD3B8vGKamebCDIKq9qfUAmeYMrI_ra_x8oHEuRJ4wHGPBquRRvln0fpjxVzgTV2PO-moa3S_J94ZTq-Z5fVaSgMYC9y0kUxQKbb82ychNUIaWBKq-LVRMTk069-XQOPwvOearYCjj0J4Kqe37Uc2RZrn4YxIs3KDouLk1JRUA8Iw5BaqQ1AozYrydNmDzPXemGXcs7wATV3jskQu05AQY3Co5g_2-XcsKq8ZrE07DQQDtt9lCRbEOugu0lFfuJEKpK1NOTr3Z4hPBSnoSQKWBsrZJkTh9HHDYiBxLRo6PQ2Yq0cC6aLHDZ9E-71nGfnN_00ZebItgIo_zOpqmlV89by4Fj9L-j_Ma6GoQVGKBMRriBwVFwvKbimnKNJF8QyHo3UrfOf3E4ArXTbQEsyEv6NV_Fb6NRiKzHWIDe9f_BNFTxUs8FqzOz7EuvNkeJ4hY-6AD6CImMKmVTxGfzRRhMikRd4yOe4XKAK4WmQWJ8ChxQGwD48lRmsNdGUzRg61ayfJiVqSIffZtnG8uYaVwXCkNGBDsZZuf5kby1pNCKQ0FqsAfx0K2iy8rpPxitvPAs-JWyBMcaJtP8Gm5kwmaf_mOHc4R9PnGXitPtF99nMrxMbhDuYlyX6K-eVHYFpUzwBBluqQj9pQvr9f5Ph8_oY6SJidA43pVVNIkWZcTVdAM1MSDhcNFcEVyMJES4leLcNg_23rIQswg-JpJNbyjqbbrVlCq6faKOG8UtqRpqa170tT5TwMK0A8J_9o53lhkKBPtDdKsIE8poFcIdzL6M5xId1B90cI3UDXuTE01FfWYXHQFP4K2LM2lPfIbDP3Ms_N95SSXfAvM4M0NzfLtSXaMD8h5W_xoY744DCrWozymWd0UWhe2yBrbaNDNEfytaawsQXRaEk5KB__YbwjKqRWtewmJwrHEzivB1ZMLJy9CmOR-1iTHVMGArsKYwZSRcwz3rJb2n7zkdv6es8ebpIkgGlt1DjYDDihQ0KKKDtkZJv6adzv-DyyNIwqSOeUe4lVQqkqTVTvUdbyXVfu8zHrZPy42eP_dlG3nJiFcCIFEX4mcGx8Rnmg8Qsc8McsIhB-X-tkSQzRgKg7nCgs8NjejOUrDqKEmNc5e2O6-pYj1nBKYizfTQJ3aTPQlPRop3xVra6fNZjKxCPJ1zNNPIb96VERZdGAvfHrROmos17lOTkTud-6Dgic4b0ER7zzAVNvJEgz63VltuXg4AR809ySnqZLBh7Xnbv-T66HMlZTUuXTBOxG5Hz2w-7fzhlmzCmrjWh21m2OcB5MOU8BHWRbA5p5x8MITzCKXy2gforz0SyuG2F3yiIE2vw5QmkxOnM-JJQ4yIgwTCjqIMC74sIPsXAcY2AxSb8LCO54j__eiSFmtcZup4gsw-hBaropPuB1KGWrFN49rv_glZCj1tovyJYyKRegY1x-QylyiMpBn8t6x9v27gOY-FFyiy7uAoEs3r22vkbNtFbRtVxipjysUGHDyGC1SobNVW2ndplfKbR6m1Kn6mE8tPbXpVQ0BM1RXWPxY85NW-fS5ctALzPLeDqeGLmtf34cNuTniIqYbF24kxcHZHrZ6k_xv61XgP623oaPXfWB3_-8VMpizf4B-FgAT3MoQNhLYAUv-OW7qPpeY1PWgXPhR2DJMIt7yXV-mQ1h0ZZOH22VWk_UO8ALmHedysg2J2XJWzUzQWW_f1NeIYksnxuqX7jyHRIth1QjrvvWRnha38gGO9wLd09unCLOXImY9XnXtf-upiJO28KAhNElzJvUYWA98S-WdWc4Un9iIm6L1qZ-MfHzgh1FKbDpeaHI78ZSFe0IxQI5yeSH8SLfITRpgvFcDu51IT_h5eM2mVuVbbZBgmaIkuix5kz9OqJQrLfHO3fSyB3KnkBOsxk9nAtfZ3YaqFX8OWmaUKa1OGWHNm2s2DlILg07n9V4gr3Y0zweDOO5GAq3PxK2lRqICdu5eyOGqgCmx7rthHcvTITNE6b9-r1soN1rWrW3TkYCjMSuW0T6YUMBigCTcuWwe41iDZP75aNdyivbrPYNMoM6KewoWb268_nixS7rkR57nCsfOAJR6x52vbTe5dpDw8klwKfc4B41IjCdg391cBCvAX_Aw7xUcOAh6anaDZoRagDqKePBvbLjuhsGScCO_SCTPemrsh0dAORuROvWXrowpJ05MEkLzpAhCsXg9fZEJKXQkal4HxeK3Y8Y-RHS5j8mmEre6ew2CWO0VC-cLKP0iXYF4zBd9qubcyADfq7fql0LIQUS3HQRJz1JU59TdXAiZQjbfKqDyLUzwR_Cz32pYTxM68NEZwNLSJYj01Sjwzh7sTFdHmxhthUS0s01GYEg7246K7qARn1jwJYzB-1F3GvU9NTt9xMsX8D7XV9MBUrL0PVsf63GMELF8CTuOHT01mfhcjThRPWR-8IoN744WvB7vctsoh6mFpc8cl-Rp9liBzajrb5dWMOyQLfdFXhtgWub1FP4Uldhx9HMfnhXq-_NP3pAb_HFXrbiPxgu82ZNCk91k22c9wnnUffSVnXWvDxA3pkWo1OrypIblk7qtDu-6BVaX2NHVAkWRPsNvLPUdOJ22E4BZYlyUm8DNA18gviFiFSTmnQIZh-ZoUNVpd0Oq3fvOugrlTfg0vIHfnSWZr1qJNlrHphEjYmhhJp7s5X8INqo5W6vX8MQkddTMWOwpXn00zNjKd_WOo5Vp142-8onoppjJHpZGH35mXBfRLElNf4ieY8wb1tOUz6brxLbXkniny1w9UI-OPTpRQcuqbSJxCVsO-OeeEarzfR",
  "id": "rs_0da3cbc07170221d016ab43b4c00bc87d096250f9d67788ff4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The yellow object is still visibly on the table beside the safe, so the previous close did not carry it into the tray. I’ll open and park the right arm to clear the view, then work on the objects nearer the left arm.\"}",
  "call_id": "call_UHT1DzrX4rjhSHHplhPtzQPn",
  "id": "fc_0da3cbc07170221d016ab43b4f5ac487d09c10f9c156bce37c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UHT1DzrX4rjhSHHplhPtzQPn",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.0193, 0.8078, 0.6064, -0.5255, -0.0193, -0.0383, 0.9993, -0.0605, 0.7959, 0.6056, -0.4164, -0.0448, -0.1963, 0.999]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1488 left_yaw=0.0021 left_pitch=-0.1464 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2901 right_y=-0.006 right_z=0.1728 right_yaw=0.0797 right_pitch=-0.0205 right_roll=-0.1309 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.5385, 6.8991, 1.6728, -0.0562, -0.0317, -0.0415, -0.1436, -1.6205, 7.9248, 1.9512, -0.1734, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c6d13ab7421514c457946a0f3d25986d63effe1217aefbd480a7bcc6fa134d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94efb33614356d55b6874ae1eb6f71ed2121a73718e65c373f32f7e367e5dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b427a14c17bcdd8526cd5fa8c9f6024651009dcbfa18081f1490857ccc5ec7e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.748 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4801, -0.0189, -0.0387, 0.9997, 0.7132, 2.2181, 1.0153, 0.804, 0.6315, 0.1864, 0.6178]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1583 left_yaw=0.0023 left_pitch=-0.0972 left_roll=-0.002 left_gripper=0.9997 right_x=0.4588 right_y=0.2637 right_z=0.0332 right_yaw=0.0691 right_pitch=0.2716 right_roll=-0.0501 right_gripper=0.6178\nstate[joint_eff]: [-0.253, -1.1145, 7.1179, 1.6874, -0.0611, -0.022, -0.0171, -0.7726, -11.0154, 4.6154, 1.7607, 0.1245, 0.2564, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5144, -0.0193, -0.0387, 0.9996, 0.9894, 2.0132, 1.4425, -0.0284, 0.8272, 0.3199, 0.6166]\nstate[eef_state]: left_x=0.2758 left_y=0.0018 left_z=0.1518 left_yaw=0.0027 left_pitch=-0.1316 left_roll=-0.001 left_gripper=0.9996 right_x=0.3959 right_y=0.3721 right_z=0.1619 right_yaw=0.1445 right_pitch=0.1946 right_roll=-0.1313 right_gripper=0.6166\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.7998, -0.0708, -0.022, -0.0171, 0.1436, -10.3316, 8.7316, 1.8926, 0.4713, 0.2173, 0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 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, 0.8078, 0.6064, -0.5255, -0.0193, -0.0383, 0.9993, -0.0605, 0.7959, 0.6056, -0.4164, -0.0448, -0.1963, 0.999]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1488 left_yaw=0.0021 left_pitch=-0.1464 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2901 right_y=-0.006 right_z=0.1728 right_yaw=0.0797 right_pitch=-0.0205 right_roll=-0.1309 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.5385, 6.8991, 1.6728, -0.0562, -0.0317, -0.0415, -0.1436, -1.6205, 7.9248, 1.9512, -0.1734, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c6d13ab7421514c457946a0f3d25986d63effe1217aefbd480a7bcc6fa134d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94efb33614356d55b6874ae1eb6f71ed2121a73718e65c373f32f7e367e5dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b427a14c17bcdd8526cd5fa8c9f6024651009dcbfa18081f1490857ccc5ec7e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtWY0vQ3Zdo8ZPJOO-4n1q85ZueLRMAnEenuO9snjHp82BTZLHr9WY5WaPvIv48d8u3czXj6cd2Eto5_hbDE7JATSueuunE2A_cGihbYtaaujArO_uqLJi4PTE4k-JqLWJAaJ16x0J2SXjWZR5_VFZKtUbubokasXSbaFle-UnyaD4cTBg_FmyYoGTzojOA_cCk2eQLU-ZKBVxkCHaLYAMBQyLPWtejYON3TufA9FfCpFSjbaR2W7E17Qs2AX8kxM_Oj1zINbJMk7BnwF9P7Hk_TzSgJ7NO8FCy9HO3PjzL5O1pPhCEf4A32xf_EPfx9PnJiGwhosFX_VNNc1I1nLn7ZrIk3h4DCeOk7aA3JJZNPBnkIaOh5N9ajmHu3G0f6L8N80lPr9pKTe6sG_0sFyqrzZ12efG0s8d84nq_gS9BffpnJHW45QaZE7jxwhbCOE85TR0T9lXkoV4wKJ0tgkhmox7G3T9r0_lQA7gKEZm4FLnzZjOH4Fb2S-T2bXBDxQYvdCjQRTyTYzh8jS6Q-pedlADyCvKkiwd8jbv_MRVpRpJ51NdLSBNrtEMIZBNLbN89A9NsrMFbAEIhuXQ6wCw-S13sI5piMV4Cpjb1irWUUMQvmZOzKPEUcS63wPgkFKeLlqI-vuplThd99zupS4xmssmQ3EHp3dmbQpcNkNWm9jqTNiQS1AA5bzL5ltpg719JxC1KHqzHZxxwRBrQ_lHc1T2uFFwIwE_0JOBDSSFXUu6bzd68G5AUjkk8kg0Ep0dDdRiHb3eqSYPR_EZW-OSxwm10ls74pttc1_dPt83gBoIP5qh9T6VBxLfITGecUmJ0JLXkIRV6Mps5JIEElnqUOEX8ZMTMW9tnsfgiAlI0qI7jhNVqDI7uZPwztVSF3a4Dw1rXu4V7_4MPdDKSy2PILF-Wz20TzGMPoZ-E231RPlrdFGiI7zTxX17VZ-JJh8drJaFKu-odQc7gy39XN-tnFAZUQHJURHlTya77JbcD9nFVslZliGSFKf23gGmxKDqbDCaT9-8VvPVj1cZ7eV47qd80J2dotvgbfDZFGvS60zvO7quiaA4exEqhedyo_JOFZ6KFTl33GZX9S7HZv5lYQHQ2GrilBhHlDOeCxpJi98843xJpBEDaNU1Ms5h21bJrMn27Zk_rP7xys2djj8mLtGzpZc_sKAADt485b9_131AWbsUn3pLEk0b8vKQX6mVrpUqLZCtikAMpgYH1LXyt17pgPTaXjXo4n-oAi_E7-BA2yZIpMVH46K5379CbtpC73ApFpE7ugGBmOARTrJWpmRAR5Gu32YsJCxYNDzox18rE2m81GneoE9icUun2L093KzlirBEbIYk0JLjKsl8x-nIT2luBEyduN1kgH1tRPnSO4K2EJULz75CAyMCM6xU5buus9bZLZ1mmVxh94aYfUyKYbUgoClqj36qDvooLYy66_N_2ELxnGDDzoL4dB_wZaIq1CftBL34iDYhBa8wwqwo9PgQGLz5yLxfT--MlAEMZ99T8dwS-goUb2MaXWop5VDx9v1iGbw9PlNdU9_RFl2q00SslAgcrdAJSCeaa0spmE1zPU91R3tnbp3Dwdo61_Tk9mP_aprC34y_kwVWXNqQAWjF1rum52zaep_B6sQ8iAVxZIFpkPt69m0iHHdLVXQQm09RrQuRSBsbxzoxsC25o4z0uOnTvmj6oXCHuVbdSYD49snFGCdVTLBpBaJ8g",
  "id": "rs_0da3cbc07170221d016ab43b54ae9487d09e32dbad7fd5856f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.12,\"left_z\":0.115,\"left_pitch\":0.23},\"note\":\"With the right arm parked, the white plush is unobstructed just left of the safe. I’ll move the left gripper above it, slightly forward and inward, to line up a side grasp.\"}",
  "call_id": "call_aYsUMEaQVw6bjXgDXgmEu4oV",
  "id": "fc_0da3cbc07170221d016ab43b55eecc87d0b6ce1fda1335c071",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aYsUMEaQVw6bjXgDXgmEu4oV",
  "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]: [-0.6712, 1.2224, 0.3386, 0.3195, -0.5884, -0.3012, 0.9993, -0.0601, 0.8005, 0.6052, -0.4541, -0.0566, -0.2096, 0.999]\nstate[eef_state]: left_x=0.31 left_y=-0.1164 left_z=0.0928 left_yaw=-0.0391 left_pitch=0.1181 left_roll=0.053 left_gripper=0.9993 right_x=0.2849 right_y=-0.0035 right_z=0.1639 right_yaw=0.0976 right_pitch=-0.0626 right_roll=-0.1284 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.4513, 5.4632, 2.1709, -0.398, -0.0073, -0.022, -0.1026, -1.5521, 7.0496, 2.0586, 0.0562, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec723d5975d7c02d88d3ad7669dd5295d51928fe6f4171d4f8a26468f924c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971baf3286a724d16438e666c334b73d4af55347420b424a981b90541c6a4356",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd571618002c68bed7f2f12f95d4d4b1728f114e20fa13295ed3f9cb81897bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.439 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4961, -0.0189, -0.0387, 0.9997, 0.7143, 1.9518, 1.0855, 0.4191, 0.6235, 0.1719, 0.6161]\nstate[eef_state]: left_x=0.2787 left_y=0.0017 left_z=0.1553 left_yaw=0.0023 left_pitch=-0.1133 left_roll=-0.0016 left_gripper=0.9997 right_x=0.4545 right_y=0.2623 right_z=0.1171 right_yaw=0.0925 right_pitch=0.23 right_roll=-0.0911 right_gripper=0.6161\nstate[joint_eff]: [-0.0479, -1.0872, 6.9265, 1.8095, -0.0708, -0.0513, -0.0171, -0.0068, -12.3829, 8.6906, 1.9756, 0.2711, 0.0464, -0.1783]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 46 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, 0.8078, 0.6064, -0.5255, -0.0193, -0.0383, 0.9993, -0.0605, 0.7959, 0.6056, -0.4164, -0.0448, -0.1963, 0.999]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1488 left_yaw=0.0021 left_pitch=-0.1464 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2901 right_y=-0.006 right_z=0.1728 right_yaw=0.0797 right_pitch=-0.0205 right_roll=-0.1309 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.5385, 6.8991, 1.6728, -0.0562, -0.0317, -0.0415, -0.1436, -1.6205, 7.9248, 1.9512, -0.1734, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6712, 1.2224, 0.3386, 0.3195, -0.5884, -0.3012, 0.9993, -0.0601, 0.8005, 0.6052, -0.4541, -0.0566, -0.2096, 0.999]\nstate[eef_state]: left_x=0.31 left_y=-0.1164 left_z=0.0928 left_yaw=-0.0391 left_pitch=0.1181 left_roll=0.053 left_gripper=0.9993 right_x=0.2849 right_y=-0.0035 right_z=0.1639 right_yaw=0.0976 right_pitch=-0.0626 right_roll=-0.1284 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.4513, 5.4632, 2.1709, -0.398, -0.0073, -0.022, -0.1026, -1.5521, 7.0496, 2.0586, 0.0562, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aec723d5975d7c02d88d3ad7669dd5295d51928fe6f4171d4f8a26468f924c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971baf3286a724d16438e666c334b73d4af55347420b424a981b90541c6a4356",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd571618002c68bed7f2f12f95d4d4b1728f114e20fa13295ed3f9cb81897bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtbQibrGwpLfa2YnxcfInaaJhm1Nd7KIrtChZ5bNZT5pEuVSCXSesho3gc4jnCdLXUYdPTH_DBMzdcNzKvWAUiQKxB3xK40k1fcDxPj2Cxvo3BgTr6F1DLhjAhfD8DbcR5w_rymRPG6HpgbPLMR0JMyAuWInVF-kVwcrct71VI14yCaIMIMW25ctLuvIPJOvF4j97SI5vj-PMzpKSUF4iiYaMejWjVJaxIWriHu9o7cXpV9Ftp4LA-6BUW20x5IlvIW3kfASixDqxfk4mGo3fVzy95J-syiW5qVbZS25lWdXnbaMRuvIGKcpk-Sng6auxl22go4gTAzr5_48UOtXKfdeS829ttH8QT1zKLglfnu5nbW9682AXVrRxDaQVAf2OmhMcHig7PeHcNfdIqaPJ_WtCrVFeL1FAqpepdR24wGbJdGB01Gxy48V8_iwJTU_NBsg5bevKtFRhExUiA9s7bPYQCYtlP9b1STUCX30Z9imB_8vKySLpeh2ewydnyv0KFgsZNcZjMcnzQ1DHWmWbRi0BMAEFvbEWhrTVeMFwszoyUmqkP73lwpKmdEar74cbG0sT7W7AJUUtRLqQE-vLaAIqvbLn35YizWt60OgxuxoUpkshIBM3xYHSsFkdTbzngJ-1R-kwv0OsWN3rJ_Md257225c9dFZhXdPde4HgQSoPGm1kvTp8zV4yiQIXPgdh7yGIHpv8oWR9ekdMckqdhG-GlDpJ-r8D_-OtAgu_lWwxMjOCFmMClviabU3LJZ5Y0SoayDFzBWSyAWYlNNM5Q5LPDeGlKBcNlazAA3dNfAT425Uji7EcCFfJoGdPfP0MCoZYLlue2BAdNAmRlVeB3AfBtcK7HwXoIKTSXyWwxNMyQ6x_MNhcXDTa8RZ1yuMNl9aytJBjOqumTPz67BF2yej86gwB4WSsjAgDcUa-gSpeLXRgzJ6Bw7wVzcnw7xkpXrqdQpObb2oiRz4fKk0NP_gRPnDbJuBiLvFNq2fHRLagyBYsN4OzglBwfib5KWqfWFtmA5F3hnPGv1g-aPnUgnCYv9yIE6Gu10N1RkCtzuVgcUh-6f8pHIYgNhNuvwXXUJVITsWspB5ZYaaZ8i3mhLYXoTHKySY-KioWCF2My554DHxguzowqY3RRSF04te2io4UuZmrUzeIofi-Np1-R4dZYR3Nw1eZIPNmEPrDegs3GFhXokS8a-3b5-cLIxtGm1haG2UZWBwev9HfSSK_vNdh6hp6O5La6oLIJhbPr9_1klwFx2wvmh55KnAyh1ldBSLaN0vRDrA7fl9FBVNlMdFV7KEc-6yCCbfBA_sXVYKza3g0LzJ-IezxIN54sfpOQlagBcOi-B5e94QeOtgBVcYz2UVPp5oxG08t30qbqltLP8kjylV5-R8UiWIasWmblSA-dPBRpGrd3KEVM9Z_iJiwSetxFjXP7cG_LpSNHrJnKaUzpwz43P5ypEkJa4XOMvOJiFfBbIwt3Pv2UU1GgSpXOXWyiHjd1U7AMFKQ1JHbCX2AEdxHZu-oS2C5Iye4rQWVp4KBmbjTn_eoPi4z-mBiuqAyBJJanxdWVQpA1-XRtchWjnVaxlNqQ1nvWaGZLBLMPyrwF6SUtpVVJmGjwwdzMGhsY2zA5VmBLnDrkM4r-sQ4o_6_mAmERgnuJiaLOdDmMebMq_xWqF2FeWucTS4w0quFddrPwtpM3Is6wNhma4nX2_fReAEqvZSc9nfp6okIRk1ettKBSIjU7ZlFTYh4p3V-yuTvIy4dr4P9I4Y1hnXs6qqDtnlZSdSrNOgDHeIwpMderOS1x2n44UEzr4iH2r5l-TFFxbhwC44mY8bj12Ykfoi1mdoE7vQzL_KM-WFRUhmEVXbK7yvN1zMTFqQgZUz7mdEZw0l90W1q-DvFu3Xg3EtgeoHYp6cclEI0x8fPehLCPGiu8MnsXlpEWH3cEfvudyWaQj5Yqk2axNuh0hDn02yHSfgRC5HAXrIt5jXyt6RYTb0pORwCcHKQSrQz4awgj1oVUJMf2Lg0s6Gr9Kx4J2idLj81-fNhdAj3b4Z7u1Fibu3wFROtKxSVaIOI9K_px6BiiqS5FunJ49DN6DdS3BbysqHciHu-u7JmOrNOV-u5joT2zhQ5wZ_h33pw==",
  "id": "rs_0da3cbc07170221d016ab43b590ac487d0a35c665e3f0f9576",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.072,\"left_z\":0.047,\"left_pitch\":0.23},\"note\":\"The white plush appears low in the left wrist view but is off to the left of the jaw column. I’ll shift the gripper left toward it and lower to its mid-height before closing.\"}",
  "call_id": "call_vSEpwR3GH42P4ddo0psDEeTx",
  "id": "fc_0da3cbc07170221d016ab43b5aed5487d0be3ec8253c893d45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vSEpwR3GH42P4ddo0psDEeTx",
  "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]: [-0.4648, 1.5909, 0.1246, 0.8383, -0.4744, -0.1795, 0.9992, -0.0601, 0.8036, 0.6052, -0.4725, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.301 left_y=-0.0567 left_z=0.0052 left_yaw=0.0078 left_pitch=0.0235 left_roll=0.1383 left_gripper=0.9992 right_x=0.2822 right_y=-0.0033 right_z=0.1595 right_yaw=0.0986 right_pitch=-0.0838 right_roll=-0.1254 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -6.2564, 3.6991, 2.7033, -0.1441, 0.1099, -0.022, -0.1026, -1.3744, 7.0222, 2.0, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5507c263a69dcd322f8448b03afe7cc2daf4013b6883f8bab174da0911b623d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8e1d48075062130c136b8f0657f75dd262fe8c9901cc004216ef46fcbfcd81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc1a7b06ffb6e49239445d00521a2fdf08d47df896c6fcbe45c56cace0cb176",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 3.695 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5144, -0.0193, -0.0387, 0.9996, 0.9894, 2.0132, 1.4425, -0.0284, 0.8272, 0.3199, 0.6166]\nstate[eef_state]: left_x=0.2758 left_y=0.0018 left_z=0.1518 left_yaw=0.0027 left_pitch=-0.1316 left_roll=-0.001 left_gripper=0.9996 right_x=0.3959 right_y=0.3721 right_z=0.1619 right_yaw=0.1445 right_pitch=0.1946 right_roll=-0.1313 right_gripper=0.6166\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.7998, -0.0708, -0.022, -0.0171, 0.1436, -10.3316, 8.7316, 1.8926, 0.4713, 0.2173, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6712, 1.2224, 0.3386, 0.3195, -0.5884, -0.3012, 0.9993, -0.0601, 0.8005, 0.6052, -0.4541, -0.0566, -0.2096, 0.999]\nstate[eef_state]: left_x=0.31 left_y=-0.1164 left_z=0.0928 left_yaw=-0.0391 left_pitch=0.1181 left_roll=0.053 left_gripper=0.9993 right_x=0.2849 right_y=-0.0035 right_z=0.1639 right_yaw=0.0976 right_pitch=-0.0626 right_roll=-0.1284 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.4513, 5.4632, 2.1709, -0.398, -0.0073, -0.022, -0.1026, -1.5521, 7.0496, 2.0586, 0.0562, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4648, 1.5909, 0.1246, 0.8383, -0.4744, -0.1795, 0.9992, -0.0601, 0.8036, 0.6052, -0.4725, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.301 left_y=-0.0567 left_z=0.0052 left_yaw=0.0078 left_pitch=0.0235 left_roll=0.1383 left_gripper=0.9992 right_x=0.2822 right_y=-0.0033 right_z=0.1595 right_yaw=0.0986 right_pitch=-0.0838 right_roll=-0.1254 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -6.2564, 3.6991, 2.7033, -0.1441, 0.1099, -0.022, -0.1026, -1.3744, 7.0222, 2.0, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5507c263a69dcd322f8448b03afe7cc2daf4013b6883f8bab174da0911b623d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8e1d48075062130c136b8f0657f75dd262fe8c9901cc004216ef46fcbfcd81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc1a7b06ffb6e49239445d00521a2fdf08d47df896c6fcbe45c56cace0cb176",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtfH-QMtNtlxJySxus8mZ6UAn_173uWuJA4S2VaFUAdd-2JEvzrpZ5QH18roGRBPE6nHi4dYixFOrNhPNUW_gxY7t6usjMH3qqEIsSsPffW3safviZkCwK9EpmiXVvNdclIsm61-fl7kxNXcdRhVS5wcmxccP7mw1XEeenBO5VLxgfWUPhLS_k_vmYHfjZVu26OoUshzeEMgKy1mA2F3mHg2RZmOZdCPoY37z_TMObzk3BJaGAwrfhhZJ03YjDj1rxFN6a4NbWKkida6uDVcCJEf8puo17hjfedIO--4sohKfZTf3hpqCjpnyldbveESdjPJ4nIkOAZGzwz77KF5zTcu-iwszpKEgVB7pAYTfc-RAVRxpiwfqTsNCAAd-jtAoe-JE7xbqbwa-KSw5DYa1SozHlOVEU5-yXWGjiGWRDFQ_8prpCp6L_BY0GLDDhFVgqYmf_ai01zlrVcrF3Z0y0iB7y6OzLG81fF13nKURZnAS_md5Mlui7D0rNOLnhZ_eW8L92EzSVF-XBFHdGYXUYVUhJlA3lXozjQ1jTnhEsHj_wxh1Bv2b33E5Flr_iBiilpKvSTw58gfrNdKqFsg6KXTYtL1Qm6cZuLU_5z0w_Zty9Knb8xh5Y9nP0rxNo4pBZYoWkgWuc-yXTaaXCXs-wOlgxwvTjnzOu-H-J-87Yq_9i4GW5tjUj135R72lsaOITPMsZy3wK19F1eeR9qAourrDajsmifufBHlnuEEQUoeG_K2k8drhZ0lWt0Zr7uy35c2nUYEYitMKnTAHIWu6J38GYhE-C5jqDOKsEEe4ui9jE0M__Vh1DKVT7C8LWqvS_Ni4IBcY0pVDEw4FFlQ16l4dyxzMmUnh8GrC3LNpqAneLocsSFKFUPKj7Agd7WdbxaFva0-TJ0CXvSihoPXtqmd6HgWmKVypuR99tfjsncjrOKZeo9tiuEuosvSh6XKlYMoNsieRI86dKvAIEK9Q5YUnpGGNang5QaCbi1yxh5rPvNNNHHD32dRUa8783bnEX-PQo6IOLPPBViv0JXUss_4zEniXgBf2xzFCANpTWk6q-58qVVqHywdNpku4EacPAnzi20GBilJ9WvE9hOJbbyDUA8VwY6tuCic8HPxgcXJ3qASlItm5JJAik3xqOcIY4ZdOEMgyso88S-dSjQ2GbqoHTE0FX9j1TSL2QZI2cEsfLDv5NSalQEwtGLkB4Zs26Qv7EDQ9AfLv3qK4-VDBuduMy1ubselMKswwz3PyJKpGqOQwepqR32RfHEm7BR-5p7gTETRJetwF0NfLelDwbVisCqeOMXKVIsEJASts2xRn8RudwlkEkcnZ8oKTivHXULVVLcukmOjEQ9NSgroiX8rSg7pYxW0d1aJZi3nJYVkHAYVgMN2zo2CLmdids26J3A6c5oYxgyl0d34BEPvlaorp8Uwptq4lKeHSTKd3hnkXshTS37JhYvVJmnyPuGxWpWuM1xd9GexxBIr68NE_tu-USWnOg5JN868uuE83uedj2_jFLDBUVHItylnDRUmTFQPURJQnp9-4qtQpkonfKijqUjA-ItcJGbg-_Yp0ERvSVmFXX7wUzpht9vO0COvWUIlYYwvIVfkpn_-5p7cIlDC7dkNzjLAQV1j8ElJT93KdU7mxqqlFSyK6kk8mlIlKGkepT23riXKhbHc9yz2U8O_T0ckZRyspzeBQq-ul5z_ljPClYWVj87tUxqdoMsVgWoApuNu1VSNHG0PjTYx0pCJ1m_-sW2esp9ir6WQgUQG19sPT9SOeV0oiq_k-kKMGg3k5ohvKSu8YnDk5qOYDGfTwWQRBQ2zty_YizyaUa43P3KJS88_H4gclCpfC4MQOpb7oXie7FjA-4tLusFj9QjEO4xz8W7CLXNl0YDRJcvIyv6mk9sY4IHYSPmENijYUMcOhnVlGXiLfdFYca5EDiTeJYSkM3BeXKOP96g3I_ldK1MQr0iiOY0OWIERZB7MNrGI_bWURAuEVB-NWKi2aZCYrkZBZO3S9PXQyz7wcPHP2UHCmqSIvSZXeoy15YKCcC5kryUfbytSPfmKWUNZ00WOjg9Un-xlVygibiYV2BEVn874dtXQJ79PxQTJ20yNm2j",
  "id": "rs_0da3cbc07170221d016ab43b5cfe4c87d09ea2ad21ac121fef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.025,\"left_z\":0.048,\"left_pitch\":0.1},\"note\":\"The descent put the jaws near table height, and the white plush is between them but left of centre. I’ll centre the jaws a little more over its body and raise slightly before closing.\"}",
  "call_id": "call_yShFRtMfErg7nfNbbwafPtpN",
  "id": "fc_0da3cbc07170221d016ab43b5ee12487d08619493e4e2c90fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_yShFRtMfErg7nfNbbwafPtpN",
  "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]: [-0.4465, 1.7615, 0.0433, 1.1755, -0.4702, -0.123, 0.9985, -0.0601, 0.8062, 0.6025, -0.4942, -0.0574, -0.21, 0.9989]\nstate[eef_state]: left_x=0.2963 left_y=-0.0491 left_z=0.0027 left_yaw=-0.0058 left_pitch=0.0946 left_roll=0.1475 left_gripper=0.9985 right_x=0.2786 right_y=-0.003 right_z=0.1535 right_yaw=0.0991 right_pitch=-0.1104 right_roll=-0.1206 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.9453, 2.4821, 2.2295, -0.2564, 0.0855, -0.0806, -0.1573, -0.841, 7.1726, 1.9658, -0.0611, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f7896ca9cc5006d0555379c6571cc18a0a72f04bbfeedbf83d704f49045eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1265c0362cc04580847e15296bba3ee69bec1d1f2e6af873de930a9c172ca5a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d8737413e59a4b7a8a8b2f37a9240fbe83f1fda5e6e7d8a85f1a41d9bd2e4a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 3.385 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 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, 0.8078, 0.6064, -0.5255, -0.0193, -0.0383, 0.9993, -0.0605, 0.7959, 0.6056, -0.4164, -0.0448, -0.1963, 0.999]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1488 left_yaw=0.0021 left_pitch=-0.1464 left_roll=-0.0004 left_gripper=0.9993 right_x=0.2901 right_y=-0.006 right_z=0.1728 right_yaw=0.0797 right_pitch=-0.0205 right_roll=-0.1309 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.5385, 6.8991, 1.6728, -0.0562, -0.0317, -0.0415, -0.1436, -1.6205, 7.9248, 1.9512, -0.1734, -0.0464, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4648, 1.5909, 0.1246, 0.8383, -0.4744, -0.1795, 0.9992, -0.0601, 0.8036, 0.6052, -0.4725, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.301 left_y=-0.0567 left_z=0.0052 left_yaw=0.0078 left_pitch=0.0235 left_roll=0.1383 left_gripper=0.9992 right_x=0.2822 right_y=-0.0033 right_z=0.1595 right_yaw=0.0986 right_pitch=-0.0838 right_roll=-0.1254 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -6.2564, 3.6991, 2.7033, -0.1441, 0.1099, -0.022, -0.1026, -1.3744, 7.0222, 2.0, -0.022, -0.0611, -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 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4465, 1.7615, 0.0433, 1.1755, -0.4702, -0.123, 0.9985, -0.0601, 0.8062, 0.6025, -0.4942, -0.0574, -0.21, 0.9989]\nstate[eef_state]: left_x=0.2963 left_y=-0.0491 left_z=0.0027 left_yaw=-0.0058 left_pitch=0.0946 left_roll=0.1475 left_gripper=0.9985 right_x=0.2786 right_y=-0.003 right_z=0.1535 right_yaw=0.0991 right_pitch=-0.1104 right_roll=-0.1206 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.9453, 2.4821, 2.2295, -0.2564, 0.0855, -0.0806, -0.1573, -0.841, 7.1726, 1.9658, -0.0611, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f7896ca9cc5006d0555379c6571cc18a0a72f04bbfeedbf83d704f49045eba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1265c0362cc04580847e15296bba3ee69bec1d1f2e6af873de930a9c172ca5a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d8737413e59a4b7a8a8b2f37a9240fbe83f1fda5e6e7d8a85f1a41d9bd2e4a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtjmpLfIIc2vG-9ZoHyQGdvGuBqrmX_HM8yRHwohljU5-RO0T9EbCS24ASjcDIlV4d2soEu-KWk6tP6WSK48ftvQA5f8MZWampN574WPof0YtRYb474tFSd5tBsCUQsSLSxTVjbg_Xv-KItJuOL_thXbTKbmyQk7X2P8A7sW9aoq8Zq9R5lubvSmt7vgdzE09TsSuDP7nt3YeaytxcXyYgd_qCOe5h_h4WqjnYUn34X1oZdJQ68JWjQbH7OJFxUhDCIs7oL-o6HsLa5SuxPLD4htkEFECWtxCq1HInfGI2wuMeEz9lkiYN6_3iJWEnmIqCwm2MOC77XZzdCYQLn6KnvuspNdCbPm-5OC8Y4w0UIGCAjLpjB7MSimb8N_WAmW2NeVdCERDlLeH3bSuzTnJGBeZ7PNxNA3M32VWOo81rI5bvMkCITy6ovu8lzT_3k6Zg_bMlowTAX_TEn27KXTu10eg0bXzifose2raCJGfgXAdhzldSqTYQtX434M09WZHo061lcdp8A6oYPCwODcFvfKFmeZecdQB5pajKX-qLQsJkDbHmwSetyNkn83BiwlgWTQaoG5_57CxK0MWf82wx6YG0kKysXEFPZTuX83sKk_Ku5mb8Drpqzsb_AvQOoPExADsIZoiCsz8Cn2Qx14jKtVSELQhR3Q0ShWmMJYLs4xDjI1ZrM0nxwNcW6DfeYXhk_91j_427V0BMrIYxWZLaGsH142eWgkzUBOooXbJYInTVSElxWv3G9ERXKB59Pswq35to2Cli4r8vDsgfnVuJKAibqG98Dhgg5bTabx6B71yARejghwRD2KctHcS22uhJJ2DqD8AFHlASOu5LowC9cY1IFGD_KXZELm7Sal_F-q04ToiifKW2r2iGSLwRF-uathPKC7kZtzshP43MKcDv_uvWg2sptnElGHhZ-G4jGXCCOX62OGJ82tsxlfRmcopLcuJuRS944sBbYmU1TiD0qLE-hUjcsviSlGhqlVbymw0q1z492MCF0-tVdmU9RnC73Bk4OSnHI4RUMBa3yxMMrXo0NIlx2fVm8rdxODnqdWga9m8wanl3w4jcjbVOuFeunXPCAXm1sHH7zDPV-xsit7QkBHJ0jCbwVrsJGV_LVisAn1tkB4JKOiaeMTH7eWET7DNpEzSfDik-2CQybFvjkkgalyVs3mnDZxYb6YkvZYvMDZM1e2jGSsTlF5WnbSEswg1RpgdsuYuLiiPp8K6KsFVFEZYyzP3-04Z4u8CZeip5HU5rtOGV7AoUvZxnoAet6rQz6R8BV0IKC_Ss76Sw0qHtAHnDS_yqUe6oFX_NXbRnF7N7cFTtilEIv7CgJJwp6fvi_dxmDxjFcGd3eW4fTU0TKwowmlKpCux8WJZG8b0E76aM0Z4ZZoElltCzHS3QD2w5yZ9SBV5yAYQW-GBegdcsQk5NdeGSSE2_2yxGoQGyx6fDFvXDjGadz4axCU6Hho3-n1dGydrcdf2_F90lJzOVGAaBryhqUf6H3TGMwKaH-0FkdeFFRHwdv7h_jolFc0OdDvtpGUHdkePhKNz9BHqv8uLIiQL58RQtmAMSKQYhTxh9pQA5gVYAT5TR8ok27JsQzPsmY-8GGmzwL1kFLkUYXk94pzT0GbeazLGM4iKERr_M8Ugr0P3EAjf4L-ps9x1bTuMBKjaZ50Ti5CIWE9KGPidNgPCYtG74WYj_rxcwVhMPqVcX4VaxTDToz6QwFjDg7add-8dDfsdA_VfZkJArywofpuzF_dV4TYVP1E5S02jaQDFmhldapLhx1RjHwjMz_-mZXAe12jt921GdL1hGOgnFkySZbMYQPni07a6gh_bgvEyln92bjOVmGZ9tIVBm5WqRfqdBfIErHwOUFCmQUDOaRhtwk09GS7EDcjW8=",
  "id": "rs_0da3cbc07170221d016ab43b60f8d887d095cd399289114a80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.025,\"left_z\":0.085,\"left_pitch\":0.25},\"note\":\"The plush is still ahead of the fingertips rather than seated in the jaws, and the arm did not reach the last low target. I’ll lift out of contact and advance over its body before trying the grasp.\"}",
  "call_id": "call_6LOxUlWKX0HlkRxMSLRrT4z0",
  "id": "fc_0da3cbc07170221d016ab43b626f3887d0818acfa7bdc6bad5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6LOxUlWKX0HlkRxMSLRrT4z0",
  "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]: [-0.4465, 1.7615, 0.0425, 1.219, -0.4911, -0.1162, 0.9985, -0.0601, 0.8062, 0.6025, -0.5007, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.0475 left_z=0.012 left_yaw=0.0098 left_pitch=0.1371 left_roll=0.1446 left_gripper=0.9985 right_x=0.2775 right_y=-0.003 right_z=0.1523 right_yaw=0.0989 right_pitch=-0.1169 right_roll=-0.1198 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -4.4786, 2.1265, 2.044, -0.2076, 0.022, -0.0171, -0.0205, -1.0325, 6.9538, 1.7118, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf35b3c79d64879813440173d0af0b88b0ad800010c77aadd953ee6c6ae1836",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30710409a0e9a4437055b5d762a3cc58bc76cb6e86564ef9ad24fb19790c9be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bdf780727fff26646f3027abf8f9cb7068c51e7c6076737a4015d7888544af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 2.139 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6712, 1.2224, 0.3386, 0.3195, -0.5884, -0.3012, 0.9993, -0.0601, 0.8005, 0.6052, -0.4541, -0.0566, -0.2096, 0.999]\nstate[eef_state]: left_x=0.31 left_y=-0.1164 left_z=0.0928 left_yaw=-0.0391 left_pitch=0.1181 left_roll=0.053 left_gripper=0.9993 right_x=0.2849 right_y=-0.0035 right_z=0.1639 right_yaw=0.0976 right_pitch=-0.0626 right_roll=-0.1284 right_gripper=0.999\nstate[joint_eff]: [-0.2667, -4.4513, 5.4632, 2.1709, -0.398, -0.0073, -0.022, -0.1026, -1.5521, 7.0496, 2.0586, 0.0562, 0.1392, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4465, 1.7615, 0.0433, 1.1755, -0.4702, -0.123, 0.9985, -0.0601, 0.8062, 0.6025, -0.4942, -0.0574, -0.21, 0.9989]\nstate[eef_state]: left_x=0.2963 left_y=-0.0491 left_z=0.0027 left_yaw=-0.0058 left_pitch=0.0946 left_roll=0.1475 left_gripper=0.9985 right_x=0.2786 right_y=-0.003 right_z=0.1535 right_yaw=0.0991 right_pitch=-0.1104 right_roll=-0.1206 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.9453, 2.4821, 2.2295, -0.2564, 0.0855, -0.0806, -0.1573, -0.841, 7.1726, 1.9658, -0.0611, -0.0415, -0.0171]\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 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4465, 1.7615, 0.0425, 1.219, -0.4911, -0.1162, 0.9985, -0.0601, 0.8062, 0.6025, -0.5007, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.0475 left_z=0.012 left_yaw=0.0098 left_pitch=0.1371 left_roll=0.1446 left_gripper=0.9985 right_x=0.2775 right_y=-0.003 right_z=0.1523 right_yaw=0.0989 right_pitch=-0.1169 right_roll=-0.1198 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -4.4786, 2.1265, 2.044, -0.2076, 0.022, -0.0171, -0.0205, -1.0325, 6.9538, 1.7118, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf35b3c79d64879813440173d0af0b88b0ad800010c77aadd953ee6c6ae1836",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30710409a0e9a4437055b5d762a3cc58bc76cb6e86564ef9ad24fb19790c9be2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99bdf780727fff26646f3027abf8f9cb7068c51e7c6076737a4015d7888544af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0da3cbc07170221d016ab43b6508b887d0aa03cb3c99b642c6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.2,\"left_y\":-0.075,\"left_z\":0.18,\"left_pitch\":0},\"note\":\"The left arm barely lifted from the plush-height pose, so I won’t keep pressing it forward. I’ll back it away and raise it to free the arm before approaching from above again.\"}",
  "call_id": "call_OrVqzVgRZEfJEmREnVuN8Muq",
  "id": "fc_0da3cbc07170221d016ab43b667fa487d085b552bbed087091",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OrVqzVgRZEfJEmREnVuN8Muq",
  "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]: [-1.055, 0.7067, 0.638, -0.1001, -0.8593, -0.6846, 0.9985, -0.0601, 0.8097, 0.6014, -0.5404, -0.0574, -0.2104, 0.999]\nstate[eef_state]: left_x=0.2432 left_y=-0.1504 left_z=0.2956 left_yaw=0.114 left_pitch=0.389 left_roll=-0.5772 left_gripper=0.9985 right_x=0.271 right_y=-0.0026 right_z=0.1436 right_yaw=0.1004 right_pitch=-0.1606 right_roll=-0.1127 right_gripper=0.999\nstate[joint_eff]: [0.1026, 0.1436, 7.9658, 1.5311, -0.2027, 0.1245, -0.022, -0.2393, -1.4974, 6.9949, 1.9902, -0.0708, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91e55b37f7d87220f2f467dfab0e7f95b12d4c0b6426b2b1cd0fe339fd31bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4775c9075b9556da3a7dd7aacaf058c03939f957c0a1e603ba4ad5f4c16af5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acf35a64cb00591aff2b8f4278cec80e9881027f0085b2692468285fa89190a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 3.629 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4648, 1.5909, 0.1246, 0.8383, -0.4744, -0.1795, 0.9992, -0.0601, 0.8036, 0.6052, -0.4725, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.301 left_y=-0.0567 left_z=0.0052 left_yaw=0.0078 left_pitch=0.0235 left_roll=0.1383 left_gripper=0.9992 right_x=0.2822 right_y=-0.0033 right_z=0.1595 right_yaw=0.0986 right_pitch=-0.0838 right_roll=-0.1254 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -6.2564, 3.6991, 2.7033, -0.1441, 0.1099, -0.022, -0.1026, -1.3744, 7.0222, 2.0, -0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4465, 1.7615, 0.0425, 1.219, -0.4911, -0.1162, 0.9985, -0.0601, 0.8062, 0.6025, -0.5007, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.0475 left_z=0.012 left_yaw=0.0098 left_pitch=0.1371 left_roll=0.1446 left_gripper=0.9985 right_x=0.2775 right_y=-0.003 right_z=0.1523 right_yaw=0.0989 right_pitch=-0.1169 right_roll=-0.1198 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -4.4786, 2.1265, 2.044, -0.2076, 0.022, -0.0171, -0.0205, -1.0325, 6.9538, 1.7118, -0.0415, -0.0415, -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 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.055, 0.7067, 0.638, -0.1001, -0.8593, -0.6846, 0.9985, -0.0601, 0.8097, 0.6014, -0.5404, -0.0574, -0.2104, 0.999]\nstate[eef_state]: left_x=0.2432 left_y=-0.1504 left_z=0.2956 left_yaw=0.114 left_pitch=0.389 left_roll=-0.5772 left_gripper=0.9985 right_x=0.271 right_y=-0.0026 right_z=0.1436 right_yaw=0.1004 right_pitch=-0.1606 right_roll=-0.1127 right_gripper=0.999\nstate[joint_eff]: [0.1026, 0.1436, 7.9658, 1.5311, -0.2027, 0.1245, -0.022, -0.2393, -1.4974, 6.9949, 1.9902, -0.0708, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e91e55b37f7d87220f2f467dfab0e7f95b12d4c0b6426b2b1cd0fe339fd31bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4775c9075b9556da3a7dd7aacaf058c03939f957c0a1e603ba4ad5f4c16af5a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acf35a64cb00591aff2b8f4278cec80e9881027f0085b2692468285fa89190a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtqFAaiJ_h5uhdwwB_7_Jc8NED0zmg0eIr6Yp8hinzz93nabiCAXbLJuJPkLUaouf39oO9cpwZHFf2P83b9L0l4k7YbjKcLXc7hp-CIsWERMKnwrt8QNYvg0SIUocP7fTvAc4-Ge09wn13czd63D3Qz_KVgw5yq_tm5xZKPcjW5YXZR9HfPbFK9uJOPnsLH7K2LkMVZyB-R2HG1eYwiVy1gsn7vBRa0i3__ICUsodcfuJI5MDPftQSAPZMUTIZpFCkmm8A5AuuosQPjpTUnkp4P68Vl37ajUEkEgkP8KUSbUS9kOl_7lsozN8Y8lvu5gQNWintka5mvITpqHM6Dx8QUbbGhdraTBsrO9fSTZnMTnaweyC9Ikldj4dZeOlLCVrL5slvLq47qWpbGJK1Xj8opmOVhLF62NcfjiWUGHKsT7AP29T4U_mHVS7mvUmERM4vpY-__Vc0ATafpMgj9KIbgynO-KXoUcNl2urdcVmRUpYjOHInOuix881nZyIbCl6pHjofwlndfuT5s6XKJ6VDazEW5KiqFw6IzuU3BMVPjGai6cH6_QZ0-MI77of6OFKS5mK-Qj-QKD9q6BBi48IazqYrYKWrhenZaxHMUSZT9G2ReRM9dN0evFIJ9gqKUo4b0fdtrPXqBvLrCHmZ-ECJd6e4e-vGLkFCZr4qdBrB2RuPQEcgVQXxHtsAgZDxEZzv5kU8lGw_RF5CNxMqTbd7ChJZ75bsF_AyBnzDsGExemNu_sLy78hkKAQYWS1fanLotv7xWGF6MBIzCNEe_PVIy6hq4DY8DT9nn6iDux_hYT_p-l-gEPo8wRIeK0hN4cRNzLRz1ThS6w1OX4fX3EBCV4cw0oTK8LcZObtm8yjKk5xtxTXbRuI8SiHu2Y4n5GVjGfBYR_v-pl_eDrepGgpke1ydajJQ028rk66luFeIGOrItlvkcGLDcaTGm33hfVXjRWgp1r-EDkn-i_VVH6665z7Bb9j3dc27spKSDY7cfNp7sf2tLchJgeSLlIi0zzoG4Z80OaXRWkLWDQYxagb9Jh3wrY1sLPT77AwJZw2lbo8B6O2auypkqiYrTp55pKnx3bt-oIWgVUYrAetorx1N5IuOIj92Od7UVX9CUadjK_DFg-fK4C4NIW8cY3UkhVd70nxSv8UEuipV-Nhv6OIOmRGKLaIWYs_qWlCq-OEqx_IbDJ6CzwuiRkRaz0NyJlNxgI3YmpIG_fMWNBat2r_T1LRGcGckdyfuDYbUYNFPjwBdT_9J-Sa_EKsSgDQmtJLRQQQ4GN45NTHvxYVNd8_a_cMpNKQXGme8BNuT9HeHMHhBMvpb3wyoJ9CrrSSdNaYHxic1g51gSy0mS50vt40kKu1jykzor_wcRTmmpG2xLlUbayLJ0idMrBCJDKBXSFRgk",
  "id": "rs_0da3cbc07170221d016ab43b696b6c87d0a0191896ef5cf9bf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.08,\"left_z\":0.155,\"left_pitch\":0,\"left_roll\":0,\"left_yaw\":0},\"note\":\"The left arm has cleared the table, though it rose much higher than requested. I’ll return to a neutral, elevated pose above the white plush before descending again.\"}",
  "call_id": "call_7bxQUpSX614zailCTFaM6EMB",
  "id": "fc_0da3cbc07170221d016ab43b69de8487d08ed4791470557cdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7bxQUpSX614zailCTFaM6EMB",
  "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]: [-0.4938, 0.9836, 0.6003, -0.2859, -0.4305, -0.3752, 0.9985, -0.0601, 0.8154, 0.601, -0.5682, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3047 left_y=-0.0762 left_z=0.1529 left_yaw=0.0508 left_pitch=-0.0189 left_roll=-0.0288 left_gripper=0.9985 right_x=0.2663 right_y=-0.0023 right_z=0.1371 right_yaw=0.1012 right_pitch=-0.194 right_roll=-0.1069 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.906, 6.5026, 2.0733, -0.0855, 0.2222, -0.0171, -0.1846, -1.6752, 6.8855, 1.79, -0.0513, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678eabeeff158d4c67f4c8dc98c87e15f6cec0b2d2bbbe54c692f1d540afa4a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e0daed42c3de6852a654b6f24909602c55240a002ba12a26ad379e403d770a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a965808794476db87e7dff2421b88039b5ab78fe75a0866003358b52a9aa4ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 2.871 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4465, 1.7615, 0.0433, 1.1755, -0.4702, -0.123, 0.9985, -0.0601, 0.8062, 0.6025, -0.4942, -0.0574, -0.21, 0.9989]\nstate[eef_state]: left_x=0.2963 left_y=-0.0491 left_z=0.0027 left_yaw=-0.0058 left_pitch=0.0946 left_roll=0.1475 left_gripper=0.9985 right_x=0.2786 right_y=-0.003 right_z=0.1535 right_yaw=0.0991 right_pitch=-0.1104 right_roll=-0.1206 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -3.9453, 2.4821, 2.2295, -0.2564, 0.0855, -0.0806, -0.1573, -0.841, 7.1726, 1.9658, -0.0611, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.055, 0.7067, 0.638, -0.1001, -0.8593, -0.6846, 0.9985, -0.0601, 0.8097, 0.6014, -0.5404, -0.0574, -0.2104, 0.999]\nstate[eef_state]: left_x=0.2432 left_y=-0.1504 left_z=0.2956 left_yaw=0.114 left_pitch=0.389 left_roll=-0.5772 left_gripper=0.9985 right_x=0.271 right_y=-0.0026 right_z=0.1436 right_yaw=0.1004 right_pitch=-0.1606 right_roll=-0.1127 right_gripper=0.999\nstate[joint_eff]: [0.1026, 0.1436, 7.9658, 1.5311, -0.2027, 0.1245, -0.022, -0.2393, -1.4974, 6.9949, 1.9902, -0.0708, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4938, 0.9836, 0.6003, -0.2859, -0.4305, -0.3752, 0.9985, -0.0601, 0.8154, 0.601, -0.5682, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3047 left_y=-0.0762 left_z=0.1529 left_yaw=0.0508 left_pitch=-0.0189 left_roll=-0.0288 left_gripper=0.9985 right_x=0.2663 right_y=-0.0023 right_z=0.1371 right_yaw=0.1012 right_pitch=-0.194 right_roll=-0.1069 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.906, 6.5026, 2.0733, -0.0855, 0.2222, -0.0171, -0.1846, -1.6752, 6.8855, 1.79, -0.0513, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678eabeeff158d4c67f4c8dc98c87e15f6cec0b2d2bbbe54c692f1d540afa4a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4e0daed42c3de6852a654b6f24909602c55240a002ba12a26ad379e403d770a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a965808794476db87e7dff2421b88039b5ab78fe75a0866003358b52a9aa4ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0da3cbc07170221d016ab43b6d22fc87d0ba635cba7d012f74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.045,\"left_z\":0.105,\"left_pitch\":0.22},\"note\":\"The white plush is visible below and left of the elevated left gripper, with the safe directly beside it. I’ll move a little forward and left, then lower only partway to keep the jaws clear of the table.\"}",
  "call_id": "call_6Q7HLL2v6k86OwHCF8b7AghY",
  "id": "fc_0da3cbc07170221d016ab43b6ebbb487d0b8b58171f9af9b11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6Q7HLL2v6k86OwHCF8b7AghY",
  "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]: [-0.3241, 1.1637, 0.2554, 0.3882, -0.3511, -0.2131, 0.9985, -0.0601, 0.8173, 0.601, -0.5949, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3223 left_y=-0.0404 left_z=0.0811 left_yaw=0.0696 left_pitch=0.0948 left_roll=0.003 left_gripper=0.9985 right_x=0.2617 right_y=-0.002 right_z=0.132 right_yaw=0.1022 right_pitch=-0.2223 right_roll=-0.1022 right_gripper=0.999\nstate[joint_eff]: [0.2667, -3.5487, 6.0376, 2.2002, -0.0415, 0.0757, -0.0122, -0.0615, -1.1009, 6.9675, 1.7411, -0.0659, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d49e8a2973349ff6bf556e4336bd5d874959c3a23882ea2e0dd8c855b0354e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8e89c088f1fe4e93b59ddc37daee092d7c34d366dfffa88491389700ec2186",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034ad567eff20c6617590f62c3292f0703f46e281e54ae1c2cf03f68c5d46967",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 1.781 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4465, 1.7615, 0.0425, 1.219, -0.4911, -0.1162, 0.9985, -0.0601, 0.8062, 0.6025, -0.5007, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3005 left_y=-0.0475 left_z=0.012 left_yaw=0.0098 left_pitch=0.1371 left_roll=0.1446 left_gripper=0.9985 right_x=0.2775 right_y=-0.003 right_z=0.1523 right_yaw=0.0989 right_pitch=-0.1169 right_roll=-0.1198 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -4.4786, 2.1265, 2.044, -0.2076, 0.022, -0.0171, -0.0205, -1.0325, 6.9538, 1.7118, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4938, 0.9836, 0.6003, -0.2859, -0.4305, -0.3752, 0.9985, -0.0601, 0.8154, 0.601, -0.5682, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3047 left_y=-0.0762 left_z=0.1529 left_yaw=0.0508 left_pitch=-0.0189 left_roll=-0.0288 left_gripper=0.9985 right_x=0.2663 right_y=-0.0023 right_z=0.1371 right_yaw=0.1012 right_pitch=-0.194 right_roll=-0.1069 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.906, 6.5026, 2.0733, -0.0855, 0.2222, -0.0171, -0.1846, -1.6752, 6.8855, 1.79, -0.0513, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3241, 1.1637, 0.2554, 0.3882, -0.3511, -0.2131, 0.9985, -0.0601, 0.8173, 0.601, -0.5949, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3223 left_y=-0.0404 left_z=0.0811 left_yaw=0.0696 left_pitch=0.0948 left_roll=0.003 left_gripper=0.9985 right_x=0.2617 right_y=-0.002 right_z=0.132 right_yaw=0.1022 right_pitch=-0.2223 right_roll=-0.1022 right_gripper=0.999\nstate[joint_eff]: [0.2667, -3.5487, 6.0376, 2.2002, -0.0415, 0.0757, -0.0122, -0.0615, -1.1009, 6.9675, 1.7411, -0.0659, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69d49e8a2973349ff6bf556e4336bd5d874959c3a23882ea2e0dd8c855b0354e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8e89c088f1fe4e93b59ddc37daee092d7c34d366dfffa88491389700ec2186",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:034ad567eff20c6617590f62c3292f0703f46e281e54ae1c2cf03f68c5d46967",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDtzC_1mgV14R68Wa7IKE7Cg6oPctiuX5uenViRJDOTZve1mHlC0OCJJhv_PAoXTwfRD7VeOVZ-lHDPXWncngqpQx51nyVOpEMAc8ekFPOvrnkPSuMlPpjL58oeTzz46OJAZczBdSedK5pZxjepuVZRxUFs2sKAnXhhSMcwq9qRdQifF0kd4sRmIF1fNRQTvvLXA1mAsrotlda3KZDztlzXapZq7W78tQ45yHQ0NksjClj1vukjfqsL8dDmLiPhIGk3ZGx47br8ZcDwpGf2khK4c_zT3T6XT2UNsy9-qSLzKPXmFBucbPAn6SyYC_iE1r_55ep0agfu1LYNdMv-wkmxqLNzr9FYyyRzd0zzON0iCXplYw9x7t_er-nZHjCi7bzpMrxlBsnbKw1iJObL9-Rw4FXfp_ROWyHyolRet83FwWq14DPXqUQ6TBmUeQnrYaBk0vQZZf92oytH6U7UFN8lpTKKAjZWMSEOq14xkpgBZM3CPDWvkZypcQ0s1GOHW4Dd6dCFgmgWAZfEfIBxtFfo0oCWHcJpG-YtnaWR-Dl8GwT9901NDP1oCwRuRt6PHr8S6sXqRKNy0gnZpUKrUGRhuSW1sRe0HkPowvMnxo5aqf4KfVq6T1ScKlen36Zn0Ki5rMCt2aru-EdNUuE-o0voaK7Lw8P4t9dzQojmTbyanUAGHNUHp73VI1tca0bJExBRcVgCuif0Awzr3uRJVJOcOABwe9Jh43oa7kDC6ruIRpOGq0DLHCdcAb9trPeVaqhYJfvD9xy-pvstHBXVepxDJDKI1x829dqRLuI3vb3H3eSNRgQAwBVaAC6lJ9cba_jeXtdXxAjq_2qVw9P72iKYijZU_3amA-BsyWPxGDmuLfNwQJkMzQ-wCAW6umJmN7L51NDMDHdWo6gNj9KOGfPb5Q3aOzaEIKl8qccKs9apctYu6memb6xQ4husIKdHgRU4LFK_KYRF0GfDVXs4BhC9X3wi0YK68k8SGkGbs6kjkX3tDZXXBGXkAYls9s3kAJoHRRjK6bQ7Em4Xi0PYjS-6RSy24J3ffFwlXSSsIU7Caw2sFy-n6ni_1YXyZnI4fCI7IbUvGiWDKlPVp4hAQnLpIp3eExXVjCx3VKCyjWk_myCnxQsUm9pX5smlyKneIht7tbfImPoS71l4g9kAx5mcZdRD366oJX1-Fwj8JFfF4OQ0ckrHxIMUYPRpWwCJtTfVMlnnfXusztohycQ0LBEUgKRBklPw0KMDTATBgVJZXVxZZQL4d0yJy3MSuWsPUWwD6P9O9P_P15GCE80rmGylPFuhjqa_dVHo62tUCWEWU_qwv6GlSCF-RLRTfB5x8zjTgKoCT8yVLfde1RLogjXQ-KVlAbG_8cL_RphdwyjslGBNQ2Clb2Y22T6b4h6V0GMGJt2vkCrfer94fXxv7NvtfW0ROMuWs1now-kIuhOo3bAWgHfMIZvJYKK4F7KHGvQWWYmEGixQYbrQLW6TLy6_WCtswQUUjlcqTlom-lYiMgevpK_eCfHq7YbNx4tnviQbXag0YmcMV9INMWTW2b9RJX5rcl4wDvySbfJv-JjDR6d1kndFYzOnPYiuim08uhC6wV2b_9AMnaPtgZQAORqEnNINov46ZJrLIVIJRFqelb1qaQf5WglCFUb2Xe2WqeJ-fT7mJT1NPgkidg4iA-odgEQ==",
  "id": "rs_0da3cbc07170221d016ab43b711f4487d0899ac038e6012dea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.348,\"left_y\":-0.028,\"left_z\":0.053,\"left_pitch\":0.25},\"note\":\"The plush now fills the lower centre of the left wrist image, with its body slightly left of the jaw column. I’ll advance and lower a few more centimetres to put the jaws around its middle.\"}",
  "call_id": "call_foB38Nc1suDST8HnsjdozNG3",
  "id": "fc_0da3cbc07170221d016ab43b72391487d0bb2a84b796abb299",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_foB38Nc1suDST8HnsjdozNG3",
  "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]: [-0.2459, 1.6375, 0.1612, 0.9817, -0.3168, -0.1452, 0.9985, -0.0601, 0.8219, 0.6006, -0.6132, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3344 left_y=-0.0235 left_z=0.0244 left_yaw=0.0829 left_pitch=0.1117 left_roll=0.0389 left_gripper=0.9985 right_x=0.2584 right_y=-0.0019 right_z=0.1277 right_yaw=0.1029 right_pitch=-0.2453 right_roll=-0.0989 right_gripper=0.999\nstate[joint_eff]: [0.335, -5.9419, 3.0154, 2.3565, 0.0415, 0.0122, -0.0122, -0.1846, -1.5521, 7.1043, 1.6093, -0.0708, -0.0464, -0.0171]\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,$blob:a513cf54311535eb39e79e60c94210617021f30bcf604f166d419e2901f88616",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f99a704a1b0ce212f01da8b3c6359ca5da5467119ebf643d37831ff9bdebc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb378d698d62435420d8a33d859c95b2cdcdfa4451831144e180524b0051eef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.48 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.055, 0.7067, 0.638, -0.1001, -0.8593, -0.6846, 0.9985, -0.0601, 0.8097, 0.6014, -0.5404, -0.0574, -0.2104, 0.999]\nstate[eef_state]: left_x=0.2432 left_y=-0.1504 left_z=0.2956 left_yaw=0.114 left_pitch=0.389 left_roll=-0.5772 left_gripper=0.9985 right_x=0.271 right_y=-0.0026 right_z=0.1436 right_yaw=0.1004 right_pitch=-0.1606 right_roll=-0.1127 right_gripper=0.999\nstate[joint_eff]: [0.1026, 0.1436, 7.9658, 1.5311, -0.2027, 0.1245, -0.022, -0.2393, -1.4974, 6.9949, 1.9902, -0.0708, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3241, 1.1637, 0.2554, 0.3882, -0.3511, -0.2131, 0.9985, -0.0601, 0.8173, 0.601, -0.5949, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3223 left_y=-0.0404 left_z=0.0811 left_yaw=0.0696 left_pitch=0.0948 left_roll=0.003 left_gripper=0.9985 right_x=0.2617 right_y=-0.002 right_z=0.132 right_yaw=0.1022 right_pitch=-0.2223 right_roll=-0.1022 right_gripper=0.999\nstate[joint_eff]: [0.2667, -3.5487, 6.0376, 2.2002, -0.0415, 0.0757, -0.0122, -0.0615, -1.1009, 6.9675, 1.7411, -0.0659, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2459, 1.6375, 0.1612, 0.9817, -0.3168, -0.1452, 0.9985, -0.0601, 0.8219, 0.6006, -0.6132, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3344 left_y=-0.0235 left_z=0.0244 left_yaw=0.0829 left_pitch=0.1117 left_roll=0.0389 left_gripper=0.9985 right_x=0.2584 right_y=-0.0019 right_z=0.1277 right_yaw=0.1029 right_pitch=-0.2453 right_roll=-0.0989 right_gripper=0.999\nstate[joint_eff]: [0.335, -5.9419, 3.0154, 2.3565, 0.0415, 0.0122, -0.0122, -0.1846, -1.5521, 7.1043, 1.6093, -0.0708, -0.0464, -0.0171]\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,$blob:a513cf54311535eb39e79e60c94210617021f30bcf604f166d419e2901f88616",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f99a704a1b0ce212f01da8b3c6359ca5da5467119ebf643d37831ff9bdebc5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb378d698d62435420d8a33d859c95b2cdcdfa4451831144e180524b0051eef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDt1U4qbwFUL3aozh2dqh8vFdVY0TQlLMDQehhg9QXrWhfrmC-y_4jRL3yJmsGNyhgWFNpMOOSku0cDDUQAqQDf3NcKA_I6etHR2-8UX9jvgeCysV_iAbntV8_jOTIQLKkCbtwNPaXratmeyj5GqNnetxYQnRtvRzvdjPmDUdKZdJLpR9DTCrhYLKwDf1MrFy9nTKd_whXTzcC9zg_shhuVML_fsySzVahG3Ib5Kke6xmUFhL6oPJMf1S3Y2lxG6jPvvz7-yQiI960_FnYiAQTlXE18pZEhQOeDqfBU9eU5jSxrgq15qigRo5FgN1A6cTuMUOwbgjQphu2zQVzZh-BFqKmJL5ZYELRGAhrCJ867U96_FhgoQut4CyWALKGLty8ikqort51GiMaTxBnuWaB0OhJU0oMzj4T8kzGKkUdWtKt4AiL1-lEWggkfyI3VD6erR6tAxKy3AJBmK1c83DliM5YbQnJNHOdOIyTaUsUU3E-X7JAg3LtCchzNrLj3Nrd_Fhn0YBGlbdrNC5jmrusPOWKtXhffuMBIBCtYa3SsKduZ2__FpU95jEU6CnyOOeHEufGfJYN_EEZ3RInkZc36Ui3acUIkPD9XQZG8ioZpX0Z72IkuLDP0OH2QR8U0DDNXNpLkC52AxdYP5cPQ0hiwIoNIXARhljBBcuV3gVaaZH1WLETpRiyXgTvH3T6rw9O4wWzqOYD-AwxB-p9ssUt2llsvLqoQgnD0Ztapv9BhZ2GTXU7EyfvsK-jld5D1RtiikGVVO-_sYOXLANViQm-chuDZ7cnp9ucOdHC7uZSvv8iHsERgD3c4ujeqwPsBtNfqgqnICUtznF5Trq4MJGgsO0h4Esui5jHNE8rTASGJzF7Kd0gttKlSTKl0Q_FQVE4YPSLT3kT7Jmvg-Sfpt5sEJP8iWWHrroBgEirElGncgoDZPOk4aKluJr7-bCC4oj9hvppXdn6eSxN-8QToiq4DezVVhAPy0yMQJwxT71uWdgc9mx-4QaV1xKjX5AxF_rZ4-iAFbCGfrvIj8u57o4ATWqI2aGDqqaYa1WIbR0uUr_cRgDuZ8JAoAkcCAANsKQWBbj4j-Hf-UoydhBsa2HBqhjVysghDsFZr1VFwfUHeJnseuI5mwsffQErNn4aw8ql49FnIquQlj3Kq-xjZSGVQJuuyXOtNtFBuP2_dx4sc47b8dD-R7BLvQDEqdivrekCAAi9bPxG9j7pelyAdd91oo8zuGkB0y2CIQLzFZDz-awCnovqy-zvz8-aQWGVA6DO_T",
  "id": "rs_0da3cbc07170221d016ab43b746cd087d0baf976a5cb8207b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush’s body is centred between the low left jaws. I’ll close around it and check the gripper opening before lifting.\"}",
  "call_id": "call_GsK37yi9FFykjl2FQpT8bXYP",
  "id": "fc_0da3cbc07170221d016ab43b74b51c87d09d174beb533b4da1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GsK37yi9FFykjl2FQpT8bXYP",
  "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]: [-0.2432, 1.6489, 0.152, 0.9859, -0.3157, -0.1493, 0.0146, -0.0601, 0.823, 0.6006, -0.635, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.0219 left_z=0.0191 left_yaw=0.0864 left_pitch=0.0962 left_roll=0.04 left_gripper=0.0146 right_x=0.2544 right_y=-0.0016 right_z=0.1238 right_yaw=0.1039 right_pitch=-0.2679 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.4496, 4.0274, 1.7216, -0.1148, 0.0269, 0.7595, -0.0205, -1.2786, 6.7487, 1.6532, -0.0464, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2adc3be2cba451d70041b31885f735a44f9b4a2de4e4be3fc0adf0bd039f299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07b6a705add3f214b707f1dd127720a62416602dfb85da3e5bffd433abb38cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ede0f85c7f13c2017fe3bb9463e5ebe6762763478a44fd16e42ff76b3943b92",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 3.113 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4938, 0.9836, 0.6003, -0.2859, -0.4305, -0.3752, 0.9985, -0.0601, 0.8154, 0.601, -0.5682, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3047 left_y=-0.0762 left_z=0.1529 left_yaw=0.0508 left_pitch=-0.0189 left_roll=-0.0288 left_gripper=0.9985 right_x=0.2663 right_y=-0.0023 right_z=0.1371 right_yaw=0.1012 right_pitch=-0.194 right_roll=-0.1069 right_gripper=0.999\nstate[joint_eff]: [0.1436, -2.906, 6.5026, 2.0733, -0.0855, 0.2222, -0.0171, -0.1846, -1.6752, 6.8855, 1.79, -0.0513, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2459, 1.6375, 0.1612, 0.9817, -0.3168, -0.1452, 0.9985, -0.0601, 0.8219, 0.6006, -0.6132, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3344 left_y=-0.0235 left_z=0.0244 left_yaw=0.0829 left_pitch=0.1117 left_roll=0.0389 left_gripper=0.9985 right_x=0.2584 right_y=-0.0019 right_z=0.1277 right_yaw=0.1029 right_pitch=-0.2453 right_roll=-0.0989 right_gripper=0.999\nstate[joint_eff]: [0.335, -5.9419, 3.0154, 2.3565, 0.0415, 0.0122, -0.0122, -0.1846, -1.5521, 7.1043, 1.6093, -0.0708, -0.0464, -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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2432, 1.6489, 0.152, 0.9859, -0.3157, -0.1493, 0.0146, -0.0601, 0.823, 0.6006, -0.635, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.0219 left_z=0.0191 left_yaw=0.0864 left_pitch=0.0962 left_roll=0.04 left_gripper=0.0146 right_x=0.2544 right_y=-0.0016 right_z=0.1238 right_yaw=0.1039 right_pitch=-0.2679 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.4496, 4.0274, 1.7216, -0.1148, 0.0269, 0.7595, -0.0205, -1.2786, 6.7487, 1.6532, -0.0464, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2adc3be2cba451d70041b31885f735a44f9b4a2de4e4be3fc0adf0bd039f299",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07b6a705add3f214b707f1dd127720a62416602dfb85da3e5bffd433abb38cff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ede0f85c7f13c2017fe3bb9463e5ebe6762763478a44fd16e42ff76b3943b92",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0da3cbc07170221d016ab43b77556c87d0a98b1d03b18a4247",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.37,\"left_y\":-0.025,\"left_z\":0.06,\"left_pitch\":0.28},\"note\":\"The left gripper closed empty, and the wrist image shows the plush still ahead of the fingertips. I’ll reopen, lift slightly, and advance about 4 cm for one better-centred attempt.\"}",
  "call_id": "call_YgL5IscFnDcyTDCOVy4XZ3Gk",
  "id": "fc_0da3cbc07170221d016ab43b789c8087d0a4a65129980836ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YgL5IscFnDcyTDCOVy4XZ3Gk",
  "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]: [-0.2371, 1.7161, 0.2111, 1.1107, -0.3328, -0.1062, 0.995, -0.0601, 0.8249, 0.6006, -0.6579, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3578 left_y=-0.0234 left_z=0.0419 left_yaw=0.0887 left_pitch=0.2079 left_roll=0.0488 left_gripper=0.995 right_x=0.2501 right_y=-0.0014 right_z=0.1198 right_yaw=0.1049 right_pitch=-0.2923 right_roll=-0.0906 right_gripper=0.999\nstate[joint_eff]: [0.5538, -4.6701, 5.4632, 2.3028, -0.022, 0.149, -0.0122, -0.1573, -0.9231, 6.7214, 1.6239, -0.0366, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3d12d3b2d602ce2362cd7c04986764b47d89c74d6fbc5a5cadd9671cd953a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e493c02fc4ffbab44b63e3b1e9bb5f231746021f472921f25debc30b4b1d550",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac828d9a1467ef3c4e7fc5bfd286cd2afe1030b02c03fac9376b564fa8b4bff9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.838 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3241, 1.1637, 0.2554, 0.3882, -0.3511, -0.2131, 0.9985, -0.0601, 0.8173, 0.601, -0.5949, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3223 left_y=-0.0404 left_z=0.0811 left_yaw=0.0696 left_pitch=0.0948 left_roll=0.003 left_gripper=0.9985 right_x=0.2617 right_y=-0.002 right_z=0.132 right_yaw=0.1022 right_pitch=-0.2223 right_roll=-0.1022 right_gripper=0.999\nstate[joint_eff]: [0.2667, -3.5487, 6.0376, 2.2002, -0.0415, 0.0757, -0.0122, -0.0615, -1.1009, 6.9675, 1.7411, -0.0659, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2432, 1.6489, 0.152, 0.9859, -0.3157, -0.1493, 0.0146, -0.0601, 0.823, 0.6006, -0.635, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.0219 left_z=0.0191 left_yaw=0.0864 left_pitch=0.0962 left_roll=0.04 left_gripper=0.0146 right_x=0.2544 right_y=-0.0016 right_z=0.1238 right_yaw=0.1039 right_pitch=-0.2679 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.4496, 4.0274, 1.7216, -0.1148, 0.0269, 0.7595, -0.0205, -1.2786, 6.7487, 1.6532, -0.0464, -0.0757, -0.0171]\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 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2371, 1.7161, 0.2111, 1.1107, -0.3328, -0.1062, 0.995, -0.0601, 0.8249, 0.6006, -0.6579, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3578 left_y=-0.0234 left_z=0.0419 left_yaw=0.0887 left_pitch=0.2079 left_roll=0.0488 left_gripper=0.995 right_x=0.2501 right_y=-0.0014 right_z=0.1198 right_yaw=0.1049 right_pitch=-0.2923 right_roll=-0.0906 right_gripper=0.999\nstate[joint_eff]: [0.5538, -4.6701, 5.4632, 2.3028, -0.022, 0.149, -0.0122, -0.1573, -0.9231, 6.7214, 1.6239, -0.0366, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb3d12d3b2d602ce2362cd7c04986764b47d89c74d6fbc5a5cadd9671cd953a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e493c02fc4ffbab44b63e3b1e9bb5f231746021f472921f25debc30b4b1d550",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac828d9a1467ef3c4e7fc5bfd286cd2afe1030b02c03fac9376b564fa8b4bff9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDt9vK9GPZrOawvgsHJXfmdTrGlt3Nya1Q-41sNzev1bmKd3jxyFutIQCD7gBOelFUypKZGPBMOEbvXfq5yv8dBTxnCUDmC8xuLWGmd49puSxkEuP2hjVy1OkO_5y_sJweJSPmS1EJ-XN-JY0vZ5E5wk62wyVCjvEFiTdzSpoOSsi-0HGOSH3YqNBGypOW9B_v-PSIeZamtth4-RkSg-mWQ5qfBuK2_5N3ycYnXP8RZBKkQout6nvff1Lu5Mc8Uk2Sr3kvokhAdJHNKWk4ymUo67go_SEWEC0vL6FG1NhojvShQop5IeqXNfidg_euj6XmVkxfp9liYpnFL21eQa2jrWGMiYqUWJli_BrPMrvODC8nO4lvGw2Yja4Rv4XfsdrP8xS-TO0umv4UlvGFYlX5Sk4CpwaBiU_Q7rKBEiWFWRMA5LP27hQTM0Py_jxiEjyfSWyKv4jvcYhQ-9HEVXPZv-iErSmnX7G-A2uruyMZ2OaS9yRAKzidPcJfb_Lvepd9HtJ34VU4-snrHYff-d6zopJBXhoIbg_pkAaRQoIKNn8A1vAoxV2ktAzWBiVLwZpXOXQxplL8RVe9ntKA_lVne6JiYxKrTdHgp4VcrqGoIGnCY9Ahlmephdg8Q7oXkCb32g6o3x6sxGJr8mtGU776dkYLmGZugKXNny7ECoWK-5QROC2fsrW-eQJjO5PecQ5ruvy45NKP7hAsNPcGtdupI7Z9g2RF8YjTCiLAbT4OdsWL99QKmx7fMH3gMRX27Fsj9KHxzg8Vifjf9UQLc91BQyihIQ2TWecLMuGj78tw4--Cf__hcV7Y00ZE0uVU6-6Wup9hVNv4q1XjaCzL1jVzrknJ4ZeVbMw0WDfwUk99x9d36VtPU_GCE_KsR9xnMzLfZXVq-vF8q--FZCXWt7UFry8hw7e9GUYRd8TbsjXoJKMgFHer4WBfMWMyp6tPGGDYjzX_Jdgqovey2AF-SWUPMcKcore_T56laLvEATkQo35N6YMzuDdhp9j9fb59RTkQgT4kg153jUTgfe_ZK6cH3pXJDD4altahWaQSy-Suylj0-ozg__iKUTGInshRP-QNl0bv4w7OyOI2gixKZGc1kiV8BzL6OdGW-UhKS7DOMVuW14k3xgQT4Xe3OPbTaaZ6o6r95mflhV7WHCe10mNNurhS0nR0cJR5y9fdrC77JleUxSZKpWoySU91wmxHJLQJL18VZf30Buy6ic_Z6NTP49fNinn_RSa7KC5GT4XxiYLa4IHyf69LiSieAxdsGLVal0aQMwgNKPj7HzYwNmfCiATaV-6J2melXO6rmW-z3xfveVFPA3vabMVplqFJ8Ifm_d6F14QUVb9x8tVNcFnTD2Xwhil6l5-RTBFpJU2d8WQvni7FTOuhAqIISLXSuU7YKEZTeZYWD5YTrDfTgQ--GLkFVGUPb-QyNlc2LWNpw5ZCGlUvrLuu-N-fKK1A0AQ__mDr7EUymMMiQW-eNpP3yuIIAAgWFcXJzgmnQUmG16eMxHYYIsq7wFfyV0bpdE-pkhRBgdymJ4QJhTT0kxX-hzA1HyoysnnAbhijFk4xW78rqBgBM3KKbTNdhz9XrTNxdY3FYjKEaf99J_emPKfxyvome2qyI1AJ8ia4am6dcNNO9_cyV3O0GI9n6-I4_szwQnUVOCP7pBKV9FHEpfw3yYEOiu9ul7JJJK-yJjHSRmtJGx0kN6AezYn7DHUasudLJ5zyxqEq7iMjrPLj5BrEtdRMKqMsXfQpZmOgHLI-JCODTQaIis13kbN1oCAG7lgJwtmjGTC9nXn36kRu5G1ODFn7Y-bcnRcAJ7XTBZLdrMNq8=",
  "id": "rs_0da3cbc07170221d016ab43b7bb01c87d0ad6c28f37fa88a67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.373,\"left_y\":-0.033,\"left_z\":0.037,\"left_pitch\":0.28},\"note\":\"After advancing, the plush’s torso reaches the open jaws in the wrist image. I’ll make a small final forward and sideways adjustment at its body height.\"}",
  "call_id": "call_VGJy4elzo88C0EW6k0sNGydW",
  "id": "fc_0da3cbc07170221d016ab43b7cfec887d0ab29006fb8ddc4cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VGJy4elzo88C0EW6k0sNGydW",
  "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]: [-0.2665, 1.8969, 0.2325, 1.2419, -0.3538, -0.1051, 0.9963, -0.0601, 0.8268, 0.6006, -0.6724, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3611 left_y=-0.0314 left_z=0.0161 left_yaw=0.0746 left_pitch=0.1839 left_roll=0.0674 left_gripper=0.9963 right_x=0.2473 right_y=-0.0012 right_z=0.1171 right_yaw=0.1057 right_pitch=-0.3085 right_roll=-0.0877 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.1453, 3.9726, 2.3468, -0.2564, 0.0513, 0.1245, -0.0752, -0.8821, 6.7077, 1.6484, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee7412afb360b9745ff8ce918e141f4ef2035941918d437625f4fade63682c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77013c405560f7391f7f49e54efe6d0dcf0dd776413bd897922092b9966f6ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aec9d2b75695fc4addf6796be874b6a5c6998b03075c0595be10e7cd591ff98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 8.272 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2459, 1.6375, 0.1612, 0.9817, -0.3168, -0.1452, 0.9985, -0.0601, 0.8219, 0.6006, -0.6132, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3344 left_y=-0.0235 left_z=0.0244 left_yaw=0.0829 left_pitch=0.1117 left_roll=0.0389 left_gripper=0.9985 right_x=0.2584 right_y=-0.0019 right_z=0.1277 right_yaw=0.1029 right_pitch=-0.2453 right_roll=-0.0989 right_gripper=0.999\nstate[joint_eff]: [0.335, -5.9419, 3.0154, 2.3565, 0.0415, 0.0122, -0.0122, -0.1846, -1.5521, 7.1043, 1.6093, -0.0708, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2371, 1.7161, 0.2111, 1.1107, -0.3328, -0.1062, 0.995, -0.0601, 0.8249, 0.6006, -0.6579, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3578 left_y=-0.0234 left_z=0.0419 left_yaw=0.0887 left_pitch=0.2079 left_roll=0.0488 left_gripper=0.995 right_x=0.2501 right_y=-0.0014 right_z=0.1198 right_yaw=0.1049 right_pitch=-0.2923 right_roll=-0.0906 right_gripper=0.999\nstate[joint_eff]: [0.5538, -4.6701, 5.4632, 2.3028, -0.022, 0.149, -0.0122, -0.1573, -0.9231, 6.7214, 1.6239, -0.0366, -0.0415, -0.0171]\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 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2665, 1.8969, 0.2325, 1.2419, -0.3538, -0.1051, 0.9963, -0.0601, 0.8268, 0.6006, -0.6724, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3611 left_y=-0.0314 left_z=0.0161 left_yaw=0.0746 left_pitch=0.1839 left_roll=0.0674 left_gripper=0.9963 right_x=0.2473 right_y=-0.0012 right_z=0.1171 right_yaw=0.1057 right_pitch=-0.3085 right_roll=-0.0877 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.1453, 3.9726, 2.3468, -0.2564, 0.0513, 0.1245, -0.0752, -0.8821, 6.7077, 1.6484, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ee7412afb360b9745ff8ce918e141f4ef2035941918d437625f4fade63682c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77013c405560f7391f7f49e54efe6d0dcf0dd776413bd897922092b9966f6ecc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aec9d2b75695fc4addf6796be874b6a5c6998b03075c0595be10e7cd591ff98",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuAygoZQZvBIx7GQ-hq41LMN5953tKmARGjlbs5uooGcCQ23bFCjndA7oHl9RJdxrWaaksl5xXU_3LMRMlRl-fWEwQNBXBa_IuQRk-AcRVeh523SlZo6UXxy4qm3dV5MSVVMNZj4QMfmcNz2Y3aLxf_FA40_CsksHorAZIw0255xF6QqQLvOQXd0yxYj9FS8dgJB_BVWn3zXgYwE7l7Ok3OkFJsIRVOHDqcUFItkkdF-vKIDfZ8WcJciKuXFjNnH-sKsNLqx6rmcMf1pFLgbSlopU7emRKS2yd-QGMvg-IC8ekXgw260zI_Y-SoO4K-hpf-soS5X8YZ5pPf7nSH6tHf0vV-mo3lghFeO0mKyF5Un2TW07jcmMsrwXQ6EbvIATKG-ecn0d4JWP3HrxLQNRCunbbXOTsf84ADptC780VF_PSpZnqownO_IkOsZkNCfLrBoPmW8Mz5FLPxqAqvZUPS9DWzTu-bSnQmVOQCe_23PTMGMpn80cs-Yzt2lEk-vfjaeMlmlPqDEfO61NVi5-9XTN-j-B0nu8ZJdQxGd-MFv_pCHoQOMJTIL-ZfbySPfv1juElzodImuXGMkHvYNry_T_DpUWOTqa4uIQNwscYsybt0qEVsOq-rNlej-6DCMQ2FAtTAbthbKq2raxKTDjeQTHeGBU_Whu5gNkVQMPYs5dbZFqgnsDMfY_sTKrAedj7mJq3xIRmDOLorAAIgJp5S_xA69wPKzqSrYeULSUrqlCzVH-IOcNsSoKcIt81luoUp2aM5C3km9w07Nemr4f0v20APoyU8ty_D-6pYnzZx6lxK5yMXveFwYdttGsBZMlwLR_gM67YdtMmMq6AjgCoAgyL0P1-Y22gD6Ruq6BhKtmrb2dhov2abSh_peu7_mZ_U2nYHDT8o1xGGSMlz2tKGTkqgIEeCgDak8ZNzTvaxor3QGO1eMBFERwXZjhib0k53EMSBhOcP_iYgS1oaIxhj_X2i_zDV_hx9yJyrcKZBfGEW3CMFczbdDKCiILikVAEFi9lq2hRXbLBVzQQa16usxo0bj7hObiNt5BKYqV6K9p2trY4cxL681OjAVVe8LKY0uDOyrVRFdM5-AwN_Zh-0mCPLwdMmc-Al3rM3NWqXfCHUjNYCfzILVNDSc00feGtiBMSi0F5IK_p1T5RoRD_aRxzMQEBOjo8DaUwO777IYpawHdbYwVG29tY9SeNrj6Tb",
  "id": "rs_0da3cbc07170221d016ab43b7f9ee487d093409bb67354840b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush now occupies the space between the left jaws, and its body is at fingertip height. I’ll close and check whether the jaws stop on it rather than closing empty.\"}",
  "call_id": "call_A7raNTW1d7lQCFuMfewfS5Ie",
  "id": "fc_0da3cbc07170221d016ab43b7fc63887d0be83edddc2775deb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_A7raNTW1d7lQCFuMfewfS5Ie",
  "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]: [-0.268, 1.9137, 0.2432, 1.319, -0.379, -0.104, 0.018, -0.0601, 0.8303, 0.5999, -0.6949, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3694 left_y=-0.0299 left_z=0.0304 left_yaw=0.0992 left_pitch=0.2537 left_roll=0.0524 left_gripper=0.018 right_x=0.2428 right_y=-0.0009 right_z=0.1126 right_yaw=0.1074 right_pitch=-0.3349 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.2291, 2.9197, 2.0781, 0.0122, 0.0904, 0.823, -0.0752, -1.388, 6.7487, 1.5507, -0.0562, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7635d1c060469d24e03ca98d1508d3a8ce7ff91cd5db40ab2332e3ce7a3f51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa49464ec3471e1b900498c6105eb6bcef04f073ce0e6491f73051aba6494fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2dfa1315ac2c638570d00f4e51f88058f7c9972bbbf6fe66267f1ae465cf0a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.566 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2432, 1.6489, 0.152, 0.9859, -0.3157, -0.1493, 0.0146, -0.0601, 0.823, 0.6006, -0.635, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3308 left_y=-0.0219 left_z=0.0191 left_yaw=0.0864 left_pitch=0.0962 left_roll=0.04 left_gripper=0.0146 right_x=0.2544 right_y=-0.0016 right_z=0.1238 right_yaw=0.1039 right_pitch=-0.2679 right_roll=-0.095 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -5.4496, 4.0274, 1.7216, -0.1148, 0.0269, 0.7595, -0.0205, -1.2786, 6.7487, 1.6532, -0.0464, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2665, 1.8969, 0.2325, 1.2419, -0.3538, -0.1051, 0.9963, -0.0601, 0.8268, 0.6006, -0.6724, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3611 left_y=-0.0314 left_z=0.0161 left_yaw=0.0746 left_pitch=0.1839 left_roll=0.0674 left_gripper=0.9963 right_x=0.2473 right_y=-0.0012 right_z=0.1171 right_yaw=0.1057 right_pitch=-0.3085 right_roll=-0.0877 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.1453, 3.9726, 2.3468, -0.2564, 0.0513, 0.1245, -0.0752, -0.8821, 6.7077, 1.6484, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.268, 1.9137, 0.2432, 1.319, -0.379, -0.104, 0.018, -0.0601, 0.8303, 0.5999, -0.6949, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3694 left_y=-0.0299 left_z=0.0304 left_yaw=0.0992 left_pitch=0.2537 left_roll=0.0524 left_gripper=0.018 right_x=0.2428 right_y=-0.0009 right_z=0.1126 right_yaw=0.1074 right_pitch=-0.3349 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.2291, 2.9197, 2.0781, 0.0122, 0.0904, 0.823, -0.0752, -1.388, 6.7487, 1.5507, -0.0562, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b7635d1c060469d24e03ca98d1508d3a8ce7ff91cd5db40ab2332e3ce7a3f51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fa49464ec3471e1b900498c6105eb6bcef04f073ce0e6491f73051aba6494fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2dfa1315ac2c638570d00f4e51f88058f7c9972bbbf6fe66267f1ae465cf0a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0da3cbc07170221d016ab43b82c5c087d096bcbca27cb0c0ba",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuKKpwJek3HOos6I4LWliM1lIRQgu2pLjWns1A-gqJNlKZQFOTkriiEonKS_UNuEl-IWoEbpgIWZkoKM3LqhDWAh-dLbNxHV0RyMz4DXVlNZNa7fbWx3oEEdKJ5y7f6JiDSFSPb2bLFRS56zfBzA2rW-XcGY9smcaa2kGu9xu3uq2CZgyEuCBjyB6daTTV61igSlmwuPr7A5rBp9ggAlx74X2bwL24bJWby6f7seE9bmRHoLhOwMZsGBbDdWnxJkF5ykIqOyZq2lg-D10L9ZF5PiwXuvws1WjNqrmFOsVPlVoK1mnSlf_-vI4ZDoCjuij1FTJU_n0nsWl_bqyxYX1g6eBUdN1wacIeATGDiCxYrj72V8KQ5APcK5UcNK0C4TxzSAzzpFqldzCWxmbGg-AhvRAokIpbWN37mOZ-E7EYR_TVjKgHC1JVrdcs1JJ5VkJN59rdeW5iT36esqOit3dhUYzhP0kcdSrSrILSkLjVCApPrJ5OpG2s6RWFMjxrzeAIq1migHGQI3EM6C9wrlvS_JKkZIuqyOqO_84Qsf-HV82nZPv8sf0eFjf_R5sG5xATscChHKli7pfDbzkLBJgfiKEWQ_PCe_ElnxExX1BJTaahogCCiM6bD70WndXFdFeqDSZau6k7BLnhTOZES3KYzPMxc-MGLxWZajc5yZvJelej_8yAF3QDPzFKyrtEsxgUxKp_rsriImbXaeCR8Ia_mBnVtVEHuRgCGMKDmXrqBqinc7sVc2egy4LrO_7wLqjzR6fQCCfRpS4_A1WGPN32eozZrYVD0N6Fd63k4MN43Q_qByyDW_wwDmP_pzYteTPbnBUgXrBnRReESR8pVsQd1eB9RgoW7yXbT8eYT3ct6tCKL5sDZifx8WKLaVdLY_WrGLEXqPMt-0PvfXX5CPFY6lUOYnFbIHtvShBGFBTkBFeWARsIe3Py2EK3uiwEzaZu5bZrhqHrDoK6QTcwsf5UBPHJLm_A7Iwv1nY2Z_rLblHsy-Wy_6Ab1WaMoofGHbrbQbzR-f6GrfMgMZRyJyFVJ5nFgJVZdoNYEa2zkxP7dZczF6Uyn6XDLeDw3eeHWvHeN_2fTe_J4U0RkldIWNB7pHdEHEOLjFTRIYCz1Nw3DB47eYjtIEAYvHjrZYgOAMFZUsytV5uGO1T3LHmRJMg0YEyXWq2y5jB59iR296YZOSfn_StHRJ1DsVK97eJcWjabnjIE3M0aLjCsftabT-vPRyeo9D2PwVLx52Wn4I4qTEFOlTyIPncGZzoKx6GnQgAdsJm-WrqsBAG2PD1nffYdiM9JeIZ2uY3Ju0BXiVj3y88eS_oy6Bghx3zvPTGUQ_dyzfDH9dEU-VR8_LNZQVaGB0lQXQEdWz9-6coxHY2eCpfGPUMf20b7M62N2GCzdXb8FL2wePcWHYIZP8zRcfGwX6FNZYTbqqMt3oYTpelPYDpVdRa1ud02HVX0EpcnE-RRxaKS-GsqS_LqK9ijRjA_jj6JSM37_GY8r0wClNmGK39m6FynxKCaCjVZGiqO0f1UWCjqIH9hTqnnoJXNeLwqsYMxBaVOqL2UTDt7quOPJ51TqMMgyyE2UyaBJUDDyENdfBfSGCZpO4ZxcwbpYHgJswrDBEt3UrYvqHKLu-hcb1ra2vZZ3PZzG5Xc6hwwQ-pX240Tqs75Py3XUgRClphUMtfGqWngHF4XAY-XO2vNi4pHZ4sEfwhQuZmXhMHrib2Sh6fTqZvpVRPl4zmCGd3BSGq6u0J5kegcOvBWCDjptyJtXHrHqKi6xRt162ZlW2GPaHk6GnBOvB_bKK5A8hFK-BLK3cdrpzg5kfx4GxMTmJNxACA6u9nncgJOdZOmBwYPp1Tl_dlAFgZl_bmfJ5PKO-h6PsEhoAkIHpXCTYHRqa0qxMbxAawXKxqYCrYKcBtZmlPsSil4pljlbmhSntbQUG-LjRDee-uYIiTl2UAffKpk=",
  "id": "rs_0da3cbc07170221d016ab43b87982c87d0bffe1302c80dfdf4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.4,\"left_y\":-0.035,\"left_z\":0.087,\"left_pitch\":0.27},\"note\":\"The jaws again closed empty beneath the plush. Its raised head is farther forward than the grasp point, so I’ll reopen and move forward at a higher height to try grasping the head instead.\"}",
  "call_id": "call_QvDDWd23CQ2Mnmmk02XIQDq8",
  "id": "fc_0da3cbc07170221d016ab43b89358887d0be0cc26fedab9484",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QvDDWd23CQ2Mnmmk02XIQDq8",
  "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]: [-0.2588, 1.6619, 0.3672, 0.931, -0.382, -0.1089, 0.9951, -0.0601, 0.8341, 0.5995, -0.7101, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.032 left_z=0.0725 left_yaw=0.1127 left_pitch=0.2429 left_roll=0.0531 left_gripper=0.9951 right_x=0.2397 right_y=-0.0007 right_z=0.1094 right_yaw=0.1083 right_pitch=-0.354 right_roll=-0.0796 right_gripper=0.999\nstate[joint_eff]: [0.253, -7.2274, 6.8444, 1.7998, 0.0024, 0.1148, -0.105, -0.1846, -1.2923, 6.7761, 1.4774, -0.0806, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7706bd93b9993fa8ce6af6823800abb62c1d5ef64530333c3832f3b801abf262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d52e94e9683c262f4c605e64a8b52d0b1d8f318252c7e9a1f899ec67f1dc35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cc49373542cabce1c9c9105d256f190151f5902e1a9d795dcc28d7c9520142",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 7.29 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 86 changed as sent

message 94 changed as sent

message 99 changed as sent

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2371, 1.7161, 0.2111, 1.1107, -0.3328, -0.1062, 0.995, -0.0601, 0.8249, 0.6006, -0.6579, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3578 left_y=-0.0234 left_z=0.0419 left_yaw=0.0887 left_pitch=0.2079 left_roll=0.0488 left_gripper=0.995 right_x=0.2501 right_y=-0.0014 right_z=0.1198 right_yaw=0.1049 right_pitch=-0.2923 right_roll=-0.0906 right_gripper=0.999\nstate[joint_eff]: [0.5538, -4.6701, 5.4632, 2.3028, -0.022, 0.149, -0.0122, -0.1573, -0.9231, 6.7214, 1.6239, -0.0366, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.268, 1.9137, 0.2432, 1.319, -0.379, -0.104, 0.018, -0.0601, 0.8303, 0.5999, -0.6949, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3694 left_y=-0.0299 left_z=0.0304 left_yaw=0.0992 left_pitch=0.2537 left_roll=0.0524 left_gripper=0.018 right_x=0.2428 right_y=-0.0009 right_z=0.1126 right_yaw=0.1074 right_pitch=-0.3349 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.2291, 2.9197, 2.0781, 0.0122, 0.0904, 0.823, -0.0752, -1.388, 6.7487, 1.5507, -0.0562, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2588, 1.6619, 0.3672, 0.931, -0.382, -0.1089, 0.9951, -0.0601, 0.8341, 0.5995, -0.7101, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.032 left_z=0.0725 left_yaw=0.1127 left_pitch=0.2429 left_roll=0.0531 left_gripper=0.9951 right_x=0.2397 right_y=-0.0007 right_z=0.1094 right_yaw=0.1083 right_pitch=-0.354 right_roll=-0.0796 right_gripper=0.999\nstate[joint_eff]: [0.253, -7.2274, 6.8444, 1.7998, 0.0024, 0.1148, -0.105, -0.1846, -1.2923, 6.7761, 1.4774, -0.0806, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7706bd93b9993fa8ce6af6823800abb62c1d5ef64530333c3832f3b801abf262",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1d52e94e9683c262f4c605e64a8b52d0b1d8f318252c7e9a1f899ec67f1dc35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cc49373542cabce1c9c9105d256f190151f5902e1a9d795dcc28d7c9520142",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuNenT4AySmHwhAJTN6KArGzxuq76E2srhOXje1Kk2qRL7z5N1-cc3Wis1J3xXiBF9EfpZvdWs3oHwqtU3Os0-nv03FEeypxPIXRFtu9-G-AnG1S9CzRRHMpiwtNpZRHCUjwBL940sjpEjZpFDqH2WSf3_TEhHmbsZ7ZtUTdS1i7M0Pr9FrfqRxy70dXJdzEQXhk_Vj8EcWbk8Twe4y8bwzwKD6CSojBF9dB57lZAhb_4-svHEuI75XIYbDwXLa-9v02ba6cJXBDhqOU11pr7y5jtoh4atM_akB_7SBFNJwLAdxFeqIUq44DUU9MG7ehOPXffjUey2fgiJv7ES40vAPMzKqkEtUzjor5knA5z47q-M0jo1osUrjcqoh8QGnohzLPZH9wi18htHGtBpVHWt3lj3jhR2jWwkvq9J-6A8XC-RD9uOR1njziwz0qanV9HvzbGKe-NxoCBIUkfdV5eZNeHKk4NVV_TI9x5hAvUgWVXOLdw4o5xPWGuEcFGc8C1HIKScZKtNOYlT_-0byq8NQ7mAlf884ChIFEPn5UhDtgahWXqaT0HUCH1NwpAkewDW4DCfIHINYp7J4W9-PqY-GTa2Pvr1MP6xelNmuGQpD2SDBY7_KHtkeKvLyDwDTfaOKb84TXW3p6MdsnTF8YQInQEvlJgWkQN1b6PdlOH-4ecS6NvQEfA6Qx8RNk8xBVTpIEw4PxlrQv1w-aMcuP43P0kpNzR7zQfc3VgSGSTeFEV7QA7txRXrHPgX8AInAooGoC-q_61XbVcdPVmKh9NP8ZjOr4MpUqhb0VjgvD9UqIINzq8R5kHvMBiF5LIcpF7n_BwsWnzXIWro3NroTrKpSCW99TwPadms3NNN051BVqTyOG6xcRi_X088cP1U4-ArHsu8xw6o7AOP2VJX8BCWVVZVMcW3Qdfge8xEPOnh9VzegPfXF3JfjNQVtk-INg0IWBVuC-rzg74R3kn6EDMSPTBYTpqEAzMNZ1w6gC-mcadJKvlTAt3IvW68ASwA6piSSQk1SuaEDIbK8yDD4phjwPq-1EX-38g6ZSvmigUxv8O6F2uAoWshJccocAPomqrWHn6vaDTDrt9y9CMuEDWlJvQCNqzTw99-1rMCbzZPMIH9lGTN4fi2W7n_HofeXUDPSyAebRo7tYz9Vlf6IVrcLgf-Gtm6EpFbk47tLn38m-9e3TP1esP0bHm-P0zGg5Va4_dglUJAGDmT-2IkkmczRrkwOXKMsyMiPboQhZhFnOe51oXYLoVDbHwZXb19VgKDh_avrP36uh5uF3ddwaowb-3S27oVV81HTRfHNzRd9CrTQw3S03Wjp_QegV-kNHPw_8CwSQ9K83n8cqkZlsHTcNGgeh4Vo9XOgHK3Rtgi5BCX84F13aek5vhkS0_8TO0g67FoM-uUleVGYe0jRMpmfxtfmRrqMjY2qg6dnlo1wVTCfVTt9gZJbulgQvHcDtIX0_zqpsxIUE2y_XRgyK4-TqXcK0pBCvUkFAZarH9iz23ot51OiwISHa9AQCWThWKsl5VGjCwXn4J3pZ8lbkYWCOBYMZnLltLqstMkc7QIahiI=",
  "id": "rs_0da3cbc07170221d016ab43b8bfc7487d0b7635a5cdde21569",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The plush’s head now appears between the open jaws at the higher pose. I’ll close there, rather than lowering back under it.\"}",
  "call_id": "call_ra7onHzQhgvu9qkSEmWWKsHH",
  "id": "fc_0da3cbc07170221d016ab43b8cda7c87d08279964159176f29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ra7onHzQhgvu9qkSEmWWKsHH",
  "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]: [-0.2565, 1.6547, 0.3714, 0.8974, -0.3824, -0.1131, 0.0095, -0.0601, 0.8345, 0.5995, -0.7246, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3911 left_y=-0.0307 left_z=0.0693 left_yaw=0.1157 left_pitch=0.2225 left_roll=0.0575 left_gripper=0.0095 right_x=0.2368 right_y=-0.0005 right_z=0.1072 right_yaw=0.1096 right_pitch=-0.3686 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [-0.335, -5.3949, 4.1504, 2.1074, -0.0464, 0.0122, 0.8083, -0.0479, -0.9915, 6.653, 1.4725, -0.0757, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b20d177d637cf27d676ab0ec5038b1ba22dde8185689283b31fd01800baa7a23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46072155599ba3310729896c02b39e54dcedf24a5a96bf59f48f08ba54cecf31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edaaecba8b99308ba6b08604dc0fc2637c2319ba356d3a1235e571e15499c4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 3.834 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 90 changed as sent

message 99 changed as sent

message 103 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2665, 1.8969, 0.2325, 1.2419, -0.3538, -0.1051, 0.9963, -0.0601, 0.8268, 0.6006, -0.6724, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3611 left_y=-0.0314 left_z=0.0161 left_yaw=0.0746 left_pitch=0.1839 left_roll=0.0674 left_gripper=0.9963 right_x=0.2473 right_y=-0.0012 right_z=0.1171 right_yaw=0.1057 right_pitch=-0.3085 right_roll=-0.0877 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -7.1453, 3.9726, 2.3468, -0.2564, 0.0513, 0.1245, -0.0752, -0.8821, 6.7077, 1.6484, -0.0464, -0.0317, -0.0171]",
      "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]: [-0.2588, 1.6619, 0.3672, 0.931, -0.382, -0.1089, 0.9951, -0.0601, 0.8341, 0.5995, -0.7101, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.032 left_z=0.0725 left_yaw=0.1127 left_pitch=0.2429 left_roll=0.0531 left_gripper=0.9951 right_x=0.2397 right_y=-0.0007 right_z=0.1094 right_yaw=0.1083 right_pitch=-0.354 right_roll=-0.0796 right_gripper=0.999\nstate[joint_eff]: [0.253, -7.2274, 6.8444, 1.7998, 0.0024, 0.1148, -0.105, -0.1846, -1.2923, 6.7761, 1.4774, -0.0806, -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 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2565, 1.6547, 0.3714, 0.8974, -0.3824, -0.1131, 0.0095, -0.0601, 0.8345, 0.5995, -0.7246, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3911 left_y=-0.0307 left_z=0.0693 left_yaw=0.1157 left_pitch=0.2225 left_roll=0.0575 left_gripper=0.0095 right_x=0.2368 right_y=-0.0005 right_z=0.1072 right_yaw=0.1096 right_pitch=-0.3686 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [-0.335, -5.3949, 4.1504, 2.1074, -0.0464, 0.0122, 0.8083, -0.0479, -0.9915, 6.653, 1.4725, -0.0757, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b20d177d637cf27d676ab0ec5038b1ba22dde8185689283b31fd01800baa7a23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46072155599ba3310729896c02b39e54dcedf24a5a96bf59f48f08ba54cecf31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4edaaecba8b99308ba6b08604dc0fc2637c2319ba356d3a1235e571e15499c4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuV_fgiA5s67K5ECOSu8nxwrnvgusgX3VdQ-fk7iAnhCy3XxTbPoShInihXV_hBxu1KiwgB61Xc-MJYzvuy-icC-Sxkj1-1amK-XnTTwjLlXyKkfWUqpACwnKCm8QZGci8k0iAvbsWTgbvL0tEADLfrRQxPz4h-OIhT45-Rav1P--bQHKlQ8Yd8IK6ujy-JMKuMpMSre1fIy4y8t1BFGVGOmAAhbY-8bUaDgRAbfUSO5jfhn94cZUhY1-OwBHSW-B7h46AcpQWfvm9fvGAxcZ6h-zVA2eo50labO8PKsEFISM9XO-6NLT0iSscFv4yiqmEyI5w05THzOdbf5I5keniZZC3HrK2iDix-HOdpt7YuzPzUAJnS7xcPM6O4ig4i7GJVaNHLHLdgC5Ut4GDWaiYRADaGAUsF2eTn8dchedgA7ODUj1EWqDcYuHHcLZfhZGOOgku9fufrxbSWFOW7NaK5hJLXaG2B4PIJ91I05FXVxkBzUROLSKahTGkw4GUA4nUAzoU6uvS8NOUq4Z6yqWWYusovPOeCXRD4TwOmcCCtgs2oYw940yhT_yTp0KOZRzs9m0fuk62Pcgkeb2JloTbG7MlDXwBN2uq8OtJLkS3zm891Y5Z5cwTQjdUbpyWGEGkjRiTkUU1zs-EBL_oMFosPAG4Yy-BOiA5IHaIZpTScn2FWx7hzqO6xppi_v6xEDgdXAV7m6cLdPXFCuUgiRc5yzkExEhtsJKzqeij-IrHVQ72h43ApqawvdeLUiyOiNb9qdJtbiWqwSQOSMXsrBBcqjCuU94YI24430AWQA64xaa2LjrA5riicWtvJUNePlr2qdl4iTa4qVNb6knGLikKAxDW3dUTfjJJH89e6UoJTl_HPJepDzKVoUmiGUPx-Izf8yzOkQ6z-woC2mfXkQ8GporO2_FFYFdTP89UmVCUQpQTq6dnVwxkZqZkOes6tLCudHgjUfVqXLSplihhFwt2HhQO3EqEPQKrlTbuHw3_2DtnTDzOiUj-nsWPLGysyFplg0CbcfLLYckm7eld1xpDEr9L1v-kVIp38KF_dvC8Zqpqw1DMh_k1L_tz6ygoYJvIYiKhV5uoJa8RvTwHn4OHSVeSKxpKWhmXZOzIp5pTGGmRWsu8aTlh55IZse70wYRXoxynOIOHKDGgwTxSNtPMmMiwib8AQt4sfobBv0JdVZspaqnTcx0GZQjhERlIl3zk00634_q-LYnKNeorJmM1pzMOkIXTSlYde5f_lCCtZt01mAl0unDvJJiXhVtEiZ_Y-neICBuX9kJE3d6-NUa9wkw8sYu5FAciZXnAscB7HXndeFmOUiEeQNTeqDIWyEuxdu0t85MeMY-k6X8bnTsVYKcT0PGPK9AR_HCECp4_fpnm8FS-cT8q-HQRA6LP_5CpldHodRay5rsdsgIsOWGQhGCv1tYhofdzgTGNVPeJA7cbqvr8rMcZ4fTsFkOaYblHCo1CRKqR5WI6tJePWYuykemb05u5e7XHfcwtf3ZxQbAZhpksHI8NkG4pZvnSG1Nh96TlQpac9Ld15cAWG1UFs0uO3EAH01vJqt3NC2AwGmcwFyoGIVWXrfKBZSkcvKSHiT3A-PQpI15uCpdDx4IliptCyajwscCHlS7mrDhgmSDMmhHSpEgzAru8KLA_NtG3PDayjAfyw893XSF-JHj-eSaTb5YDAGwpSsV3_f2z6Bda5JY9DwX5QNcgR_uFD4CXIGdUg3-Vr8w3Mf_fCx8bC3TnO1VQB6BzpGzN7PX47totizvq5m4ShQ-jZlWBBPguakkw16CRsfrBMc9RO3MCP1c6pfxTKP8SkKFXYjJ4jhVJpgLD_lIMKJK9Rszl36rMeXjdKQmxCmStDUMC7waFLruJJeQmcJxhgWfEXFvrTTJpZQ4dVAnY_X1hBbuGc5rdb0OoYhlS4YCnIL5hw1CI9H05wXXO-cNQY_DYU6l1qO8U8gM9F92COmFENkueS7D9VfDFulySIc2R-qTs_XtwdKzSHYS8GxRLuIp7cnI5aceoIZ1rhelOZcqKtAindqDShBaQ1QHNyP8DLfJ1mn2ANIzwyhM2YDgI0XO1TSP1O3eWEI3JY0hZhuAoGB8wk5ktNNAtjOHHyZOZRAy6SLMVNpZIR_a5dtQvvxKKCRN7D3CdjGlrIO_WabltssI8E4MJldXh71cE_6igEr--zkxv55cbJ1L9CtF-8P9OiE-bO4vmA6rxyT6Z7AaNpuiIw-WSxS8TaZTIEQGmzyelgQ6U1BNUCwwGQ49HmrNv3PFR95KQj_WSM7P1ggks7FGBolPAmkMpBmjVuJWno7NMsNYg56O2trxsZRSG7NI_sHg-hndRxC6lO8PKC3yf3pY6fU3GIvxunnyaj6tM4RQKb4MqBRofvvvOmTvgQaE_MsMENUS4u122_MptpbP-Alh-swQu6DpF9_cKaX7apKVQGruHo2SaS2vG4CWCM-Hk40H7aV3TVYL4SniiZTJ193KkfTfuGpZpNa2xH0DmXvpAbZXmCcHhw6IzquhHGjL3OE01WO_TUxPXDOoetWotJS7A7ndGanHYtKRxTj_njYF6qp6kBsseJcNjVizsi98fiNrZ6KBZcSsOBbX98SG7A0iVW1lFN33zt-0AHiWjtnLXntuoCeItZf2KL2-HFHXpt62Z7-_B6G0nJ3mT1uXM99zKth_z73D5d-K4Lx89PsW5zCB5_kru8_8m9nfSkX4YAh8L2qCoI7KBtpMYV6czEE8FOHg8z8LKQjHVb3WM4W0TA9SEigya3xtunmn3WZyY8JjrIxad34HDO833-K0HiG24a4hazLpez66e8Xp7rLbDbc50xQdOtnh3MDAK9grraPXyyVNDdp_P1ojTvHKC3lbn-ggP6HAFA5mEb5rEfcbtGoLXsBOF6F7w5KqNn0DacJi93yrSuSLZmzH4mL2egYWWJU8q5ddOyB7f_rPOdZNeKD0CcUP_cNkf24ITz1yq7mHZOA_Yw5KGLYEELL9rcUfz8jaEtGO1r8ypQwsMj1eZJMgMRa70NxQaxUgIkxxmvjgNiJBqQixr8OvLkw57olOfm2QrICpeO6TOlix01AM8KicujOKq0yENRZsXUOe53bgT1sedgaE-JeHuKOzzklKxmN50CkqYLDuNKMl-ImBayydVfWcNqG_Id4ZA0hIbBEcCt0JIi6OTYTxhcDaByg7WECVoXoHfzUrNh0JcymczuBqmhoG7UxNFNqpNMdyJ8s35Sc2mKl42XwI85keklmw54GTFj00IIsSnZ5Y0Pk-fXoeIS-F4OtMktwLO27UQqtst31c_WtGTH0K25aCCsUeQGq_mwvho5TFsVaYCQyLPqoc0b7vc5gqkeNuBAcmGnKBiSakrmJyq1WHdQARVYPRpr6Z7YNUAK2vRf81XI3SCdzjX0lLKysKLQcppunjqpdp1RzRGLE-VH87BCi1dw-BxN5q9eYvgoTavW_kFmvl_knh90VyKbtNbY8cxAEjrtuoPHYwB7YgrAJafDXWfWPNh9tPG0iFMQs1qml4JHXpMvl5vQ0kQDV8VGR_btzJzHX-kbC1h6SSUkLaNMLgI4lU7gN__WXUMI6GZLjByJXqMtqNpoOGC-YAPDjqLyNsKkG5k1Sk5eZXG0c37B1g_2JGD00Ty_gNKLPy9DnKEaCAD6jI-hVu3Wk078TfzRjdR-bSiPLYEv0vANIUxVNKhfvcvJT8lIkqiZKp4Y9v-VsNNTzbzPpLAitxxc0QNpumIU4IyBHkAGKJrN_n-9-EhqQftjYLmU-HGFKKySqPqZ_nLQbgY-0A==",
  "id": "rs_0da3cbc07170221d016ab43b8fe57087d0a4c1ddbc64c01521",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0,\"left_gripper\":1,\"right_x\":0.47,\"right_y\":0.26,\"right_z\":0.15,\"right_pitch\":0.28},\"note\":\"The higher close also came up empty, so I’ll stop repeating that plush grasp. I’ll park the left arm and bring the right gripper back above the yellow object for a more forward approach.\"}",
  "call_id": "call_48MaJU9iaDCABHQIURil2NGG",
  "id": "fc_0da3cbc07170221d016ab43b94937487d08472a072959d3c68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_48MaJU9iaDCABHQIURil2NGG",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 0.8158, 0.58, -0.3843, -0.2985, -0.1577, 0.9977, 0.6785, 1.8965, 1.0908, 0.3252, 0.5426, 0.1314, 0.999]\nstate[eef_state]: left_x=0.2912 left_y=0.0009 left_z=0.1667 left_yaw=0.1299 left_pitch=-0.0099 left_roll=0.0588 left_gripper=0.9977 right_x=0.4551 right_y=0.2543 right_z=0.1248 right_yaw=0.1493 right_pitch=0.1803 right_roll=-0.1167 right_gripper=0.999\nstate[joint_eff]: [0.3077, -1.7162, 10.0581, 1.7265, 0.0171, 0.1099, -0.0171, -0.0068, -9.6615, 8.1299, 2.0537, 0.3346, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8e10c25a1008eaf27fa5b94e5d0c12dddbc0d2a0dce8a3951cce034b981479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cae53dfc8eb8de5d8ccc2ce9670a8c290539b44f9f64d7f10b616eae1b2343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe05b83bedc8cc3ef8b03c9a701b5ce30160ee78482bf7037c7798f5b32d3e2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 2.249 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.268, 1.9137, 0.2432, 1.319, -0.379, -0.104, 0.018, -0.0601, 0.8303, 0.5999, -0.6949, -0.057, -0.2104, 0.999]\nstate[eef_state]: left_x=0.3694 left_y=-0.0299 left_z=0.0304 left_yaw=0.0992 left_pitch=0.2537 left_roll=0.0524 left_gripper=0.018 right_x=0.2428 right_y=-0.0009 right_z=0.1126 right_yaw=0.1074 right_pitch=-0.3349 right_roll=-0.0833 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -6.2291, 2.9197, 2.0781, 0.0122, 0.0904, 0.823, -0.0752, -1.388, 6.7487, 1.5507, -0.0562, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2565, 1.6547, 0.3714, 0.8974, -0.3824, -0.1131, 0.0095, -0.0601, 0.8345, 0.5995, -0.7246, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3911 left_y=-0.0307 left_z=0.0693 left_yaw=0.1157 left_pitch=0.2225 left_roll=0.0575 left_gripper=0.0095 right_x=0.2368 right_y=-0.0005 right_z=0.1072 right_yaw=0.1096 right_pitch=-0.3686 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [-0.335, -5.3949, 4.1504, 2.1074, -0.0464, 0.0122, 0.8083, -0.0479, -0.9915, 6.653, 1.4725, -0.0757, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 0.8158, 0.58, -0.3843, -0.2985, -0.1577, 0.9977, 0.6785, 1.8965, 1.0908, 0.3252, 0.5426, 0.1314, 0.999]\nstate[eef_state]: left_x=0.2912 left_y=0.0009 left_z=0.1667 left_yaw=0.1299 left_pitch=-0.0099 left_roll=0.0588 left_gripper=0.9977 right_x=0.4551 right_y=0.2543 right_z=0.1248 right_yaw=0.1493 right_pitch=0.1803 right_roll=-0.1167 right_gripper=0.999\nstate[joint_eff]: [0.3077, -1.7162, 10.0581, 1.7265, 0.0171, 0.1099, -0.0171, -0.0068, -9.6615, 8.1299, 2.0537, 0.3346, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b8e10c25a1008eaf27fa5b94e5d0c12dddbc0d2a0dce8a3951cce034b981479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cae53dfc8eb8de5d8ccc2ce9670a8c290539b44f9f64d7f10b616eae1b2343",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe05b83bedc8cc3ef8b03c9a701b5ce30160ee78482bf7037c7798f5b32d3e2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDubl0kqm_uTLXZFDyWKKUbzGQxkSW6JH5czEYYiaBYBxNLRXTX7w2zZWUN5guizCItycJzsdmeQG1U83FERbvkDxBEOWjM_nMglivAqc78phGFsqtRN5CTWPyxhUzPW4tPEMLYZZgInG2U5opNX-CHqLI4CL8R4WAthZevAmqXrXzgEHu2i9RuWdlZOSkRhMV-TIXeBLdwu874beX21jv2crFyOFJpuELOHMJBJk395-eZHHPsFGHwDbXr44ZAoWhlMuLFvKmahYFevaWkDJbRq5L3J9kKNbFBnfttklyWy6Ce3Fj5JHnPf7Z5CsFvtagSieyZFfq25D1rWpQ6xjEKtU88f8eI1-6YctHEh1GC9DBsmL_Ka97pfYtyuZm4O165CaV1991-dFwYbd7ae75XdKFwNrARA_yvHYPyvpKHZMvICS56Y6Rm4oLhZrV3Vjufv084g3QxNyeaq9C6rFaqA6FIAm3xaIm_3kzZvBtaeXItjF4HuxjGXdPD6dJXfTtoLo2aQHfBcvjZ6NSE4ggTVhSAABWSrfyy5y1Nu9BtBTNgtWSbg67b6QrdiL0bOaPivuIaw3-WqDxKUwGn1kT6X3Z4Btbk7ls7tR9mr-WhR7lPVmyi1bVSiLhVY_quXhpT0CoCXcvKfjQRqzthp6SYb4uAMuj2djZO8odiwLQtPZ8TA--2EalqKrJiNv69IJEInoUol6uhLcJHkTEu_RcmT8NjP1m6SvXmNsZIy8J0_I2fJjmNSprEjK6obZnwuAEdur0C-vY8nsRMu-3eC7fZLy5d_preIwXV-limb3P3_lIBv0DK7L4CTqV1IRdlQsZ2I_lmvW5u9sRud6S-5m-HE-sN-Nu0_hvhHxh5D5d3BIEIZbPZp_-KS8slwQtxFmiC1tqAPgWYR26OZ7NY8qJ_VuFCdPufM_p0u9mNh4DfDXznjCr14weSvpq37R9FN0dUZiX8C34F9qxPw5nwm5NfcHX-EB-ozBqeSDJwIHVsqaqMibTkTn6hPtXf1pqX6b1BpFp_WKS38Sxy1bG1Aeo0c7FWBvZmv2FRi6xyJl7Ts_nB9PbQbz-aTaW19z74-uGncWr7LCTfb3qQyg5A3phLkskTtGxgNoD2dOzNzolHg3TJEqIjgU0xb8Udf2HdXJOqU8jhdAmxiyDlt8897mua7YNsP5FoSEw641_IjbUgJCGgDDLr7O-C2j_mLzOUJF_lea9X9_deppxB_ud3NQ_FcWYcwj2vJofmAw8C9xw1NvLOeeUWv6Clxd0hBnqapWY00I6D1ivFJ-4zQIQoGOhGzDkBpHLVJnki1zdiYITG0xxzTQ_0Iw5HriK-OqjFM52_jKdzzpIG8nr6iy7VyGG20Ar38uSsv9o3VnMNEE5QaL_Mt98ffrzueFFygD0-dAnohMxgdPYWsKVgGXw_wuToN8FWnxfuySVtoGpWzfCXxCqtsh0P__-k6GSQNVTODClSaP7CjwZwvYcQ4gAEQ3_9IGrGT66A-JF7mIV_xuEcR3CwQ6nU4E8Iy5nT7YD-NjkOE4VxT3B4mGzjS-tNdAc7ayJpF2ttDZlGCdsNXk75EkAU435zhGEj5b82EIktyr7-v-pD8Apum5Jk2KU4q1NEq4fAubv0iVx4tpCOBsmYgXdqliHQI5J5N8iPbp3V3qeVQzTX5U-0NRwAB5ZAC_jEPxfbP2syRU10J1Tw6XAVt3Rj-AdXSQawl7tUfpjW3ZH2rtqCtdbCR-ZjmmHBtBiZy3idRit2uap8r8TtkBuSQQUYEAouAy1-WrfnX4Ylf3IM6zQDX27Yr1416RTq4KUyi4BwrHE9dvzPcyvR7yEpE8Pg=",
  "id": "rs_0da3cbc07170221d016ab43b99b09887d0aa04ac19a422197c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.26,\"right_z\":0.07,\"right_pitch\":0.3},\"note\":\"The lemon appears near the lower centre of the right wrist view, and the left arm is clear of the work area. I’ll lower the right jaws to the lemon’s mid-height while moving a little farther forward.\"}",
  "call_id": "call_0Kgc8W7m3no2lD2fkdWGZDgL",
  "id": "fc_0da3cbc07170221d016ab43b9add6c87d099d1efa2e3a7be35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0Kgc8W7m3no2lD2fkdWGZDgL",
  "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]: [-0.189, 0.8181, 0.5873, -0.4198, -0.2924, -0.1619, 0.9978, 0.6617, 2.1239, 1.0569, 0.6098, 0.5446, 0.0776, 0.9989]\nstate[eef_state]: left_x=0.2874 left_y=0.0005 left_z=0.1623 left_yaw=0.1271 left_pitch=-0.0399 left_roll=0.0614 left_gripper=0.9978 right_x=0.4707 right_y=0.2551 right_z=0.0536 right_yaw=0.159 right_pitch=0.197 right_roll=-0.1562 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.4291, 6.4068, 2.0391, -0.1832, -0.0269, 0.0024, -0.1573, -11.7675, 5.5316, 2.4005, 0.149, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74114ccc07442039ba16bdad24c4620d0ad677fae496f09beda43c50f08efca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458e821b1400220219e766006bb5f9fca50bfef66544653bd7c9705b6f016efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfcee83f5fb45bfa31cf4325b70355aa205deca2e00259754794f51a15d4625",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.082 s

model: gpt-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]: [-0.2588, 1.6619, 0.3672, 0.931, -0.382, -0.1089, 0.9951, -0.0601, 0.8341, 0.5995, -0.7101, -0.057, -0.21, 0.999]\nstate[eef_state]: left_x=0.3923 left_y=-0.032 left_z=0.0725 left_yaw=0.1127 left_pitch=0.2429 left_roll=0.0531 left_gripper=0.9951 right_x=0.2397 right_y=-0.0007 right_z=0.1094 right_yaw=0.1083 right_pitch=-0.354 right_roll=-0.0796 right_gripper=0.999\nstate[joint_eff]: [0.253, -7.2274, 6.8444, 1.7998, 0.0024, 0.1148, -0.105, -0.1846, -1.2923, 6.7761, 1.4774, -0.0806, -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 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1886, 0.8158, 0.58, -0.3843, -0.2985, -0.1577, 0.9977, 0.6785, 1.8965, 1.0908, 0.3252, 0.5426, 0.1314, 0.999]\nstate[eef_state]: left_x=0.2912 left_y=0.0009 left_z=0.1667 left_yaw=0.1299 left_pitch=-0.0099 left_roll=0.0588 left_gripper=0.9977 right_x=0.4551 right_y=0.2543 right_z=0.1248 right_yaw=0.1493 right_pitch=0.1803 right_roll=-0.1167 right_gripper=0.999\nstate[joint_eff]: [0.3077, -1.7162, 10.0581, 1.7265, 0.0171, 0.1099, -0.0171, -0.0068, -9.6615, 8.1299, 2.0537, 0.3346, 0.0464, -0.0171]",
      "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]: [-0.189, 0.8181, 0.5873, -0.4198, -0.2924, -0.1619, 0.9978, 0.6617, 2.1239, 1.0569, 0.6098, 0.5446, 0.0776, 0.9989]\nstate[eef_state]: left_x=0.2874 left_y=0.0005 left_z=0.1623 left_yaw=0.1271 left_pitch=-0.0399 left_roll=0.0614 left_gripper=0.9978 right_x=0.4707 right_y=0.2551 right_z=0.0536 right_yaw=0.159 right_pitch=0.197 right_roll=-0.1562 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.4291, 6.4068, 2.0391, -0.1832, -0.0269, 0.0024, -0.1573, -11.7675, 5.5316, 2.4005, 0.149, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74114ccc07442039ba16bdad24c4620d0ad677fae496f09beda43c50f08efca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458e821b1400220219e766006bb5f9fca50bfef66544653bd7c9705b6f016efc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cfcee83f5fb45bfa31cf4325b70355aa205deca2e00259754794f51a15d4625",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDueSeRyrzMWYAXGfij1j6gfhOP-Qfr8GFJhTFB9DB0-QL5fu0td8yUwIRa1Ab_RVt1QnDpsKmDjrnev65F_ypgPpYf7BTSKuLVNQx--3nSEKvS_OXmTIDusvPklDzIqiqsUxkO93Wc4gA1uiGJ9SIONShLpQTCKSt2vSeVYnyJGqTpUAQQQbB3ujhF_-M5JudZhp7F0bq9EAG1TgHafuQ48YEtqvuwk2K5ZRyB_uBQr_ONeUWdkr-W32rffHrKLaimnkmHvEIFtm6O0TRMoYCtvV0zAK0j4V47GcUCFkUQaHQNTh-JXmxhabzUXIphsvLkg3EZXhXaL0YBXosGIigy6AmZ5iNkPexRWXzKLzAoBOLwtqKe0vzJnDflQsM_b_Ek-QGLGV1PXagHSOi666apZ1yeu_2Bu9HkRumtx4ZQuSuwCrgaK8THBp0adc7CsD6aBK9gaF0FOeVzV_8cIrCCccm75EpDeIUqjVmEpasbXKjhIWCUXZzRh_cfAXN8aJzz90Gpe6bCmYQcQ98HyS0VPKElYTOgoOh243CRsnzToUl26Jlku42IQJTkA1dzlaCLVJV9qLgR1yxgQMegXp5FX2x37nY9PioLI7Tb87wRGJwVDftGotwq1j5omZX4fYbDqP0n8FrNehJ4fkFCWGTN36emF6q9E_-w9KjcHZq73zJpJI8zUM85F_E9iXgNSugpZsLQVGasT7N1YWe_3IGnrCq4v5mvO9STk0D_mUQhxfc4_3pQSnm555o4gZchbrkqjbLbhqlR4Y-59JGfxUNCfR1GcSp0rRBEU1tFPjgCU522xVWEIt51Bqp8XTRDZvUf7x6og8oRN9twVwU5-8VX8m9BOtFPwrn-efS40kQLN969qlHSrq2d1wNrGCZVYmzRzWnu_ccZMDqYICZhcGE2kZLgelINHKrTH-Y-Pz1zlxKyUWibu9qOMM2Xn0ixyEmR-M6Zc7XXTdUeGgap1kW5X6ukBBSao8nG9piPbW8kaU9P2ZkvC4Q02DewAicePM7ohXnG9buaUiu2FiY6OtneN7s8oAvztAv-HwxE22_jPiGphsBN7Ne3i4Fvyh0fsSW6iQS7O_P-2eLKG2bOoAHEjh4nmIV77RXExlVmSiUR7lzKhBgPx6Ai3v4kxoyHEjiw7sYS_QHEfmCgEcMs-lYmNRs_0tjvji-pUahVFZdSOxIANhn6A7QGMvSc1sS0WNgIP5VmfVtnzgOOPHiX4OIiXK_rwEmPOFSWj6J7iGd_JAr55oA64t9yTDgtYBoTLQLwhFDs4ErAcz_XS8w_jNN8PGBhKMDHQq8Yj0XX5PNLJvK0g4JsTc7dW8wV4s13-f6urOxKFFplgV1e4QsSdhjVWiGUgrruneJqYuFG__l2Dqjg=",
  "id": "rs_0da3cbc07170221d016ab43b9d16e087d09e2acec7b80e882b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lemon is centred between the right jaws at their current height. I’ll close on it and verify the grip before lifting.\"}",
  "call_id": "call_VrJwCBj2yvyGK4815WgCLzso",
  "id": "fc_0da3cbc07170221d016ab43b9d800087d0814da6fe98aa9be5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VrJwCBj2yvyGK4815WgCLzso",
  "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]: [-0.189, 0.8207, 0.5873, -0.4313, -0.292, -0.1654, 0.9978, 0.6617, 2.1468, 1.0451, 0.6029, 0.5312, 0.0521, 0.4886]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1594 left_yaw=0.1288 left_pitch=-0.0533 left_roll=0.0628 left_gripper=0.9978 right_x=0.4658 right_y=0.2539 right_z=0.0358 right_yaw=0.1877 right_pitch=0.155 right_roll=-0.1942 right_gripper=0.4886\nstate[joint_eff]: [-0.0205, -1.5658, 7.0222, 1.7167, -0.1294, -0.0171, -0.0122, -0.2803, -12.7658, 6.188, 1.7411, 0.1929, 0.1685, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87d734e3791da25238ec80903afa387f7a4024b6fe666dee8b9e803fad7877c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de5e0055f030ad325ed3786b00ec17a34e87cd89f8f6f38870cbffd67b2b653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a9a946cc158d8657bb85215c8712c960e5e3fa4d62bdd74640cf0fd5861e67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 3.722 s

model: gpt-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]: [-0.2565, 1.6547, 0.3714, 0.8974, -0.3824, -0.1131, 0.0095, -0.0601, 0.8345, 0.5995, -0.7246, -0.0574, -0.21, 0.999]\nstate[eef_state]: left_x=0.3911 left_y=-0.0307 left_z=0.0693 left_yaw=0.1157 left_pitch=0.2225 left_roll=0.0575 left_gripper=0.0095 right_x=0.2368 right_y=-0.0005 right_z=0.1072 right_yaw=0.1096 right_pitch=-0.3686 right_roll=-0.0766 right_gripper=0.999\nstate[joint_eff]: [-0.335, -5.3949, 4.1504, 2.1074, -0.0464, 0.0122, 0.8083, -0.0479, -0.9915, 6.653, 1.4725, -0.0757, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8181, 0.5873, -0.4198, -0.2924, -0.1619, 0.9978, 0.6617, 2.1239, 1.0569, 0.6098, 0.5446, 0.0776, 0.9989]\nstate[eef_state]: left_x=0.2874 left_y=0.0005 left_z=0.1623 left_yaw=0.1271 left_pitch=-0.0399 left_roll=0.0614 left_gripper=0.9978 right_x=0.4707 right_y=0.2551 right_z=0.0536 right_yaw=0.159 right_pitch=0.197 right_roll=-0.1562 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.4291, 6.4068, 2.0391, -0.1832, -0.0269, 0.0024, -0.1573, -11.7675, 5.5316, 2.4005, 0.149, -0.0171, -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 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8207, 0.5873, -0.4313, -0.292, -0.1654, 0.9978, 0.6617, 2.1468, 1.0451, 0.6029, 0.5312, 0.0521, 0.4886]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1594 left_yaw=0.1288 left_pitch=-0.0533 left_roll=0.0628 left_gripper=0.9978 right_x=0.4658 right_y=0.2539 right_z=0.0358 right_yaw=0.1877 right_pitch=0.155 right_roll=-0.1942 right_gripper=0.4886\nstate[joint_eff]: [-0.0205, -1.5658, 7.0222, 1.7167, -0.1294, -0.0171, -0.0122, -0.2803, -12.7658, 6.188, 1.7411, 0.1929, 0.1685, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c87d734e3791da25238ec80903afa387f7a4024b6fe666dee8b9e803fad7877c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de5e0055f030ad325ed3786b00ec17a34e87cd89f8f6f38870cbffd67b2b653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6a9a946cc158d8657bb85215c8712c960e5e3fa4d62bdd74640cf0fd5861e67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuijVjLsD62Gm_X6LKD1EzjQNW22L4s8OzUNiVInr9DHNlrTy3kKoVVRyukJMMf0LHqx83HNLcLFduYto7afC6LNN4KxUHsB54lHScbXuZ89sd4Svva57yFmCJYyqJvjGBkA9kMKyH2KlZVzkG51dYFi7zAp0ibZmEieLHw--r_kK_Go_j2i9Ba-H1aMYNq9Day3nGIdMGVBkSYCtMJlNv6sJragSO_opv1g0lSsjkEIzTgfIcrj179Y-3T_eP6G9ayB2nImis-KGE4PhC68hg3dahS7xooh1b88k7dFYItlYZT5-zs_LDHpVDwOz9V6VdERqAmeZI1WXqvz5K2qIl2cBsqWlBfTlvY87whr1DXDxh-wqqxduIEatrN2DulsmYx72JyIU_uWVXbgv67xDwlFEDRTuu9iiqT5_Oapwvdt5v1wotQHQyqj25laV5kl-9RaqxbZjk59NLbk-5PwHpdmZ51rL-v1063phAx3C6-PrFv5LgrHQcqkFeVMg7Ko5Iz2ITa7m7vaLmDrhxu4D2NAjfNQCmHwHkfJKCdyXDTpJlmQhrXqlFcLI1hV38PCkm3Jw2XhxaFoeqvIpq0uKirbXWaYltweMlmzaI_YddcotGarD4DPoHpKtbajP9l3quNNm30-Nua8x8At5jJ0q0Wj4l_2glczHRydFLUSMmmjDruyRWsFbaLUStNjrU74-XMQvKVu6SjrY8wSLbLbcXWhUqi30Z0zCbQZbZYEQ7AmlgA-_m5msZEjrMknuOldoMuokiS7h-JWGL_vZuAigPtoMXEKJ_6xFyja6iMAGvn-222m3xcBcyHPY6RVJsWeCEiQvlT0_BsVH4EN4BphZZJrSi6zo8FpDPbv-6O5pV1mTO1YZME70eMHeMRUXs9LdZaW_1x6QRT06T8H1mrt_-djXLhghbPFr2SFB_yuzchSCsNAasXibr1x60VUyhIXz1m-yNrXrcQ6HAxxIQVBqR8KJk_Wc-C6fWHos2hehflFX5TQnRd-8n0_ps7YAhi-fJuGMgdd__MUQoJjm80CNy6p4muk4bJB0f4EfYVQ99UxthMkAT0S-l-iQEMH0ZTDHL8-QbMvt-4AZ4EYSVw7LhDPHSBqE8LZAwHNcv5j7WhC0M9wTxEu_O-Y5Y5Jm7CEGGn4miFl_fUOg97ZXKw9dqwPAgis4qg79gA455wsree_08g5SsRV6fFVRCT_1_xfNxgGWhEy1fEwPBaThwXq0nCfyawA5Fvi-VvMI4M7zhNeeTrivnU9BkslyAyjOpzj-Ddu8DAD82cKJLW290BP-YMap3tEc-KwTHH5zGALm8Z6yL1RO4QqTiFAAhsQgp3wgTyaKMW5NCv9l54ymN43Y_yT7rAB76Ma78j43_38SztvvU0yeLMgj0Jmhjbts0NYaNuxS7CWlMbHl238ik4Y_Y2tPDSlW0u2JFsNUKgJxnxPcXdwNtjU1O8feP5mLZC264yNsTeVZsYYxTyBm5iXswVHg==",
  "id": "rs_0da3cbc07170221d016ab43ba0f34087d09d1745942fc5eb25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_pitch\":0.28},\"note\":\"The right jaws stopped at about the lemon’s width. I’ll lift straight up and check the overhead view to see whether the lemon actually follows.\"}",
  "call_id": "call_EggQcFjJD3BMRmTw4jzDlsdb",
  "id": "fc_0da3cbc07170221d016ab43ba1855487d09b04ad2017325e89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EggQcFjJD3BMRmTw4jzDlsdb",
  "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]: [-0.189, 0.8207, 0.5873, -0.4355, -0.292, -0.1661, 0.9978, 0.6682, 1.8999, 1.0912, 0.2771, 0.5365, -0.0086, 0.489]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1586 left_yaw=0.1293 left_pitch=-0.0572 left_roll=0.0635 left_gripper=0.9978 right_x=0.4535 right_y=0.2475 right_z=0.1137 right_yaw=0.2251 right_pitch=0.1191 right_roll=-0.2661 right_gripper=0.489\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6923, -0.149, -0.0562, -0.0122, -0.0889, -13.8598, 10.5778, 2.2198, 0.3297, -0.0269, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0332e3fe86aa16faf3da0f0b71200e1aebae47c9bb245bc8640273219c9d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee3dd859de464fa589467e9f9770446d10827dd597154dc4deda3c6ef242a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d1f6af85f8305a1ac4a0ae3261d2c1c03243cd10b1227a484f1f922c14d072",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 5.643 s

model: gpt-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]: [-0.1886, 0.8158, 0.58, -0.3843, -0.2985, -0.1577, 0.9977, 0.6785, 1.8965, 1.0908, 0.3252, 0.5426, 0.1314, 0.999]\nstate[eef_state]: left_x=0.2912 left_y=0.0009 left_z=0.1667 left_yaw=0.1299 left_pitch=-0.0099 left_roll=0.0588 left_gripper=0.9977 right_x=0.4551 right_y=0.2543 right_z=0.1248 right_yaw=0.1493 right_pitch=0.1803 right_roll=-0.1167 right_gripper=0.999\nstate[joint_eff]: [0.3077, -1.7162, 10.0581, 1.7265, 0.0171, 0.1099, -0.0171, -0.0068, -9.6615, 8.1299, 2.0537, 0.3346, 0.0464, -0.0171]",
      "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]: [-0.189, 0.8207, 0.5873, -0.4313, -0.292, -0.1654, 0.9978, 0.6617, 2.1468, 1.0451, 0.6029, 0.5312, 0.0521, 0.4886]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1594 left_yaw=0.1288 left_pitch=-0.0533 left_roll=0.0628 left_gripper=0.9978 right_x=0.4658 right_y=0.2539 right_z=0.0358 right_yaw=0.1877 right_pitch=0.155 right_roll=-0.1942 right_gripper=0.4886\nstate[joint_eff]: [-0.0205, -1.5658, 7.0222, 1.7167, -0.1294, -0.0171, -0.0122, -0.2803, -12.7658, 6.188, 1.7411, 0.1929, 0.1685, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8207, 0.5873, -0.4355, -0.292, -0.1661, 0.9978, 0.6682, 1.8999, 1.0912, 0.2771, 0.5365, -0.0086, 0.489]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1586 left_yaw=0.1293 left_pitch=-0.0572 left_roll=0.0635 left_gripper=0.9978 right_x=0.4535 right_y=0.2475 right_z=0.1137 right_yaw=0.2251 right_pitch=0.1191 right_roll=-0.2661 right_gripper=0.489\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6923, -0.149, -0.0562, -0.0122, -0.0889, -13.8598, 10.5778, 2.2198, 0.3297, -0.0269, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a0332e3fe86aa16faf3da0f0b71200e1aebae47c9bb245bc8640273219c9d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee3dd859de464fa589467e9f9770446d10827dd597154dc4deda3c6ef242a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d1f6af85f8305a1ac4a0ae3261d2c1c03243cd10b1227a484f1f922c14d072",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDumBLdWw5WNW2yxroisWXa0KjKHg4q17BEafoGeYVQMCDn59L2GgEykmLcr4dvkdslNs_kttafsjBV_yvtOo4ZRcDnvoQ4m59fuom4pj4FGVHY6mjgSi_RtOERljQal6D1TbfZtU2p41lwprtnMbKflxeAOoHGK_QWPmbzfVInPckNKMEgZZt3gtJM-YazqKkWL9mbAVFz8cGahWGutlyuPEgYVzp38Pi6S9jsrvuAc6eMIdgVlOOUf-lRRDQSzpuwUVZHZfPjY51vkzyb9HTkaQjU9NCOZMN2H-yTHiwa7t9j9fCiLgWe9KGdSIMJzsndB4cedhIL_wSlaWuMgrBZ9F_MiBrfkOAAUzc3_e_sOAsBPj-SN45P6dixUUaOQLWL01vGVx48pRUNNQAFXCNg_yCAN_-bTIcavMfIPJpu6Zya3djP_ldXqAu1VgCFjY5HEtgyogOE5cjy6Fpx7HFklxPlT5ZO0x3gckyq_i6mD5r9SFJZnHGQMgS2t__pUgEYrPml6E6gzkk4IZp3uNTu9_4PqXP6PWQ8IjmBUKrYgz5x7HnJTRfJB94xMhViKC5YHr46cTMKCVAERs5Fh97xdeeb86R0vs_wwYcjss-b2q3XJel0bYCHXexiCI-Q-DX76D2a76iwHVslIHI5hvRPXg1Hwdfm5mN75Y6FFq7271WN7PX992Ck14EShoPHjm44L1U1jffJtLlbxjaaqoe_HaeZZfDdXZcDDGRG17RIlqhpDUA8IypfQlTyiRY_EfrXOtHvc6ALDoWIBb8Okaao3XyxnSuMfhgDnir3G3QhU-Jvkn1ahtRircfG64G0d8Ff39KLGtJHHhwvnZYm1lxQBl9MFUu_HuICUU7DgEh5hT9xjLme_yW1WdWpT1O8Kdtt8tFiu_NeHhPVnKZ_zWtkuXbQMS8-UWmoTSD3jWOeKX4PKlfqzrKvEIZ292B-eY6hcyg_-DGrJZzNJ1ThWwN7jSl0lcHO9xfR5spYTAfNVJlWGWSN0IQGAfvmbXxQQ7BuUhXXrcOLmFWGeBKcmLkwlWIH-WFYEFw8PZCxPscR4ZjeXZaQ7qJk0lNg7nh6Y0fXeokIfwdjV8HNWdKN6O9lnL-Z1dNIGn-xL4pVCw6dq5Puwm7f1c8sSsfsdVcUDc1R07jg9rWU8FHb35vU3EgOsQ6a_K_o9BwUCVSX6ZUm7OliTOW9yzoHoKsPYHdF4PM39w0pc6aQ2X_TM-o0-pYQ9ZYj85RQk4Sq5C68lD_dp1OZPMi7Lyurc-gLFa6UG-WziWylGzSFYgRL3cs3JzhFdUtGMfNvi-aJqAE3uw8OpudRGUmK8-6VAXBhKqvWLaOk5kppU0iSThiln0YHuj6nRlZzn8e-c_c6Iq0Qgm7eqFjaC5U-p2bnvBgx50FZgjGZoc6IJb3RV6ZvGhdzO1KKOwdy32rKxc4lDIfk6fPfH3a0rUvphL3sMWGzKgWOYxA2N5cKK4Bx1es95EjOOGsQNQmI0YebOfuovR9ezNLo_0fCOWDCaCYx-6nG04bv6x3yXKnPOxRPzTNJnkh5ZOBU6Fk1T27u5DZZp2b3gJ1gkOlDsYN8yHNp-MtZJEU5bZDHQXXuYfgVhTAIufA5ljvX6uhquR0oeSwwtzfxFvmgQ0VFpwcEX2n7robhNnIA10prA9R1CGXr6YTCG7LI6dJ6qD11ciWkbhFwTlnzEWg7Qdp7CnjqayArsA0NRbkLz6g_je6NvzafPkJZaeR_Aq5IcCEJzfbDy6gg7OFjF9pgI6ZuJbizOqb0nb2wRJeRzVhW3aELhuMd6ApMzlGx-j5dWC4BninqqLaQVQJHYvIZaDbdmGW4h2aOaYxl8wSwyr6gTtIr7QHrdEgc0rFTm-qV1xEpIAS_Na87teZ37dR1RNdkrjv1brQyIsI8Wzcpe_2fQAWDzJhPstcYQ-1Q3Ie5DVLUvmvLIMz1zbXqkNocezmHSnpqYVMqf-Vw9v13Ji8bgyalLntnhoEMVCm9WolaxlXTq3HCyJEjUXTPw-PAvmKNgswi8bOaQjEuRSxbCRm2QFfz-fr0zdiV4VLZVXMydvHQEAoWSnHB1IGxmZfWEw_vM2IR7bWj9nqeXOADW1ZRjLPA2sQK_jxciYNj2Qd-oBjtcj5Onj8yeODoW9BD2O82h1SVTYvO__pvTqEK1ADcEKDj_G6uU_6UuPLS9nQYQcon5zlDqtMHQycXYgNUdUWPY2T7J1Gl8msuAFc1bx0e4eq4jogsMN8oxDv-tYcqDGQ==",
  "id": "rs_0da3cbc07170221d016ab43ba437a487d09176ac199165fbca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.492,\"right_y\":0.248,\"right_z\":0.075,\"right_pitch\":0.3},\"note\":\"The lemon remains visible ahead of the right wrist camera after the lift, so I can’t confirm that it was carried. I’ll reopen and move the grasp point farther forward, then check its position again.\"}",
  "call_id": "call_2DY6sH2KzLxYNqXLtg3rD75s",
  "id": "fc_0da3cbc07170221d016ab43ba62e7887d09b8128b699903ea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2DY6sH2KzLxYNqXLtg3rD75s",
  "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]: [-0.189, 0.8207, 0.5873, -0.4507, -0.292, -0.1661, 0.9978, 0.6571, 1.9324, 1.0878, 0.3233, 0.5343, -0.0456, 0.9957]\nstate[eef_state]: left_x=0.2831 left_y=0.0013 left_z=0.1558 left_yaw=0.1296 left_pitch=-0.0717 left_roll=0.0683 left_gripper=0.9978 right_x=0.4595 right_y=0.2454 right_z=0.1052 right_yaw=0.2353 right_pitch=0.1224 right_roll=-0.2939 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.347, 6.9402, 1.8193, -0.1538, -0.0562, -0.0122, -0.4991, -10.1675, 6.5436, 2.044, 0.0952, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50044a29e4681e4495fddb88986046863a338d24c2ded1fcd44e397b0c68c597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0d55fba0129e90063f0d1b62990c378533971868929b5cf9783c5e0b574247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0a566e89893838d0bf5891208286283842d3d5ef75ab99f1967d6dbedc7fa3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.207 s

model: gpt-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]: [-0.189, 0.8181, 0.5873, -0.4198, -0.2924, -0.1619, 0.9978, 0.6617, 2.1239, 1.0569, 0.6098, 0.5446, 0.0776, 0.9989]\nstate[eef_state]: left_x=0.2874 left_y=0.0005 left_z=0.1623 left_yaw=0.1271 left_pitch=-0.0399 left_roll=0.0614 left_gripper=0.9978 right_x=0.4707 right_y=0.2551 right_z=0.0536 right_yaw=0.159 right_pitch=0.197 right_roll=-0.1562 right_gripper=0.9989\nstate[joint_eff]: [-0.1026, -1.4291, 6.4068, 2.0391, -0.1832, -0.0269, 0.0024, -0.1573, -11.7675, 5.5316, 2.4005, 0.149, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.189, 0.8207, 0.5873, -0.4355, -0.292, -0.1661, 0.9978, 0.6682, 1.8999, 1.0912, 0.2771, 0.5365, -0.0086, 0.489]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1586 left_yaw=0.1293 left_pitch=-0.0572 left_roll=0.0635 left_gripper=0.9978 right_x=0.4535 right_y=0.2475 right_z=0.1137 right_yaw=0.2251 right_pitch=0.1191 right_roll=-0.2661 right_gripper=0.489\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6923, -0.149, -0.0562, -0.0122, -0.0889, -13.8598, 10.5778, 2.2198, 0.3297, -0.0269, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.189, 0.8207, 0.5873, -0.4507, -0.292, -0.1661, 0.9978, 0.6571, 1.9324, 1.0878, 0.3233, 0.5343, -0.0456, 0.9957]\nstate[eef_state]: left_x=0.2831 left_y=0.0013 left_z=0.1558 left_yaw=0.1296 left_pitch=-0.0717 left_roll=0.0683 left_gripper=0.9978 right_x=0.4595 right_y=0.2454 right_z=0.1052 right_yaw=0.2353 right_pitch=0.1224 right_roll=-0.2939 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.347, 6.9402, 1.8193, -0.1538, -0.0562, -0.0122, -0.4991, -10.1675, 6.5436, 2.044, 0.0952, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50044a29e4681e4495fddb88986046863a338d24c2ded1fcd44e397b0c68c597",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a0d55fba0129e90063f0d1b62990c378533971868929b5cf9783c5e0b574247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0a566e89893838d0bf5891208286283842d3d5ef75ab99f1967d6dbedc7fa3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0da3cbc07170221d016ab43ba8f97087d086ace2c5957ca28c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.245,\"right_z\":0.18,\"right_pitch\":0.43,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The right arm is stopping short of the low forward target, leaving the lemon at the edge of the wrist view. I’ll first raise and extend the arm with a stronger forward tool pitch, then approach it from above.\"}",
  "call_id": "call_RYG1pZGvNzNRHLzQa3hccCid",
  "id": "fc_0da3cbc07170221d016ab43bac2db487d099be6ad386126289",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RYG1pZGvNzNRHLzQa3hccCid",
  "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]: [-0.189, 0.8227, 0.5873, -0.458, -0.292, -0.1692, 0.9978, 0.6029, 2.0274, 1.2461, 0.4973, 0.5667, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.2821 left_y=0.0015 left_z=0.154 left_yaw=0.1315 left_pitch=-0.0803 left_roll=0.0688 left_gripper=0.9978 right_x=0.5156 right_y=0.2442 right_z=0.1579 right_yaw=0.0591 right_pitch=0.3509 right_roll=-0.077 right_gripper=0.9968\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6874, -0.1685, -0.0269, -0.0122, -0.3897, -10.1812, 9.1556, 2.21, 0.2759, 0.1685, 0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21309341f8c2d88e94764969c1c439dc808f4b523923cb15107a43b7a54ec2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973fc1360123b45e601876b7a793043610f7cc97e581e3f86d7d136774cb1db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08178b1565a934caa420bd7aed4d4c09f3d732cd7554c500ff6b61988e55bee5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 4.013 s

model: gpt-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]: [-0.189, 0.8207, 0.5873, -0.4313, -0.292, -0.1654, 0.9978, 0.6617, 2.1468, 1.0451, 0.6029, 0.5312, 0.0521, 0.4886]\nstate[eef_state]: left_x=0.2859 left_y=0.0007 left_z=0.1594 left_yaw=0.1288 left_pitch=-0.0533 left_roll=0.0628 left_gripper=0.9978 right_x=0.4658 right_y=0.2539 right_z=0.0358 right_yaw=0.1877 right_pitch=0.155 right_roll=-0.1942 right_gripper=0.4886\nstate[joint_eff]: [-0.0205, -1.5658, 7.0222, 1.7167, -0.1294, -0.0171, -0.0122, -0.2803, -12.7658, 6.188, 1.7411, 0.1929, 0.1685, 1.0281]\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]: [-0.189, 0.8207, 0.5873, -0.4507, -0.292, -0.1661, 0.9978, 0.6571, 1.9324, 1.0878, 0.3233, 0.5343, -0.0456, 0.9957]\nstate[eef_state]: left_x=0.2831 left_y=0.0013 left_z=0.1558 left_yaw=0.1296 left_pitch=-0.0717 left_roll=0.0683 left_gripper=0.9978 right_x=0.4595 right_y=0.2454 right_z=0.1052 right_yaw=0.2353 right_pitch=0.1224 right_roll=-0.2939 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.347, 6.9402, 1.8193, -0.1538, -0.0562, -0.0122, -0.4991, -10.1675, 6.5436, 2.044, 0.0952, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8227, 0.5873, -0.458, -0.292, -0.1692, 0.9978, 0.6029, 2.0274, 1.2461, 0.4973, 0.5667, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.2821 left_y=0.0015 left_z=0.154 left_yaw=0.1315 left_pitch=-0.0803 left_roll=0.0688 left_gripper=0.9978 right_x=0.5156 right_y=0.2442 right_z=0.1579 right_yaw=0.0591 right_pitch=0.3509 right_roll=-0.077 right_gripper=0.9968\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6874, -0.1685, -0.0269, -0.0122, -0.3897, -10.1812, 9.1556, 2.21, 0.2759, 0.1685, 0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21309341f8c2d88e94764969c1c439dc808f4b523923cb15107a43b7a54ec2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973fc1360123b45e601876b7a793043610f7cc97e581e3f86d7d136774cb1db4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08178b1565a934caa420bd7aed4d4c09f3d732cd7554c500ff6b61988e55bee5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDuzugKIfyTldEh3a9apEb-MFVmZ1qcmqZCSNSmrH6_uHzq_2oLJhPHf8eTVP1tcSsqKfuaEBkX2PAPpWTj5AJUT6vQr4Y612TU80DaIFnWlxp8JV0FxmMRBBPLucZcHS1Y3ecctgLt5rK8w5tpCE_JAUK3ABqTbDWuibzQ0ZzhfcQxHUZmYw44bOFaU_PFEFQVj33MYIDTeyjfc5418r6MgGh1TWpb_9sFy61Azrt2K-Fd7ZWuIP6dMb1vo4q2q9-wh7tIwjy9HILVCG5-0S82jrthuSSIBoBeJ7a8CgjCLKZ7OwoFxQPRlWzC_WioBHJMn2Wxh-4aF5-r1nMKDwXS21y0sTgawixgLP1ObkFYk4TXKagU2W3HtYMkhCVuYxcJCaPaAFcgjQK66Jrti8AkDtdR5Mwbo8-81RorDhu8_-qlflEBFl1-T0xDpppVN96EaKS6wpXPQ_DjICjiSONehtCf7jebT3E5GS43B-9MezB7DTgKbNMXkIQMbkPMnS7__2iwKrY8rubDkLtnPi8eAojSnQc-Wn17GRq9MANszzMDWihrHgVhr8DdZkFChVpFx2ppsyIx8rwjMAyuayBw97R-OExjTF1pEfAhhj1SiWcV3_kuIYGkqO8I-1FVa9crjhGFzjnM42QhmJwgYuwf7k8QD4vq0_As6749s-p_aqYyTh-Cfk2ju-G4rE8vhBoyLMmh9ONQjsXN04GLbxXbKiVUHsXt6PByychihhsLd270h5gwS6U_KSFd5Nu5zBwFPV59RvBXU9rR9113JQDOg612cTCvlaN3TpojfSLbY_coRwR0I7WoT4qB9Y3s5if77JO5KIS2Lr0seW9esVJQME5TykrGY7GFSKNNaaJAleUinZi50OBEb5Eiamy3Hu6fLsUo5zfnRFOZy3HC7xl2YlOk6laI8byFsZp389SSluBa2f53O1yv1BRJuy5uG_lF-95U8NVn-frPSy3uOLvnMiva6Gjus5TOtik904XRHpTk6foGOsj6rvC1UOZ7zpsw5FYm9gYgss9vpKCHbDhgYYAE3nZZXtTo25B-hZKv48qcdrwJJNEKWX0zWmPMZNMz_3OFMA9q5N974E-GyGprBHHEFk5KbI0refdZcgeu0IsL0Wz8t2F8IWbW1LLVf37RaWjpWJBHcGS3yPKve7U6UH3MVTQAhpVr1Lp8StrFpKs84ls777KjuXAQanQTzkkNXo9bmCInlhqBBvvV_1_S9X0p0ONq3kqyaJTzjPBeZBaIEEDXvf1tjVHaVjoGMu2eY9pJNRqR28yqIY7WPT5DuU8G1GZ_iTEeE0UC5r6AwxkYKtU7sRFs9G2YAn6flDF_-Kolz7_dr0GPwO-3rljRt_VkCCy_iC49rb8okYYNLQ94p6fNUG22H7kIyYgubgaAtaZ3vdeY-nk1MG1vTDS5vvLIIn670NJx6EygeU7L2pYEc2Jxx70fdoBdaWSLIPsK_afS6X2BtQwT63MAwJgOD78o5XneB-jf4aNu1bIJpvxNZzYz2Vr7GAVNG0ZYorZvhvdeg2tjDLUYaqXECNQbY3O9iWf8lLPHqjW1TShadWnHCfZTZx66x5TdIMcv_AKGR6q1B-Qp62IHyyy4FoAP_bv8-y3R_IIBbp5QPgoWIYLWeIRSH9sFjkVPb5cMGasBKHUkTIbxXKj-bjLiCPk5f0gE7MgLQkgrKbG8VRZ2oAa8-ZhFU__-KAXYtAmJ-rQa3zJI5hhJAYwHTe-KuiiKIUJhXYlXEBCQq7fsO6sk-NP-QhNCEBBLw4kadyl0Xt79lp-6rbh0b82Q3tqp-xkRHbXTLJnRKuOt9dKTkuWRrqsC1rXAuRPWH5U3cxLEoYScoNM0CYD_7YJyjxydFZAP_dgwrLhXcFLy8VE3CDoJxV5RDrjPBIGomXBKV7MAGnT23kDVYeMKQvBNoeDC_tU6r6_a6LesqcxICcMPNILPJ2GEkI9o7Ma3zYaG9KEi_x13Hv-CpPlLLxpDkJ-KQDGEDSVDP4QtBFGL3xIYwtMWPlfK6AfV-1YcC2olEHqq_MMlsZqhDi-rUM6Ha01dGBlkYV2MZlLnHPeL-F92Z4LGDWJ54iaGLIBMdhjp-t-E4Es1IhAm6zGN6wl5sE2NiikGfHqHLsiC_J3bzYGyeHql7QW3hkI1UdNKwhqSZlkc41GfQJiXGHtVRTPHP6K6oC4S6iGtLOZaJp1SCLfVM4WtKcQFWudvwJxcMgvITi5MiwpPA",
  "id": "rs_0da3cbc07170221d016ab43baf4ce487d0a2e75d9902a81e7b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.245,\"right_z\":0.06,\"right_pitch\":0.43},\"note\":\"At the higher forward pose, the lemon is no longer ahead in the right wrist view. I’ll lower nearly straight down at this reach to place the open jaws around it.\"}",
  "call_id": "call_Owf0G0pp4X6QI8kv9CSNL083",
  "id": "fc_0da3cbc07170221d016ab43bb2801887d0940a85c8a3d11233",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Owf0G0pp4X6QI8kv9CSNL083",
  "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]: [-0.189, 0.8234, 0.5873, -0.4583, -0.292, -0.1692, 0.9978, 0.6159, 2.2726, 1.1072, 0.8917, 0.577, 0.0406, 0.997]\nstate[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1537 left_yaw=0.1316 left_pitch=-0.0814 left_roll=0.0691 left_gripper=0.9978 right_x=0.5045 right_y=0.2434 right_z=0.0534 right_yaw=0.081 right_pitch=0.3595 right_roll=-0.1087 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.2513, 6.9402, 1.6239, -0.1441, -0.0464, -0.0122, 0.1573, -10.2222, 4.6154, 2.1026, 0.1832, -0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73111401a5eeb6f6cb5a535449033e499aa11e2f0799ea7b19acba4e43cc2425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d87ca4b7bb31128276997c6b04f6ebf988f6ccbdcb47b65c492de5788cbd04f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561ec6b09d01a49b01842a3ccc9ce12d00a46450a4084049a219b686dd29352c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 3.628 s

model: gpt-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]: [-0.189, 0.8207, 0.5873, -0.4355, -0.292, -0.1661, 0.9978, 0.6682, 1.8999, 1.0912, 0.2771, 0.5365, -0.0086, 0.489]\nstate[eef_state]: left_x=0.2853 left_y=0.0008 left_z=0.1586 left_yaw=0.1293 left_pitch=-0.0572 left_roll=0.0635 left_gripper=0.9978 right_x=0.4535 right_y=0.2475 right_z=0.1137 right_yaw=0.2251 right_pitch=0.1191 right_roll=-0.2661 right_gripper=0.489\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.6923, -0.149, -0.0562, -0.0122, -0.0889, -13.8598, 10.5778, 2.2198, 0.3297, -0.0269, 0.022]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.189, 0.8227, 0.5873, -0.458, -0.292, -0.1692, 0.9978, 0.6029, 2.0274, 1.2461, 0.4973, 0.5667, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.2821 left_y=0.0015 left_z=0.154 left_yaw=0.1315 left_pitch=-0.0803 left_roll=0.0688 left_gripper=0.9978 right_x=0.5156 right_y=0.2442 right_z=0.1579 right_yaw=0.0591 right_pitch=0.3509 right_roll=-0.077 right_gripper=0.9968\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6874, -0.1685, -0.0269, -0.0122, -0.3897, -10.1812, 9.1556, 2.21, 0.2759, 0.1685, 0.105]\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 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8234, 0.5873, -0.4583, -0.292, -0.1692, 0.9978, 0.6159, 2.2726, 1.1072, 0.8917, 0.577, 0.0406, 0.997]\nstate[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1537 left_yaw=0.1316 left_pitch=-0.0814 left_roll=0.0691 left_gripper=0.9978 right_x=0.5045 right_y=0.2434 right_z=0.0534 right_yaw=0.081 right_pitch=0.3595 right_roll=-0.1087 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.2513, 6.9402, 1.6239, -0.1441, -0.0464, -0.0122, 0.1573, -10.2222, 4.6154, 2.1026, 0.1832, -0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73111401a5eeb6f6cb5a535449033e499aa11e2f0799ea7b19acba4e43cc2425",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d87ca4b7bb31128276997c6b04f6ebf988f6ccbdcb47b65c492de5788cbd04f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:561ec6b09d01a49b01842a3ccc9ce12d00a46450a4084049a219b686dd29352c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDu42ouB_LgSnxBxfAe2DrROzUPBHCapETPilqSKsCri3qeJT1Lx7f5ArF0PSh3ZLFI_fk1fnXuXGqPBtU3EzfDnUGpaFXU1ZoXSRSBYu2Hyl1JTumCYrUwYV3xt5wNM9sOyZCZM-uVw6MJDSWPrrRSyNZg8M2Zy-nDLG2lCnsAHNBqszZc_zvW83j9Ud2YDkNYk7zA7_B9vX9nyrJ_2RNiCHeOPgElFuVOEtthAa33sgnYSprXmEjJEADpRJg8DzJFMJ9Gt02uQWi8HRgyqmQ6BGpDSlH_i88mKNAJKxdLwZ9tZAvfEs8dv3U4qjW71Q2WyoUBIhDPYZMBX9PWUH-BMIaHP06ftCwBp9cr5H7CxmPscZIJ1gjHvACVV3AZU5LH6Cmv1BwrdPQESrvcKy8xbSE5DpQlmPrA7HhWWRp1AyqGLZuBj8JxxmRgpZlFTGPo1sVc8YSTgNHWZ_m_b40ZVH4w1uLyW9YNNVewIrYOOeh2ITo2KY86CuIhccSB74wLcM7DN7HEwHd68ipSqLe0n_4nSQMqTfBHv8N7lIQraOaeBmB4YGIpFSkWAvbKnOfe9QCcaDt3Bh1XdrHen9tVmg3IWCl5vsMdLXlOuTOMHHA7GOzR6dVjLiPU7Ides_jW74I_ar9GO7WueehNWCl27r745alR_kv1S_pHQTMvSeyjLjYRmJodPFprQscF9yX5tluObo4H6uzN9Eu73gaSsXG4GjPqPvmNPNtQ5Ar_8s_U7c__HrlsrbUdUDovlzW2swZFctXb8jjf_xAtJWAw82TPDkamJR0U_BnKIR-MGY7_DpTxb2F8W3gFK_8VB3v2JsxM3PECRPYw08NF861K3IQtO60lVnNwMwV8A21RpFpEoJXK9ZcUjmhH1teTKh8zJXk47AMnBvQujdTes-tteg4ts5EU2KuIEPodo9M1BHw190fMwsoKerF2ua330RNFkpPhIYqfRG7k4W6bEWMecWJrutVWkkNp325XQ0XkOJx8YzFqOQyztJOnGvcoleaBOTuOhhbho01EzDwer4Gh13sanPXC0qkBhvV5B9mDVklEx0VbDrFeE0Fk0phU6Q4p9xwACvrtqiaIsKu4SVJACGRvU5Tzh_Z9Ezp_FISPTtrFSvpRjx1UeOjfrbaJRYtgblwp7yp71gznn9KCIaD8LJC8_otTm8EWjN8CBH-Tytdfnc9DtaoJrt3nHGmnM2OGDZmezr_Km-4IQBsAXfZZLlBIgXRruzW48rrJ3SaDYgvyRIZTf3wUlu9T18JDHeXP8oBsjN6lvoNk_iWamXlC9QKPa834hoRijBSHAg0_1EY7lpzNperh0VksjuX_PDwLoyC-iQ5h1MVbHE5ltUT30wrEFAndktuCwYu7s4FWq2qg0KiFx3QZiWTDeWU5yNJX0VueGH8qYFElugXuuuZrRJxzQZB28JJPhrTfiTm34-smENEg0j4aEdfVayppZ0NCVCmruT4HHv3vQ6CjYDM_QdUlZvCX6bR4FMiMsYM0IH4f6yuWVCspayy2Pd4uL83ELVHV5A-0HIKZqnr0JFAyhlApklor52lyojHZMsYiEllg8hGCw8vAgAPFjZUbHrUj2UxeWKdi_snE__yq-Vzz25nf_lgwyIINEwedyZWjO_MBC1i0080k8Xl_NQGMEMhgG2BhBQxbXxZTLootgaK6S38HVXdbSn4VAcY3NwUFtwQTY0eBuEsvfvF1tpzE0t6dZLZJMTcFALLeAxtYmkOs6rPRl2ZKRTyLyeOCT3Zz-Fh_WtQu5YzGmxb9r1EcFbwDFZqEXCVMB9Y1X-JA6H6eRCstk-Rc5QZKrs8miUFKGeHC7RXafBRuyaGDv67kDCXFwPHn_7fIG4P1C9XjIS5ogYHYTClTQXRcIKB57g9NMVmwdRXPl-0RYt-0Bp3A97I1xF1TQ10xpV-AUFM6n5x1DfvVMuclEu6iT3o8JiknRhdXappSXwZubn0Zo0R9c00PVOICWa-4S6YU6IJk0odXpiPq6kgIHTXiwhS8zUomEn0fpW3Zn8mcLE-9uI_DMqXk3mom-DiAwBBCZAZ01yNnMMckj2mU6W21EQjox3yuhmqa99tA9LWJXlGjRF9Yw_KFk-yWl-H1jfdYKV1KEi9CbgvSp2abRKhLd6-ZN5O2Tvvs0HMQSVJKhHd7_K3IQI1qAu-OBw05h5F939VgS9UNjjiJ47xK4BfhMpt8uSdlen-A5OZ60jY_Ts1tx9VuH0nwi",
  "id": "rs_0da3cbc07170221d016ab43bb5248c87d0b59eeaed06851776",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.478,\"right_y\":0.25,\"right_z\":0.05,\"right_pitch\":0.4},\"note\":\"At the low, far-forward pose the lemon is no longer visible in the wrist view, which suggests the jaws have passed it. I’ll retract about 2.5 cm to bring the fingertips back around its centre.\"}",
  "call_id": "call_N6x1CgK0rIolmVLvIsrCG8Pk",
  "id": "fc_0da3cbc07170221d016ab43bb7429087d08e8125ee00328228",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_N6x1CgK0rIolmVLvIsrCG8Pk",
  "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]: [-0.189, 0.8253, 0.5873, -0.4591, -0.292, -0.1692, 0.9978, 0.6537, 2.2868, 1.0336, 0.9939, 0.6128, 0.0334, 0.9973]\nstate[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1531 left_yaw=0.1316 left_pitch=-0.0839 left_roll=0.07 left_gripper=0.9978 right_x=0.4839 right_y=0.2472 right_z=0.0424 right_yaw=0.0887 right_pitch=0.3764 right_roll=-0.1168 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.1009, 6.9402, 1.6337, -0.1685, -0.0317, -0.0122, 0.5949, -12.0137, 4.2462, 1.917, 0.0855, -0.0562, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfa0df0cbc3363ff69c643fc4335a847759bdfeeea9ceb817de70e7b9123d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12aa0faee4687aff0a7a982ea1f55d2c8b8c477bd6230d98831240af05cb934a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053267a63bc0b9ecec5a7e252865aa7246dc26f38b2a2f72bcc89ef2e6e07fd7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 2.241 s

model: gpt-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]: [-0.189, 0.8207, 0.5873, -0.4507, -0.292, -0.1661, 0.9978, 0.6571, 1.9324, 1.0878, 0.3233, 0.5343, -0.0456, 0.9957]\nstate[eef_state]: left_x=0.2831 left_y=0.0013 left_z=0.1558 left_yaw=0.1296 left_pitch=-0.0717 left_roll=0.0683 left_gripper=0.9978 right_x=0.4595 right_y=0.2454 right_z=0.1052 right_yaw=0.2353 right_pitch=0.1224 right_roll=-0.2939 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.347, 6.9402, 1.8193, -0.1538, -0.0562, -0.0122, -0.4991, -10.1675, 6.5436, 2.044, 0.0952, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8234, 0.5873, -0.4583, -0.292, -0.1692, 0.9978, 0.6159, 2.2726, 1.1072, 0.8917, 0.577, 0.0406, 0.997]\nstate[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1537 left_yaw=0.1316 left_pitch=-0.0814 left_roll=0.0691 left_gripper=0.9978 right_x=0.5045 right_y=0.2434 right_z=0.0534 right_yaw=0.081 right_pitch=0.3595 right_roll=-0.1087 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.2513, 6.9402, 1.6239, -0.1441, -0.0464, -0.0122, 0.1573, -10.2222, 4.6154, 2.1026, 0.1832, -0.1245, 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 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8253, 0.5873, -0.4591, -0.292, -0.1692, 0.9978, 0.6537, 2.2868, 1.0336, 0.9939, 0.6128, 0.0334, 0.9973]\nstate[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1531 left_yaw=0.1316 left_pitch=-0.0839 left_roll=0.07 left_gripper=0.9978 right_x=0.4839 right_y=0.2472 right_z=0.0424 right_yaw=0.0887 right_pitch=0.3764 right_roll=-0.1168 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.1009, 6.9402, 1.6337, -0.1685, -0.0317, -0.0122, 0.5949, -12.0137, 4.2462, 1.917, 0.0855, -0.0562, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfa0df0cbc3363ff69c643fc4335a847759bdfeeea9ceb817de70e7b9123d60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12aa0faee4687aff0a7a982ea1f55d2c8b8c477bd6230d98831240af05cb934a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:053267a63bc0b9ecec5a7e252865aa7246dc26f38b2a2f72bcc89ef2e6e07fd7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDu7MKAA9fe6OxtN4u2c9uDv0yup4Otr196KLboYYj9nmNGiSa4mzZoQ7SGZ1bCl_-bvQcEpzYDKttjZtFLfx2-gnkf5pNDe6Phi9EMovsVnyrwTrOuPPhijEg-KWDdxRsE9KiwifnBgBH1cyQvrBosZpgCSNwFI-rYU9ailjp231w7bsAl9izENkb4E70m-IFLno6MBRhbjTj1qmWAMW913ymMCHiWRTDVpzKoDxC1pB5BypjqmZiRatsbe2G2Ak0CLkswnthHIVrjdelCjcJK_4RqpFeMUM3yzSw-WguLUn3kbmUSz4n3xg2WAjqK7t7rOUwCIpfVHbmwVW9w71p7hHI9faNZ_wwXz1ZPkwZRFC9pPh3xdEUyf6QMZb3jB71U2kAysrhXnuFbQWJbcqc971q5Korm_OrIbnEAhmlE2WbUjhvsUUtbimKrXQEjggJftmPj0D6Ttf1-vuFXRDoJxMcDOb6PQ-6K4aR2wb-bwEhvPevb7r3izLTpwmWB9jD81vhMo2zrCAxTa3tag1XxuYXRwUlUmvD0HICG6bzmddVnuVNMjO1e1Rv2YYUCCwJ8QtKIJSs94oEuPUYLDQwqjSiVjNN-tGDzzaIJ8C8HeLQFG7x6of-r3ShKsJMiUUe8uPrNNGkUSyoDTd6SZ_D77rI1QV-mMtBfvBJth9TkylagaV1e3-tia98uUfoQa-CIHMHiHM3Iv2fRwpfzSsdQs-E06leecri8g1Odw6s0Mr0xraaT5Zs4r6U5XLN2cxjyIxTFXmv1Ymr7sZT06fM2bue648xWkuMHlPFPF4T7kxlv8patosO9_H7sxUEn2Mu_lm3-sI_7ZoxYJFf6tOVD7Be6k2p02vV2AEpGtjXxuP2pP_2gMHyih1Lskvvvdo99fq7r9h43TEsKBaw0IjaqkcRpTzysmonPYEPKIPNmmdrIPn7WBHRSDVpxiFX6a5C2eJRZHQUAj06Lg_MPVk6YDST2w_APuK_l3pScyRjNLepZfcE6Py1gwxT6wpE9yDf9ei4awu29ipWXZcIE4cBQEvK1SfFQkiff4LQCZh-3_55_St979YyRQncDksNbsEFy4nKfFSNeAUh6Hp41O4q5O0nIQGFXpqtvDsOZFRz8mN6VEY4xc7wwt3kegYK4qgTPc3BROkVfKDWNrRp1XAqOGWlQEP3sKhee2hDBK6Hb1kRl2pfQC4qFWwMHVVhXJlRL4HOV5hRqtRjRAzeMHOBbIOJA5vUQnDKAs3qwT-_qisSOGqNCeB9TV1RDTn6zLaETciZ6AQlyGn77AEHHI48r_VFe52w9ARvyr1FOETtgr1FPPHNVf1Zkyko7UYZx92_UygEMDUn13DWKReGp9C1x4dBL2LbLhcFJXlmnRCTB15kD_E-0g2-L-0M2i751MV7VVSCF6lnKZp3ql24ffHwICxvx5UMOxgkaAq4XdSkGwXUcaWcn64DkuHo1p7OO86c9VO9r_MISlEqf17eBYJORsZxYimQobDKQWJ4i_KQ3MXRWmaT1IEQ8M10a2rjyC_P_ZJMieAvbCV0BEmOGeqXh8rE7Kagv_FYxNfZ3mUss4cZKHjp02FLjt4DgoKe-QcpmUCIX3aLjxQLu673I5qJ36l1Nw9vFhHWjCofShcbHSQRN5EmfcJ4KPvyxCtVU_btPSDdha7Nfo0NBbUhn-CZmnxT-jhKpydlfHZEmv5jh7etKSNNVPOQWg3kIu-gqdUZr3rcWWSUdR2YoCqr9ma-bTZ_Qa__523laAiu34fBjaY57yAM2y3AdaCoD31ikyGRO87UKREiHoXTJ0PVm0dZ8nIHdUPN1sHFApmaxm6GByOUUE8hSnm-hXBtJOp2Pg6_cVLenIgiyaGM4kTjZYISm42CHJggLKC_DH01TVzBwmiE_5tgcoFYIvlnfcc9zbuXon7VxaKAJbpC79F1h3GqBfyAStphKlsFrgWfoF2EAmPOaz5RoOQZ4m1zCiu1KPD-NT-DpQzh2YCjl1D4St6hHWUG-0IftSnHEh6MQ30jnbEwnGUUsEjgCTgQIxlmL4D1I48KDeNP8AIOGYhGDFzl_9xGSBMSF5BlJvaQtiKD74p8HCrU2AdXi8dteqN08HUqJRQ7JY1dJp-ss8wjrcq_kusCcde6VgXuxxuLre52fZxODeTSFdgDEc1LRQR3KA3GCW36UVPsadBO_xcFULSs4irrYq5s6hqqkPkoKSqfyTPx-YWY4I7CF1_Q2a5Tqy_IGOQmnyVYq4dFDthBNxuYgMJA==",
  "id": "rs_0da3cbc07170221d016ab43bb9700c87d0b637a84432ec9ccd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The lemon has reappeared at the bottom centre of the right wrist image after the short retraction. I’ll close at this more forward grasp point and then test whether it lifts.\"}",
  "call_id": "call_rXBNJBEwBKA7HqGFpPIocBJO",
  "id": "fc_0da3cbc07170221d016ab43bbb525887d0b0495f3ec8169955",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rXBNJBEwBKA7HqGFpPIocBJO",
  "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]: [-0.189, 0.8295, 0.5873, -0.4728, -0.292, -0.1696, 0.9978, 0.6731, 2.2795, 1.0187, 1.0321, 0.6353, 0.0265, 0.4903]\nstate[eef_state]: left_x=0.2801 left_y=0.0019 left_z=0.1495 left_yaw=0.1324 left_pitch=-0.1009 left_roll=0.0754 left_gripper=0.9978 right_x=0.4781 right_y=0.2517 right_z=0.0495 right_yaw=0.0854 right_pitch=0.4045 right_roll=-0.111 right_gripper=0.4903\nstate[joint_eff]: [-0.1026, -1.6889, 7.1043, 1.7265, -0.188, -0.0317, -0.0122, -0.212, -11.8085, 4.4376, 1.6386, 0.0073, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad3ed536a8700d742daa196ca5cc7ea81ead95be53c36bb1e959b30a03262e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952ecb13143f937412aac585b505144905bbc8638c05fee23f8010976d2cda0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ef4aec880794d3a8742a43f8b874ab28129d46e838fda7036434cdabd32af0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 3.308 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8227, 0.5873, -0.458, -0.292, -0.1692, 0.9978, 0.6029, 2.0274, 1.2461, 0.4973, 0.5667, 0.0742, 0.9968]\nstate[eef_state]: left_x=0.2821 left_y=0.0015 left_z=0.154 left_yaw=0.1315 left_pitch=-0.0803 left_roll=0.0688 left_gripper=0.9978 right_x=0.5156 right_y=0.2442 right_z=0.1579 right_yaw=0.0591 right_pitch=0.3509 right_roll=-0.077 right_gripper=0.9968\nstate[joint_eff]: [-0.1846, -1.347, 6.9265, 1.6874, -0.1685, -0.0269, -0.0122, -0.3897, -10.1812, 9.1556, 2.21, 0.2759, 0.1685, 0.105]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.189, 0.8253, 0.5873, -0.4591, -0.292, -0.1692, 0.9978, 0.6537, 2.2868, 1.0336, 0.9939, 0.6128, 0.0334, 0.9973]\nstate[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1531 left_yaw=0.1316 left_pitch=-0.0839 left_roll=0.07 left_gripper=0.9978 right_x=0.4839 right_y=0.2472 right_z=0.0424 right_yaw=0.0887 right_pitch=0.3764 right_roll=-0.1168 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.1009, 6.9402, 1.6337, -0.1685, -0.0317, -0.0122, 0.5949, -12.0137, 4.2462, 1.917, 0.0855, -0.0562, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8295, 0.5873, -0.4728, -0.292, -0.1696, 0.9978, 0.6731, 2.2795, 1.0187, 1.0321, 0.6353, 0.0265, 0.4903]\nstate[eef_state]: left_x=0.2801 left_y=0.0019 left_z=0.1495 left_yaw=0.1324 left_pitch=-0.1009 left_roll=0.0754 left_gripper=0.9978 right_x=0.4781 right_y=0.2517 right_z=0.0495 right_yaw=0.0854 right_pitch=0.4045 right_roll=-0.111 right_gripper=0.4903\nstate[joint_eff]: [-0.1026, -1.6889, 7.1043, 1.7265, -0.188, -0.0317, -0.0122, -0.212, -11.8085, 4.4376, 1.6386, 0.0073, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dad3ed536a8700d742daa196ca5cc7ea81ead95be53c36bb1e959b30a03262e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:952ecb13143f937412aac585b505144905bbc8638c05fee23f8010976d2cda0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ef4aec880794d3a8742a43f8b874ab28129d46e838fda7036434cdabd32af0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtDu_VIFrfMQOci216zB_a_XgDzFWVNA02vwMeBPMOihjD-liR3IZuorm1CA6fUzXkm0AtdD8iabLUgXSeturxN-wemAXo6revyaUfpUKQq-3u8BhxH69fJ-MmTKK4PF8JhYQxLoRWTyGXneZUnxX4tbFmXUHwzapyByc0Wbej-4AbsVZggTVNeciD-do1cXk7pEHf7pEDfXTqACq7_MO0w9TN-eARoYCr9t0k2BJql9HiGVewowILCXiCC7LhuXcxEHprlY2GF3_1eYb_GZYJzoVtYrdTyXQUW0uZV_3UdsWG_3z5tKYCeFpkccq_KMa9wjJcfsJGBOxKM66rmTu3kF20o4RSsWV291tcz02BEecnhj5fuwC8lw1DTP1qquK7vZO3Z_SsHMDcXEPvzYj11XNAiWRWPf_gCvD6qd64tGpziZI2FNeF0owCERqwQ90yZh7a7Hdup6tPt39x7eggokxNdMig6ZlGsqF-laIftlmkldQORQUrPDsJOgx2OQPH6I86p8t1qeD93NTxPDuAubBm53kPNhp1VlgbsE5v1kyRFBnoWF8m3f6NKRasczM0p7eybuECxCDeOwApY95Sq8fJevpVEy30BAmar2JD0f5YP2pZA8Oe5S3w1yZ0b7wFZ4aLMNTYFsQKHdq4qN-EkSVFs-gp6YK7w-s3uyjaW87l_pFoX7HAwvnhESsRfK70siuiAEj6iALvdxT3MuAi8Qei-QXDQfxfCDiZ2jozBw192UYw-EyJho42Svrluzv6xT4pCwAE_cfzRrIM9PO6szfgl-mzZPVrvc5a0wZrQvImhecAjJZaBLeu25zKSo2w0PJaIOnEHqvUhG5-UjLz61Lw8fDNfcBsU8H45A6dE9EU9T3002j9JGHbHAnFLs8Yyd6JtllG6WSPXCINKSJJJaujd5klH3CHRr6HjMfRKoJjkWeQCotGy7RIDgRjoChF3Q9vu4EiUaIQvO18X9FGtar1CHuafeP3DValVx0hMwZvNH6KECNj-Qve6totOWTxwn_n6kypdCvHc4bpx6SAH00QSviQIz668xYYKLJsUsSfyz7NLDi2Qi3RtQH7HrfTscP6i2Af5v47AEzF3coNYI-UhfDz5MZfFTPEybxshvVe2n1Bir2nbDFkdrH3Sc7NBaIQbttxwbdhqOS_K5DWTyrekj0G3c-sBTQbqMGduKqmpoLj-i0pWzQAyHPYk-_ozKXrq1zm60D2aq6Xq_l1mYXMmzL5T74L0bQGczn-3MF-Y0aStTIORxtzCh6X0UB9SgRL_pJL53QMMPVuTGYqRxLcE0Ky-f70kYO_E_K4iT_icClSf_leKAFwmYsyk_zTZKnDQxJkRVrcOTQmqVFH0-th708XdP59mp-GTOtv4BUoqCEP_ZCwhELf2tHrP07CJdRfnpLwiRTdDqqACpyv0UQxX7C4clA01jIkyjN8MWlFdeVtE-SxGoKokxp9-pHAS-G4fpxnFglIgs0DMGgCWKRO_hTeDG9rDQxeYFQKEU5zktpX-ZYEPudOD6aQyOAsyatXCytU2ij5X7kJ4rMgRdY9fVQS-dzFf2PYb8cbWQ99OKDRsWJHqrBJ7ak0Hyx-HNS",
  "id": "rs_0da3cbc07170221d016ab43bbe02ac87d0b54bb95dbc1b8add",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.478,\"right_z\":0.195,\"right_pitch\":0.4},\"note\":\"The jaws again stopped at about 4.7 cm, but that alone does not prove a grasp. I’ll lift high enough to separate the gripper from the tabletop and check whether the lemon moves.\"}",
  "call_id": "call_7erHo3ZJhq232OBop7eDgqoH",
  "id": "fc_0da3cbc07170221d016ab43bbe70dc87d0bc0540438856f2b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7erHo3ZJhq232OBop7eDgqoH",
  "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]: [-0.189, 0.831, 0.5873, -0.4797, -0.292, -0.1696, 0.9978, 0.6739, 1.9263, 1.1103, 0.5285, 0.617, 0.0261, 0.4891]\nstate[eef_state]: left_x=0.279 left_y=0.002 left_z=0.1479 left_yaw=0.1326 left_pitch=-0.1089 left_roll=0.078 left_gripper=0.9978 right_x=0.4749 right_y=0.2531 right_z=0.1617 right_yaw=0.1153 right_pitch=0.3526 right_roll=-0.1414 right_gripper=0.4891\nstate[joint_eff]: [-0.0752, -1.388, 6.9812, 1.6142, -0.1294, -0.0366, -0.0122, -0.335, -12.3966, 9.3744, 1.9414, 0.2466, -0.0171, -0.1294]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddec6fce03519102383d119037215d8bd501fc643bb227fb6ef7d0e4b5fe842",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8022c0654dc12575be13632652131fb9b82b051ae2cb8ccd8755bba4220bafa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0415ea8981c0eddf2040b2f41a454a9ac568a57dd1d9359301b8ebb9a94e18ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 9.669 s

model: gpt-6-sol
effort: high
temperature: n/a
tool count: 3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8234, 0.5873, -0.4583, -0.292, -0.1692, 0.9978, 0.6159, 2.2726, 1.1072, 0.8917, 0.577, 0.0406, 0.997]\nstate[eef_state]: left_x=0.282 left_y=0.0015 left_z=0.1537 left_yaw=0.1316 left_pitch=-0.0814 left_roll=0.0691 left_gripper=0.9978 right_x=0.5045 right_y=0.2434 right_z=0.0534 right_yaw=0.081 right_pitch=0.3595 right_roll=-0.1087 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.2513, 6.9402, 1.6239, -0.1441, -0.0464, -0.0122, 0.1573, -10.2222, 4.6154, 2.1026, 0.1832, -0.1245, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.8295, 0.5873, -0.4728, -0.292, -0.1696, 0.9978, 0.6731, 2.2795, 1.0187, 1.0321, 0.6353, 0.0265, 0.4903]\nstate[eef_state]: left_x=0.2801 left_y=0.0019 left_z=0.1495 left_yaw=0.1324 left_pitch=-0.1009 left_roll=0.0754 left_gripper=0.9978 right_x=0.4781 right_y=0.2517 right_z=0.0495 right_yaw=0.0854 right_pitch=0.4045 right_roll=-0.111 right_gripper=0.4903\nstate[joint_eff]: [-0.1026, -1.6889, 7.1043, 1.7265, -0.188, -0.0317, -0.0122, -0.212, -11.8085, 4.4376, 1.6386, 0.0073, 0.0366, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.189, 0.831, 0.5873, -0.4797, -0.292, -0.1696, 0.9978, 0.6739, 1.9263, 1.1103, 0.5285, 0.617, 0.0261, 0.4891]\nstate[eef_state]: left_x=0.279 left_y=0.002 left_z=0.1479 left_yaw=0.1326 left_pitch=-0.1089 left_roll=0.078 left_gripper=0.9978 right_x=0.4749 right_y=0.2531 right_z=0.1617 right_yaw=0.1153 right_pitch=0.3526 right_roll=-0.1414 right_gripper=0.4891\nstate[joint_eff]: [-0.0752, -1.388, 6.9812, 1.6142, -0.1294, -0.0366, -0.0122, -0.335, -12.3966, 9.3744, 1.9414, 0.2466, -0.0171, -0.1294]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ddec6fce03519102383d119037215d8bd501fc643bb227fb6ef7d0e4b5fe842",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8022c0654dc12575be13632652131fb9b82b051ae2cb8ccd8755bba4220bafa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0415ea8981c0eddf2040b2f41a454a9ac568a57dd1d9359301b8ebb9a94e18ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0da3cbc07170221d016ab43bc13fd087d0a860a45f1692df35",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.375,\"right_z\":0.205,\"right_pitch\":0.28},\"note\":\"The lemon is no longer visible in the right wrist view after the lift, and the gripper remains partly open. I’ll carry it over the safe tray, where the overhead view can confirm whether it is moving with the arm.\"}",
  "call_id": "call_jN51n1AGbt9an8A5hUkBU6mP",
  "id": "fc_0da3cbc07170221d016ab43bc2ad7c87d0b89332b90d3cc3a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jN51n1AGbt9an8A5hUkBU6mP",
  "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]: [-0.189, 0.8314, 0.5873, -0.4808, -0.292, -0.1696, 0.9978, 1.0031, 1.9755, 1.459, -0.0025, 0.868, 0.2218, 0.489]\nstate[eef_state]: left_x=0.2789 left_y=0.0021 left_z=0.1476 left_yaw=0.1327 left_pitch=-0.1103 left_roll=0.0785 left_gripper=0.9978 right_x=0.3939 right_y=0.3736 right_z=0.1946 right_yaw=0.1686 right_pitch=0.256 right_roll=-0.1787 right_gripper=0.489\nstate[joint_eff]: [-0.0752, -1.4017, 6.9128, 1.5507, -0.1538, -0.0366, -0.0122, 0.2393, -10.0171, 8.9504, 1.8974, 0.4127, 0.2369, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07f24abac2fefe9fa7523a236fb018e9cb29b46f4cb7b81c76850bb9627d7a4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c2c6ba8a400ba1cf22d3be13bbfbeebbdf684d1d25228d16afa2906b90113c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31374e90cf5559d574c81c4e4a5236ef5dffe5f125a76a3317507a8db078a6b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]