adhoc - adhoc_cd5caf68.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 223.1 s
total steps: 412

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteThe safe is open on the left, with a yellow object near the center-right and several other objects below it. I’ll position the right gripper above the yellow object first.

move_to

right_x0.3850right_y0.2700right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3916, -0.0193, -0.0338, 0.9993, -0.0219, 0.7948, 0.6083, -0.3977, -0.02, -0.0254, 0.9995] state[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9995 state[joint_eff]: [-0.4171, -1.3197, 10.2222, 1.9463, -0.0659, 0.2271, -0.0904, -0.2256, -1.5521, 9.6889, 1.9853, -0.0464, 0.0952, -0.0708] 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":0.385,"right_y":0.27,"right_z":0.15},"note":"The safe is open on the left, with a yellow object near the center-right and several other objects below it. I’ll position the right gripper above the yellow object first."})

tool

executing move_to over 23 steps (2.3s)

step 23

assistant

agent noteThe yellow object is centered in the right wrist camera but still sits ahead of the fingertips. I’ll advance about 3 cm and lower the open jaws toward its middle.

move_to

right_x0.4050right_z0.0450

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.8333, 1.7409, 1.1751, -0.2539, 0.6373, 0.5056, 0.9994] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3767 right_y=0.2637 right_z=0.1367 right_yaw=0.0323 right_pitch=-0.0446 right_roll=-0.0404 right_gripper=0.9994 state[joint_eff]: [-0.1436, -1.6479, 7.0222, 1.8632, -0.0806, -0.0317, -0.0171, 0.4581, -8.759, 8.6359, 1.4969, 0.5397, 0.1343, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.405,"right_z":0.045},"note":"The yellow object is centered in the right wrist camera but still sits ahead of the fingertips. I’ll advance about 3 cm and lower the open jaws toward its middle."})

tool

executing move_to over 6 steps (0.6s)

step 29

assistant

agent noteThe yellow object is now close to the jaw tips but slightly left of their centerline. I’ll make a small sideways and forward correction while lowering to grasp height.

move_to

right_x0.4150right_y0.2710right_z0.0120

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6064, -0.4126, -0.0189, -0.0387, 0.9992, 0.7807, 1.9556, 1.0698, 0.0242, 0.6098, 0.4671, 0.9994] state[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0244 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3959 right_y=0.2548 right_z=0.042 right_yaw=0.0182 right_pitch=-0.0901 right_roll=-0.0862 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.265, 7.159, 1.7851, -0.0708, -0.0562, -0.0122, -0.6085, -9.1009, 5.3949, 1.3114, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.415,"right_y":0.271,"right_z":0.012},"note":"The yellow object is now close to the jaw tips but slightly left of their centerline. I’ll make a small sideways and forward correction while lowering to grasp height."})

tool

executing move_to over 2 steps (0.2s)

step 31

assistant

agent noteThe downward motion stopped near the yellow object rather than reaching the table, and the object now fills the space between the jaw tips. I’ll close the gripper and check whether it holds.

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, 0.7986, 0.6064, -0.4164, -0.0189, -0.0383, 0.9992, 0.7765, 2.0289, 1.1263, 0.0959, 0.6273, 0.4614, 0.9994] state[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4148 right_y=0.2672 right_z=0.0399 right_yaw=0.0072 right_pitch=-0.0417 right_roll=-0.062 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7607, -0.0708, -0.0269, -0.0122, -0.1846, -7.1726, 5.0256, 0.6178, -0.2662, -0.0952, -0.0171] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The downward motion stopped near the yellow object rather than reaching the table, and the object now fills the space between the jaw tips. I’ll close the gripper and check whether it holds."})

tool

executing move_to over 10 steps (1.0s)

step 41

assistant

agent noteThe gripper settled partly open, consistent with holding the yellow object. I’ll lift it clear and confirm that the object moves with the jaws.

move_to

right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0193, -0.0387, 0.9992, 0.7727, 2.0548, 1.132, 0.0978, 0.6285, 0.4557, 0.4279] state[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9992 right_x=0.416 right_y=0.2655 right_z=0.0303 right_yaw=0.0052 right_pitch=-0.0545 right_roll=-0.08 right_gripper=0.4279 state[joint_eff]: [-0.0342, -1.306, 7.3231, 1.8632, -0.0659, -0.0171, -0.0122, 0.2667, -12.6564, 5.1624, 1.3504, 0.1734, -0.0171, 1.0281] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.17},"note":"The gripper settled partly open, consistent with holding the yellow object. I’ll lift it clear and confirm that the object moves with the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe yellow object lifted with the right gripper. I’ll carry it high over the open red compartment, keeping clear of the safe’s rim.

move_to

right_x0.3500right_y0.3850right_z0.1900

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, -0.4507, -0.0189, -0.0387, 0.9992, 0.7727, 1.8797, 1.3949, -0.3927, 0.6132, 0.4515, 0.4314] state[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0675 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4137 right_y=0.2663 right_z=0.1375 right_yaw=0.0153 right_pitch=-0.1007 right_roll=-0.1114 right_gripper=0.4314 state[joint_eff]: [-0.0615, -1.3607, 6.9812, 1.9121, -0.0611, -0.0513, -0.0122, -0.3624, -12.7658, 8.9778, 1.4628, 0.4176, -0.022, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.385,"right_z":0.19},"note":"The yellow object lifted with the right gripper. I’ll carry it high over the open red compartment, keeping clear of the safe’s rim."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteThe yellow object is over the safe’s right-hand side, with the red interior visible beside it. I’ll shift it slightly inward and lower it into the compartment.

move_to

right_x0.3170right_y0.4000right_z0.0730

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, -0.4587, -0.0189, -0.0387, 0.9992, 1.0561, 2.1273, 1.9713, -0.9104, 0.7418, 0.7158, 0.4329] state[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1627 left_yaw=0.0028 left_pitch=-0.0755 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3506 right_y=0.3848 right_z=0.1821 right_yaw=0.0556 right_pitch=-0.1229 right_roll=-0.1217 right_gripper=0.4329 state[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7363, -0.0708, -0.0317, -0.0122, 0.2256, -11.1932, 8.294, 0.9988, 0.5299, 0.1978, 1.033] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.317,"right_y":0.4,"right_z":0.073},"note":"The yellow object is over the safe’s right-hand side, with the red interior visible beside it. I’ll shift it slightly inward and lower it into the compartment."})

tool

executing move_to over 8 steps (0.8s)

step 69

assistant

agent noteThe wrist view now shows the yellow object inside the red compartment, away from the rim. I’ll lower it to the floor before releasing it.

move_to

right_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, -0.4728, -0.0189, -0.0387, 0.9992, 1.1324, 2.1704, 1.6516, -0.6472, 0.7521, 0.7921, 0.4329] state[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0896 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3139 right_y=0.3938 right_z=0.0777 right_yaw=0.0724 right_pitch=-0.1606 right_roll=-0.1551 right_gripper=0.4329 state[joint_eff]: [-0.1846, -1.0188, 7.0496, 1.7656, -0.0708, -0.0513, -0.0122, 0.4171, -10.8786, 6.6256, 1.2039, 0.6325, 0.1148, 1.033] 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_z":0.02},"note":"The wrist view now shows the yellow object inside the red compartment, away from the rim. I’ll lower it to the floor before releasing it."})

tool

executing move_to over 4 steps (0.4s)

step 73

assistant

agent noteThe descent stopped with the yellow object against the safe’s floor, at a grasp-point height of about 5 cm. I’ll open the jaws to leave it there.

move_to

right_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, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.1358, 2.199, 1.5703, -0.49, 0.7788, 0.786, 0.4329] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3175 right_y=0.3973 right_z=0.054 right_yaw=0.0722 right_pitch=-0.1168 right_roll=-0.1299 right_gripper=0.4329 state[joint_eff]: [-0.1709, -1.0462, 6.9265, 1.7363, -0.0464, -0.0317, -0.0122, -0.1983, -8.0615, 4.6291, 0.652, 0.0122, 0.022, 1.0281] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1},"note":"The descent stopped with the yellow object against the safe’s floor, at a grasp-point height of about 5 cm. I’ll open the jaws to leave it there."})

tool

executing move_to over 6 steps (0.6s)

step 79

assistant

agent noteThe yellow object is released in the safe. I’ll park the right arm so the overhead camera can reveal the remaining objects and leave room for the left arm.

move_to

right_x0.2930right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4847, -0.0189, -0.0387, 0.9992, 1.1313, 2.2368, 1.5486, -0.4496, 0.7517, 0.7898, 0.9946] state[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1578 left_yaw=0.0029 left_pitch=-0.1011 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3161 right_y=0.3972 right_z=0.0297 right_yaw=0.0765 right_pitch=-0.1472 right_roll=-0.1317 right_gripper=0.9946 state[joint_eff]: [-0.0752, -1.2239, 7.0769, 1.7118, -0.022, -0.0317, -0.0122, 0.0479, -11.0154, 5.8735, 0.8718, 0.3346, -0.0024, -0.2418] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.293,"right_y":0,"right_z":0.18},"note":"The yellow object is released in the safe. I’ll park the right arm so the overhead camera can reveal the remaining objects and leave room for the left arm."})

tool

executing move_to over 34 steps (3.4s)

step 113

assistant

agent noteThe yellow object is visibly inside the safe. A small white plush object remains just left of it, and a larger brown plush object is below; I’ll approach the white one with the left arm.

move_to

left_x0.3200left_y-0.1150left_z0.1300

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5026, -0.0189, -0.0387, 0.9992, 0.017, 0.9195, 0.7151, -0.5945, 0.0689, -0.1257, 0.9951] state[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1542 left_yaw=0.0029 left_pitch=-0.1197 left_roll=-0.0017 left_gripper=0.9992 right_x=0.284 right_y=-0.0037 right_z=0.1546 right_yaw=0.0196 right_pitch=-0.2192 right_roll=-0.1323 right_gripper=0.9951 state[joint_eff]: [-0.1573, -1.2786, 7.1316, 1.8046, -0.0562, -0.0415, -0.0122, -0.1709, -2.9607, 10.5368, 1.873, -0.0562, -0.0073, 0.0464] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.32,"left_y":-0.115,"left_z":0.13},"note":"The yellow object is visibly inside the safe. A small white plush object remains just left of it, and a larger brown plush object is below; I’ll approach the white one with the left arm."})

tool

executing move_to over 11 steps (1.1s)

step 124

assistant

agent noteThe white plush is very close to the left fingertips but sits left of the jaw centerline. I’ll shift the left arm toward it and lower for a centered grasp.

move_to

left_x0.2950left_y-0.0520left_z0.0750

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5625, 1.1896, 0.6651, -0.3378, -0.3927, -0.3996, 0.9992, 0.0185, 0.923, 0.7143, -0.6201, 0.0601, -0.1383, 0.9952] state[eef_state]: left_x=0.3051 left_y=-0.1082 left_z=0.1093 left_yaw=-0.0226 left_pitch=-0.1981 left_roll=0.0295 left_gripper=0.9992 right_x=0.2795 right_y=-0.0018 right_z=0.149 right_yaw=0.0358 right_pitch=-0.2498 right_roll=-0.1343 right_gripper=0.9952 state[joint_eff]: [-0.1983, -3.9726, 9.4974, 1.6484, -0.4078, 0.0317, -0.0171, -0.2803, -1.9214, 6.9128, 1.707, 0.105, 0.0952, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.295,"left_y":-0.052,"left_z":0.075},"note":"The white plush is very close to the left fingertips but sits left of the jaw centerline. I’ll shift the left arm toward it and lower for a centered grasp."})

tool

executing move_to over 5 steps (0.5s)

step 129

assistant

agent noteThe white object now sits between the left jaw columns at grasp height. I’ll close gently around it and check the gripper 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]: [-0.3416, 1.0958, 0.4644, -0.2359, -0.2768, -0.2676, 0.9992, 0.0185, 0.9241, 0.7139, -0.6376, 0.0593, -0.139, 0.9952] state[eef_state]: left_x=0.2885 left_y=-0.0475 left_z=0.0677 left_yaw=0.0315 left_pitch=-0.2446 left_roll=0.0447 left_gripper=0.9992 right_x=0.2762 right_y=-0.0018 right_z=0.1456 right_yaw=0.037 right_pitch=-0.2689 right_roll=-0.1339 right_gripper=0.9952 state[joint_eff]: [-0.1162, -3.6171, 6.8171, 1.9219, 0.0366, 0.149, -0.0122, -0.0615, -1.6342, 6.7897, 1.6484, -0.0171, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The white object now sits between the left jaw columns at grasp height. I’ll close gently around it and check the gripper opening."})

tool

executing move_to over 10 steps (1.0s)

step 139

assistant

agent noteThe left gripper closed empty; the white plush remained just left of the jaws in the wrist view. I’ll reopen and move about 5 cm left to center the plush before retrying.

move_to

left_gripper1.0000left_y0.0040left_x0.3000left_z0.0470

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3408, 1.0958, 0.4511, -0.2466, -0.2687, -0.2714, 0.0103, 0.0185, 0.9241, 0.7139, -0.6575, 0.0593, -0.139, 0.9952] state[eef_state]: left_x=0.2829 left_y=-0.0468 left_z=0.0606 left_yaw=0.0301 left_pitch=-0.2691 left_roll=0.0451 left_gripper=0.0103 right_x=0.2725 right_y=-0.0018 right_z=0.1424 right_yaw=0.0371 right_pitch=-0.2887 right_roll=-0.1335 right_gripper=0.9952 state[joint_eff]: [-0.1436, -2.7009, 7.4872, 1.4823, -0.2515, 0.0366, 0.8376, -0.0615, -1.8803, 6.8034, 1.6386, 0.0073, -0.0269, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_y":0.004,"left_x":0.3,"left_z":0.047},"note":"The left gripper closed empty; the white plush remained just left of the jaws in the wrist view. I’ll reopen and move about 5 cm left to center the plush before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 149

assistant

agent noteWith the jaws open, the white plush is now on the opposite side of the left jaw centerline. I’ll split the difference with a 2–3 cm correction and lower slightly to grip its body.

move_to

left_y-0.0210left_z0.0270

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0547, 1.1656, 0.4252, -0.144, -0.104, -0.078, 0.9958, 0.0185, 0.9249, 0.7139, -0.6762, 0.0593, -0.1394, 0.9952] state[eef_state]: left_x=0.2938 left_y=0.0059 left_z=0.0436 left_yaw=0.0649 left_pitch=-0.299 left_roll=0.045 left_gripper=0.9958 right_x=0.269 right_y=-0.0019 right_z=0.1393 right_yaw=0.0374 right_pitch=-0.3082 right_roll=-0.1334 right_gripper=0.9952 state[joint_eff]: [0.1983, -2.6598, 5.8051, 1.7021, 0.0611, 0.1587, -0.1294, -0.0889, -1.8803, 7.0632, 1.5946, -0.022, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_y":-0.021,"left_z":0.027},"note":"With the jaws open, the white plush is now on the opposite side of the left jaw centerline. I’ll split the difference with a 2–3 cm correction and lower slightly to grip its body."})

tool

executing move_to over 3 steps (0.3s)

step 152

assistant

agent noteThe white plush now fills the gap between the open jaws in the wrist view. I’ll close around its body and inspect the settled opening.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1795, 1.227, 0.4026, -0.0998, -0.1501, -0.1425, 0.9969, 0.0185, 0.9257, 0.7139, -0.6804, 0.0589, -0.1394, 0.9952] state[eef_state]: left_x=0.2896 left_y=-0.0221 left_z=0.0262 left_yaw=0.0195 left_pitch=-0.3306 left_roll=0.0469 left_gripper=0.9969 right_x=0.2682 right_y=-0.0019 right_z=0.1384 right_yaw=0.0378 right_pitch=-0.3132 right_roll=-0.1329 right_gripper=0.9952 state[joint_eff]: [-0.2393, -3.3026, 5.6274, 1.7705, -0.3101, -0.0806, 0.105, -0.1983, -1.8393, 6.7214, 1.4725, 0.0122, -0.0757, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The white plush now fills the gap between the open jaws in the wrist view. I’ll close around its body and inspect the settled opening."})

tool

executing move_to over 10 steps (1.0s)

step 162

assistant

agent noteThe jaws stopped slightly open on the white plush rather than closing empty. I’ll lift it to verify whether the body comes off the table.

move_to

left_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2016, 1.24, 0.3912, -0.0696, -0.1963, -0.1982, 0.0967, 0.0185, 0.9257, 0.7139, -0.6838, 0.0593, -0.1394, 0.9952] state[eef_state]: left_x=0.2907 left_y=-0.0206 left_z=0.0242 left_yaw=0.069 left_pitch=-0.3149 left_roll=0.0468 left_gripper=0.0967 right_x=0.2675 right_y=-0.0019 right_z=0.1379 right_yaw=0.0375 right_pitch=-0.3166 right_roll=-0.1332 right_gripper=0.9952 state[joint_eff]: [-0.0889, -3.535, 5.9966, 1.4383, -0.0952, 0.4322, 1.2381, -0.1709, -1.7573, 6.7077, 1.4383, -0.0024, -0.0611, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.19},"note":"The jaws stopped slightly open on the white plush rather than closing empty. I’ll lift it to verify whether the body comes off the table."})

tool

executing move_to over 11 steps (1.1s)

step 173

assistant

agent noteThe white plush has risen with the left gripper and is no longer at its original spot. I’ll carry it above the safe’s open compartment.

move_to

left_x0.3250left_y-0.2000left_z0.2100

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2016, 1.0676, 0.9306, -0.7994, -0.1955, -0.2043, 0.0983, 0.0185, 0.9268, 0.7139, -0.7017, 0.0589, -0.1394, 0.9952] state[eef_state]: left_x=0.2896 left_y=-0.0205 left_z=0.1734 left_yaw=0.0734 left_pitch=-0.3321 left_roll=0.0473 left_gripper=0.0983 right_x=0.2641 right_y=-0.0019 right_z=0.1349 right_yaw=0.0379 right_pitch=-0.3357 right_roll=-0.1325 right_gripper=0.9952 state[joint_eff]: [-0.212, -2.441, 9.0188, 1.4823, -0.1245, 0.0171, 0.1587, -0.253, -1.8256, 6.8444, 1.536, 0.0122, -0.0757, -0.0171] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.325,"left_y":-0.2,"left_z":0.21},"note":"The white plush has risen with the left gripper and is no longer at its original spot. I’ll carry it above the safe’s open compartment."})

tool

executing move_to over 16 steps (1.6s)

step 189

assistant

agent noteThe white plush is above the left side of the safe, separated from the yellow object on the right. I’ll lower it onto the safe floor.

move_to

left_z0.0550

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7761, 1.5757, 1.4441, -1.0336, -0.4686, -0.7212, 0.0992, 0.0185, 0.9276, 0.7139, -0.7242, 0.0589, -0.139, 0.9952] state[eef_state]: left_x=0.3166 left_y=-0.194 left_z=0.1943 left_yaw=0.0633 left_pitch=-0.3835 left_roll=0.0667 left_gripper=0.0992 right_x=0.2597 right_y=-0.002 right_z=0.1314 right_yaw=0.0379 right_pitch=-0.3589 right_roll=-0.1318 right_gripper=0.9952 state[joint_eff]: [-0.4034, -6.9675, 8.9915, 1.0769, -0.5446, -0.0562, 0.0757, -0.1436, -1.8803, 6.6667, 1.5409, -0.0024, -0.0611, -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_z":0.055},"note":"The white plush is above the left side of the safe, separated from the yellow object on the right. I’ll lower it onto the safe floor."})

tool

executing move_to over 9 steps (0.9s)

step 198

assistant

agent noteThe white plush has been lowered onto the red interior beside the yellow object. I’ll release it, then clear the arm to inspect the remaining brown object.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7784, 1.6543, 0.9905, -0.5583, -0.4675, -0.73, 0.1007, 0.0185, 0.9276, 0.7139, -0.7326, 0.0589, -0.1394, 0.9952] state[eef_state]: left_x=0.3074 left_y=-0.1863 left_z=0.0575 left_yaw=0.0837 left_pitch=-0.4213 left_roll=0.1071 left_gripper=0.1007 right_x=0.258 right_y=-0.002 right_z=0.1302 right_yaw=0.0381 right_pitch=-0.3673 right_roll=-0.1318 right_gripper=0.9952 state[joint_eff]: [0.0889, -6.9402, 5.9009, 1.0085, -0.1245, 0.0464, 0.1343, -0.0479, -1.6752, 6.653, 1.3993, -0.0269, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1},"note":"The white plush has been lowered onto the red interior beside the yellow object. I’ll release it, then clear the arm to inspect the remaining brown object."})

tool

executing move_to over 9 steps (0.9s)

step 207

assistant

agent noteThe white plush is released inside the safe next to the yellow object. I’ll park the left arm so the right arm can approach the brown plush without the arms crossing.

move_to

left_x0.2930left_y0.0000left_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7776, 1.6627, 0.9806, -0.5602, -0.4679, -0.7357, 0.9942, 0.0185, 0.9314, 0.7139, -0.7433, 0.0589, -0.139, 0.9952] state[eef_state]: left_x=0.3047 left_y=-0.1832 left_z=0.0516 left_yaw=0.0952 left_pitch=-0.4337 left_roll=0.1209 left_gripper=0.9942 right_x=0.2559 right_y=-0.0021 right_z=0.1277 right_yaw=0.038 right_pitch=-0.3818 right_roll=-0.1313 right_gripper=0.9952 state[joint_eff]: [-0.2256, -8.0342, 6.5983, 0.9451, -0.2906, 0.0464, 0.0073, -0.1709, -2.1265, 6.6393, 1.3797, -0.0073, -0.0415, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.293,"left_y":0,"left_z":0.18},"note":"The white plush is released inside the safe next to the yellow object. I’ll park the left arm so the right arm can approach the brown plush without the arms crossing."})

tool

executing move_to over 17 steps (1.7s)

step 224

assistant

agent noteOnly the brown plush remains outside the safe; it lies diagonally below the opening. I’ll move the right gripper over its midsection for a body grasp.

move_to

right_x0.1900right_y0.3400right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1417, 1.187, 1.0271, -0.9203, -0.2119, -0.1761, 0.9955, 0.0185, 0.934, 0.7139, -0.7677, 0.0589, -0.1394, 0.9952] state[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.163 left_yaw=0.148 left_pitch=-0.4678 left_roll=0.1223 left_gripper=0.9955 right_x=0.251 right_y=-0.0022 right_z=0.1237 right_yaw=0.0385 right_pitch=-0.4089 right_roll=-0.1309 right_gripper=0.9952 state[joint_eff]: [-0.0205, -4.9573, 9.1829, 1.2088, -0.0904, 0.1978, 0.1197, -0.0752, -2.0718, 6.5983, 1.5604, -0.0122, -0.0708, -0.0171] 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":{"right_x":0.19,"right_y":0.34,"right_z":0.15},"note":"Only the brown plush remains outside the safe; it lies diagonally below the opening. I’ll move the right gripper over its midsection for a body grasp."})

tool

executing move_to over 29 steps (2.9s)

step 253

assistant

agent noteThe brown plush’s torso is centered ahead of the right fingertips, with its head to the right. I’ll advance about 3 cm and lower the jaws around the torso rather than the head.

move_to

right_x0.2150right_z0.0620

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9432, -0.1997, -0.1768, 0.9957, 1.2949, 1.8618, 1.6104, -1.2194, 0.5495, 1.0836, 0.9952] state[eef_state]: left_x=0.2859 left_y=-0.002 left_z=0.1613 left_yaw=0.1396 left_pitch=-0.4902 left_roll=0.1166 left_gripper=0.9957 right_x=0.1861 right_y=0.3317 right_z=0.1426 right_yaw=0.0556 right_pitch=-0.4421 right_roll=-0.1668 right_gripper=0.9952 state[joint_eff]: [0.0479, -3.6855, 6.0239, 1.3016, -0.2613, -0.0073, 0.0073, 0.1709, -8.7179, 7.6513, 0.4176, 0.4811, 0.2808, -0.0171] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.215,"right_z":0.062},"note":"The brown plush’s torso is centered ahead of the right fingertips, with its head to the right. I’ll advance about 3 cm and lower the jaws around the torso rather than the head."})

tool

executing move_to over 6 steps (0.6s)

step 259

assistant

agent noteAt lower height, the bear’s torso is slightly left of the jaw center while its head remains to the right. I’ll shift sideways about 2.5 cm to center the torso before closing.

move_to

right_y0.3450right_z0.0480

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9478, -0.1982, -0.1802, 0.9957, 1.2232, 1.9137, 1.3891, -0.9546, 0.5339, 1.0092, 0.9952] state[eef_state]: left_x=0.2849 left_y=-0.0021 left_z=0.1607 left_yaw=0.141 left_pitch=-0.4948 left_roll=0.1147 left_gripper=0.9957 right_x=0.2075 right_y=0.3194 right_z=0.0688 right_yaw=0.029 right_pitch=-0.4672 right_roll=-0.212 right_gripper=0.9952 state[joint_eff]: [-0.0205, -3.5487, 6.5573, 1.1062, -0.1636, -0.022, -0.0122, -0.4991, -8.2256, 5.9829, 0.6227, 0.315, -0.0513, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.345,"right_z":0.048},"note":"At lower height, the bear’s torso is slightly left of the jaw center while its head remains to the right. I’ll shift sideways about 2.5 cm to center the torso before closing."})

tool

executing move_to over 3 steps (0.3s)

step 262

assistant

agent noteThe bear’s torso is now between the open jaw tips. I’ll close around the soft midsection and check whether the jaws 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]: [-0.1425, 1.1893, 1.0321, -0.9489, -0.1982, -0.1806, 0.9957, 1.2392, 2.0018, 1.4368, -0.9367, 0.5259, 1.0035, 0.9952] state[eef_state]: left_x=0.2846 left_y=-0.0021 left_z=0.1606 left_yaw=0.1414 left_pitch=-0.4958 left_roll=0.1149 left_gripper=0.9957 right_x=0.2056 right_y=0.3359 right_z=0.0492 right_yaw=0.0399 right_pitch=-0.4835 right_roll=-0.2355 right_gripper=0.9952 state[joint_eff]: [-0.0205, -3.6991, 6.6256, 1.0818, -0.1538, -0.0708, -0.0122, 0.5128, -9.265, 7.6239, 0.4078, 0.3687, 0.3101, -0.0171] camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The bear’s torso is now between the open jaw tips. I’ll close around the soft midsection and check whether the jaws retain it."})

tool

executing move_to over 10 steps (1.0s)

step 272

assistant

agent noteThe gripper closed empty, so its tips did not reach the bear’s torso. I’ll reopen, advance about 4 cm into the body, and raise slightly to avoid skimming beneath the plush.

move_to

right_gripper1.0000right_x0.2450right_z0.0580

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.181, 0.9957, 1.2442, 2.0277, 1.4448, -0.9363, 0.5266, 1.0256, 0.0085] state[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1419 left_pitch=-0.4977 left_roll=0.1153 left_gripper=0.9957 right_x=0.2043 right_y=0.3376 right_z=0.0418 right_yaw=0.0226 right_pitch=-0.4861 right_roll=-0.2421 right_gripper=0.0085 state[joint_eff]: [-0.0205, -3.494, 6.4342, 1.072, -0.149, -0.0659, -0.0122, 0.0068, -10.1128, 7.5692, 0.3834, 0.3394, 0.0952, 0.6716] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.245,"right_z":0.058},"note":"The gripper closed empty, so its tips did not reach the bear’s torso. I’ll reopen, advance about 4 cm into the body, and raise slightly to avoid skimming beneath the plush."})

tool

executing move_to over 10 steps (1.0s)

step 282

assistant

agent noteAfter advancing, the bear’s torso sits deeper between the jaw tips instead of just ahead of them. I’ll try the grasp again from this position.

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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1534, 2.0312, 1.5116, -0.9714, 0.5079, 0.9146, 0.9943] state[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2364 right_y=0.33 right_z=0.0554 right_yaw=0.0185 right_pitch=-0.5077 right_roll=-0.2648 right_gripper=0.9943 state[joint_eff]: [-0.1026, -3.6855, 6.4068, 1.0525, -0.149, -0.0464, -0.0122, -0.5812, -8.8274, 8.1162, 0.5788, 0.3248, -0.0073, 0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"After advancing, the bear’s torso sits deeper between the jaw tips instead of just ahead of them. I’ll try the grasp again from this position."})

tool

executing move_to over 10 steps (1.0s)

step 292

assistant

agent noteThe second straight-on grasp also closed empty. The bear is much longer left-to-right than front-to-back, so I’ll rotate the jaws roughly 90 degrees and try gripping across its narrower body dimension.

move_to

right_gripper1.0000right_x0.2100right_y0.3400right_z0.0850right_yaw1.4500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1515, 2.035, 1.5146, -0.9703, 0.4999, 0.9085, 0.0086] state[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2363 right_y=0.3309 right_z=0.0541 right_yaw=0.023 right_pitch=-0.5156 right_roll=-0.2638 right_gripper=0.0086 state[joint_eff]: [-0.0889, -3.6991, 6.612, 1.0867, -0.1538, -0.0611, -0.0122, 0.1299, -10.5368, 5.6684, 0.4176, 0.3101, 0.0806, 0.6569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.21,"right_y":0.34,"right_z":0.085,"right_yaw":1.45},"note":"The second straight-on grasp also closed empty. The bear is much longer left-to-right than front-to-back, so I’ll rotate the jaws roughly 90 degrees and try gripping across its narrower body dimension."})

tool

executing move_to over 10 steps (1.0s)

step 302

assistant

agent noteAfter rotation, the bear’s narrower torso runs between the jaws, but much of it sits too low in the wrist image. I’ll retract about 2 cm to align the body with the fingertip contact points.

move_to

right_x0.1920right_y0.3420right_z0.0750right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9802, 1.6733, 1.0985, -0.543, 0.0105, -0.4679, 0.9946] state[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.2175 right_y=0.3275 right_z=0.07 right_yaw=1.2581 right_pitch=-0.5651 right_roll=-0.2421 right_gripper=0.9946 state[joint_eff]: [-0.1573, -3.6991, 6.5983, 1.1111, -0.1783, -0.0708, -0.0122, -0.1846, -9.8393, 7.0769, 1.1551, -0.105, -0.1929, -0.2125] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.192,"right_y":0.342,"right_z":0.075,"right_yaw":1.57},"note":"After rotation, the bear’s narrower torso runs between the jaws, but much of it sits too low in the wrist image. I’ll retract about 2 cm to align the body with the fingertip contact points."})

tool

executing move_to over 2 steps (0.2s)

step 304

assistant

agent noteThe rotated jaws now straddle the bear’s torso across its narrower side. I’ll close and see whether the plush is retained.

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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9821, 1.6733, 1.1, -0.5594, -0.0849, -0.6861, 0.9965] state[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.201 right_y=0.3344 right_z=0.0694 right_yaw=1.4945 right_pitch=-0.5745 right_roll=-0.2481 right_gripper=0.9965 state[joint_eff]: [-0.0479, -3.4803, 6.4068, 1.0818, -0.149, -0.0562, -0.0122, 0.7726, -7.2274, 7.9385, 1.0818, -0.1783, -0.149, 0.1832] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"The rotated jaws now straddle the bear’s torso across its narrower side. I’ll close and see whether the plush is retained."})

tool

executing move_to over 10 steps (1.0s)

step 314

assistant

agent noteThe rotated grasp also closed empty; the camera shows a gap between two brown plush sections where the fingers met. I’ll aim slightly farther forward at one solid section and approach it higher.

move_to

right_gripper1.0000right_x0.2250right_z0.0950

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9993, 1.6733, 1.1004, -0.5861, -0.1074, -0.733, 0.0086] state[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.1886 right_y=0.3349 right_z=0.0672 right_yaw=1.5717 right_pitch=-0.5925 right_roll=-0.2334 right_gripper=0.0086 state[joint_eff]: [-0.0068, -3.6308, 6.4479, 1.0574, -0.1685, -0.0464, -0.0122, -0.294, -7.7744, 7.8838, 1.1062, -0.1783, -0.0366, 0.6129] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":1,"right_x":0.225,"right_z":0.095},"note":"The rotated grasp also closed empty; the camera shows a gap between two brown plush sections where the fingers met. I’ll aim slightly farther forward at one solid section and approach it higher."})

tool

executing move_to over 10 steps (1.0s)

step 324

assistant

agent noteOne brown plush section now occupies the gap between the rotated jaws, clear of the central hollow. I’ll close on that section and check 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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1875, 0.9957, 0.9119, 1.7153, 1.2411, -0.7094, -0.1291, -0.8066, 0.9946] state[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.146 left_pitch=-0.4976 left_roll=0.1119 left_gripper=0.9957 right_x=0.2216 right_y=0.3292 right_z=0.0878 right_yaw=1.5616 right_pitch=-0.6102 right_roll=-0.2308 right_gripper=0.9946 state[joint_eff]: [-0.0615, -3.6991, 6.4068, 1.0818, -0.1441, 0.022, -0.0122, -0.4171, -7.2, 8.8957, 0.9402, -0.2613, -0.1099, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0},"note":"One brown plush section now occupies the gap between the rotated jaws, clear of the central hollow. I’ll close on that section and check the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 334

assistant

agent noteThe plush keeps slipping between the fingers. I’ll try moving it by contact instead: position the closed gripper behind the bear’s lower end, then push the upright plush toward the safe opening.

move_to

right_x0.1250right_y0.3720right_z0.0900right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.1879, 0.9957, 0.9081, 1.7191, 1.2358, -0.7166, -0.1318, -0.8108, 0.0085] state[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1462 left_pitch=-0.4972 left_roll=0.1115 left_gripper=0.9957 right_x=0.2204 right_y=0.326 right_z=0.084 right_yaw=1.57 right_pitch=-0.6222 right_roll=-0.218 right_gripper=0.0085 state[joint_eff]: [-0.0479, -3.494, 6.4479, 1.0916, -0.1245, -0.0464, -0.0122, -0.0752, -9.0051, 5.8598, 1.199, -0.1197, 0.0269, 0.6667] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.125,"right_y":0.372,"right_z":0.09,"right_yaw":0},"note":"The plush keeps slipping between the fingers. I’ll try moving it by contact instead: position the closed gripper behind the bear’s lower end, then push the upright plush toward the safe opening."})

tool

executing move_to over 10 steps (1.0s)

step 344

assistant

agent noteThe gripper is behind the bear but too far left in the overhead view. I’ll shift it rightward to line up with the bear’s rump and lower it to pushing height.

move_to

right_x0.1400right_y0.3150right_z0.0420right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9554, -0.1982, -0.1883, 0.9957, 1.4094, 2.0525, 1.7081, -1.1904, 0.3805, 0.9291, 0.0103] state[eef_state]: left_x=0.2833 left_y=-0.0019 left_z=0.1597 left_yaw=0.1473 left_pitch=-0.5023 left_roll=0.1131 left_gripper=0.9957 right_x=0.1257 right_y=0.3862 right_z=0.0859 right_yaw=0.282 right_pitch=-0.6395 right_roll=-0.2405 right_gripper=0.0103 state[joint_eff]: [-0.0479, -3.7128, 6.4479, 1.1502, -0.1832, -0.0464, -0.0122, 0.3077, -10.4684, 6.8991, -0.0757, 0.3639, 0.1832, 0.1685] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.14,"right_y":0.315,"right_z":0.042,"right_yaw":0},"note":"The gripper is behind the bear but too far left in the overhead view. I’ll shift it rightward to line up with the bear’s rump and lower it to pushing height."})

tool

executing move_to over 6 steps (0.6s)

step 350

assistant

agent noteThe closed fingertips now sit against the bear’s rear section, aligned toward the safe. I’ll push forward in a short stroke and check whether the plush moves toward the opening.

move_to

right_x0.2400right_y0.3150right_z0.0450

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9588, -0.1982, -0.1883, 0.9957, 1.3556, 1.9594, 1.3506, -1.0611, 0.4046, 1.1305, 0.011] state[eef_state]: left_x=0.2825 left_y=-0.0018 left_z=0.1593 left_yaw=0.1478 left_pitch=-0.5056 left_roll=0.1142 left_gripper=0.9957 right_x=0.1353 right_y=0.3104 right_z=0.0343 right_yaw=-0.0043 right_pitch=-0.6298 right_roll=-0.32 right_gripper=0.011 state[joint_eff]: [-0.0205, -3.5487, 6.4068, 1.0818, -0.1441, -0.0757, -0.0122, -0.1846, -11.5761, 5.8188, 0.4176, 0.3443, 0.1441, 0.0611] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.24,"right_y":0.315,"right_z":0.045},"note":"The closed fingertips now sit against the bear’s rear section, aligned toward the safe. I’ll push forward in a short stroke and check whether the plush moves toward the opening."})

tool

executing move_to over 9 steps (0.9s)

step 359

assistant

agent noteThe first push shifted the bear but did not guide it into the safe; the gripper caught its side. I’ll reposition behind its left-rear edge for a straighter push along the compartment’s center.

move_to

right_x0.1150right_y0.3700right_z0.0520

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9688, -0.1982, -0.1883, 0.9957, 1.116, 2.0365, 1.4902, -1.0355, 0.4232, 0.8856, 0.011] state[eef_state]: left_x=0.2804 left_y=-0.0015 left_z=0.1583 left_yaw=0.1494 left_pitch=-0.5151 left_roll=0.1175 left_gripper=0.9957 right_x=0.2273 right_y=0.3078 right_z=0.0409 right_yaw=-0.0279 right_pitch=-0.6272 right_roll=-0.335 right_gripper=0.011 state[joint_eff]: [-0.1709, -3.6718, 6.4615, 1.1453, -0.1441, -0.0464, -0.0122, -0.3077, -9.3197, 7.6376, 0.442, 0.3932, -0.0708, -0.0024] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.115,"right_y":0.37,"right_z":0.052},"note":"The first push shifted the bear but did not guide it into the safe; the gripper caught its side. I’ll reposition behind its left-rear edge for a straighter push along the compartment’s center."})

tool

executing move_to over 9 steps (0.9s)

step 368

assistant

agent noteFrom this position the closed fingers are behind the bear and pointed into the safe. I’ll push forward in one steady motion while watching for the plush to clear the front rim.

move_to

right_x0.3400right_y0.3700right_z0.0550

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9733, -0.1982, -0.1883, 0.9957, 1.4326, 2.1521, 1.7077, -1.2453, 0.424, 1.1954, 0.0111] state[eef_state]: left_x=0.2794 left_y=-0.0013 left_z=0.1578 left_yaw=0.1501 left_pitch=-0.5195 left_roll=0.119 left_gripper=0.9957 right_x=0.1214 right_y=0.3711 right_z=0.0522 right_yaw=0.0169 right_pitch=-0.6033 right_roll=-0.3182 right_gripper=0.0111 state[joint_eff]: [-0.0752, -3.6581, 6.3795, 1.1306, -0.1587, -0.0513, -0.0122, 0.1709, -9.6615, 6.9812, -0.1148, 0.2027, 0.1392, -0.0073] camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.34,"right_y":0.37,"right_z":0.055},"note":"From this position the closed fingers are behind the bear and pointed into the safe. I’ll push forward in one steady motion while watching for the plush to clear the front rim."})

tool

executing move_to over 17 steps (1.7s)

step 385

assistant

agent noteThe bear slid along the safe’s right side instead of going inside; the white and yellow objects remain in the compartment. I’ll get behind the bear on its outside edge for a diagonal push toward the opening.

move_to

right_x0.1750right_y0.2450right_z0.0650

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9779, -0.1982, -0.1883, 0.9957, 0.9798, 2.4229, 2.1761, -1.2526, 0.4221, 0.7067, 0.0111] state[eef_state]: left_x=0.2784 left_y=-0.0012 left_z=0.1573 left_yaw=0.1509 left_pitch=-0.5239 left_roll=0.1205 left_gripper=0.9957 right_x=0.3286 right_y=0.3663 right_z=0.0537 right_yaw=0.0032 right_pitch=-0.6196 right_roll=-0.3278 right_gripper=0.0111 state[joint_eff]: [-0.0205, -3.4256, 6.3795, 1.0867, -0.1538, -0.0464, -0.0171, -0.4444, -12.1231, 7.7744, 0.442, 0.2564, 0.0366, -0.0073] camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.175,"right_y":0.245,"right_z":0.065},"note":"The bear slid along the safe’s right side instead of going inside; the white and yellow objects remain in the compartment. I’ll get behind the bear on its outside edge for a diagonal push toward the opening."})

tool

executing move_to over 12 steps (1.2s)

step 397

assistant

agent noteThe fingertips are now outside and behind the bear, with the open safe diagonally ahead to the left. I’ll sweep toward the compartment to try to slide the plush past its right rim.

move_to

right_x0.3500right_y0.3950right_z0.0550

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.1919, 1.0321, -0.9848, -0.1982, -0.1886, 0.9957, 1.182, 1.75, 1.1675, -1.0275, 0.4309, 0.9016, 0.0125] state[eef_state]: left_x=0.277 left_y=-0.0012 left_z=0.1561 left_yaw=0.1519 left_pitch=-0.5322 left_roll=0.1233 left_gripper=0.9957 right_x=0.1769 right_y=0.2468 right_z=0.0569 right_yaw=0.0071 right_pitch=-0.6285 right_roll=-0.3634 right_gripper=0.0125 state[joint_eff]: [0.0068, -3.7128, 6.3521, 1.1111, -0.1587, -0.0708, -0.0122, 0.2667, -8.8, 6.2154, 0.5495, 0.4274, 0.1001, 0.1294] camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_y":0.395,"right_z":0.055},"note":"The fingertips are now outside and behind the bear, with the open safe diagonally ahead to the left. I’ll sweep toward the compartment to try to slide the plush past its right rim."})

tool

executing move_to over 14 steps (1.4s)

step 411

assistant

agent noteI placed the yellow and white objects inside the safe, but the brown plush remained outside after several failed grasps and pushes. I could not close the safe with an object still outside.

give_up

hindsightThe brown plush is long and irregular: straight-on and 90-degree jaw orientations repeatedly closed empty, and low pushes slid it sideways along the safe’s rim instead of into the compartment. The safe’s open compartment is near the center line; the right arm reaches its right_y=0.4 limit while working there. The yellow and white objects were successfully grasped, lifted, and deposited in the safe.

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1429, 1.1954, 1.0321, -0.9947, -0.1982, -0.1886, 0.9957, 0.9936, 2.6633, 2.5782, -1.4242, 0.4397, 0.6895, 0.0138] state[eef_state]: left_x=0.2749 left_y=-0.0008 left_z=0.1543 left_yaw=0.1546 left_pitch=-0.545 left_roll=0.1278 left_gripper=0.9957 right_x=0.3424 right_y=0.3946 right_z=0.0432 right_yaw=0.014 right_pitch=-0.6138 right_roll=-0.3579 right_gripper=0.0138 state[joint_eff]: [-0.1983, -3.9179, 6.6393, 1.0818, -0.105, -0.0611, -0.0122, -0.5538, -11.2342, 4.7795, -0.5055, 0.3785, 0.1294, 0.1294] camera 'top_cam' (step 411): [image omitted: streamed camera frame] camera 'left_cam' (step 411): [image omitted: streamed camera frame] camera 'right_cam' (step 411): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I placed the yellow and white objects inside the safe, but the brown plush remained outside after several failed grasps and pushes. I could not close the safe with an object still outside.","hindsight":"The brown plush is long and irregular: straight-on and 90-degree jaw orientations repeatedly closed empty, and low pushes slid it sideways along the safe’s rim instead of into the compartment. The safe’s open compartment is near the center line; the right arm reaches its right_y=0.4 limit while working there. The yellow and white objects were successfully grasped, lifted, and deposited in the safe."})

tool

give_up: I placed the yellow and white objects inside the safe, but the brown plush remained outside after several failed grasps and pushes. I could not close the safe with an object still outside.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 10.33 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3916, -0.0193, -0.0338, 0.9993, -0.0219, 0.7948, 0.6083, -0.3977, -0.02, -0.0254, 0.9995]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -1.3197, 10.2222, 1.9463, -0.0659, 0.2271, -0.0904, -0.2256, -1.5521, 9.6889, 1.9853, -0.0464, 0.0952, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79cfb4e8d3c1813859157ff16d9a64da017f0ab05875129620ea424646c5270c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f08a0c8de0dbecde8708a870f448418bee446692cbe80bf619d2760ba2abc79d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a65163a59fa2d3501f8c0daf458b28410c5823c179b3f5b2ede826deef399149",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 4.579 s

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

{
  "content": [],
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  "id": "rs_07c37685040cf413016ab42c4505e087d08ef0330863c3d410",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxOys1KLldTKfk4kePhuZESGcRmUxu_X6XdwO9dUASk-HjzwCTkACRZkZzBvtFdjbeD0Y5WKmjuW7465sOQXD8QsUVVJxpFEvobNfck61E2Y7wiRMh80L0crQwFsSvw-Y-m1lMjgcsRZX1GCrOt0rXoIesPzn78LOjkC5ZoITCOLTTgMEUyTso7BYv493ZBo8qBhZu--Y4GmHi97x0Ihc7fc86GeERdShQd3KitR_96ugbyJYeeC3_If3H0DP15XgIl7zWGq-Yrx8Cb95zl4CKERrjQBDktq5Zf6PJMWRqnf5tDbLMx8YBeRtOhv7RHw1tG4IHOcghax12qqM1KtnX4cWr6c2lb7MAvwxB3apZxFBl0tnQ8KYNSp4TZqFtp13FngAC_zpubFSzbeaIhpQiA_fMlrbGAOtctsHtsjsu0npl9QnDuIg4mgQgQCX-6dGMngq3J5H_7-pzFb7sE0KrYn23LEE4x_G6Ur1cTqJvjaLxDUzz_RPekXpIrlJl6Mbauv0mkwpT_fLD-gs9pgAU9U589MQWOUM8MrZo_CnjrnFJ1H7y9wiFbjX43P5oCrUh_1Cr3x7UlsgTFnaUdkfGmZ2dsoMOQ8s0KvZefqqqsafc-vZQ_BlTsgFzlFsBV__jyuj_c4kkvUkG3e1gT0KdmnP6T2_nH0Ny_7-Ru9HpK3drt9U558xB70peh96e_O9SS9djUAyO1gEriU36YN9irnKBmtbVTjESlkzA28WtmIBZCO_Odbvl3V4B8Y8fa_D5CT-CZxjJqDGGgDMy-fcd2BXyf4d83j7KTYRzUEGibei0MjHfcM3dtxQW8m1f-tpNYGbwzm8guO9FjXpxv8x4rlpWBisrd25CU6IWFpJKW9CsSUqLxJ_mC5wD_FoIf9_mm6ek1GYcCo-wVK61Kss7V2HXQ79nPnnlhqrZByipx6jz9b-kPtzv8tDzdAJAodrRGuOs0CaOUeodFcutTh0lmwD4fOSx8vlW-kQEp45ojDcmAx5av3ln5nH50EsaCuw86Q6E4weZ6BKtYFMQluXejx3aD0_e8TYPUZXDUcwDbVTBLF8lOr9ngxkf-arsdmvoDoQbu6mRlGaHrT6UhNAP-4PRmAyTC0vLIOGoWsdeH_3Cwpw8Lvd9rlPKokQHwQSSC-1_onn5-GUjjdeKNIHqsj03Em5-C8oxuhUOAmS0DTmJcvaMwWuh22qkGqUv1guKYe32u7Wdf8h4loTGyQ6C_JPuQHRKIiB7xhrksR_kslIY3KyfdlL_tSX2Ud_1orKnsnTw-R6VZ_snMfG4TJ1pPmp0IUIxMjtUrAAWa9ImwmJR2TgOeP01Miq68YAYgEfphn_mxoWrVwPltzI5SAC7X96rN1Mx2UcofRKN84p2ZELoP0Xiab2Jqf9cUmAhC9qHVKIpjHBpv7Z3H33pmst8jCk4hLOFRkvAY8wYEtydAw3Q8-NBpz-iW9vzDapx-75wu",
  "id": "rs_07c37685040cf413016ab42c4ae43487d08bfbf5efe2290baf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.27,\"right_z\":0.15},\"note\":\"The safe is open on the left, with a yellow object near the center-right and several other objects below it. I’ll position the right gripper above the yellow object first.\"}",
  "call_id": "call_tGJbIJCKLGsTQkr8iWtrVSb1",
  "id": "fc_07c37685040cf413016ab42c4d2c8087d081e40415dd2a5694",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tGJbIJCKLGsTQkr8iWtrVSb1",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.8333, 1.7409, 1.1751, -0.2539, 0.6373, 0.5056, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3767 right_y=0.2637 right_z=0.1367 right_yaw=0.0323 right_pitch=-0.0446 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.6479, 7.0222, 1.8632, -0.0806, -0.0317, -0.0171, 0.4581, -8.759, 8.6359, 1.4969, 0.5397, 0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2f971f9f5da75cdf46c22f0d2006b2b27725089efd972bdd1ced5295a7cbe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516e1dbe04c65960d2e568c3cec74bd2f9ad04a2ccc89fcf21eff06a22e8cd17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca882956a9d78d213593309a15ff177c829e9e38ea86e956950ce5db7eda77c2",
      "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 · 2.689 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3916, -0.0193, -0.0338, 0.9993, -0.0219, 0.7948, 0.6083, -0.3977, -0.02, -0.0254, 0.9995]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -1.3197, 10.2222, 1.9463, -0.0659, 0.2271, -0.0904, -0.2256, -1.5521, 9.6889, 1.9853, -0.0464, 0.0952, -0.0708]",
      "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, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.8333, 1.7409, 1.1751, -0.2539, 0.6373, 0.5056, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3767 right_y=0.2637 right_z=0.1367 right_yaw=0.0323 right_pitch=-0.0446 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.6479, 7.0222, 1.8632, -0.0806, -0.0317, -0.0171, 0.4581, -8.759, 8.6359, 1.4969, 0.5397, 0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe2f971f9f5da75cdf46c22f0d2006b2b27725089efd972bdd1ced5295a7cbe8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516e1dbe04c65960d2e568c3cec74bd2f9ad04a2ccc89fcf21eff06a22e8cd17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca882956a9d78d213593309a15ff177c829e9e38ea86e956950ce5db7eda77c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxVMkvmBiPKryaY-i-7WZUpHYTBT3T5dJbx1pdiUAfgHGEThM982dR-reML-MZiNrF325dbCLrPaK62ZnEjZyozJ5sOHypeQX5l2TB6J1fmCcoHoAmQmabiJf8MOjTrUHmoC8CLXhkOkj5LgeVT30W2NhzgcGRKt-LjQUk6mogx2OxwInAENKXrQjGbXeaUHmKm4iasGnR7s9JLmLiI3GZa07q0NXVVckjH4Hg24fQqB33AopFsxL2-gSZuSizbKkRzZnGf2XokRhLMbJsgxacWkrXSwOqGAvIeYwQSsRO8iuzbuqg_qvphdtFiEwBgtYbw1lrTYwRihKWv9feH_PdUCKg9RaYFFH-Atvwlun4101qTZ10AL0MhYmIAKiB53ZrnH5mScezHwPJ4j3j_gohAdm2J7U-77pUNXiR3EIiRwhmE_DyGLUqu_Uik-av_gufpb7mDadE00_2Y0Nxy2PjmJwcY48smM-f2yyKMy-mnA2GcC-AcH-RZ_XqE7VOQXSMWuBQ0LxJk9uhJ84V7RDFUiji_OqS37iD-itEBS07SH6nfYhB16C-nf614vz5DuUwdzlHNB671EdIgWIt5jNEmx129GjwiLmAXDq5tfflxLVtoFhWyo5weOvppgzECBmByyQuqmYlF0CGnJaiEkZTQIjnTKIXDBvuDxt_zgRyoDT_3rtmazVelR5f7BoHJeNJSQja-dQpMbOQE3JeyrvC7lCOWpRf2VAmiIIzTxMue5S7c44ySoJe2sVf4TQYMGUhGqP34fCcthrltE94mj_OkqnWRH0WrUpa2f0aAv5MrETYafMO0V82oo7HgWRmG8lbsOlb8CbWhhnYarqy6JIb-p89uhlEOmdXYshSXn1BZFUCOZQWYkehIS7oChwxdEeZfDnSPH0FY4Z6UG7Y46BCVt7EvqLQf-kvXsaou0ZwfsuWNbaJZjmlNJ_PtJm8Ef-GzNPMj0ngPKsO9s4RUH4wKRMbS1j1_K7UKT2C1MUkf3X1xWLuy5mltAd3nFJ-K-CKw-QWdWp39fAfv8fk3R3Rmha6bSYBM3UkHJ-UV54TU3rQ5WL9mIV9sd1xVIeXKzM2fMtICAXVjVZUhKzn8zsN4KKOePr5HzsSgz1TeYZd-61qQLgASTPx-0G0M8t9Lw-KDgnwvn6N1Jt-ncEbS0sovXDbbaQsr0dlmo2p4aOR_eXrv7qeQSlOZ0p9GfP43LpOOTbBFXqQ-i4_f-q0DysI9HthRPYiEmYXOKVQIRdr4Ll7Ak5EA_4lGUb9p5IfKt1RmVUBhidd0-wSpA9miwrWHP_UnNrSWPh14x9YhA2xFegmEXhdOEf06ZNg_zsEp1--93Qt7pz3F_Q9BWT_S_UuvaUUufeb0HPZot1L0SZkUGSH1jDgBSHRqW77aU74UVCxNlpaILvGJoHg7h82ORrKHVSFuMSloNsGj0TEKJZzBaU88O9kV79ugN-7kSSsAqqm0eKEGs6NQQefyDP-PXSXFsgT6v529tdfZT06C8pZZXgv0HrSgH-4v8cLv4_dKr1Vwj_Q3jgUVijDLGTeFv9FM9OBLFCwIcFixcoNVqHP4alYfbREaq7Iq0ityhxYNRuqvIL-6uIiuf_HrmNNIXf_mOwEVVQJf18rMua7ZFWEsw5KX7IodPnA9Hhz-arebCcLBxH4cs8cPG051lO4C3sbmUB7qKz2OEESaxHkVV75JrIq9owvVfyrpTGymr-BVEn6ZIfClXxd3d0iKBRFYCz5NMMo53ww9lD36Y2fa7oUqvrDmaWuCdbmM7nB0lRvsqX1xhrkOMvV2zqzZxUa4tlZMao-ZpTXTulggdOedMtHf-opL-hsCCrEsZtLUQcsX7iJba5ug3Yg_iPP1oitAs2lk5dNb2kboYhcXg_zmyKHGN9oNJxFX5mDckOfGmkYCwY3l7GQTjl6dWbNFOWujcWITioNlfGcrEZjVKfYm6XdkQaF5UH5NrBek8bWiBsSxl8KQd_gqUZRwVyt31IV04iWgjnGulG0DS6REOQc-zMNpPAwQ50gpjKPw1MX8kzFC6OwewSBVkhP1bNd6vRSr3Y3nUAg4Oo_o8lcO5PjxmLFHuwADpCu9cb-7NcyHSxW1OUboyXpuON6KP3QL6FR9Gc1NlWqKLXkotYGzuzvMs6V4NxUe52xNzfNyhjebftt1B_Ne7MXJQpZVVG8WpgoShDkkkPtDu6Fr4vhmQje1Sps-W_If55C26MdN92sqD_XMhh9a-KZeij2YRIJX5kObNBAyb9D4DFErc3FqGb1e0eJkeTMKeFl_ZX3nve5HJO30-b6IkfyLeBnIgeibpD-UEic4uAeUBS3-EiEwklBN2DagWy8=",
  "id": "rs_07c37685040cf413016ab42c51dbb087d093267624087461cd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_z\":0.045},\"note\":\"The yellow object is centered in the right wrist camera but still sits ahead of the fingertips. I’ll advance about 3 cm and lower the open jaws toward its middle.\"}",
  "call_id": "call_phIPYuEGbHYv2PU820W5f3s8",
  "id": "fc_07c37685040cf413016ab42c544e8887d083e66e7f6afd5c6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_phIPYuEGbHYv2PU820W5f3s8",
  "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, 0.7982, 0.6064, -0.4126, -0.0189, -0.0387, 0.9992, 0.7807, 1.9556, 1.0698, 0.0242, 0.6098, 0.4671, 0.9994]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0244 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3959 right_y=0.2548 right_z=0.042 right_yaw=0.0182 right_pitch=-0.0901 right_roll=-0.0862 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.265, 7.159, 1.7851, -0.0708, -0.0562, -0.0122, -0.6085, -9.1009, 5.3949, 1.3114, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21bd6f4823bba730a66f26c9d2cd40a6b337e3b336e113f160b7388a5ce7d906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc35ab0f5f0fa9b63f84e1593baf46f10487bef8aa96f6790336c2d10f8e326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28e9a04e3ae25387fbe23dd12e14330964282f0ecd88265b580337d82482730",
      "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 · 2.194 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.8333, 1.7409, 1.1751, -0.2539, 0.6373, 0.5056, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3767 right_y=0.2637 right_z=0.1367 right_yaw=0.0323 right_pitch=-0.0446 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.6479, 7.0222, 1.8632, -0.0806, -0.0317, -0.0171, 0.4581, -8.759, 8.6359, 1.4969, 0.5397, 0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6064, -0.4126, -0.0189, -0.0387, 0.9992, 0.7807, 1.9556, 1.0698, 0.0242, 0.6098, 0.4671, 0.9994]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0244 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3959 right_y=0.2548 right_z=0.042 right_yaw=0.0182 right_pitch=-0.0901 right_roll=-0.0862 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.265, 7.159, 1.7851, -0.0708, -0.0562, -0.0122, -0.6085, -9.1009, 5.3949, 1.3114, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21bd6f4823bba730a66f26c9d2cd40a6b337e3b336e113f160b7388a5ce7d906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc35ab0f5f0fa9b63f84e1593baf46f10487bef8aa96f6790336c2d10f8e326",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28e9a04e3ae25387fbe23dd12e14330964282f0ecd88265b580337d82482730",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxY7oLK9uTOu8IFOGxIemWJhOF0rCs3DuoG9g2RPDhnC-RjSR1SgxTbAHciuZj6AhRi9xRTuFI63pqPihzFgQMSu3xxE_QcppLgtD-9LaKU-qM2iLCfF70CyC3e9TqrAQlQhB_W3F3kjPqOJhTmTqjAZOBwRggQSotpo1-ZHn0fQE_LS7ek_CETL8zDfBICWGbbCE4_-gabgRPbPV2JOSulySJnxBuJtL8pCX3sqh2NEQeDXxGLKuiVip7KLG9YHh9ThuF7h8hUcTn2YiZPzCFwoq_w5CCYDOsN28uoaS77MuCB9gBRM9u00iwQeqYL1oSTXXkmKTb4LFw0wDxLwPPlbO2w6i5llmx84UXl0gEE760yU5LbfoWe2uuDJHl7x7zjZYYHkEBnQMilJmNJadQWH8dYCpc3BBNmNDN5kras0xo_cSe1QCZEJhrln9UQI5GwHq87yYBcZMoRUiRz5CHphvAjbnZN8QmtV9OWZtgCC4c_KbX1SIwtFMdCfxd3CmUYZPsZH0vtHgWZQRewevrALvDcsCsIaIvjZOY62GvVQok1iHVzJ_C3AZx3HQ49Aakn_nxF8tdLt8q6iJ0O1KMnN8u0okbdtzK3akGRpARrRAfc_NJ4ptLJnCaPOWqCm0yc8IxzknIhsAJU_OKz4cZTsmVp_6F3UhFX-A8qVNrVqI_Qb8mftG4mHUUBUw6zOwBBEHnF7r0YQSBn2IpZAPFQpiVwtZGsLtLPLy9psUMaWasZlQOhNLVnU1lfi3agrLr3-UC1USUPbwOFIP7BJNn5WUNXEr-6SFbdgckxHRcNuv9k91Ba_dP3B8qm6LPyt0609N7BfqCGRYJLRvsGal_APfp4H7vLwJGxrcH6hmERceQ2jX4tJaloF7vlDkB2MFu9IARCXvVMl0MWYlvd8Pthsx81ihXDIK1zEA4aYXU0-BLSlStyClK4RzsKabqTy54wZ9RIAl4V4CDP18Hl2kGijMBur0vxNhSzl6viWDnfS88Yg9gcfOAJq6lCtpUawLRewkgc-3SO4C0M3SX05LJol310ZAa3xsZFLFK1whG9JAbtRg3zvYCPps0qM4xgXliy_SV4SGwDCH_P81KNlFg5Bps-W5MyEr1K78q2icR7qjkJeeo5zIP0gog53VylEdP5PAeb0LSgpabbLDVqiJ7GrIWD7paoEVQwigUA0_LzwVOwRaKM99mkCkYiJgWsfEJkCIDflup3hUdHCc1Wulhy_MY9W6nrp7enJUwhOU8FAQsfMvmr775a4GyrgOkNxFtpohe5SFsS8GuuH-yZyvdMAKNSOhkKpHf-mwaYWT4sdA_aQBbBnCELQSuZozBdAvlcCuPGjh3V6rU8Y_UFbhOgoIgGUWklWEkVpaK3VViG-ovqylzxCGhynoZwuYRfd_Don3cVurXobK2gmFpLVtcMwZ4kZIPWpTIKZ7o7N7We0lZ8vkaHqeOyrX7Y52-QMljjT7oPdLspgn7tU49Kmf8TI8a3-qUIqyEGAEGco98ZYo0ebDat7-Bbcfkds4ed7qFJkGwf2wfhC7dSshJ5UgILw5a9MHa3_u9Xg77UhKjyi86xZUfwCLmEmME16mdKNy0VMddkBTqtt-Lcrm38Qy2P6A==",
  "id": "rs_07c37685040cf413016ab42c566d7c87d0a6f22ad404a75ae2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.271,\"right_z\":0.012},\"note\":\"The yellow object is now close to the jaw tips but slightly left of their centerline. I’ll make a small sideways and forward correction while lowering to grasp height.\"}",
  "call_id": "call_RFecv6bWsta1lsvK6V0IT1DH",
  "id": "fc_07c37685040cf413016ab42c57d20087d0b6f5f03d8d6a1867",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RFecv6bWsta1lsvK6V0IT1DH",
  "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, 0.7986, 0.6064, -0.4164, -0.0189, -0.0383, 0.9992, 0.7765, 2.0289, 1.1263, 0.0959, 0.6273, 0.4614, 0.9994]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4148 right_y=0.2672 right_z=0.0399 right_yaw=0.0072 right_pitch=-0.0417 right_roll=-0.062 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7607, -0.0708, -0.0269, -0.0122, -0.1846, -7.1726, 5.0256, 0.6178, -0.2662, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab4b965e44fed231d395e356500191d9f37c3a36f9ca578ed1eead98e4bf5c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f062875fe67ef5cde444e893f7497348c64c225f53162874f2a5323957a8b1ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd0d198957f091f8f96c50cd98827327b8b40323ea8755be1811d4d2c1b979b",
      "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 · 4.225 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6044, -0.3916, -0.0193, -0.0338, 0.9993, -0.0219, 0.7948, 0.6083, -0.3977, -0.02, -0.0254, 0.9995]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.178 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -1.3197, 10.2222, 1.9463, -0.0659, 0.2271, -0.0904, -0.2256, -1.5521, 9.6889, 1.9853, -0.0464, 0.0952, -0.0708]",
      "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, 0.7982, 0.6064, -0.4126, -0.0189, -0.0387, 0.9992, 0.7807, 1.9556, 1.0698, 0.0242, 0.6098, 0.4671, 0.9994]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0244 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3959 right_y=0.2548 right_z=0.042 right_yaw=0.0182 right_pitch=-0.0901 right_roll=-0.0862 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.265, 7.159, 1.7851, -0.0708, -0.0562, -0.0122, -0.6085, -9.1009, 5.3949, 1.3114, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4164, -0.0189, -0.0383, 0.9992, 0.7765, 2.0289, 1.1263, 0.0959, 0.6273, 0.4614, 0.9994]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4148 right_y=0.2672 right_z=0.0399 right_yaw=0.0072 right_pitch=-0.0417 right_roll=-0.062 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7607, -0.0708, -0.0269, -0.0122, -0.1846, -7.1726, 5.0256, 0.6178, -0.2662, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab4b965e44fed231d395e356500191d9f37c3a36f9ca578ed1eead98e4bf5c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f062875fe67ef5cde444e893f7497348c64c225f53162874f2a5323957a8b1ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cd0d198957f091f8f96c50cd98827327b8b40323ea8755be1811d4d2c1b979b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxaFrG8-QyXD0n4OwlaaCyTXYDSlJemeE-wzEoghVLpJwoTHrrQSfBKeVZP9gBSsNJu-QUvxoalFJdfojjVEWFZw6zyEg7zBJVAakexe0-6aIJQ_HTp2V04Vl3GqI14Haywcfi16qfc1SGJBUtQsbuC00KChYDw3rjv5Oas6T8B2GYZmv5DxvS_Mkpvj8EFnMHwXYGv22SzMNGz0Zp9HbrqcpI3w-Hvi3r14SeyLxbCBk9RVT3T_bIhANSLpAtEZVWS98GeI5pIH8MsQsB2VnwPROFZ-XRzzDP51CdmFP5yeY2sVooH4qh9OIqtSL0FtJgny1RLZT130vRxuSJcXZTjrsq2ZFhUpJXKqWbJh3tHhYSyiGFg4jR1u267-i5_dD6ymoVLca6KrFdeksUHylej2Pg8MPLglKcUyyV8LyrNYvX9-M5UC-FGjuAFE8mYVZeBFI3iRkqCenCgIQ_OrIKrzecV6Di129_xEsapCN6gqycSaD7r2noQa4VKCsib5OHZTP7mbpWMtQ_6Nd4Lw_P_4EySRnmI6ljhgD3BROOeLIJ_eVaeG0edOcBO9eZVYA4wwPpGFqhZuVrT8VRyzHusDccVG0eqwzuFXa9qA3RAGujPv9NIdky8A6RoMJiYThZ37GHleRyRIOdW5V_CGwWiiEn-x7mqKB63zi49gxDYfLF3zukmz4ZF_mGNaWSKSj69QQWeBASBvL0obhHtrHkdyuJBV19xVGL6-fmt4AggQtdC4BjuGAk3TdE_WX_GkMzQtVxHasIPdAwZ24p5KkMgILxu0kJ3SdKCxy_ZcCl6Oal1JqN-tvGLs5097AiyM_SUc1g_YwVuBS4FK5wlKaSLFopUmC0rIBf8hG_62ILCpY1-1ELHvO_33mTqXFGcPOGJSiNs-S94IW-VQ5RObzH9OIknIPoFdMhNwynO1nQxSuzu6oIz1yAN5bpy8CgjMdPWq8jo66cEy6s63_oQ7NhkbhoGiEpOaKXhKnqj4cN8MWTT5051vmdfSINQOIyweFiGUU9JanBhYjBVwRCrstZI5AAOIshwGjIFwnG1CjJnb3w4Zc-7E_51lz1VPOR8l3uQ_HBTNX_jQI4aFgeA8tYmdkAW8FkAitzI95Dp1TatDaZ6QQb-sfpT6lWAFG1WQmaaB-TbDuQqkWcLaW2mWuyy7ORjVRGkM3RKB9HIE9sAi89ILi3RhjseQF-5uCjJ1F_bIPizVGNwuOpv49k169MCmD0OK778Ugh-QhhX-28xJyAEyV_22gZMIHRNe95QihmCsVCIxpV4DPYXUa0B3rKdXoYUXCwM00kJXxsQUturkXj7oPolrPvRaK3j5rIVE4ZLg0MyhMiWFQ4dVbxbc6HLKiLt24gmwJrQffSdZk8gDajEhYv-v9O9xYUXkAGquEsUPjr0DXjYl5yA1rhkjGBFxNSpp_Jt1spGHTprhCtG8-EA0xcOuvRhQd-ZEzzQcqc1gz_TDJqzyBO-nf32NDsRfLITzOJZIx-sQes7ck_biU_ECk82GUoUvcFFg9S7b9rm",
  "id": "rs_07c37685040cf413016ab42c59495087d08a14ac13d869930a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The downward motion stopped near the yellow object rather than reaching the table, and the object now fills the space between the jaw tips. I’ll close the gripper and check whether it holds.\"}",
  "call_id": "call_sthLbhKD6idOChJUk26DUgEE",
  "id": "fc_07c37685040cf413016ab42c59e91c87d0bf44a678dab54241",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sthLbhKD6idOChJUk26DUgEE",
  "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, 0.7994, 0.6064, -0.4282, -0.0193, -0.0387, 0.9992, 0.7727, 2.0548, 1.132, 0.0978, 0.6285, 0.4557, 0.4279]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9992 right_x=0.416 right_y=0.2655 right_z=0.0303 right_yaw=0.0052 right_pitch=-0.0545 right_roll=-0.08 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.306, 7.3231, 1.8632, -0.0659, -0.0171, -0.0122, 0.2667, -12.6564, 5.1624, 1.3504, 0.1734, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c90e36cd0935c3e02e719a0e38820359f6fa440bb6556b27f8d72ed8eb12607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1912f311d7a2165d7f30527315f593379cfaa7319930e5f1ba58baea4fbd73fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a488e7fa4cfb3112d82cc844cb7ada09995aa53856d14c1a83c2073e5f7cc3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 2.88 s

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

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.8333, 1.7409, 1.1751, -0.2539, 0.6373, 0.5056, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1747 left_yaw=0.0029 left_pitch=-0.0175 left_roll=-0.0034 left_gripper=0.9992 right_x=0.3767 right_y=0.2637 right_z=0.1367 right_yaw=0.0323 right_pitch=-0.0446 right_roll=-0.0404 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.6479, 7.0222, 1.8632, -0.0806, -0.0317, -0.0171, 0.4581, -8.759, 8.6359, 1.4969, 0.5397, 0.1343, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4164, -0.0189, -0.0383, 0.9992, 0.7765, 2.0289, 1.1263, 0.0959, 0.6273, 0.4614, 0.9994]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4148 right_y=0.2672 right_z=0.0399 right_yaw=0.0072 right_pitch=-0.0417 right_roll=-0.062 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7607, -0.0708, -0.0269, -0.0122, -0.1846, -7.1726, 5.0256, 0.6178, -0.2662, -0.0952, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0193, -0.0387, 0.9992, 0.7727, 2.0548, 1.132, 0.0978, 0.6285, 0.4557, 0.4279]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9992 right_x=0.416 right_y=0.2655 right_z=0.0303 right_yaw=0.0052 right_pitch=-0.0545 right_roll=-0.08 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.306, 7.3231, 1.8632, -0.0659, -0.0171, -0.0122, 0.2667, -12.6564, 5.1624, 1.3504, 0.1734, -0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c90e36cd0935c3e02e719a0e38820359f6fa440bb6556b27f8d72ed8eb12607",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1912f311d7a2165d7f30527315f593379cfaa7319930e5f1ba58baea4fbd73fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91a488e7fa4cfb3112d82cc844cb7ada09995aa53856d14c1a83c2073e5f7cc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxfQ4STZ8epwuTqVDy0vMa4jMrfoxJLf1KJpDtcFRf1RD6jWafjhG2T6tEEKfIzCzJIU89OKzYApvULVKoItrv4JzYkdGYN16vCKACUQkknUqhx5C9Eiuq6AjZnz-AgC_3ZQZKWJNMMYKfwKrsI8HQJ6PxMTBj8W4irrJvzdjS6OOKLZ6tLJYBcphdul1u939th_-daP_S54o4iwiIGqSxbIPEtbs5C91rJ7kmprIezUip9ArpW7YiMMGCTDtgzAaS8X0cgHwrZWJCAURTQvkZfFd_9UIVkoZijc_YUyqT6kMFdZtxJqFmNKt_qNPOQWxgWV1hEwS2g5zX5MZAuChAMh98o5ykUsy9YW_VbUk4svhy-EFSjDeIp-NiLQRADC1oWiwFWrMiCVHZOuHzIQGw8JAMrcAhikh6XwseyV8lTknTr8uR-zXt9yjgEf2Qx-O2uj21FROjAloe46zEktrlbQZslB4yr5_UPqDd_wLlBruGJqPXx1qfx31n649Ctct8663IAj3Gi6xXvgZXuEw5clvBbgPMJIbAl70UItZz5q6l91Z-wrkFW27VEYPLxQDuK7hLIyKO061xucCxHrvUdpe21EkyKEUX7Bmja6l1tp-hrfls5veB-OEstwHZaNUO9GbNriAEJcs_hZBkwSurEaTcPZNsy7yX4BsY736uTwvhDA5DlTnN8ImozyRAl-K_LXCu27euQB8L1TQNvhQ8uIo7JY1zNJeJjPAD8MwtJ_tVzzJAB_-rJwgd1LUIqP7na2fweF7MaeU0nH51MEcTDuLpcXSpeoBE4ClZoEFgnowj6iLZgnAZDB4KxsuFNqW6fpmQYMBaLdbXQSONk4tk9RvwAoQCWfDIyqoNG91I85aDQPsZSwKpMsOpoKUQTmwZddgtzcUUPeLBkEQIjoF_wPeQGOAtWgkJoYOf0E-fVQIJqAnha5nnDeRTj7m9TCNC3guzB0aGO4BPqzfuYFQB9ewvQK6rkLr_nx2MBaEgt3KqHplgjOTOrT_YgvJ19NKbctHtI87G2OCIE5bpJCIcwAPTVmtL8fwyHLP__-h-LFerG2xGY6fhCc-KdG9yXZvhzhzIUzttHCKFXB9u48P0tl7f84q0VvlLrk2dbayN2y84dXCGBN2lXpr48wEqf9F0yapsajgvNUc4WY_HudH869ZQm28eg8c04h2hYN9ItDwUZWOIP7Ds8OJdGi-n-2spYB26X-X5mJcrOVPKj_sDBdj8Q-i_aE0adWjlbh7PjvidsA0lzTeMKgv6oJqsaeKZHGtvVxZ_l9ihd2i33_1xyas7Dl0vNg-mgUyN6Ewm1Tfj8gHG3gWHL5bJuwF6CPZC_oANgpW0Uhm7LjyGEi0-Ju1kPkqD6WXJ56hMpaVy6FmvdNXGs89qS3lxncjE1FDQx4_jjZorOd2P4OLq-cxo1Hg_GX1-VK11WkuqCUeIGKFOpdk_UMjbiHRk7F0rJhbPTlo_t3Bejt5udKhyt5JZpJF9RNggOboch9O_grJBOis8oNbSEnXRw_1K6H_jQyxWcqFq_Mv__9Q4irP6xIbqhgL_0u3l92wt52I0LLDi6zbc2qzRhm8HeKYwHU_cMU2cWd1X0pTDH8aRVs8uzqX_14K35hG50xF0PcGXHO1IRGGp-D7iBnfAj-_ZVolXXBcWB85ygBgO8FmKk-3SBNLtpsOjHrb_z8ZSclzhkBjF4AgJ5unHtU6sRAuVJC6uZAIpS3f96eIwOk2KuyG2reuSQCruKc1JhFmXDU4D7BhVWz4g-uG6Arvuj6zhUjqpLcLxT1jLBulUVG_s5cS-VkZgRbg==",
  "id": "rs_07c37685040cf413016ab42c5c6a0887d0956bc769ce985c0a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.17},\"note\":\"The gripper settled partly open, consistent with holding the yellow object. I’ll lift it clear and confirm that the object moves with the jaws.\"}",
  "call_id": "call_LgT7PO2B8N2j78EKMirGBGRh",
  "id": "fc_07c37685040cf413016ab42c5f43a487d098af68fc840d0d30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LgT7PO2B8N2j78EKMirGBGRh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4507, -0.0189, -0.0387, 0.9992, 0.7727, 1.8797, 1.3949, -0.3927, 0.6132, 0.4515, 0.4314]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0675 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4137 right_y=0.2663 right_z=0.1375 right_yaw=0.0153 right_pitch=-0.1007 right_roll=-0.1114 right_gripper=0.4314\nstate[joint_eff]: [-0.0615, -1.3607, 6.9812, 1.9121, -0.0611, -0.0513, -0.0122, -0.3624, -12.7658, 8.9778, 1.4628, 0.4176, -0.022, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fa37ed816b175ce3f60bc679ae96e88763ded517006e77558b462de4d0aaad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00599a95a2b38dc76913403040ec71f4973c12bcae85bd3a05f4d4944f55f94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f812dbddaff8a59ab8953ae002d8ccde0a8747eb1374ae9f14c290ba86f106d",
      "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 · 5.73 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6064, -0.4126, -0.0189, -0.0387, 0.9992, 0.7807, 1.9556, 1.0698, 0.0242, 0.6098, 0.4671, 0.9994]\nstate[eef_state]: left_x=0.2909 left_y=0.0014 left_z=0.1732 left_yaw=0.0028 left_pitch=-0.0244 left_roll=-0.0038 left_gripper=0.9992 right_x=0.3959 right_y=0.2548 right_z=0.042 right_yaw=0.0182 right_pitch=-0.0901 right_roll=-0.0862 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.265, 7.159, 1.7851, -0.0708, -0.0562, -0.0122, -0.6085, -9.1009, 5.3949, 1.3114, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0193, -0.0387, 0.9992, 0.7727, 2.0548, 1.132, 0.0978, 0.6285, 0.4557, 0.4279]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9992 right_x=0.416 right_y=0.2655 right_z=0.0303 right_yaw=0.0052 right_pitch=-0.0545 right_roll=-0.08 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.306, 7.3231, 1.8632, -0.0659, -0.0171, -0.0122, 0.2667, -12.6564, 5.1624, 1.3504, 0.1734, -0.0171, 1.0281]",
      "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, -0.4507, -0.0189, -0.0387, 0.9992, 0.7727, 1.8797, 1.3949, -0.3927, 0.6132, 0.4515, 0.4314]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0675 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4137 right_y=0.2663 right_z=0.1375 right_yaw=0.0153 right_pitch=-0.1007 right_roll=-0.1114 right_gripper=0.4314\nstate[joint_eff]: [-0.0615, -1.3607, 6.9812, 1.9121, -0.0611, -0.0513, -0.0122, -0.3624, -12.7658, 8.9778, 1.4628, 0.4176, -0.022, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fa37ed816b175ce3f60bc679ae96e88763ded517006e77558b462de4d0aaad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00599a95a2b38dc76913403040ec71f4973c12bcae85bd3a05f4d4944f55f94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f812dbddaff8a59ab8953ae002d8ccde0a8747eb1374ae9f14c290ba86f106d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxjAJhANGnVuxPGuocSsFea5Kls91Aqxd9RdhwO9OWKzLpX9kHHDfvmfyDPiZYxYS6tVVvrdZw_KHZrCLDqfH8EN3HsQCzUyifQkLzscp7gCtUGDcA_VvE0XkOJXVpP6cu0if_NCkxpvRRefD7HpvLo7Hq2HlIDV7Mnv4JDNQtPbPjSKOVunhR9U70hupW3e6QUH1wHy_0Uchta2KG85mJaeWs2Z-tIpiLH6rwepjH0CLt6Szw0hEV-fSaUCjZhhFeceVL8ubHUF-prKlyK0WvU9hoB-EEGWbUReonzkC-EVsuRLc9RvDhKr89k5yZQAfbkiOsy8OeFKzMiM6f_LZvhEdPWQ9CFVSrUyI9BWWvYbj4KmgfFNhyVYrE8pcZI5-N00VMOp2rpd6MsIF_BrzXoZG7xUxQQjig6SYFC-pUx-RHreNt9WDkVZez9Td5rSJ2ADW8ZlVQ5y19rwhcu5ZlWrRmF2H7sN6x4U8FSLxA8ZZyZb57lNzespbYA7hhoNoJ5yN8RtrNc7H-Teao7XlIYN7E2YSa5PhwngX74MYDpwsQx81SclTUDv9haZsMcxsxfdjd1GU-RmzR_23rxEIJmPLa93S5Y4sqV2RA9I6ADGjL-TDT4ZGIM4dPbEwOFTGIn9xk1ACSHq4WZJU-JVaTysSAd-Wel-Gh8ewsLAzIwfJ-63lU3jTBd2E5Xj_L6pJqJPfnvKc9wjTmblN9boVQ1iKiv_d2aePClERJyEgj5M9VMnTux-asiRFQTKR6g8nzRH3C9A9LXdSpAq0rx683fslvqQq84Md4i0bwfN2vO0TJHWef8PHkDwAItbeIN7EAzmgxXcXhyCwrfqCWis6GPrtIxCo3QwjqBpFnVlEsui7zF-e2o_KMxBTuEFtdok1uWLf5z48hkh-LcaBixsQMaG00JPXFuzh9B-fvSGhUpQx83Uf1nKiD3iO05RXmIoJZUnWa8Gypy3bXqGp-wLc97vrsSYD-J-6F1mrNgEcIYEWJTBu8Dbw6vG1r-Yj6mYXZlUBUzoPKl9_4cbAvxRBms_naXmbR8xPG8tOgiw-WDY-UszoMOzXPATnYVAUbspYOOL8_So_oKzYvPxXT8PsHFufn6s0w28EJIWPujCjDCJgLfN5lwnpGA3J6DMvVCQW79GKVkyRvnC7ltCU9Mx-tEJRD5cC6R_t0BQVA6nokBFeIaHJMiaNYMUlqch1QAfu5IMVzUmksRk3WqL3L8zddWMg8dUsdnYIMYvBYU04wVMl6WmMbyI5eeaUFqVo9ak_WcjvmEwS2jY1xYbKWlQLVtqY5s69Ey79AANB-iSnGyxS1tjgjv4uNsSQWz8ut3eoWRPEPiXHTCS6UG0-i_Vi1VGVPa5xjMlrdmZ0ltd854ADUj_355TNweEKKviduhPbJLaK92nvKAoUXe3_L7aCI8FTbuNqJ1_Q-ksAccdAkUlz56Yd81_ln9qidguZPOM-oLX3Onb10rAcpjHRCfq_3ESHpDJ5kb6rwKvlbEvZW926tYARA5qSQ3RidU33abUMmwO3A1dsiJGTqlsJMR0bIa-IjGSap1YumH5yfS8jXwM17oiRbHZRXhIue6PxpJ7UozjzX5kRLvwIXffiWssHe3gENsDg7ILHcLuiSE1f2fIXUUAVHQs5tEPYtkSVOFM_6vNPnX9qsbw3LsrwFkHOyJI8an3MlDXyGVMBrnF6zE9uo=",
  "id": "rs_07c37685040cf413016ab42c61f9c087d08732fdfae45e29a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.385,\"right_z\":0.19},\"note\":\"The yellow object lifted with the right gripper. I’ll carry it high over the open red compartment, keeping clear of the safe’s rim.\"}",
  "call_id": "call_OdQhKanmLBFHhJcTnS87ODJi",
  "id": "fc_07c37685040cf413016ab42c62f02487d0a784d868754cc251",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OdQhKanmLBFHhJcTnS87ODJi",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4587, -0.0189, -0.0387, 0.9992, 1.0561, 2.1273, 1.9713, -0.9104, 0.7418, 0.7158, 0.4329]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1627 left_yaw=0.0028 left_pitch=-0.0755 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3506 right_y=0.3848 right_z=0.1821 right_yaw=0.0556 right_pitch=-0.1229 right_roll=-0.1217 right_gripper=0.4329\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7363, -0.0708, -0.0317, -0.0122, 0.2256, -11.1932, 8.294, 0.9988, 0.5299, 0.1978, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f0f0344df54df60b060524c7693e21029f122dc20c66c9e5c3b44c06607edb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1966919a9730a9ac3d982ba79fa9e120e096845a303f3c8d61843ba9529d7048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4892025dd45b626108ff823f563d9c2a27229ed000056d74eb536af30579a7e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 2.14 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4164, -0.0189, -0.0383, 0.9992, 0.7765, 2.0289, 1.1263, 0.0959, 0.6273, 0.4614, 0.9994]\nstate[eef_state]: left_x=0.2904 left_y=0.0014 left_z=0.1723 left_yaw=0.0026 left_pitch=-0.0286 left_roll=-0.0034 left_gripper=0.9992 right_x=0.4148 right_y=0.2672 right_z=0.0399 right_yaw=0.0072 right_pitch=-0.0417 right_roll=-0.062 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1829, 7.0496, 1.7607, -0.0708, -0.0269, -0.0122, -0.1846, -7.1726, 5.0256, 0.6178, -0.2662, -0.0952, -0.0171]",
      "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, -0.4507, -0.0189, -0.0387, 0.9992, 0.7727, 1.8797, 1.3949, -0.3927, 0.6132, 0.4515, 0.4314]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0675 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4137 right_y=0.2663 right_z=0.1375 right_yaw=0.0153 right_pitch=-0.1007 right_roll=-0.1114 right_gripper=0.4314\nstate[joint_eff]: [-0.0615, -1.3607, 6.9812, 1.9121, -0.0611, -0.0513, -0.0122, -0.3624, -12.7658, 8.9778, 1.4628, 0.4176, -0.022, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 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, -0.4587, -0.0189, -0.0387, 0.9992, 1.0561, 2.1273, 1.9713, -0.9104, 0.7418, 0.7158, 0.4329]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1627 left_yaw=0.0028 left_pitch=-0.0755 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3506 right_y=0.3848 right_z=0.1821 right_yaw=0.0556 right_pitch=-0.1229 right_roll=-0.1217 right_gripper=0.4329\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7363, -0.0708, -0.0317, -0.0122, 0.2256, -11.1932, 8.294, 0.9988, 0.5299, 0.1978, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37f0f0344df54df60b060524c7693e21029f122dc20c66c9e5c3b44c06607edb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1966919a9730a9ac3d982ba79fa9e120e096845a303f3c8d61843ba9529d7048",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4892025dd45b626108ff823f563d9c2a27229ed000056d74eb536af30579a7e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_07c37685040cf413016ab42c6569c487d0af439c22c031c4ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.317,\"right_y\":0.4,\"right_z\":0.073},\"note\":\"The yellow object is over the safe’s right-hand side, with the red interior visible beside it. I’ll shift it slightly inward and lower it into the compartment.\"}",
  "call_id": "call_KSzmE4LEMGaq4Vy5MdFEXRZR",
  "id": "fc_07c37685040cf413016ab42c6991a087d098214154665ebf81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KSzmE4LEMGaq4Vy5MdFEXRZR",
  "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, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 1.1324, 2.1704, 1.6516, -0.6472, 0.7521, 0.7921, 0.4329]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0896 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3139 right_y=0.3938 right_z=0.0777 right_yaw=0.0724 right_pitch=-0.1606 right_roll=-0.1551 right_gripper=0.4329\nstate[joint_eff]: [-0.1846, -1.0188, 7.0496, 1.7656, -0.0708, -0.0513, -0.0122, 0.4171, -10.8786, 6.6256, 1.2039, 0.6325, 0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f1b7447aaea94508c6de97aa0f9de9cce03203c5152514975a823539ec5a9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28045caead2fba8c02eed420be1f9ff66f665d25647eb362d887262cf0b15e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b8dc6d309f65ab159ab701349f8a9afe9c168f4628badf892e918bd6583faf",
      "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 · 1.932 s

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

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6064, -0.4282, -0.0193, -0.0387, 0.9992, 0.7727, 2.0548, 1.132, 0.0978, 0.6285, 0.4557, 0.4279]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1697 left_yaw=0.0031 left_pitch=-0.0412 left_roll=-0.0032 left_gripper=0.9992 right_x=0.416 right_y=0.2655 right_z=0.0303 right_yaw=0.0052 right_pitch=-0.0545 right_roll=-0.08 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.306, 7.3231, 1.8632, -0.0659, -0.0171, -0.0122, 0.2667, -12.6564, 5.1624, 1.3504, 0.1734, -0.0171, 1.0281]",
      "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, -0.4587, -0.0189, -0.0387, 0.9992, 1.0561, 2.1273, 1.9713, -0.9104, 0.7418, 0.7158, 0.4329]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1627 left_yaw=0.0028 left_pitch=-0.0755 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3506 right_y=0.3848 right_z=0.1821 right_yaw=0.0556 right_pitch=-0.1229 right_roll=-0.1217 right_gripper=0.4329\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7363, -0.0708, -0.0317, -0.0122, 0.2256, -11.1932, 8.294, 0.9988, 0.5299, 0.1978, 1.033]",
      "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, -0.4728, -0.0189, -0.0387, 0.9992, 1.1324, 2.1704, 1.6516, -0.6472, 0.7521, 0.7921, 0.4329]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0896 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3139 right_y=0.3938 right_z=0.0777 right_yaw=0.0724 right_pitch=-0.1606 right_roll=-0.1551 right_gripper=0.4329\nstate[joint_eff]: [-0.1846, -1.0188, 7.0496, 1.7656, -0.0708, -0.0513, -0.0122, 0.4171, -10.8786, 6.6256, 1.2039, 0.6325, 0.1148, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f1b7447aaea94508c6de97aa0f9de9cce03203c5152514975a823539ec5a9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28045caead2fba8c02eed420be1f9ff66f665d25647eb362d887262cf0b15e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b8dc6d309f65ab159ab701349f8a9afe9c168f4628badf892e918bd6583faf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxt7GFH0u-EmD6Dkm0GHoTgjKWwbfT6ppe4IvKW_3pwcJKPv32uikCqEZo1N7Q5GEWBctOLgMjo5KygHfX1pdx4_PPXBVrGexb11GXMgH1Lg28o6Gd0p9MHKaru_2MYUz8jEU9b_dxnMLoEL0PfiV-7MBRI3r61Ej9WPuNCHPD_doZmaskVGBXMm25I-4OXF0RvuNXb5OqkA5D2kTp3iMBqGFv8tKwV-UjNfic-bRx2AoF_GcctIgti7LpZE7Rr-nulW-xpkTjr7ehX5sqk5fTPwb8oVRk63FSZUTlYoD36ll2pMDIAuT4voXatrSMnGMlzGt9wdEu0HO7uKtHDLV7OPMF7yD1XB3PmnslVh4dmTo36iIwcvy7eHLcP-iB40UO7UwOlRlkesBomQv7zrhVanhWlww2deGHR8h9LR2UHfrSfQ78AYo59SvYASswXbr7D5eLL8oMIxPQ-dBFFg8hSExa0L4oHPdtfPxBTO2TAM66_OiS6cOayKZsB-5ZOC7wilEsJ0Jp9FmWXNHyyOv9xIkWDaKgMhVg-eaAzIGIhVXSsMzPEiWOTTtZQLheRHNihMDuGXYC6Ix8sDqamtZbuigCZlGN0wJefK3Z7j4tvdQVdvb8X470GO_PobhOKZTeYRybstD0SQz6qIDO5AGTaPTyWZRrPruryERC2X0R8AjatkRGVBa-JXfm2My7ziz-BdXJEHf-MfRbNxWLygHMQmHQxpyDv7iGwk1WUuTbDpyZ7V5vXSMuaYbHckaXFF6YAKyBVQnACosx6L7lxEQOQWcUWZ3_K-7nOrFd_xe3uUfPsQprfnU9UPKJqQGmjqGCYAUJplErkpgS1GAGCDxaZKWiHek4b_C01f_JUzaWuRMqUTs-Erzvin2rmDPTZLPGVW6ESDCzCcz37EeezaB0-kfWZ0qLdFgE7kP7DvDqZ-U_e2NME1zP6y_rsvtdpMiv_ecz38KCk7GYzACvMCtam3H6L1aDBsUixPGnuzpfS8hj3Xz_Q3_hpaU-n5uJfdS10KpeNSwehWQalQz_uxF4LEKggUzPhBBNCRoRibs58o79rrmuzljYp27CZ1isU9Zh9UpcS-2FljlDB4Nt2k0gMiAyIzQfwVQ42cK_29YjZZv_uIDBSMKiJtiLzJKuCcwKDMq4OXcieJsVwrs0JxUt-WdFMVxKPvMFJH3YVutpwjYnUgyBzUIi8Bki__gfXFkHnUHsyeQm67yVOOVjiuWQ4KN6bOFLOZ0pl7eqFUpQQPIZaHKOR-DbyotqHOVNoqi_qjVxrU_bkYqykIPLjKAx-I_4K98BY0BpAz4FI3_-fEueNzkoxibQ0Wg9G2CX5CGVr0SMpfkAXuqtxOu3ZBku7Vy1xdvcnLhShZpepoA_qzFsXGMeqrbBmSvXVmeoWt_PsfiZtKvFgjMFV-9JlAP7i3mxxDzEiwZ-PqL3v82LqFTyc6p8j7kaE8aaLbD2KJOSYnbDHDhoFp7PjDyRetjfN2A==",
  "id": "rs_07c37685040cf413016ab42c6bcf1087d081963e4e7a8dea4b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.02},\"note\":\"The wrist view now shows the yellow object inside the red compartment, away from the rim. I’ll lower it to the floor before releasing it.\"}",
  "call_id": "call_rHwZhbYcvUU4n3BwsphLtJVT",
  "id": "fc_07c37685040cf413016ab42c6c740887d09a9e83084ccf0074",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rHwZhbYcvUU4n3BwsphLtJVT",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.1358, 2.199, 1.5703, -0.49, 0.7788, 0.786, 0.4329]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3175 right_y=0.3973 right_z=0.054 right_yaw=0.0722 right_pitch=-0.1168 right_roll=-0.1299 right_gripper=0.4329\nstate[joint_eff]: [-0.1709, -1.0462, 6.9265, 1.7363, -0.0464, -0.0317, -0.0122, -0.1983, -8.0615, 4.6291, 0.652, 0.0122, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9117be033ddc3d281782072f8544fa2aae08921e21d87e587e7d82fa160c4125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920a7e8015011627bc582e3404f063d1737b4740e7524cea2758650aa596c8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c869af9fd3be3851fb1e1f76dfb82cadfff894a62aceb10ed0f060cf79c332",
      "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 · 2.022 s

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

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4507, -0.0189, -0.0387, 0.9992, 0.7727, 1.8797, 1.3949, -0.3927, 0.6132, 0.4515, 0.4314]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0028 left_pitch=-0.0675 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4137 right_y=0.2663 right_z=0.1375 right_yaw=0.0153 right_pitch=-0.1007 right_roll=-0.1114 right_gripper=0.4314\nstate[joint_eff]: [-0.0615, -1.3607, 6.9812, 1.9121, -0.0611, -0.0513, -0.0122, -0.3624, -12.7658, 8.9778, 1.4628, 0.4176, -0.022, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, -0.4728, -0.0189, -0.0387, 0.9992, 1.1324, 2.1704, 1.6516, -0.6472, 0.7521, 0.7921, 0.4329]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0896 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3139 right_y=0.3938 right_z=0.0777 right_yaw=0.0724 right_pitch=-0.1606 right_roll=-0.1551 right_gripper=0.4329\nstate[joint_eff]: [-0.1846, -1.0188, 7.0496, 1.7656, -0.0708, -0.0513, -0.0122, 0.4171, -10.8786, 6.6256, 1.2039, 0.6325, 0.1148, 1.033]",
      "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, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.1358, 2.199, 1.5703, -0.49, 0.7788, 0.786, 0.4329]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3175 right_y=0.3973 right_z=0.054 right_yaw=0.0722 right_pitch=-0.1168 right_roll=-0.1299 right_gripper=0.4329\nstate[joint_eff]: [-0.1709, -1.0462, 6.9265, 1.7363, -0.0464, -0.0317, -0.0122, -0.1983, -8.0615, 4.6291, 0.652, 0.0122, 0.022, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9117be033ddc3d281782072f8544fa2aae08921e21d87e587e7d82fa160c4125",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920a7e8015011627bc582e3404f063d1737b4740e7524cea2758650aa596c8a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13c869af9fd3be3851fb1e1f76dfb82cadfff894a62aceb10ed0f060cf79c332",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxvmeGbi8_HhbfvFmAZf-auZewz57Wz0PNHBE8xVsl5B-K_qRWDzA_K_3xkySZNojwddQMaeavOCbkiFFeboWszdD7oYlx8_utp9yb42MkzlxRKSiV0wCOnhJhSf8LDwNs8XKNMsT7VChVcqFrfNz-J_mrz2mJfSobVGk9FkUo_SDhSDd6vTT0ZSVwSvRj-yo2Csq52r9QJAUYFtzhv28SiQWLR1xwyrJj0vYDz8eNiP-LV9ezBWi52WHYWm7jwz1r3YlEGRDnMbxux1ivVn_OxRmFeHrY1ERmVPXd2Bpqcg6KwU1rDRWqG5_Q_Xs7AypemAteCup-2pxYFZqI3VYi29ecRXjXoujUm9OQfgJ2Itosw552u0Z3JwjnytekVU_JBCc5g6lwuUv-KKgdTi69zAw7iv1nGz-MfKwAAX95l0Xi6vfsr75eyZaTzG98eY7gHB7YPhjJk2hkOEqqIPCrHeSIqzjpJymKSSreWkfOKy7LgLJ4sdKrmziw3bT4_IBP1GX1AVRe-5E3JVP8A54BiTReOyzjVh1BMnVXo5edB2ZYQAUl8QjNSbT-TyHGHoaWcOnOqNn3fcGCmEOy4Iv49f_JSvxZLnt2_5pAdeJ1JyPGnPe6lTj8sjGU48pw6BI-Rx3jQlpsQT5fSRJ6UuXa-g4kd6H4aUjjc6b9zkGkNeww628cnzLLQvUE-vZzrgq1ZdVzH5RneQ5MyreyQP_q5qH1yG9cVy1ZkAZ1ywyKvhAfn17gA6USpXBcexxmiVO7cIS7XJOnv1sUAEyD3OjRNyUskvkyNMleUuUMsT2AevnTnvpe3T1ZZX_lEHZcQsExBDGyQbHgMuQoWBlKtB2dxJWVDQjsQuDPORLF-BErob8-oH7PQlZWY9K4w9Bf1TcwtwML4aTrM_NJxIJWiCOacnZW2J7raXVMbjzeR99rbdhOl-dz7gRGEHaaIC381VKVjtyL07whKp9Pml9uOJEkST7THD7OqQiTvadWhiX04jnEPKwRQBYugm7_TYdSdVs_BevtkgGBenfZ2TQFwGDKH2l4KgDh7KXSDR68qUkvVMQbCer4rJZHvGfG5sV_AHVxSTbxFmT7-MOCUOm4ynS-jxnnoBn_yyoMHkof9N6kJiiAjBQnpfPb_3Gg0no9Kj9gn5hvxOdd0Us_g8gisA_OJNfw-klmq_z2vBGXKWOWx2oFAcJQ0M6GMRFvsEQuCpLwwe3roPRouErtXTd4MU3kHDd1mmJ90Lz8W7iev2gFxKsNV2X78kytXyxckgSW_lXDY3Y8aAG4jO4WGPaf9t5Q5iw==",
  "id": "rs_07c37685040cf413016ab42c6e66b487d0bf5c1435ec65b6c8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped with the yellow object against the safe’s floor, at a grasp-point height of about 5 cm. I’ll open the jaws to leave it there.\"}",
  "call_id": "call_3iZDyGy1BrUJbJy1vEon3Kl0",
  "id": "fc_07c37685040cf413016ab42c6e93e887d0b941f7c96cd89769",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3iZDyGy1BrUJbJy1vEon3Kl0",
  "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, 0.8032, 0.6067, -0.4847, -0.0189, -0.0387, 0.9992, 1.1313, 2.2368, 1.5486, -0.4496, 0.7517, 0.7898, 0.9946]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1578 left_yaw=0.0029 left_pitch=-0.1011 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3161 right_y=0.3972 right_z=0.0297 right_yaw=0.0765 right_pitch=-0.1472 right_roll=-0.1317 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.2239, 7.0769, 1.7118, -0.022, -0.0317, -0.0122, 0.0479, -11.0154, 5.8735, 0.8718, 0.3346, -0.0024, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884d06b2e1a2d6c25deaef7462f3081c477b2770b8b1815e65232d7c82b33cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd0be7cfe6cf3449ce1f05fdfe8b948da7265871aae9b366cc6f649165e9d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8874787ce56ee6644dcb76fc17a5951676de97d727f9459ad04bca618606765a",
      "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 · 6.622 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4587, -0.0189, -0.0387, 0.9992, 1.0561, 2.1273, 1.9713, -0.9104, 0.7418, 0.7158, 0.4329]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1627 left_yaw=0.0028 left_pitch=-0.0755 left_roll=-0.0027 left_gripper=0.9992 right_x=0.3506 right_y=0.3848 right_z=0.1821 right_yaw=0.0556 right_pitch=-0.1229 right_roll=-0.1217 right_gripper=0.4329\nstate[joint_eff]: [-0.0479, -1.2239, 6.9402, 1.7363, -0.0708, -0.0317, -0.0122, 0.2256, -11.1932, 8.294, 0.9988, 0.5299, 0.1978, 1.033]",
      "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, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.1358, 2.199, 1.5703, -0.49, 0.7788, 0.786, 0.4329]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3175 right_y=0.3973 right_z=0.054 right_yaw=0.0722 right_pitch=-0.1168 right_roll=-0.1299 right_gripper=0.4329\nstate[joint_eff]: [-0.1709, -1.0462, 6.9265, 1.7363, -0.0464, -0.0317, -0.0122, -0.1983, -8.0615, 4.6291, 0.652, 0.0122, 0.022, 1.0281]",
      "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, 0.8032, 0.6067, -0.4847, -0.0189, -0.0387, 0.9992, 1.1313, 2.2368, 1.5486, -0.4496, 0.7517, 0.7898, 0.9946]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1578 left_yaw=0.0029 left_pitch=-0.1011 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3161 right_y=0.3972 right_z=0.0297 right_yaw=0.0765 right_pitch=-0.1472 right_roll=-0.1317 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.2239, 7.0769, 1.7118, -0.022, -0.0317, -0.0122, 0.0479, -11.0154, 5.8735, 0.8718, 0.3346, -0.0024, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:884d06b2e1a2d6c25deaef7462f3081c477b2770b8b1815e65232d7c82b33cb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cd0be7cfe6cf3449ce1f05fdfe8b948da7265871aae9b366cc6f649165e9d81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8874787ce56ee6644dcb76fc17a5951676de97d727f9459ad04bca618606765a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCxxFDi0P9NCWPwEdbEKuIo4xtUG-EMID85owezIHhe1zSkgCQ6UVuzbWwbwUJJDl34K3eANcr_DvJPq0lhHbxpq0xBSG7X9wrR7O6SzL5sBQw-LT1cLxMq_nKmAmbQYTKDdl8SbZfI4mKStxqLFdylCU7Xuc5SFpUlgFPHTTla0gYYmrGlFQTRlshKE86Hhoxcgqi6aRoT8Sqa1zsKFgAcVlwmQaJxJjRHIlWEKvNLMxGLUC0SU_06JFfUSPoIs6-sDA_VQORQSo_OoPOR2vioY3O7hcRKzjonyTwHNzBcM1v_PwQX0ZwqPAaE0J7VxnytcYzqotfRKfzUR98p6oAY-fZWwqphtk3HNPrXKYKO4S4-u5ZOQYEjWG_1Ocn0kM-hZY9x0GfB4_vrlKnlV_rhiedpNU2lNT4GXKjGLge-n2aXjhySKlM3UmLJbiXFwGm2VwoBKe99-JY_YzOJXm24jxv-gxpd9hHwgueGiyRf0RU1J3DipcKqGx2ySAR_7CjWMZK4vBmu53T0qh23ruXo6RsqXxXU6dfCVg_23GlROErHSflSb-udNlFRYR6KZ_8Zf8qlXs-kngwIFLnjMWvD6YkVGVYIAu_7P6dsiAEHj47umDRSmJX66Wa7TXc36MNN2GIQs8t6_ZX3wHQiyKkyK7IsnjWrbueHyaCLJFtBsozu72omhvbp79NYmmJqjKhV0ruKd8x9jUXh4P7E9z4M7cVQN7O3KyAe2Lv52UnFjRtjORSD6LYJ51bWRZsxguO4vQUJqN_wchxcnNkarPHJgpscG5PEUjoi-s77m2-xDs1mBjHCc6T73A-omTFuFCYbADcNcDxp2uZLEAA3ANaE_Jw5dwoT6cpaW2NXhoTKqllZbDOm6jnTAvYm4cVsY-JGo4h5BiTCbj05kM7MoBy9XYnYhs2ljrdGR9NGSq-4LFDFyE5GzU9BGcB5yl7P3hJCHP3UYUwS06jmsEo7EJKHyKgTMCDVyOXNC-k0XGu_-Y67nvN73zld0V-wDT4LxULEwxOhCuLONXb9fAnDMEpRpCQypRVfByRRvF4Ke9fSrP55UsQiNAN7qFiSbW0vfOZUVV0dDH2XUJxMIx8JvPquYUMTg3E85YhtUVR-dKhy3ZxhhspYwYS9aUsBvF-Pr2bBAgk7D20Ab-RgwsU4aZ5Ex4u7GSOJTx2LSjXOXv9Ars8iTTpc5Xwvijel9CqPghH2sjFpEj4dS7Vz2LS8gIdOGj0-GDsEZRNeDeEj4n6GwQkOhwwYERSwi1GgqAZ7qIBjIJfxImmbT4C21riq2zUZUW2oIhzAq75_UP-FqMfctiAa-9r4rFcaP7W7jVEuATbjtXU97gMaKA3dbwQAWK2gRjBn2Ii42JPU91HDRctWrqhnECshgv2kQ-OECIVRYGrl5oiofnsOoZGBlr7hKkv8DCclNRb7-3DuAUFPFXrxkCYBsgyRGEUHU06rJrjtmN2h-",
  "id": "rs_07c37685040cf413016ab42c70c1e087d09a842a9ff16e5a4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.293,\"right_y\":0,\"right_z\":0.18},\"note\":\"The yellow object is released in the safe. I’ll park the right arm so the overhead camera can reveal the remaining objects and leave room for the left arm.\"}",
  "call_id": "call_rHHwwPtrWQeNK5kCwnkiQHW5",
  "id": "fc_07c37685040cf413016ab42c71418c87d0bb132473a3f768c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rHHwwPtrWQeNK5kCwnkiQHW5",
  "output": [
    {
      "text": "executing move_to over 34 steps (3.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5026, -0.0189, -0.0387, 0.9992, 0.017, 0.9195, 0.7151, -0.5945, 0.0689, -0.1257, 0.9951]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1542 left_yaw=0.0029 left_pitch=-0.1197 left_roll=-0.0017 left_gripper=0.9992 right_x=0.284 right_y=-0.0037 right_z=0.1546 right_yaw=0.0196 right_pitch=-0.2192 right_roll=-0.1323 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.2786, 7.1316, 1.8046, -0.0562, -0.0415, -0.0122, -0.1709, -2.9607, 10.5368, 1.873, -0.0562, -0.0073, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595fc41858ff2ef3ebb116366b64efdd991f78e1fb1db156d4b2af2aa539236d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0d1fa823471d983324b402c4d25a189bf3842948cb1b78f59e38e2439a317a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902145da57c11fa848d00657a9f60173cf8b4725c813d822e7e2a20549db833a",
      "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 · 4.88 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4728, -0.0189, -0.0387, 0.9992, 1.1324, 2.1704, 1.6516, -0.6472, 0.7521, 0.7921, 0.4329]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0896 left_roll=-0.0024 left_gripper=0.9992 right_x=0.3139 right_y=0.3938 right_z=0.0777 right_yaw=0.0724 right_pitch=-0.1606 right_roll=-0.1551 right_gripper=0.4329\nstate[joint_eff]: [-0.1846, -1.0188, 7.0496, 1.7656, -0.0708, -0.0513, -0.0122, 0.4171, -10.8786, 6.6256, 1.2039, 0.6325, 0.1148, 1.033]",
      "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, 0.8032, 0.6067, -0.4847, -0.0189, -0.0387, 0.9992, 1.1313, 2.2368, 1.5486, -0.4496, 0.7517, 0.7898, 0.9946]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1578 left_yaw=0.0029 left_pitch=-0.1011 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3161 right_y=0.3972 right_z=0.0297 right_yaw=0.0765 right_pitch=-0.1472 right_roll=-0.1317 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.2239, 7.0769, 1.7118, -0.022, -0.0317, -0.0122, 0.0479, -11.0154, 5.8735, 0.8718, 0.3346, -0.0024, -0.2418]\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 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, 0.804, 0.6067, -0.5026, -0.0189, -0.0387, 0.9992, 0.017, 0.9195, 0.7151, -0.5945, 0.0689, -0.1257, 0.9951]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1542 left_yaw=0.0029 left_pitch=-0.1197 left_roll=-0.0017 left_gripper=0.9992 right_x=0.284 right_y=-0.0037 right_z=0.1546 right_yaw=0.0196 right_pitch=-0.2192 right_roll=-0.1323 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.2786, 7.1316, 1.8046, -0.0562, -0.0415, -0.0122, -0.1709, -2.9607, 10.5368, 1.873, -0.0562, -0.0073, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:595fc41858ff2ef3ebb116366b64efdd991f78e1fb1db156d4b2af2aa539236d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b0d1fa823471d983324b402c4d25a189bf3842948cb1b78f59e38e2439a317a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:902145da57c11fa848d00657a9f60173cf8b4725c813d822e7e2a20549db833a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCx7hV3S8oXBcF72yFU7Ow7u8rV3ZePiwOjFPdXr3e5U9rCQqi_npUT4RbZDUvUftJf1joeKwLkhGrhwtP-HXEI0gTT_jsLBVp77KhbFxrZWu3ue0YV_sWnWkQpKUW9ahmUyk-pjbVylhzKb82I7E_cw_vy4hXuzvuWOQvSb8ChED7WWXbuZTThR2BwN_gNJvkv0t_pRsPYLh6hnuwvJFBQka-HUtrD-1k9JGpT3nZ_-0hOk87AbRJGwG0gSGIL8eKOMhNr1pHm0zIzLtFY-IQ1Jvu9iUznMzbwSs1h3dJSMIvGjXMb4ruO3PpoeSLawe_CJkzFIkLFj6pTDfk2_RaLt95LStlStKs3lS2OyheeFW5nS9IZhHLsz4xXKeceTjfTtuaPoS9SFBobAk0HMUd3xlkDO1n6zV9HN--Am8nNbOD6F6z_bmdgQ__qybgIL692R3vnEhpHlZrJ0QLVs4-1SFpPwk7R2uGula5MmZy_C5PZzcS4I8URqpKLNzfDPiSqU_q0hclH4B7cEZej15lDjXfbswITTlIA2js3m91SSxA0x-DWVJW1VSkHL1zWFaN4eWi1EhR1hSItX9noQ1NOFtFTPMrOvgdaWoG61HoAR8095_YwSm-_kxedNOsm8gDy5I_9OBn-nnGlLJa3uekl1BtWZsdqxY42l8VDvtZFImMNxpUa8UvXSV9lF7oCdU0HFbf9HwRHlCVqnHqmWaCFZb07Mv4XobqPzDBDPEsA3NVPwPuRGx3xgyxcr7os5v1KYvpKWRHaZBG5I0OnPMQZtJFbk2AHUW0iEWld3bIdBjmjxRMgFQYlGuDaVw_ssslOTTlRNGhOQYfLvTBakLopxOuXkywnEmp0UXlAXYjS1R-bI1oXWtFeyhyxpU7yPhQ8kY3yMnb1rUL7717uxZBKWFcdIJKxp6PvIFrp84lPAINePkK9TWVTWl2R3KvAS67rgloBmJ9eG5Rf2CNHg-NHV9mUm9BNXF3zEOoSh0oFzFaBkk7jx02FNukwh61QmjhVePOTqftdbFEc-ncUhufcF3hEgPSge-n7DRo1EuGw9kNXKqkRhs0gn7N2SBuVMteQf4KNbG6gJJsajTfvUKhAu5pmzPoYw1ZOrkTIqCbiaqYqQXM1bGhMqSo_1v_M-hYbPFG4F01UWpxz0KftteTtbOwA-rP8hTJXGuKVEyg8jxELA0o6x8OnnubkpT_XMAVups732FCeTtALTkRM5Ce2T9bWovkUBme3VNDdq3jPgVoNfxiOp395oPEYdbv1yNs1n-7c1xmOaXaBqluU9wmNbkiKohR_2AW3_EV0JGlWfDaOrdN_WQczfZRLm5NBq41kLJm4-1zd-AWOPWq1FXA6oNTpQizFDQCoD11PDIUUq1ARZB4eojIPbnatLeov0nmkCNVutOPhYWe3JKM5QuP06vigT6aYWM-JLFJLYi7g7V7Ex5fLhnJQkvnykMP3505KV9DNaO6O8w3SI2FkFo339xLu67UID9-hN2L1wGroK2XBv1YLalr3ePA1cZihtpJbesRZ4qGnOXohvjf9_fgL5RxumhVYaeMJ7TkkoBZiWrPMs918el8IFNtht3K3WEyDqj2e2HBjtaGUfGp-RnB1-RWyENHBuveUvmBvaypA0MC_UtILmIrfDtMl2wHPsovcHVMbgKVmZwTqOldU53SK-FBSdDafirB8jmH0YhiCrCo6pLPqbRqwJl6wHPj8cdZOfjPbkQdmvGOFKynZtXsscCOXjjg1I2j2qStDjKbs8QAHUqOm1TMBPHF3eHp6wiuLDvymRmUnpYE41NwoRzHACf4dy4P7GNfwa8ZKR8RmWmK6WfK1VcKRvzbSUvPNTxrnSmqfQXNROOx7pP0vz0VDBw01aDjn7WGA085LuOmHjtgYU1QoA_iTpYp3pigGchB7y7fP2f9FKEEUWezksn5deap7ZkMa69IgCZNH2iq1He5QShTFaNvg0OM2XRhUKX2rXZU64SN3JQIhcGVa7zREX6YBxnowrAqQuQEApn5TxRsOElLIAnVWFADnF1v78n0taHGy6L0doaGAyajjZhxoEDFHqghKV8RFF0ydIz6DfjA-rDI65e6zMyyQWaSY6lU6hc_ZDBQKh59zuI_VtZYURhKXXl4V2Mqn8Z_re02MZGXokRzakIa0OCOZ98bWxAIn_v-IpkA1On6kGcEGjrU4MrDECet7LBl8lYbNq1yCpN4aLwwwjSGbeN2SAb2VvvKXzQtV5HMO0WKTRTGwHOyUaIvCCSRzYP_7Kk9uSBNhXsxZ4kMbKpMKRsvErhutgUNM5Co49cp64jhij-XivGgQ35w==",
  "id": "rs_07c37685040cf413016ab42c76572487d0a4d0573161c55f36",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.115,\"left_z\":0.13},\"note\":\"The yellow object is visibly inside the safe. A small white plush object remains just left of it, and a larger brown plush object is below; I’ll approach the white one with the left arm.\"}",
  "call_id": "call_UExG9G6fi7N2hoHXr9cweGpO",
  "id": "fc_07c37685040cf413016ab42c7a7fc487d09ce316f532b9014e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UExG9G6fi7N2hoHXr9cweGpO",
  "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]: [-0.5625, 1.1896, 0.6651, -0.3378, -0.3927, -0.3996, 0.9992, 0.0185, 0.923, 0.7143, -0.6201, 0.0601, -0.1383, 0.9952]\nstate[eef_state]: left_x=0.3051 left_y=-0.1082 left_z=0.1093 left_yaw=-0.0226 left_pitch=-0.1981 left_roll=0.0295 left_gripper=0.9992 right_x=0.2795 right_y=-0.0018 right_z=0.149 right_yaw=0.0358 right_pitch=-0.2498 right_roll=-0.1343 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -3.9726, 9.4974, 1.6484, -0.4078, 0.0317, -0.0171, -0.2803, -1.9214, 6.9128, 1.707, 0.105, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e4e4e616da40c68b309036bb9c09087d4e184b2757da2db373c2f13b30df1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc838befbc1df636a4ee6820c52e0367e5e4a7044b7edded34945a5677e1b60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dce81827c8578e354c1777ca231ad031e936c6cc57b4173be9d32f26585918",
      "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 · 2.298 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 1.1358, 2.199, 1.5703, -0.49, 0.7788, 0.786, 0.4329]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0029 left_pitch=-0.0965 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3175 right_y=0.3973 right_z=0.054 right_yaw=0.0722 right_pitch=-0.1168 right_roll=-0.1299 right_gripper=0.4329\nstate[joint_eff]: [-0.1709, -1.0462, 6.9265, 1.7363, -0.0464, -0.0317, -0.0122, -0.1983, -8.0615, 4.6291, 0.652, 0.0122, 0.022, 1.0281]",
      "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, 0.804, 0.6067, -0.5026, -0.0189, -0.0387, 0.9992, 0.017, 0.9195, 0.7151, -0.5945, 0.0689, -0.1257, 0.9951]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1542 left_yaw=0.0029 left_pitch=-0.1197 left_roll=-0.0017 left_gripper=0.9992 right_x=0.284 right_y=-0.0037 right_z=0.1546 right_yaw=0.0196 right_pitch=-0.2192 right_roll=-0.1323 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.2786, 7.1316, 1.8046, -0.0562, -0.0415, -0.0122, -0.1709, -2.9607, 10.5368, 1.873, -0.0562, -0.0073, 0.0464]",
      "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]: [-0.5625, 1.1896, 0.6651, -0.3378, -0.3927, -0.3996, 0.9992, 0.0185, 0.923, 0.7143, -0.6201, 0.0601, -0.1383, 0.9952]\nstate[eef_state]: left_x=0.3051 left_y=-0.1082 left_z=0.1093 left_yaw=-0.0226 left_pitch=-0.1981 left_roll=0.0295 left_gripper=0.9992 right_x=0.2795 right_y=-0.0018 right_z=0.149 right_yaw=0.0358 right_pitch=-0.2498 right_roll=-0.1343 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -3.9726, 9.4974, 1.6484, -0.4078, 0.0317, -0.0171, -0.2803, -1.9214, 6.9128, 1.707, 0.105, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e4e4e616da40c68b309036bb9c09087d4e184b2757da2db373c2f13b30df1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc838befbc1df636a4ee6820c52e0367e5e4a7044b7edded34945a5677e1b60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dce81827c8578e354c1777ca231ad031e936c6cc57b4173be9d32f26585918",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyBRsJziTi-HtRN69i_gT4kl56dDYQc2wCA5q4P_aMUDf-rHfpjCBfFOemaJE74Pg07k9v5ogstcgeuJcjk9Z4bGv06zhpNetdjj3s79Q3r3KgvQGKWjJgy2s7AF519TnjlOfY5OoOEb8sBk6mwFbUeb52EbDIDJX_hbw1naajL6PPGIH_fwRJGuBi0wtl0ELd_Z-ZIhA-r3wrzcEMEZAtaeHUsg13zNHgo_5wwrPQ5bIojo7mKYKpT3B_LeAioVjTjgn1kH-1Ao3-8eZ3aq_TqhfqXUODQlvN_y26vf1kB3qPzsfmBC-evDK7wJUrmYZRpnWO2dRIp3VOF9hc6Rhf9doQw_tVTsIvnIH1G0lAgGHKz4qhmfq-xrH1QFpLEoOimicyuhbREWvs3yBttSDi0jQJLiig9KlfMFwBQFF-i7bEneOzhA9xIxkP9bXkhjLcR3G6x7dSFVnt-7nni_93ddkXzg4ywp_jCav-2BCyNxR823LweZdgXsC87KBx87UFT0J3bvRtpbx9dwAnZCQve4MjoyXmfub_GJNM2bE7pXAg9wth9m-ZnG0CEwUpuszA6B7NRsfobhxpzp6lBAiKsGBdNiYIoO7FZAgh9eaBPVnHNbvBWJACR8j42E25jvNTuJm6vuB9qs7R0VMtZVyb8-Jh1M_ulR1uoxZyhjAowLSpxm80MtrRdQC-ptkEadWoNJMEnl9AzXfyB1bertMCanQcSccvxw7ZyyRfMYrdgkriFWPW5S8vZqikv_HPq-cG3L0P7MDX-7IGIEdUp-4fFGkS0qV3XdQe3lKweDFRej8g8Xr8_NqdvBwqAyt03cVoq79L0eA2gV4K45R97pa-k9-KokEueGG3rZrV-HrA-bKsihXIokPVyDTtP7nggh8HOVu7WmynrERiQtW5PlJsujAahLV9rZ18CIfx13VP_MaWjx9T_-0C8zkVLuOBOHKtnYgSRQR1eN3ikefLZ-27EOeqJneNYNqSTjM3OgbGaXR8FABjv38PwrFHgRjbns3AE3FEZQFOkjr1hh-Po52zly0A0DZjdm5n-BKWeeYmo2Y0q4xy7n4tul_GIXfpeLyMgbYYRkLx_TGcH_9mNqE3V9GFQDaFIttFZy032kg7Xf21CuXjB-CSGliggufqc9oTIMBxiKV59TzYas50T0M3TqslC6nzodjpWA7vl8U1hTVyO27sH5qOj8q3hhYguVK9X1lD_3eRacn1AWYknSoZN3Ou51tVFagKKn4YJV3183FFmMHR50akIBeG12wN_v-35kIweS8LI4KBNoGz1bKSSlG-RTGtOJwbT1zMNDXgZ67wK5RLfemeheO_NGELZv0mWF8awqdju7FENBdury3H7BTiZ2pYFaijz3VO3r9KNYqBnXTYyaSKjnN5pwMLYjFd2ngqDUGI5Rx6WNqOa3GtW1G3gfr2kkwBmzAb1yhbKRuH_3iQ6dzpV6l55xFsLY6z04ifwLqOULXbEUPXweosULCrxvfQNgu8FJ0oz1gqwraz0bTjzKMjRl2JYBru1i2jYD4JYLRwZVZSZo8IGJQQbL4_3tgt0Fpmaihr7A9iE7uWy_Hb4Tc8mjYUr7sK_arfOozTBEaVEOfXo8-8P_RFoxD9ItlU_CXrEZ2kp9tqW1GEVbjcpqfgCdJamY2nCLcwU2hoS1phifPlMC9ePzSlqM7xO5MX4eoOMvgo0GNsP57rT2bkWr4HqK8EjnUwLcLgrlnIGErY-rmCM7yWVYMKdPeLrqdkC9bZVbRgAZLUgz7v4YOuH3IncwcvW9PXTvxfTrtGwNSnsKbvStr0-IURJkqdfDONlizbhz0Qdime75Zp78jUPznlyFjbBcxEfcMO6gtonBnIybZ1-7dkbRaNT9D_ows8LttUcFCDEiqus4RxOfU5-MkuONvEryEEpHON6kLY4vMkOtZ7KNqbzP6ba_ZZx319SsrMVK_i6lh6wMDxWTWF3O-QbzYKxWxtyF91soJbU4XNIFNIJQyeqUTSp5bBwQZ7a91G8eXwl6mKhhEbgWG1cxKkQNPN3ujruPxSYb3EMhK8MnoRnm9V2RyQKV4ixfw7ugTaXwW2IPtIdYt0npl5dn-KvY2oMkTIyfYI7CDb1fLYr2omj7IvvPfwReCVdqymdibC7DTigJj75lB5nFWFoZDzWutBaU0_ZoXBTFc01qAldwtblaiELtkbg8Qw1MGCjEp1jgia9HsP1b92oFkqCWnD_CJ1m8pDLmKjidSxNMc2rWfvfKSb0DrhWn1r_3dkjFz3oi5pR3lfrc20f22nuHxDIerqgvlrWUx6lPMmx3mAigwTv1rhOoF61iiD1z8OREjQBx5oW5z0JNp-iL8WAY70h5Q4yDiVhKH1UJccjw7NPIXa0XP4GnD3OIgQN01G89RKYZ-RSSXB15Y_YDfMeqYA1o7jucBVwcMJuoA3B8lJ_c5lNbxq5QW2_VAbyCUfPgKakvofavNTBNpWk4GcmFFKnOqNFg1NoiS2_rCnEYDSYrPj12qlwG_MkqRD7bKSOsG_EqZ7SUjtI2vGhthQXIRQ86iVH6xUAXr9ytBUP89GiQkdiNWM0Pg4NKd9ZtfnZE8KWk7MI9vUC5BWyoyz6k0Nn--_sYVKKdS2RcS4dtso0c8gysGjhPCpOqYYZxkSO-V8CmUK8v5tcJMqQdNAvWWbZ_yuNylGvA9Vc",
  "id": "rs_07c37685040cf413016ab42c7e30a487d0ab08eac5e708de0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":-0.052,\"left_z\":0.075},\"note\":\"The white plush is very close to the left fingertips but sits left of the jaw centerline. I’ll shift the left arm toward it and lower for a centered grasp.\"}",
  "call_id": "call_JmbfDLsGFa5fiK77L8LrIrld",
  "id": "fc_07c37685040cf413016ab42c81100487d08ed826e306345bfa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JmbfDLsGFa5fiK77L8LrIrld",
  "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]: [-0.3416, 1.0958, 0.4644, -0.2359, -0.2768, -0.2676, 0.9992, 0.0185, 0.9241, 0.7139, -0.6376, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2885 left_y=-0.0475 left_z=0.0677 left_yaw=0.0315 left_pitch=-0.2446 left_roll=0.0447 left_gripper=0.9992 right_x=0.2762 right_y=-0.0018 right_z=0.1456 right_yaw=0.037 right_pitch=-0.2689 right_roll=-0.1339 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6171, 6.8171, 1.9219, 0.0366, 0.149, -0.0122, -0.0615, -1.6342, 6.7897, 1.6484, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648d03e39f2442b27beb089fa4a84868c3eb50555ba4176c5c412320cfd20868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0477161d5e0a43f29da111c54447747e8e84bd9db598f868d49102dacdbcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c17f95974a09c29617093645ca45564125edb98a24a5e374a17cddec0642349",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.728 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4847, -0.0189, -0.0387, 0.9992, 1.1313, 2.2368, 1.5486, -0.4496, 0.7517, 0.7898, 0.9946]\nstate[eef_state]: left_x=0.2805 left_y=0.0016 left_z=0.1578 left_yaw=0.0029 left_pitch=-0.1011 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3161 right_y=0.3972 right_z=0.0297 right_yaw=0.0765 right_pitch=-0.1472 right_roll=-0.1317 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.2239, 7.0769, 1.7118, -0.022, -0.0317, -0.0122, 0.0479, -11.0154, 5.8735, 0.8718, 0.3346, -0.0024, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5625, 1.1896, 0.6651, -0.3378, -0.3927, -0.3996, 0.9992, 0.0185, 0.923, 0.7143, -0.6201, 0.0601, -0.1383, 0.9952]\nstate[eef_state]: left_x=0.3051 left_y=-0.1082 left_z=0.1093 left_yaw=-0.0226 left_pitch=-0.1981 left_roll=0.0295 left_gripper=0.9992 right_x=0.2795 right_y=-0.0018 right_z=0.149 right_yaw=0.0358 right_pitch=-0.2498 right_roll=-0.1343 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -3.9726, 9.4974, 1.6484, -0.4078, 0.0317, -0.0171, -0.2803, -1.9214, 6.9128, 1.707, 0.105, 0.0952, -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 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3416, 1.0958, 0.4644, -0.2359, -0.2768, -0.2676, 0.9992, 0.0185, 0.9241, 0.7139, -0.6376, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2885 left_y=-0.0475 left_z=0.0677 left_yaw=0.0315 left_pitch=-0.2446 left_roll=0.0447 left_gripper=0.9992 right_x=0.2762 right_y=-0.0018 right_z=0.1456 right_yaw=0.037 right_pitch=-0.2689 right_roll=-0.1339 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6171, 6.8171, 1.9219, 0.0366, 0.149, -0.0122, -0.0615, -1.6342, 6.7897, 1.6484, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648d03e39f2442b27beb089fa4a84868c3eb50555ba4176c5c412320cfd20868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c0477161d5e0a43f29da111c54447747e8e84bd9db598f868d49102dacdbcf7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c17f95974a09c29617093645ca45564125edb98a24a5e374a17cddec0642349",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyEjJQDLT16iBlankiZwwuUSWl3OTQmJS4CdZ-VbiSDKCTVp4pj65NgQYmlFpam3XLF8vMtJZEt9QYF-uHK-W4QbKbpVRmpayggxnHDb26EdjtiAZhwYEYw0EqzGF8NTTblkoxkrHxPU1Mmt0EcrihpxKpWWxdJV2yNcocOqpaLb16YyDx7ef_DDXy8yKhEiUTSRWjSKzk94KOs2MZ97Q9uDUeFx-TjE7ocVmTzJmXYvUVJGBrwI19m8xiJdr6Rc6mG1aAZJkMYfx0QwcIE2JHqUNqdkeOaAedYsuzfr1HMQqxWzDGwu0SdoZ-kQ5V2Xamvs1i9Pk84qJEq0XYe-imotvPzuEoF07Qf0UgGBp73QHi4iRJnXOsKZk8YwJrIqgG-M03DaOefiovNoVU3Nv2iLt9SgDMD2gpDpisv40K_0eA1VX2gd6BU1Drg-C4Uy1VKSB2GzeRmNrTAt8r8c9DG-SL7thgoP-wiRdxQIZgynek9ET5VwHv2DElHHv-4Gp2QjvQj1WW9uWvl7T6Sf6-aFCg1Pvj3ZzOEtEByXY8xx-mKPt5FtUN-fO0TboEZl8lZm7k47B7SaUY6W6mdGwgXi0bjB4KQm9Bp9yKXHTNni-xIPxf-kSy1KoBHW7Rq9iox0g85_F4vmfFH8YDM4ixz1nihDx-Y2jY4TvoC6FCvp_bPL5f2aFXUIUOvctW5FnOUsmhojX9t8awCheavBaZIgigUaL4CREacjYf0wlpuXPuOCtxCSBPCWmQk1I3hmz4HHzNbRpR9Mw9TKPQfOqdDoM8pIgFS5hQw8r6xllXHbToNaSs4BsOk_lnD47Y2uzghUG8kYz-OX1wfm_MsqFxGryIx5wWqItM34rus0zfHhsZvOmkclQIybUL4xnc14aV-yvOTXGn75QmskM55L7ysUG1jz5_TVkSl1vxxwhHfabeNbc-1Q55U4JSYT60yskNlnxroL2cSUO18scocMHgJ16OYfSJHR6jZJVrlSoOWZm8eQA7s_jE9jRmAYZxHCdE_dKZHDUgOQWaeyUDb7BK11_ANQCecG_xNnJ81n7gxZbqSvExIyMonMXfnIsdEzn3SeefLeyo5XF8U_Tx_YFQPYfvv8Wje6j2-2XU89JLYeUOLOh8JE982a6OsGXo6n1KjthO2iY3dFOUdz-_b7gCZ_BU5mdnxX-adoStZx8nhXglULxDtZJeIeXy6fCu_jYvReEqpJwESRl-wRpfDvh2ZANcZbB9N6bdqlfv1upSKNB99gmPlpUaTYUEeQk0JoCUqfQnwcDieq0ixh-xlWmLochi0OPCaRRYOTOQFF7OY1EsjSvcCCIa10pCRyy7_4yHSC11KBjhCBg-PmQwjYz8xhLJs48Vp3_qQ5Si3mNyzl8o7zCJ2mcfNDL7HOhVfuH_LHmarUpuG1tMoyR-bOMzlaigJO0gyTWDGOW0tDaKWOq5q5zjXQErbfVLWRZWtOO62esM8R52M-yg02p4pcQ8-ZNE6MPwXvmrT3D5gzggEqZK5v8AcSD2EzPVKNCgw7bAvRyxghOVAMk1tzlhcOLBUcaYvn2f7H_Ri6ea3gHkMyas=",
  "id": "rs_07c37685040cf413016ab42c83328487d09bcfeb8602ccbf7d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white object now sits between the left jaw columns at grasp height. I’ll close gently around it and check the gripper opening.\"}",
  "call_id": "call_gk29Q14Dm6Eez7l64iFMNgTp",
  "id": "fc_07c37685040cf413016ab42c83d67087d0ae02f430b9fa9ce2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gk29Q14Dm6Eez7l64iFMNgTp",
  "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]: [-0.3408, 1.0958, 0.4511, -0.2466, -0.2687, -0.2714, 0.0103, 0.0185, 0.9241, 0.7139, -0.6575, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2829 left_y=-0.0468 left_z=0.0606 left_yaw=0.0301 left_pitch=-0.2691 left_roll=0.0451 left_gripper=0.0103 right_x=0.2725 right_y=-0.0018 right_z=0.1424 right_yaw=0.0371 right_pitch=-0.2887 right_roll=-0.1335 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.7009, 7.4872, 1.4823, -0.2515, 0.0366, 0.8376, -0.0615, -1.8803, 6.8034, 1.6386, 0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaeae66d2d1bb357c41a50e4523cb4ba8ee2b5666dd94d91b0bde30ab4f7e509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb278843812ef0184abbb157d145f124be39e2661befc1049be299bce560c54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7655a971b4d48198b13a142a0c8a3af861dbfa7386683db633b1537cc2398af7",
      "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 · 4.818 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5026, -0.0189, -0.0387, 0.9992, 0.017, 0.9195, 0.7151, -0.5945, 0.0689, -0.1257, 0.9951]\nstate[eef_state]: left_x=0.2777 left_y=0.0017 left_z=0.1542 left_yaw=0.0029 left_pitch=-0.1197 left_roll=-0.0017 left_gripper=0.9992 right_x=0.284 right_y=-0.0037 right_z=0.1546 right_yaw=0.0196 right_pitch=-0.2192 right_roll=-0.1323 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.2786, 7.1316, 1.8046, -0.0562, -0.0415, -0.0122, -0.1709, -2.9607, 10.5368, 1.873, -0.0562, -0.0073, 0.0464]",
      "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]: [-0.3416, 1.0958, 0.4644, -0.2359, -0.2768, -0.2676, 0.9992, 0.0185, 0.9241, 0.7139, -0.6376, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2885 left_y=-0.0475 left_z=0.0677 left_yaw=0.0315 left_pitch=-0.2446 left_roll=0.0447 left_gripper=0.9992 right_x=0.2762 right_y=-0.0018 right_z=0.1456 right_yaw=0.037 right_pitch=-0.2689 right_roll=-0.1339 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6171, 6.8171, 1.9219, 0.0366, 0.149, -0.0122, -0.0615, -1.6342, 6.7897, 1.6484, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3408, 1.0958, 0.4511, -0.2466, -0.2687, -0.2714, 0.0103, 0.0185, 0.9241, 0.7139, -0.6575, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2829 left_y=-0.0468 left_z=0.0606 left_yaw=0.0301 left_pitch=-0.2691 left_roll=0.0451 left_gripper=0.0103 right_x=0.2725 right_y=-0.0018 right_z=0.1424 right_yaw=0.0371 right_pitch=-0.2887 right_roll=-0.1335 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.7009, 7.4872, 1.4823, -0.2515, 0.0366, 0.8376, -0.0615, -1.8803, 6.8034, 1.6386, 0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaeae66d2d1bb357c41a50e4523cb4ba8ee2b5666dd94d91b0bde30ab4f7e509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb278843812ef0184abbb157d145f124be39e2661befc1049be299bce560c54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7655a971b4d48198b13a142a0c8a3af861dbfa7386683db633b1537cc2398af7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyJ3tDua4j7B-L33xt7xIG5DSstwIVGEAME6ezpVA_IsIb8Y6ehgul3wUWayFWGYk-SoEhWQR2EjHzGMEnOT-kk8CvvFWkRQcAzxkuW2Yek_lyrAJ1kkqK3juhB3D8MhihBEwqHyU4lhHCphL0R-RsYQYOz_KKnawTI_kd5E7uiH7Dhf7M40078LvBPwbiwC3rsxv7NTu19AslOG0Vj-hnstHCl7Ke3L3Eb1vYNSPkapUyqg5raZDdd7cr_vWY1x4-cxpToyBb3iWnw7Uwqehp7rSMxwF_yWPAbRSWfJB91ID8InqMZPdBqppxelkksgmEzP5ZY0tAnk1Xq01EHnCZVHKTPzMsD0_6uJeWYQqBnj99AbIKaCpobJ_te734OW9GShioMqWHJjKcPfWnYphFYjq4otXc1wU7PvMU71F_eIfUoYa3emTFROHujZ9pdqg6VTqKnj_RckcCm_U0XpCj5_29-YVlC6bMy_oU3Nqu3K8aoXzSBd-g-KN2uvfUzTYtMKdXnv8ZZHqk7G3c9GmRQbISMZxNVY45_W1wHaBx5IIWZuH2FziVNUH24-exqPFuPPEgEwbBu9kNRPvco2kpsFDEzwKwyXhiYsDVDFT5ez_GmuhSWb-SqbyAYwx9Uezm46JbhnNKchKZDdW35bUY9H4kWjnBblT6jYbk6GyNnaNTvbhDTje9Cm004-ub8N32BuK-gYIxKro9sPwTaDDzjWb0exDhOpb4z9Wt7Dw92yerBFGBPOGP0vaFdo7eFcTT8OU1V0IGta_-OR95ISeDCeY9eIqQxrczfNI8otLACW_GwwYjmXw8fe4qqn3wxqDFO7f-4C2LYRMHggo_C8lNMN2C6vTg_vE5_pEk2lu8vNHkQNv7WVjbWkiiW-SZd3OuxQsZtVb7LcQvffgUGwBGfuEqt3bTALjFv-1cfEJf-RojPa9hhSqcK6r1BMDfo8xnsUe5vamr-t2I8aOp1CI2Px0xlgZchUpsrUgZQBJoVNXbKwcpaGr7uzmw5VLuQl5s9EiJ9avQ4ma3phgX8jpp1wC2TMbwDYnVGPK5wYic4-t45c435vmGM3sWX8_tOFgkzUogsPGzs018gQmLWSk1y8_5E3HLFjIs_zH8H2QhABnV7gSmHslW2VmXwu6x5ShBlYiKIHcA-mIBwAVqsPIUrc3JcgJadP6O-YzJuepqinshquc0jZJIWKHsj1ZKjaU71fgz2oYLGvKhpdB3kq8H2KP1FJeU98D55qWPLT915hMdDyxlcHm0wvjubVPl0rK3utRSigpPQ2KN3OJyDg5MbMe7prqABqRiHRYnZIfJ0ujH1T9zZ9D_Vd-EQi-749O01Leb6iKFDBEHzGu3Pj8oD2jLf9sLMCI8hhBgPshSed8LVRpkBcnL8zclGvYjeJe2aFeL9mPn1Kyvcv-FFUvx9nHZmYWbiUieqI5mhb3zpAAKPz9IgLxYUAHz-g8ETPPRSzyt5TGjYBJaYnukWme8S1WCnqOQZFhf952AoDXFGLMUtiUGkEvxcOhjDOhJRs2wI07K6lT3T7JHAztE1YZXrQ3hlKKhCZeKZn5TCHHxsTNyl450Way5MBg84nQlfMq0jmp1iCmH_Z6pZT8NGA_WyQWOvaY6mSBkAHY91fH1Zt17Ij0D1xUln2teIku3xqwQ_6HWFFxsr5BwohrxVHDH0Umw4nAOOKRLC3U3HLst7sA6epJCYdvvTcuJHq1AdpHxYWash6wjyxlyIXgNEv6Gj7A7zyKD7aNN8E1vqX9xqppzu_U_Gw9DXo3FBSTPXPmWyyQrwQT7MDV1HXLdjQTIXFdTo60CyBdS8HRZXVPH7UNV_v9IbyVnTALUimtKHgZZAZRZevWQp14NpwcSm2yt18OXRBUJf4reo-bP4hjXwqi0XQZceGNoXllI-Kpx0hS1_NUVMmBoRHoGYo49J8Wwr_uMbkLF1EZUdD6yqexNs-vxCASgaD3G8qnLArEUZ8u8lLP_8I3cJR6jz8CnKK5A-MvG4lLhLuFmel5XFa9Bxfh7n4f8XPf7W4t-wZ0G8f14NpbWaYNU10cjIhgi9FL_AGNdP0ZBtmjS6sZBzBfnn53apOjjmGYsDXyQtib91h-h8wRlxK8e3PzKT-ueJo87ZLsTK04dJkPv8VkTBKpTZz8Til4-ff2y4xkxA2ZT4JlGh",
  "id": "rs_07c37685040cf413016ab42c867f8487d0b39352a6566887c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":0.004,\"left_x\":0.3,\"left_z\":0.047},\"note\":\"The left gripper closed empty; the white plush remained just left of the jaws in the wrist view. I’ll reopen and move about 5 cm left to center the plush before retrying.\"}",
  "call_id": "call_HX4ERZVUNn0VjVdQ8bv1e5fU",
  "id": "fc_07c37685040cf413016ab42c88287087d0a4cab79a0a62e4b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HX4ERZVUNn0VjVdQ8bv1e5fU",
  "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]: [-0.0547, 1.1656, 0.4252, -0.144, -0.104, -0.078, 0.9958, 0.0185, 0.9249, 0.7139, -0.6762, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2938 left_y=0.0059 left_z=0.0436 left_yaw=0.0649 left_pitch=-0.299 left_roll=0.045 left_gripper=0.9958 right_x=0.269 right_y=-0.0019 right_z=0.1393 right_yaw=0.0374 right_pitch=-0.3082 right_roll=-0.1334 right_gripper=0.9952\nstate[joint_eff]: [0.1983, -2.6598, 5.8051, 1.7021, 0.0611, 0.1587, -0.1294, -0.0889, -1.8803, 7.0632, 1.5946, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a338b2dee76d62568dd107066b5f08d73b3d850ccae178ddc6b6c4ddb75b1208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e20d0742a59c55e2b7bc607e762e97d8c9b69c201e8c396e2b39db8a6a9590e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c081792d01e094a6c3141034c7fba8fc819e776428097815d6a7d258bd08ab",
      "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 · 1.905 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5625, 1.1896, 0.6651, -0.3378, -0.3927, -0.3996, 0.9992, 0.0185, 0.923, 0.7143, -0.6201, 0.0601, -0.1383, 0.9952]\nstate[eef_state]: left_x=0.3051 left_y=-0.1082 left_z=0.1093 left_yaw=-0.0226 left_pitch=-0.1981 left_roll=0.0295 left_gripper=0.9992 right_x=0.2795 right_y=-0.0018 right_z=0.149 right_yaw=0.0358 right_pitch=-0.2498 right_roll=-0.1343 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -3.9726, 9.4974, 1.6484, -0.4078, 0.0317, -0.0171, -0.2803, -1.9214, 6.9128, 1.707, 0.105, 0.0952, -0.0073]\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]: [-0.3408, 1.0958, 0.4511, -0.2466, -0.2687, -0.2714, 0.0103, 0.0185, 0.9241, 0.7139, -0.6575, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2829 left_y=-0.0468 left_z=0.0606 left_yaw=0.0301 left_pitch=-0.2691 left_roll=0.0451 left_gripper=0.0103 right_x=0.2725 right_y=-0.0018 right_z=0.1424 right_yaw=0.0371 right_pitch=-0.2887 right_roll=-0.1335 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.7009, 7.4872, 1.4823, -0.2515, 0.0366, 0.8376, -0.0615, -1.8803, 6.8034, 1.6386, 0.0073, -0.0269, -0.0171]",
      "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]: [-0.0547, 1.1656, 0.4252, -0.144, -0.104, -0.078, 0.9958, 0.0185, 0.9249, 0.7139, -0.6762, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2938 left_y=0.0059 left_z=0.0436 left_yaw=0.0649 left_pitch=-0.299 left_roll=0.045 left_gripper=0.9958 right_x=0.269 right_y=-0.0019 right_z=0.1393 right_yaw=0.0374 right_pitch=-0.3082 right_roll=-0.1334 right_gripper=0.9952\nstate[joint_eff]: [0.1983, -2.6598, 5.8051, 1.7021, 0.0611, 0.1587, -0.1294, -0.0889, -1.8803, 7.0632, 1.5946, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a338b2dee76d62568dd107066b5f08d73b3d850ccae178ddc6b6c4ddb75b1208",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e20d0742a59c55e2b7bc607e762e97d8c9b69c201e8c396e2b39db8a6a9590e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c081792d01e094a6c3141034c7fba8fc819e776428097815d6a7d258bd08ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyOAOTYJOzq6JCoOKmgoPQDyX_4lx4mocP23RG9hAY7P9do2ycIRNx38tIjJZlFewXZAytLBDnA07wACGDcgg_1K4F8ysijBWCGuqzRXieXkWvOyTEoUOiyMgEtZeS1AyUQAXOuFDr-IWjkPlPIj3OFDXs_OG1kBSR-sZLHY-NYTceVeUoNfimJ8tYtUPOPe4XvsI9YEH22xdAG24y7QU8Vu6jjw0_I1fb6q3gux3j6PCdwlqwsE-85-qHgnBOUO7tJJHD52J5wn0_OMNCn4q1g8nQQ7JSV83HQOCgEiJptRxyLZqieqmOwu3GCVPsKrg_i9QYPmoZ2GQBTL0-2fbhIytjw-fbgHaFnl-Ma7rOxOwNsKaJXHILVIlCvOX3KG83kjtsvz0A4C8aezpebsS7P0wjCSM5pVVBwR056pzr43cBNEKl3PM_OYSdg_gljcBs9cR8dvntCW750n8eZk-HH-5lMv4c20HrSkt299sCHPJeuPyB0-V3UTdXNIu1kZw3vCecN3ki_Jm4QBw61-wTJYgY3U_8QVO13W72aY0_js211VnBgbreLfsKCqdD3--gEMaVeUb_rIUcmZ15V0l8L33V_OF0DCHFFjJyA7fflvssUvM15s7TLKIxKWOUUpnayoO0KpZ0BFJnrbF8a0_cBqCqE8c-fyYzB5vrqOF8Zsh3MR2Yjw22rI8_DbPiLPnihotvGHCM0zwR1arkcx2rFks9CKnQWCaJNIifM3JTVAohMXVzGSU2U5u0Sy6xycgTyQpl-JFID_NiIcU_4yKUzh0Srjcyg6yropOzO9gHDydy-IbkISSbdNzyHcL-D1JBm-8C9vh3oO5RDxkvsx2wZHizo8XhtWrHfnxQ3hudqqnhUsoMGou5C_Qsioe4sRmwvYhTd8SHab2N-E8BdzLrInNfWo_lfFGX2549vbwwJ618rKdN_PKVAkp-dqutnF2rGWaP_ZGzZGr8_lque10TPEhRBPFOxrrq3iU5dSIRjMGEDVfhDZco6LO_Ppms701heWcFDZkCGtWt_sPs5LZvtUZbIZoaHnbJtuI7s5CjS-IJpr2ORrMgGTWg6ZttELOkZ5nsdV3PL6_ZT7Vf8XE0akrF4ZY-kaOkeT1-tVjvVCaM4MISLgEpDIFd1je478ZnlthjtSZnmci67hhd96sOf7TBY2C_Bnm4bB47F2xbHCPuCUZqF7pG-7aMrNQP_Flx-mbKOjUAaLa-b1E6hF8eqwCoT2a6C07xo5QwMDYzCvzYswZqOZl1bovU776PopkJdDyaDfyRt5Xq3PeJ_KF64CS1NVj-cj2PR9LBwcTbmCzjR1ma9-7H5lievPeb3BM_AADpsuigu096kM6_12_wrHbTvLpj8JeVOo9u73rhdWxND78sn7-_0EKssDhGeH3KwmBwoJqPpD_KN4jxNXDXn-E65nHgaUn9KuqDp9Nef_dXpuu_W69vRReC7nI_mhM5sodPjD1YjAsz718pmFAz3lnMI8-nVIXLADidWA7CNo5JYu1uKszpcJW0UcD9v8CaGgoDKi5piwpr9T6lhaPdv_aJTN_t2JI6hSVEE0LgD3vxPkJXr_cYztt-44w3gnph3Mhpd8r_AElDoULTH6-MRjVsSakuW_prfxjywK0K1KYNsjD88DOT4QyeaKnCcWAaU9Q6M_eePjAZr0GDfl1tz_YTbU5bZyMo5_2E2jQjvVTLWNr5U-W55GEcHHYmOl85IdOieN08fa_xAP1l_Hzg6CZT-YmdNvL2oPPdUz5FsiHEbvvipeKbEkfz3NeDnWN5BxrS6CxfecTVD5XmMJf3L8BgQ6flVw9e76kMFuEm6y471666RRU8qw8PrQeSiVjNz_Kh_7I9TXSWb9DJnJihc6fEtDaQnDVVjLF-g1hs6vV2D7OVWGsqTSl5D1Wtp_-2u5Syixa8wkhE1q9m_VgG9kNlyyqKgb3Qinp_yuqp3EDsJ3eeZL3Zg1acTbGdnEJcc9qTcllX8ykrquoVy4dstBBGopyD3qAMR2bt9IrN3ii5xXIkURICS165uCvbYh8bh6MdBom7o5GTEMParnBtqwD62m5wi-6rd1qyKGKM5Etj2X8-zyq00k3Lg-D-pZpbHlkBLh6erd7OoEe1HbShYV7l1a2WyDFz8zR2T9r1YzsbsWHAeXC4LGSuAVUdnuxt0Oa5h-Uin_WhwVSkc8Nce4ffA-i7A1NvnEbk2cKOIlNZ_e9RsLKD7TMeExD0MeORXtreZTWoBkVDDD_iTUnNvAN1SNd_shEtPEhtsIQR1I5ho-oRL5plX7v3nTAbWvt0HJFNlfc15iaACvu7BTWpgNcbMZ32ckosGY_ZwakRge1jrwGswlIhlHPq9HXlRdVmHaGDl2bBQI4dTAOAsWbNrnY3i4RTkGc8RD5I8VBvTJhJMPGEe0tBkALgKvrdpwCrzuINcOI3rEszfUCmFDPUfWA==",
  "id": "rs_07c37685040cf413016ab42c8bc1bc87d091159bb9be0a8210",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.021,\"left_z\":0.027},\"note\":\"With the jaws open, the white plush is now on the opposite side of the left jaw centerline. I’ll split the difference with a 2–3 cm correction and lower slightly to grip its body.\"}",
  "call_id": "call_NIXMBwbAIiHdHNJgyQ0cMD6S",
  "id": "fc_07c37685040cf413016ab42c8dcbec87d0aeea5f3cc16c1baf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NIXMBwbAIiHdHNJgyQ0cMD6S",
  "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]: [-0.1795, 1.227, 0.4026, -0.0998, -0.1501, -0.1425, 0.9969, 0.0185, 0.9257, 0.7139, -0.6804, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0221 left_z=0.0262 left_yaw=0.0195 left_pitch=-0.3306 left_roll=0.0469 left_gripper=0.9969 right_x=0.2682 right_y=-0.0019 right_z=0.1384 right_yaw=0.0378 right_pitch=-0.3132 right_roll=-0.1329 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -3.3026, 5.6274, 1.7705, -0.3101, -0.0806, 0.105, -0.1983, -1.8393, 6.7214, 1.4725, 0.0122, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c57f0adfc52f8cf3bee15ac298cb02fded049c266699a6478da182c9dcf6a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4241d2d33e5746db8771dd2d4c6dfbcd59f45cf45a3cd4a2af5e32de6c7c50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2fe93a3ad40bdbc34476a169de6040a6954a210b7716500d089b5c9d4532a5",
      "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 · 2.118 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3416, 1.0958, 0.4644, -0.2359, -0.2768, -0.2676, 0.9992, 0.0185, 0.9241, 0.7139, -0.6376, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2885 left_y=-0.0475 left_z=0.0677 left_yaw=0.0315 left_pitch=-0.2446 left_roll=0.0447 left_gripper=0.9992 right_x=0.2762 right_y=-0.0018 right_z=0.1456 right_yaw=0.037 right_pitch=-0.2689 right_roll=-0.1339 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -3.6171, 6.8171, 1.9219, 0.0366, 0.149, -0.0122, -0.0615, -1.6342, 6.7897, 1.6484, -0.0171, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0547, 1.1656, 0.4252, -0.144, -0.104, -0.078, 0.9958, 0.0185, 0.9249, 0.7139, -0.6762, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2938 left_y=0.0059 left_z=0.0436 left_yaw=0.0649 left_pitch=-0.299 left_roll=0.045 left_gripper=0.9958 right_x=0.269 right_y=-0.0019 right_z=0.1393 right_yaw=0.0374 right_pitch=-0.3082 right_roll=-0.1334 right_gripper=0.9952\nstate[joint_eff]: [0.1983, -2.6598, 5.8051, 1.7021, 0.0611, 0.1587, -0.1294, -0.0889, -1.8803, 7.0632, 1.5946, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1795, 1.227, 0.4026, -0.0998, -0.1501, -0.1425, 0.9969, 0.0185, 0.9257, 0.7139, -0.6804, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0221 left_z=0.0262 left_yaw=0.0195 left_pitch=-0.3306 left_roll=0.0469 left_gripper=0.9969 right_x=0.2682 right_y=-0.0019 right_z=0.1384 right_yaw=0.0378 right_pitch=-0.3132 right_roll=-0.1329 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -3.3026, 5.6274, 1.7705, -0.3101, -0.0806, 0.105, -0.1983, -1.8393, 6.7214, 1.4725, 0.0122, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c57f0adfc52f8cf3bee15ac298cb02fded049c266699a6478da182c9dcf6a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4241d2d33e5746db8771dd2d4c6dfbcd59f45cf45a3cd4a2af5e32de6c7c50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2fe93a3ad40bdbc34476a169de6040a6954a210b7716500d089b5c9d4532a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyRiz4dVTZupoFJbjhdvFBKAzgvIgTVHyrEXaEqDSnL1nNcyABorxsKl5SU7sXKkvmjJAtEPmpsmbOZ0o-esLqXikg0yiTkjIAE1XqOg9Dt3I6SDnpeGySBVUVEPl1q79gio5eQ8y3boBgCncqhevILW59t-i7yCLuwAjNPFlfVpXdEo6FU6K3bvlvGDLTTWMrpu26lV5LHi8yB_RfI4aNLWkEFN2dc97URVmDK1WvgIpGKTBG_jvScyrwkXOhJdTX6nOaumxcW1Wcp9dthxqdbVUyBA-BixbMBG436dZcbZsmaTnf7y46-hplLHUq5g4nfH3oBkdTemEI7t0CSAICfF1QXYb6e0UqKUD28PTyLRLzE3BPLYJwRZ3TSEZi6qKvRyZlLD-WvaDyuvraPAuCg7JPEsidsq1_rhMqH7DJaPVhTuxqG9pwsdUeQHzny8gqfEDA69b2KPJHwrOcimUjZCKoq9gjtwOXOkSkyXEmz39ue8ZUbJZ7aCConewbcUdW0JKcNoukWsMXnd_EhQ0MsrBoamb7uHnf5pJcjPCKE2g-Jmo7mIENsDIkdQ_gjafb8V6QIVAlhnahasdtwohgq9tAp9FyU7zp4NpnkvXS3oAzxMXUICCcx65oivWL3TfF52TRc5NxyI_2nACykufvazLBYe7MnnQOjC6o34l4-yWhYimMQIdDJUKbntCVIRlzE230FJtRExm8RbquOz5RBmfLanfBPxCzuxsC67FQAVyB0T8wqlnIA4sBNeOzYeMUBAetwk17xcGIuk7C-im_jRqOCzvJcgWmpsAZ7oZcl1GkGA7q9u7HlVkWpybiIAAexJWw4dPStr0oYVAiWUFAlV51yN6cS-u2Nx3sSHW24dxAexa2DGnfIwVf78QnxunB3q6yMCm0li8ESB6hCNQ-8vBqa-g-dTGFdH8yby7RqERqlwL9y7kZ3bR38iOpGcRVsWtCEpLOz-7vlXo22sjnPdiUfjIY78OrmhfogrpOsNyc7gUbncjvvQUGjfs07FfuosuAUgx3lYhk1TqflJpyTRJZHAcHWAPMn-MxtE8TgaTsYb_b3AQg-sPtucQVlsaOOKmpOzDvP9yTaGClh8wUQq2uv1YPsT2kuVyoqDekb3sY6T7lsU-NpRkgMT14DzIoP9MOS0ZNykwdCZaHxl0Ip-W3r24Mn6dD3gU21neqmbRU7fbzNbbD5M9tAmdm0LKHzzb_HidD2-Azz9Wvb5-ZOJXsPbrfTw6Hv8cmfl1djmRjojfpOz8E6kEyN_GGtxsX8WTCWlO1vPqxGWXM41VLT4VMjwItmY_mwV6XAdu2fO0fYjeTuYDd7MrzILhF2y2y7E8R1k5BWKnDuSURfk5Hq8g==",
  "id": "rs_07c37685040cf413016ab42c8ff19487d091340d7cef9e2306",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white plush now fills the gap between the open jaws in the wrist view. I’ll close around its body and inspect the settled opening.\"}",
  "call_id": "call_5wRWT9KrgThfB2I6s6LCGhDx",
  "id": "fc_07c37685040cf413016ab42c90661487d0898585ab29c7efc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5wRWT9KrgThfB2I6s6LCGhDx",
  "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]: [-0.2016, 1.24, 0.3912, -0.0696, -0.1963, -0.1982, 0.0967, 0.0185, 0.9257, 0.7139, -0.6838, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2907 left_y=-0.0206 left_z=0.0242 left_yaw=0.069 left_pitch=-0.3149 left_roll=0.0468 left_gripper=0.0967 right_x=0.2675 right_y=-0.0019 right_z=0.1379 right_yaw=0.0375 right_pitch=-0.3166 right_roll=-0.1332 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -3.535, 5.9966, 1.4383, -0.0952, 0.4322, 1.2381, -0.1709, -1.7573, 6.7077, 1.4383, -0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0976b15c08b022b64114ed63711ff3448009c006a20d4471e5d6ae66f364c9ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a264ad9bd03809794676995371e0f7f10557900b64e315431ced2bc6b18f7ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b900fee0160db07a3866f1bb6037c2f7b4b8fbe0539ea2e4e2a99a6d468bd27a",
      "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 · 4.704 s

model: gpt-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]: [-0.3408, 1.0958, 0.4511, -0.2466, -0.2687, -0.2714, 0.0103, 0.0185, 0.9241, 0.7139, -0.6575, 0.0593, -0.139, 0.9952]\nstate[eef_state]: left_x=0.2829 left_y=-0.0468 left_z=0.0606 left_yaw=0.0301 left_pitch=-0.2691 left_roll=0.0451 left_gripper=0.0103 right_x=0.2725 right_y=-0.0018 right_z=0.1424 right_yaw=0.0371 right_pitch=-0.2887 right_roll=-0.1335 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.7009, 7.4872, 1.4823, -0.2515, 0.0366, 0.8376, -0.0615, -1.8803, 6.8034, 1.6386, 0.0073, -0.0269, -0.0171]",
      "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]: [-0.1795, 1.227, 0.4026, -0.0998, -0.1501, -0.1425, 0.9969, 0.0185, 0.9257, 0.7139, -0.6804, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0221 left_z=0.0262 left_yaw=0.0195 left_pitch=-0.3306 left_roll=0.0469 left_gripper=0.9969 right_x=0.2682 right_y=-0.0019 right_z=0.1384 right_yaw=0.0378 right_pitch=-0.3132 right_roll=-0.1329 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -3.3026, 5.6274, 1.7705, -0.3101, -0.0806, 0.105, -0.1983, -1.8393, 6.7214, 1.4725, 0.0122, -0.0757, -0.0122]",
      "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]: [-0.2016, 1.24, 0.3912, -0.0696, -0.1963, -0.1982, 0.0967, 0.0185, 0.9257, 0.7139, -0.6838, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2907 left_y=-0.0206 left_z=0.0242 left_yaw=0.069 left_pitch=-0.3149 left_roll=0.0468 left_gripper=0.0967 right_x=0.2675 right_y=-0.0019 right_z=0.1379 right_yaw=0.0375 right_pitch=-0.3166 right_roll=-0.1332 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -3.535, 5.9966, 1.4383, -0.0952, 0.4322, 1.2381, -0.1709, -1.7573, 6.7077, 1.4383, -0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0976b15c08b022b64114ed63711ff3448009c006a20d4471e5d6ae66f364c9ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a264ad9bd03809794676995371e0f7f10557900b64e315431ced2bc6b18f7ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b900fee0160db07a3866f1bb6037c2f7b4b8fbe0539ea2e4e2a99a6d468bd27a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyUq5IDbjK3FGEnltO0y_ea3ST0tBE73XdHLMG6LSFBtkoajj7_pL2vxiS_5Z3SWX9HZG6KKMINQW15wcfw_BXycUg3INR_2CUxT9vK0nM0pW7MJvh0TSsmbWC2iDEYuDKu9lbrj36IlQxS1S4nlg1dstQVYyh4RlSmVcPCfweep2uOKjQqcWWqbaAr8gUjhMpkTSDXO9JOu3aX51Nx6Rlhx0xokurU7sDmCJWzwEGkXW5MwkdxChe3QBp4VQP_rGQXlgfDjnBrPNYVecpirLpFmRCWYUKr7C2Sk6a8OSrNi31bVCY7jiJz_LwnVMVaBn9PeXN7WYQ8Qrz4rxBfcM0HZUbyKkU2KZUXT4cRJECD9Sr4UHCKt0dL5MCNsz1eeZhhvb8b5mx3kiwwMWEhhY5wPS9PGjA3jCI1e63Wg6VwEmzcdgDZl9mbptTcrRdQ2FRBzMG6qShHQu2qRcubs_lTUXjHTrSZ9-E-ojRgU0_KSIRoFk4dRfDsryHwGpYPNf1xTccwG_EkfgYhfn0Pp5QGROblwaK9_ofYSXrIgESM4AKYfrxauy-09PGgL63J5d5KoaWZGwhaZZzR6YSuu3Tz07TBoTOGgJYOU0L51GcY7lPYWV4Urmh8IPJ6L05mzBAB22lpBx5g2P95c2V6D_ufevnaeZgyx6lsH0ElpC1D6ibncBqg9MOnWOIycJ9Zr9eTAjMGpPonik4Egn_5PEpDvJZgzB0jeX0YWOrmkx_Q_wI7Jzi9dM1OanVf53W9yfcdo4p6GA18lEhE63jgcY7Wsh6alDrSMlDlX3NkpP3MyjT-4bGL0m78do9tgGT5uu4ls8VcrvrLkezGlf7O4zIGfbcr0fLL296QKkUZnaCo9uxF7HbTec30rtGa0QlX0J9aPNSyeJyFFykUmaMiWL3XLOt56SUFfN9UP9z4UWVvPxHtdW27gIHxVQTFONVpyCo7z8FmVdjCWSqicf-f1i7difAqsXLaUvWeXQCuKVzT4XTOUTl0p17-OUcoP7sH0WQD4GomMF2uA4K2GKzuokGI2GzeF6K8ZvY8vUP6mrhdDNqS9So8TFP4rsed56on2xlcvalo9xuIoEJMYHdb5Z0KxSn_lFUl7pZy7YeBpAQ_2Wp6HlVsimmBwa4oYCaDmgIhysMYqXtmt8D6Yi18DmZuLXF_6gKQ0I_CuudVjPZnYisKV6EXLczmWr8EgLCkJ90Jd9fzwfcOrekGSUgRc5aV7IgGzZG5XvOHvN8pXMhFACvVBwrX_fG5qVz-qQms7KJkimXUBoo4aYyGAziYxOX4O-0xNxOERzsoZTnsOFxP0MNOPCm8svLxlNr5FoDLWv1G",
  "id": "rs_07c37685040cf413016ab42c92f74087d0a0d37d8dfd8cdd5a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The jaws stopped slightly open on the white plush rather than closing empty. I’ll lift it to verify whether the body comes off the table.\"}",
  "call_id": "call_Om01LMM24cpDhFXsIkatNDFu",
  "id": "fc_07c37685040cf413016ab42c933d6087d0b3d071ea584cc193",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Om01LMM24cpDhFXsIkatNDFu",
  "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]: [-0.2016, 1.0676, 0.9306, -0.7994, -0.1955, -0.2043, 0.0983, 0.0185, 0.9268, 0.7139, -0.7017, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0205 left_z=0.1734 left_yaw=0.0734 left_pitch=-0.3321 left_roll=0.0473 left_gripper=0.0983 right_x=0.2641 right_y=-0.0019 right_z=0.1349 right_yaw=0.0379 right_pitch=-0.3357 right_roll=-0.1325 right_gripper=0.9952\nstate[joint_eff]: [-0.212, -2.441, 9.0188, 1.4823, -0.1245, 0.0171, 0.1587, -0.253, -1.8256, 6.8444, 1.536, 0.0122, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3df45838cb839a4986ff63ce6ec0b13defcf0e2a38d690ef7369b9dacb8b2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d94e19b5e1cf34de7af5fbffe6753de9ebe513b31cad2288857ce23d0b758d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68809f27b07c95e4ff7f2cd721d9f9282467643ee3752e137432f2000347b8ca",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 2.831 s

model: gpt-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]: [-0.0547, 1.1656, 0.4252, -0.144, -0.104, -0.078, 0.9958, 0.0185, 0.9249, 0.7139, -0.6762, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2938 left_y=0.0059 left_z=0.0436 left_yaw=0.0649 left_pitch=-0.299 left_roll=0.045 left_gripper=0.9958 right_x=0.269 right_y=-0.0019 right_z=0.1393 right_yaw=0.0374 right_pitch=-0.3082 right_roll=-0.1334 right_gripper=0.9952\nstate[joint_eff]: [0.1983, -2.6598, 5.8051, 1.7021, 0.0611, 0.1587, -0.1294, -0.0889, -1.8803, 7.0632, 1.5946, -0.022, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2016, 1.24, 0.3912, -0.0696, -0.1963, -0.1982, 0.0967, 0.0185, 0.9257, 0.7139, -0.6838, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2907 left_y=-0.0206 left_z=0.0242 left_yaw=0.069 left_pitch=-0.3149 left_roll=0.0468 left_gripper=0.0967 right_x=0.2675 right_y=-0.0019 right_z=0.1379 right_yaw=0.0375 right_pitch=-0.3166 right_roll=-0.1332 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -3.535, 5.9966, 1.4383, -0.0952, 0.4322, 1.2381, -0.1709, -1.7573, 6.7077, 1.4383, -0.0024, -0.0611, -0.0122]",
      "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]: [-0.2016, 1.0676, 0.9306, -0.7994, -0.1955, -0.2043, 0.0983, 0.0185, 0.9268, 0.7139, -0.7017, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0205 left_z=0.1734 left_yaw=0.0734 left_pitch=-0.3321 left_roll=0.0473 left_gripper=0.0983 right_x=0.2641 right_y=-0.0019 right_z=0.1349 right_yaw=0.0379 right_pitch=-0.3357 right_roll=-0.1325 right_gripper=0.9952\nstate[joint_eff]: [-0.212, -2.441, 9.0188, 1.4823, -0.1245, 0.0171, 0.1587, -0.253, -1.8256, 6.8444, 1.536, 0.0122, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db3df45838cb839a4986ff63ce6ec0b13defcf0e2a38d690ef7369b9dacb8b2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d94e19b5e1cf34de7af5fbffe6753de9ebe513b31cad2288857ce23d0b758d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68809f27b07c95e4ff7f2cd721d9f9282467643ee3752e137432f2000347b8ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyZ3uVt7oeiHu2zB4F_M3n18Vy6oTkblHkQrzaSYhQ1ClepkV1eY3nSaXNElgid_z9kanPikpGEQoTNV5N1i4hcg3aa7D2JGnuk5KrZigg9mw1TSX3b8Y2d3xfkv1iyJTLKOUBoSQNWdWKAPgSLHY4Xqn09la3yaXixUZWbi5g_CLOde1gSN9flrl78z6-G5b0eHpcQgi144BAOi5GU2fbbR4m9dL9dIg5Wb0ErOAzpX7o2dyaWKu-8Wrfx4S3AQkGxVTML_m1r7JpwM9pkpsMm-axQvliaU_vLuSSw6-NLAdjEOnrQ19E_MCM5geOo7NT51KERCAr8BeI3Y1tIITcTbz5KTr9-FEIhcRiufNRQH-ZUzZ78oPWHxMb9a6jgJziT_L_MrYI0f6rhf9HIX3gR9VTks_ewoh0NmNPUeuCEwuSFYGmhRDMJkJsYj9eo7i6niJsOyZQbc10Jg_9gq9wdVR-MD7-IfSSQ6yZM713b83Y9a3Z65shZUSLlkCquUXAwLzsfoD0dkD8h0fuXg3fboOkyPdKFW8wP4RM5JAb0LYuhtGpiBmtYelL0XB3bb0QrNCTDJaSCPuMTnfZqyFNMAuXvs1ewMkJ5ZmVVBFEhzNEm7ju0B5orDU-DXOpk0XFbHe5DtcE8Arz9WLkDuIBj0Y4ojC_A2-6SChWZz1sO0rgPUPlC_3UG9962ERBdnRvizZxkKNmIlbMtOMe5jdgMS1eNnD8anN8RHXDwFV_oD3Z0rHFXnztY5HYZ0xLBTKzRFVgwY6jOA8zpP0Vpskk5Xm2WrVdA_8RQLZPxRDPbMPHW32uMhKHAWsHonC56wYRG8CKDPgaW93I0N3NeEKUOvEto4cpjwzPsq_giYjCLfl0fU6QutXVE8mMg7OAYMPgMlELBO6kTS6tpZnIPhjckFfe2Y7h40Aj3Eo9nCrY-zQxehpOMWsu6stTT6yoM0J_XAI6vOMbNz4tQErcaDCmVP6z_626EqQuNgcdE83lwmGZqRvSXCtD4ozoG43oGgrcDWAcZ9Ubbc2I8gsqrS-9xYK-xx_s2vAqfUKkYku02SK6pcCbC9tQ5A3x1DMSEfKXKy6we_vKKhuMo8uC7XuURbI39NdPpRmUt0POn9S5rx1lDd6Xnn4-SsfAcgYcyj9_vzg8Vi3pV7W-D1UpxGqE-dkaEBjnjGHOuQGZHCo5vXq-e-wagHNjDRBBpjWGuQgql4ZRfmW-LqWZSCmz1X3V2wVRUzqp9pvr2nCswSPg8LEC2x7q-fJIosmaauZgen3WPxm0wl-DYOrWM6WsUAXGnjiVwQ5wIeSbO09kOXMcEvbDKZE0nfB32fakQS7p5YVkZxwP8jKBrrOtj5GYhIlQeTXR-baGku9LTkDe_TdRcSAvdsvWZacQ7onc6m9eG_VyuZLVsk9cbJd1tYP9tsj_graGLT_l8WMh5tMgdjReg9pNPciRIz8TS8Cto47gtz0ClQ_TtKwbpkW9kXQSj8OAKtFRErVkiJ6vFL_DcVBv8XdbPfNsHVwWVSVi85QXRTvS8XZj9eNA6PRc3sKGSjBsGjGN4vAzY32ZJz9h9mbeHQnNVSkj_F83NlUi09RQQambBTEhtsbivCeBxllBtyQgiJhKRXw1fPv0e4jMQRUCOl2GVAw3xGqXclSfTjYqEnCBJz6WNTqMO6l22t1hUwARxM0FLQWxfRG6m02iD1s6BLi0OhrVd5QOtNQ0jE5QCnYhtXuZY_fLQ8079qIdoXy8v8ljvQOLLZJCZ8gy5H5wdP-khQvrzyrMmDQCzOnrqEm4XvrB_axg9bD0GwkcVVeKOlLe7L537kY76SQEnS6xLMK0JfjUvCLQI7-eybedRs5-EnQPxttouACju1pjO2bBh4q9MIPYiR1iikWuEpnzwJGg4a7tDXmM15fM2PyYvt3cqB0cdY5qGVC5zhzSrE7ovbLoemYTs2osw0Ge1Be-6sYkLGKZ2I5QWXwnZIYBOUJigJK1xX3DgP8dooQWlVzBMF70fEykN8JXTb2zdcgtPMxIc3cNdxQKTBcjhZ8cqsATQVE2bJ_c6xosyBdtB7onoAfx2JDCLdFUC7i1QnjzyJC41pgieaQ1QN89eQI4kaNMDmGEhGwldvo9G047X3Djfw96KPstLZFhSGlgfN_9RK1ugV5Q0LEvG3bKoscUaWo4N-mJDCEUJvI0ZGMui87TYr4lPiNmHnPjHIpBztSH5nG4QdLgSF6N7xAKxxEB9UfrsHBRzSmwSadkD34uvCUHJ3bZ9w-cDNsbBzwTAax5ecUxfK-guDPzEymrmyLzEtfvCplTkf4TG9HGDNUQHsuYH8PNe0mT0hgepuC5TG_79H2DoYt-wvC70d7sp0bfdv9zcOmRzWGNTiBq1siwif1C0m-QauH3vkFkx8mlM_Qpvht0BL2NL5a26z9EMvyVyTZ9vAVSiDJgS5uzdtk1ZsyKEaxz513YM4qZlsBjIfZtatqs=",
  "id": "rs_07c37685040cf413016ab42c96ac8887d08d534c9e092cac84",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.2,\"left_z\":0.21},\"note\":\"The white plush has risen with the left gripper and is no longer at its original spot. I’ll carry it above the safe’s open compartment.\"}",
  "call_id": "call_JrDWZUNoC2xJXc64OnB6cpdI",
  "id": "fc_07c37685040cf413016ab42c991e3c87d0b004039acd23e998",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JrDWZUNoC2xJXc64OnB6cpdI",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "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]: [-0.7761, 1.5757, 1.4441, -1.0336, -0.4686, -0.7212, 0.0992, 0.0185, 0.9276, 0.7139, -0.7242, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3166 left_y=-0.194 left_z=0.1943 left_yaw=0.0633 left_pitch=-0.3835 left_roll=0.0667 left_gripper=0.0992 right_x=0.2597 right_y=-0.002 right_z=0.1314 right_yaw=0.0379 right_pitch=-0.3589 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [-0.4034, -6.9675, 8.9915, 1.0769, -0.5446, -0.0562, 0.0757, -0.1436, -1.8803, 6.6667, 1.5409, -0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0210b7fabb51e3cc9307bf8901b1c13951f2e4e886b089833693d69efe031a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee6ccf23a3d55f7da5451f9795824dbefba4435a2701f5aaf682bf10fed7347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02430b6517a6651b459b91ec60202643c0778327d9f2cf1936b3b4d5b582037",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 1.917 s

model: gpt-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]: [-0.1795, 1.227, 0.4026, -0.0998, -0.1501, -0.1425, 0.9969, 0.0185, 0.9257, 0.7139, -0.6804, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0221 left_z=0.0262 left_yaw=0.0195 left_pitch=-0.3306 left_roll=0.0469 left_gripper=0.9969 right_x=0.2682 right_y=-0.0019 right_z=0.1384 right_yaw=0.0378 right_pitch=-0.3132 right_roll=-0.1329 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -3.3026, 5.6274, 1.7705, -0.3101, -0.0806, 0.105, -0.1983, -1.8393, 6.7214, 1.4725, 0.0122, -0.0757, -0.0122]",
      "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]: [-0.2016, 1.0676, 0.9306, -0.7994, -0.1955, -0.2043, 0.0983, 0.0185, 0.9268, 0.7139, -0.7017, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0205 left_z=0.1734 left_yaw=0.0734 left_pitch=-0.3321 left_roll=0.0473 left_gripper=0.0983 right_x=0.2641 right_y=-0.0019 right_z=0.1349 right_yaw=0.0379 right_pitch=-0.3357 right_roll=-0.1325 right_gripper=0.9952\nstate[joint_eff]: [-0.212, -2.441, 9.0188, 1.4823, -0.1245, 0.0171, 0.1587, -0.253, -1.8256, 6.8444, 1.536, 0.0122, -0.0757, -0.0171]",
      "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]: [-0.7761, 1.5757, 1.4441, -1.0336, -0.4686, -0.7212, 0.0992, 0.0185, 0.9276, 0.7139, -0.7242, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3166 left_y=-0.194 left_z=0.1943 left_yaw=0.0633 left_pitch=-0.3835 left_roll=0.0667 left_gripper=0.0992 right_x=0.2597 right_y=-0.002 right_z=0.1314 right_yaw=0.0379 right_pitch=-0.3589 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [-0.4034, -6.9675, 8.9915, 1.0769, -0.5446, -0.0562, 0.0757, -0.1436, -1.8803, 6.6667, 1.5409, -0.0024, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0210b7fabb51e3cc9307bf8901b1c13951f2e4e886b089833693d69efe031a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ee6ccf23a3d55f7da5451f9795824dbefba4435a2701f5aaf682bf10fed7347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d02430b6517a6651b459b91ec60202643c0778327d9f2cf1936b3b4d5b582037",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_07c37685040cf413016ab42c9c855887d09d94f7c2f8c5cddf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The white plush is above the left side of the safe, separated from the yellow object on the right. I’ll lower it onto the safe floor.\"}",
  "call_id": "call_4PYGYkEUFdpab5e4IsIwt6xv",
  "id": "fc_07c37685040cf413016ab42c9d582487d0a4a73dcf9c02d4b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4PYGYkEUFdpab5e4IsIwt6xv",
  "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]: [-0.7784, 1.6543, 0.9905, -0.5583, -0.4675, -0.73, 0.1007, 0.0185, 0.9276, 0.7139, -0.7326, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.3074 left_y=-0.1863 left_z=0.0575 left_yaw=0.0837 left_pitch=-0.4213 left_roll=0.1071 left_gripper=0.1007 right_x=0.258 right_y=-0.002 right_z=0.1302 right_yaw=0.0381 right_pitch=-0.3673 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -6.9402, 5.9009, 1.0085, -0.1245, 0.0464, 0.1343, -0.0479, -1.6752, 6.653, 1.3993, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa3f197a1eda4bbccb110e8c74fb0c5341454b6e33d10f403eedbaaa1a31f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ccdfabb00159b3f447a5594595844816b906fada0b7231082df140c08ebafae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f790f83e931ed1d274620498fc672b57f1f191b0a4f2e04674e6d41cfa6ce2",
      "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 · 4.311 s

model: gpt-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]: [-0.2016, 1.24, 0.3912, -0.0696, -0.1963, -0.1982, 0.0967, 0.0185, 0.9257, 0.7139, -0.6838, 0.0593, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2907 left_y=-0.0206 left_z=0.0242 left_yaw=0.069 left_pitch=-0.3149 left_roll=0.0468 left_gripper=0.0967 right_x=0.2675 right_y=-0.0019 right_z=0.1379 right_yaw=0.0375 right_pitch=-0.3166 right_roll=-0.1332 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -3.535, 5.9966, 1.4383, -0.0952, 0.4322, 1.2381, -0.1709, -1.7573, 6.7077, 1.4383, -0.0024, -0.0611, -0.0122]",
      "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]: [-0.7761, 1.5757, 1.4441, -1.0336, -0.4686, -0.7212, 0.0992, 0.0185, 0.9276, 0.7139, -0.7242, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3166 left_y=-0.194 left_z=0.1943 left_yaw=0.0633 left_pitch=-0.3835 left_roll=0.0667 left_gripper=0.0992 right_x=0.2597 right_y=-0.002 right_z=0.1314 right_yaw=0.0379 right_pitch=-0.3589 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [-0.4034, -6.9675, 8.9915, 1.0769, -0.5446, -0.0562, 0.0757, -0.1436, -1.8803, 6.6667, 1.5409, -0.0024, -0.0611, -0.0122]",
      "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]: [-0.7784, 1.6543, 0.9905, -0.5583, -0.4675, -0.73, 0.1007, 0.0185, 0.9276, 0.7139, -0.7326, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.3074 left_y=-0.1863 left_z=0.0575 left_yaw=0.0837 left_pitch=-0.4213 left_roll=0.1071 left_gripper=0.1007 right_x=0.258 right_y=-0.002 right_z=0.1302 right_yaw=0.0381 right_pitch=-0.3673 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -6.9402, 5.9009, 1.0085, -0.1245, 0.0464, 0.1343, -0.0479, -1.6752, 6.653, 1.3993, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baa3f197a1eda4bbccb110e8c74fb0c5341454b6e33d10f403eedbaaa1a31f1c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ccdfabb00159b3f447a5594595844816b906fada0b7231082df140c08ebafae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71f790f83e931ed1d274620498fc672b57f1f191b0a4f2e04674e6d41cfa6ce2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCygOUiZlC964IbQwhhDyUVnP4Oyn1x3ZLxpXJkAI19v0kqWmtS5NfBja2OQbceihxM-30xi0-MQjJpRdOTo7TNLW2mcWUarLqrstYFnefksQeEDZMG5UqeSPb33i26d-DRZ3urdUphwXmJ4w5GfORyRZkX5p_pu9CVXQpL-Rj69EfqnhB-gogjducDjCpjhre9LPOL2v91asHYoWqhqC33UMHtvNzDD2uw99iDiiod-JNI0bHqYtah6CduTcri1_Sv-Y3eWtjd1wXvALoocV1bauhU7iRNPQ9McCkP8pw3THn6Zr9al0ASPIjb8RaRje5PBlqcVAWsUeIIX703j7sAN7WLqGRnqJbXSRTy11kPfzxiZXcJ9dPv6LhCmFjzp_IGZBjPJbEfyXUwzhplNgBMYtu2yqxCvd5o6jI3L5k5HGjEf_7eDN73qyZ3xoBp94JKvB7O1kf5EVpPuBl53Ir0Ms5j_HBLugDz3CkfYqNaaWhpxUbOQocO69JgvODfXY6aj73q1PKBLVYOBPmqY1O2BSIzWmmFJ1aJCkI7AvvDRtXCPVc5OgFtd_ANm53OyVGX-FMTvgrdoiqLL2IhqMKUSKYJJGNu8SdiD4mjxJMiPb8DX6ek8Np3PR5Z77Xt_GlC4sD69i77Th2OW2HhUBpK-viDZv2OyqfXXzxQfdjG7FOJBQCIiKhjXFwlm8mCbf4j0VnmmleUytOB4BbqpWB9_zXtcQwSbyCClhfOUH-PW_EMd2z9s4TjTJj6m4DD6UvIZ9sHDn65tnDMp6nHmZWFZHRXdQWyukUeZPTxq9RxoK5LBk47Yr-7doqZMHbloaXJh3Ga5H1jcQ0WPrQTEfA_29eB_wMKJDKEdVnKpdI85ji7PKNys5XPsPN-pU24RuFH1DJXZMdI-nuJQXCmLknsLJ_pYm3h_HztOUd1_lmTjGkQFA8SxRvJRus4XblgBbB6qETKZvNgX0pUB7YhYmZGwS3m8hYuD38eQ-XWB4X_NzPz-Xd2-Y0awm3Q3oP7RV76HJ-jb6e0e23JlmnjKz97sf5-ksdce8skgl_epbMFajxGHUakTj5_Tcc9LyGuBUnHbzWLpoCyfGWIico1gLPqwA_qbmqyY3eF79F25gVA1lWrrWcE-HovMQ0CNYYw4QVsrdmVbplT2oZzfu1Drt_hpZ_hUKDhHPrKOE73vnCok1xr_f7UujfumiFbochrUHU0b3lLFoL6B54VzVyVmznX1wqCNqwFlPU7MiipqBeE31EgF2xdr7cjCMP-ST2jxeOy_qzYaGzuZGL_t5nlompJRJMJvthtLAJdNzn6B9IaTId-7-XqYo5VFEPhOWdF-cS8ki4EJfxfDt2t3mufmvZdUnA==",
  "id": "rs_07c37685040cf413016ab42c9ff18887d083414d2fc823ae25",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The white plush has been lowered onto the red interior beside the yellow object. I’ll release it, then clear the arm to inspect the remaining brown object.\"}",
  "call_id": "call_Y4u43z3a0dz6vgZCAZAwj4E6",
  "id": "fc_07c37685040cf413016ab42ca0417487d0b96f26c4e7828edc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Y4u43z3a0dz6vgZCAZAwj4E6",
  "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]: [-0.7776, 1.6627, 0.9806, -0.5602, -0.4679, -0.7357, 0.9942, 0.0185, 0.9314, 0.7139, -0.7433, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3047 left_y=-0.1832 left_z=0.0516 left_yaw=0.0952 left_pitch=-0.4337 left_roll=0.1209 left_gripper=0.9942 right_x=0.2559 right_y=-0.0021 right_z=0.1277 right_yaw=0.038 right_pitch=-0.3818 right_roll=-0.1313 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -8.0342, 6.5983, 0.9451, -0.2906, 0.0464, 0.0073, -0.1709, -2.1265, 6.6393, 1.3797, -0.0073, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb8acee8daa4237fe449c9c185242847b022939036e6f0673e2ebf4286eeaa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab27f1816670ec3e45cfb200ada599effd21843ae5c4606697674f38ab7e261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43b7f0727cfc5d70dc73b0de26424ddfd80333cecf948c205089c29cb6c3a78",
      "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 · 4.193 s

model: gpt-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]: [-0.2016, 1.0676, 0.9306, -0.7994, -0.1955, -0.2043, 0.0983, 0.0185, 0.9268, 0.7139, -0.7017, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2896 left_y=-0.0205 left_z=0.1734 left_yaw=0.0734 left_pitch=-0.3321 left_roll=0.0473 left_gripper=0.0983 right_x=0.2641 right_y=-0.0019 right_z=0.1349 right_yaw=0.0379 right_pitch=-0.3357 right_roll=-0.1325 right_gripper=0.9952\nstate[joint_eff]: [-0.212, -2.441, 9.0188, 1.4823, -0.1245, 0.0171, 0.1587, -0.253, -1.8256, 6.8444, 1.536, 0.0122, -0.0757, -0.0171]",
      "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]: [-0.7784, 1.6543, 0.9905, -0.5583, -0.4675, -0.73, 0.1007, 0.0185, 0.9276, 0.7139, -0.7326, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.3074 left_y=-0.1863 left_z=0.0575 left_yaw=0.0837 left_pitch=-0.4213 left_roll=0.1071 left_gripper=0.1007 right_x=0.258 right_y=-0.002 right_z=0.1302 right_yaw=0.0381 right_pitch=-0.3673 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -6.9402, 5.9009, 1.0085, -0.1245, 0.0464, 0.1343, -0.0479, -1.6752, 6.653, 1.3993, -0.0269, -0.0757, -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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7776, 1.6627, 0.9806, -0.5602, -0.4679, -0.7357, 0.9942, 0.0185, 0.9314, 0.7139, -0.7433, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3047 left_y=-0.1832 left_z=0.0516 left_yaw=0.0952 left_pitch=-0.4337 left_roll=0.1209 left_gripper=0.9942 right_x=0.2559 right_y=-0.0021 right_z=0.1277 right_yaw=0.038 right_pitch=-0.3818 right_roll=-0.1313 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -8.0342, 6.5983, 0.9451, -0.2906, 0.0464, 0.0073, -0.1709, -2.1265, 6.6393, 1.3797, -0.0073, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edb8acee8daa4237fe449c9c185242847b022939036e6f0673e2ebf4286eeaa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ab27f1816670ec3e45cfb200ada599effd21843ae5c4606697674f38ab7e261",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43b7f0727cfc5d70dc73b0de26424ddfd80333cecf948c205089c29cb6c3a78",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCymy76OlDcK1-_OpxbNrijoJsE5sJvGpPXTXpxuANDbBDLsbs4Xj95-qbmFa8TRD1Zu8GXww30ENGul4MjVKjTgzDVUscN4a4cUfmnSTnpTfW-FzE0G6UX_6ugQDBBitrbBmvLSALpv7T7z6gUH-AGp5OM2ERyfoqQczFn7FO62gJb-fNATzUMKyJPywySv-rO5BHBh5Ek8QrlkCIJKValHISaIMhAA9SDzvrPMMGH3kOA2broprRp1MSpAEjqSIFh5_x8Q2yDQn-ls_lmQReGGDBvDMJhSL1gRv_bhuB-7lw_t5nMHVN46lcrvOyNW99zzmNTXU5LyeBZodHg3QX9Xveoi-sQjlb9wZ0UbhvxrGjVB8H8pNW3Pam4W5cqSGxvWCjahbKDA6Vrlq0pbeuzN5liP_tf7gUKtDC5GuR5ugjkTwS1DeCuzvJ0QOBTwBtU-0CQOBlJH2V8LAiIPEKyjVjkIYCXP2IdwcD-_B90JRoKz7f5SpgUz6xLxqyffwHfg1p7X-HJfPLPjTb9N8Gn12NB4Ih_3c20oJfxDYqdYdWL_fT83nMVGQR3iewey9MRqvu524SV7CQ3CuVBpq6aXKM0LLleZDbLmOhchtY3PVPAikCumYYhuAZ2hYcHypJrGs2xPOvuUlFI_8ZGOq9nt5OojaCRkdbreKdLUHO6g6SrYFvctBzov1eHgTq0jblPlHeFjohNRcACz6lcUhtlwqIpdCaZdWVs_KNzbXffktdVYNhkSYQBPPLhOywlyGswwZy3GQsm1TG6ZRqH20e9Z-wF8_UvGFu994ZOBN3xSeUZEKfVEPo868A5nJEql-GSNAsqrP-I2c3JIxzz8C0TGD7bjsv0rtjvG8VFilD6gs86YbqQ7HxRZuVNDJ_pDSO4wpPRKE5c39I4_CEf6gmUtOT8g7Er4z-qWzDjadqJORYpoE4GHdWxV-y0O_giSaFnZQuZSEiMgMZoOdk1AgIF7kVCXo2WBHGUFPi8omXC_29--eqZRywfitZ1zivjCIw1XiLSWeiZvu-XA6H3ubrKLElssYY5DcnWMq-kePuxj-yxpkTTj092oaNoY8VfONDA8UakWYvZTjOeDCO5HgV948BPp4N4_jEMl0_dth2bxhTgA4D5eu-sCz0z3YnDyK02rML2XcTnsUjkpiBF7VRHVKljRxzak1Ua79YCr9phK2pKCuDGKS1FOPWnvZUjfX0Hlyfsx907yhFoXjMuzHhcw7zcWjxf8XI3okCG7MmNar0kCgmquEB55ErJRE_q6_bSPJkeSP2KA1P2-MGPwp4K80kK55pl-45-hVdfv6-leSFkTWfVKiAIbctsptylXQSI4-21Luf8USjyonPEeaJ3NvpPtrA8i9F_qcuTRGj_NiH6nwVWdMlPqJk6QR48kpRoqkRXqkkvOGmtSoJ4xWUzd95GdgogBeMsSi5Subkwxi89Z43BsQeXJPYb8b5U8avDT7pHTUWgLWbcrYQ8GHvhN3HavUxqC4eAdbU9UxsnrZuTKHBBjIlJNfBJSB7_Igaz0Uf3fN70YVGTUkAOsuFxHbspGVx8ZjS3AXSc-6jpgep8U8JQHLsQAtWiWLiyYENRFipik4AHtdkW2OgZNp_YhrEL6Y6KCWrM-XJBohDI5qooZbCca1O70kyoj1kkHdTehzWwS7NExKFOIB6hSzDUnEngDwFOSiPpgNyu55qobX9Bv8ejG3xaoBoQRU94OPd3pfgvJ7lGFxwG0NF9npKJsALw1FXo1NrE6TIOF7n7CGfHtQNzXD9IOop2gDB9UTkM7GnbCYs_RPGTg2948CoebwhVYI2KxyxsirPh7Qd2rP6LdUfPtCsEz67VO9p04D1E5dtQpmgmI4IdYW65gg7yZ0cJsx9gDsWno1ryslFLybyf_ypjPuemuR97ha_fGPOBywkgj-pCdXELGZSOkCE1wRJQtZf5ZwmAbQsuPo73TvYKwV3jPI0nhBfnUlXvrnKGXsAZfEiRxMD1-G0UF6sre30VQEtEmgdPG-owUUWgRb2xX7o4MvZ0xdZ3xfQAZbhiGrLLuVhDmoRqX8PFc8Sjr05Tjk-RpKROpcB23uspL1syv79V4IIGPuHVq0qnbBp2sIN1_pKERp0w1XSbZCdZ3dFR-9lznv6jOl_vKgUF2V9pYTZdgBrT3uEkXttNX6H5c6XatrWvEENzmv1V8eIRYB5JnnRxidiMHOPkfeMv9PoBfLyi7UCrfURrfmcgBLA2YuNC0a8_TBySX0AmdqUQluo0usQuLEGVOxMvcprckSGbEsbP8JraIMfiINZbHHhemES4AE4uLZyNqdi9g634xq_64V8O8vk9KptsogsYybDEiegpzFAm4-qS-ICmRgWL34Ac7wLnn_NHPYsX_AYyqBXmUqZP257XW22vfPGnsXVjpNFetbenbTRk6goNUVGS10-QI2LFu9NMVA0CzlujN6MhbuW4lkc0LosMY0Jf7zspAA7hG1OdbHyPk5SXyVZTI3AgJ0kwHyK0HfETl9YFdRJ7Eg8JlaknU0Z-dVyLOShcSqY5KaYzZ1kkbSvbePQsVObaWLu66nZ22VejMNChA2cEgO-82_rRI4CRF-yqvZ6PwYda2t7NAV_00eQWMUtkxIZahLJoipijAN1mxFtlYlpIyNlUWGDmNk00qXTY7PAdigVrDFqlWzk7d9L5CeguWqr825B1lC6r-xDM6JJUKDMkaHlSwxRyA_SfnB4qwrrgByA29gJaP2GljtrhEdHzg",
  "id": "rs_07c37685040cf413016ab42ca29b2c87d08b66f9d35e5c6140",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18},\"note\":\"The white plush is released inside the safe next to the yellow object. I’ll park the left arm so the right arm can approach the brown plush without the arms crossing.\"}",
  "call_id": "call_mLx69OUmTUDBW99fyPRubEGq",
  "id": "fc_07c37685040cf413016ab42ca56c4487d0bba633e38a1c3bcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mLx69OUmTUDBW99fyPRubEGq",
  "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]: [-0.1417, 1.187, 1.0271, -0.9203, -0.2119, -0.1761, 0.9955, 0.0185, 0.934, 0.7139, -0.7677, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.163 left_yaw=0.148 left_pitch=-0.4678 left_roll=0.1223 left_gripper=0.9955 right_x=0.251 right_y=-0.0022 right_z=0.1237 right_yaw=0.0385 right_pitch=-0.4089 right_roll=-0.1309 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -4.9573, 9.1829, 1.2088, -0.0904, 0.1978, 0.1197, -0.0752, -2.0718, 6.5983, 1.5604, -0.0122, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece2c064158eab80ef83b71d1660d672ebc26739d2929f64ddffb4c3d8fd0cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c31c14d0d52e909eae882c0eeb4bad807de160f607428e5177356df3e45a1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aa4b5fe0f0b9db6c194902ef7e0ee0d3ba63ab15d56740385985425feaf52f",
      "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 · 4.933 s

model: gpt-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]: [-0.7761, 1.5757, 1.4441, -1.0336, -0.4686, -0.7212, 0.0992, 0.0185, 0.9276, 0.7139, -0.7242, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3166 left_y=-0.194 left_z=0.1943 left_yaw=0.0633 left_pitch=-0.3835 left_roll=0.0667 left_gripper=0.0992 right_x=0.2597 right_y=-0.002 right_z=0.1314 right_yaw=0.0379 right_pitch=-0.3589 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [-0.4034, -6.9675, 8.9915, 1.0769, -0.5446, -0.0562, 0.0757, -0.1436, -1.8803, 6.6667, 1.5409, -0.0024, -0.0611, -0.0122]",
      "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]: [-0.7776, 1.6627, 0.9806, -0.5602, -0.4679, -0.7357, 0.9942, 0.0185, 0.9314, 0.7139, -0.7433, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3047 left_y=-0.1832 left_z=0.0516 left_yaw=0.0952 left_pitch=-0.4337 left_roll=0.1209 left_gripper=0.9942 right_x=0.2559 right_y=-0.0021 right_z=0.1277 right_yaw=0.038 right_pitch=-0.3818 right_roll=-0.1313 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -8.0342, 6.5983, 0.9451, -0.2906, 0.0464, 0.0073, -0.1709, -2.1265, 6.6393, 1.3797, -0.0073, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1417, 1.187, 1.0271, -0.9203, -0.2119, -0.1761, 0.9955, 0.0185, 0.934, 0.7139, -0.7677, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.163 left_yaw=0.148 left_pitch=-0.4678 left_roll=0.1223 left_gripper=0.9955 right_x=0.251 right_y=-0.0022 right_z=0.1237 right_yaw=0.0385 right_pitch=-0.4089 right_roll=-0.1309 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -4.9573, 9.1829, 1.2088, -0.0904, 0.1978, 0.1197, -0.0752, -2.0718, 6.5983, 1.5604, -0.0122, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ece2c064158eab80ef83b71d1660d672ebc26739d2929f64ddffb4c3d8fd0cbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c31c14d0d52e909eae882c0eeb4bad807de160f607428e5177356df3e45a1d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33aa4b5fe0f0b9db6c194902ef7e0ee0d3ba63ab15d56740385985425feaf52f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyrMOx_JesGCJn_6wsnWyrrbbEM21lWhXceMzGpD4axZ37aRb7eRrD0ZXcu9aGLSVv5HHJRfTnt85vPb6M40nG8Psrgyv6T82YXjDWsF80miLOhMVW_QKVC6AjuBxbAGgRSGjqQU0OMY_Q-6YfOrjNALS_sUC-NW0hmr7xuQLBT66vkYbuAGFzmj2ikdXH5_EP-QpK9celv1WM0mJASkUDNw_jbuq9boNpePvsEU-t3QrqrYR1HTHDXhxmWp8_rScwguENnOeAJmSOn_Fp8cNAeIlx1B9rClvPZcW_z6tgYRQBtSfkm-BJfMBJT6jDh_sKS21fPh-SjtaDY-olTacGwyRU1mfSfe2v0yS2SodQ2UG-CexdnLwm5saQ37OtiMj8_HyFo0AQR3mIE_GNIgZOIOhx9Vrm0hW_zWZRaf17LccVUSWQTOxDFo9ASf-0c92437D3ILp0naZXrrMuYyfv68b-he-n20kAYjqASn3zzBxQo-ELtosWM2q3CjqWQkm4YQdnK9eVEeVBlMYH7JRU_kEfg9w1krinZqDIBA8sNKYkxHvwNc7hqU86Q_e9G7xSnO4R4-vZpBdnexHFVz2DqzN4-Xn3HgUProaRZG5oSg0Fxm0aoW47N9bPTRQevx8xSX3VmcLjLsbv-biOPx4CCO70YZQB17Ve4ENtquZ4B_-ccq5cybITg9lH9P4F28vQysZOWikCeFXc2Y4tz5PM-qFebRlX-qide8hDw62D8sDbdu6WIWCJGrBVwmi_yrjjJVvKxETy2Xxzg15Qwimhz42lvv6_VJAWQNDbf5W_OyWW_G7SH0b_gSZeaauMkV7cIhN6A8lysZt2NaGzP-T9N_WwNFO1lw6BUwQ4EVeGNxBJnahW4qZF7W-S5KhgJT8tm7z_hCIyVl2GBatWYS0iQPMqAdmtvFj5xazKFo9hCMMpnvm0pTYHeZM7iDDsQ3FooGmkuQ07_5hTLkBwZfbOpFj84Ts5x0P9JcOhztN-5_zth033MymkbwwcV33dcju_jPD5lxMRc_C6WGf0cc4FYBfA1ZWYZ3AfT2lQdhKqPK9MPC1F6O3XQD3KhgSfxQgnQUeHiiAesgC7lCMh8wYLwf2TVlTYg4IoN-zrKRwYlFdrhVqn3Bp31tKKH7_TBOhBy1y00geN8IPjfYvCmkqZcw5R6MhUn8EsTbo-z2BvrKv-tLfbJybhhDhvacS95nel2KuHbjW3NccwAX7Aj9z-nGC4df9qqQ4PDXKLh0uOAHgvBdHLQAPUjhB7WF26U5-mbhtZ4ubSdNmR9JmNLyu2QjqIE5y_DmMpx7VVBDfLj2fuMRZS4s5lYnuYmaKwD70zsgnJjHINqR_qgnJfHai4wz-mCI5QRa396F3QMPq3qwrLs0ELESAYunjF-STja3Jx3psl5KN_Ol_oLjTUkRNw27HpOmDqyuAmwq0TwgGKTcoLgDKPd07pvE6j40WESjdr-4pJrpcaIQqQaq_EC34Y-8EtjzMRMCyt4cMv-5PA-TRLfjVY2gBiY4vUX1Tv9CQp3Jomp6vVsi85zisP_zOKVwTWFjyvavUAvzUgobWmEo_ty7hYDyyoh3NO4e_iD9__EScYSiV9p4iPle4i1iKsUDBxwZ6t7TTYnQL79p6_YL35yXbZK9ZuOKS6KIVqS1TJgJKsucCb-c1NpSGa2RT8Ikax4qkhHsQ4dAMo9XDpYCwlMZvbx8ezX0vTc0EKOImmywizxGevL8ZMxOquA1hgmfMucZSU2W37c1itNwVqqK6wVhMY1-vtNpmAQBmOCsv0jJNimRv3LhEOKvBxmiE4zbVNdjqPp06pXL2tt6pn8qN7EF6X7yg_m1oxNzAsmbkeO-6xsKftW0axALKrY0XLn2g==",
  "id": "rs_07c37685040cf413016ab42ca9b3ac87d081a4a3ccd4d9d291",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.19,\"right_y\":0.34,\"right_z\":0.15},\"note\":\"Only the brown plush remains outside the safe; it lies diagonally below the opening. I’ll move the right gripper over its midsection for a body grasp.\"}",
  "call_id": "call_uUduMGfw7oXIAbTM5vx4nk4e",
  "id": "fc_07c37685040cf413016ab42cab168487d093652026574e4600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uUduMGfw7oXIAbTM5vx4nk4e",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9432, -0.1997, -0.1768, 0.9957, 1.2949, 1.8618, 1.6104, -1.2194, 0.5495, 1.0836, 0.9952]\nstate[eef_state]: left_x=0.2859 left_y=-0.002 left_z=0.1613 left_yaw=0.1396 left_pitch=-0.4902 left_roll=0.1166 left_gripper=0.9957 right_x=0.1861 right_y=0.3317 right_z=0.1426 right_yaw=0.0556 right_pitch=-0.4421 right_roll=-0.1668 right_gripper=0.9952\nstate[joint_eff]: [0.0479, -3.6855, 6.0239, 1.3016, -0.2613, -0.0073, 0.0073, 0.1709, -8.7179, 7.6513, 0.4176, 0.4811, 0.2808, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d0f7326d3545946f92e04b1476fe0ce762959b01e9d899179f89c5556bf080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228a59826f0e89b72d66e1b9ff3198037906d127bcecf15f43626a7af50ad505",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61295b56d5c460fc72d275f46d36aeb10062d978290b88798ca71d1f03cd6106",
      "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 · 3.46 s

model: gpt-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]: [-0.7784, 1.6543, 0.9905, -0.5583, -0.4675, -0.73, 0.1007, 0.0185, 0.9276, 0.7139, -0.7326, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.3074 left_y=-0.1863 left_z=0.0575 left_yaw=0.0837 left_pitch=-0.4213 left_roll=0.1071 left_gripper=0.1007 right_x=0.258 right_y=-0.002 right_z=0.1302 right_yaw=0.0381 right_pitch=-0.3673 right_roll=-0.1318 right_gripper=0.9952\nstate[joint_eff]: [0.0889, -6.9402, 5.9009, 1.0085, -0.1245, 0.0464, 0.1343, -0.0479, -1.6752, 6.653, 1.3993, -0.0269, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1417, 1.187, 1.0271, -0.9203, -0.2119, -0.1761, 0.9955, 0.0185, 0.934, 0.7139, -0.7677, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.163 left_yaw=0.148 left_pitch=-0.4678 left_roll=0.1223 left_gripper=0.9955 right_x=0.251 right_y=-0.0022 right_z=0.1237 right_yaw=0.0385 right_pitch=-0.4089 right_roll=-0.1309 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -4.9573, 9.1829, 1.2088, -0.0904, 0.1978, 0.1197, -0.0752, -2.0718, 6.5983, 1.5604, -0.0122, -0.0708, -0.0171]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9432, -0.1997, -0.1768, 0.9957, 1.2949, 1.8618, 1.6104, -1.2194, 0.5495, 1.0836, 0.9952]\nstate[eef_state]: left_x=0.2859 left_y=-0.002 left_z=0.1613 left_yaw=0.1396 left_pitch=-0.4902 left_roll=0.1166 left_gripper=0.9957 right_x=0.1861 right_y=0.3317 right_z=0.1426 right_yaw=0.0556 right_pitch=-0.4421 right_roll=-0.1668 right_gripper=0.9952\nstate[joint_eff]: [0.0479, -3.6855, 6.0239, 1.3016, -0.2613, -0.0073, 0.0073, 0.1709, -8.7179, 7.6513, 0.4176, 0.4811, 0.2808, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6d0f7326d3545946f92e04b1476fe0ce762959b01e9d899179f89c5556bf080",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:228a59826f0e89b72d66e1b9ff3198037906d127bcecf15f43626a7af50ad505",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61295b56d5c460fc72d275f46d36aeb10062d978290b88798ca71d1f03cd6106",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCyzbiQ_AOvKzKcn77RjGnl21OJl-chjuEuNXCVRnQQcOGbFH-r0iciiZbq3JN6f_i22pZ_lozGCg2kv8d4cq3HQdffnw8BFQPIMLh4uxUzm8C_d8QruCKfCjYWFUzubJCLws2xxOdUN_FgV_1k6XK8__Yki82mqd_1huPbwGDCFGe37pTOgnxEbvxSqv2Mb4dPiSRxNnUFn6DhfyEKSQa5bpPkmhkE8UCdTosxzQS66Irc2f60tfvBlu-uuRf_bi5oRxmZLUYd0xjfu6851CwXfE3J8UXOQxd0MHbbwV2hen3R-4D48TFfVd_Gf-2nBe6EO3IuJjNbUS1KolqA7AdiToOQjx-anv-dqdFhBaKYBsM_pl02R73Rf27LnYzb4dXw6cGm6-RKQ5ygIYWfgEegorQ3mM2uAAfHdMvOkDzJ2w-huFScz7DxeEfvBtFxCmv0oIvoYXLaNgBxSCWuJZ8T5wothIxTYIitGNOsoRgrPmG0vmDAEISitU3Rgy_U66R0NXJ9e3xM2vVp7iV3kDDYmSp3837FTzRdQA16lzGNeJFhDajfMECxDYwsBWbL5L9bNGBPKsjk16DMm1It9ebvfG8L4-wPnu-kDc5NQobOGKD50Ud9v0SN4kUT8_nDgO5wBWIcMGObSjDJYKr3LwtUTcloFoNUisfOtjrEoeZNj_BqNN-7kKcNmhNkN1qAb1pyRtzw4XqUGwFuX_1oYCSqCrQd-xTdSj6STO9rmMNjR8fvMhia6ED22inPt8OIKVKlbuRg9k96qIhu8XP7hB4Bwmv7p8tGmWuhBNC3Nrx3Sl4XT8erFlrZGuehgWvf8L0e8awVPnek7-7FbrH6G84Sg-ov5ZSGK1kJUonLTQw12MjXKahranUOwDTIsJFqj65c0jiKoEQIFbppxwYzaExNb-9WCTNuZ6M6VXeGgYyPSPapLW-mrXDs-fWEaqMYv2Aqagjs3ra_mJ1g3IKF1gQIqxPfhI62b1VogpdmPmfUXy65_0geE0mlWHdoTVpyNKBFoFXXF06NMNJRE0sp-E9jn7I84VlsSr_IcofzIkWdzVm1XiSQm16GgECq1zAH1cBvNjCrDAVC36SLzAonR2itBCSTsVyF5j5dc1Z8enHpl_AlmWwqgqJg2dN5Qi8thZ8DGIfFhJueMenjwgA65GwdjK0gvBx1uI9cBsILZM2WHY6OTGtB0OPDv7vQLhGM-D5s-EiuJXZ2NUzm_cV0guJaJScKH6p8OupfQDlXeqO3V5fEdwWYNqs3MVbaoNSgsAqTiPrHVxlW8R4GDYJDa9aBUyDkMt0VHgL-d1AukuWKCe7Z_WYQi0vN1PDD7Yyq2LG-btECEH6LqP9TVhMYxO3fsfTvkT3Vvp_ILauyzrmKgQttN98rD0PjaNRBvnp75Iq9qyO5DqWr1O6ReX8q9-ljuhierWxY7pxbGthy3kW9XDlrXKGeGppUH6UOOX6E0XaSvUq4XSe0vmhUSQUy9gF3uVPMHALVxOAJJ7VXRc5qBBrke-35tjK9WSQuxUwi8KnW2wo1SXxDr1HQCLnlXN7DIPb3in81YdByp0u2ydR4545X3Em6_URn-I5ZvZazsB3SQsMu46ztYW0j3Y3Yv3TpJBZDQa5hF7Z2sF-6Jj4IPfCwImbssfdl3ujax9FsgSryT_eOQf3r_DQVDO3P_qN8ox14sJ5mA0Chc9mbnsimJB5tN0RXWeGFG4Dnnm9TCerDiN0dMybaQHdc4JVkvt5Fe4q-jsTQ3wYCdcHyfSHuYbUun9CpctkC-lkJCOtDzem6ZhPKi7ISwpo1oNWR4k5vJay7kstrkAZfUS7-GMpyFlptu6HD9BqWUtthctwdbJ2HL5mF79eevPsLBdE9vjwRVnpBfVXT0xL2KhWK4EnmWj_PoUAJkSQco3pWSVV9E89CB8fTRcIFFEtNQH0qhdkbBBXxCYWMkfKsVPsAstUttR7BSjZahUU2ddvCZcn27Ajj8fFAx1j75o0VTe-nLhAgPJTuy6n5rNqQCqbKzLo_RMCf1LE3Xl8BYrE8w49bvK-RnDVl-OZwkBrzZpre0MGNHMFVknprGBzl1u3BkzEsEEoV-7izF1heQUY3QUcX-HPHswQ5aHAIj0WoVyrcUP2mJzmLCE0iuQvABh_eCktSNvBN_CSerYUjW1qrX0jvLvuU4AHrkscBwPxBy0rUz4-MEUHGtr9m9wgQfIdJBT-iMYd-Lap0cGUojg82C4kgPBgPhScS19bClYv1cx1racAXpmokAG9DfDnOJzocYP4MgE_5nN4B26OhsyKR4CY3ZpIAIMguWj9FSyN0994ES39YOG1Tb2uPMx1rcizFvc6CzOeYMXiStqyqS1-Zdhn7oH1gf",
  "id": "rs_07c37685040cf413016ab42cafb68c87d0bf28750bdf4c2242",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.215,\"right_z\":0.062},\"note\":\"The brown plush’s torso is centered ahead of the right fingertips, with its head to the right. I’ll advance about 3 cm and lower the jaws around the torso rather than the head.\"}",
  "call_id": "call_KyTaBGd3BLfFrmdos5K658nq",
  "id": "fc_07c37685040cf413016ab42cb213c487d0bbd18780d58f6703",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KyTaBGd3BLfFrmdos5K658nq",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9478, -0.1982, -0.1802, 0.9957, 1.2232, 1.9137, 1.3891, -0.9546, 0.5339, 1.0092, 0.9952]\nstate[eef_state]: left_x=0.2849 left_y=-0.0021 left_z=0.1607 left_yaw=0.141 left_pitch=-0.4948 left_roll=0.1147 left_gripper=0.9957 right_x=0.2075 right_y=0.3194 right_z=0.0688 right_yaw=0.029 right_pitch=-0.4672 right_roll=-0.212 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.5487, 6.5573, 1.1062, -0.1636, -0.022, -0.0122, -0.4991, -8.2256, 5.9829, 0.6227, 0.315, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a1e675d53aa75bc54dda300297bde1b980642d417591d9830544040e404642",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a30b4e86892084fcac99602044d9cd37b49e68d485e0583279dc5a75014c82d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e05fb4423ac606e1ede71b8d421bfe1cd619626e4cdec31361afa860590ca5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 2.663 s

model: gpt-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]: [-0.7776, 1.6627, 0.9806, -0.5602, -0.4679, -0.7357, 0.9942, 0.0185, 0.9314, 0.7139, -0.7433, 0.0589, -0.139, 0.9952]\nstate[eef_state]: left_x=0.3047 left_y=-0.1832 left_z=0.0516 left_yaw=0.0952 left_pitch=-0.4337 left_roll=0.1209 left_gripper=0.9942 right_x=0.2559 right_y=-0.0021 right_z=0.1277 right_yaw=0.038 right_pitch=-0.3818 right_roll=-0.1313 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -8.0342, 6.5983, 0.9451, -0.2906, 0.0464, 0.0073, -0.1709, -2.1265, 6.6393, 1.3797, -0.0073, -0.0415, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9432, -0.1997, -0.1768, 0.9957, 1.2949, 1.8618, 1.6104, -1.2194, 0.5495, 1.0836, 0.9952]\nstate[eef_state]: left_x=0.2859 left_y=-0.002 left_z=0.1613 left_yaw=0.1396 left_pitch=-0.4902 left_roll=0.1166 left_gripper=0.9957 right_x=0.1861 right_y=0.3317 right_z=0.1426 right_yaw=0.0556 right_pitch=-0.4421 right_roll=-0.1668 right_gripper=0.9952\nstate[joint_eff]: [0.0479, -3.6855, 6.0239, 1.3016, -0.2613, -0.0073, 0.0073, 0.1709, -8.7179, 7.6513, 0.4176, 0.4811, 0.2808, -0.0171]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9478, -0.1982, -0.1802, 0.9957, 1.2232, 1.9137, 1.3891, -0.9546, 0.5339, 1.0092, 0.9952]\nstate[eef_state]: left_x=0.2849 left_y=-0.0021 left_z=0.1607 left_yaw=0.141 left_pitch=-0.4948 left_roll=0.1147 left_gripper=0.9957 right_x=0.2075 right_y=0.3194 right_z=0.0688 right_yaw=0.029 right_pitch=-0.4672 right_roll=-0.212 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.5487, 6.5573, 1.1062, -0.1636, -0.022, -0.0122, -0.4991, -8.2256, 5.9829, 0.6227, 0.315, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52a1e675d53aa75bc54dda300297bde1b980642d417591d9830544040e404642",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a30b4e86892084fcac99602044d9cd37b49e68d485e0583279dc5a75014c82d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e05fb4423ac606e1ede71b8d421bfe1cd619626e4cdec31361afa860590ca5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCy37M7P4FlelgsWeTNfZyiFwoA1DXYUQh45un0op5owOsMmkQi0ky2x8bV0axpvTNxaLxVFgxNEgsLtHin0ironQNesap90-3CnsnO-2klmACqzN2XUZnUuIZGYdlbksyZpU82kE7SSMIw5ko1jfFiTLehz2rfnjNvJL9dS-UwYXAiNC3CSm5jf5lO8KxvNrsLTK7GmQ6SvxYhc2orC_ETkfjBLKWrxLbzYElwAAMKkKkKYczxWKv3g7LY35MPUrUpfOKyZOO3yQAKSRIr7v1ZdSXey7Yog7He49sOdlPeepEfby_4zidKjiKYxzlJ-T36jOuTEse2PEcwOffqX83_iDzjYKnNXDMdT5xeWLd8xaC1M38TL_X_PiOOzPSgqBR8CQ88kyi1194r6NbhZtg9cnQpRCkA0z3vNvfLsjMC1iM_EldIIehxSWYwVS9YQclsVuBYZCFPWb-7wK9g3uwjifJ1gyOWFFmZRzpA4XwVDHhdRaJgUu_zn6FB_dp_Kgc8uLzHnYbtMwRNqK-_8qSqx51ZeOEthP-pSzslTRH41VfjdR0E1bjuHhtC8YMccGDylgNPtG4TF8pHDWOfPZoybtuhPMNyPJCPDha1CzYk8LVl9OaTY_rwLIpQ6ZZUpZMIIGiQFD7hfE5DOdpaxNo3qRpdLPKbzpjSeZsNOICVGeiZuws5d3x14HXHusJuKaDVt945A_uiPRMjGUHDXgPmya3mB5eZk3od0igO7olCyaQICTNdWUmyY79Bl-zMk96xoDafrS3O1xmUoDz0lK7SQAKSZyhGFPEZxOOF4X6KHfZC3Zvj2SU1HoadTjYchVR26iB4_AP9wAOSBsQ5YlK2tBvW7V7Fk2YP6EFlvZ7H3eoGE_Ufm5QnQxQBi5HP7E3FuHN5olXv7k8tFnZqnawBlLd88p5VbfvVPbZXte-olQlhFr2OX4jsar0F1mwZHqWWW1k65cqk-wqesdnpjF-cMsv5YCRY8lrLOmUG5PUYLSBDlyIUjxxjiLbp_mesRPajoTVSNXj9zLhCxygXB-cfPjbOB-e4bRiqu1kRDVhITspObEVCXLXFQ7ittOe3ijjxTgzkZJIbK1OPWtDV8U88ma1IkX5wGuiLiLOuXm_dWEjkVdhDtIBE0QePgO1mwNvMaoX5SOS7M0VFCMHy6ISJ1EUezHkW4EJqu7uS57rNuFd1UOrXqtQVabpPOy7j7fLx92oMErl5UxrceZPI4dz73gvebP7muZCkYHyHSnoIajWFQWlLVl-gjFi0hsSNmCdswZKaaMEA7WQFy4fxAbOzmzx-wTdNRXfPQ6dcRoXyZFHpnRlAOyGA4oeCsoXGFykMocX0AwfaGeG9lHPbtHoVNYhhT12YMkMM7rwIFjqdsQKk04qTYYwjcm0jeUNhpkno9EABykzmeIQ-7AiGq7-djX0oWGaas1g-9IYfFdayz0HcWV-OE9s325zHEc5LPkGECEV0lu6W1T-QpnTCmmK_0J8IAQJWsAdW5FsyMIfuAWBQOyADO9tS2K_qpDh75fFV9nw_xyUX_VftvYwBGGcIEnoZGSyq47KkHTcwGSKDCnf8P3Fj6_AFoVTNdf8Yhg0zlkAZyzP5BWxcPVIwzSG5YkFqYfUx8FX74yoBssNLs3kBYjhI_kyXbIt-mVBWTExgYaGqbY_g7Fzu0AKWMHOj6Gf0H_NSqQ9NWwyghq90o-3NOA6fVRaV9q6HFGkwjvOgWEv38ISTwihQD7WlZOnFoLCP3HkylmG2lqK-6fVMmXqB31RthoI9xD4PRTj2WLTnaOwbcG3SG1EuY2krpFjOJo7L_mw_khVIZ8hbQ7yLGMbRCWGFIQqmioAcQHG08sm6K0qCIEIWdEYqa06HrQuShi2cp6LH7znTfGdllmnvW9sOCwLRteV4U0BDH248t3rUep6HgPuuyPCQbtO1fXxq5UiCUbCVVVFQfYwgwsIINPhcltQ9zazNAjPHfGHb2ukq97V75GYnZ0R0L2gZMYbZx6MYRImiIUTNZen4Ecl4fMc7GkWMBcw3pkeZT5H7dTzub",
  "id": "rs_07c37685040cf413016ab42cb53c2887d09f1d8b31ab571817",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.345,\"right_z\":0.048},\"note\":\"At lower height, the bear’s torso is slightly left of the jaw center while its head remains to the right. I’ll shift sideways about 2.5 cm to center the torso before closing.\"}",
  "call_id": "call_g8ZLowc0CTnF1tPwLsTiLqLf",
  "id": "fc_07c37685040cf413016ab42cb6ef1487d08d2c9283655ce918",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g8ZLowc0CTnF1tPwLsTiLqLf",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9489, -0.1982, -0.1806, 0.9957, 1.2392, 2.0018, 1.4368, -0.9367, 0.5259, 1.0035, 0.9952]\nstate[eef_state]: left_x=0.2846 left_y=-0.0021 left_z=0.1606 left_yaw=0.1414 left_pitch=-0.4958 left_roll=0.1149 left_gripper=0.9957 right_x=0.2056 right_y=0.3359 right_z=0.0492 right_yaw=0.0399 right_pitch=-0.4835 right_roll=-0.2355 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.6991, 6.6256, 1.0818, -0.1538, -0.0708, -0.0122, 0.5128, -9.265, 7.6239, 0.4078, 0.3687, 0.3101, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f58668495304eb8ce724418dffe20b6b58c936be3275ebbf68b35a175f90eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d38411bd861182ec2f3b15fdf2aca9348672c31837c49cda97db8fb265a836",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:298e2c75db3fc4da972d99954ee73e046719bdbfa27b9c4a40e9d42154e330ab",
      "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 · 4.183 s

model: gpt-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]: [-0.1417, 1.187, 1.0271, -0.9203, -0.2119, -0.1761, 0.9955, 0.0185, 0.934, 0.7139, -0.7677, 0.0589, -0.1394, 0.9952]\nstate[eef_state]: left_x=0.2898 left_y=-0.0002 left_z=0.163 left_yaw=0.148 left_pitch=-0.4678 left_roll=0.1223 left_gripper=0.9955 right_x=0.251 right_y=-0.0022 right_z=0.1237 right_yaw=0.0385 right_pitch=-0.4089 right_roll=-0.1309 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -4.9573, 9.1829, 1.2088, -0.0904, 0.1978, 0.1197, -0.0752, -2.0718, 6.5983, 1.5604, -0.0122, -0.0708, -0.0171]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9478, -0.1982, -0.1802, 0.9957, 1.2232, 1.9137, 1.3891, -0.9546, 0.5339, 1.0092, 0.9952]\nstate[eef_state]: left_x=0.2849 left_y=-0.0021 left_z=0.1607 left_yaw=0.141 left_pitch=-0.4948 left_roll=0.1147 left_gripper=0.9957 right_x=0.2075 right_y=0.3194 right_z=0.0688 right_yaw=0.029 right_pitch=-0.4672 right_roll=-0.212 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.5487, 6.5573, 1.1062, -0.1636, -0.022, -0.0122, -0.4991, -8.2256, 5.9829, 0.6227, 0.315, -0.0513, -0.0122]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9489, -0.1982, -0.1806, 0.9957, 1.2392, 2.0018, 1.4368, -0.9367, 0.5259, 1.0035, 0.9952]\nstate[eef_state]: left_x=0.2846 left_y=-0.0021 left_z=0.1606 left_yaw=0.1414 left_pitch=-0.4958 left_roll=0.1149 left_gripper=0.9957 right_x=0.2056 right_y=0.3359 right_z=0.0492 right_yaw=0.0399 right_pitch=-0.4835 right_roll=-0.2355 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.6991, 6.6256, 1.0818, -0.1538, -0.0708, -0.0122, 0.5128, -9.265, 7.6239, 0.4078, 0.3687, 0.3101, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44f58668495304eb8ce724418dffe20b6b58c936be3275ebbf68b35a175f90eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0d38411bd861182ec2f3b15fdf2aca9348672c31837c49cda97db8fb265a836",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:298e2c75db3fc4da972d99954ee73e046719bdbfa27b9c4a40e9d42154e330ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCy6dCigYlC8zRNjvHmwuD-4KhYZBtRiUYcwc2zb3po-pmqKnjLUGNZYEX-m4VtcIKIQSkNOowU4o4XCWrDDjRpM8yhwym1yuex_UB6Rz0ZqGp8nsETkqe8gL2zuZOOUgyKBeaeGyzpgGFSjlhueQ7elSRpx8v6PEXdMvNjXRo2KqYh3EZptH1WEP7fsyjV0zZgIT7b9MCQb8ppqXbaJ3N9CPeya1ygfXZJiXg9PRlBzyF9csZosRRdpP2DANCK19WEV1K0pwUSLlP417MDgnAVS3EZTaWam-vwINTJuIRPMWLqm91lzw1PVXkAV7iijSgR2NGV4ohhZ_gcYIUX-gm9kGAy_OLvh6sS13sLE8mD0He6tERMfkw-3MPKWgoTYt5F2XtYkQhI1v9Tdoc8Jcok6hOt1YbdW3EURM-TE24tg8fQrTJFT-2kppud17afc3yiofGRiFX-yIfKmJ4sNFjlXtUsLMdHdFwag2K3plGJP6Y4zBOWj7lQdvdM8baZ3CA2lDfMboQ_yarktGGonFrVl6saGl0JGUimQ-F2ckp9AAdBugzGhhOpF2xxB00S8YqFD-c1DTBYYw6ILHUVUXXwOgp4JtYYMLDG3RRkWNMr6ryjLRIRcj6yWUw8oNH358HQad5CjdSU1QCaIy4AvqjU54E4a6Juv77t5tQlGkJsFz-Z4wT7kF6deLunGDTUnsdnXcAkCqZdwOP0e935HMqycd6b_KLlGMMQ9mGE7gAUlauyv9114FQ06Ud7WqepSGKMGZ2Q7u3jWXLxU0DVKzvr71o08wv9NwoXsCnb8y_xTc8CleFRls4UdNN0lMwAbcNwFmgxx5J7BL5FQ_bb1t8aw3xB-UlC--oK3ZIB3QB4cfs4N0fTDmsYXSMeN3-SoOmbM5eIHzawytdXQ2mh5Cp2FKKMw5qL8JKS8QqpC2oqczoRtIvppV2TWsuzv1M6MBJqSqRtzMF__fjAEKHBDk4yxND6nIMSMTT4N7u_N_c81XLDasFgjD6uaZvccs0BHiQCNKlrWwRCC8cpe34xDTVnl2MIXVfgqtuI6W7ygPlyTA92VdbcZAceq_g3aYgERKs7_TwI1kruC0o-8ahFxmD-Dtnh6sB0hWA-VcbYMVoTxQAAtqdRdeWIwy-Yb52wX8EQ6edvNlHAyC9C392a_Z-ApltgeE0G1jrMSs3ZJoqKty07FUiMfbl9lDNTmFpdChUc1RNy7wuJHiYn8Kw5SzCgt6mmL4bh9wNTcVPKXDNhbsVhnbiU7PTYYGfJmRDitzBI6NjTy33fvaskGobFScVxKJm00ZFU8LFLTI9Azv4FlPcjrT57gUxxCVt_79cuDdLz70mHEPovN9Eb34NmEEw6NtCLyQc44dpH5CDWA3D1isLQ=",
  "id": "rs_07c37685040cf413016ab42cb8f18c87d0b3fa5f9124d84e02",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bear’s torso is now between the open jaw tips. I’ll close around the soft midsection and check whether the jaws retain it.\"}",
  "call_id": "call_GRZqqyaEtorMPHRh0h2Y5bj4",
  "id": "fc_07c37685040cf413016ab42cb978ac87d086412b893393bee4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GRZqqyaEtorMPHRh0h2Y5bj4",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.181, 0.9957, 1.2442, 2.0277, 1.4448, -0.9363, 0.5266, 1.0256, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1419 left_pitch=-0.4977 left_roll=0.1153 left_gripper=0.9957 right_x=0.2043 right_y=0.3376 right_z=0.0418 right_yaw=0.0226 right_pitch=-0.4861 right_roll=-0.2421 right_gripper=0.0085\nstate[joint_eff]: [-0.0205, -3.494, 6.4342, 1.072, -0.149, -0.0659, -0.0122, 0.0068, -10.1128, 7.5692, 0.3834, 0.3394, 0.0952, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b943895aa04d14553e8604925e838ca0796f57820aa80a330208c8c6429c8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e59b23939738d3379d958f1b5a6e8caf6644b705a3898be241e134ffa9f2724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9126ccc74ddf3dc738c313ce16bfee46b981c2c0e04b6682be48540b72f0d4",
      "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 · 3.102 s

model: gpt-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]: [-0.1425, 1.1893, 1.0321, -0.9432, -0.1997, -0.1768, 0.9957, 1.2949, 1.8618, 1.6104, -1.2194, 0.5495, 1.0836, 0.9952]\nstate[eef_state]: left_x=0.2859 left_y=-0.002 left_z=0.1613 left_yaw=0.1396 left_pitch=-0.4902 left_roll=0.1166 left_gripper=0.9957 right_x=0.1861 right_y=0.3317 right_z=0.1426 right_yaw=0.0556 right_pitch=-0.4421 right_roll=-0.1668 right_gripper=0.9952\nstate[joint_eff]: [0.0479, -3.6855, 6.0239, 1.3016, -0.2613, -0.0073, 0.0073, 0.1709, -8.7179, 7.6513, 0.4176, 0.4811, 0.2808, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9489, -0.1982, -0.1806, 0.9957, 1.2392, 2.0018, 1.4368, -0.9367, 0.5259, 1.0035, 0.9952]\nstate[eef_state]: left_x=0.2846 left_y=-0.0021 left_z=0.1606 left_yaw=0.1414 left_pitch=-0.4958 left_roll=0.1149 left_gripper=0.9957 right_x=0.2056 right_y=0.3359 right_z=0.0492 right_yaw=0.0399 right_pitch=-0.4835 right_roll=-0.2355 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.6991, 6.6256, 1.0818, -0.1538, -0.0708, -0.0122, 0.5128, -9.265, 7.6239, 0.4078, 0.3687, 0.3101, -0.0171]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.181, 0.9957, 1.2442, 2.0277, 1.4448, -0.9363, 0.5266, 1.0256, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1419 left_pitch=-0.4977 left_roll=0.1153 left_gripper=0.9957 right_x=0.2043 right_y=0.3376 right_z=0.0418 right_yaw=0.0226 right_pitch=-0.4861 right_roll=-0.2421 right_gripper=0.0085\nstate[joint_eff]: [-0.0205, -3.494, 6.4342, 1.072, -0.149, -0.0659, -0.0122, 0.0068, -10.1128, 7.5692, 0.3834, 0.3394, 0.0952, 0.6716]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56b943895aa04d14553e8604925e838ca0796f57820aa80a330208c8c6429c8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e59b23939738d3379d958f1b5a6e8caf6644b705a3898be241e134ffa9f2724",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9126ccc74ddf3dc738c313ce16bfee46b981c2c0e04b6682be48540b72f0d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCy_xjjm8sXArPzeifCgaSzY-8VMHGApm92B7j_iP4UNZQ3HH-g_n5NOaYB2d7uRISF8TAw1fvHyxyG-GeMp30hTa2GchmeZgLbaijZDXWiwf4BmNPSiDrktBSJy94-hlUSbWFHU9xXIecrecUQk9YuneZFShRpfIE57npyujNaYFr3G_GLrE5vNokHf1ETCbRbCVuWy_lda0ntOrFUw0_hca0oKswemNrwepkuSqUAkmataZjHdfHq9VbdiEITbbiVN1B2drCW-JxnGJhDtADyRlK1gcPtBHz3mzc2411-ZdS-3h_14R9BdwWVA7HmUQLskjzv2vgyyW6o1WBUeOhwGh3UmzE7IoDLe290JirJQOduqaEV7dbGk7EVNCs6HlRajn6_al2xkR1ViEhMsZDLqGUv55xbQgY2l3trJrtmZeAClOyvznYN-Q2FF8AoZka1mUiHcnfEEXfpwhtfn0lif8I8VQ50cF-DtBRXIgBrTgiGcu3DPeZLK3Zc_Keb-ne63omUXDLRR7J5I3ZTUnB60rfTSuHFF7V2c7Gve3Ee5VQfBFUm0SyF3dzLxA_g96lbTElWcAKTu4CxD_oUjmccUQ0YgfPHRlHLKs3y9buKs7PDLdb5wbEb3rbXEWuG9aIqHga9w6s070rZGJcCVSdRQWefCn9vbkDZJ_nXhDuMIuxC0vrDoPFMh6Pk8z9WN0VIsxbktdAP-gploRH4jWX89yqEVrfqs33-1EJij8ccUNTseOJJwuhrC37A4Wp1OXsrtTK3KlJ4DD-JV0AV0HQPlyOVj8j-oSrDcSwa2VELsLIVaoUVN7kMFPyWIFPM51D7mqaIqmYD9HhVUufYDwMTIwQVFwGAbdyKy4O1KZ01yGr1mRwF197S_ma0u3qB2EYaGV4sONwsQtHMpLRHUOgzYuJm5ZL_93RxTdfuM2cu9bMa-Nuy5xNmzNf3TLyYuTqQNbeGQQUEw84YWAEJ7E8-CULsobYtssKWn3W2VNvVRHMpfr7PTvDj-i_MLdULABkWka70wUUneWgo77gqDEcEhVSwww6LSua52OaoI2jkHwgxS3F0G4IeNH5fdZZmPMkCh-JAlA2a5DHiZGRBZ_fAdwqMkoVwoAjzT5IYpFk_wZ-PJEtyhIVLurqLtYlQ_aTpTigVGapWSIphJP0gvo5fK1x65aPV3oWhGTyxmEbMzTx5S9H-ES71WSBtiNqM3xP5FwCjMPIci2uMr6MGPbevCs5GNSnzmGgHUizUQZNdkGiEYhnBrM79dBmT30FyixDVBHAV5lf_3R19etwSp7Fxzod7CQlxCbq9507moN-DRSSslXhLBEMFU1Is3bFMK7IlGdqoUFM4MiPVVU_vddipwkVMk6NLpIoV-PVNothJMQB8W1WY8Valljc4nvZnh2HW-zSR7654iOwxlbGSjeyMh4h_1VXgnrFwaB7J7qPYKuSPiRWXpP_q0Z6I0pMRN7CTOu3AJ_fYHdmGABDYgZZv-AfUIQfWgyfQZ66FIn78QXQ53oG3e8hgfeX-TI9PUZewLccpqhPMNs8Rp8tfiHWQmdiD9qRt2TGYFtzH609wh3em3aJu0WyxrZh2LT02fms2qTSUlMCqliWhSAXTlaJqM5d2Un5St84VoJau48lakwI_ffiK-ny4RQ7Dn0g7DJ6S-ryHxYsqhX-1vbj21n4iJ-MPQjM3bXuEm52P2hlSiTfbTsXik_kXIU63deZ5yWHpA3jEy6YE0JaE6lUfTTGbcWkAMs9g54PV-aZS2cn3hl_n4TBPeYqaDliqsBZioimhMrqlXJJWoCbkLtFpe8zkTjadTP1Bwx3Nx7aDPzAI-h02syNZ4NIk59sQ6szaPMVTsn-BiBQpMaKwg12XuHRe7M6s4j3GIisDbMOzOIFYfzaSDTGNpaFYqvwOLwQDRTIAwFreVvs__RQjqcHz4NkArC68iO4kSx0NTgkunPavYM07FJJrE7BTyMDmoxnW2Hi5bd67yDN1mfCVZUMALXJGmwMR34qtxJ-OAAq4bUNnddtP7geiBUMxmz_5l55s86i-73XRRZ9SvLj1Zff_-lbykFEXyD9jrkITZlwctMVPq19D-BvKW-E3BqsxUKBlxwlLOpVId6YG_zW0aun6vhiAzhcrJr65Igm2GuCmK0gdGy-Da2LSXDeeHXTJJNCXBzZv7v-SmL1lXI0jzIA_PUk_OoyFIBPo_I0uDeS-MV-WFQIs3KCyrpktx8ftiJybmbac2TvxLV-BtXzHW1z-KEDvfmB-ILLnOteCImpT2L3hZjI_FN7a4oZJyiaZ0rvFM_UOn7DEXyBXkWI96LaIqg_-bT2s7LrRlhgSM40OEBzhC9frZZNwyronik3xvtnTQxWgEBeFhm2mzTIdNib4vnnLNp8gqp96XdtYo-i7eCazXLTHsfQpeXteTwoWuwOM2VV0HaNiMk5vx8VCPpXCHQWlp5ffu2aabRRMOGhWjd53lgzhOl9LAAXzOE5WHGqxOK9tvmRNY65N1Id6Q-oI737e4RWoOzL0cU5Z1-G9hYhMKjms=",
  "id": "rs_07c37685040cf413016ab42cbce8e887d0a05750e817408e85",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.245,\"right_z\":0.058},\"note\":\"The gripper closed empty, so its tips did not reach the bear’s torso. I’ll reopen, advance about 4 cm into the body, and raise slightly to avoid skimming beneath the plush.\"}",
  "call_id": "call_mpTljgChtMwM06nBxoNnkIRs",
  "id": "fc_07c37685040cf413016ab42cbec18087d095609ebf423c671c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mpTljgChtMwM06nBxoNnkIRs",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1534, 2.0312, 1.5116, -0.9714, 0.5079, 0.9146, 0.9943]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2364 right_y=0.33 right_z=0.0554 right_yaw=0.0185 right_pitch=-0.5077 right_roll=-0.2648 right_gripper=0.9943\nstate[joint_eff]: [-0.1026, -3.6855, 6.4068, 1.0525, -0.149, -0.0464, -0.0122, -0.5812, -8.8274, 8.1162, 0.5788, 0.3248, -0.0073, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96d4cd34d61e8479df9d66bc69e0216811646284c60ca73535f77402e66c477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa483fbfc5df0a238a04490a42275ea67995a9fe592637d8f6c589aae8965ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b189a3ffffa50a33565154f85b7f6bfffbc1ec4ad0b9e6618745f88b12d80ce",
      "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 · 9.252 s

model: gpt-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]: [-0.1425, 1.1893, 1.0321, -0.9478, -0.1982, -0.1802, 0.9957, 1.2232, 1.9137, 1.3891, -0.9546, 0.5339, 1.0092, 0.9952]\nstate[eef_state]: left_x=0.2849 left_y=-0.0021 left_z=0.1607 left_yaw=0.141 left_pitch=-0.4948 left_roll=0.1147 left_gripper=0.9957 right_x=0.2075 right_y=0.3194 right_z=0.0688 right_yaw=0.029 right_pitch=-0.4672 right_roll=-0.212 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.5487, 6.5573, 1.1062, -0.1636, -0.022, -0.0122, -0.4991, -8.2256, 5.9829, 0.6227, 0.315, -0.0513, -0.0122]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.181, 0.9957, 1.2442, 2.0277, 1.4448, -0.9363, 0.5266, 1.0256, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1419 left_pitch=-0.4977 left_roll=0.1153 left_gripper=0.9957 right_x=0.2043 right_y=0.3376 right_z=0.0418 right_yaw=0.0226 right_pitch=-0.4861 right_roll=-0.2421 right_gripper=0.0085\nstate[joint_eff]: [-0.0205, -3.494, 6.4342, 1.072, -0.149, -0.0659, -0.0122, 0.0068, -10.1128, 7.5692, 0.3834, 0.3394, 0.0952, 0.6716]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1534, 2.0312, 1.5116, -0.9714, 0.5079, 0.9146, 0.9943]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2364 right_y=0.33 right_z=0.0554 right_yaw=0.0185 right_pitch=-0.5077 right_roll=-0.2648 right_gripper=0.9943\nstate[joint_eff]: [-0.1026, -3.6855, 6.4068, 1.0525, -0.149, -0.0464, -0.0122, -0.5812, -8.8274, 8.1162, 0.5788, 0.3248, -0.0073, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96d4cd34d61e8479df9d66bc69e0216811646284c60ca73535f77402e66c477",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa483fbfc5df0a238a04490a42275ea67995a9fe592637d8f6c589aae8965ed5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b189a3ffffa50a33565154f85b7f6bfffbc1ec4ad0b9e6618745f88b12d80ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "encrypted_content": "gAAAAABqtCzDMhw5dI6p5JM7azhxfNYSGb4nWgMWcAPluEFo-monen9tPPGtOKBv-U2IYG0-06mhUrZ1eNjfQdnPXdfrOXad2I9_kdThO__bnYDuSrlpNmlxMXYAA1L0lNYolENwZdq62U-McvbV99ZAE47ikFLryKsJxVpumMeSzJGvx5MKkIVOQbCuDLF7ISE7D_2T0ZJfsKRyKErlFMp1XdVt-84wkeCsQv15pafVliPqc4H0IgclTdhUkUy6bC0RZBMReZDX-ON72AsCmuwzhBbIirPZI99Dpzg93H18kTu5z_WXo7Lt4Vbxc1rZZsReQ4iWeyfIW93WXkXCv9b4YKeMG_OLdkCk4EwXVAPMB3fpZTDvF2Sh1Deu37fsvbbTvPeTvqkfV3sCCwkARWnsI5H4SbuGELvYBLdNs1q661a7vAzMcLWQ0jG_ffC1b6LFypNoir9YLBHiJ--oUBEWmIfmwvgfwt6w6D4e8eO4bz8Qi2ETdqJsVfj4qauLrPg3a_u8oXA4IIq-UF_A07F8tk32MxxQlarVxPaFnV_1N3JAAywxI074xjO7v8V6QbcUSJDmcDZBRMxfCp7PX5ZNdhARQ3XlmeQx7wv47OlCFMDS9J47n4dZnXhQMOJhBOjcElQRawiTff9a6WtMyeA8DqL4Xo3uqE7iMPv1qiuoJ_tTlIAKmEyw8jGOvtBgmAMAM_Ek0lZ_fkY4tHFSsYfH9vemJaYomSI2O7nmVQy97FdtbJY2c5Axakw2MJTEaBJiint4W8tGqq1bDCrm1nSnTNXtdqyEJ5pBU0PFSvBzMS0zqi9Uf9tbqeeR8kRtGhC3EpE_jD8jJxpgue5JLzGlb7TueWMMd4bfABnM_0ACi0HxpU6w-FGTK1HhXeSEkvMdNXnBQayja3Jjyd_soHwOsmEG-GVmxRTLchcarwAqzvfJ1929WcmBUF2N5WlRfF8dirZT8uQwbWwWV7fTPPeqSB-67GzrcjNE8YVr-l4q9RFttaykFjNXwHt94tC9G7F1auAap1UnqXI37RLrJqWO4qpS2GrY_3GkzK5x5IdoIqGZaZMRDVFOVZ7LQpzNFY2mGP1DKgKxN7NuWUam6L5vf-kIvJgiYwxBTtOYysRsxhNsz5jsf2A1UniahPNcwyGkNESETujPnalxOt94Z7SQDu05EYuLV9gsveNMENzHWfSj3lxglUMm4HHdA1-HtBJDIUIN6OuwBHcIyABAJStfX5Yffm9sXasWgzwZD9dZwxzHTnCZnRcfAxo9smXkGaL9QLPhVzrUpL6fFzdDR2yFFKCF4-2CNPnyWBfa-nLohiFjQyEVwngYcD6xPdtwSLJ9FZgkvMKJjRItoAE5g5ikPnNPJNrc0OT5oPMuOk1Q5VIR9VOMrYdPbFjKxpXuUKLYF7-NFu_LxGesdL0pCVtGX1Gf3a2xlLe619F_-wU-tybfcCOocsleMkpugFgL1sagbn01U1FH3eMK7ddr9b6tPDpxa4g89EDpaEfPGf2JqbWjhOqS1uNTrc9q4sBEDzsEVjtuZ81J7jy-DPJSccMbvzP5FWTyloqxX_K2XCvunE6RymPmJPyYjXBguw0zvoY6UG9n0yFJMN1l1rQ3DD9mlYvkHrlGCY-ccWhp-0wlgvKALEInISaspl__dNBua3AoGXL5vNF2rbuJkdfAhQQ9Vl_RsPZdfLCGyTUBINhKFbBofs_yO8558Rv7MYngyqeoPejNZAJGtTfyJpY3dBsI_5BgFrSa_TGZFGItKUqObZohMprU_K-OcMXw8apnujCTyDUqIz0DYEJwKtsIL6dgbZGlkdCYVok7H5Q-9wpupzB-YtmdT3yim0nhrMqRQrnszo3XJSFf",
  "id": "rs_07c37685040cf413016ab42cc1944087d09c22b9b06fd8ef5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"After advancing, the bear’s torso sits deeper between the jaw tips instead of just ahead of them. I’ll try the grasp again from this position.\"}",
  "call_id": "call_bmXIVl9cgvbvDFWYJ3nEYBOv",
  "id": "fc_07c37685040cf413016ab42cc2e7c087d0bd78b786c8aab6e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bmXIVl9cgvbvDFWYJ3nEYBOv",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1515, 2.035, 1.5146, -0.9703, 0.4999, 0.9085, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2363 right_y=0.3309 right_z=0.0541 right_yaw=0.023 right_pitch=-0.5156 right_roll=-0.2638 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -3.6991, 6.612, 1.0867, -0.1538, -0.0611, -0.0122, 0.1299, -10.5368, 5.6684, 0.4176, 0.3101, 0.0806, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc173771f284cad91595d4828eec61e709873f3d016a6d7719e4d0f6092b32e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8d1c8d7faa7558defb1617044c672dc3ca6b70a15d994b96a57ce86545b2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a4d63d914eb05343f9fc2f6d90a7b382e4824ee3a761ff1927ccdfb18a66b8",
      "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 · 4.221 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9489, -0.1982, -0.1806, 0.9957, 1.2392, 2.0018, 1.4368, -0.9367, 0.5259, 1.0035, 0.9952]\nstate[eef_state]: left_x=0.2846 left_y=-0.0021 left_z=0.1606 left_yaw=0.1414 left_pitch=-0.4958 left_roll=0.1149 left_gripper=0.9957 right_x=0.2056 right_y=0.3359 right_z=0.0492 right_yaw=0.0399 right_pitch=-0.4835 right_roll=-0.2355 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -3.6991, 6.6256, 1.0818, -0.1538, -0.0708, -0.0122, 0.5128, -9.265, 7.6239, 0.4078, 0.3687, 0.3101, -0.0171]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1534, 2.0312, 1.5116, -0.9714, 0.5079, 0.9146, 0.9943]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2364 right_y=0.33 right_z=0.0554 right_yaw=0.0185 right_pitch=-0.5077 right_roll=-0.2648 right_gripper=0.9943\nstate[joint_eff]: [-0.1026, -3.6855, 6.4068, 1.0525, -0.149, -0.0464, -0.0122, -0.5812, -8.8274, 8.1162, 0.5788, 0.3248, -0.0073, 0.022]\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 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1515, 2.035, 1.5146, -0.9703, 0.4999, 0.9085, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2363 right_y=0.3309 right_z=0.0541 right_yaw=0.023 right_pitch=-0.5156 right_roll=-0.2638 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -3.6991, 6.612, 1.0867, -0.1538, -0.0611, -0.0122, 0.1299, -10.5368, 5.6684, 0.4176, 0.3101, 0.0806, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbc173771f284cad91595d4828eec61e709873f3d016a6d7719e4d0f6092b32e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8d1c8d7faa7558defb1617044c672dc3ca6b70a15d994b96a57ce86545b2f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3a4d63d914eb05343f9fc2f6d90a7b382e4824ee3a761ff1927ccdfb18a66b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzNiiu7emMHX_Q-bNrZTmKSoG3Dny1eD806D7ZeU28nuXN9ql1VLZBgwGR3oJF_bswWuevveKJWsmyV61SRwUMuJ3w9TimOArfAxVOAlgDBYtNHzibKLzFsBHr6QyNzZzn8pMPll-br2jL0kha2GkDMMlHQD9Wfaz0eH6UDo2U6rkyEx-CJhgD2mTo8_miiFszHqytkw3clELJHnVmwR3R26S1cl2ydf3mdL3WVPEFxYPQPFYVsfAAhJjAAPSmVga7PsD7gIC4wfsZH_qWd5NJxbLOSOleppgRu2uyu3O7AFWSxvEsXCTPjOIO1okkDaB6AtiawddgteXtx-Od6WvPsXr6gQcInN3-NhjnHQmWajx_suUqR4VvTJ23JoLd7-nP5JVcKAxGkRmtqzdjnPn08sO5BPx-MVbQ3TljWI5NteWPlXAlfnJV5gDPgLbOuc4n7fbfcZp5pSsmrXq-4KHyIh7AVyJJcmVAwFFFk4zGnngQFFybMBA01bQ4deoKBpOy2iaFgfYaTokX3GS4_tZPvJV9pHgevhdakC3o18iGcZxJrAs_FKFc2j2O7D1WsvS0Sf4ExUziXj6nIx4sCfR4buORI1ZFBK2OVxO4TLzHibQB_FAKUJiUsjF1Xj8XtCyqIbVHYyV2in5nxhvxWVe1hTDwK12oLrqIWJRlzXYgt2Wi6c0tRIblbw6JFIOYV2Il8Ip55SIVV0_StEYSd9QJPT3kCYKy_m1YaOehZvzxsAuSDFxT4VaL3xl0esZA5t8kt7hE_AumsRF4kb-GASU6I553OYubHKGj9l6W5K3VTdH1CKe6Cm5ui5hzN04jJNzwRft6S_rFiBJT9cwAj17U8WtWcIuHkluUjTbMOxO_E92uwuh6HtD6p-49T3An6ipSxnd65V38-POAQ0vaah3LbNHH9mF2vWTl0KWVGtXdB6BEPTdYNJymD_00iQArQoMxuksHE5QWjpIrSxFKTBxgH9vQEr-BWLa3bmag_C4EwuIMLF8_NeaTP48uZ1FGlQaZVMXuVbK49qEz8f4JQ8d4s5oVTOA_ajouqXlWHiwzsQ0QX6GW4nnrHRVjzXHbunGQGazmrFQoLK4-KR5j6fx5h7xDUt-amDp9KCwIwC6AdIHTXWDfYXthS1Tiv5xDndO2vLTg-T7OYDUsq8KooNpI2NhS_dk75QMjG-NKRjn8AYAyjhMvcnbYkhBrNTZaINDP_PdwTAgUnm5bXAa7ADL4yiWNCTk-0gmbs41wGVO7dsqHQlptwUBI8h4Z4J40VWm9eWPT-OmknhkVIddh9NzP8PFr8AyrwxP8apBg-PIBvPJwmCvcrgbMQcsCDGvuLb9HO2aXiZbCNX6s7K-qKw49C_Idi_vdf-JfDe8hveMYKVKh7gd_SFUx7D6hXwAeRgI_WLF7TJz_BzRCTGQUie034qxqX67ekyZrgFOUC9z1wLa3BojogCj9iWbpGl3JS6ZZaEYTyUpTtC5ONSboaiJN6WIXWr2zOnRDAsSFqSBcxsSFwhhuMlme0OOCVgqZd9__YSePjO4LxVom-5rItUoOHxK4oKMGldkpV_KvgJZYCOYiJHNRaPcSuz8Vq6WdexbaWBPw8dq_ny175qpCuL6BCpzLDUC4Jxs0Kt4c48Wq_wolaL_ZGI5YJxsf7bBziwMezpVXIYSE3ek6got8WZI1BmKT3cdP5IIghV1T0UsdfeMpdQo_IH4wLE8Ra69xdol4eSfaQvOnrx76t5JoR3PIzk96e-X-LkgIHcX3x9gqOXcisPIYQvAgAW_zZNL4iLq6ohavSToaqMk4zw9UUuAwBks8gIPVVBpdnlfnaSFKfPuGLADCrKsIzz1YaSB7vcP-enBIca6yCVrDD3Xey0MunAzzhkPjPLVqeN6PRXr6rPTqQ9WI6STnATr7627eRUng31ByJJie-Atm_h7f_P6wj3CKqyoEdZAqt_9D2wnStAzNCj453n4TVh73ro_tpAlfTzCVUrDpeZz1KKL41DnVepwqJjra5BD3lcns3iwKK-GXkVyJPDyTYkefF98kWbIXxEm2CbF2ajxSeKBhyJLzboenk8xU7jjB6gmzFkILR5baYnM3vwGqeNLs4FYjdtH6uWdOwQD9wKciv3OZqCMJiM6lYHkKLUf7fmy05S7OPdNF7jQ1ILbDtruX4zT4pH_0nFYBgRVLGOUEs-d4RrcX2mswOmgVM_fFW4F4KSPxik_12QgLKzqa7NfA4aJ5Ptl-yVpB1q8uiZlN51LvLLaPUTGy2w3zuMzOsLm2_KjD3PWSztq0p3o2HojLV0jIR8gRR0O1beBaUQv3oqq31hav2Q2CETGWSq6rXqcJB2QtPyAsoQlb98mkYVq8AP-FIgZpIuokqILjPd65wYWyq-DbAouzXPmtzkhNBq0FvwOCY8Od_QYcWP73LzGyh6AV6FdG1p6ucpSOi76z3sDt0sFzCjOmeRR9Vqll1ez0203_4O_zLebqJ9LnEWoqM18fbt2NaZ_HZ5StjOU1uxNrHr2drrrErxXNdmTOM6Mh6WGfcWUPO7GticvoQaAL1TnnsSUgLLnZ12Ou9YOks2R6CpU7ab-pWP8NRLCqNIGQ0BSdGnJzvOH10YikHlmLXEHse8fS9Lcg0vMvI2evsRvtVREqDYa3oJ9BzTrCQ4QUyJEyJKzELCTvyTICxvGK7Izfg3oqZ6ISUtO60inSyyLQjxD_hdXtz4R0sy7WMkI4PZOTgStEJsZckYZm7sMZKAgtUIgENeXD0MV7IT2zPfGtiSMNCEm_2YJ4HvBnK8kHQNfHfj7_1mYnn64UeftgbfHews_TfHFUDMWEOxjTrY5Y1pxqMzF6HZ1UBKZYi9jCHeRt7Llq55UIc-AoZQbn5qNsPit9oxJef6I3ZTKnBHQslpQCEEmGG9wSBlm5i3zzVYubQIMQEe9n6NCMZt-uSpiRysucZiBmHFfsqPZMPdvlHV4Z8MYAXQuAuzdo0yF9CP6UNel4plDm7z2lVe6CXkOiTNvWluGHdMKQEwL8KVbdrykRM77BNK3jIIHX8PeZjJDRKj2DTCkswinJ4kEX39iLfaZFHlWdFgwfYH5idQw1doR8vCypSWGJDI1N168oATRf2U0e68xKIPQsfFXVXPtf9FSImVyDG8AvjWWRooRMwsPY5m7FeHT6CWZBijdIdoPkLs0EUv6VVYcMPwtZrZP58mLOWOZ6BXdq57pGCCHnPFl4-NYfh-oxhNNZOKGI95KEELzPVyPCOIVRiwZMStAMfAhprMpN3dX_KFPUqjhDFvCn_6uW9rvx4hiVvPkcXtt5y1bn1fA6d8T3Op7DvO8KSIs6-K5GRGrZrXn27bUNUKmQcdTRYnst8V8M_4TrtnXDTbxUmy1mHjIi9mi_E650lKkSKCuPB0eoyyM6Q_X8k5L2xwuutka-THbPLVAKk7KgUO8Eie8penUbIjpgTT2ngIRnIpj1s5qh7g7-LZ67XZpLOvqggFlw7fKHycHPCbcUnQIJ6TGofW16xaxNCTiMN9bjh6tN8GHB0jlOmUGiqDW_p20orisIOVZl1OU40l-v6SJ1-5RC6_KWRaLr3laCIVKPLPkGfH6KL-Xe93Q4XMC5z7EvtT0tZkP_DyQuhtVnaBPluAqC1sfSei6vllBS7PNccGIHzgHL6AGVqzI4f6vtchIsgFc4nm-Bxkt2bCFkLhyDFJMFZgVaCvjuS8YnHe1DnunW3buR1dhVZ2y7A-v6P14jtb7z15FhyOCrhRwQsTUt9WvoBKBN4G5zr-YCimR-4",
  "id": "rs_07c37685040cf413016ab42cc76c8887d0a4933bf132d15c8c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzNDN3_fIt8iEaRikxcU1nPARpCNl0D70uy4YxU80tk8snI5204tZ85oQw3k6mnHY2J1vs6r1wj4MHr0benybdMvh1ZH7m3wxompnUelkP50xat4_dkkWo4akyQ0XN-PAdid3Sr9n2yurRNoqXVQI0Eb5Sij0q5AMM2DcHLJhd7Irf9LYIU7kN5c5sPAlKtX4Cq9PFp8rnFlz4XguZuSAqj5Q1jXcDWS2qJgQGkTnyrN33D5XIB5kk6ihP5ZbF3_RwU3EMZNN6ffRpy7S6jkOpbZdOwcrSy6xsX0uFKpPfV8DvQT8uGSw84UDSwEZ7Vy0g8-LvSjp5ZiHuQoPW8i9V6PZ_uRcABFm7bUuWW8cvRlTDLha1zkJfRdBTWwvFkWszbgEO0fM0en89OiZsWyDPwbvoi8AU3HysVPjKHkwXORMmy90YCbUqUe9vHVfNrDxl1A3wN9UM-w7-CyEDm_1pUE6YeYyQR70k--vnnqt0Gew1XfMGl_LBE6pYsN6Q-zMMAk_zJd5yPheXvjkWLL6M8QA9o9cC8YIC_yRyqHyTiRO6DFiBB4GQTc7Qn5YrjsVxgpNKj2YtXA2_aG5S1FHH1yBrv3q6MEy9G11c-VxBmLUBpQ7zqM6WdVTBPWkmgrZQZ3qVZNpma83x_-32qjRV1nVbdzqiBB9ODJ5cFAGbPk5LozM3lCWKdaAna95HZfa2lxDYGUxubS1nM4RKT0abOB9mek8-UQ_X4C8jEEEgYtfYw6Ohn07tH__AbF7E7MCzVRyk-HPQRsYwhSoPI9SA2oyvM98C7sLx7sEII0EyKVFgQvY2jG-VXSXj9OARHNvdDMd5PInYLy0tZ8JKQ2O5W_fz11vMCY5uZdyb4fNzGjS58RDnW441pjPakZVp9g3FXYC2Vie-t3wSJiOnH2ZdEmhqJHYQ5-MXyDnevRKF9ElI_qnpphewjBXvgVbxUlPRywOhPWNYDNXWdPpNwIwg9mDOgpQQEKAgB2uEd5x7m-acb2WMCH4ikRPg97Rbv8A_b_f93hL8ge1KJr3Bztlfuw4fuAU2Giy2j9vAtny1wm9afu3R3_tj0oL7nK_HnMGxscuTBGQ4FeNMkj2dNDpDrO1d4KOubdbqP0kuMVeOJUAIuXtn2MojZ2RIyXetGw71F6iPVQaYH6sPTu2Sj2SIdsdyQP3klqzhY00-Of8pb5Kr1wYoU5KUGnCmFAohoda7di9h1GZFB5Q57j_3a_FYDQg8kOYdDC4rZkP53tqY7yclu8xr0wkufHXVDt2lH_kOmhPrRzXxRyYYR7Xqp_09QhnarTDwRELPlSaNTXAIKahxxRPF09uNXZTZK0sj1qTk15hokWVd2gry9CYGxyoLXy6hKLKxR_dS_JTAT1HLDH2t-NFwqy5S99stzAlKn34ezHbUNKHVfhe4Q0BaVY2hMwFb7LH34tOYg5FyVgy97xTGI7brKb_jBau8annsGJk9uRLRqYv7xg-9Wf1_P_RAdKJhj5YYGak7CQzTAQ36lwo8NWGZFFwue_ybdPAEJxQIp0_IWos9-tuiFhFBYyIfzpX9H_gaC268RT2ri6D-IEETHx65W6Rp8SR-ZoPb4Dj-vR7zNYvQ6GrvRbujtZHap_ZwmWRqzeSF5qFLAinhsg2_v-5HmfNGdSiFiW8nJS8HbGJIaZCNaBQsHW884xUL7ssjrc0l5mAx9PNhl9Kc7ZCe6j31TaL53f7HkDiXsxIw_VgUsPPI_d42d8ENrUvGtCw==",
  "id": "rs_07c37685040cf413016ab42ccbd56887d09856d28af105c656",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.21,\"right_y\":0.34,\"right_z\":0.085,\"right_yaw\":1.45},\"note\":\"The second straight-on grasp also closed empty. The bear is much longer left-to-right than front-to-back, so I’ll rotate the jaws roughly 90 degrees and try gripping across its narrower body dimension.\"}",
  "call_id": "call_mKUcs6PUuW2GRWcxPS1nLrCt",
  "id": "fc_07c37685040cf413016ab42cccdf3487d084b7e1ed74eea867",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mKUcs6PUuW2GRWcxPS1nLrCt",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9802, 1.6733, 1.0985, -0.543, 0.0105, -0.4679, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.2175 right_y=0.3275 right_z=0.07 right_yaw=1.2581 right_pitch=-0.5651 right_roll=-0.2421 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -3.6991, 6.5983, 1.1111, -0.1783, -0.0708, -0.0122, -0.1846, -9.8393, 7.0769, 1.1551, -0.105, -0.1929, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b75e1011f96c9fe50962f386915bc1de32ad0165294d5386584d75f8ad98ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47421dc26f9d4bd09a6d1919a0b3b375f84be582b393abdf35a1d5476cd415af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee27c84e26904363340ed7faa621a0f3e64a3bc402a53e5d318133d3c0c27e6",
      "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 · 1.809 s

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

message 103 changed as sent

message 111 changed as sent

message 116 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]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.181, 0.9957, 1.2442, 2.0277, 1.4448, -0.9363, 0.5266, 1.0256, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1419 left_pitch=-0.4977 left_roll=0.1153 left_gripper=0.9957 right_x=0.2043 right_y=0.3376 right_z=0.0418 right_yaw=0.0226 right_pitch=-0.4861 right_roll=-0.2421 right_gripper=0.0085\nstate[joint_eff]: [-0.0205, -3.494, 6.4342, 1.072, -0.149, -0.0659, -0.0122, 0.0068, -10.1128, 7.5692, 0.3834, 0.3394, 0.0952, 0.6716]",
      "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1515, 2.035, 1.5146, -0.9703, 0.4999, 0.9085, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2363 right_y=0.3309 right_z=0.0541 right_yaw=0.023 right_pitch=-0.5156 right_roll=-0.2638 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -3.6991, 6.612, 1.0867, -0.1538, -0.0611, -0.0122, 0.1299, -10.5368, 5.6684, 0.4176, 0.3101, 0.0806, 0.6569]\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 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9802, 1.6733, 1.0985, -0.543, 0.0105, -0.4679, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.2175 right_y=0.3275 right_z=0.07 right_yaw=1.2581 right_pitch=-0.5651 right_roll=-0.2421 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -3.6991, 6.5983, 1.1111, -0.1783, -0.0708, -0.0122, -0.1846, -9.8393, 7.0769, 1.1551, -0.105, -0.1929, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19b75e1011f96c9fe50962f386915bc1de32ad0165294d5386584d75f8ad98ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47421dc26f9d4bd09a6d1919a0b3b375f84be582b393abdf35a1d5476cd415af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee27c84e26904363340ed7faa621a0f3e64a3bc402a53e5d318133d3c0c27e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzSoa04no1bKmPI9nrPSkBwZCeWvRsR0GDAA23wJ6836XIIi_mAHmbvfTwIcmS1XnEMc3V2mnFJU_x1q7PvQbX3biKmUlJCR3CPPE0hn1AL0a1hGctqVI9p6VVoweTK-ruzo1PNr27BdAEMYmHUxvaq3HgoioVFbpjQUWSFswB8sJo80suKJtfpqwwurCFjqRCRxb6_ClYUNiTpbCDcJjoybkMW_irXi6SXMlkG09Xg2AaMx3bEIJ_cUpcjgN0xCxOTWIKTqIGNSGkSpjIpTPm3Tfw_7Gc75ktqtmGIgqSEbNa3caAZUFPm_6hNhNwfpzvQV6q1SOXTquSFAuPHt5OdM4cnl56Sr01KIKKaBqhiHNQ1ZD7mNWjyUEAf4w6TaESfaYFMYBARj5dFAs9Y215PDTb7oiA2HdqXT7adPAjh6JZ2dz0RufZdG_9unJeL9bVraP22sK9nxrPetfBVZgxjPJECxBf4tRCmJft5_WsCUdzIgRMz0sxsaXGjWkE5vjglTEyxwKGPCos26Wm5iVYKjJhPwKX_zQGBEfiFnbjjwjqkB4NyK1oWSzJS9-cM-YAvqWugl8Yd-DVWtrHBT6vBDaixiEuK93IMhtHpmIuZoLfoXDC2q7NA5zKTc9f-H3dlxAbhStQ46xR268oGRG31yZ1_M1hsnpG8UjyLsGdqdZ8NDXlMJ6msj7hSf7rdX0nvxgl1FfghotsW9zGYfKYHQqaJ64crEjucSAfqSbILjKps2i_I1O3b3z3OT2Q2vIib6ZEQZLahS63kKc9dbQtVo_QbhhH1J2bDDeBPLGRKmCrrPU-vkVn4XJpZBLFXQQSCCyuf9Bkpy4En89A4pfm3iWzHS73Z2CDu-K-hrBwpJsmrhIOgFiaQdSHf_xURTRkJtkQjkmfIW--6kHJEEqd9zISrL1IosH4PTjxo15lYliawoPm6bKV3xJJTBtVTrHhlUadk28xdptmycBKw6V35mlsREF-lxk_OmVbMPxr--rwlxn1rwy24kV-3FPjZfPNlTlvvTmx8dwmrjUA248jAyVEy2mqQMYw-0tV0jz1ZWBUlVo9FU4myxYaWckAxSXDUDiT2PaHicOU8YkN-rQ_A6XpN2imIhWTiZCGusKsDsykhiGZL2v-7v3m0cn8uVQueiVLh9Ic58TnoOdZsOnLRWMSEIg-DAkoM37sV-HaG_q9mSLWFdk6FjQs1tvLWEZkwuXaAGVncGhacPqaf0AFlkT3r6xq0hsiCF7Vf-Z5w5uXuX8OFX-1l5OfGhNVDzG_66pZ0sw81stEkpoeN4J1x-g-sV6l6u7o0jgw-7ANFbEtfR73klmloTuN43WrC3-h3v1UWLxMMUSYMZYeICf-SNV0kq1TkiiI0DvTv6TDv5iWsSZ_mXstP35_tKT0t2nzncgMx66NM9JyoQgNXuftmkHYKiQJ6xYes17HxmwjsZRa2Vy4LBfL7dh_405s9wkJ53YlG8KB9lIxYqZ5FFE_TPoeoaZ4gMU0wAQhuWvlwmdYmXgqmkra8Ffn1l62go2wYF14X2C0DtCeJSbf2h9Ikfgt69fxwqJpGgIqk5y9TBS8N1msSr0X82oytwrS0WLc8OZloGfCcbng4BQ77s0S0BUZPM61_qBZCN7SvCn40wVz_p_jJfQIFeP8Xx3oAYEpBOT9h0LFiemF6j1YxuWilk8BFmJTIOyXFKKI6L3yje-y6omrSITY1tXLAOdUagMWjWuDvt0TZzpkTsGg1Rc8wivydAnLf_NNtOrQpx66ziHlbn0fnAsI6N0mdjGdRx_3h8kkHRc9ZzKrALq202wEUqB5FQp5qNN53RxsQ_79heuFirYwCP0m05PBlB8d_n7MZcBtJFJJK4iEZEHfNmc-c--SFtf4CE-6G64N_IU5vl_7JVIXDoTyghksb5NKmRikpSIw5OmQTTy0tbrp89RYEnZvLML5-eL7mbXDaUvZ1FuEmt_o_8jZ_Jc6gUDpV7vkATecTFl2BJx67pF69gVIPNF42wa3AhlHZ1ilXUxEo1KYthz7TM-1FjjOyWmNA_4PF_Yivgh-KoPJdL9WQDbAcoXPRWV08BGnDRWGlXOXY8So=",
  "id": "rs_07c37685040cf413016ab42cd03ebc87d09f3dba1280f11556",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.192,\"right_y\":0.342,\"right_z\":0.075,\"right_yaw\":1.57},\"note\":\"After rotation, the bear’s narrower torso runs between the jaws, but much of it sits too low in the wrist image. I’ll retract about 2 cm to align the body with the fingertip contact points.\"}",
  "call_id": "call_d03wUmC2kLGerQPoHHaSMQXz",
  "id": "fc_07c37685040cf413016ab42cd214a487d092b339f12a3bff46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d03wUmC2kLGerQPoHHaSMQXz",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9821, 1.6733, 1.1, -0.5594, -0.0849, -0.6861, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.201 right_y=0.3344 right_z=0.0694 right_yaw=1.4945 right_pitch=-0.5745 right_roll=-0.2481 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.4803, 6.4068, 1.0818, -0.149, -0.0562, -0.0122, 0.7726, -7.2274, 7.9385, 1.0818, -0.1783, -0.149, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a282d5bef0992acb1645c18893e4984345b3c518bbae662f39493ebf4f48709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a07d978ce33d122bd1e6d20547b860e559663a5549c9a72c7886dff148941f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd96c538fa5feec0b3032480a119ffeba8bfcd4df59788389891d8107805c77d",
      "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 · 9.052 s

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

message 107 changed as sent

message 116 changed as sent

message 120 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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1534, 2.0312, 1.5116, -0.9714, 0.5079, 0.9146, 0.9943]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2364 right_y=0.33 right_z=0.0554 right_yaw=0.0185 right_pitch=-0.5077 right_roll=-0.2648 right_gripper=0.9943\nstate[joint_eff]: [-0.1026, -3.6855, 6.4068, 1.0525, -0.149, -0.0464, -0.0122, -0.5812, -8.8274, 8.1162, 0.5788, 0.3248, -0.0073, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9802, 1.6733, 1.0985, -0.543, 0.0105, -0.4679, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.2175 right_y=0.3275 right_z=0.07 right_yaw=1.2581 right_pitch=-0.5651 right_roll=-0.2421 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -3.6991, 6.5983, 1.1111, -0.1783, -0.0708, -0.0122, -0.1846, -9.8393, 7.0769, 1.1551, -0.105, -0.1929, -0.2125]\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 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9821, 1.6733, 1.1, -0.5594, -0.0849, -0.6861, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.201 right_y=0.3344 right_z=0.0694 right_yaw=1.4945 right_pitch=-0.5745 right_roll=-0.2481 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.4803, 6.4068, 1.0818, -0.149, -0.0562, -0.0122, 0.7726, -7.2274, 7.9385, 1.0818, -0.1783, -0.149, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a282d5bef0992acb1645c18893e4984345b3c518bbae662f39493ebf4f48709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92a07d978ce33d122bd1e6d20547b860e559663a5549c9a72c7886dff148941f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd96c538fa5feec0b3032480a119ffeba8bfcd4df59788389891d8107805c77d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzUUDJPjYcqXiTMAQDym8UN6pysHCeCMSShllR08qo5PR8iKXS0_5YFnWIxGS8fzOXKE4M9a6bkCYslq33DIqaP2UP2x7__rurXj-W0wlC8gRZEBRL3zzPi9_ygmqSrqDWUhbh1CtDYnNJERtwtc3Qt_pB5VPU4hi1AJ7RrYJxLvOraezQJp6uZ1Dr2VdxcqIsW7UjQfKqy-V6FfeArcZJoICj9SPO3oABuLLAUH7fsg17ccgiHIVF9C0gB1gQ5wWY1xgxYQUbzwxrqMgT7Tuzu20_Kn48r8ZRmgGD6BDBCeBuQ9rv4Gw2n1htEjvHhDGT9LZBvCi_H_0g_YkwT-p_CR4ToZcIksdGsw2HvTaJn5zgDBrRi8-siEaWyJVthnjGKN7JVKexZO4ZVhEtFRYIlMXAR6mE_0LbEHq74AUdqjy9XChxAFCXWxon1ob6On5B2unfoSaxD1XOFUpPW3JCDYNYMTgo1fUI8lIw7PvaCsRi_KpExv2ou6DgOUFpjePMLU7h7HysrPWNWhgY6hrVDK8ZfJUSs8uBvN4fQv7waLqNAyAfnR--X8miivz5ASbckmpq7EFQKLcfoRFDo188fbTe9Ef1CORkCXL5ShmoqvaIWJf7IqPKfl8-2Fk6o6OSvmde5T_Cw_UhtJLeyPiCV4_x9gALvtJo9I1DX9llVLca9AdKArjgMUQ7LFkAQ_R-XCDlV26bbFZEpfk1U1McwCnh68z56p2dJ8aC7gXQgjKhrY5Y1TLE3BIh_-D4RG933vitL3UaJdbPsveo7SGfncCUjuR7xElkYJKDueg6xg0Dp1JXib4JiOtfA-chZfwqwtACWnVFiiBK1jpHhbYEMDRPO3S4w_WObL4_8k0ean42hGnbOEyw4yBD6Aw1bamolZZ8dGw7DMRz467xBC5WiAh3MbFPeduwnqSQkVybdCCpG6fKVP0dWJnIwQUp8i6-e50eSP_IeKFFOmDMD9txOJAlQbwtI-Kg6X3Mb_dyCLvINsD9oTWPYMTM21MK1dNQQcPfRBGZibn4NxYIK9mSFrfzwDxAxBLD-EfzYsJkKkofgeAC3Uph2-lP43mzXIoB0IUAa0SWOczBgae_-iH9DJPU40Nz6d6PL-CP5qqcFFevy8QMWkn3bVS1FmRlVxr5V425ewRqthLchIZNlfmY9IuNVFgmwKxoFvDTzoDWjfo6DHpYmAdAYajFHClKY7BEC48mMIOCTikuB21Foic3eUEIOhEmVncLw2flfRbCpNqfTb83SEOUl8hbnNxAgOdPuB7LqOm0HPFzre7uGyF3zgRkiGQZYelxTfuiLmshcyzw=",
  "id": "rs_07c37685040cf413016ab42cd412fc87d0a54ebd96b7251434",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The rotated jaws now straddle the bear’s torso across its narrower side. I’ll close and see whether the plush is retained.\"}",
  "call_id": "call_c8X5JoArHzeaxczGnvgdqA9u",
  "id": "fc_07c37685040cf413016ab42cd44e9487d0b18bbf89608891dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_c8X5JoArHzeaxczGnvgdqA9u",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9993, 1.6733, 1.1004, -0.5861, -0.1074, -0.733, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.1886 right_y=0.3349 right_z=0.0672 right_yaw=1.5717 right_pitch=-0.5925 right_roll=-0.2334 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -3.6308, 6.4479, 1.0574, -0.1685, -0.0464, -0.0122, -0.294, -7.7744, 7.8838, 1.1062, -0.1783, -0.0366, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e63c3911a1924222a681a5b7233c95f83d1a194e041d6a172aedd2d316584c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11202c06326fcf656031c02fdd10c367eb8bec56794d80f5357688c72d84b0c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa99b6b4aa42d56154872591b37118386f790af8f35bcc6d23488c5a52ab01c",
      "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 · 2.96 s

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

message 111 changed as sent

message 120 changed as sent

message 124 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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.181, 0.9957, 1.1515, 2.035, 1.5146, -0.9703, 0.4999, 0.9085, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.142 left_pitch=-0.498 left_roll=0.1154 left_gripper=0.9957 right_x=0.2363 right_y=0.3309 right_z=0.0541 right_yaw=0.023 right_pitch=-0.5156 right_roll=-0.2638 right_gripper=0.0086\nstate[joint_eff]: [-0.0889, -3.6991, 6.612, 1.0867, -0.1538, -0.0611, -0.0122, 0.1299, -10.5368, 5.6684, 0.4176, 0.3101, 0.0806, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9821, 1.6733, 1.1, -0.5594, -0.0849, -0.6861, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.201 right_y=0.3344 right_z=0.0694 right_yaw=1.4945 right_pitch=-0.5745 right_roll=-0.2481 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.4803, 6.4068, 1.0818, -0.149, -0.0562, -0.0122, 0.7726, -7.2274, 7.9385, 1.0818, -0.1783, -0.149, 0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9993, 1.6733, 1.1004, -0.5861, -0.1074, -0.733, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.1886 right_y=0.3349 right_z=0.0672 right_yaw=1.5717 right_pitch=-0.5925 right_roll=-0.2334 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -3.6308, 6.4479, 1.0574, -0.1685, -0.0464, -0.0122, -0.294, -7.7744, 7.8838, 1.1062, -0.1783, -0.0366, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e63c3911a1924222a681a5b7233c95f83d1a194e041d6a172aedd2d316584c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11202c06326fcf656031c02fdd10c367eb8bec56794d80f5357688c72d84b0c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa99b6b4aa42d56154872591b37118386f790af8f35bcc6d23488c5a52ab01c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_07c37685040cf413016ab42cd6f0ac87d09107c5318cb23f60",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzeAyvo4xa7I22WlNBLKOSATn6C13H29tHjKQEnyMd7-r2Byco4zqDHQgATqD97Xz6pk5hmXrg6b-MqgM5PQJq5FjndyBp9A7UZtBRB5f4q0WtNWi5crGq8lLyv2GLQNCaEMN1Qc6C8PSBriTJ-nvAO1X6GhK-IMcue1w0Uhg98-HpPbCg9dK6ZnFS-8TrouzfSL80ywIzD4NlQyN7IODFT4g35whKzhWhMXXvp2rPAABZM21Ah-VN8-Iv-Wi5OXOs8Fpo9UOocKUrhqdJxZP-n9yn_u1YRd_E0-XkecBKo4BzDvWzWQBwN9uQZ9AY0cnUrpT0e0dvGf7wg5GlKXwlfk4ZqR0npmpf0glOrEXmDWnpOVbKEeRESgyXGF_maA2WjI0uvvkBl9NUmxOF8NCPJAMEuRi4vs3TipDqzBZTUmV8bB6S2NXsamszQkU8L9f4E5SgnFF2pzmQdhdAe46br5_NkrQdTX4ilY6CwJYhhyZ68jvKPwtRM5AgIt_h1LtWPIPyRQH4FSZDS178lFui__3nXPw1L0rwM5zRjAGqTWdcSa43ZN6mW8gIaUMbMbRLbAd9BXRpeNTD9QweN_uD0OhlsyGVc6QNrAKNtcAgkxZBWGMynVQI52HzTyl7d0yMI7OJlYTDiRW3fNMRkA0U9LT93gyL_XO-K4PB-T1g8vo3iQr10csB3i0HoHiTbHO8HG7HqpwSZPk20sapvy6_h6mBd8yhD4hWq7o4l98akKdWfI6Xhz34KBhSMJyLCLrOtRu6OLuqTWPfSenDoRiGj4_GNrpJFBNvHD9z61wfPZ_ZXv01yxgwBuOcmxK9BwLYNAdP0ivUj7_YTZUC4rwXg1HoISDp9IfZujZLt28rFUzVdHCyMJeueDXFXhCR4wiNIeHRyK33dNJTd-VL9zTqRjtfafpsjYb-2XJuZ_wT1u2RH2hqR5EBOerhJbbBSUUZfTcqM-hgElrMQbgWNX0y2OQVTDHZXqxgIwGCt4JKpDXVvdO56g6b6Z-oH5QKXqedBx-0UFL9bWXfgPSG7GRFTuwtxk8OpchEcJhSUJx8UIbAiisZXJZgoCGK1awo32HMxev7449Q3Uubs1meBZrWh0E16r6AepxzNUPsi9G-hlbA2U_QoubklCInxJXIqdmK84rRMXLaVpMeZbQgj5PEvUB_KgJjGmSBEwHvif-iaWxykcWsC0THkzrakA8dGWDdumN5ei0AXd4ePGCaN9k2t2JHh1PIdrhLiPaHZYA152OW4xEomKDIiYHn2Sy-XjyH6N0O2SeQtc21sPH0Yd6OP7gPr-8n9fp8mFS-zmTxglgu12lmZ_aQ9vo-pPzYBb3L1c0QNr2YBYh87bqj_gMne8WSkouJd0agQLkqWegU-U_YWUMFzAnQJdGMh62fdCnH3CaH1Wt-cNjxjRcC6yc4TDs6MWWxhjPY_J0CfGpLaHX_YAbT_-uJSmaR4eq9Oz8lEcsRPxvVvZC-t6qKj8gtjqusQMmbYWt9kXDp-v_Qt1i_b4W6acI8O-kyqOdFEP6hiQxT06NlolLDL1XPyo2MPGU4JIjSqW2Kho4ULa6misEl2TVOwjTP3oKa9SOtvnF_3aqKIApjugB5OwCj6_tRdVobZirs-Iv06iVFG9q2XYmXP2ZyDSku8bWM9Rm97ammd0OcH7fetPTR5QNCBIkZDHZk46yPHCCTEyXbOT_i3JKG4A6CXJ4tpk96PRIPvJJV_R3-eyFTdmBtYoz5iSDsYTYm5goOVR74NLSKtoTnhAmnbZD3LHhTRL6ACDGMBg893W0ayfrgS6BtIBw9B3BzIipOq9_KF5WqtGLEXDJ8a3Rw9nYkUYe0T3IuCqK33XoAWLyf-SpFfUm8qDApLtFKHeqDSZuCNK6zAGo7X8m14ztgJLmanzCSNzNvUezocLNtdNfN9sVgjL8qyigAoTV8GJzSJAk90c0Df1RpbuclHnmw75IVluv0GK-w8D07OOYElCBF1KQA2bwMbiqRu84OO5gnO1ATU-Xq5uBabHc_t91KvzSNXE2Ng1W9QcERSSIroVNX-IKEQYDJTjgF3RvdMKTMHXJzqOQ2rYSzBZBgFzK7KYokinC5xvMHuJXQ-3FYP2dNdpS-CCDWmgNpPcs_bmIbrWweAoUSmgeGPSDHYqNEVNekmSVGJSknQdghCGRfyv2AH_O8J-OHVHQUsYxGS7sdHJaMVoGXf-w2GCntLTPccdtVVXyCMvkkiLm4UHSPCcRSjXv8JHSD0rjpKFBEvjcm_2x8SPX-R5peUwqtCEi_L9gZpp-38uYudMIrhldlOWGVGvadQrR02JnLgLzQtHvdPqLuyeK8gjwLx_0W8cSEYduqIK9C5sifpsNB5YjWMU0s2Fkq--IPTtrZ3WJXRtTg3PbsqfMibSlaMorqxauzYLJ3_uinK6TrMvQa0rpZlZlq6pmXjqQQT8Q_Xado2LHrDb6ZIhKLpx95C76GkeZKl35xVur_KlsqNKEALtCgqiVlYoc1M_le36cPkbEzIaZeJqxiYOdo00O5NdOw0p60pB6rNS4zo-5zAg3e2hy9qOKEqqDdLWW7bMf46WIr-v0XdCccGUibsouE5X6I8ai8=",
  "id": "rs_07c37685040cf413016ab42cdb865087d0ace24b1d0932f0f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.225,\"right_z\":0.095},\"note\":\"The rotated grasp also closed empty; the camera shows a gap between two brown plush sections where the fingers met. I’ll aim slightly farther forward at one solid section and approach it higher.\"}",
  "call_id": "call_qyLzEDPcteX5Dsl2JrcQWqeD",
  "id": "fc_07c37685040cf413016ab42cddfd9c87d0b3728fd21212662a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qyLzEDPcteX5Dsl2JrcQWqeD",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1875, 0.9957, 0.9119, 1.7153, 1.2411, -0.7094, -0.1291, -0.8066, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.146 left_pitch=-0.4976 left_roll=0.1119 left_gripper=0.9957 right_x=0.2216 right_y=0.3292 right_z=0.0878 right_yaw=1.5616 right_pitch=-0.6102 right_roll=-0.2308 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -3.6991, 6.4068, 1.0818, -0.1441, 0.022, -0.0122, -0.4171, -7.2, 8.8957, 0.9402, -0.2613, -0.1099, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:743b86353fa6ad62f5138e9ce8ff19b28c030d94acf2030722b0f24a046c4ec3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8c044e4e375a09714852c97d54d4057fdac4b74a272c17058b47f69cb5dd3f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a3ceb3388d2b98bf1da168801214ca1302862d77dbaf16c67b3d4879eb56b6",
      "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 · 9.529 s

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

message 116 changed as sent

message 124 changed as sent

message 129 changed as sent

message 116 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9802, 1.6733, 1.0985, -0.543, 0.0105, -0.4679, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.2175 right_y=0.3275 right_z=0.07 right_yaw=1.2581 right_pitch=-0.5651 right_roll=-0.2421 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -3.6991, 6.5983, 1.1111, -0.1783, -0.0708, -0.0122, -0.1846, -9.8393, 7.0769, 1.1551, -0.105, -0.1929, -0.2125]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9993, 1.6733, 1.1004, -0.5861, -0.1074, -0.733, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.1886 right_y=0.3349 right_z=0.0672 right_yaw=1.5717 right_pitch=-0.5925 right_roll=-0.2334 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -3.6308, 6.4479, 1.0574, -0.1685, -0.0464, -0.0122, -0.294, -7.7744, 7.8838, 1.1062, -0.1783, -0.0366, 0.6129]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1875, 0.9957, 0.9119, 1.7153, 1.2411, -0.7094, -0.1291, -0.8066, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.146 left_pitch=-0.4976 left_roll=0.1119 left_gripper=0.9957 right_x=0.2216 right_y=0.3292 right_z=0.0878 right_yaw=1.5616 right_pitch=-0.6102 right_roll=-0.2308 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -3.6991, 6.4068, 1.0818, -0.1441, 0.022, -0.0122, -0.4171, -7.2, 8.8957, 0.9402, -0.2613, -0.1099, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:743b86353fa6ad62f5138e9ce8ff19b28c030d94acf2030722b0f24a046c4ec3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8c044e4e375a09714852c97d54d4057fdac4b74a272c17058b47f69cb5dd3f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17a3ceb3388d2b98bf1da168801214ca1302862d77dbaf16c67b3d4879eb56b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_07c37685040cf413016ab42ce0ee8487d0b1247ab1b7529df2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One brown plush section now occupies the gap between the rotated jaws, clear of the central hollow. I’ll close on that section and check the grasp.\"}",
  "call_id": "call_qqXiBQ8anb6hPP0UC0NDP95F",
  "id": "fc_07c37685040cf413016ab42ce20eb487d0ab785d7cdb719345",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qqXiBQ8anb6hPP0UC0NDP95F",
  "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]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.1879, 0.9957, 0.9081, 1.7191, 1.2358, -0.7166, -0.1318, -0.8108, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1462 left_pitch=-0.4972 left_roll=0.1115 left_gripper=0.9957 right_x=0.2204 right_y=0.326 right_z=0.084 right_yaw=1.57 right_pitch=-0.6222 right_roll=-0.218 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.494, 6.4479, 1.0916, -0.1245, -0.0464, -0.0122, -0.0752, -9.0051, 5.8598, 1.199, -0.1197, 0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a782465b4a48e3028a91ae0bfa7b2221c65f6406d93fa4ac5a9d382ec3d4cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721b936dee72985e67c0791b4d7743534f3d65084f73f44a6980230da69b55f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89900dd164531a8f8de0d13660d57c3a6519846e15b6b01441f4084551ea7ea9",
      "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 · 3.582 s

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

message 120 changed as sent

message 129 changed as sent

message 133 changed as sent

message 120 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9821, 1.6733, 1.1, -0.5594, -0.0849, -0.6861, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.201 right_y=0.3344 right_z=0.0694 right_yaw=1.4945 right_pitch=-0.5745 right_roll=-0.2481 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -3.4803, 6.4068, 1.0818, -0.149, -0.0562, -0.0122, 0.7726, -7.2274, 7.9385, 1.0818, -0.1783, -0.149, 0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1875, 0.9957, 0.9119, 1.7153, 1.2411, -0.7094, -0.1291, -0.8066, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.146 left_pitch=-0.4976 left_roll=0.1119 left_gripper=0.9957 right_x=0.2216 right_y=0.3292 right_z=0.0878 right_yaw=1.5616 right_pitch=-0.6102 right_roll=-0.2308 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -3.6991, 6.4068, 1.0818, -0.1441, 0.022, -0.0122, -0.4171, -7.2, 8.8957, 0.9402, -0.2613, -0.1099, -0.1538]\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 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.1879, 0.9957, 0.9081, 1.7191, 1.2358, -0.7166, -0.1318, -0.8108, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1462 left_pitch=-0.4972 left_roll=0.1115 left_gripper=0.9957 right_x=0.2204 right_y=0.326 right_z=0.084 right_yaw=1.57 right_pitch=-0.6222 right_roll=-0.218 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.494, 6.4479, 1.0916, -0.1245, -0.0464, -0.0122, -0.0752, -9.0051, 5.8598, 1.199, -0.1197, 0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a782465b4a48e3028a91ae0bfa7b2221c65f6406d93fa4ac5a9d382ec3d4cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:721b936dee72985e67c0791b4d7743534f3d65084f73f44a6980230da69b55f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89900dd164531a8f8de0d13660d57c3a6519846e15b6b01441f4084551ea7ea9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_07c37685040cf413016ab42ce50d5087d0ba29c610ddea916c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzt5G_DXTb0lB2kqMXqhYvCXphj-o3llFnBjHm1BThHlwREi5s-vXFX_K4AzmYx1_9CZkERe8AY0tRteXGgToDUMVB4t0KaLYj3H2BtEJpspOejLMjuEkpaBj0cWUBt-vnLHID7LRekTmqGgpQ5qetqqNGKGRDZS6GcmkbFcGtl3EWLd8WxZltPrfH7cmgtm4wSbLNA2Bv2oQukWcnB1bO0G4kuV8buE0xYGMWyWkZ94vL7miSuMogGMw-Fem2FF7wVHI0mrNYiISkna4AdKZS5e0vIVHijJrWyWCUIQtfSt2S5MS7PHTx6bh13IXgYYxBNLQ2AS9gwWnHVL_tkehTEj5m7PcXyLkEKr1hPFhIcpOpZfGLntE97gSoSaUiYnEN4Uh-dJchY4XlCLjfszxviSehGyDzasGGG-FV0aMiA35yeSz7eqy2kTp-56ohBYGCuPVYgBGo9y2Fly0ySNcz3yZz4uXUI8it8bqOSgpHCGKWktgc7HhYLC5KbifSbsK32CJrz4p5ymKuGQ86__6Hm9dWLJ0NpcizJt5IGcNDNvR5wiJadBukRBq5nid7Sij4Fn_X4eyuoXgwfudvgzWoHzWkR7yw_PLkzC1mWSklfe4R8r8bK5vnXJgZwuq2k9qDMaXE7kuDxP2DxdsFMRSMk6_m_GrYO7HGb9Cbe_8whk7Hr-M2J3mw8ks4AIVu7yRngEE0a2E5XbluzsY8Hb-sVR-Rfm8v-iy_AQ7DQk9ODTM6uVLjOSq9gXmTGlVCcUihvDPNfVTSWe7NjOH5dvh9fwcMvx6VT--T9f9dF_etyPmyufCs1wujmuAJSRzyxZiY4d_Zga56sfmPAZovZZFEpx4JmQLeY3e4CXSwe-F9_CtBaDOjI4wfPfGccXL-BmhbTASWDnFjmD4i55FgjPgWk31tIxQCTYaPcwZMOCDe9Gs5nmP0YaRDpYgB8nyRzX7uj6s0zoUfzP5loTIrBnDQEfOQ5-xTw2T0jOOV2v2iYkj2SUi-LJPXhudZ3VyP0RNLVcyMPol8gAmy44VdoUO1CPUHbQJEIntUCI4Ffzmnx53rXA0UDRJKm4KRMTl7uweWSVDzNJv2lBSuQf-z0z36UukTr72lIPLljqQnS7wTwfYODcz4mZ_eLJcERWrbDfuMsTPmVVnt5o3dRAJ4b2eAuVwswUuVhWxU6Hhq38lDKZ1qAzXxfkj9MLK8rNPYhbbBff_P0vQMqK1nD3xldXbeumeMkVkDqpAMEfOQHCcqyKIa-SSHtn_Sz6-IsXZ3HxZcclArW0Ryz3pyrvRn8MP2btZw8d2KSPDeI8fd-35TC1m-2A7Ux6hot-muAKg3sJGpt6SqLnhHSn_WHAIoyLyliRoiWOztRdsvdHZxVJ5SMTMLoGuhJsNKr-40imGl3HEHs5OjjWByXBsP0_23zFJf3-5IUZ6TOLVdQpOZQEswXJLV5zCoAHJGWMVw9z_SgRWsAMappwNPOQ6n2oRP0KIxCwbYSousM8Hrat4ZWbaL6QwaB0Nvr90Z_8vFFdEM5OG3sjQ80FESEDhMyG3gttK4Tk8s3uOrZ7NqAjuYBLBqoj-XyvfHjbinkUTQnnZhm57fxGxY8VZJcgjoYySwRmgxeR3-M47roeBT_94iQhhlAsiOdIGfhqAvl8lwB5jN5-rOEnCAY3xtYr5NEteRn8a8ZuJaOXtfD3IdoTmFCxJurJ8vKPeVCLj8YRqVTII9fMjWuAQRDalhb0R0ynyLl9mjNhx_av04qltE2b8mpA2fuNBHWqo-F6tjXGbTofpFqDCdZ4ZR41Cf2ggmKfocZ6UZHbqfPHMC6uQXA882mvu8C_yAOmqp8-bmM_zeP2Hf9AFe24iVfQ2M1izvie031DWJBIItjlriYq2-8jLc0tJ13pCucE-ZMreTAYKN_UJ0GlO0itl2IaPijalkSpi47L_-aedT6bVzrr4DBKoDl9ZQmgTIGA0fSVAuEd0_5zbHTnZ-Zde_l4B0MxsDiK4xApQGAi4IyEbVtSWKb0IkkivCet3GQCU4MWTh_fdJucqM9S57p2AtEO7x7Ave1uwGi0Zg7D1dsgJiimrXfzE159dh6JZ3sqvfE227wTAJRS_aVibM-V1CJM9RPDRo6JE5viz5sugIw_5PZOVJvUttrJQ-DcoU7ZeCLP-qTp2BEz4JBp6La7xQrjNXjoS7LfUX1ZXUy9PkEOlS0brN3HWG1_nyih_KMmJZ5SZ7_Fc__wgzydyzODML4zXdpD7eFSMwtccf3cOieWIq9V1gVqVqhLYYG3SJQshDLbamHudSxAOb-p46vNHGpz-xFK_hb41A6mveyD557sdJ4eKhL9XsyFKtOKmgyz64FJv5ITQrEclaslMm0LRWjTNV398ITcWBjlS9r4JS33QRpB7ySgNRYYM67h4DmZfu4_1YNlEDsjWpASO4vtN_h6dqSDOhBrHRfoGQgeO8p3FA20hFJuaLmbmDjKbxrt5eStpBiDz9ldxniZNXoP-8OTUd3k4JqGx37YGmCODi0ISkEs8PjZv4iyOLvkUNe274gYcDCR1tqjdGY1OX6aM65K5EOSCh7DiMxlVJOqZ_f5Y3CjEC-Mk7A50D4o6PrmdhAL0TDRS_thMZmMKNHEt09e8g-zbL3wQoupRvnR8YlDTA62NA63djzlM9R-H1x4FQ7o6l81WxU1hVAWiXgNMJLwvnYa2F-v_kcrgGQzP1Jic-AGI83cPhwnCb3RlwnPUeOOje6fHs8EDQ6ziOrNH2PwUFp2k3FdFgGEvAs8YA2MlSLUS8FCiMdK90_iWr-0xmbgo2cdIgBx8FaNCx4T79eewSnNVEJgXdBScLixPp1kLrGj0JqANM_UDuBH7CbXkl643TQOKsfdJZi03W3YNZm-hnZOQAzly8ekQjaRWgYeicwBOCjdpZQ_EIs0GfzX2PHNwUd56LyfjtFaEDokbVnG8uq2W4PBRZCof1G3cDMmDHlvUWsYiWYEk8VgS5tbBqisuMudngPGaWYo4C6xeLjSILLyjcBwsEFkwZjG4pR-Cq9iwwNof_MmT7dSEZPV2mXVqqH3jDpYLOTKb3aI3YDK8iCBORmuilYVGDXB2XXt8rW4YSyTczJN2tC-U0oObLls9NWNX0elu7IX0rP",
  "id": "rs_07c37685040cf413016ab42ce93fb487d0b8ea17bdc4ee9901",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.125,\"right_y\":0.372,\"right_z\":0.09,\"right_yaw\":0},\"note\":\"The plush keeps slipping between the fingers. I’ll try moving it by contact instead: position the closed gripper behind the bear’s lower end, then push the upright plush toward the safe opening.\"}",
  "call_id": "call_j7y8kLdcfgBwzGJd52fsUwA9",
  "id": "fc_07c37685040cf413016ab42cec6d4c87d082097944a86c3db2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_j7y8kLdcfgBwzGJd52fsUwA9",
  "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]: [-0.1425, 1.19, 1.0321, -0.9554, -0.1982, -0.1883, 0.9957, 1.4094, 2.0525, 1.7081, -1.1904, 0.3805, 0.9291, 0.0103]\nstate[eef_state]: left_x=0.2833 left_y=-0.0019 left_z=0.1597 left_yaw=0.1473 left_pitch=-0.5023 left_roll=0.1131 left_gripper=0.9957 right_x=0.1257 right_y=0.3862 right_z=0.0859 right_yaw=0.282 right_pitch=-0.6395 right_roll=-0.2405 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -3.7128, 6.4479, 1.1502, -0.1832, -0.0464, -0.0122, 0.3077, -10.4684, 6.8991, -0.0757, 0.3639, 0.1832, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036e3cfc41776847bffd4195f4cc3c732bfe6e00b2228c462222b9f8c87d0543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b59f766e07205d016a4851534e1c925b89c39c424ee50c3bd50701fba05b213f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ce289e3b66310a8e80384ae8999587ced3248f90738eb367208e4991eb84de",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 2.847 s

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

message 124 changed as sent

message 133 changed as sent

message 138 changed as sent

message 124 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1814, 0.9957, 0.9993, 1.6733, 1.1004, -0.5861, -0.1074, -0.733, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.1422 left_pitch=-0.498 left_roll=0.1152 left_gripper=0.9957 right_x=0.1886 right_y=0.3349 right_z=0.0672 right_yaw=1.5717 right_pitch=-0.5925 right_roll=-0.2334 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -3.6308, 6.4479, 1.0574, -0.1685, -0.0464, -0.0122, -0.294, -7.7744, 7.8838, 1.1062, -0.1783, -0.0366, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.1879, 0.9957, 0.9081, 1.7191, 1.2358, -0.7166, -0.1318, -0.8108, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1462 left_pitch=-0.4972 left_roll=0.1115 left_gripper=0.9957 right_x=0.2204 right_y=0.326 right_z=0.084 right_yaw=1.57 right_pitch=-0.6222 right_roll=-0.218 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.494, 6.4479, 1.0916, -0.1245, -0.0464, -0.0122, -0.0752, -9.0051, 5.8598, 1.199, -0.1197, 0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9554, -0.1982, -0.1883, 0.9957, 1.4094, 2.0525, 1.7081, -1.1904, 0.3805, 0.9291, 0.0103]\nstate[eef_state]: left_x=0.2833 left_y=-0.0019 left_z=0.1597 left_yaw=0.1473 left_pitch=-0.5023 left_roll=0.1131 left_gripper=0.9957 right_x=0.1257 right_y=0.3862 right_z=0.0859 right_yaw=0.282 right_pitch=-0.6395 right_roll=-0.2405 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -3.7128, 6.4479, 1.1502, -0.1832, -0.0464, -0.0122, 0.3077, -10.4684, 6.8991, -0.0757, 0.3639, 0.1832, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036e3cfc41776847bffd4195f4cc3c732bfe6e00b2228c462222b9f8c87d0543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b59f766e07205d016a4851534e1c925b89c39c424ee50c3bd50701fba05b213f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ce289e3b66310a8e80384ae8999587ced3248f90738eb367208e4991eb84de",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtCzxcFCMM5mQHOKC_rf4AFEtYp6sZDfoM0IZyTzmY-9-QCUqVJ7_ByYN29BR_crMFsMRgvkc9SFrjP6-zaD6vKYhrw2jTLbtC7O6h4v5qCaOx6XUY1HcQNSedhO6yVKt_F6p48UeLNrIwNPHSe6WwmyfvNeFViyqdFO6l4C1ICa3NSFD49-6lZqn2Uy9q98Dfg7IsdoFI64Dz5RLawWWh9gwexlKlredxr8e7haqbU9zn8l-sOC9TSlaAaK-tDLWnm3nMlzdKnJw-dcfKiDwpvQ9Du7sRFU0PE1b4QTMe-s-y-vfz5tjIAMc-GXtGmYI-eq4bJpNwlj4LaJzkHZQopdo2YqblcoiC7ss3Z9FcD9o6iIeapjyJ4fjjGks06RiVpd6CksBv6m-SdL3YbHBTzzhzApEkq87grsLnqdUU0R0lKqVcbT3YG7yMuLfCkWthnvQ5vZWFpOt9arGd7isOD8-xuOKt75qtdqVxefo6I3Nb0r9PkqIXvLaA6N62R3acqqaYUG06Oeo8bqilkmGOkpywEL-YG3PCRExWODtwGHTcHygDDRBk9fEguIJHxfuixKond_xEdWfX9-cJ_1GvGauBH28LVepjTUxzDtAVZpl1skmYbE0UVGjETKQGKzORupeKeuKRo8mZSldjmosUpPA9LVXJp9uhhMEuSvN0kz-IpFkg6Ks1f2MSmfBExduHFHbtMfB5bs1YcNiPiF90dGciP7_pIaTkenPPH1jNFIU4ykx3xrj65d1NREm3PxQus8hwm0mu53f1NU-UwKQBE_o4vps7A3vQNSZMuEFB1whQnLzH2d4iH01WCLSHSwYZd658d2eFEkws7AlB8JMhm3qIsgE1fKZLIYAoKNrqHGQSYGi2eCULEOeu7RllyANFwtwIrjfX2ImYWQsbwlDK6UvUIJ__X6iJHxmCN_jSWitpJ0Z5tW_WZBg7aFt4fm8dWUp20JP_H8h0jxjsETZ7jYNfcPH1NdNO3j_QMb3LsOoEOpmBHbZpXydVNKCTZj0YSszpPXAv-uJL_jfkQ0bcyMIXzj24KyYY6irkgahhe3n5QimE_pPJlGq2cDv5t4a2TIibqJkvp1QJ_WpoYqxrDld_rA4chcT0ZEGJr2-U3klbc--XZCxlwtNz-an-n2RVX8hGEo9DzOHogDD2Z_dBr1HeDrVLKGQsNReUD2AC_albyQC0d064eXuQtrB-KdyCz3HjChJxbsxHA_TrPdDZUrhIxDqAdDHdj6GWdSY0-tG8jZ92BKhCdX1hfvV_q1By4yCacD0bwRzGTGyEp8GzqXOIu_1PKwrEGdpFQUThhroXTZbjKmcgHJFm9I39cvUCD0Fkd9P-GQ0iAub-ZCaU8uD9e5wGECR5Cg3Jz7HqoFY-mzi1v7B4yqZjuV6GjaWG2fatg2gZ6gBDXi-7J50gRh5YvOxkbYxien20iDEFO-BiV16l8SY_soI_OLeonus993b58J9RphHyxQ06ynlm6Mc-qXgrTmHpBRFsJSge2EBGuhvfjWpk5bk7mr68lUs6J7J339BsrEHTELf_pGymtum7jm-8du0FnhiIQQEJi5oHlLwT-twelnCEdEVBI7d_nVSYeet6hTdhfWwyAfvEoxu6Os2eIMhT8LV_lxT3j6sEwBKr_pyWJBMxd6Sb5mOXnVet0sGqmiV5yqlLmJ-qyNXCbQTBOUYlyEGyp4NP7GpqyRGyUl7HJ9FddPNkkGa2iUXcTEZ9yc7kLU8hNMHrf6dxROBUIyic5tJceIwjQbKld_7v7JtJA_JzJupmX5ZiCgU_LydFj6OFfp4bmZx7EsJKiSY9W710ku1duKDXiZe4L5Upws8tBvsmY8QegYA9BeXi3hYsRI_HjwpO9vXbvBDzc2mVs2hVGh7FGku_bnKqwl19kkrh_qjq72T4RYzLeyUTxkMtPgeoT9MPgBfUp2c404HF8tE09j7DSdL_S7dGLy6kNGaVYXhXsmjvmlUy_fjW2EHaa-bKV428-34lRbmFkGhATWms92lH4VeTqaheFj9x25OLQ4t22kioSKOKDJm7gMHpUJmUxfXt3tIUHLm2L0jO7IGycnqQIyRCNyq7JaIYVDQpxARj8dWJj-Av4pd3Z7G6-sP7jgxRMEG6fir-UT08aPgm2PguDfUeQPCeJU=",
  "id": "rs_07c37685040cf413016ab42cef2d1887d08af86543c104762e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.14,\"right_y\":0.315,\"right_z\":0.042,\"right_yaw\":0},\"note\":\"The gripper is behind the bear but too far left in the overhead view. I’ll shift it rightward to line up with the bear’s rump and lower it to pushing height.\"}",
  "call_id": "call_5BMHV2lLUaa8vi2Oc0BjgtY5",
  "id": "fc_07c37685040cf413016ab42cf0e78887d09dcca9faab315c97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5BMHV2lLUaa8vi2Oc0BjgtY5",
  "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]: [-0.1425, 1.19, 1.0321, -0.9588, -0.1982, -0.1883, 0.9957, 1.3556, 1.9594, 1.3506, -1.0611, 0.4046, 1.1305, 0.011]\nstate[eef_state]: left_x=0.2825 left_y=-0.0018 left_z=0.1593 left_yaw=0.1478 left_pitch=-0.5056 left_roll=0.1142 left_gripper=0.9957 right_x=0.1353 right_y=0.3104 right_z=0.0343 right_yaw=-0.0043 right_pitch=-0.6298 right_roll=-0.32 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -3.5487, 6.4068, 1.0818, -0.1441, -0.0757, -0.0122, -0.1846, -11.5761, 5.8188, 0.4176, 0.3443, 0.1441, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff16e6ec31b29c36a166643a55105e22bd6d47f174b7734830abadaf96fd4a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7f8768b682bea69697f3719afe14c5ca5840a5829d954b3b018fbfad5fe1d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d25d467a658bffd7951ed6e29a01237aa21fe0d515752f7e6da66ea1147c200",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /responses · status 200 · 8.416 s

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

message 129 changed as sent

message 138 changed as sent

message 142 changed as sent

message 129 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9512, -0.1982, -0.1875, 0.9957, 0.9119, 1.7153, 1.2411, -0.7094, -0.1291, -0.8066, 0.9946]\nstate[eef_state]: left_x=0.2841 left_y=-0.002 left_z=0.1603 left_yaw=0.146 left_pitch=-0.4976 left_roll=0.1119 left_gripper=0.9957 right_x=0.2216 right_y=0.3292 right_z=0.0878 right_yaw=1.5616 right_pitch=-0.6102 right_roll=-0.2308 right_gripper=0.9946\nstate[joint_eff]: [-0.0615, -3.6991, 6.4068, 1.0818, -0.1441, 0.022, -0.0122, -0.4171, -7.2, 8.8957, 0.9402, -0.2613, -0.1099, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9554, -0.1982, -0.1883, 0.9957, 1.4094, 2.0525, 1.7081, -1.1904, 0.3805, 0.9291, 0.0103]\nstate[eef_state]: left_x=0.2833 left_y=-0.0019 left_z=0.1597 left_yaw=0.1473 left_pitch=-0.5023 left_roll=0.1131 left_gripper=0.9957 right_x=0.1257 right_y=0.3862 right_z=0.0859 right_yaw=0.282 right_pitch=-0.6395 right_roll=-0.2405 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -3.7128, 6.4479, 1.1502, -0.1832, -0.0464, -0.0122, 0.3077, -10.4684, 6.8991, -0.0757, 0.3639, 0.1832, 0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9588, -0.1982, -0.1883, 0.9957, 1.3556, 1.9594, 1.3506, -1.0611, 0.4046, 1.1305, 0.011]\nstate[eef_state]: left_x=0.2825 left_y=-0.0018 left_z=0.1593 left_yaw=0.1478 left_pitch=-0.5056 left_roll=0.1142 left_gripper=0.9957 right_x=0.1353 right_y=0.3104 right_z=0.0343 right_yaw=-0.0043 right_pitch=-0.6298 right_roll=-0.32 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -3.5487, 6.4068, 1.0818, -0.1441, -0.0757, -0.0122, -0.1846, -11.5761, 5.8188, 0.4176, 0.3443, 0.1441, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bff16e6ec31b29c36a166643a55105e22bd6d47f174b7734830abadaf96fd4a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7f8768b682bea69697f3719afe14c5ca5840a5829d954b3b018fbfad5fe1d3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d25d467a658bffd7951ed6e29a01237aa21fe0d515752f7e6da66ea1147c200",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_07c37685040cf413016ab42cf3709887d0a25e7dc8cc0efda5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.24,\"right_y\":0.315,\"right_z\":0.045},\"note\":\"The closed fingertips now sit against the bear’s rear section, aligned toward the safe. I’ll push forward in a short stroke and check whether the plush moves toward the opening.\"}",
  "call_id": "call_qEtqgDC8XNzLcOyOsGZtgrjU",
  "id": "fc_07c37685040cf413016ab42cf4538487d0b0c1ae1864e29667",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qEtqgDC8XNzLcOyOsGZtgrjU",
  "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]: [-0.1425, 1.19, 1.0321, -0.9688, -0.1982, -0.1883, 0.9957, 1.116, 2.0365, 1.4902, -1.0355, 0.4232, 0.8856, 0.011]\nstate[eef_state]: left_x=0.2804 left_y=-0.0015 left_z=0.1583 left_yaw=0.1494 left_pitch=-0.5151 left_roll=0.1175 left_gripper=0.9957 right_x=0.2273 right_y=0.3078 right_z=0.0409 right_yaw=-0.0279 right_pitch=-0.6272 right_roll=-0.335 right_gripper=0.011\nstate[joint_eff]: [-0.1709, -3.6718, 6.4615, 1.1453, -0.1441, -0.0464, -0.0122, -0.3077, -9.3197, 7.6376, 0.442, 0.3932, -0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33cbe0fd393b49c519aec9c275a63e05b013e2737e909948316cfdd6ae4cd65b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cdbcea0af2b2a2ebaddb59d81e070fa6aecf06d622b4b1b3102daeacc790a96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b83941d190366f832123dfa57e9afe60ee3b811ae04e718f4ce3de54e11a1f3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /responses · status 200 · 3.117 s

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

message 133 changed as sent

message 142 changed as sent

message 146 changed as sent

message 133 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.1893, 1.0321, -0.9508, -0.1982, -0.1879, 0.9957, 0.9081, 1.7191, 1.2358, -0.7166, -0.1318, -0.8108, 0.0085]\nstate[eef_state]: left_x=0.2842 left_y=-0.002 left_z=0.1604 left_yaw=0.1462 left_pitch=-0.4972 left_roll=0.1115 left_gripper=0.9957 right_x=0.2204 right_y=0.326 right_z=0.084 right_yaw=1.57 right_pitch=-0.6222 right_roll=-0.218 right_gripper=0.0085\nstate[joint_eff]: [-0.0479, -3.494, 6.4479, 1.0916, -0.1245, -0.0464, -0.0122, -0.0752, -9.0051, 5.8598, 1.199, -0.1197, 0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9588, -0.1982, -0.1883, 0.9957, 1.3556, 1.9594, 1.3506, -1.0611, 0.4046, 1.1305, 0.011]\nstate[eef_state]: left_x=0.2825 left_y=-0.0018 left_z=0.1593 left_yaw=0.1478 left_pitch=-0.5056 left_roll=0.1142 left_gripper=0.9957 right_x=0.1353 right_y=0.3104 right_z=0.0343 right_yaw=-0.0043 right_pitch=-0.6298 right_roll=-0.32 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -3.5487, 6.4068, 1.0818, -0.1441, -0.0757, -0.0122, -0.1846, -11.5761, 5.8188, 0.4176, 0.3443, 0.1441, 0.0611]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9688, -0.1982, -0.1883, 0.9957, 1.116, 2.0365, 1.4902, -1.0355, 0.4232, 0.8856, 0.011]\nstate[eef_state]: left_x=0.2804 left_y=-0.0015 left_z=0.1583 left_yaw=0.1494 left_pitch=-0.5151 left_roll=0.1175 left_gripper=0.9957 right_x=0.2273 right_y=0.3078 right_z=0.0409 right_yaw=-0.0279 right_pitch=-0.6272 right_roll=-0.335 right_gripper=0.011\nstate[joint_eff]: [-0.1709, -3.6718, 6.4615, 1.1453, -0.1441, -0.0464, -0.0122, -0.3077, -9.3197, 7.6376, 0.442, 0.3932, -0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33cbe0fd393b49c519aec9c275a63e05b013e2737e909948316cfdd6ae4cd65b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cdbcea0af2b2a2ebaddb59d81e070fa6aecf06d622b4b1b3102daeacc790a96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b83941d190366f832123dfa57e9afe60ee3b811ae04e718f4ce3de54e11a1f3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_07c37685040cf413016ab42cf71d0887d08191c87acbad1c53",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtCz-zf-eiv72WZj3h8y4nlW9e0wIv2mbp8NmP7jkB_m2ThzjfZSPS5fAJHgKfkrObCsTYNc3atmzfS0fZOF9ZiBasSKLdQsmE7t6dcpVxrDnZCChu1l0gzXu-AuZOx9AYpCBkTnvrhEQk6USMWh7A99EMWrveDxO2mA0196Vu1yVaatxkyL-eKnLz1CvsuJX7Ds_myl66N-K0nz-m5neMRuFUlrZENBZGjJlcaQoGyuJecJnegFSAdbbcjbQPMQfh-mh1VOZyO5BNaTiUDWGrU9DqS52tP5FUOOEV2uP9yIL2wJ3A6WD7K3EK2PVsw5Fdv37SWH-rbNI8ECTTGSbr9o3ez4xc9vHsARy3sT1sMKyILchfX5B5CBODOjcBz-51PHFWgJiTDaZvX4xK0mkU8QDkP-zXFhIjsvdgH8aZ7gk1g9kCEJQTc6_Vc9Hk_CKmTtuIdROkRCb0iErdqqR7Og14RAKAdT04vuDVfe08Xz3C0nenAd6_b9caAOH93JguJecqYnHnHuGW_PmB6Yy2PJOPYZrA1LLsQaFPnIMpEVU7wQit6TTxwTJ18W9yS04GOJoPMxIJs1d4V_G98Ue2ESsb_rg0WHtJE_pQFH05udP1NtbkYV_UC33EWkrSYEMa6KkA7WzS3PIoJss-HPWHdPchsu4qwEMzmCjLJrX9SOjKGMA0I5GinBzMuOtgBFI6ZtCw74HOxNjfwkwzUAjRc7aHVbhITMrTbQXR3OIN6C9tDR12slJY7G54H-v6MuLnIj39rBjb8sR5_OYu4VuT2WTcHOQD908SEMMsF9FHKJEA64MF5UHuSqs3w4P-oGsLuDB5BfsOW2y7sgwChuMyQ0_TS3BdEV1Eeih847TPf-IszyHHxK7A8P3w1lbwp1KWrbB8DzdK5BUK16Pzi0ev0bEzBclwNiSlZtPn3ss80THistT8OKxR8j_wxMp0rnsvpCVih1thK-vLfn7Fo962W2m6BarK78YOZRCP1Afe1NHb2HAgoGvWHc-fey4Jsl6In_oxA41dqJakKO5l-3qhooeFRO8XQpHXkXC_5rwb97xz_p_p2oP52T0LiuQpcuONR3eRyHQiimafnMQ6rsZgo4PKbc66lur8CBYDeNm74n0kspv0X-wGj3-FwuFYuzLyDX0daJIxs7PFKKq4BBO2IKDgSCsWuqJ6yOgUTWv4VrbTSwdtos3tAmAPHWNS_FWf6XB8U9D8a9zz0leVu_V1ZS9qUbMIl6JdQfgfoTYVsSvPmFYoslvBynQJ-7M8TLx59QjsLHhU_DPnUdwtWS4sKEFIHdcjHgQti_1bJZNjCtbJmlN4AvpfPf-E8m6-dAwV66DT1KAic5wkMTog3dAJ2woEtYweBaMPsGz-khfwZhAOK3bz-_Q2Nulku1kGbZzDtC4-Jz-Gb3mmuSKmARKHuf6pI-yOU6hwo2GfZg0xHxw3vcAoWnlh4u8LTcJry2imfS8esX0D4fuexWEtPUVOJKH1qMkQ-3r8zcuxpY_I2l7AAwkUaa6ReszidCLAB-KJnv6pyeJIITDX8ehZrpOrdyuoW5ftUFYvNAGdIdDGuEylqMoTnnyp_o8jQHqAbeEtsfH3sVGcqC4f7KiEJv_LGSeHw2OX0h9p3bIhOnXS6WWy-oXeKuS0FviWthe7v-Rnx8zRy81CKSLzqwzU5hLBTeJQ3zrMmtbned3HPlnfJEevTPRfSakNsqc8svx6byiN086pszQQntOBUaiAdNUVJTXTyIDLI9SPjfmQCVsaWaaZgSSN1ee-AjPrg7ikkxtFHJgVISM5xkCNjm_DF-B4kFwLG7lGCvF-qhcUrnGgUBKyiX-EYeiLR05-EqaqPc08zJG2q7345s7O3VdcP7TQk4cflAehy9rluOrKCHE9xF5idchJ0lhCwY6QHaYxAiuh6oEQNEp2TAiZBytz88M-gH-G4-PewhVRPKJWTzdZ70dt8Ykbo78W3dbnU5R-y6seleqwkbYR9q_wkC1vOblyF0wR-R7jJqVFsbWm59ex2YEvfl25iDo-_pQqyTPYvCbYQwtw0X9Mm_eHOuhMh1ilhaZuUeHUNuSf1bZzU74XCW6U_S59nMYmodYqX8wRyRRwcYOr27gvIsPD3iKobLgwQJVbAP7iz70AE8-hFdwu-sdC1HvbtnHylckhmCK3OkHhxlmv_lLUnIfe5mTLnRHBjLwhB1m62_nCGB6V5XdyU9BBWg=",
  "id": "rs_07c37685040cf413016ab42cfbac2887d08d54d1893adbcb86",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.115,\"right_y\":0.37,\"right_z\":0.052},\"note\":\"The first push shifted the bear but did not guide it into the safe; the gripper caught its side. I’ll reposition behind its left-rear edge for a straighter push along the compartment’s center.\"}",
  "call_id": "call_pVFAwGve7xFacpsco6zmmYlA",
  "id": "fc_07c37685040cf413016ab42cfd43f887d091a120c8ec859427",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pVFAwGve7xFacpsco6zmmYlA",
  "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]: [-0.1425, 1.19, 1.0321, -0.9733, -0.1982, -0.1883, 0.9957, 1.4326, 2.1521, 1.7077, -1.2453, 0.424, 1.1954, 0.0111]\nstate[eef_state]: left_x=0.2794 left_y=-0.0013 left_z=0.1578 left_yaw=0.1501 left_pitch=-0.5195 left_roll=0.119 left_gripper=0.9957 right_x=0.1214 right_y=0.3711 right_z=0.0522 right_yaw=0.0169 right_pitch=-0.6033 right_roll=-0.3182 right_gripper=0.0111\nstate[joint_eff]: [-0.0752, -3.6581, 6.3795, 1.1306, -0.1587, -0.0513, -0.0122, 0.1709, -9.6615, 6.9812, -0.1148, 0.2027, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad5dba242f9f61c1fa300712303a7a9e3f13971542b548c819357e490cfdb36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3745aacc96928361922c570942b23c59ac40f97d96206b0dfd68d9d6a80244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9349565c05c085cbc5ca7ef2418d5bcc02feec9dbfd1c9e276ff133918d5af",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /responses · status 200 · 12.55 s

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

message 138 changed as sent

message 146 changed as sent

message 151 changed as sent

message 138 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9554, -0.1982, -0.1883, 0.9957, 1.4094, 2.0525, 1.7081, -1.1904, 0.3805, 0.9291, 0.0103]\nstate[eef_state]: left_x=0.2833 left_y=-0.0019 left_z=0.1597 left_yaw=0.1473 left_pitch=-0.5023 left_roll=0.1131 left_gripper=0.9957 right_x=0.1257 right_y=0.3862 right_z=0.0859 right_yaw=0.282 right_pitch=-0.6395 right_roll=-0.2405 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -3.7128, 6.4479, 1.1502, -0.1832, -0.0464, -0.0122, 0.3077, -10.4684, 6.8991, -0.0757, 0.3639, 0.1832, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9688, -0.1982, -0.1883, 0.9957, 1.116, 2.0365, 1.4902, -1.0355, 0.4232, 0.8856, 0.011]\nstate[eef_state]: left_x=0.2804 left_y=-0.0015 left_z=0.1583 left_yaw=0.1494 left_pitch=-0.5151 left_roll=0.1175 left_gripper=0.9957 right_x=0.2273 right_y=0.3078 right_z=0.0409 right_yaw=-0.0279 right_pitch=-0.6272 right_roll=-0.335 right_gripper=0.011\nstate[joint_eff]: [-0.1709, -3.6718, 6.4615, 1.1453, -0.1441, -0.0464, -0.0122, -0.3077, -9.3197, 7.6376, 0.442, 0.3932, -0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9733, -0.1982, -0.1883, 0.9957, 1.4326, 2.1521, 1.7077, -1.2453, 0.424, 1.1954, 0.0111]\nstate[eef_state]: left_x=0.2794 left_y=-0.0013 left_z=0.1578 left_yaw=0.1501 left_pitch=-0.5195 left_roll=0.119 left_gripper=0.9957 right_x=0.1214 right_y=0.3711 right_z=0.0522 right_yaw=0.0169 right_pitch=-0.6033 right_roll=-0.3182 right_gripper=0.0111\nstate[joint_eff]: [-0.0752, -3.6581, 6.3795, 1.1306, -0.1587, -0.0513, -0.0122, 0.1709, -9.6615, 6.9812, -0.1148, 0.2027, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad5dba242f9f61c1fa300712303a7a9e3f13971542b548c819357e490cfdb36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3745aacc96928361922c570942b23c59ac40f97d96206b0dfd68d9d6a80244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9349565c05c085cbc5ca7ef2418d5bcc02feec9dbfd1c9e276ff133918d5af",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0CiygtcQYdx3h138715nf3WoSiU4Qet0aCv0yacmbLq2QeYtkditDuiiCOvcV4YJ9X1YWQXbtK_IPJ1s6kPdRoCQFrPNQ4Mtmg7GnmvbIYqxp8dAgWUAATKmPYPbGvEpWXgi1aI7XdNc7ZyHTlPOxIsF1N4uWo_VdVwtFXZUmDs_kPU_d6jPYNePu-KrZTCQ4vEUJn9Jhii542GZAt5P_OI9-LLqE8oODi6kyZzH7xzxNPr3SHuUwLAG1q_atdpZnB6R3soPA-EObq8oqvY1ZvFxraliYCi0NORXLpP3Le7-2d_DmoWAIWYVerpJllnWxA_GjvTP6zeRdd8IJxL2nT1N-YUv1lP_LZADmAgIP22rIp1T69HLoYy7XhXQXqp_ptaLvjpllRPrPrOjXhOkiED9ILKxm_oZHfnyTAlNoSEx98-iWMGZjBUbgY7k96P4JMrBTpAKZPH-0XyK313LdjDupHKJRnN8aZbskrHitKtiCPKcQ5PYARKeuVwpdg0lvU4s16_RbzYtis2ztOeUnrfPhw1GCINJBgrNOsrcaXP5Tklf2vnKAfOFjN0EJlUZihPmu6BVS0hFfJt307QwaMZhwwknMB-fWzbdyi3RewTu90mVm0tW3GyCq7yrBEfeudrpdAXiuGn656tv10puCt_dxyqnF1TjjMy7Ml8E5TYt6IBVEOxX9OxlAcLREdcBw7TmWY4fNT-ZaOGzYR5VqhWDsEejy5WBFAgrOt2bQAngBO1eMdL56jKGUW7EuJkbVFfuvwtBeWueymsbwPyWwa4TmrC8rkwtZBh9cnfR_4gue2B4V1_lqd4g0YC78N21idOEZooz9aC_ZJw3ugwUzVKAS2w7YkIiT3wEh6smWKA2DfKDiAYqUupY04N3_9590XtUzlw8FzYiB2aDTSCGd1Jvbx8SK99-Oa-FZqxSNJA69t3dGD87wI54nuHSUSjUrj-MwV8kiQPmOCd8uJTeJCSgb9yqgOOB7qIUlODbU-aUkTomV35FsO5neM1YNk1xmT4TeQOJXQb2W9SyFrp3PqMX8pDBWe-0g7RX1YphBEiLwZ2Yxq4flXFHjCvpfB8_wrCYx4e9vHQcp7_30Jev7sP3eY4aQJgo18HElwanm6ztgLjmP7JW5uE2Ptj3SOudsmSKJq3TSjDACdH72KCxdcyX8Fusxocn9F6FlyT3nfPrsz5aQJdtb48SGIB1Jtb1yczS0ezldb9si-LvAqwoVxuUkAh898RqPByBTOnWA1DcDsK5RyUN2FRGZE0u5mlOknBVACrO8gam3PBqsjxMfItSvS_tBii9OKTUlc3RDCBo2tbLewVJXNM_Ui1tORv8UKZTyshYgNSSM4GXbf55CwaVkmio5EvPMk2mgrNNYedH8qwhPSbuThJSv9HOUc-X2sr7fFBdcDeNcWIlvGbNtyYtyCEZYE3Q3X8tPuGjozzC3tSFjawSKWoCwIlk7tFgkBxK3ikhI44HSed-jHrxmdOq83y13-mys1r8Nh6eeIth-ghE4EGs0CdTS4yTLNOY6QQwcyVaehGL14wKNtoAPXcYH1B4kUKzTSnk4F3Rx9QqKkGKmlO2hOA1GW1SvSveO9MI2LbCCeCMxj-cMivQyCG4LJjTFmgZEhIZOV0BCfdZdraJ4xmIkp13uLevMiz5MJGSJY9yaAPcBL9iPKZPa6F1K_SmLB0rzvK-zR3CEyVkb7XBUhcIfpD6sKoG5pwa-SMxSOIwwpPS1ruNd9v5Imww==",
  "id": "rs_07c37685040cf413016ab42d004df487d0a67828c08d3e85e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.37,\"right_z\":0.055},\"note\":\"From this position the closed fingers are behind the bear and pointed into the safe. I’ll push forward in one steady motion while watching for the plush to clear the front rim.\"}",
  "call_id": "call_P2qU8tVtGHAbNTaSpW6zCDVZ",
  "id": "fc_07c37685040cf413016ab42d0155d887d0b112a1a88622c1e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_P2qU8tVtGHAbNTaSpW6zCDVZ",
  "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]: [-0.1425, 1.19, 1.0321, -0.9779, -0.1982, -0.1883, 0.9957, 0.9798, 2.4229, 2.1761, -1.2526, 0.4221, 0.7067, 0.0111]\nstate[eef_state]: left_x=0.2784 left_y=-0.0012 left_z=0.1573 left_yaw=0.1509 left_pitch=-0.5239 left_roll=0.1205 left_gripper=0.9957 right_x=0.3286 right_y=0.3663 right_z=0.0537 right_yaw=0.0032 right_pitch=-0.6196 right_roll=-0.3278 right_gripper=0.0111\nstate[joint_eff]: [-0.0205, -3.4256, 6.3795, 1.0867, -0.1538, -0.0464, -0.0171, -0.4444, -12.1231, 7.7744, 0.442, 0.2564, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50acca26c2d5c235900dcd5a320b02162b726b5ec417e2464be984d6190d8395",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237085469d58688e04237524a4fe429a5564b37d1b822b3acd4dc3b5f1aaf359",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f641af06192b7426c98a4bccec7d9bec1bc9ed0bd28415dc747ae986af6fe2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /responses · status 200 · 3.37 s

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

message 142 changed as sent

message 151 changed as sent

message 155 changed as sent

message 142 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9588, -0.1982, -0.1883, 0.9957, 1.3556, 1.9594, 1.3506, -1.0611, 0.4046, 1.1305, 0.011]\nstate[eef_state]: left_x=0.2825 left_y=-0.0018 left_z=0.1593 left_yaw=0.1478 left_pitch=-0.5056 left_roll=0.1142 left_gripper=0.9957 right_x=0.1353 right_y=0.3104 right_z=0.0343 right_yaw=-0.0043 right_pitch=-0.6298 right_roll=-0.32 right_gripper=0.011\nstate[joint_eff]: [-0.0205, -3.5487, 6.4068, 1.0818, -0.1441, -0.0757, -0.0122, -0.1846, -11.5761, 5.8188, 0.4176, 0.3443, 0.1441, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 151 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9733, -0.1982, -0.1883, 0.9957, 1.4326, 2.1521, 1.7077, -1.2453, 0.424, 1.1954, 0.0111]\nstate[eef_state]: left_x=0.2794 left_y=-0.0013 left_z=0.1578 left_yaw=0.1501 left_pitch=-0.5195 left_roll=0.119 left_gripper=0.9957 right_x=0.1214 right_y=0.3711 right_z=0.0522 right_yaw=0.0169 right_pitch=-0.6033 right_roll=-0.3182 right_gripper=0.0111\nstate[joint_eff]: [-0.0752, -3.6581, 6.3795, 1.1306, -0.1587, -0.0513, -0.0122, 0.1709, -9.6615, 6.9812, -0.1148, 0.2027, 0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9779, -0.1982, -0.1883, 0.9957, 0.9798, 2.4229, 2.1761, -1.2526, 0.4221, 0.7067, 0.0111]\nstate[eef_state]: left_x=0.2784 left_y=-0.0012 left_z=0.1573 left_yaw=0.1509 left_pitch=-0.5239 left_roll=0.1205 left_gripper=0.9957 right_x=0.3286 right_y=0.3663 right_z=0.0537 right_yaw=0.0032 right_pitch=-0.6196 right_roll=-0.3278 right_gripper=0.0111\nstate[joint_eff]: [-0.0205, -3.4256, 6.3795, 1.0867, -0.1538, -0.0464, -0.0171, -0.4444, -12.1231, 7.7744, 0.442, 0.2564, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50acca26c2d5c235900dcd5a320b02162b726b5ec417e2464be984d6190d8395",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:237085469d58688e04237524a4fe429a5564b37d1b822b3acd4dc3b5f1aaf359",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1f641af06192b7426c98a4bccec7d9bec1bc9ed0bd28415dc747ae986af6fe2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_07c37685040cf413016ab42d06331087d0bccb807bef90a50b",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0P6cOHinF2fhXxCTFep4BRtEnmnq7Nqxqv_7_77nEsyyoAi1CG9-k5DnCdthCiuxc9bssDTZIlPKSQ-1wrEGfSxsCF7FkDCzwrFE18orHb20uFqGydAW_wu5J0bByN8nUz-5wpeuycea5aAoSOS7Z5vNPb_SQXrrULYKnUj48Ywtv1viUJb6f4Bx5lmAEvABmT9795GbttKPxjSKwcj1OMEcHot9i6k_fMnwc0ZDq7H5auUGvhKPCN54_jvmSITjmw95XhBSfJNSIg8twR68sAdzuZcC9DH_ImQjsxgMre6kaXaLkjEYKIyorFf1errxog704XPTauSTMGRLJKfEOAA1iRnFCDmUSZXlFsEfAgfXZbSlxTbOuzxN-jV-PkSjtwv9jB9U4pUIOsCG2e6bRWDz7foe_QHfdqjgm7vzWJOSSosEWAq84gzminu__HWpQZ9knqsvO0WH_LD6gniv7ZZOmRMECjRj3faBDwKZ3rsiR3nwVIoLZmE4YfD2l2iuHqNYM42mDpyq97rbA8ZzjGO1US_q7RaTC0MavQG6d2RQMBDCRSC9XwF-bpfRGZwdzXGZx5L2uD10RKrLYGhpGCA5LvLSBH5S2giCVAAPGjfm0MEDrPKlaqrr-ed9HPO_JgMS6hH6Inz_-yK7C2KGF7DkI6ggPTqDezgKloAlI9559aWnEoY7vFCthbEIKNwcF-erlUE9rIoJbVuxf7Eg0UghlomAOIsietyMChDJuzjRsKnpkbO9yOwlWnEyljIGEKQzY0li_eJkl0hNvjDFqFU6wisAT1aN8nsGSEjPsAL0PANLV8JZQdotLabLj2azMAOXKgQH5njlx851cb4TGc-nHEel6gOPgCjJPSXKlRAn-frgetyFcPMonI-ZCy8uIu1ABoPusn78iuE0k74BEiFH6NcDGh0O4hlXbamlnrWMjmMuxwPRVWq2Dq7LNg3IIoXgTQf4VG-ahpTffWg45rFcab9SKk9Lqg4VcmQb7Gi2SSbjIzUiQ6dAeJVcP_4Bz4gnN31in1mnIgwIiJMWBjrclKY3toHsUr-SMaWwX6C5Mjtr_kkeIWOPsqTcaFl8DD8EfagP78cpyuiNNxWHI4p2f_vJWJ2LA1iNS4o1aMi5i2jtdZ5z0OE3Y7jsFEDYSMwORLtF5t5lJ87HuqvHo2jFiheprgAjPxLZab_Ufou4CPUf35fsMOCzNhjehhzHmL6wtFhKu90_REjCzhSXpV-H9WmYMmHpOe8TyTEoyMs98kR83wX5zuqqWn-xfPVFM-d-4VXH-KSRUX7zhXqIQ91drZRiITB2TJX83F5q5VuUPIb-EISeS_STDgW6QbCiASwi0DGq0rP01EQqmJ5ENyMl0OPYUpfZg_MIsNbT4Jj3bTy1L8hmcDyc2EJI1TIZn7-6PZbVbIpEnY52UB_UK_nS7mvJyqt-sM-VaJbtZxP9XIxLmYNiH4R2p3P3bbBwSHSp1alyIjwD3M-NLub0i0QkizFW4yrdMZ5nba4ctfcPUtXbV3QKiuzgbUhEFM-4o9OYkVF5V2a6rJZw_itaeinaFh4hb6lOCSU4YVfd8FwHkgPSn49zSb54G-5Y846e4ikvIC9V_oVe6U1P3vnQXiztkXSCxXvuYLtQy78Dy4TlZf1kLN-ArLwa5ciWg5R0Ry1gft0AjHQ5tgK5Ysow4l8V0idQK1-cszx1VmikklaisBBLL536zgPYPdfMCgiV-G8EFUO6RF1RzxnVqETU-G6DzL6WwWW8g3TIifC8QdIcwwYxWT8ByC8LubrHyZmnRCmxO-rv4HUl_8eBnr3-ePvfmjwr4MLcoCDpfvZx_n4TDjrZTf_MXh1CZKU0tchHfOdZWlMXcHwqFBL7owIW4O-_Bj2RAzq1BkYwoLB2WLf_xobln0Ms9Jg4-gNPGtMqBatO8drhv3EP51ttlEy6MT7Bd-6AVsODWMfqo8j_BcO4lmnUlsL8vx0aBnxk5haPdd5RBthpK8EBO_LwedHdOs3_dTgSzgttkR5K_WKClTR_FGR5GxExtFn9Bq9JJP70YLKq48CVkx3u0e3fFbNK-7L2bcrk4x8griHDr33IrCXEduFU86E79-TPESFTHqWXRVlvtSftkkvXe8coodI6CA884vE5whnDyBfasw2IOZF2ZOWw8Uu-dCunwcv1ndCpETRFGNu1Fxrkz8j3Eyv07MVkrLVf9dKrbH8CAR-ub7VeP2pALCw2LCuv-9wigb859V-LdWzrQobHySJ0mQCo_ZUv3h9B1iZX3OCx5vmkss51YmqoRKDo8aQTj4HQY_5iBCrBkkF8quSVEtSVLpTpf2zeS-BQWA7BM_T0u5jyX-d_sDKWHT6kENfRS3qQwq7OA8PoTVCyzuxcgJEL_r1Tl-xxrgRjJC9MILFLbpLrN1k1fKszWKRo9pZWVH6LlUf9DTQBve_0Js3KBKD7eMRrCzlMGd5tApDhohOKWp1WpM0q9Gw_ER18Wz30v3SZqZdk19kLVvrHyCl-tGTz1Np-vLsG9rhQOOmQkMAYGzY1hfijF3XmazpQ6CZwLczeoE8yg3HwRdWuu0KEG5ojusJw03_s5196c8xygbZSf2JBveoMaAqH9aUHSvYGb65U5V-BDg3OjO7sN3vtiktWLg6CYyF96pqpkyRjmJ0K2CkQbxKKKT7kUnBvOkSTTfniQdh_doR-hNI0ddcTP8DWlCV0FhoSOlqBkt_P9okYAbzxQs35Y5FWZFgLE1GBO45DgQuLaasYvwqTLumjWnmV1TBFXAt8NJ5AH6QA4Bgh48sQzUwyMZJQ57ipJTaYuiqtIn_Muvra_qsSLPhYdaMgwwNtc-tEqsIQRha64SP2PS-4NCLdCfdXVeKJ1ykxn7ujtlwTMjrXw0ClUZoicsdt3XJq7bYNrlx39pHkMav3oBPOVXa2yuFGwyqF8jugnDEKujsK2PlZEeidRf_9DXPNVxEkp4OAIzPHYcdTblR0tY0j6xdoPiO6OXoHmn8EJomRSgSwgtb2F5itpG2ofiCKBRTV_iawt1j0_5D7izbc9BwyZ2Sx4nInP8e1SlQnimcjAkP0w_UuGcodyo_9pVli_KD2jsDPz_SDy1jF8r9WoSkTZDKhryMnPZdEE4UH4rAsTe7WRHC3NJnBd8ZK46isUXudpMxUR2FU0OyC661-WlVy6WxU4fstrEm210Yzk_7BVkryLOgvQCSQWHVzXl2JXE3jDNiWQwOwM1ZMaTJl05E1YyTVF618TJDTWcdQ7ZhcSBXXcRZRqm94sOEK5UdZsRJZGOtVk2DRwLYsVmwZUYxUVOe6aqR1UVMWw7MLVmmATFw7rwcfBrQL9Mwudosiheb7Y6c-Bl_sz3JUFliGsKSvZ9uZKCnrnaO3l62tiQTI6_SIVpPBaIOdqxAl0_1CvYGH7JLyida_TOr5ZHp9XHG_ZecDzlFgJrMuOhP99p2ZyE_FE9Ndat1B3poJviArhOgPw5gPUwvOfa_wwc1Ru6exGMhKC7vAixpyXL_-416eYEAYMQjohPrmnJN7ghP3xKEOPgpe4-Hq6HDvTidFJRfluMLRflPHU_U8uz5Y4xGaX0RND8rsRuyUR4sggI5ylKTZyK4F-OlBuxBEmE-GvKqnxTfbS7M7o_nJnKexnyAY9TFr9sFRWrZZP6IWZ7Vc9drfPF1tvYrg_jHISr2x-7aDQT2HR14V4komU995nNdmc4CRIqssw3XE4WmohZtjOU4j94mQ==",
  "id": "rs_07c37685040cf413016ab42d0a38a887d087bef92e082eae30",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0PV79vcH8MNT7M5m76bqEEanViLWEep3GSb6pyPNwcQykHWwQ1GXTyBfsysvT_K8x7SsxDVKU5mxbPiDQCx7QRj_S8NklGGBZHu8kfQS97C4LmWLIzMY-8SF1ZhBmYgQflvJAwAigUpHsZ3c-Dk2_05YRlx9rNoT4g68100iz2K873-1hulQbA6YumgXvo3OO11TAXIvLpXEdiMaeWmfuvbtpg3DTrGwixGEjdNux5Uq_w5HkrQzkGeQ64JKLKB_u4qhOdzSF-po6kSE6ZuKc3VqjmZ-KWDkPs9C1IvgZDyWv3QyyZ4Snuf1rcYVm7Fel8dYvuJn0xQsWSd6gwdK_BwMzsURiAxhnyrXmi1-rLWDnAgLNp7lLKfp6BonWWBZ0kCXg5W6jEuBW2kRyhigr62CP89k4sxvujtqAQP7gyIKgXuJrmRzK0g-D5_oiiLWZdsxpgrVNCQ9VyRgkugBk98jUL8Y6lvQVjiPeNwWoND_YowOIh7VoOB6yxzYY46xjlXLJ7QongUFGZd8AYVhfLLsk5Qe-miLzdzV2X_izE2DyDbmuIkVfpI-nWSqwcee8qpm9uJM3AZsACJCYbXvGHLBranUhHFo6EE_op5f0KYhPN7nZYdxlKOciHAgSw-JRKJ4De7HeegXz2Zd7G4--0-LQmSbsy0wwY395fLn6b7MK1q8NUEAHJhsiTHB58auWZbW8Al80iG1ueJXah85n3Q881r59gYW_VdmYnHCXeg_4PlvqjE10HJqycyahdCn9IbnxT5jfUER2G1raQpbtpsfPKbV8eTvkAZvc6ZvVYOiiSJi3Nj140bIoYum27ZccPXAcn7FQWIprufbcnUgObpwHhhv6Rj39tiSrmwot8zAz-r_35Y_VTlP22RgXl_4TWrUlTWj2IoXJEeFC24QK_jkik4gKVKUjh1xCZTzwbNbIHFiahK8_qA3HTFyrsZRWJL2bR2Rm0KJEh6ZJFXrkSXeCgPFlBv9fgW0l0JlHkMXku0zeY-aAeIhni-dZXYdSxvrBKc7BOLzV5hj60prvN3eKSpk5JA2Ibw36_M7qjsVvrdE6DwpdbCqP5QfAffHAulUrSEl_yXrxhz6_tt01D3ZprP2l39ZAK0q4CqQM0Q8qHwtUSg8IQ9wwmMySdJwz5qnN6Hv4GLVUvmrgVHQ5ROFDaiUPONdacb18eWHF3w96fCg3x3HWKQIhQlLZrInfmirBSnFKx1YvecL1-o2S0Ek7ff5ZNbjtwL2DFNtPalfuBjwssDsQ4fUGexm_kqdBTMy1xDnUIGpePA_BteMTsXjjCE5C9VBCvBE0V6puPEHtK1KwOe3x8B6cUPH27k-I9VMBpquflW6a79yNWeEJbH-MTsYiiTiEGDuilRiFFCLTDqidkfYbGr55XOw9wYd3BXvvI1KesgsQFM_9R24IejAMIz9BYMj1rbstt3VwIvXU2CUFxeb00KFSuNtTsMHR-x-OI058OaiFt46ab-jVBN0RqTWw_iW2KAVRfRqQ1xEQi8rb0WzfoimtVo_LaqEUSrYxmWDqsW9zWgGK8DAiKhjwuPnNAics-JPEaXtwnb4NpxvsmYYWC1k7NpScDlgJW9vIzTQWXI8buClYthoLI6wFI3wLhpFJE1FBqnedHy_F6r_l7BkIZPRKv_0FcRbpq3URVz0eBNi1J8gJWe_UV-e7zIRgn5Idsk8_8nI4m3EM5a9bLtzi3CN4HtgLO8pGGb5Xz9cB0xRf2mzmGkBr19BuoKYhrg76CnonDlrc79pU=",
  "id": "rs_07c37685040cf413016ab42d0e4f0087d08f593dda85768dcc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.175,\"right_y\":0.245,\"right_z\":0.065},\"note\":\"The bear slid along the safe’s right side instead of going inside; the white and yellow objects remain in the compartment. I’ll get behind the bear on its outside edge for a diagonal push toward the opening.\"}",
  "call_id": "call_ZBd4Z3Cex0EAPULc8z0LeBW6",
  "id": "fc_07c37685040cf413016ab42d0f2b6887d080a702476e0bc3cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZBd4Z3Cex0EAPULc8z0LeBW6",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.1919, 1.0321, -0.9848, -0.1982, -0.1886, 0.9957, 1.182, 1.75, 1.1675, -1.0275, 0.4309, 0.9016, 0.0125]\nstate[eef_state]: left_x=0.277 left_y=-0.0012 left_z=0.1561 left_yaw=0.1519 left_pitch=-0.5322 left_roll=0.1233 left_gripper=0.9957 right_x=0.1769 right_y=0.2468 right_z=0.0569 right_yaw=0.0071 right_pitch=-0.6285 right_roll=-0.3634 right_gripper=0.0125\nstate[joint_eff]: [0.0068, -3.7128, 6.3521, 1.1111, -0.1587, -0.0708, -0.0122, 0.2667, -8.8, 6.2154, 0.5495, 0.4274, 0.1001, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e8914dd88475badd6f151165375d76714b6631d7e920721ceaaafdd2a32c61c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f62da9f4d725d6594a56fe6e5e55052df12a8f45ce7aa3060b96c95353966d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba08d88fcb04f1140dd50c9cb33297de8856d2e40d54430ee7aa1d582eb9750",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /responses · status 200 · 4.733 s

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

message 146 changed as sent

message 155 changed as sent

message 161 changed as sent

message 146 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9688, -0.1982, -0.1883, 0.9957, 1.116, 2.0365, 1.4902, -1.0355, 0.4232, 0.8856, 0.011]\nstate[eef_state]: left_x=0.2804 left_y=-0.0015 left_z=0.1583 left_yaw=0.1494 left_pitch=-0.5151 left_roll=0.1175 left_gripper=0.9957 right_x=0.2273 right_y=0.3078 right_z=0.0409 right_yaw=-0.0279 right_pitch=-0.6272 right_roll=-0.335 right_gripper=0.011\nstate[joint_eff]: [-0.1709, -3.6718, 6.4615, 1.1453, -0.1441, -0.0464, -0.0122, -0.3077, -9.3197, 7.6376, 0.442, 0.3932, -0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 155 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1425, 1.19, 1.0321, -0.9779, -0.1982, -0.1883, 0.9957, 0.9798, 2.4229, 2.1761, -1.2526, 0.4221, 0.7067, 0.0111]\nstate[eef_state]: left_x=0.2784 left_y=-0.0012 left_z=0.1573 left_yaw=0.1509 left_pitch=-0.5239 left_roll=0.1205 left_gripper=0.9957 right_x=0.3286 right_y=0.3663 right_z=0.0537 right_yaw=0.0032 right_pitch=-0.6196 right_roll=-0.3278 right_gripper=0.0111\nstate[joint_eff]: [-0.0205, -3.4256, 6.3795, 1.0867, -0.1538, -0.0464, -0.0171, -0.4444, -12.1231, 7.7744, 0.442, 0.2564, 0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 161 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.1919, 1.0321, -0.9848, -0.1982, -0.1886, 0.9957, 1.182, 1.75, 1.1675, -1.0275, 0.4309, 0.9016, 0.0125]\nstate[eef_state]: left_x=0.277 left_y=-0.0012 left_z=0.1561 left_yaw=0.1519 left_pitch=-0.5322 left_roll=0.1233 left_gripper=0.9957 right_x=0.1769 right_y=0.2468 right_z=0.0569 right_yaw=0.0071 right_pitch=-0.6285 right_roll=-0.3634 right_gripper=0.0125\nstate[joint_eff]: [0.0068, -3.7128, 6.3521, 1.1111, -0.1587, -0.0708, -0.0122, 0.2667, -8.8, 6.2154, 0.5495, 0.4274, 0.1001, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e8914dd88475badd6f151165375d76714b6631d7e920721ceaaafdd2a32c61c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f62da9f4d725d6594a56fe6e5e55052df12a8f45ce7aa3060b96c95353966d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba08d88fcb04f1140dd50c9cb33297de8856d2e40d54430ee7aa1d582eb9750",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtC0UHtrUcxMx1yp1ah82Rwc1xWaqm9Z_JwkGwuUxEvD1XQBd9NPc8C-JDGnZu6oiJNdjzjHrQ2kH8lPZrdOf0VwCws5Ji5CCCohd4HwM4fn2jOO6TkOJc0mZD23_ub67Vz8XT2MCD7pA_xwUlgx-EpkbrEokA4Tg6FJd0dBP6vtI3IzLznthtCvS91F1zTVQdKHmQCW0WjBQNS90JcwUJ6ipl6ekWwphbzbkfECMRqfUSvr4uORCr8Ai9OnE7fN1XqAuzfjtsWbGc3c_82ESpkuYqKFTJVT38pp01atoFTpqN6z2WS3Bjy6aLvVaAYQ7Qoa3PEvUFdVLNX06-oM7ovVR-XIwC56IHtrgQgxf81_6MV7tTAMF-dSp25-QpbRwssKaF8KD7FK2ZsCfP3FThJpIHv1-yo-pw3FnttYX-PrXVpap7eRjIAfmngwOaInbbe2dtHwkFAQCRg3k--A0rkyqWrlYLmCuc_XHdpgmqtB4Zi9FPwZ3bxOoIdXXApnt54tciqSd2gxxzgBKNm59rXtjkNzyeMlYM7VPT0z39UBbICI7Nj7Y2vZTMvRRtv0E9HOltBwcl15zv6JlRq-i09KhuXdO2esi8eXgP_K7Ake9dG-F3jwzP7tPta85z4XrueC0boONtRsKCPP_wZsETpjGAxgypJNVAwCzGMeg_gda2zqoaUH13T11Hl3VZm6F7bLfyuqDMZbZNRFaJQq6ukyIBuVXihtk5oFdN37L9zrwT2p5b0qZvvjYylk9chvuOYOe7ZUT532OU75nF5nd3mA5MN0FN30FTznlrUDqQydII0zS6Losx7vX0Cpr7Z8WZhNNNuabJ1G44avzwGYHRmGjXvRXrqXD1JiWbJ8yCqeX0bH2fEVtCxOBsFGLYM3ho8eHdV1p9lfy_6I64Sp-1Md-iEL01KjdW1B8JzWZHyBBw_kWnOkm-A4ajTUMoaGj-lHDZC_HCwD48yAipMLKwsiMSstR_XJfWFCNh8T0GffO2gWgxBonKI6osRnIegVJFJ-ASKomJ28oFTCw9z6_0CTUH_7_XzAxvZfyISwL0H1Pgy66XP6S42iaBy7rXuUND59GPw9tUNX7hrRV52F-Oe1KfvkeAlXNyRBT0jrPGj_Iq0DW2BpRIC9LVJ47yandUSjjIHPs4tlpNq5EjtWKJ0MmSHYAOOrnt24aslAi1_Kzhdwo12IEM5L60T-O-_1zTO6y8Pv1uJRed18RokoafM6r6valZCl4qe48vJIN6YtkmMOTg0yJ--ZtHv6xqVWWQdnpAGKlepnuxjOlWM3FEP2AUkDApKvUlOBsE3mLgZBKycpVC4SwPGyaqVysGm0gUwZyxR31EFpCQQHsDtG4wXrR86OAiAetQcKx5a_wu_JvNDv9C97zv8JI4zE2uNccS-UF0JnrVdrBND80bKMT7Zdd6mtE-bjs3TlzmiuyuOEdkLecD9MVRJjX9P2l6P26q-_HdEGzXMQJYdHdEevEm8174UHbG5JXDG3pfUlt0m3lUk-ZdfhIzhiTLCuvSF0IsyoNqlvH9z6z7Qqj1unMAxZBn4Zdz_gHKfA4PTxa-wCGEDnytpUnBk1racYGdik1d2F6C1ZpKbr0fe2URzN94JlUdGTMjeyZYjAo_wQxwAB4ZgsOQgpH3PRqzTyTfvgqY_JfltFjBKmjLJVpiAaqA3Lu6Yv669dZQqtLeV81FTrmsZI=",
  "id": "rs_07c37685040cf413016ab42d13041487d0871778e4d187c362",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.395,\"right_z\":0.055},\"note\":\"The fingertips are now outside and behind the bear, with the open safe diagonally ahead to the left. I’ll sweep toward the compartment to try to slide the plush past its right rim.\"}",
  "call_id": "call_8wbXDCJDiphkCx2cMKkaxrkB",
  "id": "fc_07c37685040cf413016ab42d1409e087d0ae632b4a9e6b2034",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8wbXDCJDiphkCx2cMKkaxrkB",
  "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]: [-0.1429, 1.1954, 1.0321, -0.9947, -0.1982, -0.1886, 0.9957, 0.9936, 2.6633, 2.5782, -1.4242, 0.4397, 0.6895, 0.0138]\nstate[eef_state]: left_x=0.2749 left_y=-0.0008 left_z=0.1543 left_yaw=0.1546 left_pitch=-0.545 left_roll=0.1278 left_gripper=0.9957 right_x=0.3424 right_y=0.3946 right_z=0.0432 right_yaw=0.014 right_pitch=-0.6138 right_roll=-0.3579 right_gripper=0.0138\nstate[joint_eff]: [-0.1983, -3.9179, 6.6393, 1.0818, -0.105, -0.0611, -0.0122, -0.5538, -11.2342, 4.7795, -0.5055, 0.3785, 0.1294, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8e4f4bafcf40bd1060f12064a331d11c1c55b8eec8809e941aee601b6c7057",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e899bc2216cf974f6876a052fa31451164ec9f2c0435f865b5113624b610621e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ececbb4219c1cc94c7249985165a0695d6fe5bfcb93eb428ab36fc2830ce1ca4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]