adhoc - adhoc_7b608b82.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-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 181.4 s
total steps: 321

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 noteI see three loose objects: a yellow object to the safe’s right, a white plush at its front-left, and a brown plush at the front-right. I’ll first move the right gripper above the yellow object, keeping it high and open so I can refine alignment from the wrist view.

move_to

right_x0.4300right_y0.2000right_z0.1600right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3939, -0.0193, -0.0368, 0.9997, -0.0208, 0.7933, 0.6052, -0.3958, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1773 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2928 right_y=0.0008 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4855, -1.3744, 10.2496, 2.044, -0.0562, 0.1978, -0.0366, -0.2393, -1.4427, 9.894, 1.9219, -0.0366, 0.1294, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.2,"right_z":0.16,"right_gripper":1.0},"note":"I see three loose objects: a yellow object to the safe’s right, a white plush at its front-left, and a brown plush at the front-right. I’ll first move the right gripper above the yellow object, keeping it high and open so I can refine alignment from the wrist view."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe yellow object is nearly centered in the right wrist view but sits slightly to the image-right and still just short of the fingertips. I’ll advance about 3 cm, shift 1 cm right, and lower to a near-grasp height while keeping the jaws open.

move_to

right_x0.4450right_y0.1850right_z0.0700

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, -0.4068, -0.0189, -0.0383, 0.9997, 0.6003, 1.6634, 1.1027, -0.1761, 0.4603, 0.3096, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1748 left_yaw=0.0009 left_pitch=-0.0145 left_roll=-0.0012 left_gripper=0.9997 right_x=0.4161 right_y=0.1941 right_z=0.1421 right_yaw=0.0378 right_pitch=-0.0628 right_roll=-0.0425 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.5521, 6.9265, 1.8144, -0.0366, -0.0269, -0.0073, 0.1162, -8.0068, 8.9368, 1.8779, 0.442, 0.2564, -0.0562] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.445,"right_y":0.185,"right_z":0.07},"note":"The yellow object is nearly centered in the right wrist view but sits slightly to the image-right and still just short of the fingertips. I’ll advance about 3 cm, shift 1 cm right, and lower to a near-grasp height while keeping the jaws open."})

tool

executing move_to over 5 steps (0.5s)

step 22

assistant

agent noteThe yellow object is now well centered between the jaw columns in the wrist view. I’ll descend another few centimetres to put the grasp point near its mid-height before closing, minimizing the chance of squeezing it sideways.

move_to

right_x0.4450right_y0.1850right_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.799, 0.6064, -0.4107, -0.0189, -0.0387, 0.9997, 0.535, 1.8431, 1.0126, 0.0219, 0.421, 0.2699, 0.9996] state[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.0206 left_roll=-0.0014 left_gripper=0.9997 right_x=0.431 right_y=0.1757 right_z=0.0587 right_yaw=0.0213 right_pitch=-0.1398 right_roll=-0.0866 right_gripper=0.9996 state[joint_eff]: [-0.2803, -1.4427, 7.0359, 1.7363, -0.0366, -0.0659, -0.0073, -0.335, -9.2239, 6.3521, 2.0098, 0.1001, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.445,"right_y":0.185,"right_z":0.025},"note":"The yellow object is now well centered between the jaw columns in the wrist view. I’ll descend another few centimetres to put the grasp point near its mid-height before closing, minimizing the chance of squeezing it sideways."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe yellow object remains centered at the correct low height. I’ll close the right gripper to a moderate width; contact should stop the jaws around the object without over-squeezing the rounded surface.

move_to

right_gripper0.2500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8005, 0.6064, -0.4274, -0.0189, -0.0387, 0.9997, 0.5354, 1.9472, 1.0164, 0.1112, 0.4068, 0.271, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1696 left_yaw=0.0011 left_pitch=-0.0389 left_roll=-0.001 left_gripper=0.9997 right_x=0.4382 right_y=0.1828 right_z=0.0272 right_yaw=0.0313 right_pitch=-0.1544 right_roll=-0.0822 right_gripper=0.9996 state[joint_eff]: [-0.1299, -0.8, 7.3231, 1.8584, -0.0171, -0.0317, -0.0122, -0.1709, -8.9915, 7.5692, 0.862, 0.3394, -0.315, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper":0.25},"note":"The yellow object remains centered at the correct low height. I’ll close the right gripper to a moderate width; contact should stop the jaws around the object without over-squeezing the rounded surface."})

tool

executing move_to over 8 steps (0.8s)

step 33

assistant

agent noteThe jaws settled at 0.34, consistent with gripping the roughly 3 cm-wide yellow object rather than closing empty. I’ll lift it well clear of the table and confirm in the overhead view that it travels with the gripper.

move_to

right_x0.4300right_y0.1850right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4351, -0.0189, -0.0383, 0.9997, 0.5354, 1.9499, 1.0214, 0.1024, 0.3794, 0.2687, 0.3437] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1675 left_yaw=0.0009 left_pitch=-0.0484 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4369 right_y=0.1873 right_z=0.025 right_yaw=0.0536 right_pitch=-0.1698 right_roll=-0.069 right_gripper=0.3437 state[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.7753, -0.0708, -0.0464, -0.0073, -0.1709, -10.0034, 5.2171, 1.6093, 0.4176, -0.0415, 0.4029] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.185,"right_z":0.15},"note":"The jaws settled at 0.34, consistent with gripping the roughly 3 cm-wide yellow object rather than closing empty. I’ll lift it well clear of the table and confirm in the overhead view that it travels with the gripper."})

tool

executing move_to over 9 steps (0.9s)

step 42

assistant

agent noteThe yellow object lifted with the right gripper and is no longer on its original table spot. I’ll carry it high to the center of the open red safe compartment, approaching from the right to avoid the upright lid.

move_to

right_x0.3700right_y0.3400right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.453, -0.0189, -0.0383, 0.9997, 0.5369, 1.7535, 1.232, -0.3496, 0.3771, 0.2657, 0.3425] state[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1638 left_yaw=0.0009 left_pitch=-0.0671 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4278 right_y=0.1831 right_z=0.1225 right_yaw=0.0546 right_pitch=-0.2106 right_roll=-0.0909 right_gripper=0.3425 state[joint_eff]: [-0.0889, -1.2923, 6.9538, 1.8926, -0.0464, -0.0317, -0.0073, -0.0889, -11.2752, 9.0872, 1.5604, 0.2076, 0.0122, -0.1441] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.34,"right_z":0.17},"note":"The yellow object lifted with the right gripper and is no longer on its original table spot. I’ll carry it high to the center of the open red safe compartment, approaching from the right to avoid the upright lid."})

tool

executing move_to over 14 steps (1.4s)

step 56

assistant

agent noteThe yellow object is still visible at its original spot beside the safe, so the rounded piece must have slipped free during transport despite initially blocking the jaws. I’ll reopen and return above it for a deeper, firmer second grasp.

move_to

right_x0.4400right_y0.1850right_z0.0800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4667, -0.0189, -0.0383, 0.9997, 0.931, 1.9984, 1.7554, -0.8124, 0.577, 0.593, 0.3424] state[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0809 left_roll=0.0001 left_gripper=0.9997 right_x=0.3665 right_y=0.3371 right_z=0.1619 right_yaw=0.093 right_pitch=-0.2378 right_roll=-0.1079 right_gripper=0.3424 state[joint_eff]: [-0.212, -1.2376, 7.159, 1.7705, -0.0708, -0.0464, -0.0073, 0.2393, -10.0855, 8.7043, 1.1648, 0.4957, 0.1734, -0.022] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.185,"right_z":0.08,"right_gripper":1.0},"note":"The yellow object is still visible at its original spot beside the safe, so the rounded piece must have slipped free during transport despite initially blocking the jaws. I’ll reopen and return above it for a deeper, firmer second grasp."})

tool

executing move_to over 13 steps (1.3s)

step 69

assistant

agent noteThe lemon is centered laterally but still a few centimetres beyond the fingertips in the wrist view. I’ll advance and descend so the jaws surround its lower half more deeply before making a full close.

move_to

right_x0.4600right_y0.1800right_z0.0200

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0189, -0.0383, 0.9997, 0.527, 1.8812, 1.1957, -0.305, 0.3542, 0.2386, 0.9976] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.9997 right_x=0.4245 right_y=0.1803 right_z=0.0577 right_yaw=0.0633 right_pitch=-0.327 right_roll=-0.1489 right_gripper=0.9976 state[joint_eff]: [-0.0068, -1.2239, 7.0222, 1.7851, -0.0513, -0.0366, -0.0122, -0.2393, -11.8359, 6.8581, 1.6923, 0.1685, -0.0024, -0.0366] 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_x":0.46,"right_y":0.18,"right_z":0.02},"note":"The lemon is centered laterally but still a few centimetres beyond the fingertips in the wrist view. I’ll advance and descend so the jaws surround its lower half more deeply before making a full close."})

tool

executing move_to over 3 steps (0.3s)

step 72

assistant

agent noteThe lemon now fills the space directly between the jaws and is aligned across its narrow axis. I’ll close fully so the fingers make firm contact and then use the settled opening to verify the 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, 0.8055, 0.6064, -0.4873, -0.0189, -0.0383, 0.9997, 0.4953, 2.0129, 1.2423, -0.2325, 0.3225, 0.2043, 0.9988] state[eef_state]: left_x=0.2801 left_y=0.0016 left_z=0.1565 left_yaw=0.001 left_pitch=-0.1037 left_roll=0.0006 left_gripper=0.9997 right_x=0.4457 right_y=0.1812 right_z=0.0228 right_yaw=0.0753 right_pitch=-0.3525 right_roll=-0.1511 right_gripper=0.9988 state[joint_eff]: [-0.0068, -1.306, 7.1043, 1.8242, -0.0464, -0.0122, -0.0073, -0.8821, -10.2085, 8.4171, 1.3895, 0.1929, -0.0757, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The lemon now fills the space directly between the jaws and is aligned across its narrow axis. I’ll close fully so the fingers make firm contact and then use the settled opening to verify the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 82

assistant

agent noteA fully closed reading of 0.03 confirms the lemon was squeezed out to the gripper’s right; it is visibly resting there. I’ll reopen, lift slightly, and shift about 4 cm toward it before a gentler closure.

move_to

right_x0.4600right_y0.1500right_z0.0650right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.5026, -0.0189, -0.0387, 0.9997, 0.4881, 2.0369, 1.2587, -0.1909, 0.3004, 0.2142, 0.0264] state[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1535 left_yaw=0.0013 left_pitch=-0.1194 left_roll=0.0006 left_gripper=0.9997 right_x=0.456 right_y=0.187 right_z=0.0218 right_yaw=0.0853 right_pitch=-0.3281 right_roll=-0.1124 right_gripper=0.0264 state[joint_eff]: [0.0752, -1.265, 6.8991, 1.8144, -0.0415, -0.0269, -0.0122, -0.2256, -9.7026, 7.3778, 0.8864, 0.9304, -0.1636, 2.127] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.46,"right_y":0.15,"right_z":0.065,"right_gripper":1.0},"note":"A fully closed reading of 0.03 confirms the lemon was squeezed out to the gripper’s right; it is visibly resting there. I’ll reopen, lift slightly, and shift about 4 cm toward it before a gentler closure."})

tool

executing move_to over 10 steps (1.0s)

step 92

assistant

agent noteAfter the lateral correction, the lemon is centered, but it still sits several centimetres ahead of the fingertip convergence line. I’ll advance to enclose it at the fingertips while staying low, then close only to its measured width.

move_to

right_x0.4850right_y0.1500right_z0.0200

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5175, -0.0189, -0.0387, 0.9997, 0.4042, 1.9587, 1.2568, -0.3122, 0.2493, 0.1398, 0.9945] state[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1358 left_roll=0.0009 left_gripper=0.9997 right_x=0.4507 right_y=0.1493 right_z=0.0393 right_yaw=0.0819 right_pitch=-0.3903 right_roll=-0.1335 right_gripper=0.9945 state[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7216, -0.0708, -0.0464, -0.0122, -0.4171, -13.2171, 7.3368, 1.5116, 0.1587, 0.0513, 0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.485,"right_y":0.15,"right_z":0.02},"note":"After the lateral correction, the lemon is centered, but it still sits several centimetres ahead of the fingertip convergence line. I’ll advance to enclose it at the fingertips while staying low, then close only to its measured width."})

tool

executing move_to over 3 steps (0.3s)

step 95

assistant

agent noteThe lemon now reaches the fingertip convergence zone and remains centered, with the safe wall helping prevent leftward escape. I’ll close only to about 3.3 cm nominal width so the jaws contact it without the abrupt full-close squeeze that ejected it before.

move_to

right_gripper0.3500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.524, -0.0189, -0.0383, 0.9997, 0.3851, 2.0666, 1.3449, -0.3183, 0.2329, 0.1226, 0.9953] state[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1484 left_yaw=0.0011 left_pitch=-0.1453 left_roll=0.0014 left_gripper=0.9997 right_x=0.4696 right_y=0.1502 right_z=0.0188 right_yaw=0.0839 right_pitch=-0.4205 right_roll=-0.138 right_gripper=0.9953 state[joint_eff]: [-0.0479, -0.8547, 7.0359, 1.7509, -0.0317, -0.0171, -0.0122, -0.8957, -10.3316, 8.1162, 1.3455, 0.315, -0.188, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.35},"note":"The lemon now reaches the fingertip convergence zone and remains centered, with the safe wall helping prevent leftward escape. I’ll close only to about 3.3 cm nominal width so the jaws contact it without the abrupt full-close squeeze that ejected it before."})

tool

executing move_to over 7 steps (0.7s)

step 102

assistant

agent noteThe first gentle closure nudged the lemon to the image-right rather than trapping it, so it is not yet secured. I’ll ease the jaws slightly open and shift 3 cm right to recenter around the lemon before closing again.

move_to

right_y0.1250right_gripper0.4500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5369, -0.0189, -0.0387, 0.9997, 0.3874, 2.0796, 1.3529, -0.3065, 0.2192, 0.1204, 0.355] state[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1459 left_yaw=0.0014 left_pitch=-0.1587 left_roll=0.0014 left_gripper=0.9997 right_x=0.4722 right_y=0.155 right_z=0.0165 right_yaw=0.1004 right_pitch=-0.4175 right_roll=-0.1248 right_gripper=0.355 state[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7167, -0.0464, -0.0757, -0.0122, -0.1436, -12.2872, 5.3949, 1.1062, 0.2173, 0.0122, 0.1392] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.125,"right_gripper":0.45},"note":"The first gentle closure nudged the lemon to the image-right rather than trapping it, so it is not yet secured. I’ll ease the jaws slightly open and shift 3 cm right to recenter around the lemon before closing again."})

tool

executing move_to over 3 steps (0.3s)

step 105

assistant

agent noteThe lateral shift has placed the lemon much more centrally between the jaw tips, and the open width is only slightly larger than the fruit. I’ll close to a controlled 2.7 cm nominal gap, enough to establish a firm hold without snapping fully shut.

move_to

right_gripper0.2800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5423, -0.0189, -0.0387, 0.9997, 0.3412, 2.0613, 1.3148, -0.2684, 0.1783, 0.0841, 0.448] state[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1449 left_yaw=0.0014 left_pitch=-0.164 left_roll=0.0015 left_gripper=0.9997 right_x=0.4745 right_y=0.139 right_z=0.0155 right_yaw=0.1141 right_pitch=-0.4109 right_roll=-0.1043 right_gripper=0.448 state[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.6288, -0.0513, -0.0562, -0.0122, -1.0735, -12.3009, 4.8615, 1.0916, 0.2662, -0.1636, -0.0269] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.28},"note":"The lateral shift has placed the lemon much more centrally between the jaw tips, and the open width is only slightly larger than the fruit. I’ll close to a controlled 2.7 cm nominal gap, enough to establish a firm hold without snapping fully shut."})

tool

executing move_to over 2 steps (0.2s)

step 107

assistant

agent noteThe lemon stays centered through the controlled closure, but the gripper reached 0.29 without a clear contact stop. I’ll tighten one more small increment while it remains constrained against the safe edge, then lift to verify.

move_to

right_gripper0.1500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5556, -0.0185, -0.0383, 0.9997, 0.3336, 2.0552, 1.3067, -0.2646, 0.1719, 0.0677, 0.286] state[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.1422 left_yaw=0.0009 left_pitch=-0.1789 left_roll=0.0018 left_gripper=0.9997 right_x=0.4741 right_y=0.1361 right_z=0.0159 right_yaw=0.1222 right_pitch=-0.4112 right_roll=-0.1078 right_gripper=0.286 state[joint_eff]: [0.0068, -0.9915, 6.8444, 1.7314, -0.0415, -0.022, -0.0122, 0.4308, -10.1538, 6.5983, 1.1502, 0.0855, 0.1099, 0.0415] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.15},"note":"The lemon stays centered through the controlled closure, but the gripper reached 0.29 without a clear contact stop. I’ll tighten one more small increment while it remains constrained against the safe edge, then lift to verify."})

tool

executing move_to over 2 steps (0.2s)

step 109

assistant

agent noteThe jaws again reached the commanded narrow gap, showing the lemon is still just beyond the actual fingertip line even though it looks close in the camera. I’ll reopen, advance to the practical table-contact reach, and shift slightly right so the fingertips truly straddle it.

move_to

right_x0.5000right_y0.1100right_z0.0200right_gripper0.8000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5629, -0.0189, -0.0383, 0.9997, 0.3389, 2.0552, 1.3067, -0.2672, 0.1707, 0.0704, 0.1552] state[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1404 left_yaw=0.0013 left_pitch=-0.188 left_roll=0.0023 left_gripper=0.9997 right_x=0.4728 right_y=0.1387 right_z=0.0155 right_yaw=0.1267 right_pitch=-0.4138 right_roll=-0.1058 right_gripper=0.1552 state[joint_eff]: [-0.1026, -1.1419, 6.9538, 1.5897, -0.0464, -0.0317, -0.0122, -0.759, -11.0291, 5.9692, 1.2821, 0.0806, -0.0317, 0.0855] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.5,"right_y":0.11,"right_z":0.02,"right_gripper":0.8},"note":"The jaws again reached the commanded narrow gap, showing the lemon is still just beyond the actual fingertip line even though it looks close in the camera. I’ll reopen, advance to the practical table-contact reach, and shift slightly right so the fingertips truly straddle it."})

tool

executing move_to over 7 steps (0.7s)

step 116

assistant

agent noteAt the farther reach the lemon is now large and centered deep between both visible fingers, unlike the earlier attempts. I’ll close to a firm but nonzero gap; a blocked reading above 0.20 will confirm contact.

move_to

right_gripper0.2000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5713, -0.0189, -0.0383, 0.9997, 0.2615, 2.085, 1.375, -0.3153, 0.1265, -0.0002, 0.7953] state[eef_state]: left_x=0.2666 left_y=0.0019 left_z=0.1389 left_yaw=0.0013 left_pitch=-0.1964 left_roll=0.0025 left_gripper=0.9997 right_x=0.4898 right_y=0.1117 right_z=0.0181 right_yaw=0.1309 right_pitch=-0.4337 right_roll=-0.1082 right_gripper=0.7953 state[joint_eff]: [-0.0615, -1.2239, 6.8444, 1.5995, -0.022, -0.0611, -0.0122, -0.5265, -9.6342, 8.1983, 1.4872, 0.0562, 0.0024, -0.2418] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.2},"note":"At the farther reach the lemon is now large and centered deep between both visible fingers, unlike the earlier attempts. I’ll close to a firm but nonzero gap; a blocked reading above 0.20 will confirm contact."})

tool

executing move_to over 6 steps (0.6s)

step 122

assistant

agent noteThe lemon shifted slightly but remains wedged between the fingers and the safe’s outer wall; the 0.20 command still did not show a definite stop. Now that it is deeply enclosed, I’ll complete the close to establish whether the jaws can retain it.

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, 0.8143, 0.6064, -0.5846, -0.0189, -0.0383, 0.9997, 0.2657, 2.088, 1.3758, -0.3218, 0.112, -0.0036, 0.2051] state[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0013 left_pitch=-0.2098 left_roll=0.0027 left_gripper=0.9997 right_x=0.4875 right_y=0.1159 right_z=0.0158 right_yaw=0.1499 right_pitch=-0.4442 right_roll=-0.0978 right_gripper=0.2051 state[joint_eff]: [-0.0068, -1.1966, 6.8444, 1.6288, -0.0464, -0.0122, -0.0122, -0.1846, -11.5761, 6.0103, 1.2869, 0.2125, 0.0366, 0.105] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"The lemon shifted slightly but remains wedged between the fingers and the safe’s outer wall; the 0.20 command still did not show a definite stop. Now that it is deeply enclosed, I’ll complete the close to establish whether the jaws can retain it."})

tool

executing move_to over 3 steps (0.3s)

step 125

assistant

agent noteThe full close again reads essentially empty, so this slick rounded lemon is not retainable with the parallel jaws. Because it is beside the open compartment, I’ll switch to a controlled push: position the closed gripper just outside its right side, then sweep it over the low safe rim.

move_to

right_x0.4900right_y0.0600right_z0.0550right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5858, -0.0189, -0.0383, 0.9997, 0.268, 2.0876, 1.3754, -0.3237, 0.0853, 0.0013, 0.0397] state[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1361 left_yaw=0.0014 left_pitch=-0.2121 left_roll=0.0028 left_gripper=0.9997 right_x=0.4857 right_y=0.1215 right_z=0.0152 right_yaw=0.1736 right_pitch=-0.4482 right_roll=-0.0698 right_gripper=0.0397 state[joint_eff]: [0.0068, -0.8, 6.8444, 1.5409, -0.0415, -0.0659, -0.0122, -0.4581, -11.3436, 6.188, 1.2332, 0.2906, -0.1294, 1.0085] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.49,"right_y":0.06,"right_z":0.055,"right_gripper":0.0},"note":"The full close again reads essentially empty, so this slick rounded lemon is not retainable with the parallel jaws. Because it is beside the open compartment, I’ll switch to a controlled push: position the closed gripper just outside its right side, then sweep it over the low safe rim."})

tool

executing move_to over 6 steps (0.6s)

step 131

assistant

agent noteThe closed right gripper is now immediately outside the lemon, with the red compartment directly to its left. I’ll sweep inward and slightly toward the safe’s center at low height to roll the lemon across the adjacent rim.

move_to

right_x0.4600right_y0.2400right_z0.0450right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5896, -0.0189, -0.0387, 0.9997, 0.1318, 2.0457, 1.3766, -0.4393, -0.001, -0.1062, 0.0417] state[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1353 left_yaw=0.0016 left_pitch=-0.2166 left_roll=0.0026 left_gripper=0.9997 right_x=0.4755 right_y=0.0668 right_z=0.0212 right_yaw=0.1852 right_pitch=-0.5256 right_roll=-0.0442 right_gripper=0.0417 state[joint_eff]: [-0.0615, -1.2786, 6.8581, 1.5556, -0.0415, -0.0708, -0.0122, -0.4855, -14.5436, 8.9231, 1.3748, 0.0952, -0.0073, 1.033] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.46,"right_y":0.24,"right_z":0.045,"right_gripper":0.0},"note":"The closed right gripper is now immediately outside the lemon, with the red compartment directly to its left. I’ll sweep inward and slightly toward the safe’s center at low height to roll the lemon across the adjacent rim."})

tool

executing move_to over 15 steps (1.5s)

step 146

assistant

agent noteThe sweep deflected the lemon farther to the upper-right rather than into the compartment, so I’ll leave it for a better-directed final push. I’ll park the right arm and move the left gripper over the white plush, which is centered on the left arm’s side and should be straightforward to grasp.

move_to

left_x0.3300left_y-0.2100left_z0.1100left_gripper1.0000right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5926, -0.0189, -0.0387, 0.9997, 0.5228, 2.1761, 1.6543, -0.6758, 0.1463, 0.2256, 0.0416] state[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1347 left_yaw=0.0016 left_pitch=-0.2197 left_roll=0.0027 left_gripper=0.9997 right_x=0.4458 right_y=0.2313 right_z=0.0311 right_yaw=0.2095 right_pitch=-0.589 right_roll=-0.0527 right_gripper=0.0416 state[joint_eff]: [-0.1709, -1.1966, 7.0496, 1.5458, -0.0513, -0.0464, -0.0073, 0.1983, -11.6034, 8.8684, 1.2137, 0.3346, 0.0904, 1.033] 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":0.33,"left_y":-0.21,"left_z":0.11,"left_gripper":1.0,"right_x":0.29,"right_y":0.0,"right_z":0.18,"right_gripper":1.0},"note":"The sweep deflected the lemon farther to the upper-right rather than into the compartment, so I’ll leave it for a better-directed final push. I’ll park the right arm and move the left gripper over the white plush, which is centered on the left arm’s side and should be straightforward to grasp."})

tool

executing move_to over 20 steps (2.0s)

step 166

assistant

agent noteThe white plush is centered in the left wrist view, with its body aligned between the open fingers, but it remains slightly short of the fingertip line. I’ll advance about 3 cm and descend to table level for a deep grasp around its torso.

move_to

left_x0.3500left_y-0.2000left_z0.0200

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7982, 1.5517, 0.9546, -0.4477, -0.5026, -0.6605, 0.9997, -0.0422, 1.3117, 1.1854, -1.0687, -0.0486, -0.2592, 0.9977] state[eef_state]: left_x=0.3177 left_y=-0.1989 left_z=0.0935 left_yaw=-0.0037 left_pitch=-0.2781 left_roll=0.0369 left_gripper=0.9997 right_x=0.2936 right_y=-0.0002 right_z=0.1667 right_yaw=0.1654 right_pitch=-0.6098 right_roll=-0.0536 right_gripper=0.9977 state[joint_eff]: [-0.294, -6.8034, 8.7863, 1.4432, -0.5348, 0.0024, -0.0464, -0.1162, -5.4496, 8.8957, 1.1258, -0.2662, -0.1245, -0.0562] approver: 1 step(s) modified (delta_clamped). 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":0.35,"left_y":-0.2,"left_z":0.02},"note":"The white plush is centered in the left wrist view, with its body aligned between the open fingers, but it remains slightly short of the fingertip line. I’ll advance about 3 cm and descend to table level for a deep grasp around its torso."})

tool

executing move_to over 5 steps (0.5s)

step 171

assistant

agent noteThe white plush’s torso is now deep between both left fingers at table height. I’ll close fully around the soft body; its thickness should leave a clearly nonzero settled opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7311, 1.7554, 0.8883, -0.1864, -0.4831, -0.6254, 0.9993, -0.0452, 1.3018, 1.1728, -1.0977, -0.0605, -0.2794, 0.9988] state[eef_state]: left_x=0.3436 left_y=-0.1931 left_z=0.0268 left_yaw=0.0319 left_pitch=-0.2972 left_roll=0.0544 left_gripper=0.9993 right_x=0.2839 right_y=0.0014 right_z=0.1627 right_yaw=0.1931 right_pitch=-0.6388 right_roll=-0.0405 right_gripper=0.9988 state[joint_eff]: [0.4718, -6.5573, 4.4239, 1.0818, -0.0513, 0.3346, -0.0562, -0.0068, -4.3009, 6.4615, 1.3065, 0.0269, 0.1587, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The white plush’s torso is now deep between both left fingers at table height. I’ll close fully around the soft body; its thickness should leave a clearly nonzero settled opening."})

tool

executing move_to over 10 steps (1.0s)

step 181

assistant

agent noteThe gripper stopped at 0.044—just above the empty threshold—so it may have caught only compressed fabric or fur. I’ll lift straight up to verify whether the plush moves before attempting transport.

move_to

left_x0.3450left_y-0.1900left_z0.1300

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7189, 1.771, 0.8822, -0.1757, -0.4789, -0.6483, 0.0435, -0.0498, 1.2842, 1.1328, -1.0813, -0.0654, -0.2813, 0.9989] state[eef_state]: left_x=0.3446 left_y=-0.1886 left_z=0.0201 left_yaw=0.0568 left_pitch=-0.307 left_roll=0.0446 left_gripper=0.0435 right_x=0.2787 right_y=0.0013 right_z=0.1553 right_yaw=0.1959 right_pitch=-0.6436 right_roll=-0.0338 right_gripper=0.9989 state[joint_eff]: [-0.5675, -9.1282, 6.2974, 0.9304, -0.6862, 0.1148, 0.8816, -0.335, -5.6821, 6.5299, 1.16, -0.1587, -0.0562, -0.0024] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.345,"left_y":-0.19,"left_z":0.13},"note":"The gripper stopped at 0.044—just above the empty threshold—so it may have caught only compressed fabric or fur. I’ll lift straight up to verify whether the plush moves before attempting transport."})

tool

executing move_to over 8 steps (0.8s)

step 189

assistant

agent noteThe white plush left its table spot and is moving with the left arm, despite the very compressed jaw opening. I’ll carry it high over the center of the open safe, clear of the red rim and the brown plush below.

move_to

left_x0.3800left_y-0.3200left_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7242, 1.6516, 1.1042, -0.6437, -0.4603, -0.6579, 0.0459, -0.0566, 1.2602, 1.0882, -1.0592, -0.0689, -0.2878, 0.9989] state[eef_state]: left_x=0.3287 left_y=-0.1812 left_z=0.0869 left_yaw=0.0781 left_pitch=-0.4078 left_roll=0.1217 left_gripper=0.0459 right_x=0.2734 right_y=0.0003 right_z=0.1484 right_yaw=0.1967 right_pitch=-0.6414 right_roll=-0.0331 right_gripper=0.9989 state[joint_eff]: [0.2256, -11.2479, 10.2496, 1.6679, -0.5104, 0.022, 1.0281, -0.212, -5.3128, 6.7077, 1.1209, -0.1685, -0.0317, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.38,"left_y":-0.32,"left_z":0.17},"note":"The white plush left its table spot and is moving with the left arm, despite the very compressed jaw opening. I’ll carry it high over the center of the open safe, clear of the red rim and the brown plush below."})

tool

executing move_to over 13 steps (1.3s)

step 202

assistant

agent noteThe overhead view reveals the white plush stayed on the table; the earlier close caught only loose fur. I’ll reopen and approach its central body slightly closer to the base than before, correcting the prior overshoot so both fingers surround the bulk rather than the fringe.

move_to

left_x0.3200left_y-0.1900left_z0.0200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8761, 2.2143, 2.1132, -1.2873, -0.4633, -0.8013, 0.0475, -0.0612, 1.2358, 1.0447, -1.037, -0.0723, -0.2886, 0.9989] state[eef_state]: left_x=0.3639 left_y=-0.3078 left_z=0.134 left_yaw=0.0919 left_pitch=-0.5174 left_roll=0.2136 left_gripper=0.0475 right_x=0.2683 right_y=-0.0001 right_z=0.1419 right_yaw=0.1956 right_pitch=-0.6377 right_roll=-0.0305 right_gripper=0.9989 state[joint_eff]: [-0.6496, -14.1744, 10.2222, 0.9402, -0.6471, -0.2808, 1.0281, -0.4991, -4.9436, 6.6393, 1.0916, -0.1978, -0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.19,"left_z":0.02,"left_gripper":1.0},"note":"The overhead view reveals the white plush stayed on the table; the earlier close caught only loose fur. I’ll reopen and approach its central body slightly closer to the base than before, correcting the prior overshoot so both fingers surround the bulk rather than the fringe."})

tool

executing move_to over 11 steps (1.1s)

step 213

assistant

agent noteAt table height the wrist view clearly shows the plush body well to the gripper’s left, explaining the miss. I’ll shift the left gripper 5 cm left while holding depth and height, centering the torso between the jaws.

move_to

left_y-0.1400left_x0.3200left_z0.0200

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7563, 1.8561, 1.1191, -0.6189, -0.437, -0.6926, 0.9958, -0.0669, 1.2133, 1.0084, -1.0149, -0.0727, -0.2886, 0.9989] state[eef_state]: left_x=0.3192 left_y=-0.1935 left_z=0.0204 left_yaw=0.1151 left_pitch=-0.5316 left_roll=0.2228 left_gripper=0.9958 right_x=0.2648 right_y=-0.0013 right_z=0.1371 right_yaw=0.1887 right_pitch=-0.6295 right_roll=-0.0327 right_gripper=0.9989 state[joint_eff]: [0.4991, -9.5385, 4.8205, 0.6032, -0.315, 0.1099, -0.0611, -0.3624, -4.6974, 6.4615, 1.0769, -0.1734, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_y":-0.14,"left_x":0.32,"left_z":0.02},"note":"At table height the wrist view clearly shows the plush body well to the gripper’s left, explaining the miss. I’ll shift the left gripper 5 cm left while holding depth and height, centering the torso between the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 218

assistant

agent noteThe first lateral correction brought the plush closer to center but it remains left of the jaw column. I’ll shift another 5 cm left to put the torso squarely between the fingertips before closing.

move_to

left_y-0.0900left_x0.3200left_z0.0200

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6384, 1.758, 0.9764, -0.5167, -0.4049, -0.5919, 0.9969, -0.0715, 1.2015, 0.981, -1.0069, -0.0727, -0.2886, 0.9989] state[eef_state]: left_x=0.3229 left_y=-0.1485 left_z=0.0177 left_yaw=0.1255 left_pitch=-0.5268 left_roll=0.2019 left_gripper=0.9969 right_x=0.2602 right_y=-0.0022 right_z=0.1314 right_yaw=0.1855 right_pitch=-0.6368 right_roll=-0.0303 right_gripper=0.9989 state[joint_eff]: [0.3761, -9.1829, 4.8615, 0.7253, -0.2369, 0.0952, 0.1001, -0.294, -4.8068, 6.3385, 1.116, -0.1538, -0.0806, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.09,"left_x":0.32,"left_z":0.02},"note":"The first lateral correction brought the plush closer to center but it remains left of the jaw column. I’ll shift another 5 cm left to put the torso squarely between the fingertips before closing."})

tool

executing move_to over 6 steps (0.6s)

step 224

assistant

agent noteThe white plush torso is now centered and fills the space between both left fingers at the fingertip line. I’ll close fully; this alignment should capture the thick body rather than just fur.

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]: [-0.4881, 1.6501, 0.8452, -0.44, -0.3519, -0.4606, 0.9971, -0.0761, 1.1797, 0.947, -0.9916, -0.0727, -0.2882, 0.9989] state[eef_state]: left_x=0.3212 left_y=-0.0975 left_z=0.0168 left_yaw=0.1353 left_pitch=-0.5325 left_roll=0.1852 left_gripper=0.9971 right_x=0.2556 right_y=-0.003 right_z=0.1265 right_yaw=0.1801 right_pitch=-0.6339 right_roll=-0.0311 right_gripper=0.9989 state[joint_eff]: [0.5128, -7.9385, 4.9162, 0.9451, -0.2076, 0.105, 0.0024, -0.3077, -4.4239, 6.4342, 1.0623, -0.1587, -0.0855, -0.0073] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The white plush torso is now centered and fills the space between both left fingers at the fingertip line. I’ll close fully; this alignment should capture the thick body rather than just fur."})

tool

executing move_to over 10 steps (1.0s)

step 234

assistant

agent noteThe soft plush compressed enough for the jaws to close empty and was expelled to the left; grasping is unreliable. I’ll position the closed gripper on its outer-left side so I can sweep the whole plush directly into the open safe on its right.

move_to

left_x0.3000left_y0.0000left_z0.0500left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4919, 1.6474, 0.8383, -0.4427, -0.3168, -0.4755, 0.0383, -0.0822, 1.161, 0.915, -0.9771, -0.0727, -0.2886, 0.9989] state[eef_state]: left_x=0.3161 left_y=-0.1029 left_z=0.0135 left_yaw=0.1157 left_pitch=-0.5559 left_roll=0.1505 left_gripper=0.0383 right_x=0.2514 right_y=-0.0042 right_z=0.1213 right_yaw=0.1741 right_pitch=-0.6328 right_roll=-0.0316 right_gripper=0.9989 state[joint_eff]: [-0.0068, -6.2838, 6.1333, 0.6129, -0.398, 1.2576, -0.398, -0.212, -4.1231, 6.6256, 1.0379, -0.1538, -0.1099, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.0,"left_z":0.05,"left_gripper":0.0},"note":"The soft plush compressed enough for the jaws to close empty and was expelled to the left; grasping is unreliable. I’ll position the closed gripper on its outer-left side so I can sweep the whole plush directly into the open safe on its right."})

tool

executing move_to over 10 steps (1.0s)

step 244

assistant

agent noteThe small plush is still just left of the pusher, and the safe interior is immediately to its right. I’ll use the last 5 cm of leftward workspace to get the closed fingers fully outside the plush before the inward sweep.

move_to

left_x0.3000left_y0.0500left_z0.0400

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1371, 1.4082, 0.7383, -0.5373, -0.1787, -0.1654, 0.0481, -0.0875, 1.1442, 0.8822, -0.9623, -0.0727, -0.2886, 0.9989] state[eef_state]: left_x=0.2953 left_y=-0.0054 left_z=0.0396 left_yaw=0.1332 left_pitch=-0.5966 left_roll=0.1362 left_gripper=0.0481 right_x=0.247 right_y=-0.0052 right_z=0.1153 right_yaw=0.1689 right_pitch=-0.6339 right_roll=-0.0312 right_gripper=0.9989 state[joint_eff]: [0.1846, -7.1316, 5.8051, 1.2527, -0.2027, -0.0415, 1.0379, -0.2256, -4.2325, 6.8034, 1.0476, -0.1929, -0.1148, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.3,"left_y":0.05,"left_z":0.04},"note":"The small plush is still just left of the pusher, and the safe interior is immediately to its right. I’ll use the last 5 cm of leftward workspace to get the closed fingers fully outside the plush before the inward sweep."})

tool

executing move_to over 5 steps (0.5s)

step 249

assistant

agent noteThe closed left fingers are now at the outer edge of the small plush, with the open red floor directly across it. I’ll make one continuous low diagonal sweep into the center of the safe to push the plush over the rim and fully inside.

move_to

left_x0.3600left_y-0.3000left_z0.0450left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [0.0807, 1.4185, 0.7376, -0.543, -0.0856, 0.0029, 0.0517, -0.0933, 1.1236, 0.852, -0.9474, -0.0727, -0.2886, 0.9989] state[eef_state]: left_x=0.2892 left_y=0.0421 left_z=0.034 left_yaw=0.1466 left_pitch=-0.6398 left_roll=0.1091 left_gripper=0.0517 right_x=0.2432 right_y=-0.0063 right_z=0.1111 right_yaw=0.1622 right_pitch=-0.6287 right_roll=-0.0329 right_gripper=0.9989 state[joint_eff]: [0.1846, -4.8342, 6.5573, 1.2381, -0.2466, 0.0513, 1.0232, -0.4991, -3.8769, 6.3795, 1.0525, -0.1783, -0.0855, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.36,"left_y":-0.3,"left_z":0.045,"left_gripper":0.0},"note":"The closed left fingers are now at the outer edge of the small plush, with the open red floor directly across it. I’ll make one continuous low diagonal sweep into the center of the safe to push the plush over the rim and fully inside."})

tool

executing move_to over 31 steps (3.1s)

step 280

assistant

agent noteThe small plush remained outside, so the low sweep passed on the wrong depth line; continuing the same push would not help. I’ll clear the left arm and place the closed right gripper directly behind the large brown plush, which lies in front of the safe, for a straight forward push into the compartment.

move_to

right_x0.2200right_y0.3000right_z0.0400right_gripper0.0000left_x0.2800left_y0.0000left_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8242, 2.1864, 1.7203, -0.9516, -0.3187, -0.9115, 0.0511, -0.0986, 1.1049, 0.8288, -0.9401, -0.0727, -0.2886, 0.9989] state[eef_state]: left_x=0.3519 left_y=-0.2935 left_z=0.0361 left_yaw=0.1546 left_pitch=-0.6422 left_roll=0.0939 left_gripper=0.0511 right_x=0.2393 right_y=-0.0072 right_z=0.108 right_yaw=0.1564 right_pitch=-0.6261 right_roll=-0.0338 right_gripper=0.9989 state[joint_eff]: [-0.7043, -11.4667, 8.5675, 0.3394, -0.5006, 0.2271, 1.033, -0.0342, -3.535, 6.2017, 1.1111, -0.149, -0.1001, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.22,"right_y":0.3,"right_z":0.04,"right_gripper":0.0,"left_x":0.28,"left_y":0.0,"left_z":0.16},"note":"The small plush remained outside, so the low sweep passed on the wrong depth line; continuing the same push would not help. I’ll clear the left arm and place the closed right gripper directly behind the large brown plush, which lies in front of the safe, for a straight forward push into the compartment."})

tool

executing move_to over 27 steps (2.7s)

step 307

assistant

agent noteThe right wrist view shows the closed fingers firmly against the rear of the large brown plush, aligned with the safe opening ahead. I’ll push straight forward with a small centering correction so the plush crosses the front rim into the red compartment.

move_to

right_x0.3700right_y0.3300right_z0.0450right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1295, 1.3113, 1.0908, -1.124, -0.1867, -0.2363, 0.0511, 1.0687, 1.7866, 1.137, -0.7216, 0.2916, 0.7986, 0.0095] state[eef_state]: left_x=0.2615 left_y=0.0026 left_z=0.1348 left_yaw=0.2306 left_pitch=-0.7188 left_roll=0.1697 left_gripper=0.0511 right_x=0.2123 right_y=0.2887 right_z=0.0351 right_yaw=0.1742 right_pitch=-0.6374 right_roll=-0.0606 right_gripper=0.0095 state[joint_eff]: [0.1436, -7.6103, 8.8821, 1.4432, 0.0708, -0.0952, 1.0281, 0.2256, -7.6923, 7.5282, 0.7546, 0.2906, 0.2808, 0.9109] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.37,"right_y":0.33,"right_z":0.045,"right_gripper":0.0},"note":"The right wrist view shows the closed fingers firmly against the rear of the large brown plush, aligned with the safe opening ahead. I’ll push straight forward with a small centering correction so the plush crosses the front rim into the red compartment."})

tool

executing move_to over 13 steps (1.3s)

step 320

assistant

agent noteI could not complete the task safely within the remaining control budget. The lemon repeatedly slipped or was ejected from the parallel jaws, and my low pushing motions approached the plush objects from the wrong depth side; all three objects remain outside the safe, so closing it would not satisfy the instruction.

give_up

hindsightFor this scene, wrist-camera vertical placement must be interpreted very carefully: an object low in the wrist image is toward the base, not necessarily behind the fingertips for a forward push. The slick lemon needed either a fixture-assisted grasp with positive jaw blockage above the 0.04 empty threshold or a pusher positioned using the overhead view; repeated partial closes that exactly reach their target do not indicate a grasp. The small soft plush compresses enough that a full close can read near-empty, so its rigid torso must be centered laterally before closing, and an overhead verification should immediately follow.

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1642, 1.243, 0.9627, -1.1049, -0.2447, -0.2443, 0.0517, 0.8196, 2.1792, 1.7191, -0.8337, 0.2478, 0.5446, 0.0078] state[eef_state]: left_x=0.2359 left_y=0.0079 left_z=0.1146 left_yaw=0.2741 left_pitch=-0.7334 left_roll=0.258 left_gripper=0.0517 right_x=0.3587 right_y=0.3259 right_z=0.0416 right_yaw=0.17 right_pitch=-0.62 right_roll=-0.0662 right_gripper=0.0078 state[joint_eff]: [-0.1846, -6.4479, 7.9111, 1.4774, -0.149, -0.1734, 1.033, -0.5675, -11.0564, 7.9521, 0.7448, 0.1392, 0.022, 0.8034] 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

give_up({"reason":"I could not complete the task safely within the remaining control budget. The lemon repeatedly slipped or was ejected from the parallel jaws, and my low pushing motions approached the plush objects from the wrong depth side; all three objects remain outside the safe, so closing it would not satisfy the instruction.","hindsight":"For this scene, wrist-camera vertical placement must be interpreted very carefully: an object low in the wrist image is toward the base, not necessarily behind the fingertips for a forward push. The slick lemon needed either a fixture-assisted grasp with positive jaw blockage above the 0.04 empty threshold or a pusher positioned using the overhead view; repeated partial closes that exactly reach their target do not indicate a grasp. The small soft plush compresses enough that a full close can read near-empty, so its rigid torso must be centered laterally before closing, and an overhead verification should immediately follow."})

tool

give_up: I could not complete the task safely within the remaining control budget. The lemon repeatedly slipped or was ejected from the parallel jaws, and my low pushing motions approached the plush objects from the wrong depth side; all three objects remain outside the safe, so closing it would not satisfy the instruction.

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 · 11.92 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

{
"content": [
{
"prompt_cache_breakpoint": {
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"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.",
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{
  "content": [
    {
      "text": "Goal: Place all the objects into the safe, then close the safe.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3939, -0.0193, -0.0368, 0.9997, -0.0208, 0.7933, 0.6052, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1773 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2928 right_y=0.0008 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2496, 2.044, -0.0562, 0.1978, -0.0366, -0.2393, -1.4427, 9.894, 1.9219, -0.0366, 0.1294, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:937b78759a9144f62bdf721d14e38185a4643dc435cf3e72ba5721c7b4fb6ca2",
      "type": "input_image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:953f376cc33bdfe346f7adfffccb129ae5f880fe712a69a3bddec12a120807dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5934251f46c3580ad39ec97c0236c796d7a4f7780ca9f663dfca853a79d1714",
      "type": "input_image"
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      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "text": "",
      "type": "input_text"
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.895 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

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  "id": "rs_05074475c2a22ac3016ab4466d714c87d0982f107a0e2a86de",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ4GmD6uPDK2-oN4HcO7lGoO9-F0qy-ec6APGDsalQM6DMuV4KGFu9C7W1vnPGHKBlUWrtBxBhaW-qB7TR0qo9PX_E-Dt98O3DMcCpnhqnwHP9hHaXbi3Mxo2ae80C8k4gnEBtWQUXjQd65EGIjn8TaYBPobn0DHRMP5BKVLkxJ1kDKwVkc6ejOdSPY2ekMqtEgJD_ELOEIeLy_6Mvt7NMAi-O44zkMLuHp9soo54NMImJAkUursMPY3LA5qhFAN5W_hPWAwSIfGd9uUz2wudn7OW9k0m5KESwU_oJOiufgxqlTP7tqGTjOG8ePXMLqcD09pRfmYl4Y1_Dc1jxlY2BLsd95DcH4nEuRv3mTnKyezC1KFJrylVaSTbrI39Uwh2u9bTJjwaW_ILQVjIgP1N4kV7jZmdQ7180fh-2aIlO4BktKZHs52oI9-wKhMBzKjYukI2D9UCcg6LUW-c_Qp4MErBO_F06YrvLQxOksbfolZG7Urxbk5ZRyHQf3sR4w2o7fvQ0ewZ-Alkfg2kViqq6WIB1BIJ_HiBE8mSpLc3mBC9baBEcKHBrFMGU0W7m0dEjrU-rR_wU25FtR05WoOYaRG3nvYYVVxzZoFZKpWlbvdX1KzEqDv37-lq7kQ8V2X3vjZQWnaGKGFaGgYDwqylT7Z64Fq1Pfj8ZeDsCYCmEEazr5HWSVSjjqzUQPJVWX1ca7hDYmq90qRaA7mOANjFjV-MuYmWWv6-70QF-oNzg20VN1vc9Mq_Q7JIqPJKhVWzheu7lMFPTsiIM-eaP3VwsohQEh2sEYu93H2X6gj5KOHC3w0Qb48rq590wkJPCG6OC8zYT7qBOeDV2GX4FeB611k9qGTsQPmLAeHfk-HTMGapa_7K54cLbMfQd9M9IOp6Rpo1uUoSoRVGCn_4SLG3-oOzhhAuiPOBRN9PDn2ezi1mdPjdykV3Nltbf4Lu6QisEUoiNK86sIdXZTilT06YgvmH3sf6l7RQzGyUz8rCN-etKwteviTOfVn5gFdQX7jRq5oLrZYGq99wktoALcgrGBOp4fRg333WgHBNabROSuvs6mdok41aGui6Bq7cexYSe5l_dodZIQXLpDw3yeDy4et5XpItC5bMLsLFphilbXUFARuL4wdlGGH2St1_qphxc_Wu4ETNJEXwt0HpCM1LKVEtHGVzbA8cBhoW1PRsdsRMk6ky8cI2eAs2Njf4Xt4foMyIwi_2umG3G89SdCT707oB5yRAQ9QwAg-ORZXaRlSL32i9JWIkmUXmedaqhZZ0fKPiC8tsU7UBFf5n-kCEzpIOglhFwoy8UDVqeepwLLL8fjaAkgcV3zZkNc9jOW6KsNwr4zlnX4p-uFvOW6KbjovIJVro_tu62AyMV9addRhMHqAUNjIrNlekQpycKX5t3oIp3-wSpFfhyU6asoHfziY5ItxexmhgfQf6x13elyUebfwxYmLOFsEjhbMnZE_653210igV5yV8yzmWUnvcrnMAmQ8G2cCDDSuEnMeGmgSaihUOI3qT4I7GOc3ZXf1fqR-z30siE-uwqQIiWppfS74NKh9pVKNAzR-IUIlCYFjmWI7kTC2xHJgFK8VfntVQ4K5Vr_6fX0II94lFOgstq3bJ2r1b3Py58YQ0HYtuRT6oSI11et_gd__HN3JK198poahT8vPAQ-XCX5X0PYQ1ry8ZbDNg0wnB7-J2wWP2XH_4li-oDRv_hxqhx9G4nkqtdCmwDgKz6XbBrWftEYRQUJIEVYa_k6grwLeO9GAHADRDUunwt_b7S4XgR6pAqiSHcDJfQmwwlIF1WgFmuQtHnlRZZtUBSleLSp3qSFRS9Nj84J_XwJC6DqNn_Wbk2VzHUGr6-H-CcEas38-Ad4wfTUzIIWi8LIbJLKavzhN1eGqHFmH8U9Mdoafkm7yZkv_EajhKHtSYzEN6V9kUGRwMcnaAdNQMdy1L8tl-wB23Vs14QqGW9dyNN9pE4fHLBIpc0SMS_A3jp6cx9y0w7XgIDh161rdIJYvf84SFziLimBlhCUMI_gqskSd0mdLGgSIuA1_XuZMCye4rKIkYHsoVZ82JQ0HxjQhlTWaQLIQKyOujCpTlDYGJfCN4usGRqz_sfAMsIOCqjHh_HSwzT2ZAj8VBZdzoy_9ZhG0wDdk8CTSmU-cNEMctTioFwBsUs0TgCiBLAYuE79-nGuR5TWKubHlg26stdC1gNjyD_DuDr3fdqc3rgLBN2euc5zmzeIAuCtQL_zsxEWrO7MaXoeuKdFEt7rlH7zoghJe9YFo8hHfSvvmfw7NNCyjq0ih0VKDAehuic5-hasHNktI-FZnYzCPrRwrwUp372CcbPRwPabeC_lJW2Yom-VNfJlrprKgtVDuj_rb0AhmDs5anbLxAfVCVgN44A6_CLrtddglbyhOVErE8N24WUQ1J0o8X2njkDDQNEmkn0MrQvBw6yK4j2JuJ24kkaoLO4BCPutljyDGIuprPRG9daf6Vq2K9r0dyQpoy8pENaHv_08OBo9E17Qg3Pgek2j901UGPPMN36wASaGIc4geJyA49lVNBXcjq6FYmR1zc9yZLnqTnBDpQMUBp_zYVshEa-Qzv5-ZgrrhqTxlHvxNqLMofVSgSH4ffLLmDyX9TSjvyOs0aj9nTi69EP-m_ml7fdDDRtUh2yPaVE0IbBxgK444OdHbbtzQd4t_HzEgq1DE5hBOpc23IzakpWXNZA_y_KFd0hYdNqUuFVJPhe335QOGp8LTV9PphJmxEx0ll9GDwvIwI7ZYNlHFuk3i-wxZjszMPXlKrS1mIXprcHMzikEI0XRCAYARfeDUMnJT8PtAcTOUNqmff1Uc6wLpG8HlZA1MwLEwplV9bHtyHPOnBSWoPNvP_5PTz0L",
  "id": "rs_05074475c2a22ac3016ab44673443c87d0aad3912f4d42e06b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.16,\"right_gripper\":1.0},\"note\":\"I see three loose objects: a yellow object to the safe’s right, a white plush at its front-left, and a brown plush at the front-right. I’ll first move the right gripper above the yellow object, keeping it high and open so I can refine alignment from the wrist view.\"}",
  "call_id": "call_gjrEdSygsQOTzQenlL5bzlxH",
  "id": "fc_05074475c2a22ac3016ab446773dac87d09c8162754b0effdc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gjrEdSygsQOTzQenlL5bzlxH",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4068, -0.0189, -0.0383, 0.9997, 0.6003, 1.6634, 1.1027, -0.1761, 0.4603, 0.3096, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1748 left_yaw=0.0009 left_pitch=-0.0145 left_roll=-0.0012 left_gripper=0.9997 right_x=0.4161 right_y=0.1941 right_z=0.1421 right_yaw=0.0378 right_pitch=-0.0628 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 6.9265, 1.8144, -0.0366, -0.0269, -0.0073, 0.1162, -8.0068, 8.9368, 1.8779, 0.442, 0.2564, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d564689a2ee4b05d4ba36bd3d946c2804eb3a9aeb971dd3c22541904b66e2c33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff46dea33a910b216c3f15d66d63bd9b939b8b84f80da6bc6872dd101f437a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c73dae3711b88cd52c2c5b51aea15500b2bd622c7395fcafff93ceb82108325",
      "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 · 3.172 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3939, -0.0193, -0.0368, 0.9997, -0.0208, 0.7933, 0.6052, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1773 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2928 right_y=0.0008 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2496, 2.044, -0.0562, 0.1978, -0.0366, -0.2393, -1.4427, 9.894, 1.9219, -0.0366, 0.1294, -0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4068, -0.0189, -0.0383, 0.9997, 0.6003, 1.6634, 1.1027, -0.1761, 0.4603, 0.3096, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1748 left_yaw=0.0009 left_pitch=-0.0145 left_roll=-0.0012 left_gripper=0.9997 right_x=0.4161 right_y=0.1941 right_z=0.1421 right_yaw=0.0378 right_pitch=-0.0628 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 6.9265, 1.8144, -0.0366, -0.0269, -0.0073, 0.1162, -8.0068, 8.9368, 1.8779, 0.442, 0.2564, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d564689a2ee4b05d4ba36bd3d946c2804eb3a9aeb971dd3c22541904b66e2c33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff46dea33a910b216c3f15d66d63bd9b939b8b84f80da6bc6872dd101f437a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c73dae3711b88cd52c2c5b51aea15500b2bd622c7395fcafff93ceb82108325",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEZ9z5RnkiLbP6hfS0cWJ18R7pb9lWG0d5UJYmUipyythy1C3SghHLpXJe0q0_d-ItxWyNLwWFA1HCp87t4STzl8lpEKihpQD6DSf1rHJVJZMEJ0ANccfP3PjpYT-gpLZk-PT10LMunWKYjaK_UdJEhiM6hLibkI-ZPH5jm_lXFxJ5prN6_NCga8hgSObNVt0mwgaepuQoJL7FwuOTuEY_Qh0iRVmXrR49QRp-8-BHUxHAfMq1LeJN8HLpZb4V5u0EQkXhc-Ci5vMyeyye5zlYWk-Ip972pfiz2SR6QlpO5rSLX6tG7JCohjZsATNtLYSat81R1thdFq_6C_iyvnamfEMigAxSjO4jbvtKZUsdGqEJyYc1uqtsrhqDBRlO-XlQiERWbXyuufmGmpvu1yHJ3fGBnndMmLZLvvx3iZbbTTSlGMvY7NF30MkO-A1Ey3jYQU7k4XSjeYhIInVGmeMAxUtZTW8w4aTVcY10HOhyyraUjv4hFXbV9v2I8igXtynoUuseZtcpO47VLb-bArPovm2oB3eC3KIwZ3dcRYxtuHBP6ZsWsPvZS2vn-8gDXjn6jEtioPIem9MwSYSMrVJshuVxpPKAXtZ1pEYcn1xYC5ks2C6HcTc-_3lI-V5My8GDrIuhwQs8mgpF4Ngv75SC7080kqMHGQVbS0v4D55zByPt0VjHaLtI_eItryACxPiGE4K2fW8PWPXeo1dFQPZ4FqaeyYBBY6iB6zBLBIcaf4VKRklNH8mQwWT1f3aJTdTmOprhRgJAuR4NaT4OLjEqY5rfWe71LO-VsjfMwpPMWdphzBIfehYOwMyvkd8pC4kNiExenRwac1K9D7nDHRbSwHc5yNe-gq6-pLJcYhZ4fWV40dhKLsuQgmv2C-udfE8VOf3N5uciLk22PfSb6VqIJ5I-dROQYDSb0QCWX0dkz6MOBVs5bEcUrI8H6G-63-1HODriOfJ4XfyLsxPIdgGQDtjYE3ofywX3SKPLZDM6iJv5G-ZAl2citSW7L3Y68ZEosbS2G_QL9TpM1x8cj87TlmzaKH9DrYnKBcgxWbV2qvGhrE9saTZOyHwgbtj9pz1C9WNSqy2zYmTdE8LJ4qi1ykdKc_F5IpE9DkIyycgyCYxmoNpnslaI6YWRXougNeHbT1092U2do2XYsiiLewhf1tvTGb8FFU0tIJ1IUoA4aFphu_vq2C_ChPaqddgD8T1j_1v4o1v7nabyhPNr5GzHFY4HVyfBCDM6_7bmYF2cyAsWTaYrpKzvpx_Hny9LIuYeD93hI2TV9o6E4kDIBuPz0xnFm-qYc928aHLjgtZnxPxNQR4b3IY9LmsDM1aktihdY0ctjG48QxWe1iMD0yexGuPfD_V6EgM-lthko63dwuq7WM5dKKzknJOnDiwnftrhjmGan9mLq0qvF2BV1HVSAPN_nzqdUvErnr07xvc9ck5XTnsQyIqMYJex_JHmfBL_G4h0QO79Idy7rcYMHuJJHnEYqK0Plp1iLO34GEq8Cd96E4u1PI-RuBccVFkI8zL4zjHYgrw64i5kSlPs7ibC-ufjy_b-hUW4AqUNNP9JsV50qRroynyOgcBKeoT1Md0s9-m1PPz5zLo5vx3mdoKvUE38gv_1FctPR9Ok9XlSCDkEvbgPSpzhJARE0yfr5k_GiE9kTppJ-evDuUlVD8s4sIo0E8sWUCWZL50un7wM9cGprJmVORwAgrU8OQwoqy2ve7ZZBJks3z2uisiceN8KBObbjeQqYRQituoB19kwDtsUUa91OgO5UvM4sfHqy6Ir-hBOJcZYgn22pPY6qJ6ZMCID_mF04R0UP5WpH4fluPUUmGAH1OuvEKyrDmISvTCXwhnRpCJbtRlcGmGcG4KMT8-VTi-OTu8bKKo9d-qsh3DoZPVAqPgTrSGU94R-Anl0eaPKho64YWXXyp-XYFnMxzY9lEbUe-35PJPuDKnTiN6bDOKaOLB19MBq3bMptqJV4rp1NlnZqwZI6EWEO-sACMsb5zwj7CreXENUSPKzmo_oVfFaCS6ZGThQoQEN2HAKZNs1OlEopJFHtyOcaeSyEDRqtUIK_tVCE1Jy6Xi_zLkvmfpnHrTnB1wX1FcyYAb3wefml9uR2Do6EzMYa1CS1ZBp8dQXrkKcJhfk6fiiXMS0l7I_xvUFC6GWa61bjScWWo",
  "id": "rs_05074475c2a22ac3016ab4467af4d487d088ef59fb00a590c0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.185,\"right_z\":0.07},\"note\":\"The yellow object is nearly centered in the right wrist view but sits slightly to the image-right and still just short of the fingertips. I’ll advance about 3 cm, shift 1 cm right, and lower to a near-grasp height while keeping the jaws open.\"}",
  "call_id": "call_fIhrb6oALEIEkJj1INPY6Uqd",
  "id": "fc_05074475c2a22ac3016ab4467cc14887d097c943fd6c55e5cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fIhrb6oALEIEkJj1INPY6Uqd",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.799, 0.6064, -0.4107, -0.0189, -0.0387, 0.9997, 0.535, 1.8431, 1.0126, 0.0219, 0.421, 0.2699, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.0206 left_roll=-0.0014 left_gripper=0.9997 right_x=0.431 right_y=0.1757 right_z=0.0587 right_yaw=0.0213 right_pitch=-0.1398 right_roll=-0.0866 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.4427, 7.0359, 1.7363, -0.0366, -0.0659, -0.0073, -0.335, -9.2239, 6.3521, 2.0098, 0.1001, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29030c5bf8110bc61b5996edca810e24f92115ec7f435a2bb7184dc2ea131bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce610443c864af4119221d5041d70b0da125197187030fad7e2d780afc217afd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458882a73a917866873f640bd86a5db35368fd5933c7e5983cfd47e59a65fb1c",
      "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 · 2.406 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4068, -0.0189, -0.0383, 0.9997, 0.6003, 1.6634, 1.1027, -0.1761, 0.4603, 0.3096, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1748 left_yaw=0.0009 left_pitch=-0.0145 left_roll=-0.0012 left_gripper=0.9997 right_x=0.4161 right_y=0.1941 right_z=0.1421 right_yaw=0.0378 right_pitch=-0.0628 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 6.9265, 1.8144, -0.0366, -0.0269, -0.0073, 0.1162, -8.0068, 8.9368, 1.8779, 0.442, 0.2564, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.799, 0.6064, -0.4107, -0.0189, -0.0387, 0.9997, 0.535, 1.8431, 1.0126, 0.0219, 0.421, 0.2699, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.0206 left_roll=-0.0014 left_gripper=0.9997 right_x=0.431 right_y=0.1757 right_z=0.0587 right_yaw=0.0213 right_pitch=-0.1398 right_roll=-0.0866 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.4427, 7.0359, 1.7363, -0.0366, -0.0659, -0.0073, -0.335, -9.2239, 6.3521, 2.0098, 0.1001, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29030c5bf8110bc61b5996edca810e24f92115ec7f435a2bb7184dc2ea131bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce610443c864af4119221d5041d70b0da125197187030fad7e2d780afc217afd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458882a73a917866873f640bd86a5db35368fd5933c7e5983cfd47e59a65fb1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaB64_e95BDmHzwxRMNyqAyeKsTZoteamT2CNvyqdsY7RQrFoxJTuolTa02eYrwqXOwxc5BOuKy-u4GSfBHRiy4IbWnXSOUzBEmWf5xIy3hCC3xFmh-pj09TZxpxRCRQd08_jiNXf_DRA944DnEjC97uYC5lUVwcvaJxLEgUqkb_GGpPgDy2k6TBhb0Eu17uI9QCsW2ZPX0cqNuClHEnEg3SvwubCClEXEd91JTJ-PDEP3aUkxG4UhsnebJxnVCM1Vn_3VvRQsveSlrFyNZQdDycUpUbiVK_9oq8R9r9EyBKDqEjrrdYYOD32DqjAQRWBStr51qNBQPL5koQnyO8KaHRLMjtEfJdRsSyfFTFBOZqMLnNtdmny5lE3ShpDXsy-kG3ks74F1haeFawGdLm46rhfKzXnrRPJUKWubGyUNWPv7hlkioynf2awoE0APN7DsyInTKzb7uewVp_t5slJbPIubbCsaUsKqXo8dOHqLg5pqO_juC8ohUJZ9sW4tmmgDkaIOG28SuaRBG69XwaJFak8ze-zkImRkQlaPphjZZarRAOgHTJM4dDW9hvlIukHChzCBK5NcJThA7sy-ipysPhOAwEaqIDCSNsizEZChfk8GO3ZBKeCmZOXtQQi1YlmqqiuuLDSe2XrrNKBizrTch4pu9799ZOtrXmkXxz3JSJys8CChqHbAV4OPJ6klIGEwE9XiDfeY-rqxvKKj2JEPdCnePSh7fECeVRi8XQX7Z7J-yBmHA3oXSElNX7H9YWDn_rTMwqPGopiokxCLEKS1KD4tGFb3mk9st8b_XpDZ_zaTXVmPcyOwHvGNOveOfpR5Z4-5UCfmS-FVujJqTp8Y5lbS5eEZ7sYZew26Nwlhrcj6UE4fS8RaF5CBfBidLPg3zpREr-ffhcVm5weXrqEBH00Yl-1MHEg3PnmF9z063rkrSjCuUNLomovfZTzMbISm930Nw0J9W_h-GSNTAJaETCMP0710KpB_oF_Eepp1ONVHzvKqV53_KeyRk01Glc7Q9oGMCvBLmkzVUUobWT5O0lls7cRrS8XGUg14Ajmn7wDtntGghEId3PDZWWbdlhEfPBw2DOFPSHlMfCB9yzG3Xm4HAbleZs5cEvsZl7Jbo4XvL4HxR6cPS5_63pdrbeLH5xMI-LKsDGTI1lc13Fj_hTDVgzinjRG7nBJFzhQ3TsfiPECq4uYm7gdYzjDUYsCO37lnAjJCekXRxQuf_OmTNNjrad0lBQoX5y6KLu6JzkMaQveMJLev-ySPlU0kxQN61YYt8_rLdw4dJqEivJAWkV6XZy2gbYVqv67wwd-lq6JfbjPU51UaxcLSngApT8I_opk_Y2N9BfGqly2Lg5KRDZpaAIX6_TN6BeanWlXNS0_JM7xcntOzvc3L-fp-y1LHVUIplVW_8nkuTgZbe9XpZwVsQyTWNSSLkC9vxKOKfNYs8TpFno23d6A-jBTZDUWLae9XxjAF-2V1B70uDCUv8NVG6ymGzn78FNcKkGGpu799MunDZ6VhYvMNplq4rK7CGfkH-cmbvXQN3bwMewtVmBkdD2XcFeqOeztvO-CB3SmkC3MNkCAunTw-B0QzeF2NP_0GLVbJYAVLhTclO6v7txBJECw-P-dyjSNGoaad-SioJucdcSp2Xzc-4GKxrQ2WBTlHEHkxM0B8s5SOkbfzWgcVFrTDjXRyRAdZ-YGV7ByLZg-zCg6rnwZDcWgoiZww8riPB3LLGBNZYnS55Ch-FBgg-x9GvYqm7qKnTl_Oq8SvNnJO6ewWH7dBU42YF0O4AFk1jheBeZW3kBP5Kd6TWYy-3_1hlE_FNfXyF1vUbHeAgmF2dHo6xFHMPAzQGUNrxb1e9oxtv3WtezS8sVjtlhw==",
  "id": "rs_05074475c2a22ac3016ab4467f98f087d0b1d11f9cda318642",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.185,\"right_z\":0.025},\"note\":\"The yellow object is now well centered between the jaw columns in the wrist view. I’ll descend another few centimetres to put the grasp point near its mid-height before closing, minimizing the chance of squeezing it sideways.\"}",
  "call_id": "call_WwbvpcJ74rIu0Aj14nWb0xjH",
  "id": "fc_05074475c2a22ac3016ab446809c2487d0a600085ee22adb85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WwbvpcJ74rIu0Aj14nWb0xjH",
  "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, 0.8005, 0.6064, -0.4274, -0.0189, -0.0387, 0.9997, 0.5354, 1.9472, 1.0164, 0.1112, 0.4068, 0.271, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1696 left_yaw=0.0011 left_pitch=-0.0389 left_roll=-0.001 left_gripper=0.9997 right_x=0.4382 right_y=0.1828 right_z=0.0272 right_yaw=0.0313 right_pitch=-0.1544 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -0.8, 7.3231, 1.8584, -0.0171, -0.0317, -0.0122, -0.1709, -8.9915, 7.5692, 0.862, 0.3394, -0.315, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ef864859791fade782b8216f397eb76d48d2f3c61da643dc375856218ce0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f78dd0cc531836c6df4bdf5352789bb0fe738823d12346f84ccc2f704389c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4bb152104336b67ba08ff1d5f745d1fdf5dcb37501d27c7a9a88815342063c",
      "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 · 3.373 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6033, -0.3939, -0.0193, -0.0368, 0.9997, -0.0208, 0.7933, 0.6052, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2927 left_y=0.0014 left_z=0.1773 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9997 right_x=0.2928 right_y=0.0008 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -1.3744, 10.2496, 2.044, -0.0562, 0.1978, -0.0366, -0.2393, -1.4427, 9.894, 1.9219, -0.0366, 0.1294, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.799, 0.6064, -0.4107, -0.0189, -0.0387, 0.9997, 0.535, 1.8431, 1.0126, 0.0219, 0.421, 0.2699, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.0206 left_roll=-0.0014 left_gripper=0.9997 right_x=0.431 right_y=0.1757 right_z=0.0587 right_yaw=0.0213 right_pitch=-0.1398 right_roll=-0.0866 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.4427, 7.0359, 1.7363, -0.0366, -0.0659, -0.0073, -0.335, -9.2239, 6.3521, 2.0098, 0.1001, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6064, -0.4274, -0.0189, -0.0387, 0.9997, 0.5354, 1.9472, 1.0164, 0.1112, 0.4068, 0.271, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1696 left_yaw=0.0011 left_pitch=-0.0389 left_roll=-0.001 left_gripper=0.9997 right_x=0.4382 right_y=0.1828 right_z=0.0272 right_yaw=0.0313 right_pitch=-0.1544 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -0.8, 7.3231, 1.8584, -0.0171, -0.0317, -0.0122, -0.1709, -8.9915, 7.5692, 0.862, 0.3394, -0.315, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4ef864859791fade782b8216f397eb76d48d2f3c61da643dc375856218ce0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f78dd0cc531836c6df4bdf5352789bb0fe738823d12346f84ccc2f704389c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4bb152104336b67ba08ff1d5f745d1fdf5dcb37501d27c7a9a88815342063c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaEG1UW-Nt9RBU7-4azc0D5JIw-lhCc30ZuiwY5mkeUq__fXwM4b5JQbOWgubgRhYFXCcXJrC4YFk7pklyR17WaIocOptOHvBxUlqQhmOLthOFj4F-mpHTENAMZ8IaP6Wy95I7A9ZZJZmeAwaOM4Ejn_2AeIdU0lk9zYOWWXnR8BwV6aXUiccMKHcZ5U27lH0kK4a30TkVuH6URE8-efubVhhFaLkD2V5pZy58zSPD8zwckxMuvVn6MMjIXiSjwUGHG6fkBgv0z0M-_CCx0aNTVHN7mYVvLxxJkiqUG4wUs4sz1UALwexWjXMSTgtuLkbKEiHp5ZdCBSHO90U_9gagtccA5WBE2EI9z9og2bTy-9AlBpceEFNmNkR8KnjcKVuNyCKIO8hfEbKkEXKVrw2TiwcDR58jdx3RcSIeUvd2v2rupp4g8rrkbSX0TjeuXCtwV-Ttu8-0OUE66Q9aX2wi_0J0_U3O_fClm9TIhKGpZaZl_LKYwOYCtBiNrgQmha_3xVkdh6f0QhGBzpcZ5tMfOj1iM7njBpT01s9KBudcV-ZaGcJkQKnSlkOua2TiLX_nfrQPOou4PUMmrlHS1LIVr72fRgnlUoC0sA_FdlAgYfRDxZvUxbsfMgQLgMr6inDN3OkvLPgDy9Td4CTUV6cdY5AJIrpQHmnOVKIf4wa8jBtjtJ9bMth0qUgRzIbxTtgVhH47ziO6LHI6atAUrDowpthHmct2R_2TYlIxIPvJkp8mS5UMMwkuMiXcly9m7PHG8XRpoeyckUWuyRlZNpH3RqWf7EjBpdpMjD1uvvbHwTRLys1SMO3d3QTAdBCDJLES0mhteQu45snnmykjDn69eTEJ3-OyF3lUz-aCexfEDxRVR75tN8dSfT95gCZnPoc08Sh10WNC4ogWFMmWOt2AuPMnny9I4UKOiWYXmhPhkORrtmcz9HjgkAV9MdzTQpg-zDXAj43656UgX7J-9_G8rsbgsgTTnb8mJhYzSfP2bBG8LmqIUjkYgZDMAmeQU5gxC6A0pkhO1U9Ak4aPUBt3ueND1RRBLjlqceaxrV6K1K6qWLChUB2qLyw6nLyfBXAJ5AqbgFTEQ6pl5Id_kVFSVU2MZ3e_574K6QqifOYKYdkRNHEZfVGnwDIjxh8hQ02ROTHnH0GTPgEMOewKD938_Kg6Q8-UZBB9wht-U71yUI92CbMg78eCcfw2vDkf4VL8FnwpjJB-61Tzacj8FURtrEQp0GkHP1oaDltkVZpUb0eW_ACTDzNLymvQnWAjA8gwi",
  "id": "rs_05074475c2a22ac3016ab446832f7087d0b61b1bc5ed525972",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The yellow object remains centered at the correct low height. I’ll close the right gripper to a moderate width; contact should stop the jaws around the object without over-squeezing the rounded surface.\"}",
  "call_id": "call_QYRDAekxcbtnsrCEAJEnNTMt",
  "id": "fc_05074475c2a22ac3016ab4468364c487d0a534e55555a4c48b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QYRDAekxcbtnsrCEAJEnNTMt",
  "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, 0.8024, 0.6064, -0.4351, -0.0189, -0.0383, 0.9997, 0.5354, 1.9499, 1.0214, 0.1024, 0.3794, 0.2687, 0.3437]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1675 left_yaw=0.0009 left_pitch=-0.0484 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4369 right_y=0.1873 right_z=0.025 right_yaw=0.0536 right_pitch=-0.1698 right_roll=-0.069 right_gripper=0.3437\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.7753, -0.0708, -0.0464, -0.0073, -0.1709, -10.0034, 5.2171, 1.6093, 0.4176, -0.0415, 0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2328f388feaed75d9578f7f00c12f15f5fbc119e4bc039ba5d17960ee53b1506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf707bfd97f11ebb1e38df3ff904cb796dd9c914a59dda7b0be681713840369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b47eb2c51179a4dfb57f6ddd5c03186c087248d83e936923fc1522e224323fa",
      "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 · 3.543 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4068, -0.0189, -0.0383, 0.9997, 0.6003, 1.6634, 1.1027, -0.1761, 0.4603, 0.3096, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.1748 left_yaw=0.0009 left_pitch=-0.0145 left_roll=-0.0012 left_gripper=0.9997 right_x=0.4161 right_y=0.1941 right_z=0.1421 right_yaw=0.0378 right_pitch=-0.0628 right_roll=-0.0425 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 6.9265, 1.8144, -0.0366, -0.0269, -0.0073, 0.1162, -8.0068, 8.9368, 1.8779, 0.442, 0.2564, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6064, -0.4274, -0.0189, -0.0387, 0.9997, 0.5354, 1.9472, 1.0164, 0.1112, 0.4068, 0.271, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1696 left_yaw=0.0011 left_pitch=-0.0389 left_roll=-0.001 left_gripper=0.9997 right_x=0.4382 right_y=0.1828 right_z=0.0272 right_yaw=0.0313 right_pitch=-0.1544 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -0.8, 7.3231, 1.8584, -0.0171, -0.0317, -0.0122, -0.1709, -8.9915, 7.5692, 0.862, 0.3394, -0.315, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4351, -0.0189, -0.0383, 0.9997, 0.5354, 1.9499, 1.0214, 0.1024, 0.3794, 0.2687, 0.3437]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1675 left_yaw=0.0009 left_pitch=-0.0484 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4369 right_y=0.1873 right_z=0.025 right_yaw=0.0536 right_pitch=-0.1698 right_roll=-0.069 right_gripper=0.3437\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.7753, -0.0708, -0.0464, -0.0073, -0.1709, -10.0034, 5.2171, 1.6093, 0.4176, -0.0415, 0.4029]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2328f388feaed75d9578f7f00c12f15f5fbc119e4bc039ba5d17960ee53b1506",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf707bfd97f11ebb1e38df3ff904cb796dd9c914a59dda7b0be681713840369",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b47eb2c51179a4dfb57f6ddd5c03186c087248d83e936923fc1522e224323fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaI6MYWGKpDZVQ2LA5vwgThsqSjHTu1DJaBNAqvVPe2uMTg-V_zOPDAe0NGWkzcabQOPHyJdvwmy0vhiMblHD3SDKhoE5GrZ3Rl9rL89kKUGGztXRl67uZnc6ZluwHMnWXcBGR7Kdjj_VBsGQlHS-oEbSX0Wq3FxM7fdYObeJAGVEzFPhvcwJVESkKNhD1TZ87-SVu35K0KBtSMra7p9wgF4k46_gRMlnoT2C5aImrWLQgS8r8WK-BLCdbv7kvJgH1twj14ClEtNs7XHtL5NzRazn7M2krdYtiffAyI5ko2Dah6SnLfL7mlm3KuHs35pZRBRbB98q1BTlPHTP0jxobOui6AA4IGIpuz4l5BBk5A5UlVTikSB8Q_S72FqAXrqUMtq4boq11GTgk8MOOVe42GmQ61O8b48ml_Rqd3hTXwTkclnq_0RB7D-eXYUR0BWsDvhu30b7u7NAuZyiJor0PfskQtIUmV1g1zfhGUiB7Q6eZ5515ih_I4ZW-PA3h6cB9-z_H3MMLmnFPLLCBOFSLm3JI29AQ44kFA7sOaUkMGSYaK9h2yKAAUTglWB5MI2DgUVbG6_0gvFi7k86nWE4XRwaGk7UjN2irMGkXi9vzWxwb6T329pAxUJ3u5I_VLV3KopXWcT8X1ZZSxp4boTUg9X7rVgTzTWd3pdVMS0ddSkTc3MYzMRAx0jxvUYueMQ6bcoD7LXdVRU_w3L7irgnUo0LOVBAJVV5Ibp6fvhmrLUdh8rGcnQBRq5JhK-xT31hFs9FQQ79Ld2_sCVimVLQXuacn2TUg3tjg4MrGOeJVUwdaFsytAMZZI-oowlv8InWz1TMBL5XTklLngajgEaeKGsLxlPi-x5zhuRuYS_sc_Ji61Qz2v1yYvb5Lr9O3-CJbi73lHhUYGkTKIoCgMhSf7AMz6Z1b3sumWvWn2BNinkIAox0xIyTr_ypxDHwOpkNacQd9nlozwZYh4xmULb73-cs9uPTj3KZ-S7L02penvU93kKJpzo7g4ATd7eWMj8UBwFHZhYF50RXeSmmCbRUtilGuLpoY752lOxcfd-W24oGL7V3mpYdd7H3h7M-lvWcGdsaZnqzu10yzNIvM9L32jXaU_jvsIJEY6w9jCFar0VkSOk0dz4Q2e4c651ymuwgi-uN9Lvpe37VXytIwJI4cEN-tg9x8KTJqNyIGM83hrJLK9wwBboXHF0hn9OiQ4r87_TO5lGEIcRGZ12hcpgfHhVTahtj9AU5g-ONpmAcM3G7tvao0UYamVpRMf12GJkv2UsD3IQHMVqkRlYB9GxP3QAN9S0ETJSyLhAO1NQSb4D77G9jkJ6YOmp7D3hE5_o0da",
  "id": "rs_05074475c2a22ac3016ab446866cec87d0936fcb9df07a4409",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.185,\"right_z\":0.15},\"note\":\"The jaws settled at 0.34, consistent with gripping the roughly 3 cm-wide yellow object rather than closing empty. I’ll lift it well clear of the table and confirm in the overhead view that it travels with the gripper.\"}",
  "call_id": "call_Wn1ICVnPW3xlpJBJU5pnEpWI",
  "id": "fc_05074475c2a22ac3016ab44686d4e487d0aa732ffea783a545",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wn1ICVnPW3xlpJBJU5pnEpWI",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.453, -0.0189, -0.0383, 0.9997, 0.5369, 1.7535, 1.232, -0.3496, 0.3771, 0.2657, 0.3425]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1638 left_yaw=0.0009 left_pitch=-0.0671 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4278 right_y=0.1831 right_z=0.1225 right_yaw=0.0546 right_pitch=-0.2106 right_roll=-0.0909 right_gripper=0.3425\nstate[joint_eff]: [-0.0889, -1.2923, 6.9538, 1.8926, -0.0464, -0.0317, -0.0073, -0.0889, -11.2752, 9.0872, 1.5604, 0.2076, 0.0122, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9b81b50c072b6080fb7b9ecf6a4b48c751ed44a2fd86b95ca2f8b343c6cbe9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9c5f3b2f1f321254c32ea6f2c8243ec94205d7a87947f4daf2f7070002f091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd470b2169757fa5f17efb47cb815ecb1669d5d96e3470cb39fb652b308d4f61",
      "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 · 5.482 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.799, 0.6064, -0.4107, -0.0189, -0.0387, 0.9997, 0.535, 1.8431, 1.0126, 0.0219, 0.421, 0.2699, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0014 left_z=0.1734 left_yaw=0.0011 left_pitch=-0.0206 left_roll=-0.0014 left_gripper=0.9997 right_x=0.431 right_y=0.1757 right_z=0.0587 right_yaw=0.0213 right_pitch=-0.1398 right_roll=-0.0866 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.4427, 7.0359, 1.7363, -0.0366, -0.0659, -0.0073, -0.335, -9.2239, 6.3521, 2.0098, 0.1001, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4351, -0.0189, -0.0383, 0.9997, 0.5354, 1.9499, 1.0214, 0.1024, 0.3794, 0.2687, 0.3437]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1675 left_yaw=0.0009 left_pitch=-0.0484 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4369 right_y=0.1873 right_z=0.025 right_yaw=0.0536 right_pitch=-0.1698 right_roll=-0.069 right_gripper=0.3437\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.7753, -0.0708, -0.0464, -0.0073, -0.1709, -10.0034, 5.2171, 1.6093, 0.4176, -0.0415, 0.4029]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.453, -0.0189, -0.0383, 0.9997, 0.5369, 1.7535, 1.232, -0.3496, 0.3771, 0.2657, 0.3425]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1638 left_yaw=0.0009 left_pitch=-0.0671 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4278 right_y=0.1831 right_z=0.1225 right_yaw=0.0546 right_pitch=-0.2106 right_roll=-0.0909 right_gripper=0.3425\nstate[joint_eff]: [-0.0889, -1.2923, 6.9538, 1.8926, -0.0464, -0.0317, -0.0073, -0.0889, -11.2752, 9.0872, 1.5604, 0.2076, 0.0122, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b9b81b50c072b6080fb7b9ecf6a4b48c751ed44a2fd86b95ca2f8b343c6cbe9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9c5f3b2f1f321254c32ea6f2c8243ec94205d7a87947f4daf2f7070002f091",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd470b2169757fa5f17efb47cb815ecb1669d5d96e3470cb39fb652b308d4f61",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaMcj-ZcRJ9Cv34-QQk0rkscFLwfUhOXbX-UN6Fk-okbxGpbVMugU_EbaCa45k5T8Yl5qnWoaPdoGylyQwhstb0BbeK5sw9Hn2sFoLfv1a7UUiykqaTNlouD6WPH8-O2Fh3YJjMVbDgzZVz1FpocvEjGXUWvRQtMRa0itiZ8VMBDdGWu5NwsgvN4nGXcvn7NG3E0DFrWAeJY9Y_MqYyxWWCi2JSpxiJOG8Hm29Fb6_W8ML065GaHO2Okq-JDFvzssRPHqDCXFCBoMJJ5L8_EyewoNpdZx3F2n-gR8WEekfcWep8rMauZ8OC3X03LSVT_tZDjRGdkPUT4dkII_lSk0328bhNUzGkcny4aErl2WlEp9q8oRhcnk36yVjkWzxoaRiqFu6TcXLug_FedDUiRxcTNc8SFNc1TgD_pWxonnL95T_1r-vQV4m2q0hYe0hFcRVC-b-sLkGoKhYWJM91pT2J2MIcPSZCcugzITjtdQlVoLZZz7qcaUgs5LnaLcmkn0380Z__kOvcOdbzmf2Cvh0o4-2kdfGSt25hELffDz_OMfn01usf4M9ua7gv56PLjtxnAx0q2rKRpP7II0c_qjJ65sB8h6pNQl2sWHcWTgIR5xYIi5RYkvqmc4_dv-fXkKFJ-SmsUyy9EOknvBjfsBT1dZ8WPUlhNP64HpVx9WkUS7JBYhKRgDFK9tYM9EcNcvXVSSBZo42g9uGXEDF2yxafE3qtsdC4VWf9BIcUA7gXVPER-MR0z66s7vfYPuKSkb7sRbqliBS5BWFaEn0W3aVZUEuIX2WLLW1QPp0pp4xnAgQ1gRpIgHkVuNGbLrPt6HjF-kPHVnt0xbQ4yqQAyoGpMntf1zYXL0Nhip2ONkv8VlkmNkn766sPLMtaP_baCBRUAaKKAbcFW7j7a7kovyBjYDJAkDq5z7Q5eb1c3tPj3Km4ZGcT63rccoEdnCZvgxiqJrTCsMqbthN4bRS1tgOqZnDJ0HveB1dD-WyffznABRrsPOvACOOX-R8QSjXNyJ_4nu7B4CQGnDuZ7LCfxP99xQR4i12F9bY2nlIpeOWvJCTouQEUB5NBJSlyFFnG948Lovt4giKmikr9oDkeVpEMuGQhzlDRw3rS17I_ku7fHBg7hnWGmN2IZNFONJZ8I05hpPKtGKZXeM45eoSnpe18HOr_oPJIkfpl6bp7AuldJ5CsKo_SQ9u0Hh0yBzsb2Mb-_f7zeZZ3MTupfRk0hImHJCzylU5edfRzWCf1V3fShz1qtqbqxPf3bpMeU4XqfO3wajCoG1dWKlgu6nZBiDBJqF0cYRM3rjtJSqrLn9Ufz56e_TjTP4gEnSfsJ-UfonZu4vyGPNg374zpre4HxvstmSilOlHq2aQZ-p8jEtb9HYWKH54PI9PlB3RfTokwi8mdjoRIVn2O0UqRAO1DOjSLZGvIS2NbOo9-oUVdiSC4xP7OA9Yv-X5Za8tgr4N27dimfWQ0CKk3o20BDgUPymU9qSOJzeJao76Yt-QF3_jN3LuLLA5z3J8BzZ91wInNw4uOgwvp2GlxwD73V9V7YAKoF24Hef9kKE4B1sWN1FsXjdtwtZ26Z4rncHWw2PbNjUbVYGh0vZbl7QC_Jt-_zTx3g3rgbMHCaZiv4-9iOs8VZq2FJdpzWPC2EEZRIIcNGuMQjOJWziwjAjsI4tAdXgBGM5ks37O4ZtWM2yjPePHqlWtHNosTwjWQ0pWpquyVlLNR1fWYaYQNanR0SXqOHToZMf30Btvzbbx_Kmpz53kgaFK2455Ys_QODf7kFvDtpJhlgnizAu1Lo2qKk2ZeJ4llJ5YuaYuPAJXQ2s7n0KJPtaFbM9JaVmntjfAOEez8ZOIrmzu4fslJqDB8uVVYPzFmdC9dbLj5EK8GGxYDESNt9v8=",
  "id": "rs_05074475c2a22ac3016ab44689f81c87d0bd502a9ecc36b794",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.34,\"right_z\":0.17},\"note\":\"The yellow object lifted with the right gripper and is no longer on its original table spot. I’ll carry it high to the center of the open red safe compartment, approaching from the right to avoid the upright lid.\"}",
  "call_id": "call_T1hKsJ2VYKF679sdWbVAggkW",
  "id": "fc_05074475c2a22ac3016ab4468b974487d0ad34aa69e3712196",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T1hKsJ2VYKF679sdWbVAggkW",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4667, -0.0189, -0.0383, 0.9997, 0.931, 1.9984, 1.7554, -0.8124, 0.577, 0.593, 0.3424]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0809 left_roll=0.0001 left_gripper=0.9997 right_x=0.3665 right_y=0.3371 right_z=0.1619 right_yaw=0.093 right_pitch=-0.2378 right_roll=-0.1079 right_gripper=0.3424\nstate[joint_eff]: [-0.212, -1.2376, 7.159, 1.7705, -0.0708, -0.0464, -0.0073, 0.2393, -10.0855, 8.7043, 1.1648, 0.4957, 0.1734, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c463ee6d0304ffd987544840085b1b9aee67c4fbfa673f3961a2ad4b9971db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe98785ff52078752df810d1a17429bf98d7b20473654583e5e060ade664e48f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607745df17b115c97ef3acd8131dedac45f9829f5fad7eec2d1583af69a3da2b",
      "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 · 3.763 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8005, 0.6064, -0.4274, -0.0189, -0.0387, 0.9997, 0.5354, 1.9472, 1.0164, 0.1112, 0.4068, 0.271, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1696 left_yaw=0.0011 left_pitch=-0.0389 left_roll=-0.001 left_gripper=0.9997 right_x=0.4382 right_y=0.1828 right_z=0.0272 right_yaw=0.0313 right_pitch=-0.1544 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -0.8, 7.3231, 1.8584, -0.0171, -0.0317, -0.0122, -0.1709, -8.9915, 7.5692, 0.862, 0.3394, -0.315, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.453, -0.0189, -0.0383, 0.9997, 0.5369, 1.7535, 1.232, -0.3496, 0.3771, 0.2657, 0.3425]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1638 left_yaw=0.0009 left_pitch=-0.0671 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4278 right_y=0.1831 right_z=0.1225 right_yaw=0.0546 right_pitch=-0.2106 right_roll=-0.0909 right_gripper=0.3425\nstate[joint_eff]: [-0.0889, -1.2923, 6.9538, 1.8926, -0.0464, -0.0317, -0.0073, -0.0889, -11.2752, 9.0872, 1.5604, 0.2076, 0.0122, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4667, -0.0189, -0.0383, 0.9997, 0.931, 1.9984, 1.7554, -0.8124, 0.577, 0.593, 0.3424]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0809 left_roll=0.0001 left_gripper=0.9997 right_x=0.3665 right_y=0.3371 right_z=0.1619 right_yaw=0.093 right_pitch=-0.2378 right_roll=-0.1079 right_gripper=0.3424\nstate[joint_eff]: [-0.212, -1.2376, 7.159, 1.7705, -0.0708, -0.0464, -0.0073, 0.2393, -10.0855, 8.7043, 1.1648, 0.4957, 0.1734, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c463ee6d0304ffd987544840085b1b9aee67c4fbfa673f3961a2ad4b9971db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe98785ff52078752df810d1a17429bf98d7b20473654583e5e060ade664e48f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607745df17b115c97ef3acd8131dedac45f9829f5fad7eec2d1583af69a3da2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaT2alEHlOA4z9SFRMKaSRhgiSco7zk0JGJO05N8ATrQraR84yxpoa6Y563unWoQStNfOfChDzn46Slo7PiDIypmTT_MVHLsbCUxCrZijPl6QmAJgNXBDyWahu6Rzttw5UVjyJdg5gvUI7urF8v8TqHyD5TG-i58yvovEnf3NrsWsrb9oPYA_1Wjsqj3Qvrpi70zMGIruliM0-tO65pf6RjNX1EqjCygyQc-mwXW_aKMWgHcdCOhP31CaoP25fcDOvq71-TEVuSrAMxyjvO0NOwdiyZYifLhPYS627oBVBrPuGBawSt-fWBOVasG8DRqDQ4r8yzoaboBLClG5d9X1VPmx7cxbFi0Z50uLv8lnmb99FiIcglSfagFbA8upyH9ejJbF4lyv3DOhXmkJjO8lNA5N4HLi1RpUMtElbfpE5IXFV1AlgChsxHUI1mJ172pkDK5merl9_siVgShgQFmEPiRtyFzQ7MeLq8zC_5tKiX0Mx6L7SsX66a181Fio861O3A5DSj_wIKmKR8pysHk6Zf2komAcm-0E1VnY-GygrOTvNAL0VBuVz-plR_fBQPH3q6pk0vgJyIDj-A-1xiMrVPR-L2RN7TDrCLexPlYUqoI6dnoZxM0gx24bU9yvdiOjK9evJXi4ZxQj0vV5rygn9N6WeN6FK0jIHIzwAY7p7xwXOyKcxXaSjCkOdWt5L9aazEh3nzteCqbi_Q7d78rjMHM4Ejj22v2nAgJwZj7aacvriB09CA60m09wF8wbiavWir4QQ-xle2Ly9AmWiAa_xQmb-E8Aj3-NqjQtb1WNewbrAoNuZeo2q7E68N9B7BWDRSf74Y4p0HfE49AJxnNqe9qnTde-4xIWxmAYyVUmS_Zflu0KfDoia2X3wACkdNgrfjUlA0INxni3lDUrvToOXUKbLhXUWVeOrv8smyORRuORyJ2DoApyKp5Ab4Ys0J9HdMw-LTAPWrKqxT0TncrRQyp8SG_lCwXcrfkKK4cJISi3JNHbMCkmGH28c1aZQucmxGtTS_nz16Dhev2AwDdDUYRRb4PiailDYDJOEExqp7vlK3LpVSwrgitJZigKvrSCh757fdLTYdNDv4_B_X4RwiYaKiNL0EeVVfYzm1FeQd6Au6LBaMmjH7yxmCgYXHABj6s2YAhFKGXHiE3HTLFm7te43oB0Nm6pePxvLa3tNqgtJbMYXQfiM9ynom3miskY2rmm4xeCeBIFad3E1CF0dRhkwUT3qwRBHcNPOcFG76ObPDEXkCqnP7dPZuG0dUlL0jR0_TsJu-E42C-swvjag3wMRuE0W8YXJMWMMxcDBKqy4b_91nCCA_YJxLtuU-69rbygzjVYQF1BpcMc53lTPfdHNGa7tYKEgvo_iAmidG-bVXHdWn8v9S9E_iGVrzTvsBjzWTOSj-ZTpAviVeu2D15_xYH0eoiN1P4RNgBw4z4tVX7VnCJDmbC_PKZviFjVUMvUqVgnYuxswzLaIjd58Tje4qUniWu4sLn44wodYRZrAp9Ms9pAUZis9JKo3s0TB5A_ywVr7KUJ4oL0zv7WdEWmlwdQzroh07AM7HefQluMKp2-s3j6AjxzB4A4feQpuCryi-8w49yeYlOpaBxToNXL0HMkJkoXWwvqO62pImsQJKy2dei5G80f-zpz-OJvquB83EBxMFp3xCdsw9NuuzEwTENjFaZA-fwYsQiOFctMRjsgXg7dtIRNxF1xJP-ql4GzQzY_78nvVzPPCrtCO25gDFE96hmsGgBJpACIvRmzHMmNC3yX6XQSkfYvq8LBRn8pyLin6EBVDR9O6i0RFJltJBDc1zwAzc6eYi0ithSpCb-0fn0RLDluQrjyIPKmuqc02brBV_OGMLv3oIA-LLvNZ8YYA8KRTwY_GCeYanhVsFGYVQh3VN2IhzKylGC625CPzOytAoSH6_sUwVQQRFcUfTahGL7pRFGNbg-JxgqUq1eahyirHzFpA21dhsTpMgKUrNmRxJWREKNy8Io_B1YWDdjk6QQgkzVrM1hBjL-JBVB01SNjb1jqcEnWpRZ_KuzHQqgi9KL3jXzDZesSW06ESiVEc_TFu182ZFJadZNqgeeevp25xePoNXUXX5TTsZ9rzaOPDMDDBkS-Hi1zL27HHkzdoSrY64hxEEOqTDBb2d6R4e9XVj9o_LkcxkbQA3qu6Ayj6ddeloOiSrMcGvAG1_2YhOQREapC9OSG5UvRobU4pVBTZPMvBTu18MkxW05kJhknLtq93ofKK9kKgyBwcGBB79TusjxUA1G_dS5H54Ds3iK0Ez9dtrlRn-YRfvxsToFSHHlE1o4ucx55YYjfG75MqjsZCxtsBpaBkD-1_P7FYp-1Zx7sdBq_V88QcQWquoUpjMn9u8jwu8rCnARlHC8J8xvwJCK4y28SIdyulcPBIMq90wrtn_4CcnYuHYJIk5wDtR2gUazQfsa4u5NLrmeWj-7WEx7wBvWELIx9iRA2GHP4mmmbITnZ1iEcuttn3ucJBQEYP6ahdLlLKBswh43W8-y9C-4HfQy0nK3vVhwn-6TrviFEJoglekxDMC_3ft9BDb8FQk9X-EkEVd1veH9FqvrcSnm45cQEOuThYlYrEV-kFs2mU-rpj_WhV726f8eUOCF-YKvqj8LQYSReBdsj747PYdB_BHG0xsRNh9XZaf5dKVSTB-mUxa3nVng-p4LoGUB8Nly9kRTaSysNdZyRx0IjathvJnTG-_fRddzxJobGb7fppEkhmFPuY47oXwRaHOfs_T434AwvOfQ6A9JNOzJkPzevrEBIwSi8lTlKQhIoMPwtocI8jDTh341xQgHyiBh5sd5N8SjHCKbNCagCBP-DjX6g6_ZxLsD_MmFZwqxWQiI-NZdivst9aglneNFYWdVoMJgVXH_kpBPUV8Tp6aVquv1cCErLVeNw-0mdwhUGZqmbzi_0IIbjEoQPS5Mv9y0Uj36eSpvtz6iudsObHx1SVFh28egNGDMPOZ56GuNcMZVdU96DSZCTQgNYcyNUVW9zJw6kYGDE8WaBCFr5DznVgtEACmA6bxa_AjLQmWSHGKekTbpU4ptEzb3tPzdmltS87DmxkXN9Z1mZYbyAJ-mQjzHPj_CdGafOHmLd2tJucNnEhh1oUhJbeISLtjyn4d-lBEpNgnOyFWpo9FRApmVJSdflv082J0UTQ1Y7305eAxKxxD9ypidxlvO48H--P9eSq4jDXWkFqQajGTO9lrnUTOKBngwoVQxe86aj-5iN47TTuJhI2fg_bmlTrGVVsVz-_kf-zG6Ueb8NlLsBr-YJN2ADPGemGss8pBVE76DKAIxx-G4U60aCm49LA_Gaw5L0adFZbFxL9GKtggQ1xupejeg4hqTQqJ1AQaUAIEkRR2P21HcXcmbXk4GtAKXMxd34TpzrrJZMibweWKAFTAacXZpbMAbqtfbVWlKBO44pt5W_iR1Z2bbZO9DnQtLTX26JCTSB-VovnJQ51AxiDosyKtUR-wP1UDZzIGvT-CNNFcrzmm1HS7JZib853GhjD4UFkAsc8pQbcegg==",
  "id": "rs_05074475c2a22ac3016ab4468ec4f487d0a145e94f1bdce272",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.185,\"right_z\":0.08,\"right_gripper\":1.0},\"note\":\"The yellow object is still visible at its original spot beside the safe, so the rounded piece must have slipped free during transport despite initially blocking the jaws. I’ll reopen and return above it for a deeper, firmer second grasp.\"}",
  "call_id": "call_BJDwpQmTT8VxKY3p3vCwDTON",
  "id": "fc_05074475c2a22ac3016ab4469284e487d0a73244f9e4418d0f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BJDwpQmTT8VxKY3p3vCwDTON",
  "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, 0.8032, 0.6064, -0.4801, -0.0189, -0.0383, 0.9997, 0.527, 1.8812, 1.1957, -0.305, 0.3542, 0.2386, 0.9976]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.9997 right_x=0.4245 right_y=0.1803 right_z=0.0577 right_yaw=0.0633 right_pitch=-0.327 right_roll=-0.1489 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.2239, 7.0222, 1.7851, -0.0513, -0.0366, -0.0122, -0.2393, -11.8359, 6.8581, 1.6923, 0.1685, -0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30a8660e8ba95f7dee31d84fa35bf20fe0ab3158e4367108c7926d844485ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07956193343aaaab6e1292da79ea234fab4d92a6276ce32d4f32e96b5a0c8c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a8df683b741bd85b77a2ce6cffe1c71cf7d8d90de39542223f6b0ea31f55c2",
      "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 · 2.138 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4351, -0.0189, -0.0383, 0.9997, 0.5354, 1.9499, 1.0214, 0.1024, 0.3794, 0.2687, 0.3437]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1675 left_yaw=0.0009 left_pitch=-0.0484 left_roll=-0.0005 left_gripper=0.9997 right_x=0.4369 right_y=0.1873 right_z=0.025 right_yaw=0.0536 right_pitch=-0.1698 right_roll=-0.069 right_gripper=0.3437\nstate[joint_eff]: [-0.0615, -1.0598, 6.9675, 1.7753, -0.0708, -0.0464, -0.0073, -0.1709, -10.0034, 5.2171, 1.6093, 0.4176, -0.0415, 0.4029]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4667, -0.0189, -0.0383, 0.9997, 0.931, 1.9984, 1.7554, -0.8124, 0.577, 0.593, 0.3424]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0809 left_roll=0.0001 left_gripper=0.9997 right_x=0.3665 right_y=0.3371 right_z=0.1619 right_yaw=0.093 right_pitch=-0.2378 right_roll=-0.1079 right_gripper=0.3424\nstate[joint_eff]: [-0.212, -1.2376, 7.159, 1.7705, -0.0708, -0.0464, -0.0073, 0.2393, -10.0855, 8.7043, 1.1648, 0.4957, 0.1734, -0.022]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0189, -0.0383, 0.9997, 0.527, 1.8812, 1.1957, -0.305, 0.3542, 0.2386, 0.9976]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.9997 right_x=0.4245 right_y=0.1803 right_z=0.0577 right_yaw=0.0633 right_pitch=-0.327 right_roll=-0.1489 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.2239, 7.0222, 1.7851, -0.0513, -0.0366, -0.0122, -0.2393, -11.8359, 6.8581, 1.6923, 0.1685, -0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b30a8660e8ba95f7dee31d84fa35bf20fe0ab3158e4367108c7926d844485ede",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07956193343aaaab6e1292da79ea234fab4d92a6276ce32d4f32e96b5a0c8c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a8df683b741bd85b77a2ce6cffe1c71cf7d8d90de39542223f6b0ea31f55c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaYOJ8TF27sWNR2lihpzh3letNl4QaoVO8OazX2ANcwmR2xWbcx3R8jNMP1PdafxUke01hdtiZh3I2majsywG-gi9fDwH3TbnNAvLq3fhH0_xF2AaNwJ18RPhx1nCqIuwYR26So8_2RCM2vzW56iPgkLIdBwdbOwFQxMGDKJAn_OUvclLbjDS1YeGiq9fVg6bMO0u0hFbmmvm0uag_VGPHrV_17hACub0_3AJQb7tnQ7Zy4QMiDIk28A_plNwBrNYRJdEiRdNrP-MKaI0wvl5M-jPXX-dKo_KrKg9-pwbuIFyjN0Zefm-jinfK-4LYlk9fy2m_emAPCF0t2bHfk-GC57rPlibvhhHdXcZmRSXAdjaUN66r_DZQf4l6GnQxSBwpSO_bWIrh7NZ8knymKjrtum3iiz92wEMRFAUzyvPei3I5rf1cydXn2dfuTPAmt9ieLzU7b-cjglchVcd8SUpQaUtStbAGebmFAh7_c948ZstJgjfnDiA2tRuolyrJz2CtSQ8WbebYWIZDr9xutjWfRmDPXRTzzfhCOW2uUiey_FikTQhacy037aXtUHJNsG3UflTFMnDC3KxzRm_Ov_Usyn4AbSzAaSnc2_qA2rSb-huxpNmUcMcWpHmF8nSk2hzVf-1aRNHL5dxF728wCuNpK5rAy2iJe_3tDhmKrSZaS9MbfWAf8OkH--OLSE3BxkGGYj7Jhzt_MUS8iZedFK7QkZUcsl9nBa8jrd1voWR3-5xmr69BJq8mkR8ElUHBjE6FTauJii0DFoBYhm0ozXN-nGxgt1mBj7SH-lA9lHYHIiJkwAQyXhH660RnriXNy8ewCVxWcsRX6M2YTgUEiJUVY-9oeg6BovrgBcbQ3p5FyUcgb2tFL4DO62gWl5O2StSVxa1T6TexR8jIrBv5lH3ScjQK4sMGkvxRTp5ZPsLMTMfUkEGKxucGIPmPs9Br_Kssr00LyVTrzggJS5sz3Tnvx2B7m-z6pHbhXDlaB-trIqpY6k6KVwAD8BrTEec2gdQXm7-ZH-ToFQOPhTe6J9UsUMam_t5dBg955GeleeVa7KzHVYlbK83TX5wIl6VfJ-njnDkmbrfsVI8dG0nw9r_mFL27BxlOy8xV91L1TGkuHBXTXuU95_fP8NKe01bJ0YWvItz3p82mNodPPDf9oK2qbuRTHOoENoHIrv6RHd7UUDuAfB2vImPjE7O0gZfGAEqrE2R7VpVF1afd3x9FKcwC8zNXLGKn0_qgxuePPcFcXhYPgbbIVP3F8W8kXK1rF-yi2xhOUe7N4GZ7ndzJ1YqNYrGOgbHi2F03k53Ol0HgnJ_wstprxz5M7zVMJBOHc0dkAC7eJk9vbonC7dDZPcvKKg0O-e9HbPNvVzNWEWui-GGibtjnPA1MFXrt1vMEgNZeFKIru4um6TRWV-HosZ2WvfF7yVPeoYhSlmPalOBTBmvZWvPRSmttpUy8uJeZUS7FEz3UovvMaOBibXBbMASM6OAiSXtoJfWOJyeLaBVqAZeV8CdZpckJtUQP3wFrbu6z0m3gu0AFbJoM44QQl2WyRbJ3mKsd4NuorJmSv0f0pUcghBeg1IvXF7lbaFPQ8fYT_yo8oZVIHJ6ImtYHKCh13UA==",
  "id": "rs_05074475c2a22ac3016ab446963e9c87d0a00033b18b98af14",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.18,\"right_z\":0.02},\"note\":\"The lemon is centered laterally but still a few centimetres beyond the fingertips in the wrist view. I’ll advance and descend so the jaws surround its lower half more deeply before making a full close.\"}",
  "call_id": "call_Gcg3M8qz1RLZgJjpklLX7P0u",
  "id": "fc_05074475c2a22ac3016ab4469710f487d09aa27d11e3aac758",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Gcg3M8qz1RLZgJjpklLX7P0u",
  "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, 0.8055, 0.6064, -0.4873, -0.0189, -0.0383, 0.9997, 0.4953, 2.0129, 1.2423, -0.2325, 0.3225, 0.2043, 0.9988]\nstate[eef_state]: left_x=0.2801 left_y=0.0016 left_z=0.1565 left_yaw=0.001 left_pitch=-0.1037 left_roll=0.0006 left_gripper=0.9997 right_x=0.4457 right_y=0.1812 right_z=0.0228 right_yaw=0.0753 right_pitch=-0.3525 right_roll=-0.1511 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.306, 7.1043, 1.8242, -0.0464, -0.0122, -0.0073, -0.8821, -10.2085, 8.4171, 1.3895, 0.1929, -0.0757, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78b864334f763d5bc9461fe63d73e95d0af34f59ed610b9d736192ed4bd4f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719cff267f9040607f86f62e2fb2ff188f661f90571ceca8766d2bc589a7c29a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809e6b863054ec0b3fa57a6fbdcf575dab0f01d5d2a0560b42c443c85e4410e8",
      "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 · 5.209 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.453, -0.0189, -0.0383, 0.9997, 0.5369, 1.7535, 1.232, -0.3496, 0.3771, 0.2657, 0.3425]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1638 left_yaw=0.0009 left_pitch=-0.0671 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4278 right_y=0.1831 right_z=0.1225 right_yaw=0.0546 right_pitch=-0.2106 right_roll=-0.0909 right_gripper=0.3425\nstate[joint_eff]: [-0.0889, -1.2923, 6.9538, 1.8926, -0.0464, -0.0317, -0.0073, -0.0889, -11.2752, 9.0872, 1.5604, 0.2076, 0.0122, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0189, -0.0383, 0.9997, 0.527, 1.8812, 1.1957, -0.305, 0.3542, 0.2386, 0.9976]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.9997 right_x=0.4245 right_y=0.1803 right_z=0.0577 right_yaw=0.0633 right_pitch=-0.327 right_roll=-0.1489 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.2239, 7.0222, 1.7851, -0.0513, -0.0366, -0.0122, -0.2393, -11.8359, 6.8581, 1.6923, 0.1685, -0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6064, -0.4873, -0.0189, -0.0383, 0.9997, 0.4953, 2.0129, 1.2423, -0.2325, 0.3225, 0.2043, 0.9988]\nstate[eef_state]: left_x=0.2801 left_y=0.0016 left_z=0.1565 left_yaw=0.001 left_pitch=-0.1037 left_roll=0.0006 left_gripper=0.9997 right_x=0.4457 right_y=0.1812 right_z=0.0228 right_yaw=0.0753 right_pitch=-0.3525 right_roll=-0.1511 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.306, 7.1043, 1.8242, -0.0464, -0.0122, -0.0073, -0.8821, -10.2085, 8.4171, 1.3895, 0.1929, -0.0757, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78b864334f763d5bc9461fe63d73e95d0af34f59ed610b9d736192ed4bd4f3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:719cff267f9040607f86f62e2fb2ff188f661f90571ceca8766d2bc589a7c29a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809e6b863054ec0b3fa57a6fbdcf575dab0f01d5d2a0560b42c443c85e4410e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEaayP-gMh7txRpYS__eoOzzxbhLWoMccBKDOCxGx0Vo3AV8_1p7jAKWGhnSq1NtutH43vLufN9LtbJtmf4Qm_OTPIzsV5BTYn2cL80tG_uyXiOxZ7jef2MYc2KSsjAX3iotKJRAA7E9dUOoGvbeFi4kL7HKelKlxzGZ6NGKM_zDiu04ByDSMl1n1t7l6Hd-m7eWlmcLp8baAyrqp9dj_X9uEo4vJk7tIOFrB-TMXYB85Fdmpa1PvXzxVWny60kh2hLrT9UQOomIt0j7R2fRza_3bLoPkoWZ8qS1LB49zJ5yECRyNG_BOeCQDcRmVRln6vmK6E_JNxvEbUj182LZM9qqsprpkkjuo3N1_Lr8Q4l2fjaBAlx7wlkkE8QizRB5rPm2I2lIx_umrjHwMrnwy15678Vtm0v36YWSKjzAyLIpogi9Pau5oiBFaIWOjelI-MIK3yIIK6Z5J7nMQp_cowJMqWpIxJUXlXMzheee4msPc2qmgcG0lw7Ku0WjnuygyoXYIrNCipM6i8bMrNDUooNwggk8cNps7Z0ZBzsPk3-nG1MBd9KoCs-LAMgejzajc-AuaG6B80EHmWZl4EWcxl01R1WEQlcATp4Eu58RUsUSEXkA5b2syXOWBsl595ZGH_J4yfkmdLe58BfvsWCxAuCwH79qePeCHcYRdxH5oSrUgxS3koG0loD05zZiB1ifQAVxTOj6c-GU1DfvQbRazfJFskuosIsbJl9U0xdaSZzZFw6scy6_6tamyE5ZMEirKd2CE1R3lkLBxRJJf97D5wQIPp3jXwsMrhqHhxUj6dJyBUh-kH7C0P2Api9NU8YAmZNJSVaAjHwVJGrNK9oV53mUFC80gT7-z0vMa8zgs1epBGPxCQBQIMPiq0nFVoLG0Z7i06Re-DIToeCFOpK_csE2zO_KOSgh4WgYzJxX-aUHbMIdO_uNRRIj8azOgLhZWSyerfgcOVRgoo9VBYmE0QE276ihw7o_X1OvA_FUICbk1eHKW3GwWC55r6a5llZCbTW4OohZ05K_lh4Tm7Pjw7BJuuT9F6rewCvM1SomxFTqg59fjPoN4si3gYAFXDbiAKc-6HQbAn3Px6oMkzb5cMJ0HEudaiWBHewodNnPy4mJAE0a1S7QnLwF14elTpmVxveU8lb23fogv48_8G1lxEWzTosfqU6IGYtxxowspu4ytW_A6uEdvy_y43ijwHGXEgPgDkx_G8GYVyI2MW1chexn_cQLudKNR0vOgRgkDN1tn471tmSaGFLL0YEZwaia4GSMI5A1i1SQwhkPxyj1mx25Mw==",
  "id": "rs_05074475c2a22ac3016ab44699af2887d0954bd1a26753b1dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The lemon now fills the space directly between the jaws and is aligned across its narrow axis. I’ll close fully so the fingers make firm contact and then use the settled opening to verify the grasp.\"}",
  "call_id": "call_je0xXdOmpdWR8gvm6WF19Pcw",
  "id": "fc_05074475c2a22ac3016ab44699eff487d08d097146b66257ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_je0xXdOmpdWR8gvm6WF19Pcw",
  "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, 0.8059, 0.6064, -0.5026, -0.0189, -0.0387, 0.9997, 0.4881, 2.0369, 1.2587, -0.1909, 0.3004, 0.2142, 0.0264]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1535 left_yaw=0.0013 left_pitch=-0.1194 left_roll=0.0006 left_gripper=0.9997 right_x=0.456 right_y=0.187 right_z=0.0218 right_yaw=0.0853 right_pitch=-0.3281 right_roll=-0.1124 right_gripper=0.0264\nstate[joint_eff]: [0.0752, -1.265, 6.8991, 1.8144, -0.0415, -0.0269, -0.0122, -0.2256, -9.7026, 7.3778, 0.8864, 0.9304, -0.1636, 2.127]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848037aa5a4d124735c4122b6b5dc6de5bba8c89a3da337de59a3264ae8b8ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee20156d0432f3bb64f7c374368c41fa8b1c1e8069f76805fe896f75b947e38b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfbc0a38f2570035245095b86e6fb5c2ccf1604ab7380bedc350733f253a419",
      "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 · 3.327 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4667, -0.0189, -0.0383, 0.9997, 0.931, 1.9984, 1.7554, -0.8124, 0.577, 0.593, 0.3424]\nstate[eef_state]: left_x=0.2832 left_y=0.0016 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0809 left_roll=0.0001 left_gripper=0.9997 right_x=0.3665 right_y=0.3371 right_z=0.1619 right_yaw=0.093 right_pitch=-0.2378 right_roll=-0.1079 right_gripper=0.3424\nstate[joint_eff]: [-0.212, -1.2376, 7.159, 1.7705, -0.0708, -0.0464, -0.0073, 0.2393, -10.0855, 8.7043, 1.1648, 0.4957, 0.1734, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6064, -0.4873, -0.0189, -0.0383, 0.9997, 0.4953, 2.0129, 1.2423, -0.2325, 0.3225, 0.2043, 0.9988]\nstate[eef_state]: left_x=0.2801 left_y=0.0016 left_z=0.1565 left_yaw=0.001 left_pitch=-0.1037 left_roll=0.0006 left_gripper=0.9997 right_x=0.4457 right_y=0.1812 right_z=0.0228 right_yaw=0.0753 right_pitch=-0.3525 right_roll=-0.1511 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.306, 7.1043, 1.8242, -0.0464, -0.0122, -0.0073, -0.8821, -10.2085, 8.4171, 1.3895, 0.1929, -0.0757, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.5026, -0.0189, -0.0387, 0.9997, 0.4881, 2.0369, 1.2587, -0.1909, 0.3004, 0.2142, 0.0264]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1535 left_yaw=0.0013 left_pitch=-0.1194 left_roll=0.0006 left_gripper=0.9997 right_x=0.456 right_y=0.187 right_z=0.0218 right_yaw=0.0853 right_pitch=-0.3281 right_roll=-0.1124 right_gripper=0.0264\nstate[joint_eff]: [0.0752, -1.265, 6.8991, 1.8144, -0.0415, -0.0269, -0.0122, -0.2256, -9.7026, 7.3778, 0.8864, 0.9304, -0.1636, 2.127]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848037aa5a4d124735c4122b6b5dc6de5bba8c89a3da337de59a3264ae8b8ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee20156d0432f3bb64f7c374368c41fa8b1c1e8069f76805fe896f75b947e38b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cfbc0a38f2570035245095b86e6fb5c2ccf1604ab7380bedc350733f253a419",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEagvZOjurCeohcp0u4ivMZyH1HxYQK2lcaBRqdpk7Tb9Db-aAzJE8h9GZwFtrhAhDab-D43NGCqFJkf0okNrXVi-GRoGHDCmRqSVjDj0-9DTFnfd6u1zCD4i5HldpFI9IChhwrv2YdKJ-2ptlShge2BAt-kXQAUdwklI4nms3QGSnJVSwBj4fKh89pa12Z8MDUa9_BINC1eoZz1RnOiHqDwfab5pRDeeC9XBsWANnoLkUQ4xOr49MzhiSOVJpesItSZUd_Bti8yulDUdZN5iHJ1hu8j3qR6cVwhF1NDmjqRyBjb98_TFYm2z6caD-TpCadzEfcxAor8jx2vf51LkuAITn-1D4OJsVFBDMqMwfsa91WYtdg8P7I9HYGeNB6jCjsY7PRQrhtFRS5-LtE8AqqrxixcAvRWs3kyDFAex2pvYkDwVKkJDnDY8r7RuJ32U0Kh5rh32JJvWOWPF8gFCotWeknWeNk5QI7HBSiaqt2PwiZBuTd5QIkiRsOxOCeX-uFAhCRHL1jQXXx77RdG-5_b0msGSLRPqy81C6Yb4a0iAC-epzJMw-wMZKtVD76vgi_3mF2IzzF2P3KsDvRZTUukWCxIXUA3B3HNj-fcPzvnVEzLF2_w7BaOvbGtwz1tfnxYOiag9G7RXf6-IMbw1OcpsJpwwQ__OCFP9gnEeyFxx6tACTzsmC_G1Aaeuhat_IdegNKs_eiN8ZhI8BTePweCzMQYh_K1X0yxry_dhVUNTErJJRE-AayDxsEm_mcmSra33JBmmyyMLVhRResw5RCNC8MvaAoluc_aFmp7z2K5LqKtmNz-E9awPWhELBoOAZUrng35fN9VgA0SZ7tertI6xQeKmz-2xwtnzeLpfIx1ybrz5-Q9HftDQOGga-M732jCy6GKg-ioKLo5WovSN7662Vkbol2bhiQ2lKvcQBecM5UoZbTQShb_TpH392Fb5qGCkE6dzIhaKlst5WRBjAq4UiV1zGCWYavWFSlfxdQvEcwjBJ7kjY8rkuPec3TnUQogjC_xRvgp1vn4QJiLwTXh10CQFrX6zzAG829Htp8NAvhecpzX8UM7sGFKssTnqdE3SsOtjHC-CWj8iZXDwdgGIxChsJFxGRgycixS1cCxfTfR_fg_uRyZyBdP6kOsnyhzlCwq7dOWEefBLf8VsFTcdhDblawmxeDCuTYoFpQyG2hXc2Hy8-hqs5Uwmac3mkQW5CmDHdg2eXYq_1R-sgP-XurEQZoIxGlcDkEDi-RUp7T3zPDDBxuF5IROuJ-W4PPe4lMfMloUC3q4oFt8GMlgM_ju4WmRMSwbCo48pONWLWgSrhqd1fMZ_eRfjux7vVfXcTglyorQpRCbP3KCacRl03uRg3v2Ec_AwxXND-ekS9kEvq6CgjVngsJkdxTv5o4KUpwXpwIbaXPGIM9XSTrvQBVxXVwoYQJlFbkmuyklEyFm7dj9BImZ1CrvMN4SJJHR99Qrxh08rN-2CfVMA8ByHkiG8EBnUvp19h9BWMH3BLwMann97o8MAiueXi6I53YFtnpL48pmRmJlMhAcUDMuqG4LGZW1e_QinwrNEkRFlFtQdBldTLBKwMa1LhTPJMuorCH06onvadYMUzW1ECiXttlSEE9MDoVZDusrCScFZmwp2mHOmXKn7xybJWX-JBMO772gTdLBqBCaSzb_B-VS1nH67mYRxEUw6h2Bx65eHXtN1ToYiXsofMpDL_QP7e2LuSg_lY0AM9w1LRkutTE9Uhnk7U0rd0W6x8Mo9sn0loZnbp_-ONCgwSCLQLD1DeH_NVWivLQnMZghGkuIMPrh49rWZZB44wiMgJTbQ0a86Ps_Uc3W1DmnfMtIs4SpYI6Dyt-Iwf_7W_yWy8L6PlnVsXxQiqjqf0vaQOmR6mLYl52u51l6VMov5f2KTNh9m9FjNUKxv50yJl-X2M-SiGdvv1fsGTwuamTgsRG8BuascqsIaEDOIlzq8aMXhwdlspgk64foWPdSdDimdI2NzlwiNJZdNlDkG-QOzGryPKOqIRGNPTItbR1_rKaCMHZdTpiOJu4wRLX6HlvyQcQ9FGgNrT9Lv0eqQf717bklOFpHDeLN0nLHDssnuVrdzJaspcr2PGuirOvhNBW64q3FJ_RkaTDGkXRmhJq12G1LKu_K0n8H5NryFs5Xl_sYC7fBRyJ_G2YLvXxf59rnpFv3yLhss768teDECyj3j-sGTbfVBQ-NnmlYI3oPISU1y9oHXxB6PmqoZS0HX6T5dTNViuZE-EQAn241S3mYyGhcD3MiehGGB30qrx4MNvWq6IORuMtCv8ty4JXX35XPOyOSw6Y57YSszfVdc0Tll2XfsQLHHgboHJeZesUDkXNv6bO0W05a1rb1heRND3BxCmJ48PS_bkd6MICKX2lIbDCT0OsJsLlUbpX_-Zv6WwvPpWPjVJvzGJ1LFRS2nx18yUjjMJ3_36C6w5lSTmgCodvBX1k_jSOFKWdhy6gl4w4AsIRKUf9WFhHzW0a2kaIrZJrTgHKac-uYmYMhgFC645W8ODJ-zWBtyWeiWkPwF9K2PzHBNRvC",
  "id": "rs_05074475c2a22ac3016ab4469d404887d09ff039c5f4119681",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.15,\"right_z\":0.065,\"right_gripper\":1.0},\"note\":\"A fully closed reading of 0.03 confirms the lemon was squeezed out to the gripper’s right; it is visibly resting there. I’ll reopen, lift slightly, and shift about 4 cm toward it before a gentler closure.\"}",
  "call_id": "call_DS0aZBSUZ3cjQ8cmlnc7aFMQ",
  "id": "fc_05074475c2a22ac3016ab4469fccec87d08b7288dee6765be5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DS0aZBSUZ3cjQ8cmlnc7aFMQ",
  "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, 0.8078, 0.6067, -0.5175, -0.0189, -0.0387, 0.9997, 0.4042, 1.9587, 1.2568, -0.3122, 0.2493, 0.1398, 0.9945]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1358 left_roll=0.0009 left_gripper=0.9997 right_x=0.4507 right_y=0.1493 right_z=0.0393 right_yaw=0.0819 right_pitch=-0.3903 right_roll=-0.1335 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7216, -0.0708, -0.0464, -0.0122, -0.4171, -13.2171, 7.3368, 1.5116, 0.1587, 0.0513, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c46b554f5afc55bc47e2dd92015b2049d7d3cf89a885b2cb1481aaf9ab8ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ad76b7ef52e9a51b2e7b8891a27c56e6064ad4c310aecf568995ac71a5342a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6c387c8ffbc8b7075c8fd310c3ab3d1083165ce16aa95b1dfa1fa22eb6e705",
      "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 · 2.58 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4801, -0.0189, -0.0383, 0.9997, 0.527, 1.8812, 1.1957, -0.305, 0.3542, 0.2386, 0.9976]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.9997 right_x=0.4245 right_y=0.1803 right_z=0.0577 right_yaw=0.0633 right_pitch=-0.327 right_roll=-0.1489 right_gripper=0.9976\nstate[joint_eff]: [-0.0068, -1.2239, 7.0222, 1.7851, -0.0513, -0.0366, -0.0122, -0.2393, -11.8359, 6.8581, 1.6923, 0.1685, -0.0024, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.5026, -0.0189, -0.0387, 0.9997, 0.4881, 2.0369, 1.2587, -0.1909, 0.3004, 0.2142, 0.0264]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1535 left_yaw=0.0013 left_pitch=-0.1194 left_roll=0.0006 left_gripper=0.9997 right_x=0.456 right_y=0.187 right_z=0.0218 right_yaw=0.0853 right_pitch=-0.3281 right_roll=-0.1124 right_gripper=0.0264\nstate[joint_eff]: [0.0752, -1.265, 6.8991, 1.8144, -0.0415, -0.0269, -0.0122, -0.2256, -9.7026, 7.3778, 0.8864, 0.9304, -0.1636, 2.127]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5175, -0.0189, -0.0387, 0.9997, 0.4042, 1.9587, 1.2568, -0.3122, 0.2493, 0.1398, 0.9945]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1358 left_roll=0.0009 left_gripper=0.9997 right_x=0.4507 right_y=0.1493 right_z=0.0393 right_yaw=0.0819 right_pitch=-0.3903 right_roll=-0.1335 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7216, -0.0708, -0.0464, -0.0122, -0.4171, -13.2171, 7.3368, 1.5116, 0.1587, 0.0513, 0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99c46b554f5afc55bc47e2dd92015b2049d7d3cf89a885b2cb1481aaf9ab8ae7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32ad76b7ef52e9a51b2e7b8891a27c56e6064ad4c310aecf568995ac71a5342a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6c387c8ffbc8b7075c8fd310c3ab3d1083165ce16aa95b1dfa1fa22eb6e705",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEalxiLzaX1gCOsxyaIR1qls4DLp9CzmWNzj9XoY9lQIaGoemnMxWEj3SNCifum7pWQY9pnx33V3hgetYYR9Pq88SmB6vrCh-HGmV6n3YxZpwgTdg2IKwVOnpLhSvunW9h55H1XbiseMRHI9rrqyUYZCAhRYNGFb_X-DLfqELqRw0yKwxV8HZd09WNWL_s8IChf3jtSLZCLKceWcuJ7JqASYEsben0AagrP4JeqFxvSW-h8-rLWR6VpenUOpopOr6_iZ3HCaTxzyO4uYnSt39Uz2PvTaK3_gNd9SZNe2zKp4cXdFjZ2Qgv892KB1YzhBTlnhXOif4bb-_nrDXKZEvjYcSI9iMhsVsZN03di5NIx358eRt9onhWVBTg4MIcyzWqrjbBQ63n52fQMepR5aoT4km-MchciLWbUYEPqNfLFREAoqWKseVcVuCZ-sf-BEiIMsyUmWm5gve-WTWGOqpx7jrh88c6W6WRoho7xf7qw70xHrO6GuljrUEdcq9tS-U2F_3E9Mwen5wA-LLJP9lxwgaOR77JhXAhw5IM5iWofTAjCgNBrD1FfGXGcGCnHCDZlXWTXOzQfz4DoSiGsaOwHbJUCZB9dkln1y7VO7jvXTvOgvDThkNmTzNK7O46Bl_5Fsb2I34ctMVvNfu_vVuQLOV0GsmpnxAwX40S9VD7dX11Z3STbnEGmnnJbudtn5gym6SkdqTD9Z5G7Ihip2fkfL3DceBre795bGJdmNvLFv-AB9eY9X4jIBzEPtO3vPVa1DT2k-4GWXRv8gtXPPHPuK5uaNsjk49s31EXIF2uQSIHulH7mXgZp-sMdto8Er8J33XH2CirXbwD6hEHDZARHoXYu82XAeUASibEdP-FltTGn6mymrYv3oZ2OZgO7enWhljNdjxEH_zm7AqAUFlnaMDHipWkov7p1blCAfGVj_3CuPwlq5kfiZMbVbI41yggFMP5D_mRBKFTeSXrIlWZfnYWhMpopgV2LQe1gH4RUERYKg6hUyrakoWiE0bT6BviubFZKg7dVGmopIDe4xlrM6RaA5qkI2Gzmt-2jrJ-1GQN6tKSQW5_dAT5oMx-VueBcuDybTeEcL5rI9P9NZq3KaJQDt0efJpOmtPkcvWKPodot4gfqM4bhMz8zpadkfYhS4OYULuZprBbMfohlpfOIGunAQ0sTTq5e7pn4CiOUcFid2Ae8LiuJav3q2kdcI9kANg3E-gLfFPFKA92p83yATI3U46gF-m1eX6bbMe_9PvZENALarfbFsoN8QtSD-XXEwtH9FQv-yTkNuTZvSgOQesTsUkKcd2U-1VRqvs8HS0sOJIWPbsNid-x-WiCM3rT7rfNV-MkZLmSNRdRI_vpDg2Gi-ztaWHitqo4kDk-aU0sjggsh-aqAauxMxqTLOEuw27g2Nh_zh5Gjo1Amj-M4JS-FRp1bJIFLK0II8U_Pw3LjCmSWB5SvOmxWvS0W8A_PXLChObmgTevhe_sP8pzbHzpIzQjsDvbsHDQ5TfDCZ0UnlXN9-GHhip7g_qK4W2tvZ9zslHaWDdtfEn3BBh8EgS_IvdgJnrKmvsohAPIh7Jq4-4qOtjnE0SY-6_YOUJgs2ZLYfBZWhvWU9JMMrtDPD15a8AOvfd5pipuj_HdYadK4JeMunQTvWjf4fQTJyjAI-",
  "id": "rs_05074475c2a22ac3016ab446a2b45887d0aa3e28a11d8ae8d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.15,\"right_z\":0.02},\"note\":\"After the lateral correction, the lemon is centered, but it still sits several centimetres ahead of the fingertip convergence line. I’ll advance to enclose it at the fingertips while staying low, then close only to its measured width.\"}",
  "call_id": "call_d2zPbWWrr3KUlONYPugdUIiU",
  "id": "fc_05074475c2a22ac3016ab446a40f8087d0a88d9cafaca97794",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d2zPbWWrr3KUlONYPugdUIiU",
  "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, 0.8104, 0.6064, -0.524, -0.0189, -0.0383, 0.9997, 0.3851, 2.0666, 1.3449, -0.3183, 0.2329, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1484 left_yaw=0.0011 left_pitch=-0.1453 left_roll=0.0014 left_gripper=0.9997 right_x=0.4696 right_y=0.1502 right_z=0.0188 right_yaw=0.0839 right_pitch=-0.4205 right_roll=-0.138 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -0.8547, 7.0359, 1.7509, -0.0317, -0.0171, -0.0122, -0.8957, -10.3316, 8.1162, 1.3455, 0.315, -0.188, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2cc150cf3859a2f2579397f893df280cc3658040f6753ee825c97544c3928f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843f7f090823765497e2a5877193528f7e8b6fdd20b7011d19b2f6474824c59b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88511aadfbc0712b68f10d14794f0e409a627e0f4993fa0ba7741fcfad81965",
      "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 · 3.95 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6064, -0.4873, -0.0189, -0.0383, 0.9997, 0.4953, 2.0129, 1.2423, -0.2325, 0.3225, 0.2043, 0.9988]\nstate[eef_state]: left_x=0.2801 left_y=0.0016 left_z=0.1565 left_yaw=0.001 left_pitch=-0.1037 left_roll=0.0006 left_gripper=0.9997 right_x=0.4457 right_y=0.1812 right_z=0.0228 right_yaw=0.0753 right_pitch=-0.3525 right_roll=-0.1511 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -1.306, 7.1043, 1.8242, -0.0464, -0.0122, -0.0073, -0.8821, -10.2085, 8.4171, 1.3895, 0.1929, -0.0757, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5175, -0.0189, -0.0387, 0.9997, 0.4042, 1.9587, 1.2568, -0.3122, 0.2493, 0.1398, 0.9945]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1358 left_roll=0.0009 left_gripper=0.9997 right_x=0.4507 right_y=0.1493 right_z=0.0393 right_yaw=0.0819 right_pitch=-0.3903 right_roll=-0.1335 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7216, -0.0708, -0.0464, -0.0122, -0.4171, -13.2171, 7.3368, 1.5116, 0.1587, 0.0513, 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 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.524, -0.0189, -0.0383, 0.9997, 0.3851, 2.0666, 1.3449, -0.3183, 0.2329, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1484 left_yaw=0.0011 left_pitch=-0.1453 left_roll=0.0014 left_gripper=0.9997 right_x=0.4696 right_y=0.1502 right_z=0.0188 right_yaw=0.0839 right_pitch=-0.4205 right_roll=-0.138 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -0.8547, 7.0359, 1.7509, -0.0317, -0.0171, -0.0122, -0.8957, -10.3316, 8.1162, 1.3455, 0.315, -0.188, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce2cc150cf3859a2f2579397f893df280cc3658040f6753ee825c97544c3928f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843f7f090823765497e2a5877193528f7e8b6fdd20b7011d19b2f6474824c59b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88511aadfbc0712b68f10d14794f0e409a627e0f4993fa0ba7741fcfad81965",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEannDV2K4nspA8rohtjSnsB-uizXiReQjP54HtJCGTxFrlZybOxjd0yz_JOrZaoTWT082CROqH1-wzc0UyFSyO70kJsCtj_2N_xPRaZUVs6yVvOE-KShYgMOcKnWLWWUy_cCeK0YLZqyx4FjcNlBtuP_ei1D0noJ0QIM9NWSr7aNa-PVj6s3BzbdMSPOA-2QO93XZExGmhnZW10BhmeIO2do-KzI93GqdRRHijuyDbokCdgb39x-mlW_lHQ9J_mM5j_ZZQiP3nywFKouuwt7dz_mcMlrARJlemQt-tdyZW4cpzFCyC8sQVGWdjSkE0niMM5NFTCJxLg9SXzW6n1zGUUlzhmLryXxV6lJFE4JY62jDVTJ9jQjCMXPJ9PswgZb0HZy6ZPSqsNcwxN7vgPFrU65fIm8Evkm4YL6-RLQE-LmdPknWkPC1bPDX6j66BE2cSh264ykC8ZRNJAnWtaYi-ctj2AbkRh2ryjErusqYF3hLMUyq85Mt58s_Sq8lGbU6Pl3vwXInsR60ZPa9UAPzjk13K1Ffxel1TuGJROotzyEf4KLZNkTcM07uR5h6wt5MIgvApz2Osft9HfNyDxgl20ukEzNyjCEDdnDoJ5JQ27_Wx_8C8CqiGEqqmvHBUkDUir73lDOEGNazEYhSbtMNQJ819vXXkpy1qYJwQ_pr-LSzzepZTUlDBLHWQkiQIINovQMfq861uPQSlXQIEAKF_CJ9dkt9fKgcGeMbgX7fwcgIVy2ESbuB7JyXk71-XLVAkPbozOgvaNHixuH6PFEEq8XUm0oUxdIJsUSO_Dssrh18YIBcCQ5MhuONO0voYMTf6GJHtirbDPyDaTdld6FQGi7anJuQw5NZ30uKoVbNmSL8ekBkaSnjSeCYyrcwJKWhZ358AfMfcd8AF2srxp_aZPnmlvaqTpX8Gfxs6iod81cZvnLTBFe0n9eBqqNY-9-zUXiZEdterd4ghx4xcrmsJur7bOl-VjZgO4FW0c0aMJb3g7pufX7PUnI2yFh54mN1GAoBX973SJgnCBnJFoTYVm2YrOUTOVQK1q9C0U9Q6TCfV4XVixcQAsVQHUJj4j3779wK_cDB2vM2JheQJ3QYkRv8pfP-kNk7D9LOtnQY6AaLaSKidNE5KpdoGM7d_oNxNVGoG0e6LjnQc0K1syoRG_YBsZ6pKAoN81w-v0lee7cuR2LXr7y287KBrhC3QnDrevU70hSf3_-uud1ZK3-Ph9BGsYUheyRaA3f0qilrknPV79pnJDbtmG_wYIgi_bkTPfUYhMQFdtlP5QB-HnLJGwQs-a3WOHkWPYwuejnUcfvKd951I3AEW4QcITfCNTIsl2VWcpeCBI2EjARodlNRuqzoM3TB-rDmkfwCJfRy1LWrmyuuFdBeEi7QINiFVFmO1QcNH4h0kfmi4JNwCKPzUtrhhrIfY5eiPdcn2YElgSyOBGzH-FvkXwqO-sozb-tgauSW602rDWw4r_BCS3sYimvEYxuV5kCLDvazKwemi4CXCdAqIN4aD2orLOwYnRkOgw4AtsBKQjes9KfQAlA42PHQcK3FngADW7KRfUW7BLle7l5eDaku_ELfYGtDBsQiulirjF9NVeEytW68CT_zfDAzRA9XrUVh7uI2Rm2FvCT76NewC7LLNDK2LMe5_AQMqX",
  "id": "rs_05074475c2a22ac3016ab446a646d887d0b010ffd389f230c5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.35},\"note\":\"The lemon now reaches the fingertip convergence zone and remains centered, with the safe wall helping prevent leftward escape. I’ll close only to about 3.3 cm nominal width so the jaws contact it without the abrupt full-close squeeze that ejected it before.\"}",
  "call_id": "call_1vKimMrhoPaJfqMb3tEFJi7J",
  "id": "fc_05074475c2a22ac3016ab446a7120c87d0a89acda959ac3c9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1vKimMrhoPaJfqMb3tEFJi7J",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5369, -0.0189, -0.0387, 0.9997, 0.3874, 2.0796, 1.3529, -0.3065, 0.2192, 0.1204, 0.355]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1459 left_yaw=0.0014 left_pitch=-0.1587 left_roll=0.0014 left_gripper=0.9997 right_x=0.4722 right_y=0.155 right_z=0.0165 right_yaw=0.1004 right_pitch=-0.4175 right_roll=-0.1248 right_gripper=0.355\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7167, -0.0464, -0.0757, -0.0122, -0.1436, -12.2872, 5.3949, 1.1062, 0.2173, 0.0122, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6caa413d2b4fe25626c09b645e174fad88aeca46a1fa9d00158fd9b97905c749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d42897d01ae56024214ec3084f540dcb7b64209152bb97ada1190b106f7c293",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede5f6fabb2b0f0d1aaf274d464b54b344f251d0b5cfcda7c4ff7c7cbc49c47d",
      "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 · 2.861 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6064, -0.5026, -0.0189, -0.0387, 0.9997, 0.4881, 2.0369, 1.2587, -0.1909, 0.3004, 0.2142, 0.0264]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1535 left_yaw=0.0013 left_pitch=-0.1194 left_roll=0.0006 left_gripper=0.9997 right_x=0.456 right_y=0.187 right_z=0.0218 right_yaw=0.0853 right_pitch=-0.3281 right_roll=-0.1124 right_gripper=0.0264\nstate[joint_eff]: [0.0752, -1.265, 6.8991, 1.8144, -0.0415, -0.0269, -0.0122, -0.2256, -9.7026, 7.3778, 0.8864, 0.9304, -0.1636, 2.127]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.524, -0.0189, -0.0383, 0.9997, 0.3851, 2.0666, 1.3449, -0.3183, 0.2329, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1484 left_yaw=0.0011 left_pitch=-0.1453 left_roll=0.0014 left_gripper=0.9997 right_x=0.4696 right_y=0.1502 right_z=0.0188 right_yaw=0.0839 right_pitch=-0.4205 right_roll=-0.138 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -0.8547, 7.0359, 1.7509, -0.0317, -0.0171, -0.0122, -0.8957, -10.3316, 8.1162, 1.3455, 0.315, -0.188, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5369, -0.0189, -0.0387, 0.9997, 0.3874, 2.0796, 1.3529, -0.3065, 0.2192, 0.1204, 0.355]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1459 left_yaw=0.0014 left_pitch=-0.1587 left_roll=0.0014 left_gripper=0.9997 right_x=0.4722 right_y=0.155 right_z=0.0165 right_yaw=0.1004 right_pitch=-0.4175 right_roll=-0.1248 right_gripper=0.355\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7167, -0.0464, -0.0757, -0.0122, -0.1436, -12.2872, 5.3949, 1.1062, 0.2173, 0.0122, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6caa413d2b4fe25626c09b645e174fad88aeca46a1fa9d00158fd9b97905c749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d42897d01ae56024214ec3084f540dcb7b64209152bb97ada1190b106f7c293",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede5f6fabb2b0f0d1aaf274d464b54b344f251d0b5cfcda7c4ff7c7cbc49c47d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEasrP8uzr6hlr97tc3Bc3CarX4BHeFh7HT_VefygyOSV-ZRMccI3P0S4t5FIkLFkG_zWZLndwxxvEeld-iUF7r5r_30GmkbeRFsHUqsckHmnev6dfy8-HCG7XqNEUOeEuy1-VQLr6w05_WqxP94lGPyEP_3GkMj5OZbTny3S7N5PwpqSvlxK52fNI5uKInMqkg7svLpncjW7e5y-_DzTGK8n9H2ACxfb5zQ4TaCdgQijGYj5MRwEClkEMIViw81Cx9Vi3kPrs2Vw9NE6X5hXFYDDcCtZnDYDKIHU7h1um9vYET7gHpH7MgGGpQ2NGEGZXGREFDn7TdWLIG0oNqSW5v9cGGljoj8_onVlFzlxN_K2M6H0y9Nxg63g2cEPq8CgAUwZxvKHPIG_zWW4ahQLOprMAHeuWTEzGQD8eR5SuAO5JHu6CVSirMWguCOvB21Z4Yt6LaVrpvZOCcOVGJrg2QWGCOr_MmrYtCInCjQueSx0_2MCPIccwH-k4TZ-PJcrYy_QDwtq2TZZdctG_EIN-sbfDMR-l4nQZaaYCN62MuDZx_NgPwLjcAu6t1Hx_12sb8XutsA4mE3WZFwkpwMNiQydivT9rSFQYqs4F9xmJgb4lV0UWy1d_796QU99GAgS5WLxuRdtKff_0af37a6_-z_A1XPc6CByKMsqRPUwEPeG-rSQb2ofsoGa4rMdJz1gfVHvz8PmRpDBUDKDZGrei7nsmQPz72KegAUmxunuR15vmzYGUinJH34TBnu153F3RgOG3wJlMAAfNcQe2mkiLH88WRSwGeUWHIbw6iCgSxPkEltuhpLtiIqbhj6mq-LTt0vL8p5mzsOUw06BxFcHLaSBR7hdWB226yrFnxSvhACdazDIuw4pBakhHuAalxpzbWDsBlGhi-mGJFILVvBxNOhS2SA4Az49z_Mul-MhEeWFEyjCGzj6T2duSkI3TMWfZQgsOxPRDDop0HohJoB1QYiMwjxpFA3McaiEgNTP9z2UT_mhE_XSFZ--C-ei9aCCqj56D1svCsDx6yuNeIuhdnlw4A9ziFYLQBKzyhsJ7obTaqDP6V8t5g_WYsIYfDaDmGFOLq7Hsal6jjd7kRlHGucxcMjxKc_yg8M1aRlVpGMPcruHT4IRqS_JYcMGdiYe2d4ZwVLfBLLKmdLHGntDwQhC9-D0oKDaWgAXi6IdAwVlU9KE0cH4CeaIeT0E1lOxJVEOvO6aGHqElHpXqnGpBjWBw55bIh2w8uSSo9lG6wXk5v_fmQiXb1zN5jZ7VlD6wQs_WO-1YE7imRKr3NlWqgQJRL6NFJU6TqVb8zIR8M5-VhEXwt8D7D2gI87qsCm3Kaf22MQgMRSft_fdDC-ZNtLfjU2PHZgDpTzDz1MwULo89NQ9w_2GtqhHxeMd49lIpJC7F4xV1MbNC2621vGDcpx2VnoGaLf9l0MZ20DGLZiTkV3Lm_qIgcTe5DynpWMCyfTUP6Pj_9wO9a9QcIlJjtWVO5klhyK9cKHBwRXN1-WcCYAKOMCNr8YIOWp87chL7yeiNdJOI3Trry0XkQXqTDGRPNUxN4hAj24JGsOixqL4B1NnPBZJAWtuyrw5coFqvF_fcSV4ezfyreUOEB7BPWL76eHGbVcIRWWykZ3mj4RKFaSUIAVF8EfFl_nTvqPYixDeXwZQdu-gntzVPKG3s3gH723npZ5c8dSEcNfaVYRrMLIxWp_X7dEkhSZRTN5MAXYe-Od9lFzMTBdrmxHti81UHBlrrmKFUr11qKaPwaHcNdmpJFTUnfsLPNlQtVbKgWvbogoTo8Pjo2uiy7G9dzrIDA0ouEUtDiV7k1rvrPFMhjrvqvx4Fg536006pOv_vUGQ2UNpfOJsFWHvoS13Tg7jWbfLE5Jh4OXNsQbD_59ukd7L2U3JwBgd6wXP2jcLPwzFtqJa8Fv-ehtE7FbnOHFK4eyLqD5hRq4u6gGv_ygLLxrMwW30WP6TBhVI4InZx3zn-XXPzNgHTLB915cAS2R375pNIGmeKQwlh8a0sS_IgSHhGUTPgRVmC3P9o_A47qip_j-dD4LLTBJ0YtdO6uhXLalUtLClZqo0DzECwcVV28yN7sCCbjAl3KuCd6hvb-cW0a19cqzQMCRoi5Bw2Tm5YKV7d92ZnZBQ7zzufMH2og=",
  "id": "rs_05074475c2a22ac3016ab446a98bc487d0afae76a7e0f5fa0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.125,\"right_gripper\":0.45},\"note\":\"The first gentle closure nudged the lemon to the image-right rather than trapping it, so it is not yet secured. I’ll ease the jaws slightly open and shift 3 cm right to recenter around the lemon before closing again.\"}",
  "call_id": "call_p2XVgSevcTrGPeSBQluApN3g",
  "id": "fc_05074475c2a22ac3016ab446ab7fa887d0b8cd36f3f259e0d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_p2XVgSevcTrGPeSBQluApN3g",
  "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, 0.8108, 0.6064, -0.5423, -0.0189, -0.0387, 0.9997, 0.3412, 2.0613, 1.3148, -0.2684, 0.1783, 0.0841, 0.448]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1449 left_yaw=0.0014 left_pitch=-0.164 left_roll=0.0015 left_gripper=0.9997 right_x=0.4745 right_y=0.139 right_z=0.0155 right_yaw=0.1141 right_pitch=-0.4109 right_roll=-0.1043 right_gripper=0.448\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.6288, -0.0513, -0.0562, -0.0122, -1.0735, -12.3009, 4.8615, 1.0916, 0.2662, -0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db459b81bb7454e34f15ea4f17e62200b06480b1ad3f19f7f6cb82d1ced43bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ff698d663630f696af5db73c7477a839d0484a03bca0512d90b247180dbe14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34b564798ff24b5c3b44217bd3eb341e213dab5e3591b2f434aeaa3bbbaac4c",
      "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 · 2.617 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5175, -0.0189, -0.0387, 0.9997, 0.4042, 1.9587, 1.2568, -0.3122, 0.2493, 0.1398, 0.9945]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1504 left_yaw=0.0013 left_pitch=-0.1358 left_roll=0.0009 left_gripper=0.9997 right_x=0.4507 right_y=0.1493 right_z=0.0393 right_yaw=0.0819 right_pitch=-0.3903 right_roll=-0.1335 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7216, -0.0708, -0.0464, -0.0122, -0.4171, -13.2171, 7.3368, 1.5116, 0.1587, 0.0513, 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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5369, -0.0189, -0.0387, 0.9997, 0.3874, 2.0796, 1.3529, -0.3065, 0.2192, 0.1204, 0.355]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1459 left_yaw=0.0014 left_pitch=-0.1587 left_roll=0.0014 left_gripper=0.9997 right_x=0.4722 right_y=0.155 right_z=0.0165 right_yaw=0.1004 right_pitch=-0.4175 right_roll=-0.1248 right_gripper=0.355\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7167, -0.0464, -0.0757, -0.0122, -0.1436, -12.2872, 5.3949, 1.1062, 0.2173, 0.0122, 0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5423, -0.0189, -0.0387, 0.9997, 0.3412, 2.0613, 1.3148, -0.2684, 0.1783, 0.0841, 0.448]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1449 left_yaw=0.0014 left_pitch=-0.164 left_roll=0.0015 left_gripper=0.9997 right_x=0.4745 right_y=0.139 right_z=0.0155 right_yaw=0.1141 right_pitch=-0.4109 right_roll=-0.1043 right_gripper=0.448\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.6288, -0.0513, -0.0562, -0.0122, -1.0735, -12.3009, 4.8615, 1.0916, 0.2662, -0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db459b81bb7454e34f15ea4f17e62200b06480b1ad3f19f7f6cb82d1ced43bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15ff698d663630f696af5db73c7477a839d0484a03bca0512d90b247180dbe14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c34b564798ff24b5c3b44217bd3eb341e213dab5e3591b2f434aeaa3bbbaac4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtEavW63KgEFi1ovlp-qzTJc9SjnYtfkC_pgbYjSjWBPu98VNFOdqknrPxaaXCVOOPfEaAUouiXt2FXSuCRHMtShZYEfXMJcMAIKLguEek-ae64Eute9n3-ksAEzGj7HH1O34LLZPsh7ctgGm37FkCUB6GNmvyLUiwEbCEtbxtS1b07LlZ7UKY8T0eFAVi949jNGCl-OmaQ1QaUvXsKwgXvAzNinzI69tPyIITgtYpe1aIWFo0XlG6Tp2tTCMMoTLWA82seyzbiEaChQDp3bifs2nzb48z0f6kzwlJBWYipynHP787NNXUoxnkk-yBIHP8B3qLB9AeZxovRE0mXqrvzTIz7fxSJrJMsAdbRPE3wMvm0ge4eSFQfulQugjvkUSLkWERCxjuYJ0_gXA21d4ZAOly_A8kE20sQIm6wYw5rBjriQa75dFp6I4WDUcunrbESX4Ll2fcS8WkuI0ByGJ_Hvg2Nhb4aQw5LqvUAyI7Jm-2ySqQGKwienVqZAxtN6Erm5zq6A5WRWazFuTxAh1WGdp8bMYjc6eEBfvh7DMdhzyKItdR6qLk9bbAb3hpeIPGfLimyjZwRIWaBCDqRUmkU73DCmNlzoVN-rUbbED_OeXrz_bpPRtm8C7k1a0V9HwsIATNJzrJTdOB8SnTdSmtok2lFpui2LjMZI1UCt8Agsz_frkMcgNE34phVv1GYkF0V22Nk6cPrMENKtwwE3a610sAiEB3o4Bb-fiz8mF5ma72Nr1fypd9unnUH08CnwzXxht-tS6lUdjxkbw4VOAX15ckObMpOSfa6jGiaflqZahD7BVJtD77gQmRM1cx9ob6vUfdMIYD1wdfDHL3iLaZ8OGzqZWS9K0gqLFYvmUQThJQbfWWNv4eqzneNkJoRyie-VNXlWyqlmIiphXbAdH5eN5qlPlofk1P3_GQ6eep-F1Pcjhq0ACd3WeG2EGUpD8HFrGcXxZkL6bd6Ox1JmWr2mtB9ZnEpQiH16Wujwlwtbo-gY7dNJ9Bz7JULjbg6f318Kb_g-mp3ldFtUx4lyJTGZelveEJChO8tot5sy9E-GzY17e1X6BFX5-yOMNUhd4kNyXyf5PsCCbMatb-UHwLbgp2UkGz_TDt7PJSbQh-7yBBqRdKrgwO1F8I_gF_OJXldMGV8Fkr-sIbRGJRGngApkR4gUDckpbqnCO-f84qvgCvKAAisZFVGvtcvFCuQlqp0HUa5Kkuf6-lm03pE4ixDH6bvIlhv0htAXGMe8FbsD-5S6Hw_LF5YbaurTR1rRDcTCJMkcbntBa0d7GwRinP2Fx9ZwaPAhMG3JU3IV4XZRSJSBLG4-YkrXVD42-2SInt4GnAXKvB_Zy1gR_tJuAZbxixNdojjxiA5ft2E0AvZdfHKx6Ys46nrQeZ3O3ynhIbgqV-puWT2QfCm_ELA2Df-d82CoYYOgNrrZ4X54aEHoBxUWaoShp5H_qAvdr4fdEupirQpZhWvrc54DVNryweFlGryEhldaglvwBKD3c5WqC92IMS4Se8UYKv8FNZJhErVg-ry95PHa-ZByCGWJfZzK1paB7CqN8qlwLCo7gddzrTT5rrvdGqGHp3eJY78GJsHF4q5T3ldFnQjDIf7gVjm6MwO-ZhMj-fOeGFfZPJlqbuIFAaFuh69IML-3pdZWxx9vXOAP9SF5dZh8_IjRw-a9qzUtOx4Mu6FYsJPi3HE-U4uc=",
  "id": "rs_05074475c2a22ac3016ab446adb45887d0a9f653e19b34467b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.28},\"note\":\"The lateral shift has placed the lemon much more centrally between the jaw tips, and the open width is only slightly larger than the fruit. I’ll close to a controlled 2.7 cm nominal gap, enough to establish a firm hold without snapping fully shut.\"}",
  "call_id": "call_BlIvaKCDEJo7pAFFX6Lt4PTw",
  "id": "fc_05074475c2a22ac3016ab446aea1e087d0bbbafd92efa00c77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BlIvaKCDEJo7pAFFX6Lt4PTw",
  "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, 0.8124, 0.6064, -0.5556, -0.0185, -0.0383, 0.9997, 0.3336, 2.0552, 1.3067, -0.2646, 0.1719, 0.0677, 0.286]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.1422 left_yaw=0.0009 left_pitch=-0.1789 left_roll=0.0018 left_gripper=0.9997 right_x=0.4741 right_y=0.1361 right_z=0.0159 right_yaw=0.1222 right_pitch=-0.4112 right_roll=-0.1078 right_gripper=0.286\nstate[joint_eff]: [0.0068, -0.9915, 6.8444, 1.7314, -0.0415, -0.022, -0.0122, 0.4308, -10.1538, 6.5983, 1.1502, 0.0855, 0.1099, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5d1a9d596d2c8385ff262b075b7c656472a60ac476a36724945ab40953170f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a89e697c1723ede94144db22ca9b07cbe2d83b523fb236701a4c6c7b3d4504f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ad5556a0ebaedd75d87d4926b55fb4864f2273b8d15bd24b5aa62847ddb338",
      "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 · 4.444 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6064, -0.524, -0.0189, -0.0383, 0.9997, 0.3851, 2.0666, 1.3449, -0.3183, 0.2329, 0.1226, 0.9953]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1484 left_yaw=0.0011 left_pitch=-0.1453 left_roll=0.0014 left_gripper=0.9997 right_x=0.4696 right_y=0.1502 right_z=0.0188 right_yaw=0.0839 right_pitch=-0.4205 right_roll=-0.138 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -0.8547, 7.0359, 1.7509, -0.0317, -0.0171, -0.0122, -0.8957, -10.3316, 8.1162, 1.3455, 0.315, -0.188, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5423, -0.0189, -0.0387, 0.9997, 0.3412, 2.0613, 1.3148, -0.2684, 0.1783, 0.0841, 0.448]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1449 left_yaw=0.0014 left_pitch=-0.164 left_roll=0.0015 left_gripper=0.9997 right_x=0.4745 right_y=0.139 right_z=0.0155 right_yaw=0.1141 right_pitch=-0.4109 right_roll=-0.1043 right_gripper=0.448\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.6288, -0.0513, -0.0562, -0.0122, -1.0735, -12.3009, 4.8615, 1.0916, 0.2662, -0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5556, -0.0185, -0.0383, 0.9997, 0.3336, 2.0552, 1.3067, -0.2646, 0.1719, 0.0677, 0.286]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.1422 left_yaw=0.0009 left_pitch=-0.1789 left_roll=0.0018 left_gripper=0.9997 right_x=0.4741 right_y=0.1361 right_z=0.0159 right_yaw=0.1222 right_pitch=-0.4112 right_roll=-0.1078 right_gripper=0.286\nstate[joint_eff]: [0.0068, -0.9915, 6.8444, 1.7314, -0.0415, -0.022, -0.0122, 0.4308, -10.1538, 6.5983, 1.1502, 0.0855, 0.1099, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5d1a9d596d2c8385ff262b075b7c656472a60ac476a36724945ab40953170f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a89e697c1723ede94144db22ca9b07cbe2d83b523fb236701a4c6c7b3d4504f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ad5556a0ebaedd75d87d4926b55fb4864f2273b8d15bd24b5aa62847ddb338",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEayPbZ88YeKnTc6FTFLRxT-MbquC1-H_w6mGjy4nnzDdrX_iEr1tOuZqNwhOkuFomRhnluuiGdGGjWNXj7HlYhH5Dp8gBAxgkakt75ywQM6cGcwZGz6JCwJfaSBbWYSe56ocvqtMR75qqHtIoJALylg03EWMIqFuxHy7wVVxrbllhcjeKyJXFKGGelQbGLX7zGFAgdJUNEzQhhcwkZaElEGcr0YmRMNRhRw_LcKa09_M3g491LTkTuWuQjaD6Hi2p6_yaEsiF0Rle2MHiRKD-HAp6krafZinrTDTHR4jBAHE41q1dr3MRe7CpBbYE-MSQLsNfb28CwFXvV58CKto2FMuAk0uDn6f94I7smvULtVey06lpAQgryrF1x1dotnEGMNTe1pvuC5AS2ExWaW1QpLOfisSxw-hklk7wKeT13QwF8rpkzXFIsdX9FQwZ94kbSGE9GBmWed36PfjiCqtPg1ojl76RIqoWpXgneAKIQmlj3WC4h-fiXR-_tejGkAVBXFNtqNJAxxxrD0puKjoyLElG_lbmCHFzHtrRI2EH_S52DT6qvsM3v0p56LKOx5sbsA_vLRbIX_PZbawtFhMyldnh1II3lUoLWQtQT93yEXEeMKmPbRA_zzAScdvL_2wr29JXIVK63r3AR2G0wiliRXCaEV8mLK982bJU4JI6TPOpIuFq_K41NcRQA9KFG5ShUIVKLVEDIa7faPbEtUPd7YrqVaB9xaornIYCjFT-W7J61AV2AN6rtlX4jzKrOocblZviYt1MKezDKsd9oS8cwnKVeApMDJZdXhcQl9o-DgZGDdDz-68Xz_CAYWyVjW2lU1LuJeX2cphmLTyFUnFCG-grsiLXo9Q4MWfhCYmKk0w3ZWfJZ28GPlnQk1HxYiTE5weFrJbL6u3ubHDF-mtDXK-PvTd5Jh0BVXmrud3vmPNd9VETOZmne1sIxwvKy3BE3VUplPjr1GMJrG3DhI4lraJLoGvaTbt7stHxZYgBnvtmX3IeWzcukC8HSdTvpbDKd55n_opleS3z_S1BXvxEPnmMK9vZkQwYTZYlBglBolYOgkmAmk8l45WmYxYKQKZjOBvDMDI7eL1Igu4GLhGK4Ftz3FHR7PdFjKjm5twEaaKTE6NXGncyVyHGMPyewZU3bwijsbNXY3-nh35OWfjNum1uuXZUTJs1z0N60GIL5eGavMzwYXtTqrZh60P8H5zdXbmGMvUiryrMgq5E9rxPX0YG6BbHOAjFvFkT_uK0D_-fUiHV7aymTFjcGYT-s75pFwLF-Kt3SK7sd8FWJIN_9_IPkczpuURngHXWbFaFPJSmEIVIYrRvG8qyOWNgdNelxblww7tayddNQn99AKWYqG000QaagxnRN_O4ppXqQTUnSDdLilKKKXEiN9q0S9woy2dEtIx528ktt2s0t8w9qnywcur4cZqcGRupOGDFO5JfyELqP_dDfyapDa6dRWhd9z2OxDAEo8mlduC_RUAiDjr0rRC3Vbzzj2t902AYLSelz3M7-7LNNxOM1mg1MBtk_IkQA6SOAOOGUx28wwyolu3w==",
  "id": "rs_05074475c2a22ac3016ab446b0aa3887d0944f49fec87534e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.15},\"note\":\"The lemon stays centered through the controlled closure, but the gripper reached 0.29 without a clear contact stop. I’ll tighten one more small increment while it remains constrained against the safe edge, then lift to verify.\"}",
  "call_id": "call_06QUZDPbnCjsujpx6gZemBr4",
  "id": "fc_05074475c2a22ac3016ab446b166ec87d083b941e31382eca9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_06QUZDPbnCjsujpx6gZemBr4",
  "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, 0.8143, 0.6064, -0.5629, -0.0189, -0.0383, 0.9997, 0.3389, 2.0552, 1.3067, -0.2672, 0.1707, 0.0704, 0.1552]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1404 left_yaw=0.0013 left_pitch=-0.188 left_roll=0.0023 left_gripper=0.9997 right_x=0.4728 right_y=0.1387 right_z=0.0155 right_yaw=0.1267 right_pitch=-0.4138 right_roll=-0.1058 right_gripper=0.1552\nstate[joint_eff]: [-0.1026, -1.1419, 6.9538, 1.5897, -0.0464, -0.0317, -0.0122, -0.759, -11.0291, 5.9692, 1.2821, 0.0806, -0.0317, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ae84052b169ad9a73fd83b4975a94278fee6675f2f7de4204fac393b9d5eca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b472a80fa84e56947ee8a98cefc061e7dcfa21aff23d180eed90071dfc0c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec53a84eeceb7b5f63c42bad434e5e28be83363d30406aad6c0a15baceb2e0a",
      "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 · 2.621 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5369, -0.0189, -0.0387, 0.9997, 0.3874, 2.0796, 1.3529, -0.3065, 0.2192, 0.1204, 0.355]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1459 left_yaw=0.0014 left_pitch=-0.1587 left_roll=0.0014 left_gripper=0.9997 right_x=0.4722 right_y=0.155 right_z=0.0165 right_yaw=0.1004 right_pitch=-0.4175 right_roll=-0.1248 right_gripper=0.355\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7167, -0.0464, -0.0757, -0.0122, -0.1436, -12.2872, 5.3949, 1.1062, 0.2173, 0.0122, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5556, -0.0185, -0.0383, 0.9997, 0.3336, 2.0552, 1.3067, -0.2646, 0.1719, 0.0677, 0.286]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.1422 left_yaw=0.0009 left_pitch=-0.1789 left_roll=0.0018 left_gripper=0.9997 right_x=0.4741 right_y=0.1361 right_z=0.0159 right_yaw=0.1222 right_pitch=-0.4112 right_roll=-0.1078 right_gripper=0.286\nstate[joint_eff]: [0.0068, -0.9915, 6.8444, 1.7314, -0.0415, -0.022, -0.0122, 0.4308, -10.1538, 6.5983, 1.1502, 0.0855, 0.1099, 0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5629, -0.0189, -0.0383, 0.9997, 0.3389, 2.0552, 1.3067, -0.2672, 0.1707, 0.0704, 0.1552]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1404 left_yaw=0.0013 left_pitch=-0.188 left_roll=0.0023 left_gripper=0.9997 right_x=0.4728 right_y=0.1387 right_z=0.0155 right_yaw=0.1267 right_pitch=-0.4138 right_roll=-0.1058 right_gripper=0.1552\nstate[joint_eff]: [-0.1026, -1.1419, 6.9538, 1.5897, -0.0464, -0.0317, -0.0122, -0.759, -11.0291, 5.9692, 1.2821, 0.0806, -0.0317, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ae84052b169ad9a73fd83b4975a94278fee6675f2f7de4204fac393b9d5eca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90b472a80fa84e56947ee8a98cefc061e7dcfa21aff23d180eed90071dfc0c5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec53a84eeceb7b5f63c42bad434e5e28be83363d30406aad6c0a15baceb2e0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEa2YwmRfEK7tQpQ0cZsze9yrpA_BA2lLHloxnBvp-j6oxXq_2qXkp-QVNIOpFnx1HTcwK4Co614H4UBn7_g28YG1gEQJFLaXzEjJu4KdeES0gedPsZYfq-16A4ctJAIF6rPb1oMUj74X-HEpRpU3t1TCz6gsV9qHsVgCrO3GVi1Hu3_dFhqwHGtJCf0ZG_51C0zc5TOQachNic5bWmbdAvZHuTmYXEFiyGEtjgdE9RupqSKCwqvOS8OhfEHgJXJH4OzLmEhsjya_gddfRpukU-eNiUMYQJH71HwXb5sl3av5XB5JUb4x8dtjVOZUXhAiS8XbQMwtnZO6KMeWTXyhsJpCsKceox5m7WeaIQv74tAYcjiIghl3gjoNSAizNVeiT464kdnOXlwOOuMFG6LvUaeWB9jqOJ6aA0jwnBcl1wFE-W-6n224IGv6tmohJiPW2HHzWS77ADKGTCHw0bOC27r0nk6WpU_Xb0Me888I6-TLLH-acWHK2AYgCD0K-uPRt1ptMWi1KvVR8s30Pzz4SaSr9IcY9zdf9PQxz_Vj8Knjd8SIHvYHlZWa2nkdVIHXtpugZ_PO42IY4-lh6d2BlmLyPO8wClK-36OsRCx-Pgspj5uu4UeymZnZTLBIy7lce0QeykHb1mS6bqinYwOUwv9jhPHegqMcK2V0mjZfed-D093qKmkY_W-N99PX8mAbBVBCRKSbYxp33RCZADXQNS3PpsOOFBcdgY3N7vx9T-771KQYUHje1dkH5f8IwxQhjeGiUjbsmelL56UbpKrzse0N52I1sqQSWzyfT25pBTlstZbTkhUz4-CQeEU2fyUryYqfe_Mq-NLxpUsGmkWmTs8RqIwXWg-uGPZM_vKHt83ibgC95hmZVpaDwWgRZhUFyVlCGTawUmAoygvnNB0XXsHnU4LcCy-5rmJyTrUgNuxD_9xvB__sR2b3S5MsSrv6geONqIOTQvDuY_ElF3aeP68fkFPDCuvS3tDyg-fJEa-Njv6MtbLq1Cj44CyHMFUNeEzzvSsjCesyAIm8WyYaocOCYxX-7GrUWRshoYSzJoAcDa8avfma0VHMso2tCEwjkg0awzGZ2_tjnf1lfl3ldHBRABa-zKXF6oS63qtzWirnHSOa9mw5fdprgcITtWx--FTeRRsT43KPOTi2KbvbguGDk5oZhIfV6kehJfuX2lcI7vyTM9vO1xirJW7z7Fxc4CKgsv2ynYRepfi8wVgDHfkUNj6RD4aSJC2UYn0UB5iWyPpOhfTnyFfHa1KYZWLjwAlAe5ig4_Z7XRjI1MWPhCCcB3C7z4HjYI3Z6r1H032EV1aXYdEqZ-wuG6y6JYIbU0uNPT-eTbIJIcmQGsjq9OKBA0orJcNvC-uKXxRyxtmzAUXdxo_UuxImhUYiMOiib7LV1a2uCraQkSDZ4YuWyaPzq2zUVmWBCn_fG06l0zJr5HHd2EzwNGnmAzTZgT_lYjLe4zHcU7MWmYNCZ360GsRo7HJ_7f6zAxzG3aKUAV-rfW3nzAhmUaLFpYKBUl2jx6vRGAiD8022PCxIhtjNxGG-vHvgAGueXHrE2Y6MrPXRCIwktucOKNPzHKeiczcUYbXVka3NIk83ChGdcL_AnlsmAPTxIoD8CDjszheJhGaQ5g_jrqqDqZ89IRZO8SX3dw9XT6bOPbFekVh0b2aGKLrnP_kzmkzQh1xP5JIPcj_M1H0EGpoUzutlr24zeGQ_t55eTi3oodX2t3c0mxo84viB0iaO9IQwRXuTjULv1wZhywOj4Nvu3IBsS5Pze-6waHYiiJ6SNMNZxnZLge-ncduW6cJDPuSnxqZJIPs25pld25Zvx_6UrRNNiny_4vsAhaEs00RLOKCIH6CYjjJvgDAqCdh6gXulYSlQdqYlFIU8g_p2Z1ODg0zq71hwyFqAXcmwvVV9CHusM0cipxHILkcvX6Z8BhOlTM9Hbt4zEFO-tlC0nb3tPsscPND5kXYsuf8SXXK3hivape9LOHXx9ef06pCun0CfJN4xGShWYCZf8sN3pz7XS4hBa9iklyGWq5hCWBsmqMWvRRzHkUy3fIIg3Gics-jKaXn1kCsOCcgJ1YZ0slST-WAVF66-RZGSXZs5JAIsm_yXVQtHSHeDfRLu8XJ-G9FZANl_tD4ayJkrdSU_WHdDk4V8zig2zM6LIsZ",
  "id": "rs_05074475c2a22ac3016ab446b3719c87d0a85aa2567fdaa6da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.11,\"right_z\":0.02,\"right_gripper\":0.8},\"note\":\"The jaws again reached the commanded narrow gap, showing the lemon is still just beyond the actual fingertip line even though it looks close in the camera. I’ll reopen, advance to the practical table-contact reach, and shift slightly right so the fingertips truly straddle it.\"}",
  "call_id": "call_qgJzkrYkvfUqfDTHT9aCmAWY",
  "id": "fc_05074475c2a22ac3016ab446b597b887d08d7d155fbfb3d6ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qgJzkrYkvfUqfDTHT9aCmAWY",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5713, -0.0189, -0.0383, 0.9997, 0.2615, 2.085, 1.375, -0.3153, 0.1265, -0.0002, 0.7953]\nstate[eef_state]: left_x=0.2666 left_y=0.0019 left_z=0.1389 left_yaw=0.0013 left_pitch=-0.1964 left_roll=0.0025 left_gripper=0.9997 right_x=0.4898 right_y=0.1117 right_z=0.0181 right_yaw=0.1309 right_pitch=-0.4337 right_roll=-0.1082 right_gripper=0.7953\nstate[joint_eff]: [-0.0615, -1.2239, 6.8444, 1.5995, -0.022, -0.0611, -0.0122, -0.5265, -9.6342, 8.1983, 1.4872, 0.0562, 0.0024, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d210da095294a94e9b2a4eb7d39aff54ab22ed5529a5287589a885fecf2897a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a88237a5b8f549db7f4efff8335ab4ca694991b04f0b1a9ff8b2e6b563c4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b62aeab2cb564c3b24aa120492fd2c52d1c0f438b2dd7279d6e3ac35b8dd43",
      "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 · 2.465 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6064, -0.5423, -0.0189, -0.0387, 0.9997, 0.3412, 2.0613, 1.3148, -0.2684, 0.1783, 0.0841, 0.448]\nstate[eef_state]: left_x=0.2714 left_y=0.0018 left_z=0.1449 left_yaw=0.0014 left_pitch=-0.164 left_roll=0.0015 left_gripper=0.9997 right_x=0.4745 right_y=0.139 right_z=0.0155 right_yaw=0.1141 right_pitch=-0.4109 right_roll=-0.1043 right_gripper=0.448\nstate[joint_eff]: [-0.0752, -1.1829, 6.9812, 1.6288, -0.0513, -0.0562, -0.0122, -1.0735, -12.3009, 4.8615, 1.0916, 0.2662, -0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5629, -0.0189, -0.0383, 0.9997, 0.3389, 2.0552, 1.3067, -0.2672, 0.1707, 0.0704, 0.1552]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1404 left_yaw=0.0013 left_pitch=-0.188 left_roll=0.0023 left_gripper=0.9997 right_x=0.4728 right_y=0.1387 right_z=0.0155 right_yaw=0.1267 right_pitch=-0.4138 right_roll=-0.1058 right_gripper=0.1552\nstate[joint_eff]: [-0.1026, -1.1419, 6.9538, 1.5897, -0.0464, -0.0317, -0.0122, -0.759, -11.0291, 5.9692, 1.2821, 0.0806, -0.0317, 0.0855]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5713, -0.0189, -0.0383, 0.9997, 0.2615, 2.085, 1.375, -0.3153, 0.1265, -0.0002, 0.7953]\nstate[eef_state]: left_x=0.2666 left_y=0.0019 left_z=0.1389 left_yaw=0.0013 left_pitch=-0.1964 left_roll=0.0025 left_gripper=0.9997 right_x=0.4898 right_y=0.1117 right_z=0.0181 right_yaw=0.1309 right_pitch=-0.4337 right_roll=-0.1082 right_gripper=0.7953\nstate[joint_eff]: [-0.0615, -1.2239, 6.8444, 1.5995, -0.022, -0.0611, -0.0122, -0.5265, -9.6342, 8.1983, 1.4872, 0.0562, 0.0024, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d210da095294a94e9b2a4eb7d39aff54ab22ed5529a5287589a885fecf2897a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a88237a5b8f549db7f4efff8335ab4ca694991b04f0b1a9ff8b2e6b563c4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73b62aeab2cb564c3b24aa120492fd2c52d1c0f438b2dd7279d6e3ac35b8dd43",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEa6JQHA_SSUsdxkNNySslSx6A_xR7c8iXhVxTQB-V1Hvq2AiQNG6aN_Dowmdw0T8uwITMIvrBRPocenMaeCJI6g1kBgRCIm1iplvjO_yK5UAx469hexUaiUomVPy7qFyVN10Fve168nF40BJakb0sSddllf56sQq9iNz3CBCogmQ1kmUrHZAIkCPYUXpp6psInLMifCOj5hsYawuBal0UuhHVH-gGZXVlKH6Uc3Tp1PbT81sQxzolKTFRB6_VyIvuY6fZ8KL3tW5rffDsnwY7rNOpLchb3GYhEB40B7t2YVUpuSKUj5pDsrS-qc1jPMSzgGcihVkSzVuMNHfEqjBhwnNpKlSzs0JjMBq3jrcXSOKGYx12kNDk-xCkca2UcrYz6V9C5HWkUJPTCry31Ag83_wBhNQvSGJWTf2l37-vIpY5rE2Dv4qcP3NF7-qQ6SOA4mOZIeVVXNOUh2A5LPJ9BhGZKiaUf3r-55sxs4vH2Am2flGr7IJzuTtAtQxfhtEy4EvpQ93CryisA1tpubM1Jlx3Apk_OvN4o2m1RwQkWxlvQftUjCDYfo3WI2VROyXxWYh4l7VI30zS2Gt1at7anTjQW-4x4d_VFhpoYIg_P8RgeRyU-3dWhWeVUGQTu0lr7z67j6082JdKYyQEEdWEcf0Z-Myws7D-MMlvnwmdYjlNDfUOVjIBA4t1wj7rkIAcXNxE4AAa-WjBd5SyKpS8EokbYReuaKbFL8K04VNWbWwvKWVYU4Qoyy7xEaqovtHMq-aGSG6hBREHyDDU_GztfBL-0JnIYSRqkzdvBUBNDeW4n8VnoUsyZOHH_i50UKfsUAofegpBHENZKqXV6D0n9EcRSDt5cC7_GvG2L-wkD7kY0GX4bt4V0y6YI1Q1Tx3Re3l0zcXs4s8mDL3jynXuQ-gewE7gCRE4BhZWkhNh9J3Y_rXlc1QWr8TYT9-XumadROWdyX9bYbhWuZtCKeIl_QKxRB902yig0giMQPmgmFFSlb0_xXWGsgpVVbMWhNVtiGidk0I9IXtSqZOej9aLLIzPl-lRaa2e9lynDutdo1PCbYBo2vEI5g6knu-d1bQyAbMU62nWSqTLhAdKX_0t7tiUH0CvnVh8VM_A5UXjitmbA_bZqdmDP3FsTubZjhjTfdTKD5cyZlkdq0Im6t7vpZdhRGpGdM_mxyujxtLJJGZxn5PgMZyikG12oetj7DhHZXVmPZwSnjPdcge2MXJRvKGD5SeY2asQuc9rGccQjMykR6elNRs66Ym7QUHF5pKJ5h-bgvFHt0foo4wlh_VyDvXAC6X-vBqcKHzUywKzUTUCcCWq_OiMln3SEAPBnU3NML",
  "id": "rs_05074475c2a22ac3016ab446b8b8d087d0a47c164ded5beedf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.2},\"note\":\"At the farther reach the lemon is now large and centered deep between both visible fingers, unlike the earlier attempts. I’ll close to a firm but nonzero gap; a blocked reading above 0.20 will confirm contact.\"}",
  "call_id": "call_EcXilWVx1T8J4u7MkSIzRcXg",
  "id": "fc_05074475c2a22ac3016ab446b9059087d0b660763128109082",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EcXilWVx1T8J4u7MkSIzRcXg",
  "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, 0.8143, 0.6064, -0.5846, -0.0189, -0.0383, 0.9997, 0.2657, 2.088, 1.3758, -0.3218, 0.112, -0.0036, 0.2051]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0013 left_pitch=-0.2098 left_roll=0.0027 left_gripper=0.9997 right_x=0.4875 right_y=0.1159 right_z=0.0158 right_yaw=0.1499 right_pitch=-0.4442 right_roll=-0.0978 right_gripper=0.2051\nstate[joint_eff]: [-0.0068, -1.1966, 6.8444, 1.6288, -0.0464, -0.0122, -0.0122, -0.1846, -11.5761, 6.0103, 1.2869, 0.2125, 0.0366, 0.105]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6f5359042a6f0d58665e9fbb155208f3c44e43b30880698e9e3c5b946d30c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29b44093a1afad4dcaefa2cc9eb83f1181a92cf3aadf5ed4514e949070ad6ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11bd23a9c506962b8695ef5c05585fa817dfb7f60905977c3c36c77e183159be",
      "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 · 7.151 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8124, 0.6064, -0.5556, -0.0185, -0.0383, 0.9997, 0.3336, 2.0552, 1.3067, -0.2646, 0.1719, 0.0677, 0.286]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.1422 left_yaw=0.0009 left_pitch=-0.1789 left_roll=0.0018 left_gripper=0.9997 right_x=0.4741 right_y=0.1361 right_z=0.0159 right_yaw=0.1222 right_pitch=-0.4112 right_roll=-0.1078 right_gripper=0.286\nstate[joint_eff]: [0.0068, -0.9915, 6.8444, 1.7314, -0.0415, -0.022, -0.0122, 0.4308, -10.1538, 6.5983, 1.1502, 0.0855, 0.1099, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5713, -0.0189, -0.0383, 0.9997, 0.2615, 2.085, 1.375, -0.3153, 0.1265, -0.0002, 0.7953]\nstate[eef_state]: left_x=0.2666 left_y=0.0019 left_z=0.1389 left_yaw=0.0013 left_pitch=-0.1964 left_roll=0.0025 left_gripper=0.9997 right_x=0.4898 right_y=0.1117 right_z=0.0181 right_yaw=0.1309 right_pitch=-0.4337 right_roll=-0.1082 right_gripper=0.7953\nstate[joint_eff]: [-0.0615, -1.2239, 6.8444, 1.5995, -0.022, -0.0611, -0.0122, -0.5265, -9.6342, 8.1983, 1.4872, 0.0562, 0.0024, -0.2418]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5846, -0.0189, -0.0383, 0.9997, 0.2657, 2.088, 1.3758, -0.3218, 0.112, -0.0036, 0.2051]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0013 left_pitch=-0.2098 left_roll=0.0027 left_gripper=0.9997 right_x=0.4875 right_y=0.1159 right_z=0.0158 right_yaw=0.1499 right_pitch=-0.4442 right_roll=-0.0978 right_gripper=0.2051\nstate[joint_eff]: [-0.0068, -1.1966, 6.8444, 1.6288, -0.0464, -0.0122, -0.0122, -0.1846, -11.5761, 6.0103, 1.2869, 0.2125, 0.0366, 0.105]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c6f5359042a6f0d58665e9fbb155208f3c44e43b30880698e9e3c5b946d30c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d29b44093a1afad4dcaefa2cc9eb83f1181a92cf3aadf5ed4514e949070ad6ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11bd23a9c506962b8695ef5c05585fa817dfb7f60905977c3c36c77e183159be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEa91QJsuBat-G97JPlM84Jtod19Kz9fRneKg2F6pnMKRoUNhWRuKrG9a41BZ7BKskESXXw4dWAbLsXOZ9BGUrX23NZUqegD1EqtdmzM9MtbCAhbU8dbpHB64ihJUzXxr3rAeaOpw2pr255e3tzCuoum6rbSqwslyga0-vAL6dsjoC0U5vnOY4FiWbgxsyAlqwS1dnAiSFL1W1gubvLlZ5Hlg018TKChotRblJEID5FKYhEG5eCSN3vrtgnPNUvjUKhxGAbT728NyIvRR2VuaZBaJfrN4X4VyWF1RHXGhtoxkbwelif13ki9JJP799eiGTRtttx8mPd1MNmppGtXSA8EtOBGty7ck9hU6_4AUU3RnQL3cuHbky3RE8FktPBGOheuMomDx0D2KXt-YKS9aFTachJcpIezNPAJonUXwb0Kks2X60-jFpP16JJWH0Qpp63wyRbX_66MiF_wmEHVYmGYbo2vCQtmlrgNX1r4x37mg02JmpbOi-LHnu4O82g4J5P60uY7fEdvWqLSejeKkBqH7IgJsiXLN_Q4QighJuffHHOTnR8pIsL5pB0dlVd4wPvpT_BbkfIHXnvSXVvmLs7C6JtmkS5UXo5Guz7r44S5hCXunJYcWbj9HCG04O2NOJgPJFeZUYIb5UfruBY7JaY709nxdYoVaGRUrXGe_7Pmg5Lx_G8a1M3cOfyfIpe9RpvQcBqVSRpnMYzyqMAE0JFvL8AyZnscE3wayqSMMURGjvrkB0R0-nIWdAdd5g0xDyDWL45ei-C09RZixJlduiRpiQYHpR9xyFLHYDr0AkYfys1S3TxOcN60ELCnoiWZFeojJHTXj_4URPksPBq6_oqp7-YaWwZgEDWCVVso3ZncQkFCsx42FYdrUBEBScD5hNmwVLqNOIM0Fj8SigRJsqgwSMPOgkDGMsIks3p000SXEvzx0zbi4kYIVC6b2GP6eJ1P3VysM1tkxX9j_xfkg0KhTNPrNlnj7wJFnixmfg7rhekn3u4vWs6azX8ZoMz3ed7CYYCO3Zh-eq7NVL2lE6AdoPB2mguDrM6FJqzE-wMpvLZydYyjcxAmlrW5RLDjoiTdmgiyM3Tmhnp-vYTwFE5RXgCrncar3m-GV0OulZyH8fm9aLwJGgyx-et6YkGVtadpWEiY_ezCc1e5RqHSJ7px_m_ucfmXkVNQJjaR2OUhsC65UjdaIBwRPTZukI4SV-RvdJmwAIcqsO6-sDhS2eECbjKlOndK_U1Cxr3ggVOKnmtekMT1yTpy_fsva18CL986e8omAb1PdMXlDHlCB3VcN2vLjVgadctZvz2y3pLq48e9nn6Unb6sUCOytwBI3_Cs55M0X7Gd0p1bSM45V_EH1W-4Bbvp1dZN3UvOFdhI5tzmaaavPVvqM0suFkQ89QovAh8M-dSeVotpntvCnqDoT-YQyr8t43SgFUmA6mSmBildN-7w081cO6x6hIjqq52XKloBB6INAeM_w21Vh0IEIA==",
  "id": "rs_05074475c2a22ac3016ab446bba3c487d0906eedc4780f839e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The lemon shifted slightly but remains wedged between the fingers and the safe’s outer wall; the 0.20 command still did not show a definite stop. Now that it is deeply enclosed, I’ll complete the close to establish whether the jaws can retain it.\"}",
  "call_id": "call_SIPf3CLpL6gZ1vO8Swcbz6CX",
  "id": "fc_05074475c2a22ac3016ab446bc29d887d0bbd60db01d435580",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SIPf3CLpL6gZ1vO8Swcbz6CX",
  "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, 0.8154, 0.6064, -0.5858, -0.0189, -0.0383, 0.9997, 0.268, 2.0876, 1.3754, -0.3237, 0.0853, 0.0013, 0.0397]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1361 left_yaw=0.0014 left_pitch=-0.2121 left_roll=0.0028 left_gripper=0.9997 right_x=0.4857 right_y=0.1215 right_z=0.0152 right_yaw=0.1736 right_pitch=-0.4482 right_roll=-0.0698 right_gripper=0.0397\nstate[joint_eff]: [0.0068, -0.8, 6.8444, 1.5409, -0.0415, -0.0659, -0.0122, -0.4581, -11.3436, 6.188, 1.2332, 0.2906, -0.1294, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b60499414089f5dd6eab375b6fe9be8f63c41a544e061b43c7302685ee99b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248fd669bf58c64d9b1070223f68b9a263ebd36294e269b0f18a86603bb43133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79b6c0ed3c3151bfd821c3f7a2f259aaa5eecae66c008ce3a69da84d1772eed",
      "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 · 4.582 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5629, -0.0189, -0.0383, 0.9997, 0.3389, 2.0552, 1.3067, -0.2672, 0.1707, 0.0704, 0.1552]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1404 left_yaw=0.0013 left_pitch=-0.188 left_roll=0.0023 left_gripper=0.9997 right_x=0.4728 right_y=0.1387 right_z=0.0155 right_yaw=0.1267 right_pitch=-0.4138 right_roll=-0.1058 right_gripper=0.1552\nstate[joint_eff]: [-0.1026, -1.1419, 6.9538, 1.5897, -0.0464, -0.0317, -0.0122, -0.759, -11.0291, 5.9692, 1.2821, 0.0806, -0.0317, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5846, -0.0189, -0.0383, 0.9997, 0.2657, 2.088, 1.3758, -0.3218, 0.112, -0.0036, 0.2051]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0013 left_pitch=-0.2098 left_roll=0.0027 left_gripper=0.9997 right_x=0.4875 right_y=0.1159 right_z=0.0158 right_yaw=0.1499 right_pitch=-0.4442 right_roll=-0.0978 right_gripper=0.2051\nstate[joint_eff]: [-0.0068, -1.1966, 6.8444, 1.6288, -0.0464, -0.0122, -0.0122, -0.1846, -11.5761, 6.0103, 1.2869, 0.2125, 0.0366, 0.105]\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 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5858, -0.0189, -0.0383, 0.9997, 0.268, 2.0876, 1.3754, -0.3237, 0.0853, 0.0013, 0.0397]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1361 left_yaw=0.0014 left_pitch=-0.2121 left_roll=0.0028 left_gripper=0.9997 right_x=0.4857 right_y=0.1215 right_z=0.0152 right_yaw=0.1736 right_pitch=-0.4482 right_roll=-0.0698 right_gripper=0.0397\nstate[joint_eff]: [0.0068, -0.8, 6.8444, 1.5409, -0.0415, -0.0659, -0.0122, -0.4581, -11.3436, 6.188, 1.2332, 0.2906, -0.1294, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b60499414089f5dd6eab375b6fe9be8f63c41a544e061b43c7302685ee99b0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:248fd669bf58c64d9b1070223f68b9a263ebd36294e269b0f18a86603bb43133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79b6c0ed3c3151bfd821c3f7a2f259aaa5eecae66c008ce3a69da84d1772eed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05074475c2a22ac3016ab446bea76487d0bc1ce94aac4eedc3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.06,\"right_z\":0.055,\"right_gripper\":0.0},\"note\":\"The full close again reads essentially empty, so this slick rounded lemon is not retainable with the parallel jaws. Because it is beside the open compartment, I’ll switch to a controlled push: position the closed gripper just outside its right side, then sweep it over the low safe rim.\"}",
  "call_id": "call_qt9NQ6PCvNWQBgq2ibTNFS1g",
  "id": "fc_05074475c2a22ac3016ab446c3664487d0837c704abb20a5b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qt9NQ6PCvNWQBgq2ibTNFS1g",
  "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, 0.8162, 0.6064, -0.5896, -0.0189, -0.0387, 0.9997, 0.1318, 2.0457, 1.3766, -0.4393, -0.001, -0.1062, 0.0417]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1353 left_yaw=0.0016 left_pitch=-0.2166 left_roll=0.0026 left_gripper=0.9997 right_x=0.4755 right_y=0.0668 right_z=0.0212 right_yaw=0.1852 right_pitch=-0.5256 right_roll=-0.0442 right_gripper=0.0417\nstate[joint_eff]: [-0.0615, -1.2786, 6.8581, 1.5556, -0.0415, -0.0708, -0.0122, -0.4855, -14.5436, 8.9231, 1.3748, 0.0952, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e7a947627d4742c18afc4ae6608592745bf9f03e4b759f579e233ae306c2f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b0145b87e24557a31dc3ad534438520f8fbd69851a8bf52fbc3efa31bfa0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e9f32ec8e2ad01906465f16b9e1dd5e6dc01c4d3022340371a160243a072a7",
      "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 · 5.906 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5713, -0.0189, -0.0383, 0.9997, 0.2615, 2.085, 1.375, -0.3153, 0.1265, -0.0002, 0.7953]\nstate[eef_state]: left_x=0.2666 left_y=0.0019 left_z=0.1389 left_yaw=0.0013 left_pitch=-0.1964 left_roll=0.0025 left_gripper=0.9997 right_x=0.4898 right_y=0.1117 right_z=0.0181 right_yaw=0.1309 right_pitch=-0.4337 right_roll=-0.1082 right_gripper=0.7953\nstate[joint_eff]: [-0.0615, -1.2239, 6.8444, 1.5995, -0.022, -0.0611, -0.0122, -0.5265, -9.6342, 8.1983, 1.4872, 0.0562, 0.0024, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5858, -0.0189, -0.0383, 0.9997, 0.268, 2.0876, 1.3754, -0.3237, 0.0853, 0.0013, 0.0397]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1361 left_yaw=0.0014 left_pitch=-0.2121 left_roll=0.0028 left_gripper=0.9997 right_x=0.4857 right_y=0.1215 right_z=0.0152 right_yaw=0.1736 right_pitch=-0.4482 right_roll=-0.0698 right_gripper=0.0397\nstate[joint_eff]: [0.0068, -0.8, 6.8444, 1.5409, -0.0415, -0.0659, -0.0122, -0.4581, -11.3436, 6.188, 1.2332, 0.2906, -0.1294, 1.0085]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5896, -0.0189, -0.0387, 0.9997, 0.1318, 2.0457, 1.3766, -0.4393, -0.001, -0.1062, 0.0417]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1353 left_yaw=0.0016 left_pitch=-0.2166 left_roll=0.0026 left_gripper=0.9997 right_x=0.4755 right_y=0.0668 right_z=0.0212 right_yaw=0.1852 right_pitch=-0.5256 right_roll=-0.0442 right_gripper=0.0417\nstate[joint_eff]: [-0.0615, -1.2786, 6.8581, 1.5556, -0.0415, -0.0708, -0.0122, -0.4855, -14.5436, 8.9231, 1.3748, 0.0952, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e7a947627d4742c18afc4ae6608592745bf9f03e4b759f579e233ae306c2f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43b0145b87e24557a31dc3ad534438520f8fbd69851a8bf52fbc3efa31bfa0e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e9f32ec8e2ad01906465f16b9e1dd5e6dc01c4d3022340371a160243a072a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbJag4ef8NRb7fFos5ByFbzvk-QGz99OsYkeZqJfkirIHa-4fdRKOSk-VHMnIaJEBSVrIbLqM7sKaRh33ud-wrjZWt43YXlCbZ6KGoUVRwqG6Rep7C62fdnmScIMf6zbfzKz98H0oSB2SWoXYAUz2bMDWSyX5xZ1IQn0JfxbnIRhstN4Jh-6rex6T6S4pI6eB4Hjel4PAPylEplhgV_aewH134-5boorBN9Ol2n0Nn-KJHi1dXuTWD89D0ojoka5_QvkPbth4sBqrDqV8E6JB0QCgtWgKbt9-NJa9IptSLiWtqO0r4_4ZuLRRKKx3jf5kjGBojuYZDOBIjO-wEXgJ4L38mxeKQRK53d-g85k3EVWYbgqeFDtu7PBrbJmgr4qIxGNuGNeMeQP_GBHfzMvNVghJYF2QBmLu3YF1TMONUnLW21hjRar3gSApgErnOuLRfrhCWQQRLTSSQWYwE3r4uk-UsFrzKylG5_fFA0o6UrZiBElo3pZMXebv1S182wwxKDK0L7uhvE4RzAORGct5r6ylX4JkHXlVZZU_1FGcRVnxCnHO5zDUI5wcHMHmLsmCLwDRWIgNc6RI4U20rDPQCOWkVND9XZG64XRKk0ubNvbX-YUMAunID9Sk-_qdkymb90genfgNykHhzV7jdHceFZmu6nmvVZBr42rzCHHU71nYmbwZfesh4oTTRaVB11yZ6KwBbJLx6tZyFSrxpsZrlbJYtfMEN8H6Av3d3K79Spq9VRfB1XEXE4yR6OVF3BzDKLRMUf00PSWPKm8htCVUFbiDRc0HIuTZIzx9omI295ZdiC0w54huOkYVH8V26zA8T8tc2uxTw0OcYWPO1C9MyQUHgkmLo1nP_9xG-T8y3C6lD5YJoZzJlD-evxmit67EmkIaCVtt9WcHIa5-dF8R2V70Z1QBEThXN06roPLYokbA_Tx2DkiHjX7IpUiX-ejZ2hfW-VVnTCjIE3nXeLHIIsYcCtykb4Oyf8M32zlW3mEUBD6lVa4OkLAu_xQl8Cf_xbDYBLVzvaB8zVAafRCogPxmm0kjI5JLwUBsjD-SDeJ9ta0BIx8SB7jd1hdAxdZChrvMkWxdxPHzhJw5arjvlhsUbkIYDXrG5ftL0Zoh5seGsl--Z5lHa6AOgBCt15pMYJFlVEhntb4BuZe67yfrV8G2bZDp98IJq3ULBx7IeUjI3hL4ltX3DBRxJaii3-c44ZV5gEtDSDcggX_E2jfDXMhS3P3z3iavvxKvNCDaWRj-ks5KlAbjiJyS8rACoFpixhb5VwW66hADGi-XrZNMMvWXhbUtB7kw4W24G9sqedzb2GYKDaxZZn475QX4W8iLy7DURG8YKkCMCyiyPoSqI3Vzjps4FiWkW7mi0pUT1lXY41UZrM2uIwF-Vv9THjnIfcPumjfjUKtXpICkV2-n2P7-q6gfsXFeHfDc1hO9FNcbjOtRRoxwTHBfQdO4mfw-y4IMKrtb1CWgwaYIzlRXK_7cr_Lb6JaJnLC3wwCWmBEyVKLBdA6-8FXYQXT5yucM8CPpqypvPgveLNmtG6vyx2ZaPUrPlQ3hYTER-DoaL3kqUp2EEPfqgKrFGi9BTZgz0sU0LE4pkgh46tVF786e-m2dDlPo_8RInW-yrK2x2AvtU=",
  "id": "rs_05074475c2a22ac3016ab446c77b6487d0bfcddad8c2d24c5c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.24,\"right_z\":0.045,\"right_gripper\":0.0},\"note\":\"The closed right gripper is now immediately outside the lemon, with the red compartment directly to its left. I’ll sweep inward and slightly toward the safe’s center at low height to roll the lemon across the adjacent rim.\"}",
  "call_id": "call_1XWglj68N8OmvYsxN1T10VYP",
  "id": "fc_05074475c2a22ac3016ab446c88ebc87d0bf0e356fe36306d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1XWglj68N8OmvYsxN1T10VYP",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5926, -0.0189, -0.0387, 0.9997, 0.5228, 2.1761, 1.6543, -0.6758, 0.1463, 0.2256, 0.0416]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1347 left_yaw=0.0016 left_pitch=-0.2197 left_roll=0.0027 left_gripper=0.9997 right_x=0.4458 right_y=0.2313 right_z=0.0311 right_yaw=0.2095 right_pitch=-0.589 right_roll=-0.0527 right_gripper=0.0416\nstate[joint_eff]: [-0.1709, -1.1966, 7.0496, 1.5458, -0.0513, -0.0464, -0.0073, 0.1983, -11.6034, 8.8684, 1.2137, 0.3346, 0.0904, 1.033]\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,$blob:1f45788054711d5400b5681008e4316eb86e4e40505b140281c8e525c4b31d14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67851a63a64915b4cc8b136be08d10e3a755f34e1fcec10ac293fbd758a004c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdfca57dfab7e02c8d545211cf5fbd7cb6cbec6af21ca3902f580a75cd5efdf",
      "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 · 2.882 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5846, -0.0189, -0.0383, 0.9997, 0.2657, 2.088, 1.3758, -0.3218, 0.112, -0.0036, 0.2051]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1366 left_yaw=0.0013 left_pitch=-0.2098 left_roll=0.0027 left_gripper=0.9997 right_x=0.4875 right_y=0.1159 right_z=0.0158 right_yaw=0.1499 right_pitch=-0.4442 right_roll=-0.0978 right_gripper=0.2051\nstate[joint_eff]: [-0.0068, -1.1966, 6.8444, 1.6288, -0.0464, -0.0122, -0.0122, -0.1846, -11.5761, 6.0103, 1.2869, 0.2125, 0.0366, 0.105]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5896, -0.0189, -0.0387, 0.9997, 0.1318, 2.0457, 1.3766, -0.4393, -0.001, -0.1062, 0.0417]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1353 left_yaw=0.0016 left_pitch=-0.2166 left_roll=0.0026 left_gripper=0.9997 right_x=0.4755 right_y=0.0668 right_z=0.0212 right_yaw=0.1852 right_pitch=-0.5256 right_roll=-0.0442 right_gripper=0.0417\nstate[joint_eff]: [-0.0615, -1.2786, 6.8581, 1.5556, -0.0415, -0.0708, -0.0122, -0.4855, -14.5436, 8.9231, 1.3748, 0.0952, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5926, -0.0189, -0.0387, 0.9997, 0.5228, 2.1761, 1.6543, -0.6758, 0.1463, 0.2256, 0.0416]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1347 left_yaw=0.0016 left_pitch=-0.2197 left_roll=0.0027 left_gripper=0.9997 right_x=0.4458 right_y=0.2313 right_z=0.0311 right_yaw=0.2095 right_pitch=-0.589 right_roll=-0.0527 right_gripper=0.0416\nstate[joint_eff]: [-0.1709, -1.1966, 7.0496, 1.5458, -0.0513, -0.0464, -0.0073, 0.1983, -11.6034, 8.8684, 1.2137, 0.3346, 0.0904, 1.033]\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,$blob:1f45788054711d5400b5681008e4316eb86e4e40505b140281c8e525c4b31d14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67851a63a64915b4cc8b136be08d10e3a755f34e1fcec10ac293fbd758a004c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecdfca57dfab7e02c8d545211cf5fbd7cb6cbec6af21ca3902f580a75cd5efdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbQ4nm-io4ZgfqsEe8I2Zf_L9ikaMpJkfFDb9G1xXwuk9sW3SQ9Bi5l4-R9r_D1qb2eF4LkR6r5hSqZcmu8LksizoUt1IvTeDfLurOwjQYSAm87wtC4qBgPpbQrwYjKPf0CILVFBSjhf4HwIVFCxLaAeSv1Xjji_9tyTkXhtobQYa3t-YCyX0qUg9yjqlRDTzSV8yK4rJOijsvr6AvMEGsmpkav3z34J-BmifHsFXHUkwSyzL6i33ACJ4-rv0KQDdcrjhJZWxaXcpaGXilYT40xrADpPdISousyKu3gpemCHZvI9v5y3x9oqoItziG1RCX0KegiNrJqVeaYYmAyCm0QqsfPP1WifMFN3leGMg_lH3mkecFHfbw91jgf1OmrY22NgOxnQ2GK1a3pZx75iPW-sM2Nyo8eehcNNMK8wtW4-L3g8vF13CACUdiCILtwgwLoiJj-9GGnDCWrORo0hVlPgk8dUwOXGbhVLOH7_GGcZrQrHWb1FspPvfIix_HZu1SCbBHABLpk1TCUNCK64XUEu4dXN-guTbVD7cW_Wa2Yx8jNk-1g3npbA7wDi09ngZ8RGiPjvIlw7Uk6oxCJoaDtJRCvRSD_TLDOY3YCFSLXzErXKm-xL5An1ekk08dJyBtEpkm-Jnn-AIFFtZJavI0iak9Sl5f2OHcxIfrC2Q7UznF1jMx8aeLljQP-X55ZRxxI3NISpsGtyh9CwBQ9cCn9CBnkndlIJsNz371T_rEitP-DMy03KJCQgy1oPUpPbFMRhIOmmSn4g0wiI1oKst1EroUhLEXZvNJkHOOqVf_qfOxKy3VyyyKOa1TM0bDSrOdr8sN97TEyldhr_fLmB6n7kZNd1S8SDhhq0HipPF84tFkAOh2V1EHyMFhY7H7SqULzzjEVa32Sc9UEskoXsl6YwnBbowD-HfZzu9vRgjKBKG6OYjf7kWrjY2zy_efm8ywnuQqLfe2_qIc1t9cNblferdjESvX4L6xUZYmpDHgsPjZyG1eolUgyZwHhj0K_gDGHMFHSkrLGLfs0s_jT1JrRewPwEVZByiHTbe1D6BaVqadOd-GzE5BwRd43C8BooI8H4eb4ZtQI6XnQtmblxPIjQxDtNKPbzx6aSoayNULCv7R2tYHymgGomETAQ4T3EiAjt-bcjaQHcyCrcz9o7DZpluRqMe9_6OcnVOWWtTTwWEFtb1UxJTqyXkR6E-Q1hrOtWGGYJ1EPw1N3-B1GmxW1WGYXHQDNSzobKyYA3MicKXkK3aJ2-myaSdP64RlA3XncgSF1tfrhGqAwWQg9DJavy-KPdZDt47ihCGhGShYNtPlOjAESNZHDDIdXOk4Bn5x5QfblKRLbr19mEWG7ZzpxvNoTeYPpqFPUadud0jWZ_M8yQ30NbFA-XXlkGRfuNpjjJbvgWnz0FFUFT-YDo8E01--MZ5k7dfeJMooIWx-n_AGzSyOgXzaz-Lr2euPSk9PpIFmvAAUdDU3TIpFXQgH6onnVDd5Rvd4v2T7c0HttfIW97MvBE5xlqN0w_rtDFiMbfIt7QVBORbJsm6g8htVT49Bfl5aCHS9oMtnUYRuXN6Olic4oSnnHjOlmDaxs6pGRKqpvKAxQGQP6a14YZwIbUeS0g40C2-yRdRVJq_xUDcP5IXCoBwitNbNwA4ywFBRjq0OhGbzi59g2qn5uSDNxEpkenmhM6F47HjXGZ6ruQ_m397RbFcwbZxXAuuwR1-6esoCO4lCfk-jjrmatwEgAwEyp8UNShct1esu_tmfl6pw7ArwO9PrxTUomxImg7Spn1nhKKOi0wIHVft_0kt8BZPNCmpdrO81LelVsLUA9LTyTIoIEvRNBaEJR8cFXAIMnmLuTLYA6fHqE25kRIblqzjLlMs-x7mgzNRGcJen8ibim81nCk358jDwS-xg9El4zT22D0-OE5N6DclSz6298rTG2Jgc-OI4wDr6GuiINnHoRjWFMeVof9UblglrAbTtskiWJyx3gF3t0m-PgCWXSKEjEAphxICS0Iij_sOwJvfBZE5mXCtzk5J6Zd1imR9ZydEx74giO07wCY2q5uJqv0WgcdhnYkG2DfLJWJk75Q64UgA-1JDiB0G-NBDrhJdLh8zzOOHn42TpTy12Eije2y9u8cvBuQx_B1xKacLE5KZdlv-H5eD9BeypE2EYZ9Lk1bfLTjzCpUJiQf52sR4wn_MEmWxMUek5ErAZ_if7caXD4c5--C8cAXrD3nanKf2AjMe0UJ1k5UD8rFz5yER44tSedgFu2X2bkotdb2irHx9AV2IZbJi0bSFst4fxzQh5qIZlzdXj_XhWHoeBx_Tgbvgs7zWquDq77Jm6NB9CX2w78A_Uur66Y_2iWrAbnOeyuW0GMercx5cJg1fyVvg6S8eJptlm8iBosLhdF7ZFCtjicdFD9FvxVWcegiHGMbYX8R6a-s0gh2ekTgtJXvA9RVXA5nkgDTFhHTvkr5LfmrgL3fBp8vB1bo4Z_LjC3-1xVIGpPpuafWbJ83ud1qtexJ_b2-68c69fJu9obIFP_wgSPPFXVGh84MTH66xPKL32I7xweeMKbrOkZ_qWuRqCPpv4skrI4Wx-ONxCIyXtTlHg3VkQR2LsTKNZVdgAc66gHnVjAZIPjhFjFPHv1KaaStCg_Yvj49LY5nlgnCXpFJTOUGiOYyJ4SOupp_6kKtGGk_IWl948H8ei7gVUe_f8LhxClFP4Dmr2-CmiGnD2VZuukPZdU9tcLRUhrL_8vHKBHUeSntRG5KZx10rSsfMI8pKOGe0L-N2sy9l3ngUz9Rb47f2heBPKyiAMmGLRcC_3vWDLdBLK-qwuy0QkJjfJQTCSCHyrWkdj-hTJwiQ8qPOfkD45EqRmZW2YPI5mJqFEIPsqCk_mddtm1VyKI3E6rBu7xKvqK96B35TXXgnebO2G9lY5wKOBveoJGeUcfF-8fqnzz6Fw7775TEycy3nqUzi2BE_PG941dW34wUF_0WErma62uCoGw6hY0fX5IVIn98KP1cmPR3crnlgqcOIzGs9iy9URomOMG9dFM1TixdJyF6QMPUn8-FCEj0q4UtGPrlfW6so1OJZAc8yaB3gFUPUAiJA2A5a4SrJ-WNDcOaDg=",
  "id": "rs_05074475c2a22ac3016ab446cc2ccc87d090dd14c3da9a6ef5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.21,\"left_z\":0.11,\"left_gripper\":1.0,\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0},\"note\":\"The sweep deflected the lemon farther to the upper-right rather than into the compartment, so I’ll leave it for a better-directed final push. I’ll park the right arm and move the left gripper over the white plush, which is centered on the left arm’s side and should be straightforward to grasp.\"}",
  "call_id": "call_tT4HWDNEZsx0dERjcRwYG922",
  "id": "fc_05074475c2a22ac3016ab446cfce9087d085dd5d7d87446af6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tT4HWDNEZsx0dERjcRwYG922",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 1.5517, 0.9546, -0.4477, -0.5026, -0.6605, 0.9997, -0.0422, 1.3117, 1.1854, -1.0687, -0.0486, -0.2592, 0.9977]\nstate[eef_state]: left_x=0.3177 left_y=-0.1989 left_z=0.0935 left_yaw=-0.0037 left_pitch=-0.2781 left_roll=0.0369 left_gripper=0.9997 right_x=0.2936 right_y=-0.0002 right_z=0.1667 right_yaw=0.1654 right_pitch=-0.6098 right_roll=-0.0536 right_gripper=0.9977\nstate[joint_eff]: [-0.294, -6.8034, 8.7863, 1.4432, -0.5348, 0.0024, -0.0464, -0.1162, -5.4496, 8.8957, 1.1258, -0.2662, -0.1245, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d1c40e8441f5e4bbb6118d1c4d5aab7937489353aca2d89fc3e1b010c763716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4be51424373ae5ac4792b004404c9f0548d84a08a0b061fcf4388946bbc8772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983598931075e50af66d14532c2efa317f5ff44bc7a10c5f6a5a22787c730e78",
      "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 · 2.636 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6064, -0.5858, -0.0189, -0.0383, 0.9997, 0.268, 2.0876, 1.3754, -0.3237, 0.0853, 0.0013, 0.0397]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1361 left_yaw=0.0014 left_pitch=-0.2121 left_roll=0.0028 left_gripper=0.9997 right_x=0.4857 right_y=0.1215 right_z=0.0152 right_yaw=0.1736 right_pitch=-0.4482 right_roll=-0.0698 right_gripper=0.0397\nstate[joint_eff]: [0.0068, -0.8, 6.8444, 1.5409, -0.0415, -0.0659, -0.0122, -0.4581, -11.3436, 6.188, 1.2332, 0.2906, -0.1294, 1.0085]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5926, -0.0189, -0.0387, 0.9997, 0.5228, 2.1761, 1.6543, -0.6758, 0.1463, 0.2256, 0.0416]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1347 left_yaw=0.0016 left_pitch=-0.2197 left_roll=0.0027 left_gripper=0.9997 right_x=0.4458 right_y=0.2313 right_z=0.0311 right_yaw=0.2095 right_pitch=-0.589 right_roll=-0.0527 right_gripper=0.0416\nstate[joint_eff]: [-0.1709, -1.1966, 7.0496, 1.5458, -0.0513, -0.0464, -0.0073, 0.1983, -11.6034, 8.8684, 1.2137, 0.3346, 0.0904, 1.033]\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 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 1.5517, 0.9546, -0.4477, -0.5026, -0.6605, 0.9997, -0.0422, 1.3117, 1.1854, -1.0687, -0.0486, -0.2592, 0.9977]\nstate[eef_state]: left_x=0.3177 left_y=-0.1989 left_z=0.0935 left_yaw=-0.0037 left_pitch=-0.2781 left_roll=0.0369 left_gripper=0.9997 right_x=0.2936 right_y=-0.0002 right_z=0.1667 right_yaw=0.1654 right_pitch=-0.6098 right_roll=-0.0536 right_gripper=0.9977\nstate[joint_eff]: [-0.294, -6.8034, 8.7863, 1.4432, -0.5348, 0.0024, -0.0464, -0.1162, -5.4496, 8.8957, 1.1258, -0.2662, -0.1245, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d1c40e8441f5e4bbb6118d1c4d5aab7937489353aca2d89fc3e1b010c763716",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4be51424373ae5ac4792b004404c9f0548d84a08a0b061fcf4388946bbc8772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983598931075e50af66d14532c2efa317f5ff44bc7a10c5f6a5a22787c730e78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbVY7xnEn3TUhat9bdJKYuT-uhaTS9C6ahI5rsKNb2hYT6d-pfjwX1pZRoyXPIBdN6EaC4k7GibxejGJnYOnNXp9zY5qXDK4N-T6no4wdQej5LPp22_L-Pdu4xFwf-86iSZYkknSSYbKqnICsstFZjLU6eY3hwSml3zLZ3eRLwqvzI7fjwNX4UfKjKgGehiHVyAxvRz-Fq_H86i9p4uVeiMQ6XF3UP9DmSbWRD6YqBzuveOErk-ZrtzCjakFB380caU0Gs-wzNlVaD2ETQ9QvLsRR_37OouKpf49vUrTnkQ4I_9bItCB7cIJ2tiN402Bvb1gO704RK3mzUqqIUdGQEhVz3UmThGh_UCTsXzAWZFKr6y72JaGNcaTwVb-nBwalTDMqg99iDmq0zXaG_riuKynOWI8wjTyl-JZi3ubRIIJUGdsoCy8Rjjv6oI8km7XoMJQTeJIBokH-WG1hcVdjO1_Hcdagup7GtKJTmHuHSVjau01iysshM-fUoskVQ5ZUO-2h4nZWc37v8We3eAU3XnXdIfwXMFlJU-tGe8ICuelKbmIrMp1eK1-kkkT7BtWmTkOchJD0ROera2M80NbP_y6th4AQ1H1mHlyZ9L_k7Remk2OLmNd2lXbNCBYmQkja8_hx4nHxwnk8_x_9iCj-Gth8nIQhAnJ3IYqF0ATl16jrZW_8Ko32Xp1iuMO-clU5lLxFaH1dKK_kkJ2BVoJn9G5bSFcpIpbAx3943f1M6A9HDDoaOxn_ZJ2P86N1wo3HQMjpUeUiNK2431xHjutQlt2BO0Q8QtviswiYvQEhT29W4YDbW0v2m0osvSJ2X0bt-qzRL3XpUi-nfW0QGIt5JczcQYK-nZ7QClDrcx60y9o9Cep3vzHI4LBKgLo0jd0uC0zdAmO5kB0nKzveQf6talVQB6bn93FVQEQ8ssKOhEM4y1yvWx4PDi-lEa0-bPrg2agfeqYRfEKlxK1k1_r0Rav7gKmYPS0tc9yb0Go5aLsRB4rK_MjJKqRTSA1F1xkJBUYKNee5hm7UxSeAviUPd1HX6r6cd6ZKKprooRQPmMZQJXfx5Z1iB43w67iNfKyyliRBHuAIDds3_lN0p0uRP18Sq0IiCUFQJ3RiXvlViHQ3qdf0DOisiZeHxa7WjZpIah0AYuI_CUrYe30G6FrDsgO3dqYz1LdNFRJJQ9ZgY35MmLcNJSa0pLYiQG6VTr6LV1-gvn1Y5lv5VD6do5bt9HhVcPS0lx42TzWBLBKRRetixWadwvn46z0Np9jLz1l3PlKH8IMJs8PhumXzgFwpZh6EjpMlBmv29naqJ9f2tPhlMgzhTOuJR0MxmOIWM5Bik5_h3bezMH1e16UtA80mv96uYX6uzQo68AkwqOAS7f_xKrxQUmA4iifF_qy8VdP02c8j4brm-KpA0SSfBAOyNt6Q==",
  "id": "rs_05074475c2a22ac3016ab446d3e0f887d0b06239a9873a1380",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.2,\"left_z\":0.02},\"note\":\"The white plush is centered in the left wrist view, with its body aligned between the open fingers, but it remains slightly short of the fingertip line. I’ll advance about 3 cm and descend to table level for a deep grasp around its torso.\"}",
  "call_id": "call_XvC9SHPO1iHo5aZgdlblm5mm",
  "id": "fc_05074475c2a22ac3016ab446d491f487d085681a4cf277f038",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XvC9SHPO1iHo5aZgdlblm5mm",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7311, 1.7554, 0.8883, -0.1864, -0.4831, -0.6254, 0.9993, -0.0452, 1.3018, 1.1728, -1.0977, -0.0605, -0.2794, 0.9988]\nstate[eef_state]: left_x=0.3436 left_y=-0.1931 left_z=0.0268 left_yaw=0.0319 left_pitch=-0.2972 left_roll=0.0544 left_gripper=0.9993 right_x=0.2839 right_y=0.0014 right_z=0.1627 right_yaw=0.1931 right_pitch=-0.6388 right_roll=-0.0405 right_gripper=0.9988\nstate[joint_eff]: [0.4718, -6.5573, 4.4239, 1.0818, -0.0513, 0.3346, -0.0562, -0.0068, -4.3009, 6.4615, 1.3065, 0.0269, 0.1587, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a4bb374a56eb1f10b6fac1f0b48e373f0a767da86fbdc954aefd223531d444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f2e7f4b8cbf44aae5d66d06c42325f96ed1d2b275ed7789b71ba44d51dfb2c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d92879af6ccec205726e32ba7145fb547438329fe79bc9ae46112ec7dbef3e",
      "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 · 2.914 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5896, -0.0189, -0.0387, 0.9997, 0.1318, 2.0457, 1.3766, -0.4393, -0.001, -0.1062, 0.0417]\nstate[eef_state]: left_x=0.2634 left_y=0.0019 left_z=0.1353 left_yaw=0.0016 left_pitch=-0.2166 left_roll=0.0026 left_gripper=0.9997 right_x=0.4755 right_y=0.0668 right_z=0.0212 right_yaw=0.1852 right_pitch=-0.5256 right_roll=-0.0442 right_gripper=0.0417\nstate[joint_eff]: [-0.0615, -1.2786, 6.8581, 1.5556, -0.0415, -0.0708, -0.0122, -0.4855, -14.5436, 8.9231, 1.3748, 0.0952, -0.0073, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 1.5517, 0.9546, -0.4477, -0.5026, -0.6605, 0.9997, -0.0422, 1.3117, 1.1854, -1.0687, -0.0486, -0.2592, 0.9977]\nstate[eef_state]: left_x=0.3177 left_y=-0.1989 left_z=0.0935 left_yaw=-0.0037 left_pitch=-0.2781 left_roll=0.0369 left_gripper=0.9997 right_x=0.2936 right_y=-0.0002 right_z=0.1667 right_yaw=0.1654 right_pitch=-0.6098 right_roll=-0.0536 right_gripper=0.9977\nstate[joint_eff]: [-0.294, -6.8034, 8.7863, 1.4432, -0.5348, 0.0024, -0.0464, -0.1162, -5.4496, 8.8957, 1.1258, -0.2662, -0.1245, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7311, 1.7554, 0.8883, -0.1864, -0.4831, -0.6254, 0.9993, -0.0452, 1.3018, 1.1728, -1.0977, -0.0605, -0.2794, 0.9988]\nstate[eef_state]: left_x=0.3436 left_y=-0.1931 left_z=0.0268 left_yaw=0.0319 left_pitch=-0.2972 left_roll=0.0544 left_gripper=0.9993 right_x=0.2839 right_y=0.0014 right_z=0.1627 right_yaw=0.1931 right_pitch=-0.6388 right_roll=-0.0405 right_gripper=0.9988\nstate[joint_eff]: [0.4718, -6.5573, 4.4239, 1.0818, -0.0513, 0.3346, -0.0562, -0.0068, -4.3009, 6.4615, 1.3065, 0.0269, 0.1587, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a4bb374a56eb1f10b6fac1f0b48e373f0a767da86fbdc954aefd223531d444",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f2e7f4b8cbf44aae5d66d06c42325f96ed1d2b275ed7789b71ba44d51dfb2c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d92879af6ccec205726e32ba7145fb547438329fe79bc9ae46112ec7dbef3e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbYyPIt-9RSUU93nlGP2_GeBQN8tD1Eh7yDh31NN4XziLtUtfPKuZba_jB5JsVdbwPK6NABDv9oX3iLkhAaoYQJ1MYEV-R-2y9LXqPALT8RqrmzJVjiPHSniNRD4YzqyUgSSIKKXraIWLLYvJy0aFUDdQJlJdoUc5Ma0ZedyuLJbVlaKT9ImNR2FqxhqqyFR2xcpkKR5wk9pJqHr6NEuD8r4twktRTf2hTS_ARpLnhCaQWQQ5mNk3XZlKJJjemkK7yP8zLhWy7o8skw7gJeZa_pSdJowv75FgdXEsENJGPdoz1qICU6AMeuVPeCriV651K_NCN9n7jU8Sl6SQ6jZu_ECLY2k7As1eCloDe5lDYzfG8Siwe7jbY-rTEKHVgGv9u-RJlPiZEFSpkfrFuQsLebNjWaDPySrkO48KOryWvIFCKgDZcr7jSexvqEt36PursRt8BuRXulkkX7UcKb5N3i-wkT4zhShFSOKnv17wIJnZ0AuX9LITJdXYvpBbTdUpnclG5v0nSSFjIAF7xpoYhYpnKNJrOEC_o9Y-4YdTB71kP-B6CbiKZWE8nMI8FEQ-pKeQ5APQ9AF2eCpPywO0bFyY4UbrYZ5_vm1Yj6P1jfKzzGmUDcFfoaowuNnUZ31lwRbslg_ObuLXhwSBqh9ITA5_Fm69Hmx4Wbz1O0ldcsUJYvAa-Av7QCfUTTpvWlChIu3whV8rMtL7ZrhR1iAxW0EfPkeifUUijqmWN_7LllaW51lFJvb-NDJVsMyoAgOxtPpgGjzG_nRh6f7mNC1_5ZG1GacruX7Tv477RObJxe87Cl9DhI2UuOZENMTClAnLIo0lTrg_e-3SyzY36njiBHtndE4ipjExgdqeJ0bRnXYZK4IQ7-KEsxfimPJjEkmCAMZjFESiAfxpmsLNxlN77Y5AEm1z3x-hSvxg9CsMiojwv2-RJ0iKNk6rUqnwqeRBqjKPa5gjZBsF-oTGcywJqu0hE5aIojDtT1zOefeVCrAiEqzFDohayf7XW-JFcqg-OQA1qNo8zRHm11rtSvx5-HJDc5k1bOgxb1v3BKLnjIwhbtJGkXXuKnFkYr2fWUxMdXXcjqlE51Y_xXOEqladhFEMQ1gM5QTVFctw8dT2tPNPZFNwb8VJzx5_Sbm8YGoJEceLO3hiHx7xukiIcifp13vdQmhB4RelgGIMAaiNvgaDfh7gfp_vrPvYcxupa79wCQ7nD4GFCjo8LHdkSs9QVFDtvKa032Tr5-03dBp_LTayYRWGRAukw_r_dvjJiDNhrl-lbSgTnlSsEP_oK6BYL_Hw==",
  "id": "rs_05074475c2a22ac3016ab446d7d9f487d08d72f80b008391b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white plush’s torso is now deep between both left fingers at table height. I’ll close fully around the soft body; its thickness should leave a clearly nonzero settled opening.\"}",
  "call_id": "call_oVNMjSavGTVoyvJqTZ6OmmXH",
  "id": "fc_05074475c2a22ac3016ab446d8132887d083886b5eb09aaf86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oVNMjSavGTVoyvJqTZ6OmmXH",
  "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]: [-0.7189, 1.771, 0.8822, -0.1757, -0.4789, -0.6483, 0.0435, -0.0498, 1.2842, 1.1328, -1.0813, -0.0654, -0.2813, 0.9989]\nstate[eef_state]: left_x=0.3446 left_y=-0.1886 left_z=0.0201 left_yaw=0.0568 left_pitch=-0.307 left_roll=0.0446 left_gripper=0.0435 right_x=0.2787 right_y=0.0013 right_z=0.1553 right_yaw=0.1959 right_pitch=-0.6436 right_roll=-0.0338 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -9.1282, 6.2974, 0.9304, -0.6862, 0.1148, 0.8816, -0.335, -5.6821, 6.5299, 1.16, -0.1587, -0.0562, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335d79ce3c35335736f1681fb8e28b7c79913f9afe04b2832fa5ace8f4541a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b3d563fd6178c58f46afb953990e930a159f919d119a83cfd50b602dbaeb52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b369f65f93e3b799536b55a36538e0346d257c00951760a9ac68a856dc209f35",
      "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 · 3.45 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6064, -0.5926, -0.0189, -0.0387, 0.9997, 0.5228, 2.1761, 1.6543, -0.6758, 0.1463, 0.2256, 0.0416]\nstate[eef_state]: left_x=0.2629 left_y=0.002 left_z=0.1347 left_yaw=0.0016 left_pitch=-0.2197 left_roll=0.0027 left_gripper=0.9997 right_x=0.4458 right_y=0.2313 right_z=0.0311 right_yaw=0.2095 right_pitch=-0.589 right_roll=-0.0527 right_gripper=0.0416\nstate[joint_eff]: [-0.1709, -1.1966, 7.0496, 1.5458, -0.0513, -0.0464, -0.0073, 0.1983, -11.6034, 8.8684, 1.2137, 0.3346, 0.0904, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7311, 1.7554, 0.8883, -0.1864, -0.4831, -0.6254, 0.9993, -0.0452, 1.3018, 1.1728, -1.0977, -0.0605, -0.2794, 0.9988]\nstate[eef_state]: left_x=0.3436 left_y=-0.1931 left_z=0.0268 left_yaw=0.0319 left_pitch=-0.2972 left_roll=0.0544 left_gripper=0.9993 right_x=0.2839 right_y=0.0014 right_z=0.1627 right_yaw=0.1931 right_pitch=-0.6388 right_roll=-0.0405 right_gripper=0.9988\nstate[joint_eff]: [0.4718, -6.5573, 4.4239, 1.0818, -0.0513, 0.3346, -0.0562, -0.0068, -4.3009, 6.4615, 1.3065, 0.0269, 0.1587, 0.1099]\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 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7189, 1.771, 0.8822, -0.1757, -0.4789, -0.6483, 0.0435, -0.0498, 1.2842, 1.1328, -1.0813, -0.0654, -0.2813, 0.9989]\nstate[eef_state]: left_x=0.3446 left_y=-0.1886 left_z=0.0201 left_yaw=0.0568 left_pitch=-0.307 left_roll=0.0446 left_gripper=0.0435 right_x=0.2787 right_y=0.0013 right_z=0.1553 right_yaw=0.1959 right_pitch=-0.6436 right_roll=-0.0338 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -9.1282, 6.2974, 0.9304, -0.6862, 0.1148, 0.8816, -0.335, -5.6821, 6.5299, 1.16, -0.1587, -0.0562, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:335d79ce3c35335736f1681fb8e28b7c79913f9afe04b2832fa5ace8f4541a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b3d563fd6178c58f46afb953990e930a159f919d119a83cfd50b602dbaeb52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b369f65f93e3b799536b55a36538e0346d257c00951760a9ac68a856dc209f35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbcRHFT588INMKtExaulheNw6ZnbjZboUu7MZBfiAmZZZSIK86bKfoQEsH0lEPELsBKQoRqbhEgZnyieK-98oS-jQ4QQKXwijTMOpDxflKbvdXvJBe-_twL2vKSz8YtYb7hfq6UwrEqwAOfGbrRcZk9HqCzTCpNXnnNQ-lYNrbAeAe2vx4CnMNIgoam1OT0YKGblJcVztol_vDdclVbTKSoKRh6pXvd07ABZlBs9cjSpG5v8aFdQ-d-_N3OoYnZ6qk8udUeZ-Yxl0NSt67LHh_Qx30sA4U5UyiTXOFfLGHomjTXE463_68ZsHhbbINSWxcIZzuFamSCBG0YAQvqReYOJSfR2GpAIG0HpbxvX0ARRfO_sHmW21i7ojQfWTnLzIX7Gwdftiq4cZaEmLNEfHCFWrWAG1swh8UUDP5A-swn9oDYY3477puvkJ4cmhVy0U5uOR3ZUkPq0Hb18EaHVvPcczp68wTZ7TXOHy3C2IZxdcxPblBwDs-vm4qEy4EKC431sa4yPDpA8phgvO9FyZmuuKsQgMcV1wiesuflEAjiNKCub_6zMsfVFC6L5veCWZy-VQn00KwfsDzn6L87_qG_uIVD8td1dzk3GQs9Ff4hRvQVPDrdheBWKwikZo4wA5lcO0t3eCt6kmTIHsFahi5RvHhrF7z8tQSU9zicAZNBgT6461Fw3wZOyHWM5G6Q8HU-B_-ZiOBdU1yo1E1o_mR0xigRbpJZ_PZP990gAUZRbpYBPS3YgutDvUBfR__JD-lB4GPU0rAsGwQkLON02BiBzf5-xK7W240KZFTdtZIbTGl0U_TmzuUygTI9-ZlvqOQ9vaWIKNEv2h1iyWtrtoXXXReFOnl4qm5_-l0XKoV5jLmxQFXJYJdU8Nw6a0letoj7qbdN6aKjLs_v1MYOkjw9un0rOXB8OoFaHoSh0kZ_OxWk981OK7p-8we2VKHYE2WCsTV3dl_nqid7scIUp6wGHQFVJj1sNYqsqmr7-I7ue_9kLMNyXjMijhJF5agaG8FQweCR2B-x5vHXVSk9R7rnFAIu_9c6lJXWV_GdvmHTaB3GItSGQ5AHCBxNz5eJ-ZE-JF1QJ63NHsGwgQL0QE-nf7WDRpa85NUnpKEOeO8_FTOIki6UEUcgJBh0lpW7itaOB24ghGhz-_Srym3mv5fFt5wTEk64xcvzkD8Kx0cXbXdFyomY-tdJWusA-FGwawkOrTFPwnpb56dFdAIyFPP1fIirTGQojMn-syjfqvCDIEl2GKaRPrVki9xOpMUUaeo8-S-xxjF-jG3BaooM7gbhZB9cDPaRHYfQ7D0h-C3rVCPp92wqk_L8sw1ERVbwcsBn7L26DtaZTm40TuByIqrb53dC91vHbJCCHnvsbxnX7wrxafzg8xjeKFfKNMLIP3on1laXmo5Ck4aLLPre8FrJ0w==",
  "id": "rs_05074475c2a22ac3016ab446dad06087d08526a55d82cb9c2b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.19,\"left_z\":0.13},\"note\":\"The gripper stopped at 0.044—just above the empty threshold—so it may have caught only compressed fabric or fur. I’ll lift straight up to verify whether the plush moves before attempting transport.\"}",
  "call_id": "call_qa5K26NXtIg1EnXdINxKWQSz",
  "id": "fc_05074475c2a22ac3016ab446db64d487d0869049c7ea78b48a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qa5K26NXtIg1EnXdINxKWQSz",
  "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]: [-0.7242, 1.6516, 1.1042, -0.6437, -0.4603, -0.6579, 0.0459, -0.0566, 1.2602, 1.0882, -1.0592, -0.0689, -0.2878, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.1812 left_z=0.0869 left_yaw=0.0781 left_pitch=-0.4078 left_roll=0.1217 left_gripper=0.0459 right_x=0.2734 right_y=0.0003 right_z=0.1484 right_yaw=0.1967 right_pitch=-0.6414 right_roll=-0.0331 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -11.2479, 10.2496, 1.6679, -0.5104, 0.022, 1.0281, -0.212, -5.3128, 6.7077, 1.1209, -0.1685, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8eeb1e5627ebe713833088a83f74cf1cca50512fa6bc28daab7463b81981998",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed57a5e4798df7de802893c92ad1bffb1c2658853c6aab4715834e77892ce044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946430b150dc9b3a3d0747e39ad74b8b68c4303f1503950e1316b5e6e3671b57",
      "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 · 6.115 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 1.5517, 0.9546, -0.4477, -0.5026, -0.6605, 0.9997, -0.0422, 1.3117, 1.1854, -1.0687, -0.0486, -0.2592, 0.9977]\nstate[eef_state]: left_x=0.3177 left_y=-0.1989 left_z=0.0935 left_yaw=-0.0037 left_pitch=-0.2781 left_roll=0.0369 left_gripper=0.9997 right_x=0.2936 right_y=-0.0002 right_z=0.1667 right_yaw=0.1654 right_pitch=-0.6098 right_roll=-0.0536 right_gripper=0.9977\nstate[joint_eff]: [-0.294, -6.8034, 8.7863, 1.4432, -0.5348, 0.0024, -0.0464, -0.1162, -5.4496, 8.8957, 1.1258, -0.2662, -0.1245, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7189, 1.771, 0.8822, -0.1757, -0.4789, -0.6483, 0.0435, -0.0498, 1.2842, 1.1328, -1.0813, -0.0654, -0.2813, 0.9989]\nstate[eef_state]: left_x=0.3446 left_y=-0.1886 left_z=0.0201 left_yaw=0.0568 left_pitch=-0.307 left_roll=0.0446 left_gripper=0.0435 right_x=0.2787 right_y=0.0013 right_z=0.1553 right_yaw=0.1959 right_pitch=-0.6436 right_roll=-0.0338 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -9.1282, 6.2974, 0.9304, -0.6862, 0.1148, 0.8816, -0.335, -5.6821, 6.5299, 1.16, -0.1587, -0.0562, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7242, 1.6516, 1.1042, -0.6437, -0.4603, -0.6579, 0.0459, -0.0566, 1.2602, 1.0882, -1.0592, -0.0689, -0.2878, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.1812 left_z=0.0869 left_yaw=0.0781 left_pitch=-0.4078 left_roll=0.1217 left_gripper=0.0459 right_x=0.2734 right_y=0.0003 right_z=0.1484 right_yaw=0.1967 right_pitch=-0.6414 right_roll=-0.0331 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -11.2479, 10.2496, 1.6679, -0.5104, 0.022, 1.0281, -0.212, -5.3128, 6.7077, 1.1209, -0.1685, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8eeb1e5627ebe713833088a83f74cf1cca50512fa6bc28daab7463b81981998",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed57a5e4798df7de802893c92ad1bffb1c2658853c6aab4715834e77892ce044",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946430b150dc9b3a3d0747e39ad74b8b68c4303f1503950e1316b5e6e3671b57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbggPNSgCS9iA-I3Mvuf4PoKpCaAz36p44HPaO5Qn3CCSM7hORQ_peDfWE1x0FL7b-GO6jRdrT9-qQA0quDNR2pH4MNwA3kiCVYOVSnPE8mk8iZGpmt80VBCQ8_mqKsQUNDzEF-ERJvwwhvk2h6CXxgaqh_wm9px4suz-5RvGfaQeaBT6J9MB3xhhi8YmIkisVllnydOaVsmbM68XyZLPSpq5jYrQyjgf26Db-OhN5J53gTsrUbReSdd9dH7njtEidfrz5-DMMiZvAnzcvOLwfMaAI8TrqFGWPdWiSzZKHUgNp6xbvKwvzq89YNUNaPIDE06FsKwM7Wdmdx5g2CbmTmzUusxwYyCKSc-0GbiBYQTVwCUctOIWtt3K0vBaHcJsSGpQlkQQ__tOQGkVnaTca3naoOs3n5UojPI1kcy33_XAOx0gjLSNf_TO3IdAxXKVstOFOulksPVdstCS45L-uzcR_SVoGfY4Wet0zmuiwh3JYj56FXMx3pc3myAZ3Y7EURsNCnQ0QyoBw9nLINSbF-NJrV0DWZqOtzH-S8hRp-57e6I1UMtD2SccAYRqEdP0QJTVpxao49oHT3SIHrfzJp-asELCwvFBKMERIuCoVrY4LX48kGnacLXZvY2BJBpZN-tFLuPzJKVMlIIsNrjmGF5lK04VmVTpNKe_d8WCVazyvt0hfDy4Np91gfbMDX_l67cmaUZCBcan5I8AI6lxwtrMKfo6v3Y_6ZF60HLc3P33LhKWKQgRAJBL5vHXyG_H0cBuwmtMla0TqL9w1exAyA-s7KjTUXl5EBFwx1UhgNqh7YTuZvhjA4zthvo0lQRnU_K6qrEX6XqhyZWEKOdBrIAlrCqjztzEpjNkpuPFQXcjE7uhxfSKamZE5xAJrXjpNGwHe-vI_iLDtFilz11nFyVKB86v-ABUSW4Aukxp0NSB91hU5hb28VufW8riO8OH2BJ3CubnbEB6H8XGg8dgSxiyITcu2tG_kdVBVtXDwyKPOttN_Zid0b2nGkpBLDQUjYiF4d-4LDqziiQ9iKPNC9BAn6oH843I9jhlkVQBRUVYT8sxRCcZFOVwcVTUabHTkygwaDjaOfu_UCSpR3ZyeU2qPFf7SlA4ezhHku9CkndaaHa99KB7UkjZ8PhZ2OB7b8B1VsIFt9wt4fiR6tbv1tMoTu7au5lvVhbRePt5exM6QgBZykpy4jS-GjqQuTKgI67VhWb9efkk9_93KzHBNarOg3tde4rDMc-lI4qUaXRF6sTJ18bBwiNAnyvLJW2De-b8JKfFZgh4hEN1h_vFv5OQ40EbNluIvoteG9lTlIRNOmKB_1uG0eh1PSwb-8fVI_GydByUi8S8GnT4DsQNFhrbvPY0z7opvy5kWCfryebINWnn4GQB311XXIYPiTJmMbGtI31-hPZTvO-oX9nv282gQWlg2tbYBWJ-fSm_y5a3D1Ee9SFs9LJ_EXM2Tp06IupJMtM8TneFh0-9cdGYEjpUe-9oTwTY2kB8ohEtY-LsZROL5Ek9LnZqIvaA4iZB8Ra8_eCX9vFxXyHuWvtQHZ5bu2Ij2pNXNGjFZJRm-B0gACgHuF_GnDqAB5aQm2blMtA7jXJUzM0k7HBGsMSC7FInH9nbNl6Bxr6Mgs_nQIptHjnf_aBhMlZebGIck1itfse4P2__VIJOWpVsjoeMtW0hhAzy5_ULTU3WlBechyBOdETaOYEhoKlnsHecNv1GvWbFRrmHaz6yz41hZq_Mjm5S-ha0lXcOxaPgIzthz1HC7OCIlX_qCqFUOCEEMQukaVHofXOBCKbRBO1Cxepkt00_km9ICemCzXeLEO8R56SQ-tOOkt4DPFY8Wbm47AMjl5",
  "id": "rs_05074475c2a22ac3016ab446de74e487d09c9e156427a288bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.32,\"left_z\":0.17},\"note\":\"The white plush left its table spot and is moving with the left arm, despite the very compressed jaw opening. I’ll carry it high over the center of the open safe, clear of the red rim and the brown plush below.\"}",
  "call_id": "call_JJIhRW5Bn9XyV6TfDV2TCzBk",
  "id": "fc_05074475c2a22ac3016ab446dff07887d0a4845216a58c6515",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JJIhRW5Bn9XyV6TfDV2TCzBk",
  "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]: [-0.8761, 2.2143, 2.1132, -1.2873, -0.4633, -0.8013, 0.0475, -0.0612, 1.2358, 1.0447, -1.037, -0.0723, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3639 left_y=-0.3078 left_z=0.134 left_yaw=0.0919 left_pitch=-0.5174 left_roll=0.2136 left_gripper=0.0475 right_x=0.2683 right_y=-0.0001 right_z=0.1419 right_yaw=0.1956 right_pitch=-0.6377 right_roll=-0.0305 right_gripper=0.9989\nstate[joint_eff]: [-0.6496, -14.1744, 10.2222, 0.9402, -0.6471, -0.2808, 1.0281, -0.4991, -4.9436, 6.6393, 1.0916, -0.1978, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b857aab0f97495e195191cf36e05153cc62161d61434ede0e803635f98b89962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188fca00db5e3c2ba9d2a2f15a77d71f5c8eec192880709f6ec1d605dd05e1dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1486183a3184b55634256d3bae0bd68943fad2f5d8ef4f15668e9645bdb102df",
      "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 · 3.356 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7311, 1.7554, 0.8883, -0.1864, -0.4831, -0.6254, 0.9993, -0.0452, 1.3018, 1.1728, -1.0977, -0.0605, -0.2794, 0.9988]\nstate[eef_state]: left_x=0.3436 left_y=-0.1931 left_z=0.0268 left_yaw=0.0319 left_pitch=-0.2972 left_roll=0.0544 left_gripper=0.9993 right_x=0.2839 right_y=0.0014 right_z=0.1627 right_yaw=0.1931 right_pitch=-0.6388 right_roll=-0.0405 right_gripper=0.9988\nstate[joint_eff]: [0.4718, -6.5573, 4.4239, 1.0818, -0.0513, 0.3346, -0.0562, -0.0068, -4.3009, 6.4615, 1.3065, 0.0269, 0.1587, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7242, 1.6516, 1.1042, -0.6437, -0.4603, -0.6579, 0.0459, -0.0566, 1.2602, 1.0882, -1.0592, -0.0689, -0.2878, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.1812 left_z=0.0869 left_yaw=0.0781 left_pitch=-0.4078 left_roll=0.1217 left_gripper=0.0459 right_x=0.2734 right_y=0.0003 right_z=0.1484 right_yaw=0.1967 right_pitch=-0.6414 right_roll=-0.0331 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -11.2479, 10.2496, 1.6679, -0.5104, 0.022, 1.0281, -0.212, -5.3128, 6.7077, 1.1209, -0.1685, -0.0317, -0.0122]",
      "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]: [-0.8761, 2.2143, 2.1132, -1.2873, -0.4633, -0.8013, 0.0475, -0.0612, 1.2358, 1.0447, -1.037, -0.0723, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3639 left_y=-0.3078 left_z=0.134 left_yaw=0.0919 left_pitch=-0.5174 left_roll=0.2136 left_gripper=0.0475 right_x=0.2683 right_y=-0.0001 right_z=0.1419 right_yaw=0.1956 right_pitch=-0.6377 right_roll=-0.0305 right_gripper=0.9989\nstate[joint_eff]: [-0.6496, -14.1744, 10.2222, 0.9402, -0.6471, -0.2808, 1.0281, -0.4991, -4.9436, 6.6393, 1.0916, -0.1978, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b857aab0f97495e195191cf36e05153cc62161d61434ede0e803635f98b89962",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188fca00db5e3c2ba9d2a2f15a77d71f5c8eec192880709f6ec1d605dd05e1dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1486183a3184b55634256d3bae0bd68943fad2f5d8ef4f15668e9645bdb102df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_05074475c2a22ac3016ab446e32bb887d0b5abab9c962e0585",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.19,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The overhead view reveals the white plush stayed on the table; the earlier close caught only loose fur. I’ll reopen and approach its central body slightly closer to the base than before, correcting the prior overshoot so both fingers surround the bulk rather than the fringe.\"}",
  "call_id": "call_BhgowxuzGwja1QwvaGyPtAdR",
  "id": "fc_05074475c2a22ac3016ab446e6e01887d0a5a85fb8e6ad594d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BhgowxuzGwja1QwvaGyPtAdR",
  "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]: [-0.7563, 1.8561, 1.1191, -0.6189, -0.437, -0.6926, 0.9958, -0.0669, 1.2133, 1.0084, -1.0149, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3192 left_y=-0.1935 left_z=0.0204 left_yaw=0.1151 left_pitch=-0.5316 left_roll=0.2228 left_gripper=0.9958 right_x=0.2648 right_y=-0.0013 right_z=0.1371 right_yaw=0.1887 right_pitch=-0.6295 right_roll=-0.0327 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -9.5385, 4.8205, 0.6032, -0.315, 0.1099, -0.0611, -0.3624, -4.6974, 6.4615, 1.0769, -0.1734, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457f47d8ac589b81334d7ef565df3792756e41e18e32e6452ebfe0e46a051a46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd908a3fa3e8ebc6c1543d09249feab6426d1a35e95053fd30093eb045a461c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9a9fd79dcf03ac4e80fd3f7fc22190c7a15973000744d726dba00d4719d860",
      "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 · 3.62 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7189, 1.771, 0.8822, -0.1757, -0.4789, -0.6483, 0.0435, -0.0498, 1.2842, 1.1328, -1.0813, -0.0654, -0.2813, 0.9989]\nstate[eef_state]: left_x=0.3446 left_y=-0.1886 left_z=0.0201 left_yaw=0.0568 left_pitch=-0.307 left_roll=0.0446 left_gripper=0.0435 right_x=0.2787 right_y=0.0013 right_z=0.1553 right_yaw=0.1959 right_pitch=-0.6436 right_roll=-0.0338 right_gripper=0.9989\nstate[joint_eff]: [-0.5675, -9.1282, 6.2974, 0.9304, -0.6862, 0.1148, 0.8816, -0.335, -5.6821, 6.5299, 1.16, -0.1587, -0.0562, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8761, 2.2143, 2.1132, -1.2873, -0.4633, -0.8013, 0.0475, -0.0612, 1.2358, 1.0447, -1.037, -0.0723, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3639 left_y=-0.3078 left_z=0.134 left_yaw=0.0919 left_pitch=-0.5174 left_roll=0.2136 left_gripper=0.0475 right_x=0.2683 right_y=-0.0001 right_z=0.1419 right_yaw=0.1956 right_pitch=-0.6377 right_roll=-0.0305 right_gripper=0.9989\nstate[joint_eff]: [-0.6496, -14.1744, 10.2222, 0.9402, -0.6471, -0.2808, 1.0281, -0.4991, -4.9436, 6.6393, 1.0916, -0.1978, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7563, 1.8561, 1.1191, -0.6189, -0.437, -0.6926, 0.9958, -0.0669, 1.2133, 1.0084, -1.0149, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3192 left_y=-0.1935 left_z=0.0204 left_yaw=0.1151 left_pitch=-0.5316 left_roll=0.2228 left_gripper=0.9958 right_x=0.2648 right_y=-0.0013 right_z=0.1371 right_yaw=0.1887 right_pitch=-0.6295 right_roll=-0.0327 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -9.5385, 4.8205, 0.6032, -0.315, 0.1099, -0.0611, -0.3624, -4.6974, 6.4615, 1.0769, -0.1734, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:457f47d8ac589b81334d7ef565df3792756e41e18e32e6452ebfe0e46a051a46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd908a3fa3e8ebc6c1543d09249feab6426d1a35e95053fd30093eb045a461c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9a9fd79dcf03ac4e80fd3f7fc22190c7a15973000744d726dba00d4719d860",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbsvRElSCxfzP960qajcPl3QaBSsabiAAcHAtdgtxARIJyLDCIcDdnqaFlBDUUDxBCTCSMn3lBnAq1O5IWiJmwvNNmvHUPeb5IW220d0xguVFEMNqguWe_NZqhn1VTNeLr8jd5ZZWyuE7gqTlGzpG3X8Agnpq-wlVlP2imRapgtmXFHxPLa7mKaGHK7j1GmdWkBEo-5WZ33RAb2ZpsoCQbMNgLRS7BIWuf0ZvwZmxKW-y4DLwLvIs3IdKVpYbWHy_tX61NglbAWG2pXhwVtEYkDEP4zqhNG48SpqAHdkPnlciDEB-K-vaXvmIY8qelPUAVgb3fWuUH8tiQXbJHsjTv9FJhOK82zJROuCICyml2tIzM4seZrUg-Zob_guQlGxh-LFBe3iz5NRKTTOUhhiAPDiXledEUznombIaxbbGy71u0KhFSREZXZQHF_thcsJVUiGqWMyXbX5tx9vvfSErDNklO7_7Gs7Yj0Dr5NS4me3I0L1c-MUemsgSblvoLt3TL5g3pDR2Xxzp3B670wvN0HaWYTGrtmVWBYiLUr3G-sjVNQXqif4OhNsV6ndsj-52FXzn6CsXJefaiWtdUJFIagbTahH-08qIbPA4vyAB1JIky_qHB5AoWwgrdagQZm7lgGvA6IXFcLM26eyRaRUDGzAeheHn6S-oKQeLrIUeE4IgbzL-Yfvva2AruYwATALkU4JDrY1rELAzgYJP3mMy5syN2SpHUR9FeMWGqIw6ZWr2e4j40AGwJ7GAhfEQ7-8M3bE3Hs89m4pQRNgm9jeAu0grv4GzxCwm3zu-mhHum0uUuPW81jbG5TF8XrFqEqkUKNsg49Z5OXL29VpgMt0ySke1So4GXBBZMyfab37JjoFclo-c41vZAhFa8C7x--FI05DvreSZui9X_gUC71VtTUHtUDSJitdQZeAstjXcpW9Pc4HznDACUCo-Ew5pEBGiTYMXBapQQ_2aswrQlsbbp85UzaABwaLWd9YZPX3hq6BbDLyKqvNHqteIV3JCGNLBXH684UmImtPOBjjLCmvf3IwtAdDzPQbXLYbTjJUa0F9OcYqoR2A2P2n0L7nZ3DPT2uX-a-dOPQ4b3KYqbk63MObA7ypLH87ILoB9pySrab5T91Epokd71e-kXdbKz0Rj8mqucokgsvGyfsi6F3yLqYR1lkCDWmX0-JPg3XPq8RCHxFDMMhLWFS9o67TFetpbZALdgHpSGbhI1fFYBhl16CU5bZfaiLY9hgJRDE1OaQZaCgKdyztahRc2JFOZKMKJDtaSTAoFwP0pT8sPPZ98SbvtBYQTpKowNttdmQX09sXS3n0dJ2zufUpLcyhiV-lLAlbx4ufUuGCqF2CY4-7vfHIt0DWBW6Ey1cY1Ly9swI3i8M4KZ75WvQLaYfwt1jL3gw69MrWiL-oNQhHNr5LGLELM_tlJnSR2mmFqBqFTAfud8-BhzNUApJsKA9xFcSU19H9ka_GcHK_OSO1hPPMbWNRNypwLOvlDG4_aUADouFFiwIJKqjvVier6C2Vo7kMOPTTQ9n9iQDMre7QlrZA5Mq9aGGRTkSymJvUS1g3oYaCyMBBaauX4pVYxDlUW7-qmYH4D3e_H4nbssiqtcrrzrN_hOiT0DMgL-c-rHUJM4pAB52zcXRfDkDZImwpB8YrFAe",
  "id": "rs_05074475c2a22ac3016ab446ea5b2087d0b0710e2798480c54",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.14,\"left_x\":0.32,\"left_z\":0.02},\"note\":\"At table height the wrist view clearly shows the plush body well to the gripper’s left, explaining the miss. I’ll shift the left gripper 5 cm left while holding depth and height, centering the torso between the jaws.\"}",
  "call_id": "call_ACCKR0sRwFEhwM0Q1Sf3mLmc",
  "id": "fc_05074475c2a22ac3016ab446eb6b2c87d0b607cdd3c5a05490",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ACCKR0sRwFEhwM0Q1Sf3mLmc",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6384, 1.758, 0.9764, -0.5167, -0.4049, -0.5919, 0.9969, -0.0715, 1.2015, 0.981, -1.0069, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3229 left_y=-0.1485 left_z=0.0177 left_yaw=0.1255 left_pitch=-0.5268 left_roll=0.2019 left_gripper=0.9969 right_x=0.2602 right_y=-0.0022 right_z=0.1314 right_yaw=0.1855 right_pitch=-0.6368 right_roll=-0.0303 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -9.1829, 4.8615, 0.7253, -0.2369, 0.0952, 0.1001, -0.294, -4.8068, 6.3385, 1.116, -0.1538, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0b1dcbce5da04d9037d6b214b9f0963cebf76fac9502a045cf2a7ffcf8ddc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8587c00baa478b5ed64d2ed2a2abb43f449eff15ca35cf4e37e0f9f3bee266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ae3744c58e940fc4774fdeb0596289fcda33cf8b3e81800233099fe1a1f3cc",
      "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 · 2.049 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7242, 1.6516, 1.1042, -0.6437, -0.4603, -0.6579, 0.0459, -0.0566, 1.2602, 1.0882, -1.0592, -0.0689, -0.2878, 0.9989]\nstate[eef_state]: left_x=0.3287 left_y=-0.1812 left_z=0.0869 left_yaw=0.0781 left_pitch=-0.4078 left_roll=0.1217 left_gripper=0.0459 right_x=0.2734 right_y=0.0003 right_z=0.1484 right_yaw=0.1967 right_pitch=-0.6414 right_roll=-0.0331 right_gripper=0.9989\nstate[joint_eff]: [0.2256, -11.2479, 10.2496, 1.6679, -0.5104, 0.022, 1.0281, -0.212, -5.3128, 6.7077, 1.1209, -0.1685, -0.0317, -0.0122]",
      "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]: [-0.7563, 1.8561, 1.1191, -0.6189, -0.437, -0.6926, 0.9958, -0.0669, 1.2133, 1.0084, -1.0149, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3192 left_y=-0.1935 left_z=0.0204 left_yaw=0.1151 left_pitch=-0.5316 left_roll=0.2228 left_gripper=0.9958 right_x=0.2648 right_y=-0.0013 right_z=0.1371 right_yaw=0.1887 right_pitch=-0.6295 right_roll=-0.0327 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -9.5385, 4.8205, 0.6032, -0.315, 0.1099, -0.0611, -0.3624, -4.6974, 6.4615, 1.0769, -0.1734, -0.0562, -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 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6384, 1.758, 0.9764, -0.5167, -0.4049, -0.5919, 0.9969, -0.0715, 1.2015, 0.981, -1.0069, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3229 left_y=-0.1485 left_z=0.0177 left_yaw=0.1255 left_pitch=-0.5268 left_roll=0.2019 left_gripper=0.9969 right_x=0.2602 right_y=-0.0022 right_z=0.1314 right_yaw=0.1855 right_pitch=-0.6368 right_roll=-0.0303 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -9.1829, 4.8615, 0.7253, -0.2369, 0.0952, 0.1001, -0.294, -4.8068, 6.3385, 1.116, -0.1538, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb0b1dcbce5da04d9037d6b214b9f0963cebf76fac9502a045cf2a7ffcf8ddc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa8587c00baa478b5ed64d2ed2a2abb43f449eff15ca35cf4e37e0f9f3bee266",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ae3744c58e940fc4774fdeb0596289fcda33cf8b3e81800233099fe1a1f3cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbwj_URMFO3fa1Jt7NqqOmmzPcpIj26-AQCknSaWY9MKW-g1nnzQk6Aa_2susqwqPIsq6L1YcsJ9SAeZEeB-u8tXCPOpv-vQdZOX9YRP-wiQaVHaImbZld7hmCJ5nPidE8o8v8LbS0X7b2pJTlFuzhiuokuQN3uBNj7raixmc_boHFQWlTT6Hv202W77gU3MOhppH0R3jTjb0JafWQrBRSNR-PZfORO4_QHec1_4SnM6_FZ7rX5NxjxJjPodE0IGZR4uxWtQycs7ix5MD1J-k7CtlHhKPrek6fL50w5v0go83TOrq3jDPirHBYAwTg5kjFjW23drrZSiQAY4p0EjstjSRRNqCYtkzjU8VD-JrlPDy-12hn836uK9fFSn9FBJWUsV-CfPhiqib4s_hhSso4hjZ5yJCp2JdbK9vxE7zuQwkeHNKpsdVriy--fuHvSnz0sANYPNVF6XhDq8gGduXg5qYoJK0hvDRYCqIDYy-sex3xdyjpvxLSxDHSPZciflMOu254xIOJatdPu-ii1hWp8S4vppmN3Ivmv9dcurMCp7PjZPx5PsJlz8r10tfX4Ry0tCPfs1YUlgrWG2rVrMdZbOxoB3SVinT42GBWAvaEJVlqjcm9-EBWAXKBDCcNCRh8kRKJdhRiB_W0jzikTwImYTjJW1_z2yzHD8KHcN_JWLvsJLLmtjYvZLc0otmJi5-FPCx9hcwhFpEhEm3sbzgleAHDE8QAc2uGlvyvh78HvddloWKky5UUwCEOkxPsS0nc-d-3UENCZfWS-vvgvm03YSRklzg4RJmbSh_ds05e-IGRS2YdQQIGJ-up38yX6C6EB9BvgN35TE7ejzw5mMYM_hzNEop8sEwTib6iYSRMp_1HoAfn1r9URnU-wewbzZsyAURIZLfSZLxYFIdUH81ALyvh0JdrPSESUQbpUWHqKqkAOEi-CBE5ZYOo5awpWqYbepzZdvbqBRkIYxvansrI8MsZt6lZASMKZ3Zv2gQiY0l0yjm2tKtLSyg8jNtTtZ5Y1yGutm2T2_w0r-OvpQr4oYkV9CKdlns3O667r0Rg_Yy6HlMvEGSNZRf2itNZKgK0xF5dM8bpUxNOXVEQGE3iwzJjpKaDYvY29j2EUK5Xp7vOm6qftoZgqimErXLsqEPYGtUmqh5sbYXdeMwX8EPDptAExVLaOWKjWxudHlktihp2byTXhUsdwqmyavGoA4tGihG2gU0nDzs4-S9l3ji45Ss5aXxsL_hPPNOv4IgBSmd7fUQwLVuxOf8SoN-RaWKMAiA5BHg8uYKztdg8ZKZNpYK_D8LXVs4AYEp0-MJgYoRmceBcvaiNXxO9kb2W3HqK6",
  "id": "rs_05074475c2a22ac3016ab446ee8c0087d0bfc6488433c4a404",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_x\":0.32,\"left_z\":0.02},\"note\":\"The first lateral correction brought the plush closer to center but it remains left of the jaw column. I’ll shift another 5 cm left to put the torso squarely between the fingertips before closing.\"}",
  "call_id": "call_qHiUoyQLxVEKTDxvdpgx0yFM",
  "id": "fc_05074475c2a22ac3016ab446ef0a8087d0af98e87c2a5b143b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qHiUoyQLxVEKTDxvdpgx0yFM",
  "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]: [-0.4881, 1.6501, 0.8452, -0.44, -0.3519, -0.4606, 0.9971, -0.0761, 1.1797, 0.947, -0.9916, -0.0727, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3212 left_y=-0.0975 left_z=0.0168 left_yaw=0.1353 left_pitch=-0.5325 left_roll=0.1852 left_gripper=0.9971 right_x=0.2556 right_y=-0.003 right_z=0.1265 right_yaw=0.1801 right_pitch=-0.6339 right_roll=-0.0311 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -7.9385, 4.9162, 0.9451, -0.2076, 0.105, 0.0024, -0.3077, -4.4239, 6.4342, 1.0623, -0.1587, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db7b007370d09e061a26f4e2347543c78d5896cab8cddbc42b92a0b6efd1a3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f6bff3b7a3218d3ee25992a140718206dccb88f1563e2c12a7db8d702f2df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb13d3d2d4a410342ab23e5ac2bf210a3697167cffd5d8d52bc624bd98dff64",
      "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 · 4.598 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8761, 2.2143, 2.1132, -1.2873, -0.4633, -0.8013, 0.0475, -0.0612, 1.2358, 1.0447, -1.037, -0.0723, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3639 left_y=-0.3078 left_z=0.134 left_yaw=0.0919 left_pitch=-0.5174 left_roll=0.2136 left_gripper=0.0475 right_x=0.2683 right_y=-0.0001 right_z=0.1419 right_yaw=0.1956 right_pitch=-0.6377 right_roll=-0.0305 right_gripper=0.9989\nstate[joint_eff]: [-0.6496, -14.1744, 10.2222, 0.9402, -0.6471, -0.2808, 1.0281, -0.4991, -4.9436, 6.6393, 1.0916, -0.1978, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6384, 1.758, 0.9764, -0.5167, -0.4049, -0.5919, 0.9969, -0.0715, 1.2015, 0.981, -1.0069, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3229 left_y=-0.1485 left_z=0.0177 left_yaw=0.1255 left_pitch=-0.5268 left_roll=0.2019 left_gripper=0.9969 right_x=0.2602 right_y=-0.0022 right_z=0.1314 right_yaw=0.1855 right_pitch=-0.6368 right_roll=-0.0303 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -9.1829, 4.8615, 0.7253, -0.2369, 0.0952, 0.1001, -0.294, -4.8068, 6.3385, 1.116, -0.1538, -0.0806, -0.0122]",
      "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]: [-0.4881, 1.6501, 0.8452, -0.44, -0.3519, -0.4606, 0.9971, -0.0761, 1.1797, 0.947, -0.9916, -0.0727, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3212 left_y=-0.0975 left_z=0.0168 left_yaw=0.1353 left_pitch=-0.5325 left_roll=0.1852 left_gripper=0.9971 right_x=0.2556 right_y=-0.003 right_z=0.1265 right_yaw=0.1801 right_pitch=-0.6339 right_roll=-0.0311 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -7.9385, 4.9162, 0.9451, -0.2076, 0.105, 0.0024, -0.3077, -4.4239, 6.4342, 1.0623, -0.1587, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8db7b007370d09e061a26f4e2347543c78d5896cab8cddbc42b92a0b6efd1a3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f6bff3b7a3218d3ee25992a140718206dccb88f1563e2c12a7db8d702f2df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb13d3d2d4a410342ab23e5ac2bf210a3697167cffd5d8d52bc624bd98dff64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEbzwmV23WM5uM75PAVcjp05vS8ChqVIHkiT2QrA5IEsbLOeJrYp7GflFnj3i2LqB2Ph5k1K9jmyIeMSimhk4Mc1sA8jbEgpG-st7aCPrAYzfu8ro3Rgw86uVLJGPK34VMTfGupzf4UywDullnn_qYb2Eq-n71J0cJbptWaj9BV33c2UGgCsuWyJP3Oqv5Bhv7m13ZVQYa_RZeqButRv5bXv0le2567cu4Cqw6vs3LqJxXTlgY0rMFT-Y5Pf3uZcnKMeMpaTwrAJ7qGm1E9Hv0kNANUtfbC3hyRDY6kL5kqbcldJiSFSFiLeIpYw3HNfIk7eH8Q657pxxdfsLc0JoXHfQz6tia28LlSVlj8kn8-GKiKO-mcM8uxoK9q96W-Kr0s3kMsmDBKeSLGLU51guawU5zgCkxIzp3uxVjmJliDp6_lvMiFi-92nTN0I6nlBiqwOpA6dySlBF0GY3jrBOs5ZvaQr-2kjSZgF3zx77YOXjPiT2xXmvr--7jdyqTxLEimn5zC08l7FbUjnPz5hCdSU7kUGHgwZfpO8fEEANpdnELSemhktAj1rqLQxgxdXhP_7ciiL46t33wAJiMZnZZ8rqMtizfrMgf_MRCWbtBsHBvwg_uQt6o2hCP8bK2cFzAh7U-U9-vKTtqw-hZNORcpFDogzswFvWQHFvN4rD9ZwFVMuBEt7a2JNpXmW0tcK9E4r28eHn4CFaFbOkpi-l7DHWVO76cnoOnl5L5tGy4weMKpam5VhyM9mfgyQmDngjqAyArEPMZLIQ2XmVOKI_r_Rm3dMtsBjm2t7AAdj6CxG2t09boDKeczKviJNFmC4E8mrW1FNmbru6_z2sfxO03Lap5EFASJ755fysZqGdENBDFs4LzgmLvK2KbYV0LPi8i6qyerkHigMVQsWsHNTxX02ufd3pXV9_4cRJmcUslj521KNTTV8SfGxXbDmSbvv_R-eImRmsbA-DojsXkI2G3Fc9R1Cst5Mok_zoMt8vRRn-U1NjWlXOZrkOqvPsgboYDLxnRc5TWqCrBFJfm8bhMt1kSBOFD1x0sOdyqb6qlbrXbCTSFCn6ctlzzSKJeY2xF5CoS-lqEU25cNof0M-C01qCEDhRluV9h7n4oLDZNjhsy6Jg3WXMgB3eanlfEMd3fjSrj8l9pJGiKtkDnLU90PQZUBwqDt2hzhmGMqXOjc_EzGBwMV4GQE0yF2FGFNqpS9SzK6BB7TynBEpsec_YCfe-9cI5Io4h9gGw4CINQoTyXEmppXWpX711pwChydet91h",
  "id": "rs_05074475c2a22ac3016ab446f2465087d0adcd329e12543d7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The white plush torso is now centered and fills the space between both left fingers at the fingertip line. I’ll close fully; this alignment should capture the thick body rather than just fur.\"}",
  "call_id": "call_uWCnnTxEtPsnVuoDiHllR2TL",
  "id": "fc_05074475c2a22ac3016ab446f27ca487d098390f937894daf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uWCnnTxEtPsnVuoDiHllR2TL",
  "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]: [-0.4919, 1.6474, 0.8383, -0.4427, -0.3168, -0.4755, 0.0383, -0.0822, 1.161, 0.915, -0.9771, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3161 left_y=-0.1029 left_z=0.0135 left_yaw=0.1157 left_pitch=-0.5559 left_roll=0.1505 left_gripper=0.0383 right_x=0.2514 right_y=-0.0042 right_z=0.1213 right_yaw=0.1741 right_pitch=-0.6328 right_roll=-0.0316 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.2838, 6.1333, 0.6129, -0.398, 1.2576, -0.398, -0.212, -4.1231, 6.6256, 1.0379, -0.1538, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40cb7b2833ed3118d8bd6b4e1cf1b8e2f1db8a86ac7429da1ab52dad635117c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0951f84f71b073b2c7f1f5625cf4fd83dd9c4b1f31971f41b3d0e95cfb91365c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320e9fa14b0e35841d9c1a9361a6b167cfe671e13042d4c26b169b773cf3ae47",
      "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 · 4.284 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7563, 1.8561, 1.1191, -0.6189, -0.437, -0.6926, 0.9958, -0.0669, 1.2133, 1.0084, -1.0149, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3192 left_y=-0.1935 left_z=0.0204 left_yaw=0.1151 left_pitch=-0.5316 left_roll=0.2228 left_gripper=0.9958 right_x=0.2648 right_y=-0.0013 right_z=0.1371 right_yaw=0.1887 right_pitch=-0.6295 right_roll=-0.0327 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -9.5385, 4.8205, 0.6032, -0.315, 0.1099, -0.0611, -0.3624, -4.6974, 6.4615, 1.0769, -0.1734, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4881, 1.6501, 0.8452, -0.44, -0.3519, -0.4606, 0.9971, -0.0761, 1.1797, 0.947, -0.9916, -0.0727, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3212 left_y=-0.0975 left_z=0.0168 left_yaw=0.1353 left_pitch=-0.5325 left_roll=0.1852 left_gripper=0.9971 right_x=0.2556 right_y=-0.003 right_z=0.1265 right_yaw=0.1801 right_pitch=-0.6339 right_roll=-0.0311 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -7.9385, 4.9162, 0.9451, -0.2076, 0.105, 0.0024, -0.3077, -4.4239, 6.4342, 1.0623, -0.1587, -0.0855, -0.0073]",
      "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]: [-0.4919, 1.6474, 0.8383, -0.4427, -0.3168, -0.4755, 0.0383, -0.0822, 1.161, 0.915, -0.9771, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3161 left_y=-0.1029 left_z=0.0135 left_yaw=0.1157 left_pitch=-0.5559 left_roll=0.1505 left_gripper=0.0383 right_x=0.2514 right_y=-0.0042 right_z=0.1213 right_yaw=0.1741 right_pitch=-0.6328 right_roll=-0.0316 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.2838, 6.1333, 0.6129, -0.398, 1.2576, -0.398, -0.212, -4.1231, 6.6256, 1.0379, -0.1538, -0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40cb7b2833ed3118d8bd6b4e1cf1b8e2f1db8a86ac7429da1ab52dad635117c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0951f84f71b073b2c7f1f5625cf4fd83dd9c4b1f31971f41b3d0e95cfb91365c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:320e9fa14b0e35841d9c1a9361a6b167cfe671e13042d4c26b169b773cf3ae47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEb42z3GND9URwV6Eemwk6n-4uoWUMn91TGEzCox31n-8SeWn_TwjLGMhmn9tvg6zd0WWxJTtSuUni3akLv3WpSXCCuT1YaYbL-x505kVl0g0pFmlnZRfHVigEOot9BV80WGN9kbPoZ7q7oMRchWcchmpD4FBnYV9yUL3lFyJ4FD47NHRBzs0b9vhhJM-LkeEc6sitTGNSXBP0P9SJh6Z7lXvjy5hQjRT7h50CCFz5o9R6MiqWfFM0LyZrIWo6t01YSw2atMRt5HZtNGcUa4WI-l5AfLcWgRjj8nFkgZuUC2ml0LL4eewltprIkP6_z5L4HwZv-3i30bvw-M23LLLogRliStOd6uwT36itrfakYBo20y20-ptBh5n2-riFL_1q98qDRtB_F5P1AdbFZdi27ifePJ12DgSndEFXudZhHOxVoW3FTvC9iMJS-YmNNp6eIBQ8HlxH3HFmvb2ed28To5CBQ3euHcYHga6951LU0_GLYE_VM0SNMddlPXSgUDrXe84TF0qqRWRidieeZcFz_CM0C3VxjJg9yrD2-uXQpseFaOn5jpbCUT9H1ljaneZlMalUr6QowyGLoI6Pmdvwt6kJnhHMxGLM4ukXRAzanisvtZ9vUtVd6FWo9ey3Tdgdr4W8FTGoSTXeISYuHOoRz8i6iDAlTi8bj5GK9YYqmyoIWybUoLILeyewAEzVa1tEJPgMiM_ep6ZTpGdwjr_85MQqQ-5AUq8ZycWnussuF0KEII1w1m-AsXuMawg9WUVL9BK4kGr0iq7RQJHQnTJHV7EW9s_p3wnzDfh56_obq8LQ5KHorJAMK5BYSLL9OwLHyD0zLDB_0Eb4wGPr5oB2DaebUUkiX86mrURqvZKQyiJCg_duaJDCSIsJmxw2aP901fEKjFSCsTMfb_uZ2FmxXx3rDA6IA_hdPlp1SUVkokw_I1dOx_NyNm62pE05EhhYJw0ZNZJnTK9kIg_Qebt_V4LO7ozKIViV-6cex0WG4WZp66eIiNE9m3fh6Vgufx0O4Vb3m5gWt0jvwTOb_Rq3NOt72-3zKEbuEmPJl0jfuJQttvq5rhqp2TNT_rv8t_gm-XVApnaO8e8tmg0j4rebEPvrMv3uWZgFdtWCXITIQ7EPBhUJjYVTc0RAGlGzn5p6pHjQ0sqiMlDQ9XhSQM2PjgbmoeqoiPtTCcl5SySzzMo-kd-_g_hsSMIOikAbyRicGj50mrEn3SZ2RU-jYBBNPTdwrPwDC1LcMO11SLW70wklxyrbyg7zj5z714xGkrcnAWKLuGH0-8KgHomT5xpj_yXy3Xy8qZdTMbyHVhQcA7vaSlbmwgDY3r0GHDVq7mKcJYH6O8hV8-OHqQTJpBSboFvHdHWzT3wiw-PLpxpxoGtnzJtMf6IU_WwKjaN5sJoNxB2ku3sx2YGf_F8IgEJlOmE9EpOdiNyjjOR1eqn73mxnT3OrpTgVOgTS-QRi2M1kIkQBG1B0yobbSzwq_Ww1DDhSvp0X79vhnwPvWlHCxBL2x-8m9M2uFoVM_Ld9xErC6PbJ-q0khtPiN8RhRc8Nhe2yodafpsDxnc7xdvj3KTR392YYjypln-7t048A2YMsZd5Ckf1nBn4W9ujeLJM7paQxGP5vNUN48_QpQDjzuEKPpxNvtU3CR8iVqVRtaYzeL7oNf4CAmiR035Mxj4TXSKn9xkGvlgihNgjbsxDxo1YHns_yNAQpbdXq0YKgJWAUTuMVNx_AhyL3B1wjMNuLMmU2Sm3Y5eCXXMHt1Iu2O0kGsUsdC-eUdOSHJjK7-NesvFFt_ApKRTuIFpkgd_nX6x8Ifdu7wtOZEt91XWTm_e26BkZIE8mIu3QD3CdXjT6U2VrO3g7KyJAZ-V7rcQROnenjuJ0Pq610jAEud_RmqzYoz0MpYR-iufMJoQgUCWXNGqig2nEFAFg9kqCRtl738L6WwEesSvfoBFISEfzEOcmTAMEV4Qg1G2sAxMEljtbuI8DF4cmpjJrtm5NTj4ZfbabFFduoCdqzVshRcMoP8xBYV3Cu8sV4Kmgr5CaG86KY-5edlMxJ2wvDvqZ6u7SdPXGb2T_luQoa97vn_tYQ0pidMcca2lt8N_7NIG-Dc3jlJfydptLPBEfLWsyBdPH262XMcytD15mZeUD9dAnI4v43fupOWPHCL_4QDNuAoCJLbnML-xSnjq__AQzsEsA2gzYvXNrHE1WEKEx2u-lweXItk990xtNkR1KJTFKl1yC6-oIERLPCgmCe5gRnj1AdUVoEX8AYlPcp0jmlQ2pFJ1ViJALI-7ys8ag3NVbi4aq7NhLCuI8Y6QNYo2RDrHhSEfnQIKPZ7mmGiG9uUy0RDZrTNUKBVIMXJ4XNkUr1qItw90W6Izfk6kwr5vINAcSA4L_oKc5a-0aEwbjq7wUWnsoRn3AIct7SQ0O3E5kI7qjYC0q9kdwY5Hcq7mgMGwiu8ZBE0ZqfSOU_AW5gv8G3BlnM8=",
  "id": "rs_05074475c2a22ac3016ab446f5514887d093b65f7c365faa2f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.0,\"left_z\":0.05,\"left_gripper\":0.0},\"note\":\"The soft plush compressed enough for the jaws to close empty and was expelled to the left; grasping is unreliable. I’ll position the closed gripper on its outer-left side so I can sweep the whole plush directly into the open safe on its right.\"}",
  "call_id": "call_jjDLmVpaS3ecNvymVH7BoaMO",
  "id": "fc_05074475c2a22ac3016ab446f799e487d085df30a2e23eb07c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jjDLmVpaS3ecNvymVH7BoaMO",
  "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]: [-0.1371, 1.4082, 0.7383, -0.5373, -0.1787, -0.1654, 0.0481, -0.0875, 1.1442, 0.8822, -0.9623, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=-0.0054 left_z=0.0396 left_yaw=0.1332 left_pitch=-0.5966 left_roll=0.1362 left_gripper=0.0481 right_x=0.247 right_y=-0.0052 right_z=0.1153 right_yaw=0.1689 right_pitch=-0.6339 right_roll=-0.0312 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.1316, 5.8051, 1.2527, -0.2027, -0.0415, 1.0379, -0.2256, -4.2325, 6.8034, 1.0476, -0.1929, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf37ec766c0bfa547bf94a715000842363f8180cb0e6b20eb590d7d4c1be730",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957329c358475dc0e6b7ecfa91c8fe0c6499f5e4676391ae971fc9ee4e4f8e54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597bc555b327dc86fb567b456fa1a9b2d9b92d8084c0020d8d1d6c2b56d145ca",
      "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 · 3.263 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6384, 1.758, 0.9764, -0.5167, -0.4049, -0.5919, 0.9969, -0.0715, 1.2015, 0.981, -1.0069, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3229 left_y=-0.1485 left_z=0.0177 left_yaw=0.1255 left_pitch=-0.5268 left_roll=0.2019 left_gripper=0.9969 right_x=0.2602 right_y=-0.0022 right_z=0.1314 right_yaw=0.1855 right_pitch=-0.6368 right_roll=-0.0303 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -9.1829, 4.8615, 0.7253, -0.2369, 0.0952, 0.1001, -0.294, -4.8068, 6.3385, 1.116, -0.1538, -0.0806, -0.0122]",
      "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]: [-0.4919, 1.6474, 0.8383, -0.4427, -0.3168, -0.4755, 0.0383, -0.0822, 1.161, 0.915, -0.9771, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3161 left_y=-0.1029 left_z=0.0135 left_yaw=0.1157 left_pitch=-0.5559 left_roll=0.1505 left_gripper=0.0383 right_x=0.2514 right_y=-0.0042 right_z=0.1213 right_yaw=0.1741 right_pitch=-0.6328 right_roll=-0.0316 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.2838, 6.1333, 0.6129, -0.398, 1.2576, -0.398, -0.212, -4.1231, 6.6256, 1.0379, -0.1538, -0.1099, -0.0122]",
      "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]: [-0.1371, 1.4082, 0.7383, -0.5373, -0.1787, -0.1654, 0.0481, -0.0875, 1.1442, 0.8822, -0.9623, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=-0.0054 left_z=0.0396 left_yaw=0.1332 left_pitch=-0.5966 left_roll=0.1362 left_gripper=0.0481 right_x=0.247 right_y=-0.0052 right_z=0.1153 right_yaw=0.1689 right_pitch=-0.6339 right_roll=-0.0312 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.1316, 5.8051, 1.2527, -0.2027, -0.0415, 1.0379, -0.2256, -4.2325, 6.8034, 1.0476, -0.1929, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf37ec766c0bfa547bf94a715000842363f8180cb0e6b20eb590d7d4c1be730",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:957329c358475dc0e6b7ecfa91c8fe0c6499f5e4676391ae971fc9ee4e4f8e54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597bc555b327dc86fb567b456fa1a9b2d9b92d8084c0020d8d1d6c2b56d145ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEb9FcMPsW-byu3XsIcFkhH1fnAJ1YZxEU831ER-yxXHNhnpKzzJBGpNsPi5mCdMIdZ2qV5UDrinaIRJEIYAn0oCzeb252ZZLNUaN5TqJ9MKsvGFvCuBOtghFRWIR-G7EQedQxoX8rmT0CByWtljZJL_na43DmuVbw9aaj28yLMKW35XcWOubjSsVVdp0uKV3Db5MK5uOLckDSY26KsHb1hJjW50b7EWpRP7nuw5cqQ1m8WvTXsgDQ40sMea42x11uKb75Oh5PrdQFydER7-1CmwO8TfM8t2TKwaieTk0BHcNuQwe0mELaq9xrhXpP2Z03Y7JWeay3kYN3aSAVXdxF2-rBFLQJqEmre8qv5PjDwGFOeXB8r0yfWqoA7oOHCgp12F4ANr3iqN-4aj_3I_Ldr94HL55jfyBgVXKyB0X-BBeoizUNCPnAYd8iAEPDhY-2kMRX1kslhiYtyEBWvEqfzTy5L-pA8qINxZ42qxU3yySkQcWT1kwJbk77-viiyb-e3ULHFX3FchFeFq83dqj-I4LKy8hD5UX3zNZL8kbSOi0reeNJHYgiIs5t7PxUTWkzbSJgSLfAhxXdIaUEfdlfz-5RHJbJC3BjDdWfk0-e6-1Oj7kkLTYfHzA9PGrtF1F7_kNBFQ3Ug4MVsKK1ml_xiPD6Bs7NwydVuInkptn7tsxI4HV7oilsfXDyugiaaFyDT_5V-mGuBfa5DGQqfLFhIkvenpi-gC0ajZUjUi07QmUrBwOts5OZ7TG8GpuCay4R5FLr08QNRsbWc9ihhbTA-S2DDRE6hAoA9ZHg28KzhSSF8QOUR5YKnk2pnahTiExZRLWR3t_cxwUf1rqa4MrQ1ft9-9skDTEkVbCMFUIylPEGh7_z8-Ne1ROcpY8HgvbXYDhz9LKKlKcJhS6UMtpuQp72lprh9zdFaAovD1_jx3LbZ03ZPdTsMg5z7B5RGmIdu2SHIOx2OTpLshX5hA0FVKCyCVQ8Fw6J5WHVTraUQZMUvDCqqRqGBxcDGr5_cUytP39R7lc82cKicLOQ-PtFt3ExnsY87cn2poV7gHpsx6mKCwFO-h9B9b_UNSqJolhbfAgA-7Pl6I0NADpDvhTvte4v4joUWJi00rZ7u0jWBybZAxbTSza-b6IU8wjMNinYDjy4vlXaD0C8uMdfJ0DbK6P_R-iMKq_bv25iWL-zYEwUwMIN2x86RshMroViIncAJm3XkZg4Kp6RytGlv6FVMvv9o0jgD_QXQDWd60O9WREZIYmF8Sa-mi1g4id8a4Tb4L9Hb7x2UsSghEcurNRA_3MgjDnTdarHsl9Jv26eXAL81ZMSyTBCjHdrfGpi3h9TK30FXic79rTiWH2BSq6yUS2f4kcfP5IZldkyWF0Nsrs0FRefzzbrouEp19xdJrXOnewzkqGqBLOcV-xJ3Wawou7Xvy_APJjlWpjaE4B7SIYOngRzKlrzpJJPkyVwlpNetzCnpDXkCHsTCXvp5EGvPNNmMl9QrU3Wahu_Lv-gZo7xt3ONnRQV_U0ek3LEAShM2o6JmuccPC8Ktc40JMXt6ePc_datCqxM5GDY8k6jake3s2NYv-N_c8-StTI9SEeZoWFCPlDERUezM4dbKnsmnz9PfkAihnoSVPrebmFzMzgtHm4AX1heofuDkdpLiNOeAu0Zs5Z8XUq5oB1kQIIk1D504RW0k-G2GsC6H38h9M0q_iAIcMLjKALXzOqUlyv9YymvaAcJKgCtI2LPboeQcWBTbynegETqrB2ZgPdykYdSWrd-OgIq2MGkW8aLNqxgmZ6mHC1L_eYleRQFyCF5pCjHb4JSub0zzNHV7WxTGa8Yoz-A3ruIOJVAIRpC_MnGv7P-wkOGpB9Nujbt1YTL_R8XbqDFIrNxXF1qsW6WyjW9DmlGtGQ7azqU1V8ocHaYMztHMz_pOXPxrZNcnASpBtOP8BRMEH9UxkA39zMaN2Dd3pLnfDwOIbtgof3Lx9kMG5HbkDY9eQRVkcx2uIZUBc3ywDOS1yMbdmDuwyPrf3wz3lZwaEqaXvaAkQAwZeL611dR9zm-uSDVmQDumqlBflzNWz7qqAjtSLIVDYx1npAe5y9vZIQaRse9OYMQsSbkAYpERYwix_WjBRqwh-64X-eFHk8zMz6E_Bo3Nu0P3DGps=",
  "id": "rs_05074475c2a22ac3016ab446fac2d487d0be7aadf9769eedec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0.05,\"left_z\":0.04},\"note\":\"The small plush is still just left of the pusher, and the safe interior is immediately to its right. I’ll use the last 5 cm of leftward workspace to get the closed fingers fully outside the plush before the inward sweep.\"}",
  "call_id": "call_vDd3EnAyDnWLyeKXUcG5ZKUC",
  "id": "fc_05074475c2a22ac3016ab446fce9d087d0bb6a81126b2322df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vDd3EnAyDnWLyeKXUcG5ZKUC",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0807, 1.4185, 0.7376, -0.543, -0.0856, 0.0029, 0.0517, -0.0933, 1.1236, 0.852, -0.9474, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.2892 left_y=0.0421 left_z=0.034 left_yaw=0.1466 left_pitch=-0.6398 left_roll=0.1091 left_gripper=0.0517 right_x=0.2432 right_y=-0.0063 right_z=0.1111 right_yaw=0.1622 right_pitch=-0.6287 right_roll=-0.0329 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -4.8342, 6.5573, 1.2381, -0.2466, 0.0513, 1.0232, -0.4991, -3.8769, 6.3795, 1.0525, -0.1783, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc97b405ef93221d89c4070df7c5e95df38f6c34daade126b5638a2cffecaa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed4bc708b9addb4c13032016030745ebd3e3a0af5cdedd172eb288072a9d17a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c94b01969cc2e7b8104be1f6fe82119ca36983af417c041a25add78a7cb099",
      "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 · 6.855 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4881, 1.6501, 0.8452, -0.44, -0.3519, -0.4606, 0.9971, -0.0761, 1.1797, 0.947, -0.9916, -0.0727, -0.2882, 0.9989]\nstate[eef_state]: left_x=0.3212 left_y=-0.0975 left_z=0.0168 left_yaw=0.1353 left_pitch=-0.5325 left_roll=0.1852 left_gripper=0.9971 right_x=0.2556 right_y=-0.003 right_z=0.1265 right_yaw=0.1801 right_pitch=-0.6339 right_roll=-0.0311 right_gripper=0.9989\nstate[joint_eff]: [0.5128, -7.9385, 4.9162, 0.9451, -0.2076, 0.105, 0.0024, -0.3077, -4.4239, 6.4342, 1.0623, -0.1587, -0.0855, -0.0073]",
      "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]: [-0.1371, 1.4082, 0.7383, -0.5373, -0.1787, -0.1654, 0.0481, -0.0875, 1.1442, 0.8822, -0.9623, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=-0.0054 left_z=0.0396 left_yaw=0.1332 left_pitch=-0.5966 left_roll=0.1362 left_gripper=0.0481 right_x=0.247 right_y=-0.0052 right_z=0.1153 right_yaw=0.1689 right_pitch=-0.6339 right_roll=-0.0312 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.1316, 5.8051, 1.2527, -0.2027, -0.0415, 1.0379, -0.2256, -4.2325, 6.8034, 1.0476, -0.1929, -0.1148, -0.0122]",
      "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]: [0.0807, 1.4185, 0.7376, -0.543, -0.0856, 0.0029, 0.0517, -0.0933, 1.1236, 0.852, -0.9474, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.2892 left_y=0.0421 left_z=0.034 left_yaw=0.1466 left_pitch=-0.6398 left_roll=0.1091 left_gripper=0.0517 right_x=0.2432 right_y=-0.0063 right_z=0.1111 right_yaw=0.1622 right_pitch=-0.6287 right_roll=-0.0329 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -4.8342, 6.5573, 1.2381, -0.2466, 0.0513, 1.0232, -0.4991, -3.8769, 6.3795, 1.0525, -0.1783, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc97b405ef93221d89c4070df7c5e95df38f6c34daade126b5638a2cffecaa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ed4bc708b9addb4c13032016030745ebd3e3a0af5cdedd172eb288072a9d17a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c94b01969cc2e7b8104be1f6fe82119ca36983af417c041a25add78a7cb099",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcB8iMWzMABYjlpMKdVhxToxHiNKf9HksF5AE1d0-G6CQoCeQk3AtjvRlltIldviZ5B0YBgio_k0mvVhwQrxz9pTjDT-5Pra0cS4MBMQaq0yZSraiXz0FNqccuZNWRKgboaNwaoHJKiRb_r6756uLgjV8IeP6COP25Qu3BYPQio8IEpa-m32GXqAtri4kZf92p9sqlqF9biyc6CIyt1QOYG2HwZFny12TT5Ghuh5PpqGAYzBA3JaYgbD5J_xSBV3SFpnEDiq7mb-YZdMYV1UwBIuX2qGK3M3eGKJUCcfq5tLJ263p907jONi9GJCp0_U-4KwU4WvPxQph4k2-bzgRd5zOsi4wbIIn4jZgWIdW8fbPHWvVoaRM9ZQB__vtgHu478n20a8v6t5icE_37Lmxc0QJr3JmcxK8CJeFSIdMKfB70eJqn6CNFMHP84qKnS5faxBcGIOPfV_c5wPw2_tgGDHYbITr1r9k7No5ySoqW5j6ok16gxIOSa0NbiAAWrcY4IoRxnGL__RU4wOSyU1cChXtInuXCnUqyUhBOdFsd0pv6wQ_YrsqyKrOVuRpNSFEd0a7iu8s2XCYixrrwOTJUrguur2f1uCvmPruxU6vze4SYsiZJgWAn4Fk3nd9DnnZEttogZmn4R5lW5oAc_G9U_rWxDgHChwC1qm0brntlBILWa0u9V12-WH-llJvaaToeq46pcedK5r2kAr6pEyHvhp9OMpRm7jtJ3vsdx7e8mSB5Bm9S4QQu8P2oNGG7wlOWCNPp5G6-uSyoUh5JD_61C1eYPuD_JzMFY4Lt3l81bOe4XeyvQ6i_ttRGqFutXO2KXcfSpvwwWqogOFfoJvN087c0EbyN6PT7pQUonbULeqHcqBEcghCzf_4e35BepAds0C4fUfzYPfuARm-6j9kYoEsYxZZY-tpjjF6TrlzPL3Ciy1r4QsO3KF5uLjJz7bb0GxMmfJ5fAdLDeLHVSPhIvcP_QtuvAq1WdVjCJwD7WhiwlBfnsnpQOv9OrMDSss9veuN3NevyegXDqwg-wPd4j0ZMnBsygnZU0AFH1WWqIhC-liyEzFjnuAie8MleFkIaunNZ4o7tpbdtrLG9oOalMYlO7yhLGN40ouvt_eFk41Dp3Qtyq4xWWRCBZjVKOVi1q8ZvcnHbGKHDFRAOzYP1gz6XAmz1w4N0mHOReK_AkBf8yuj0aYa1y_dC1_RmdztrdjNZLKqpOCvpQugmtYpJ86ShgyTMJw_wC_lw2nYKVJ3GWaMzQUKzTcBKd3eDQ2COVLGl1pN7atM-qgBnFBCgAGfShdBw6EOPUi12jUytF5xtHKLp15V95GOsJ9l9BNMzZ4imZCpEYHO_gsR9c8Q_SIvkYFMGpUyM0NfkKnE7-kyBgLSLXTTJ3K99wtfkRHrjzm18cNGK03rVuL76_Ap0Wx4Tdkq7mcnLY0vvFOy0NhUF5QCPbSa28vpa9DnuKGHJ2K8gGMo1kHGuijWrBKSWSCwsc2xm40NhrbArrVDcNJac=",
  "id": "rs_05074475c2a22ac3016ab446ffbeb487d09430b063cf1247e7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.3,\"left_z\":0.045,\"left_gripper\":0.0},\"note\":\"The closed left fingers are now at the outer edge of the small plush, with the open red floor directly across it. I’ll make one continuous low diagonal sweep into the center of the safe to push the plush over the rim and fully inside.\"}",
  "call_id": "call_7uqcfeAuJLVv26k7jyqOSv9M",
  "id": "fc_05074475c2a22ac3016ab4470071e087d080833aec9e6dc228",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7uqcfeAuJLVv26k7jyqOSv9M",
  "output": [
    {
      "text": "executing move_to over 31 steps (3.1s)",
      "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]: [-0.8242, 2.1864, 1.7203, -0.9516, -0.3187, -0.9115, 0.0511, -0.0986, 1.1049, 0.8288, -0.9401, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3519 left_y=-0.2935 left_z=0.0361 left_yaw=0.1546 left_pitch=-0.6422 left_roll=0.0939 left_gripper=0.0511 right_x=0.2393 right_y=-0.0072 right_z=0.108 right_yaw=0.1564 right_pitch=-0.6261 right_roll=-0.0338 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -11.4667, 8.5675, 0.3394, -0.5006, 0.2271, 1.033, -0.0342, -3.535, 6.2017, 1.1111, -0.149, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8a244749f5d10f8e07cfe173d02018120f63f54735319f7975e5027de74c36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3c607cf839f5b9643de9aac9ea433f9c269e575554b6f2c28ef20281a52686",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20dd4e228f7d1962375412a0083ba97df12df69f10acec9491322c5dc3652abf",
      "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 · 3.494 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4919, 1.6474, 0.8383, -0.4427, -0.3168, -0.4755, 0.0383, -0.0822, 1.161, 0.915, -0.9771, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3161 left_y=-0.1029 left_z=0.0135 left_yaw=0.1157 left_pitch=-0.5559 left_roll=0.1505 left_gripper=0.0383 right_x=0.2514 right_y=-0.0042 right_z=0.1213 right_yaw=0.1741 right_pitch=-0.6328 right_roll=-0.0316 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -6.2838, 6.1333, 0.6129, -0.398, 1.2576, -0.398, -0.212, -4.1231, 6.6256, 1.0379, -0.1538, -0.1099, -0.0122]",
      "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]: [0.0807, 1.4185, 0.7376, -0.543, -0.0856, 0.0029, 0.0517, -0.0933, 1.1236, 0.852, -0.9474, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.2892 left_y=0.0421 left_z=0.034 left_yaw=0.1466 left_pitch=-0.6398 left_roll=0.1091 left_gripper=0.0517 right_x=0.2432 right_y=-0.0063 right_z=0.1111 right_yaw=0.1622 right_pitch=-0.6287 right_roll=-0.0329 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -4.8342, 6.5573, 1.2381, -0.2466, 0.0513, 1.0232, -0.4991, -3.8769, 6.3795, 1.0525, -0.1783, -0.0855, -0.0122]",
      "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]: [-0.8242, 2.1864, 1.7203, -0.9516, -0.3187, -0.9115, 0.0511, -0.0986, 1.1049, 0.8288, -0.9401, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3519 left_y=-0.2935 left_z=0.0361 left_yaw=0.1546 left_pitch=-0.6422 left_roll=0.0939 left_gripper=0.0511 right_x=0.2393 right_y=-0.0072 right_z=0.108 right_yaw=0.1564 right_pitch=-0.6261 right_roll=-0.0338 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -11.4667, 8.5675, 0.3394, -0.5006, 0.2271, 1.033, -0.0342, -3.535, 6.2017, 1.1111, -0.149, -0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8a244749f5d10f8e07cfe173d02018120f63f54735319f7975e5027de74c36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3c607cf839f5b9643de9aac9ea433f9c269e575554b6f2c28ef20281a52686",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20dd4e228f7d1962375412a0083ba97df12df69f10acec9491322c5dc3652abf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcLJLAGPqu-JJ5Y9xqmIEiTmoqwB13hTCUR7MnOlwV75LL-BUVkYwARekH6iRXMdlv2r-5cpLs8ON35AF9XJspZ4fcsvy-J7P1AxMH3sn622PMcHBIo2AZV0xhKQEZomNBmoD1jXOQKKG1R_1Y6ON9ShgqFw8iXFwQcBl9mXoiWTjLcqmzwRovVrqKhc1QtAED8C18TFz7hxSsDJQcfloHkEqm9Y8CCQjO_y1p95hlTQhjlmZgjb4fGg-5ePSwoHLb-c5LyskXSk51j5T6LBxEpocnJE9ffIFqU6-j8JEEkTYOVlD93ST3CQ3llvU0AAYuMbzynm0i4LhgdIyEq43J4rR5gqi07XoUskK_lPAG5_mmyw946eZ9mHK8QQoHXvIqw5V2yLB3bkKDA6nDml4IPPMJRMO4FRd_6zl5GMLKdQ9b1srAfqWWQAElh2McamzQMGjBowrhjyW3mJg2nUKh07uZKHGscOsiQ6jLYcCMZFmH6n3cbMOLWpIBWDldPOnd_HWspoVYnKW528Ejs6Gb1vlwKnr8DgoO1IuFDcr8rqrvChKfDTPdKmzkeDhfxwrWCS7Evxk3VAxSqZDbjZNmcEcdF2kKJ36SjTx3ju8IFuDClDsRaj2Zr-mR2j9tf3goqHX-eF6O20TgXfEt5jadQOvzr9dn3rhwrqj0_RNNR49Sg6JBdHXgozjDn6348f2CsFCnx8twNSgdbm8KwJSacZs82obgYLUQxpxCGkOFQmmlMKqoNwsGX30HrW0jxjR_kTx8bIJ0yQnjVpN7EV8HUuXI1u0PonaJ8QnLR9AJJl5qelJRtrtpuvSA4DaEE3-cKz8YCr0WnC7xmy-OvwGZv4VW_chQhKW-5PrEXLloFZfYpzHezxxvYAG7JkQ2jo_-oYGycdK9q5XM5Syh8jKCqXgnPuaRnUNn7XJZyqdf9WboptEqUKTkVDsIagEwrKq8OBIkaRmor0jAijX8pK-3XJq79p-uCX33zc49HsIVQKhln8ubtBSVLAQ2pfVGXGeNWyAO-26sbGgqvd6yQRT9wtBdKYIdoKMdoLm-n4NPjNce2Bk8-RbnZj3ftK4xoA5-e2wpDXu35ZKeHbkjoEmjy955UEjzpKUH5q9CPbxgivuOn_uxh6hhBqUQ5ZYn4Mm6qHIOshDRU8F-4vq08U9fAHFvdBI0q-Oa-2QU2luuQudhI-xWKTcIXG348aK0nr8dT06SCnrsh_kSED59CH9SOBeLGzyHcAhlP7OCJ_8wXyZvbuHxZGFUDA_n-u_TtwYCbZWbU6hpGruQvDKRszhREe3i4EKUSU8o2FVWzqYGBLBjuc-oWIOH_GnSyMGUDr-eYxxwJojxMa78tBgR-gvlFgqcNsvuscTOW7hAt0KIHgg-ae3vZ0nd-VcsFMyPVLFScHUukZZt2cobZLfepc3laonHMQtWguCYntPwx93gVrVEQdxTDFGylIX5VMEUrrqDMwg8vZZfM0rUY3ZzpYmz-Ls2FJSrpqxTt19FC3zhDCk1TU1fowOZmMNFqL2dzpU7syK_1acggYhCW9LKHIckJ1jlmEZuW3WJV_llxMCX9orWoSqxi7bZN4S6E3ZOiqAYrpkqz5FHr5fbflgbKwohbGYsdj5KFp3ttCsEz9tx5886xmJYthUljcdxazzqeu6WA_SPWWbMnuDoRbF7pu4Bj_jVdWDjBPpcZRC-DWK5FBNAGqQesvVMu9neNCzz_F7GX5kMpLEpquGwccHbAg5edEAZg8alFknVOGkd6hYShA8PELrT7W-p4fwTETsOkTI-NhgzTHQr2h6KYp9jkERn7lZhjnLGLBrwOsGPBd8HaxbMQLvyhoAfN8FXE3QZYoX2JY_G3G8LOa3FF_d-LgfGJyxFhIr2TKcr9dNudt93dG_SDbQgWuXT-skoD3wTel6_1w5Ee5A0_jE1klFUQuyaDwSjzKdg7kCAMUWV0dmdNaEDUYtrRI1tAgNelAMBdaxmkVVOl4fvalOREvwD7ZCHxGCCsQP8t7-M-F0XCPFNSKVs8JxIp2oWDWVre6eY33IV9eE-0a0ZyT2FYBnitCWP4KZ7A3N_GJp6nzbWuCkSi9dKN6Vh0yxT1mVM4e9mKzD6x-N83_sOmnrdKhz7bLmcGnR73xQ_Vu3BW28BejYzGrT6mW2rqE9qPQVspDUPGT1zWtoUBQ0aC-WzMTsIsbcmuWUgE5GZT9rHEbOizLH_HI4GTpq9kp7audIy1kYQrgDnlWMMI0d2Rtii5OMisMFZXnKiBqN0h2XcR1G0DDkP2DUFXDMRZKTzMqiqfALvw4fZX-rVbuyY847UkHtEP6FeICNif2ROKgZfSZLVvZCtQgoAfpYPKrNusmsQVFSwEfWptot2Orwuyo79aTiZ2FQLTi4gvPvKbZJrTURTSXPBw3AJlethLw6nKOSX7dZTB4wwzIqhWcrKFHpwXnl-VAmWUgk0_GWqnxwmBd-LGAQfpPMJgVDqB0iy0cxix-obFtBXfDhSv6vCOGYvV7FEQiPv1LwRJTy70v-xG6UwxV8FzBV-ude8_iqLj431xGg3fPJn2SlfgFjvjoI1b31-91p0BdAaUarvPodhE9wnghDjkgsxSd_VB101jvuZsmK7U0JF1pT2OOqTasSPd26G9RBJhjGcpiWcKkSTGYDJoHDuULcXh7phbP_627OCUolkxG6a4cK9kmKQ1yS0oFBldgLJCYru2yJLJNKKg5gRSYXupiujKEFCbiVq0lqqpuWTvzOUOm76x4d_tLmSmM5r1_Z09MwvAIzIkzMQHjOWYCV8ItIrSmNQqBtQiygyP1s0jZsmzy6crwErRxm8urX_xpVCGfcD33eTE02-hQygSlcslynUJYQpzvsv6x7vGDptvIciRvvGGVqWOV52cGFI_PfMXTf4vDHb6LaNfQ2qQJGFPKj4J0juld6lU7VmRC7O6QN8PmFHXSxEfywEI2d_Mw_Li8bd2Wcj277NUHg-3Co5Fv3jt2iIiIsTPgQq31kdbjPLX6KS0eIsQyINfDyKXYp0rs7LbtPvLsJvT310pqFqif6zODTIg8NVKGP0CnYCnXToMpmuxl5Q5AVMu97z8wII0LqC4pnkJs1ZC3XkFHzqUQmMUdUQP-dTKBlbORyAKjmKZ7W--jGI_BIANPd28Q7NYfGBl8YvJdrnlDdJ-zNSuZFfnHbJZrmcVogUP0yZ96y5_E_2RjZssjxeIxYOSgakIiioBYV3HydcEJiniz4SNAz4m4xlrtXkZgzdmiIB043qILqzgOvC6MKNXNbWocx_kDL5vNOj_eVoX_wOw5CePG1ir0adLpN1RxFkUXlLJW-lajr33J6zQpwWfZG8DAYLjWTltAbzxOPT-czxcfLA5j7Eo78VBaQDBAw_K470dzwWRJVYuAdhHgF0SVkGcOMgwjjBzh1eUD7I6_LQQWG2Gn9DYy4qy3D8wg5AtduOcOZoUSDwpiPIqC9mbcEDW67lBrW_U7m0dX9LbOZrEI-HlgnlN6ezNoj1kBNu4pRg5BKjlBPwt3L9u1jzQ5iDRyZHEJ5sNJ_5EMwEhEWR5CgLzrdyooVjhRgfkLhXIiULo3wj6yx9IJP_2q521adWiQHY5PNqvku8Yw8zcU9lFKpGZUF4=",
  "id": "rs_05074475c2a22ac3016ab447059fa087d08bc58114c374b496",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.22,\"right_y\":0.3,\"right_z\":0.04,\"right_gripper\":0.0,\"left_x\":0.28,\"left_y\":0.0,\"left_z\":0.16},\"note\":\"The small plush remained outside, so the low sweep passed on the wrong depth line; continuing the same push would not help. I’ll clear the left arm and place the closed right gripper directly behind the large brown plush, which lies in front of the safe, for a straight forward push into the compartment.\"}",
  "call_id": "call_ke3it8e4Emh603zBKQ563rkM",
  "id": "fc_05074475c2a22ac3016ab44709d62887d0b885387eeb2f98a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ke3it8e4Emh603zBKQ563rkM",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1295, 1.3113, 1.0908, -1.124, -0.1867, -0.2363, 0.0511, 1.0687, 1.7866, 1.137, -0.7216, 0.2916, 0.7986, 0.0095]\nstate[eef_state]: left_x=0.2615 left_y=0.0026 left_z=0.1348 left_yaw=0.2306 left_pitch=-0.7188 left_roll=0.1697 left_gripper=0.0511 right_x=0.2123 right_y=0.2887 right_z=0.0351 right_yaw=0.1742 right_pitch=-0.6374 right_roll=-0.0606 right_gripper=0.0095\nstate[joint_eff]: [0.1436, -7.6103, 8.8821, 1.4432, 0.0708, -0.0952, 1.0281, 0.2256, -7.6923, 7.5282, 0.7546, 0.2906, 0.2808, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890997d12fe4237d81898b75ab9763e1a687c94a54ddd0b31239e2b23f6651b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e415a44042d8341a4be413d399d2455323118309c7bd8921b6c11bf5398366d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef29463f9af8b05af711474446915a415116cfb6a361728d38234a25a49a8c53",
      "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 · 6.889 s

model: gpt-5.6-sol
effort: high
temperature: n/a
tool count: 3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1371, 1.4082, 0.7383, -0.5373, -0.1787, -0.1654, 0.0481, -0.0875, 1.1442, 0.8822, -0.9623, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.2953 left_y=-0.0054 left_z=0.0396 left_yaw=0.1332 left_pitch=-0.5966 left_roll=0.1362 left_gripper=0.0481 right_x=0.247 right_y=-0.0052 right_z=0.1153 right_yaw=0.1689 right_pitch=-0.6339 right_roll=-0.0312 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -7.1316, 5.8051, 1.2527, -0.2027, -0.0415, 1.0379, -0.2256, -4.2325, 6.8034, 1.0476, -0.1929, -0.1148, -0.0122]",
      "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]: [-0.8242, 2.1864, 1.7203, -0.9516, -0.3187, -0.9115, 0.0511, -0.0986, 1.1049, 0.8288, -0.9401, -0.0727, -0.2886, 0.9989]\nstate[eef_state]: left_x=0.3519 left_y=-0.2935 left_z=0.0361 left_yaw=0.1546 left_pitch=-0.6422 left_roll=0.0939 left_gripper=0.0511 right_x=0.2393 right_y=-0.0072 right_z=0.108 right_yaw=0.1564 right_pitch=-0.6261 right_roll=-0.0338 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -11.4667, 8.5675, 0.3394, -0.5006, 0.2271, 1.033, -0.0342, -3.535, 6.2017, 1.1111, -0.149, -0.1001, -0.0122]",
      "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]: [-0.1295, 1.3113, 1.0908, -1.124, -0.1867, -0.2363, 0.0511, 1.0687, 1.7866, 1.137, -0.7216, 0.2916, 0.7986, 0.0095]\nstate[eef_state]: left_x=0.2615 left_y=0.0026 left_z=0.1348 left_yaw=0.2306 left_pitch=-0.7188 left_roll=0.1697 left_gripper=0.0511 right_x=0.2123 right_y=0.2887 right_z=0.0351 right_yaw=0.1742 right_pitch=-0.6374 right_roll=-0.0606 right_gripper=0.0095\nstate[joint_eff]: [0.1436, -7.6103, 8.8821, 1.4432, 0.0708, -0.0952, 1.0281, 0.2256, -7.6923, 7.5282, 0.7546, 0.2906, 0.2808, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:890997d12fe4237d81898b75ab9763e1a687c94a54ddd0b31239e2b23f6651b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e415a44042d8341a4be413d399d2455323118309c7bd8921b6c11bf5398366d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef29463f9af8b05af711474446915a415116cfb6a361728d38234a25a49a8c53",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtEcRMKAHcPA1ZVt1HraNXDiPxrOVKI6ijDLILtCDyGJ3Em8ny371sVs1G_XIJFgvWuSEIQzhBXaGlBYGVfPCP_iiJwLXWWizKvcrYlJIpQC6z0E1Nvq-gzkqHWgrlsQRVflojbHJxFnQqCYav8SIId6wpPzAprD_LTYo5Lz6Ye5v66ADZAiEQGiC6KMnopkI65KkaVtN5sVyusTk9GoTKPbq2S-e3En4cw_va2mIbTlRh8p3sXuiqrW1FwKzXleEp1xKI-thvQLUU8u6AolSJqJWR49zgC2UMSGA4RJ9QbwKuqGWrOauGFVtv3I9GvFF7l7UUPEgdNfsRrae1WDZP_vqQ-k0qPmov7BSkXbOLqJL7DMC38AuUkUyLd0MnqojOtp8A2uwHBemnBqbge69G_spVVTCAaxr_LdDwJLhbXgxNlp9sOINLLDS5fSbN1puiQ2BFku9BpoMtfPekFNIakj8BU7WDjzghUBTIlCpXT1KiOLeX4vfDeZWhIbRbQiCAyWlT_-y1C22cxptNdamXnYTAgwIH8QYCwqwkZA-iCjCj4QdpyuwWQAty93He1qj77NktfQyIatDgP4wJddUIB0f9XY9jabqv6pAtImApshCzBMvM92M-YvZlPhJPBgiRSGKMLF17_1qL1RRCBBQxzLOwtXcZqjZHKH95NnEFkMonVqhQyrfy1WrDjBLZdN1ZxyvLFjJclsOejsHWSkMXM3u6k6KfF-ET7VsHg_LPxHxmsQ_zE1G9_1ABeFcPHI7DT-wl6AumlwHURzxweDbppEe3O61Zq5fQAjDQMHjZR5Z6_So77h5pE3Nrucvad0pZeXK8xxHhHc7rEvZh7SDD7bPbQTB37gsZrIGKk8x0mZ4kY6vIA-F4Rni-fh7sdDvH4PXpaTUvAONN5LsnXAIItjTUz-Tnbx67YP7ci4mTw0bcLakXah_Bl5uxeSQ5TPSb4wFXw49X6ze0qEZXlolRe6G-Y-pNhF_hB5Rv3uv9jkaEFUHciz8J6MUrrXHJxTRoUp9XhiwqQpbpsPJA_Q-T7GycZqXarfK1hdDJQWZy0h2vod3aXtzjLMg8NtOM0EyX62Syo0_7wQ6gwPmjD8EuL8gJsLoAuIzmA4bs57wsnkIFGYxzReZpcS0G8cH_774r1LihqbvJfWAK99tZFQz7VQil9fwi3YduqgHbe2T0VoVV3RpFws4q7Vohf3DJCXK0hy3bPMvw61s2FzggxTke_91y2-t2Hl-jZuC2kq46pocjjBocYypFKqk1CdeK4eBHp3bMUq5W02J-_KtlbLCqlbgA6biDwstcsZTEHzi4e5rXBs=",
  "id": "rs_05074475c2a22ac3016ab447103de487d0a0726b4758e3bcfe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.33,\"right_z\":0.045,\"right_gripper\":0.0},\"note\":\"The right wrist view shows the closed fingers firmly against the rear of the large brown plush, aligned with the safe opening ahead. I’ll push straight forward with a small centering correction so the plush crosses the front rim into the red compartment.\"}",
  "call_id": "call_fc1bR71qx22Apb38vARbBgdM",
  "id": "fc_05074475c2a22ac3016ab4471085d887d0be3622eddb0aa0ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fc1bR71qx22Apb38vARbBgdM",
  "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]: [-0.1642, 1.243, 0.9627, -1.1049, -0.2447, -0.2443, 0.0517, 0.8196, 2.1792, 1.7191, -0.8337, 0.2478, 0.5446, 0.0078]\nstate[eef_state]: left_x=0.2359 left_y=0.0079 left_z=0.1146 left_yaw=0.2741 left_pitch=-0.7334 left_roll=0.258 left_gripper=0.0517 right_x=0.3587 right_y=0.3259 right_z=0.0416 right_yaw=0.17 right_pitch=-0.62 right_roll=-0.0662 right_gripper=0.0078\nstate[joint_eff]: [-0.1846, -6.4479, 7.9111, 1.4774, -0.149, -0.1734, 1.033, -0.5675, -11.0564, 7.9521, 0.7448, 0.1392, 0.022, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:839890d1a0564ed74cf2f490c99dcb021d823c53d3872f7885c144df7ea81279",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727d2795308422aa68ca36a49707818a0bed71e5dbb2f319dfa02024d6660b00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7462bcc07696fbae73571963477580fe4a1f9c4e6d01f87cb7ff67f7a70ac53c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]