adhoc - adhoc_d3871258.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.openai.com/v1
depth: render
effort: high
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: null
max_speed_frac: 0.25
model: gpt-5.6-sol
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
service_tier: fast
speed: null
temperature: null
transcript_echo: false
wire: responses
wire_capture: true
seed: 0
max steps: 900
duration: 195.2 s
total steps: 304

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 open safe is centered, with a white plush on its left, a yellow object on its right, and a larger brown plush in front. I’ll move the left gripper above the white plush, which is well inside that arm’s cross-table workspace.

move_to

left_x0.3400left_y-0.1600left_z0.1600left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7948, 0.6067, -0.4026, -0.02, -0.033, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9997 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.306, 10.3316, 1.9756, -0.0904, 0.1538, -0.0464, -0.294, -1.5385, 9.7573, 2.0781, -0.0269, 0.188, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.34,"left_y":-0.16,"left_z":0.16,"left_gripper":1.0},"note":"The open safe is centered, with a white plush on its left, a yellow object on its right, and a larger brown plush in front. I’ll move the left gripper above the white plush, which is well inside that arm’s cross-table workspace."})

tool

executing move_to over 15 steps (1.5s)

step 15

assistant

agent noteThe left wrist view now shows the white plush very close but about 3–4 cm left of the jaw centerline; its depth is already near the fingertips. I’ll correct only laterally before descending.

move_to

left_x0.3300left_y-0.1100left_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6983, 1.3052, 0.7746, -0.2516, -0.5438, -0.4503, 0.9997, -0.0212, 0.7986, 0.606, -0.4332, -0.02, -0.0341, 0.9996] state[eef_state]: left_x=0.3287 left_y=-0.1519 left_z=0.1387 left_yaw=-0.0218 left_pitch=-0.0678 left_roll=0.0363 left_gripper=0.9997 right_x=0.2879 right_y=0.001 right_z=0.1688 right_yaw=0.0007 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.3214, -5.2308, 9.5248, 1.7949, -0.3932, 0.0317, -0.0464, -0.1709, -1.5385, 7.0632, 1.9512, -0.0269, -0.0269, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.33,"left_y":-0.11,"left_z":0.16},"note":"The left wrist view now shows the white plush very close but about 3–4 cm left of the jaw centerline; its depth is already near the fingertips. I’ll correct only laterally before descending."})

tool

executing move_to over 4 steps (0.4s)

step 19

assistant

agent noteThe white plush is now centered between the open jaws in the wrist view. I’ll descend to about mid-body height so the fingers can close around it rather than over it.

move_to

left_x0.3320left_y-0.1100left_z0.0250

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5625, 1.198, 0.7654, -0.3046, -0.4732, -0.3805, 0.9996, -0.0212, 0.7986, 0.6056, -0.4549, -0.0196, -0.0345, 0.9995] state[eef_state]: left_x=0.3323 left_y=-0.1101 left_z=0.157 left_yaw=0.0202 left_pitch=-0.0615 left_roll=0.0263 left_gripper=0.9996 right_x=0.2847 right_y=0.001 right_z=0.1643 right_yaw=0.0006 right_pitch=-0.0576 right_roll=-0.0002 right_gripper=0.9995 state[joint_eff]: [0.1162, -4.6974, 6.7897, 1.5897, -0.1245, 0.1148, -0.0171, -0.1709, -1.2513, 6.9949, 1.8877, -0.022, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.332,"left_y":-0.11,"left_z":0.025},"note":"The white plush is now centered between the open jaws in the wrist view. I’ll descend to about mid-body height so the fingers can close around it rather than over it."})

tool

executing move_to over 9 steps (0.9s)

step 28

assistant

agent noteThe jaws are down around the white plush’s torso, with the toy filling the gap between the fingers. I’ll close fully and then check the settled jaw spacing before lifting.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.5322, 0.4225, 0.2798, -0.4683, -0.3794, 0.9996, -0.0208, 0.8024, 0.6014, -0.4957, -0.02, -0.0372, 0.9996] state[eef_state]: left_x=0.3206 left_y=-0.1032 left_z=0.0152 left_yaw=0.022 left_pitch=-0.1409 left_roll=0.0755 left_gripper=0.9996 right_x=0.278 right_y=0.0013 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1064 right_roll=-0.001 right_gripper=0.9996 state[joint_eff]: [-0.2256, -5.9829, 4.7521, 1.8144, -0.2515, -0.0611, -0.0122, -0.0342, -1.4427, 7.2547, 2.0147, -0.0317, -0.0122, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.0},"note":"The jaws are down around the white plush’s torso, with the toy filling the gap between the fingers. I’ll close fully and then check the settled jaw spacing before lifting."})

tool

executing move_to over 10 steps (1.0s)

step 38

assistant

agent noteThe left gripper settled at 0.20, confirming a substantial grasp on the plush. I’ll lift it well above the safe rim before transporting it inward.

move_to

left_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.541, 0.4088, 0.2909, -0.4725, -0.3824, 0.1975, -0.0212, 0.8024, 0.6014, -0.5224, -0.0196, -0.0372, 0.9995] state[eef_state]: left_x=0.3174 left_y=-0.1004 left_z=0.0102 left_yaw=0.0278 left_pitch=-0.1485 left_roll=0.0823 left_gripper=0.1975 right_x=0.2737 right_y=0.0013 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.1331 right_roll=-0.0006 right_gripper=0.9995 state[joint_eff]: [-0.0615, -5.9419, 6.0923, 1.2821, -0.1978, -0.0024, 0.6569, -0.0068, -1.1966, 6.9128, 1.8877, -0.0317, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.17},"note":"The left gripper settled at 0.20, confirming a substantial grasp on the plush. I’ll lift it well above the safe rim before transporting it inward."})

tool

executing move_to over 11 steps (1.1s)

step 49

assistant

agent noteThe overhead view confirms the white plush lifted with the gripper. I’ll carry it above the center of the safe’s open red compartment, keeping extra height to clear the metal rim.

move_to

left_x0.3900left_y-0.3100left_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.1988, 0.8181, -0.4862, -0.4679, -0.3916, 0.1993, -0.0212, 0.8078, 0.5999, -0.5575, -0.0196, -0.0372, 0.9995] state[eef_state]: left_x=0.3163 left_y=-0.1005 left_z=0.1491 left_yaw=0.0317 left_pitch=-0.1712 left_roll=0.0869 left_gripper=0.1993 right_x=0.2677 right_y=0.0014 right_z=0.1402 right_yaw=0.0024 right_pitch=-0.175 right_roll=0.0004 right_gripper=0.9995 state[joint_eff]: [-0.335, -5.4359, 9.4838, 1.4481, -0.3346, 0.0269, 0.1734, -0.0205, -1.5932, 6.9949, 1.873, -0.0513, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.39,"left_y":-0.31,"left_z":0.19},"note":"The overhead view confirms the white plush lifted with the gripper. I’ll carry it above the center of the safe’s open red compartment, keeping extra height to clear the metal rim."})

tool

executing move_to over 19 steps (1.9s)

step 68

assistant

agent noteThe left wrist view shows the held plush directly over the red safe floor with the rim on both sides. I’ll lower until the toy rests inside, keeping the grasp point slightly above the compartment 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]: [-0.8917, 1.9774, 1.7641, -0.8616, -0.6338, -0.7208, 0.2014, -0.0208, 0.8116, 0.5999, -0.5907, -0.02, -0.0372, 0.9995] state[eef_state]: left_x=0.3842 left_y=-0.3037 left_z=0.1746 left_yaw=0.0269 left_pitch=-0.2111 left_roll=0.0934 left_gripper=0.2014 right_x=0.262 right_y=0.0017 right_z=0.1334 right_yaw=0.0033 right_pitch=-0.212 right_roll=0.0016 right_gripper=0.9995 state[joint_eff]: [-0.6085, -10.7829, 8.8957, 1.0672, -0.6716, -0.0024, 0.2125, -0.0342, -1.4291, 6.8718, 1.7998, -0.0659, -0.0513, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_z":0.055},"note":"The left wrist view shows the held plush directly over the red safe floor with the rim on both sides. I’ll lower until the toy rests inside, keeping the grasp point slightly above the compartment floor."})

tool

executing move_to over 8 steps (0.8s)

step 76

assistant

agent noteThe plush is now seated against the safe’s red floor, below the rim. I’ll open the jaws to release it inside.

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]: [-0.8951, 2.0586, 1.422, -0.4923, -0.6247, -0.7231, 0.2028, -0.0212, 0.8158, 0.5999, -0.6128, -0.0196, -0.0372, 0.9995] state[eef_state]: left_x=0.3758 left_y=-0.298 left_z=0.055 left_yaw=0.0296 left_pitch=-0.2502 left_roll=0.1311 left_gripper=0.2028 right_x=0.2581 right_y=0.0016 right_z=0.1287 right_yaw=0.0027 right_pitch=-0.2384 right_roll=0.0019 right_gripper=0.9995 state[joint_eff]: [0.253, -10.7829, 6.4479, 1.3309, -0.3687, 0.0171, 0.1441, -0.1983, -0.9504, 6.8034, 1.7363, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1.0},"note":"The plush is now seated against the safe’s red floor, below the rim. I’ll open the jaws to release it inside."})

tool

executing move_to over 8 steps (0.8s)

step 84

assistant

agent noteThe white plush remains inside after release. I’ll park the left arm and simultaneously bring the right gripper above the yellow object, which lies forward and to that arm’s left.

move_to

left_x0.2900left_y0.0000left_z0.1800right_x0.4300right_y0.2000right_z0.1700right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8955, 2.072, 1.4071, -0.5014, -0.6216, -0.7273, 0.9949, -0.0212, 0.8158, 0.5999, -0.6327, -0.0196, -0.0372, 0.9995] state[eef_state]: left_x=0.3711 left_y=-0.293 left_z=0.0433 left_yaw=0.0379 left_pitch=-0.2745 left_roll=0.1575 left_gripper=0.9949 right_x=0.2545 right_y=0.0017 right_z=0.1254 right_yaw=0.0028 right_pitch=-0.2582 right_roll=0.0024 right_gripper=0.9995 state[joint_eff]: [-0.0479, -12.1641, 7.1179, 1.0769, -0.4029, -0.022, 0.0024, -0.1709, -0.9641, 7.3094, 1.6239, -0.0366, -0.0708, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.29,"left_y":0.0,"left_z":0.18,"right_x":0.43,"right_y":0.2,"right_z":0.17,"right_gripper":1.0},"note":"The white plush remains inside after release. I’ll park the left arm and simultaneously bring the right gripper above the yellow object, which lies forward and to that arm’s left."})

tool

executing move_to over 27 steps (2.7s)

step 111

assistant

agent noteThe yellow object is centered on the right jaw column but still has clear image space below it, indicating it is a couple of centimeters short of the fingertips. I’ll advance radially while holding the lateral alignment.

move_to

right_x0.4400right_y0.1940right_z0.1600

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1608, 1.029, 0.8684, -0.7322, -0.2462, -0.086, 0.9962, 0.5552, 1.7699, 1.4548, -0.6735, 0.3294, 0.3847, 0.9996] state[eef_state]: left_x=0.2905 left_y=0.0001 left_z=0.1704 left_yaw=0.0858 left_pitch=-0.2864 left_roll=0.1546 left_gripper=0.9962 right_x=0.4142 right_y=0.1939 right_z=0.1539 right_yaw=0.0267 right_pitch=-0.3216 right_roll=-0.0348 right_gripper=0.9996 state[joint_eff]: [0.2803, -3.3436, 8.4855, 1.5311, -0.0855, 0.105, 0.1245, 0.0068, -8.3897, 9.2923, 1.5409, 0.315, 0.2222, -0.0611] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.44,"right_y":0.194,"right_z":0.16},"note":"The yellow object is centered on the right jaw column but still has clear image space below it, indicating it is a couple of centimeters short of the fingertips. I’ll advance radially while holding the lateral alignment."})

tool

executing move_to over 2 steps (0.2s)

step 113

assistant

agent noteThe yellow object is now centered and close to the fingertip row. I’ll descend to its mid-height so the jaws close around the narrow sides.

move_to

right_x0.4230right_y0.1950right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1524, 1.0241, 0.8684, -0.7486, -0.2253, -0.0612, 0.9964, 0.5419, 1.8202, 1.5253, -0.7174, 0.3149, 0.3729, 0.9996] state[eef_state]: left_x=0.2871 left_y=-0.0006 left_z=0.1685 left_yaw=0.0631 left_pitch=-0.3034 left_roll=0.1573 left_gripper=0.9964 right_x=0.4232 right_y=0.1951 right_z=0.1523 right_yaw=0.0277 right_pitch=-0.3484 right_roll=-0.0436 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.6752, 6.6803, 1.58, -0.2613, -0.0464, 0.0024, -1.2923, -8.3897, 8.8137, 1.4969, 0.1197, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.423,"right_y":0.195,"right_z":0.03},"note":"The yellow object is now centered and close to the fingertip row. I’ll descend to its mid-height so the jaws close around the narrow sides."})

tool

executing move_to over 8 steps (0.8s)

step 121

assistant

agent noteAt grasp height the yellow object sits between the fingers, slightly left but still well within the jaw opening. I’ll close and use the settled spacing to confirm 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]: [-0.1555, 1.0302, 0.8684, -0.7502, -0.2283, -0.0784, 0.9964, 0.5419, 1.9335, 1.1976, -0.3389, 0.3065, 0.3599, 0.9995] state[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1668 left_yaw=0.0729 left_pitch=-0.3089 left_roll=0.1501 left_gripper=0.9964 right_x=0.4103 right_y=0.189 right_z=0.0292 right_yaw=0.03 right_pitch=-0.4069 right_roll=-0.0778 right_gripper=0.9995 state[joint_eff]: [0.1573, -2.7282, 6.7487, 1.3553, -0.1343, 0.1587, -0.0073, -0.1162, -9.1966, 6.5162, 1.4725, 0.2027, 0.0757, -0.0171] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At grasp height the yellow object sits between the fingers, slightly left but still well within the jaw opening. I’ll close and use the settled spacing to confirm the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 131

assistant

agent noteThe jaws stopped at only 0.05, which is marginal and may be a grip on the object’s tapered end rather than its body. I’ll lift a short distance to verify whether the yellow object actually follows.

move_to

right_z0.0900

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1555, 1.0306, 0.8684, -0.7502, -0.2283, -0.083, 0.9964, 0.5484, 1.9419, 1.1843, -0.3569, 0.2699, 0.3622, 0.0531] state[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1667 left_yaw=0.0755 left_pitch=-0.3088 left_roll=0.1471 left_gripper=0.9964 right_x=0.3989 right_y=0.1927 right_z=0.0177 right_yaw=0.0562 right_pitch=-0.4572 right_roll=-0.0661 right_gripper=0.0531 state[joint_eff]: [0.0068, -2.6598, 6.694, 1.3358, -0.1197, -0.0269, -0.0122, -0.4034, -10.5778, 6.8308, 1.3016, -0.0317, -0.5299, 1.2234] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.09},"note":"The jaws stopped at only 0.05, which is marginal and may be a grip on the object’s tapered end rather than its body. I’ll lift a short distance to verify whether the yellow object actually follows."})

tool

executing move_to over 5 steps (0.5s)

step 136

assistant

agent noteThe wrist view still shows the yellow object on the table while the gripper appears to have caught the safe’s thin side rim, explaining the tiny spacing and stalled lift. I’ll release, rise clear, and shift about 4 cm rightward away from the rim to align over the object itself.

move_to

right_z0.1600right_y0.1450right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0325, 0.8684, -0.765, -0.2283, -0.0834, 0.9964, 0.5438, 1.8957, 1.3079, -0.6151, 0.2501, 0.3614, 0.0578] state[eef_state]: left_x=0.2845 left_y=-0.0008 left_z=0.164 left_yaw=0.0759 left_pitch=-0.3251 left_roll=0.1509 left_gripper=0.9964 right_x=0.3871 right_y=0.1872 right_z=0.0513 right_yaw=0.0458 right_pitch=-0.5438 right_roll=-0.0961 right_gripper=0.0578 state[joint_eff]: [-0.1573, -2.7556, 6.6667, 1.4579, -0.1832, -0.0513, -0.0122, 0.3077, -13.5316, 9.265, 1.4237, 0.2466, 0.0024, 1.0281] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.16,"right_y":0.145,"right_gripper":1.0},"note":"The wrist view still shows the yellow object on the table while the gripper appears to have caught the safe’s thin side rim, explaining the tiny spacing and stalled lift. I’ll release, rise clear, and shift about 4 cm rightward away from the rim to align over the object itself."})

tool

executing move_to over 10 steps (1.0s)

step 146

assistant

agent noteThe failed rim grasp nudged the safe lid partway forward, but the white plush remains inside. The yellow object is now laterally centered yet still well ahead of the fingertips, so I’ll advance toward it at a safe height and restore a vertical tool attitude.

move_to

right_x0.4200right_y0.1450right_z0.1700right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.034, 0.8684, -0.7681, -0.2283, -0.0837, 0.9964, 0.4465, 1.7878, 1.52, -0.9798, 0.2119, 0.2653, 0.9948] state[eef_state]: left_x=0.284 left_y=-0.0007 left_z=0.1632 left_yaw=0.0765 left_pitch=-0.3296 left_roll=0.1518 left_gripper=0.9964 right_x=0.3807 right_y=0.145 right_z=0.1328 right_yaw=0.033 right_pitch=-0.6054 right_roll=-0.1266 right_gripper=0.9948 state[joint_eff]: [-0.0068, -2.7556, 6.8444, 1.3846, -0.149, -0.0464, -0.0122, -0.4444, -11.3709, 8.9641, 0.9499, 0.0952, -0.022, -0.2515] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.145,"right_z":0.17,"right_pitch":0.0},"note":"The failed rim grasp nudged the safe lid partway forward, but the white plush remains inside. The yellow object is now laterally centered yet still well ahead of the fingertips, so I’ll advance toward it at a safe height and restore a vertical tool attitude."})

tool

executing move_to over 21 steps (2.1s)

step 167

assistant

agent noteThe yellow object is close and nearly aligned, but it is slightly left of the jaw column and still a little short of the fingertips. I’ll make a small combined forward/left correction while staying above the safe wall.

move_to

right_x0.4300right_y0.1580right_z0.1600right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.034, 0.8684, -0.7723, -0.2283, -0.0837, 0.9964, 0.4927, 1.573, 1.0451, -0.2531, 0.4198, 0.1566, 0.9966] state[eef_state]: left_x=0.2832 left_y=-0.0006 left_z=0.1626 left_yaw=0.0768 left_pitch=-0.3337 left_roll=0.1528 left_gripper=0.9964 right_x=0.4084 right_y=0.1416 right_z=0.1416 right_yaw=0.0445 right_pitch=-0.1169 right_roll=-0.1602 right_gripper=0.9966 state[joint_eff]: [-0.1709, -2.5231, 6.7624, 1.3455, -0.1636, -0.0562, -0.0122, 0.2256, -9.3333, 7.3231, 1.9609, 0.3834, -0.0024, 0.1783] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.158,"right_z":0.16,"right_pitch":0.0},"note":"The yellow object is close and nearly aligned, but it is slightly left of the jaw column and still a little short of the fingertips. I’ll make a small combined forward/left correction while staying above the safe wall."})

tool

executing move_to over 4 steps (0.4s)

step 171

assistant

agent noteThe yellow object is pressed against the safe’s outer side, so a lateral close would catch the wall again. I’ll rotate the open jaws 90 degrees at clearance height so they close front-to-back around the object instead.

move_to

right_yaw1.5700right_z0.1700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.034, 0.8684, -0.7727, -0.2283, -0.0868, 0.9964, 0.5182, 1.6077, 1.0397, -0.1844, 0.4496, 0.1383, 0.9968] state[eef_state]: left_x=0.2831 left_y=-0.0005 left_z=0.1625 left_yaw=0.0789 left_pitch=-0.3338 left_roll=0.1509 left_gripper=0.9964 right_x=0.4149 right_y=0.1524 right_z=0.1381 right_yaw=0.0581 right_pitch=-0.0838 right_roll=-0.1804 right_gripper=0.9968 state[joint_eff]: [-0.1162, -2.6462, 7.0085, 1.3162, -0.1783, -0.0171, -0.0073, 0.4308, -6.8581, 9.7846, 1.8437, 0.2759, 0.022, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_yaw":1.57,"right_z":0.17},"note":"The yellow object is pressed against the safe’s outer side, so a lateral close would catch the wall again. I’ll rotate the open jaws 90 degrees at clearance height so they close front-to-back around the object instead."})

tool

executing move_to over 10 steps (1.0s)

step 181

assistant

agent noteThe first rotation was safety-limited to only about 0.2 rad, so the jaws are not yet oriented away from the safe wall. I’ll continue the rotation in a smaller intermediate step while raising slightly.

move_to

right_yaw1.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0344, 0.868, -0.7868, -0.2283, -0.0875, 0.9964, 0.4606, 1.5745, 0.96, -0.1162, 0.2974, -0.012, 0.9969] state[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1603 left_yaw=0.0802 left_pitch=-0.3482 left_roll=0.1541 left_gripper=0.9964 right_x=0.41 right_y=0.1497 right_z=0.1244 right_yaw=0.206 right_pitch=-0.1146 right_roll=-0.1927 right_gripper=0.9969 state[joint_eff]: [0.0068, -2.6325, 6.7897, 1.4774, -0.1734, -0.0464, -0.0122, -0.0205, -8.9231, 7.0906, 1.8144, 0.0855, -0.0952, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_yaw":1.0,"right_z":0.18},"note":"The first rotation was safety-limited to only about 0.2 rad, so the jaws are not yet oriented away from the safe wall. I’ll continue the rotation in a smaller intermediate step while raising slightly."})

tool

executing move_to over 6 steps (0.6s)

step 187

assistant

agent noteThe wrist has reached about 0.68 rad and remains clear; the object is still visible beside the safe. I’ll finish the quarter-turn now so the jaws can approach along the free front-back direction.

move_to

right_yaw1.5700right_z0.1800

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.034, 0.868, -0.7956, -0.2283, -0.0902, 0.9964, 0.1455, 1.578, 1.1797, -0.3916, -0.2684, -0.5789, 0.9973] state[eef_state]: left_x=0.2786 left_y=0.0001 left_z=0.1591 left_yaw=0.0825 left_pitch=-0.3561 left_roll=0.1545 left_gripper=0.9964 right_x=0.4283 right_y=0.1137 right_z=0.1657 right_yaw=0.6819 right_pitch=-0.1817 right_roll=-0.2198 right_gripper=0.9973 state[joint_eff]: [-0.1709, -2.5504, 6.612, 1.3846, -0.1538, -0.0171, -0.0073, -0.7453, -6.4615, 7.9795, 1.2674, -0.2613, -0.0708, 0.0317] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_yaw":1.57,"right_z":0.18},"note":"The wrist has reached about 0.68 rad and remains clear; the object is still visible beside the safe. I’ll finish the quarter-turn now so the jaws can approach along the free front-back direction."})

tool

executing move_to over 6 steps (0.6s)

step 193

assistant

agent noteWith the jaws nearly quarter-turned, the yellow object lies about 3 cm to the tool’s left, which is now mostly a backward base-frame correction. I’ll center it while completing the rotation and maintaining clearance.

move_to

right_x0.4300right_y0.1100right_z0.1800right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0378, 0.8684, -0.8116, -0.2283, -0.0906, 0.9964, -0.0399, 2.0274, 1.8618, -1.0637, -0.73, -1.4487, 0.9974] state[eef_state]: left_x=0.2756 left_y=0.0006 left_z=0.1561 left_yaw=0.0845 left_pitch=-0.3749 left_roll=0.1592 left_gripper=0.9964 right_x=0.4599 right_y=0.1031 right_z=0.1778 right_yaw=1.3653 right_pitch=-0.2118 right_roll=-0.2516 right_gripper=0.9974 state[joint_eff]: [-0.0752, -2.6872, 6.5709, 1.4823, -0.1441, -0.0269, -0.0073, -0.1573, -10.7966, 6.147, 0.0366, -0.6227, -0.1197, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.43,"right_y":0.11,"right_z":0.18,"right_yaw":1.57},"note":"With the jaws nearly quarter-turned, the yellow object lies about 3 cm to the tool’s left, which is now mostly a backward base-frame correction. I’ll center it while completing the rotation and maintaining clearance."})

tool

executing move_to over 3 steps (0.3s)

step 196

assistant

agent noteThe rotated wrist view now centers the yellow object between the jaw paths, with the safe wall outside the closing direction. I’ll descend to the object’s mid-height for a clean front-back grasp.

move_to

right_x0.4320right_y0.1090right_z0.0350right_yaw1.5700

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0386, 0.8684, -0.8131, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2602, -0.7677, -1.6825, 0.9973] state[eef_state]: left_x=0.2753 left_y=0.0006 left_z=0.1557 left_yaw=0.0847 left_pitch=-0.3772 left_roll=0.1598 left_gripper=0.9965 right_x=0.4324 right_y=0.1088 right_z=0.1686 right_yaw=1.5466 right_pitch=-0.2193 right_roll=-0.2192 right_gripper=0.9973 state[joint_eff]: [-0.0479, -2.6872, 6.6667, 1.3114, -0.1832, -0.0513, -0.0122, -0.212, -11.4667, 7.9932, 0.525, -0.569, -0.1441, -0.0171] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.432,"right_y":0.109,"right_z":0.035,"right_yaw":1.57},"note":"The rotated wrist view now centers the yellow object between the jaw paths, with the safe wall outside the closing direction. I’ll descend to the object’s mid-height for a clean front-back grasp."})

tool

executing move_to over 9 steps (0.9s)

step 205

assistant

agent noteThe first descent did not track at all, indicating the rotated wrist pose is at an IK limit rather than in contact. I’ll retract 1 cm and straighten pitch/roll while descending to an intermediate height to recover a workable configuration.

move_to

right_x0.4200right_z0.0800right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0397, 0.8684, -0.8169, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2854, -0.7677, -1.721, 0.9974] state[eef_state]: left_x=0.2746 left_y=0.0007 left_z=0.1549 left_yaw=0.0852 left_pitch=-0.382 left_roll=0.1611 left_gripper=0.9965 right_x=0.4275 right_y=0.109 right_z=0.168 right_yaw=1.5737 right_pitch=-0.2231 right_roll=-0.2207 right_gripper=0.9974 state[joint_eff]: [-0.1026, -2.6325, 6.6393, 1.2625, -0.1441, -0.0611, -0.0122, -0.4581, -11.6991, 7.9385, 0.3932, -0.6032, -0.0855, -0.0073] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_z":0.08,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"The first descent did not track at all, indicating the rotated wrist pose is at an IK limit rather than in contact. I’ll retract 1 cm and straighten pitch/roll while descending to an intermediate height to recover a workable configuration."})

tool

executing move_to over 8 steps (0.8s)

step 213

assistant

agent noteStraightening the wrist restored vertical tracking; the yellow object remains centered and the jaws are now just above it. I’ll complete the descent while holding this reachable orientation.

move_to

right_x0.4200right_y0.1060right_z0.0250right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.0397, 0.8684, -0.8173, -0.2283, -0.0906, 0.9965, -0.0933, 2.2353, 1.7668, -1.2095, -0.9241, -1.7515, 0.9974] state[eef_state]: left_x=0.2746 left_y=0.0009 left_z=0.1549 left_yaw=0.0856 left_pitch=-0.3824 left_roll=0.1612 left_gripper=0.9965 right_x=0.4211 right_y=0.1058 right_z=0.0875 right_yaw=1.5703 right_pitch=-0.0523 right_roll=-0.022 right_gripper=0.9974 state[joint_eff]: [-0.0889, -2.6051, 6.7761, 1.2332, -0.1783, -0.0513, -0.0122, -0.7316, -10.2769, 4.9299, 0.1099, -0.6862, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.42,"right_y":0.106,"right_z":0.025,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"Straightening the wrist restored vertical tracking; the yellow object remains centered and the jaws are now just above it. I’ll complete the descent while holding this reachable orientation."})

tool

executing move_to over 5 steps (0.5s)

step 218

assistant

agent noteAt 3.4 cm height the yellow object fills the gap between the rotated jaws, with the safe wall behind rather than between them. I’ll close now and check for a substantial jaw spacing.

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]: [-0.1562, 1.0397, 0.8684, -0.8204, -0.2283, -0.0906, 0.9965, -0.1017, 2.3241, 1.6783, -1.0824, -0.9478, -1.7657, 0.9973] state[eef_state]: left_x=0.2739 left_y=0.001 left_z=0.1545 left_yaw=0.0859 left_pitch=-0.3853 left_roll=0.162 left_gripper=0.9965 right_x=0.4178 right_y=0.1052 right_z=0.0342 right_yaw=1.5685 right_pitch=-0.0241 right_roll=0.0145 right_gripper=0.9973 state[joint_eff]: [-0.0479, -2.4547, 6.653, 1.2527, -0.1832, -0.0708, -0.0122, -0.3487, -10.7556, 4.8205, 0.0317, -0.7155, -0.1783, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.0},"note":"At 3.4 cm height the yellow object fills the gap between the rotated jaws, with the safe wall behind rather than between them. I’ll close now and check for a substantial jaw spacing."})

tool

executing move_to over 10 steps (1.0s)

step 228

assistant

agent noteThe smooth yellow object slipped to image-right during closure and the jaws reached the empty value. I’ll open, lift, and move about 3 cm in the rotated tool-right direction—mostly forward in the base frame—for one deliberate re-grasp.

move_to

right_x0.4500right_z0.1000right_gripper1.0000right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.0397, 0.868, -0.8207, -0.2283, -0.0906, 0.9965, -0.1051, 2.3455, 1.6638, -1.0481, -0.9485, -1.7779, 0.0172] state[eef_state]: left_x=0.2738 left_y=0.001 left_z=0.1543 left_yaw=0.086 left_pitch=-0.3861 left_roll=0.1622 left_gripper=0.9965 right_x=0.4183 right_y=0.1038 right_z=0.0222 right_yaw=1.5718 right_pitch=-0.0231 right_roll=0.006 right_gripper=0.0172 state[joint_eff]: [-0.0615, -2.359, 6.7624, 1.2625, -0.1636, -0.0317, -0.0073, -0.3487, -11.5761, 5.3949, 0.0317, -0.7106, -0.0611, 0.7643] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_z":0.1,"right_gripper":1.0,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"The smooth yellow object slipped to image-right during closure and the jaws reached the empty value. I’ll open, lift, and move about 3 cm in the rotated tool-right direction—mostly forward in the base frame—for one deliberate re-grasp."})

tool

executing move_to over 10 steps (1.0s)

step 238

assistant

agent noteAfter the correction, the yellow object is centered on the jaw column with the safe clearly behind it. I’ll descend vertically without changing lateral alignment.

move_to

right_x0.4520right_y0.1000right_z0.0300right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0397, 0.8684, -0.828, -0.2283, -0.0906, 0.9969, -0.1051, 2.3699, 2.0129, -1.3308, -0.9463, -1.7809, 0.9947] state[eef_state]: left_x=0.2724 left_y=0.0011 left_z=0.1535 left_yaw=0.0863 left_pitch=-0.3927 left_roll=0.164 left_gripper=0.9969 right_x=0.4522 right_y=0.1 right_z=0.0947 right_yaw=1.5727 right_pitch=-0.0298 right_roll=-0.038 right_gripper=0.9947 state[joint_eff]: [0.0615, -2.5641, 6.9128, 1.2869, -0.1832, -0.0122, 0.0317, -0.1436, -11.0701, 7.0632, -0.2173, -0.6716, -0.0464, -0.2271] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.452,"right_y":0.1,"right_z":0.03,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"After the correction, the yellow object is centered on the jaw column with the safe clearly behind it. I’ll descend vertically without changing lateral alignment."})

tool

executing move_to over 5 steps (0.5s)

step 243

assistant

agent noteThe second alignment is centered across the lemon’s widest section at grasp height. I’ll close only to 0.25 rather than fully, reducing the chance of squeezing this rounded object sideways.

move_to

right_gripper0.2500

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0397, 0.868, -0.8341, -0.2283, -0.0906, 0.9969, -0.1062, 2.4557, 1.9182, -1.216, -0.9478, -1.7809, 0.9953] state[eef_state]: left_x=0.2711 left_y=0.0013 left_z=0.1525 left_yaw=0.0869 left_pitch=-0.399 left_roll=0.1657 left_gripper=0.9969 right_x=0.4469 right_y=0.1002 right_z=0.0353 right_yaw=1.573 right_pitch=-0.0212 right_roll=0.0271 right_gripper=0.9953 state[joint_eff]: [-0.0205, -2.5778, 6.5983, 1.3065, -0.1832, -0.0611, -0.0024, -0.6906, -12.0274, 5.4496, -0.0513, -0.7546, -0.1343, 0.0513] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.25},"note":"The second alignment is centered across the lemon’s widest section at grasp height. I’ll close only to 0.25 rather than fully, reducing the chance of squeezing this rounded object sideways."})

tool

executing move_to over 8 steps (0.8s)

step 251

assistant

agent noteThe partial close remained empty; the camera shows the lemon still a few centimeters short of the fingertip convergence despite good lateral centering. I’ll open, rise, and make the needed final outward correction to place the grasp point over it.

move_to

right_x0.4750right_z0.0900right_gripper1.0000right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.0397, 0.8684, -0.8459, -0.2283, -0.0906, 0.9969, -0.1062, 2.4687, 1.9118, -1.2076, -0.9394, -1.7802, 0.2546] state[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1512 left_yaw=0.0885 left_pitch=-0.4101 left_roll=0.1687 left_gripper=0.9969 right_x=0.4454 right_y=0.0995 right_z=0.0271 right_yaw=1.5744 right_pitch=-0.0283 right_roll=0.0396 right_gripper=0.2546 state[joint_eff]: [-0.0889, -2.5641, 6.5162, 1.3309, -0.1636, -0.0415, -0.0073, -0.3624, -13.9145, 5.7094, -0.0952, -0.5006, -0.0024, 0.105] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.475,"right_z":0.09,"right_gripper":1.0,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"The partial close remained empty; the camera shows the lemon still a few centimeters short of the fingertip convergence despite good lateral centering. I’ll open, rise, and make the needed final outward correction to place the grasp point over it."})

tool

executing move_to over 8 steps (0.8s)

step 259

assistant

agent noteThe lemon now sits at the fingertip convergence row and is centered between the open jaws. I’ll descend straight to its midline without changing the successful alignment.

move_to

right_x0.4770right_y0.0970right_z0.0250right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0416, 0.8684, -0.8539, -0.2283, -0.0906, 0.9969, -0.1062, 2.5153, 2.2375, -1.4174, -0.9428, -1.7897, 0.9948] state[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1497 left_yaw=0.0892 left_pitch=-0.4197 left_roll=0.1713 left_gripper=0.9969 right_x=0.4771 right_y=0.0965 right_z=0.085 right_yaw=1.5771 right_pitch=-0.0326 right_roll=-0.0376 right_gripper=0.9948 state[joint_eff]: [-0.0342, -2.6598, 6.694, 1.2576, -0.188, -0.0513, -0.0073, -0.2256, -12.1915, 7.1726, -0.3004, -0.7595, 0.0122, -0.1929] 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_x":0.477,"right_y":0.097,"right_z":0.025,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"The lemon now sits at the fingertip convergence row and is centered between the open jaws. I’ll descend straight to its midline without changing the successful alignment."})

tool

executing move_to over 4 steps (0.4s)

step 263

assistant

agent noteAt table height the lemon is squarely between the fingers and no longer offset toward the safe. I’ll use a limited close to 0.30 to secure it without forcing the rounded body sideways.

move_to

right_gripper0.3000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.0431, 0.8684, -0.8547, -0.2283, -0.0906, 0.997, -0.1062, 2.579, 2.1365, -1.317, -0.9508, -1.7889, 0.9966] state[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1492 left_yaw=0.0898 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4708 right_y=0.098 right_z=0.0327 right_yaw=1.577 right_pitch=-0.0175 right_roll=0.0262 right_gripper=0.9966 state[joint_eff]: [-0.0205, -2.7145, 6.7487, 1.1941, -0.1685, -0.0464, -0.0073, -0.7453, -13.3265, 5.7094, -0.0317, -0.6667, -0.0806, 0.1783] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_gripper":0.3},"note":"At table height the lemon is squarely between the fingers and no longer offset toward the safe. I’ll use a limited close to 0.30 to secure it without forcing the rounded body sideways."})

tool

executing move_to over 7 steps (0.7s)

step 270

assistant

agent noteThe limited close made no contact, and the wrist view shows the lemon still in front of the fingertip point; I had corrected in the wrong radial direction. I’ll open, lift, and retract the grasp point about 6 cm toward the base while preserving the wall-safe jaw rotation.

move_to

right_x0.4100right_z0.0900right_gripper1.0000right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0435, 0.8684, -0.8543, -0.2283, -0.0906, 0.997, -0.1062, 2.6015, 2.1262, -1.3048, -0.9398, -1.7908, 0.3046] state[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1492 left_yaw=0.0894 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4682 right_y=0.0971 right_z=0.0187 right_yaw=1.5807 right_pitch=-0.0258 right_roll=0.0464 right_gripper=0.3046 state[joint_eff]: [-0.0205, -2.3726, 6.5299, 1.2088, -0.1392, -0.0562, -0.0171, -0.3077, -15.788, 6.106, -0.1392, -0.5983, 0.0024, 0.0904] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.41,"right_z":0.09,"right_gripper":1.0,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"The limited close made no contact, and the wrist view shows the lemon still in front of the fingertip point; I had corrected in the wrong radial direction. I’ll open, lift, and retract the grasp point about 6 cm toward the base while preserving the wall-safe jaw rotation."})

tool

executing move_to over 7 steps (0.7s)

step 277

assistant

agent noteRetracting brought the lemon much closer to the fingertip row but it still has several centimeters of clear space below. I’ll make one more 3 cm baseward correction before descending.

move_to

right_x0.3800right_y0.0960right_z0.0800right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.0462, 0.8684, -0.8616, -0.2283, -0.0906, 0.997, -0.1257, 2.2784, 1.7554, -1.2594, -0.9478, -1.8149, 0.9948] state[eef_state]: left_x=0.2658 left_y=0.0022 left_z=0.1476 left_yaw=0.0909 left_pitch=-0.4316 left_roll=0.1746 left_gripper=0.997 right_x=0.4125 right_y=0.0961 right_z=0.0732 right_yaw=1.573 right_pitch=-0.0172 right_roll=0.028 right_gripper=0.9948 state[joint_eff]: [-0.0342, -2.4547, 6.7077, 1.2674, -0.188, -0.0611, -0.0171, -0.4308, -13.5863, 5.5316, 0.0317, -0.7057, -0.1245, -0.1832] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.38,"right_y":0.096,"right_z":0.08,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"Retracting brought the lemon much closer to the fingertip row but it still has several centimeters of clear space below. I’ll make one more 3 cm baseward correction before descending."})

tool

executing move_to over 3 steps (0.3s)

step 280

assistant

agent noteThe lemon continues moving toward the jaw convergence as the grasp point retracts, confirming the corrected direction. I’ll retract another 3 cm to put the fingertips directly over it.

move_to

right_x0.3500right_z0.0700right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0489, 0.868, -0.8669, -0.2283, -0.0906, 0.997, -0.1371, 2.1891, 1.5616, -1.2064, -0.9504, -1.8332, 0.9966] state[eef_state]: left_x=0.2647 left_y=0.0023 left_z=0.1462 left_yaw=0.0915 left_pitch=-0.4397 left_roll=0.1769 left_gripper=0.997 right_x=0.3781 right_y=0.0965 right_z=0.0653 right_yaw=1.5717 right_pitch=-0.0073 right_roll=0.0636 right_gripper=0.9966 state[joint_eff]: [-0.0205, -2.4547, 6.6803, 1.2723, -0.1587, -0.0415, -0.0122, -0.5128, -14.2017, 6.2701, 0.0659, -0.6178, -0.0562, 0.1783] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.35,"right_z":0.07,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"The lemon continues moving toward the jaw convergence as the grasp point retracts, confirming the corrected direction. I’ll retract another 3 cm to put the fingertips directly over it."})

tool

executing move_to over 3 steps (0.3s)

step 283

assistant

agent noteThe lemon remains just above the fingertip row, so its true radial coordinate is closer to the base than the overhead perspective suggested. I’ll bring the grasp point back to about 0.30 m, matching the near-object region.

move_to

right_x0.3000right_z0.0700right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.05, 0.868, -0.8719, -0.2283, -0.0906, 0.997, -0.1486, 2.0991, 1.3804, -1.1343, -0.955, -1.85, 0.9968] state[eef_state]: left_x=0.2637 left_y=0.0025 left_z=0.1453 left_yaw=0.0922 left_pitch=-0.4456 left_roll=0.1785 left_gripper=0.997 right_x=0.347 right_y=0.0975 right_z=0.0588 right_yaw=1.5684 right_pitch=0.0004 right_roll=0.068 right_gripper=0.9968 state[joint_eff]: [-0.1162, -2.2769, 6.7214, 1.2283, -0.1441, -0.0073, -0.0122, -0.3897, -12.6017, 6.106, 0.1245, -0.5934, -0.1148, 0.0073] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_z":0.07,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"The lemon remains just above the fingertip row, so its true radial coordinate is closer to the base than the overhead perspective suggested. I’ll bring the grasp point back to about 0.30 m, matching the near-object region."})

tool

executing move_to over 4 steps (0.4s)

step 287

assistant

agent noteAt x≈0.30 the lemon has disappeared below the wrist-camera edge, indicating it is finally at the grasp point; the overhead view also puts the gripper directly over it. I’ll descend the last few centimeters and close gently in the same aligned pose.

move_to

right_x0.3000right_y0.0980right_z0.0250right_gripper0.2000right_yaw1.5700right_pitch0.0000right_roll0.0000

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0531, 0.8684, -0.8757, -0.2283, -0.0906, 0.997, -0.1703, 1.9362, 1.1427, -1.0714, -0.947, -1.8824, 0.9969] state[eef_state]: left_x=0.2631 left_y=0.0026 left_z=0.1443 left_yaw=0.093 left_pitch=-0.4519 left_roll=0.1803 left_gripper=0.997 right_x=0.2993 right_y=0.0976 right_z=0.0605 right_yaw=1.567 right_pitch=-0.0042 right_roll=0.0539 right_gripper=0.9969 state[joint_eff]: [-0.0479, -2.4684, 6.612, 1.2674, -0.149, -0.0269, -0.0122, -0.4308, -9.5658, 5.4769, -0.105, -0.6374, -0.0611, -0.0073] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.3,"right_y":0.098,"right_z":0.025,"right_gripper":0.2,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0},"note":"At x≈0.30 the lemon has disappeared below the wrist-camera edge, indicating it is finally at the grasp point; the overhead view also puts the gripper directly over it. I’ll descend the last few centimeters and close gently in the same aligned pose."})

tool

executing move_to over 8 steps (0.8s)

step 295

assistant

agent noteThe jaws are at a plausible 2 cm opening over the lemon, so I’ll lift immediately to verify and clear the table. If it follows, I can transport it toward the safe.

move_to

right_z0.1400

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1562, 1.0542, 0.8684, -0.8768, -0.2283, -0.0906, 0.9969, -0.1715, 1.9774, 1.0657, -0.9161, -0.944, -1.8889, 0.2048] state[eef_state]: left_x=0.2629 left_y=0.0027 left_z=0.1439 left_yaw=0.0936 left_pitch=-0.4541 left_roll=0.1809 left_gripper=0.9969 right_x=0.2984 right_y=0.0972 right_z=0.0298 right_yaw=1.5699 right_pitch=-0.0131 right_roll=0.0126 right_gripper=0.2048 state[joint_eff]: [-0.0889, -2.6462, 6.5026, 1.1453, -0.1734, -0.0317, -0.0171, -0.1436, -7.2821, 3.9043, -0.0269, -0.6325, -0.0806, 0.2125] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.14},"note":"The jaws are at a plausible 2 cm opening over the lemon, so I’ll lift immediately to verify and clear the table. If it follows, I can transport it toward the safe."})

tool

executing move_to over 8 steps (0.8s)

step 303

assistant

agent noteI could place the white plush inside, but the right gripper accidentally caught and closed the safe lid while attempting the yellow object. Repeated attempts to grasp the smooth yellow object failed because its wrist-camera depth cue was misleading and it slipped/ejected; the yellow and brown objects remain outside, so the requested final state cannot be completed within the remaining control budget.

give_up

hindsightFor this rig, when an object is visible in the wrist camera with clear space below it, move the grasp point baseward (decrease radial x) rather than outward; the camera looks past the fingertips. The safe’s thin rim/lid is easy to catch when grasping an adjacent object, and doing so can swing the lid shut, so rotate the jaws front-to-back before descending near the safe wall and keep more lateral clearance. Smooth rounded objects should be centered from the overhead view as well as the wrist view and closed only partially.

Raw transcript

user

Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1566, 1.0546, 0.868, -0.8776, -0.2283, -0.0906, 0.997, -0.1715, 1.8217, 1.2724, -1.256, -0.9325, -1.8893, 0.2038] state[eef_state]: left_x=0.2627 left_y=0.0026 left_z=0.1435 left_yaw=0.0934 left_pitch=-0.4556 left_roll=0.1813 left_gripper=0.997 right_x=0.3055 right_y=0.0947 right_z=0.1207 right_yaw=1.5725 right_pitch=-0.0279 right_roll=-0.008 right_gripper=0.2038 state[joint_eff]: [-0.0615, -2.6872, 6.4889, 1.1258, -0.1929, -0.0464, -0.0073, -0.1709, -9.9214, 6.5983, -0.4371, -0.5641, -0.0562, -0.1197] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I could place the white plush inside, but the right gripper accidentally caught and closed the safe lid while attempting the yellow object. Repeated attempts to grasp the smooth yellow object failed because its wrist-camera depth cue was misleading and it slipped/ejected; the yellow and brown objects remain outside, so the requested final state cannot be completed within the remaining control budget.","hindsight":"For this rig, when an object is visible in the wrist camera with clear space below it, move the grasp point baseward (decrease radial x) rather than outward; the camera looks past the fingertips. The safe’s thin rim/lid is easy to catch when grasping an adjacent object, and doing so can swing the lid shut, so rotate the jaws front-to-back before descending near the safe wall and keep more lateral clearance. Smooth rounded objects should be centered from the overhead view as well as the wrist view and closed only partially."})

tool

give_up: I could place the white plush inside, but the right gripper accidentally caught and closed the safe lid while attempting the yellow object. Repeated attempts to grasp the smooth yellow object failed because its wrist-camera depth cue was misleading and it slipped/ejected; the yellow and brown objects remain outside, so the requested final state cannot be completed within the remaining control budget.

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 · 12.92 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7948, 0.6067, -0.4026, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9997 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.306, 10.3316, 1.9756, -0.0904, 0.1538, -0.0464, -0.294, -1.5385, 9.7573, 2.0781, -0.0269, 0.188, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d588889e402615fe383a12ba66a062ceb55db1c5c3726f4e513a7cbc29080d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d32e748f1b088308f0b5dfc257a292fbad992345832d1c5afe3280f7af70a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4d4b5160ff223292e142f2c5bcb8cc37e5f778cfc1732b8af49b20288d1024",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 3.443 s

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtFUtp3p6uQJb3ag6YeVDhxBv_jlKDYZ9AkdeEs677bUDsoWnS5WXPfhSCGHyXh1L0vIPOpdKfuuCC96Xl_k-c_90JpB6hPs5DArR0ebkC05JJIundxHoTvsE0wM2cFmbwKQ10MuOCBiBufiGAY92HQsp8Njb0qIbtYpCM2LoMF8eBCvX26CSty2EbQlD_crg_b9eyORvl7EpAuoQpIRk-USdk2FcXQB1weKeNpsSlfSTEDYfmFxOeaVrSD-ayiMGZINT1dj73J9igKSyFG_8RXQdp3-6U6oyhA4c13FjlnDGFTBIDzt4iGqpNtvXsMEwJGFDUOx0KVc1ClwRkQjm3DcZ6B7fwglYiVjnfg4zwfnBnJvfANA3tpEAcqMI8MaWcx78H6OimsuthfEqx1sjlfNKHZHG8gfEjgnl7tFaXZmpN7Kwb2TRF8XDiairhZ4o1N1zMy75_7Jo1JEoejfwTbJ9n6zR8hFmGa81xcwL_hjKWRvAbwcMua-hKO3UefPKG8rqcIhzeUsNM-9rNTn9CZWS1PWFGi-dT6W6PBjfQTSyNILCecGMJAiaJ6uekG5tFhUKndBP7XvyauWGtaYz-6DP6meucz1AI5YnSltGF8gy9e5fF0SMs9EHGpbyABCDxbS_JhP-AaupCCvzmQMeTS0wEaq2DplPuTAFO-nVDNaOQZwNSrL0T8a34jw1hA5YUfcJlJ-Gk18j-ObKsK9dnjOt_kJamdJ_mUHvuMMMjZT8D4VvBQOGRtFGGFnkXy8Kpon8zjS6vnBcgQrLYQHoASxfWJvZ8FL4K4nkQOwS4rhHetxFQM9_QfZuniUvJ426Bkh38Cfouw9UCZWikyyUVXTwtAbHF1cUD56jc8_xIBXNaO87WDrEU64nQ9S6geFNGVGE8EzxDtktXCVHtQiliIGqTCYaT3Jacqy_emLArva9MwcjGQd5cBCNBUeRWPntV7fyQBbCGeDvQ0NWj0ZQxFQqtCRY40u-GcIyVKQQEOxHfU-pykcIG3weBQCaYj_GCdascOr1zsMHEZpbqFEQWpSUHevfhN1o1RP4SuArD_3n1sHwUB01lg0dkONxYGDAvm86LrR15SlN_QuIn7TBWHMQVPts90mY7SaKCY9s_vT2h_AcUBu0IKJ302yO4PPm-k7tAjqyFVnpcBSxn7i00TXyl2FoFUWRU_7zyXTjVe2z07p6CMNxqbxBd3cLRy44t1hQsEoO9ZHymECZ9vech6p5G-qWE7ChumxBYOQiWZLMydfEHrC-43vDQKQCvBGgYfsCGnpQLMxL_By3Hby-eHHoETxhmcGJC2d06LhZQtmVwtMyDsozhJauxNo_K3PR3VqHbJcNcBjMZT1xL_isoGVFo3pKv_NeOWlqeGR-hXEOGMTx0kjhaMQhu49E7rrkKWubY0aK09JgeFD_ONHWGMJvRYpvn7mVEUVeYYB8oj1SWn7StSVeRdb8chajVCN6naOy95X0OXTL-JHLRmGQlgEOyd8iovThtVJUrJSWd9xZmBcYELGRbtDQq50-3wehfARrKJhYpU6j7cBI2PPobJtfcuOTfXd4c2jOsN-YSSi0rHAXLecUaN9rbj4Tc3-C6yCXGQT-4kNpNf5HcYNKCab5P7lFKuFP3vWAE1OvRYXSlTJuhkV4llhauMMWjAe9l82qgoax6fC1didXw9afVPQox2_aqYmcY3f4YKOV8IwThGjJFHshFJvgut78rZ6rq1xJouSx7c9KYDW5u9R8fbPDMFB0ec0qAZTMR56GYXyg2VsSy9o77JJ3K069q1Lj9MnULcUciPi8l843VnL-Rawzxg1itDUTiaayRHUANgUaP8UY0v8bspi3jgjT63jriEFy3Kulzd7jKFii50TUI9uut-dKPf7w3wtd0zFmH9Tr4jTx-qzcCDUIT0cqrjm5iTyF9_YNdoXxCoG2nXeRxdCeKJvqF1xxMsucIcLubYZI638EA4w7DcfneTfaeVa4GyHckchZAhTNG3vd9oYHLa5ynG8Okd4t6S6Gt0oOYrC7TKKk7IU1cEjqvmUxVP6b0ShKGXafkjEpinWpz7aSjzNTvpzv4AXDl-vvYf__yvdSBu6RtId8CnPqRQR-CQ9JHdp8oryets2d02g1K4uief8p6POxUs4gtILfm637HD3kvRIgmzjJdnak7PKA4AaWaLcbSTinUNNYNdPsIMWuki26O809BHAyP2SvKpUz7c9eziXIO2nRlPKbtjuKyipFSTXJvhkWsdZRqUJW-3f7VjqIhBF85Nk25BwDScDP-z5EriZpaE5WWI4R8B-cJfvBWVHjHM9NrOWt1R9zhwj-v6eOC9x19M7xbqJhZSiJSREaIjL8eoJNaK8Zq4ZGWl9TAQ89nklRNebP8zcAyJb0YJ3CfWh8KrUPQ4wDUktvUX4uJ7YTnjjJdPt-lgsRPh4Bsl2kcqs89Fls6pxruXf2wyvf96fREtEueBCoQvzHJrLYTCh6w-t1z5T3IVjLsONVBvCxyiTGJpGW-_gC1OTzbUYqJR6UMi209B9N78qDPMLdkY3yaZDrjA2-v7E0u8Now_LrU-3YMEOYiydbP_dyN6_rk0IuIoVN-6SyyF6ypbLnV58UeNztJizQtXRQLOrU-R3KHOf61qAqn3tpdOaosYofCW9zqpkqRiSbzoEiAg78W6kWXSss0yjckcggY10uoLY0ANBOvEnbCIy4PiYaRsNY3RQQuX2SjMKMEs-Fuc-2ZyZ-MITVyjrvQtOMf2hLQIdmiUvdZ9rZwxhOizP3RX95Y-CeATBROZoanV6NOnXPSOkyLWNirEnXwXnzRGUDM-EspJ_RzcyYcxZFBiRst4mYdjJ8Z4yVN7ZqmVDgOQMTGm9BTHyCeCZOx26Gwvcy9A_R9IPVN9WEVDvEyHCKh4ThUEHTyqxVvYcs1dOY4R_N4sJDstb6xmfIt4z6WjQcrR5yoIBIXomw-sS8qtD_HukHnyfzknajHR0hd1je_q07gNKKIZz3pJ0c8_Z0dptQ-3QXNjJljqnVZHis-sRGsTQNhkqoNa5TsbW7V1bae6tg2kYW2wFR3Zg2yt8q5xkFJgznOduUYneJICD8fNbuln4n56pr5p5DJRECJYF7lY1RL6YxfEaZHkxkIptC2K3tmRhl6tiRyui1pon0XUTglEtUH83ePxsjxyDRJlOry4lB8CW_fV126K-ejwtWBPEw-xAFdngfw4XJne878_FVPinDPMd6GaxZgqVy7OktnpmSDCUwvlLiYAChwgptGxcFspUUOLZsbCoLC12RTsQJ5oqw6eU-5zwNFkcW76vAdEeT-LTkKNieYbhfOGEn2qHk3OxQEuYhZduJV3e_bl25Jo2J_MboGLBvMe9aAgyZVnFWqLMW1KE3z1Sr_3Gr6bill8-d_bD7OgztpOkwP4f2q0pWw1pnojuHwErnp042x9jDRRkov-qQzzCiLckdzbG5sbtaCd7IrbIgchnprObNyAKmnoK3OmEnT87PFCAKN2tLtZRO9H7SyYtCaCwfz48KXTvL34cMiq9_o6T8tO4dUrSCodI24Mdec3_XiXLyWQX1S76M4qBZE8mIpvF8WhnaQe6Y-gz7m5TYZ0HhTtp6H3QsmFQS7RXkhXllZsaeQMjqVkphDx_AyGH8gsA32O_yC_xtWXpO0JRgryp538oUAkhWJh64BrO2GwZCsqstn71Bdmq2Rgp1ziV2fYxGKa2b2peaJbx80csArxQAuPdyfURjj9Brs0TBrMSHxpn2DbnJN5Qjp5hwevcj9M6zgs_McCHdgV4wkO7tdyTaP-HzK3aXy3JdL4f253aRXgu53pdobvw=",
  "id": "rs_0b181e7dcb26dc4c016ab45521bbcc87d0a82efe93c597808a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFUtbHIU384wVO8vc5bqcRl-OdjTkwJkZe7HsG4sj8HWwEKdRj7ZjM_Sntk4BuZig5X3x7_AErnqn_VIjlhP2Fo8WVwZ_OxGd0SkCTIaSr2Yw5RV2Odxj0Wx9_CVK0v1yZNAutWgnF0xLaMP9C8It8cs1MLa3qPweC_Od4AdzJcnFGdOwCm_GjEzyR8XWGwe2HMwo24f6uLXhEC1SVGyDOcvxFxjziojwqtwQO0gP81p_oxRouclsWV78Nyc9crzkSmO5qYeD-swLaCaisYHGUXzYIuV0MPr8G_OvtpvlU1hObCb9-RZ80yKWG0hdbW9774dArwqv6SfEjJT9ndko_7FgYOBZWWkLkMmXnJCHSF_e44TPXPfP4j4F9zrXb9AYDwtssXw-XARu0M09WefOfYZhvjRkg-sz6HXDpeNsyGd6Gl_JDJW_18XjuAbaLgb0OiADANQqc77GLG5qdB4bm8W3EzUd9mBv5W9BerVJs_kE-I1UYzDfIxn2Vga_vQG3HmF-sKFFkKj8qDaHNLHZ897gOgM0FSJG5LxdX1SMXhVWUgiV3xAjgI9NKwrTnkYfoglDbKRrizxEhFz-ngb_WbkCd0HhPwBJlL_aOftOqJ6RvGvRg6PN1WuulryXZduWE0wUUN7HTM45d1UxXlxijPl8M5r-ye-lbiJu7oVY21bjLRDQ-mW1v7vYmmoblQy3koIjvS6GmrvanlfIdcXFCjkTTxGHXHfEpuIEhXP2In1ANMcnv7yBVUD898bXIB9KiAXCVtaBiyhikCnO2828oEDya8qn0R7axT0VN0v8MPlxI9bwroE0ugM5TYUfsoorS8ayVUntB3DDlELWNpfeN6jfbZNJ--BIJ4knaKZTBy2nlHWS24uctDF27r_cd7ZF9x1GjAUSRdxZlWV7LMUiIZ5_llYuKjmgbzI9vr4813A9NLSE8UEy-ciGmNfvtJYGwn8w7qyUht78fpZBZcZJFbPk2cmrOP-HnEnweq_AFErTTJYUxCdfcFo4D2fsaMnrUn4dYfiiPk2YY4oRIH_uraX5WIvEKi8NTVrUKDQb9Hje5cvgBv3EFt2MDP6uMujMGvvHEaqnPFcqKNO81kKUgtgNfYXRtf40Fo7O8IRLsCv15dhaGjd7pNKyLPi16FeVs7d7WQ0110z9KVS3yOh2wBbc83pRa21N_cnp-yqkg8gbGG4m3bjAH5nXCHKiA5xkKNyfJZYbQSINzCdHCU9jGwImHMWmjKvkIvAiqTIzIrhiy_-7ZKbZJDtIpCOhNrTpj61Be11pnEdb0yE9S23PQh2PcM1xXbWibgZp8MUMEWYF15y2r1rT4b2W5EBg_g0aFFbgwmco5jD4_IfK1bSlR3v2WKz5fPsOkZNTSWfCK79L4JzXgfcRQxbWL0yPD-45PZce_Oq5gzRD120rZHjYHTSo1FjICDUH1JaJ__9uP8Pcl1VEI8TBB9VI4vMafwikJ1oX52AmKIYv-4uywoEHFpjsWDVVbT2BYJhxu_-RXSNNBP1OpWysA9dtrl8PSMRdCfiW-xZdkQ3TqU7ikCj1c5sxu0_qCtlGnWo258k0isMupUIYwPrpidT6uCQSgiGd-bMlSkBohRKevr2P6FdhRXEU5YH3dA-ziFX_KOdHn2wTQP1FHMz8cN4uVfvDjvj_6Q1g7gI8RtOJx4BkQyiXB48HrDUyRKXwHeDqVk9roHAObweYUjfY2WvZhePABeVH_AmbU9AJV0ZYxR5v3UxVBhxrEBTtAzjwj7a0V17GD5ywcfJRD27dhWIkPZ7l8tqE8mM7nH5kSoV6kroAzsgQ7jJHUOHmzcZJseULVMvrKC0mQ8AXDGqkJm-QF_Ljkel07QB6LyUfRyO-7AgR5trwN0NKxxKSa3mnpOca55oM6bgqp7O5Y7nOJmLb2CgC-AItd9fJRTV7qkAEPLxjH0cGw892Ifu8jZOdsxDEkcwVbx_A3aIrNKHPd_qYpfNrMBkymuzWSUtFqUmEbh9ZShBqBymO-NGr1gjmQSEEJ07BRMVxUc6ae8EwYXWx7eeYp8nl0zhsBnZpuFXjtWW53GJHjYX9G29luTd7ozv7sBuUUl0qibWzGSuiGNFxcsOwQ0bHsKe0jdm4-MXMKJSTvUlqiWpbDMyXJiOO2e3RxD-_xne--zxX2UUD5VQTG0RxZWd_ehM39LtAvSB-7YBOkx1usSy7HoiIzHvWIHFO9gEWdojhxhcHr7B2jZRUmWlAiuHF6iumIwr7MVn0dllscmePviL_l-Xkox-3MiCnq6wc8LPIawi2O6G3T7nqr8PmJqLKLXVMjjoz98kUtXhXmWFZNMNJx7zpvmZqgiuty7Gm4uj4wlb8bvoOd3k2SX-fFzlhLSdkk2C65dAxtlYySKMypQq78MbwV0Gn4txAovAyg1zTBG1zu-TPj4Cf2CZdEcg3YFDGVl1YviLsTS3ANiJMOiDvdcz9NPrM3P5YLsnCGfrhvd3Fes3TESc-UoKL_HZARwPF06E78akLGmxxG-S2EEO3ptgQqFQbb7yVw7QYvGLoVjdRUqbYasLVm6lECx9WzURlmlQA1qa0GZU1GbbWe0_4upquCxbA9MmQdk9LSWK-FIaqfxddS946PKWej3VVmT6KjXxnZbXmiNeVz0jIBNCGvcKt13hlbbWTV0-KZzdyuFeRwn0JreUJs7N3r13it5FfFRb14eh_ne6BWFk_eNByVr04R9ziPKG7humUcZdJGfGxRJ6qjxUgiXYCCjdReDmKPMF9dergKJdiFn6Q6nCZMYa1zAjf3E1qhNOBXOL1LonQyAPWKXwRV18fLrFdKgDdca0qpbTlHvvOdU0AC-DoNR6ITKrGNEa9YvoD0bVMb_-kHdk_tXDdnecVLPBqj8m9-VOu-GJGUcTb8uF7TGLamgYp48_3_EvbO2_O-cWxVAdc64MXanRnVyHE-aFV-y6g4uBNMNgTFvQaSFgHFLeMPFXFBpzUprMxBv2dukkjm-LF7uwfLjjwGPfU6DE5-aPgcBxCg2wupU-QJfInXdmBUhxsWypk-g9Dkbt2I84Blxfvfmo6yu-GJ7RlESGT11mCCE95hxjNm9o-a1ycji-mqLVW5PWfyjTstp-g_yRzTwB6TS2LG0X10qmxOaTMvNb2An0Yb7YHEqBhO_pne09CTtUdK64RqZYF2sRr8BkfWpDfmTweXwnbBlrPhG6h5rJ8lSEgQVf-Ga4ovaGEfwd0vnYhlg9hTml20hnEAdcBIl7-vud_hm55Wjj5zHTEaCv_N3IT25ZoMyJUFXN9AtIe2e9RwkrUWlOWR9bifUC0aWjWbdz3ZT1S8GjraoMHK9CuCMxlO1FwKUQTLjG0-J2giDi0C3pu1HV0zRIjpxfiiYNq8_faxKdDadEmTLfZi2U0RN6XjzBECG1F3Q5TP3mbUr_t3Pw_sXyDRaFPp-xhBWvX9uvJ5FAkHW0kZmqZtqIdtpCt-ah-vTzRC5laZ6mZQrFjn2wPLsQXMKYmHx6Q_3y_0xIK_13HP0wqx0YozCu21iBl2cyB9v3Bw8enkPX4ZrxG-nt7FAHC403KFAWhYArlqVvWqeLwGtirjsZQQrdKW7XvvpIrDTApCZM-9RP6HuSVIQGwyY8BBFbKrPh0-SgekMKAjqZAWDg5qhiuP5hDTPtu_4pl5_qYiLn0sYr-PPna6_NDNvfRWaBfBrHP2E=",
  "id": "rs_0b181e7dcb26dc4c016ab455272d2c87d0a947d6e3552251b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.16,\"left_z\":0.16,\"left_gripper\":1.0},\"note\":\"The open safe is centered, with a white plush on its left, a yellow object on its right, and a larger brown plush in front. I’ll move the left gripper above the white plush, which is well inside that arm’s cross-table workspace.\"}",
  "call_id": "call_dtxplLKLUH0nRM50Y8pDOL6C",
  "id": "fc_0b181e7dcb26dc4c016ab4552ca57887d0bba2a23e2bcc3f91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dtxplLKLUH0nRM50Y8pDOL6C",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6983, 1.3052, 0.7746, -0.2516, -0.5438, -0.4503, 0.9997, -0.0212, 0.7986, 0.606, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3287 left_y=-0.1519 left_z=0.1387 left_yaw=-0.0218 left_pitch=-0.0678 left_roll=0.0363 left_gripper=0.9997 right_x=0.2879 right_y=0.001 right_z=0.1688 right_yaw=0.0007 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.2308, 9.5248, 1.7949, -0.3932, 0.0317, -0.0464, -0.1709, -1.5385, 7.0632, 1.9512, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55bbe7d3b5d2b3b5612205fe7d6c50df9e72de446b4992200501d64c9f491f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22a2d72c370750720622d66634773679600fe6e1e3e468cf9ec23fd795ab1c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f3db9f386831018892994436fcdde94cc64632d4b887ded9eacbfbe27cffb9",
      "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 · 2.574 s

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

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7948, 0.6067, -0.4026, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9997 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.306, 10.3316, 1.9756, -0.0904, 0.1538, -0.0464, -0.294, -1.5385, 9.7573, 2.0781, -0.0269, 0.188, -0.0611]",
      "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]: [-0.6983, 1.3052, 0.7746, -0.2516, -0.5438, -0.4503, 0.9997, -0.0212, 0.7986, 0.606, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3287 left_y=-0.1519 left_z=0.1387 left_yaw=-0.0218 left_pitch=-0.0678 left_roll=0.0363 left_gripper=0.9997 right_x=0.2879 right_y=0.001 right_z=0.1688 right_yaw=0.0007 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.2308, 9.5248, 1.7949, -0.3932, 0.0317, -0.0464, -0.1709, -1.5385, 7.0632, 1.9512, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55bbe7d3b5d2b3b5612205fe7d6c50df9e72de446b4992200501d64c9f491f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22a2d72c370750720622d66634773679600fe6e1e3e468cf9ec23fd795ab1c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26f3db9f386831018892994436fcdde94cc64632d4b887ded9eacbfbe27cffb9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFUyGqGPP3q21X8glGnKxMNJIPeCBEsLmtZpB6tp8bE4Mq3tlubBTGjYkQmPyKwlePd8obFjem_J7Q2-m12ksNP2pS83KkzQlCutsF4JBZXDmv3l-t4vHtOfAMX8Yb1ta_1bue1N88NOeWKEaQ0o1ffEiBKeFpi38SearGzwzBRz0oBKKP1gQyJbvvBmIqZyfsgArlwCHjZqCSN1owk3Tu_xcWTByt-YzsiLnZFMU0V_f9-bx3sngt_5ApZLIlCPhUySBmDtTDtmjw0kduLDJZ14J4yBvd9loPHamLf8EG_leDI93NhuqH_04OoauvZUiFRcgoAsVyTdN5WemlV8RRbW_I-3j9aI1MeYecbY_ITgjKKpFJDg_SYR7LVD2Mjcb4cc7eW-FX8joi6dSpNym5NPaOpgWzDCHrYDPE7aD8vE2oL-ZJQlPpem-oXI6fTtt44AGLZykGG_ZA8nBMUBwj0GIHaeIFMtzoCyige72_l-sCMfWSP8XixE4JrpMLmE4hGwT2X5-mKR57RkkgrGk2XVt7pkt5tZJfBn9RXYS1-Ok_6eWDWHsRa9N5_Ioy1RvPVsozmuV27FrFVv-iaaJfLyetYWyDaX0fecNQRRkNECU-i_NKgawMSD_UNe7iHNKKZkdgPrZBVndpoJ5gtXUnz3i-c4fxtBtNy4zyhvbbbLa5KiMy0DsAOuoMFBt0mqta9_r8CHdWP3Ru1dQxg0xDsU_RYz0VdIX6wphII1l_XevshuEZIzv8tPZolgvaoo0rP9PrbQDHrUt1raPuB1LsBiSuw8mBQo3p0Uy11qfl-lfX6G0wSSLjNErpmlSgErPPF8IW1wpQOEp3hib6QfMeLk58KmKfJMvgV1b_QFuO0UGQGEPUcKsOCPwm4_oAf91mzMkJjjcvs-DWU7eG7FHP0iDmBzOtEjECPDM15nMaVRkY0tZ3RaRELfqgu721evZSIK44JNlxPizptz7NcqxL3GFdBgIDa_EvAukuDxQa13_jWDY9zqWwpQa2hR0XOPn2T6591l5o9MWJaP9oOEZNyTH6U7N5RRoarUDCk1ORjGFsbX3z-MfM87f5FWtE84QkgEDZ4a7ZCTasZ5tU42mGosIEq3Umk3ErV1Bj1dYeXFa92QiDXxK7xuP1VxjogfXeAE5Q_dszp69GZG9_DbbEvdnHmN1Zb727pSrJKacA_wAolVHuBApLcE1jkwKaj4UOCYrLIaETC2XHwGi-nU41fID5zRIRY_MJ0F2mx2jeZczPqnFc0lJCbVm-rgtlie7CyaRygBpb1yIUwPePVfDcXyXOX-jjmom--g9POmYNM1zgh8AIPGXPmgc02gE7pRW_C42SyyjSsGiGuj62r2f_sclMMpGH0rFly8XPq-tAqWDhMl1dMQnNS7Uc2L_DD4kDAdNC_A6aO_d_o2tJqRrzMhIdc9pxweO-LPS0Rwqg2_D3ITGQEik3sD2VNEwBeyEdofQTCeUP8f39tpa3W6P4DFCZCzjxoyA0wQW_8gbgMixllG9QUqypbFaxUCftWr3BrOBrTzBF-OPBWVXhE9yMmj0nWGqNGssFelWk7o4sZ1yZtdnDH7JkKNRnEzVPNyVnPDsK6ZaBvK2ry_sdWiraFHoligbSudi2xIekHIkjUoNIjlMgm4Ze29zkh-ujoj1yWt2DNfnKGkWnm6748uVz2nk92qM14x7_eyy2b82mP3J3sPtvH7DfD5jIsoYdxTs7uTQydq6FznZI0Q0rRGuCmU7jmtdv3oncbs9KQRMjnogXDyUkuuDj4D7X1dylB8oXKJXSp0dR0WxkxP2d6wgAcMcHFBPDx3nrV8XK9j2DqduzZge6f1vi5hTfvspsvK-jQEGCa7Mh6Z15m5SqLxOXuL0EiN-p1U63lh0-Rnbx0Fdbc=",
  "id": "rs_0b181e7dcb26dc4c016ab4552ff3fc87d0b76d6bcc54305e63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.11,\"left_z\":0.16},\"note\":\"The left wrist view now shows the white plush very close but about 3–4 cm left of the jaw centerline; its depth is already near the fingertips. I’ll correct only laterally before descending.\"}",
  "call_id": "call_iEG45pfHnUAVseoGxpSgWJda",
  "id": "fc_0b181e7dcb26dc4c016ab45531756c87d0b8d866b345bef170",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iEG45pfHnUAVseoGxpSgWJda",
  "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]: [-0.5625, 1.198, 0.7654, -0.3046, -0.4732, -0.3805, 0.9996, -0.0212, 0.7986, 0.6056, -0.4549, -0.0196, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.3323 left_y=-0.1101 left_z=0.157 left_yaw=0.0202 left_pitch=-0.0615 left_roll=0.0263 left_gripper=0.9996 right_x=0.2847 right_y=0.001 right_z=0.1643 right_yaw=0.0006 right_pitch=-0.0576 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -4.6974, 6.7897, 1.5897, -0.1245, 0.1148, -0.0171, -0.1709, -1.2513, 6.9949, 1.8877, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c412ef39dd97765d58222389e3e9dcdca22573c4d71719dab01161c0cc0693ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951980178683258a1efb1f6f327aaab8afc189c36244f44c76065370ad467da9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c19736c58f0046fd640c3e42ecd5b984f2143d1eb0085d717bd69bbdc45c7b5",
      "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 · 2.296 s

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

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6983, 1.3052, 0.7746, -0.2516, -0.5438, -0.4503, 0.9997, -0.0212, 0.7986, 0.606, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3287 left_y=-0.1519 left_z=0.1387 left_yaw=-0.0218 left_pitch=-0.0678 left_roll=0.0363 left_gripper=0.9997 right_x=0.2879 right_y=0.001 right_z=0.1688 right_yaw=0.0007 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.2308, 9.5248, 1.7949, -0.3932, 0.0317, -0.0464, -0.1709, -1.5385, 7.0632, 1.9512, -0.0269, -0.0269, -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]: [-0.5625, 1.198, 0.7654, -0.3046, -0.4732, -0.3805, 0.9996, -0.0212, 0.7986, 0.6056, -0.4549, -0.0196, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.3323 left_y=-0.1101 left_z=0.157 left_yaw=0.0202 left_pitch=-0.0615 left_roll=0.0263 left_gripper=0.9996 right_x=0.2847 right_y=0.001 right_z=0.1643 right_yaw=0.0006 right_pitch=-0.0576 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -4.6974, 6.7897, 1.5897, -0.1245, 0.1148, -0.0171, -0.1709, -1.2513, 6.9949, 1.8877, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c412ef39dd97765d58222389e3e9dcdca22573c4d71719dab01161c0cc0693ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951980178683258a1efb1f6f327aaab8afc189c36244f44c76065370ad467da9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c19736c58f0046fd640c3e42ecd5b984f2143d1eb0085d717bd69bbdc45c7b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFU12HxRexGL1Gb-TKektdJ2uYHEYlE-TuZwZE7RoL8lB1B_ieO24Y0L2f5X4P8YbsFNa4ON_VPGjp0HyYjTfs_PmKEg-hBSQ1emMoX4K_htuyGiTfUsJ9HVCP_JB-gpKdRgyVt9Rj_XAOwhYjrg7zgZtKJ9PNfXX9t6hbRyPkbCIFX9GaB9vUjabH3Sujunyc6jIBs_-br85hyTzjx8wsoJI-VD88lSzWzOYbTORnUPVXjm0jEx5nX7rbVYJPA0EPHkYgcQ7i1UIw_xi_7ZrblIRZ4gnfp8cUKF9PY-FrvOpcdEgDyC6u4WqWq9BMVHi0qqLfqFF4HcOxOceB10RYYMMOiABK7UCedYu57XaYKQv0e28grSdAmvD9jLsDDHbU5ALVEiqlsg9oBh1Gr2hcJNcyViX-UVvxtpTA0mdu0GdFk6xXqGW7vrz5Yk0PMplYhlv_EB4nuzlDnLQywOUdiRvLt5OkdZJMt9fWmqjlkxrlvOkVs6ztNZ-tcM8R3XD44ugg5gZfk1qzzMEAnAtN7RZhUJONrcgS9gKiMBs5s7TWS7q-7__klclBz6RUT4MvIXYdD5oRRCErSbORPEIAx265HMr5JRtGVzK5pIbD6C1Fs_TICFFzUGanpeS41novzYcM6FcBVmKU0UEzSzs1R99Fce8inWnXb8t9mEtmO9uLs6_mlXFk8DGYcoeHhOsxZ9KhRaG_2DkzRINEdEtuUs0jDzhJX9IzHoySa09V8IqAw9saFFpkVOusiW_kwH83ZqnBnPgE5JPxV87R6W3SolX2ESLWE3GNLcL1eEGcn92czZ9Lwmk4sVpOtqD9_2xh3tsj5sDJOYORQvwHW4leELFb3E7f2480GJG-xDIQD2a1OAStCU3UpmVP4RQXzkWRP4kn7g3kLb-SfUpDh5YDFa6ofHE7Rz6kuK8HhBBnyHTHOoD9UNdDk2rIIdO7NfFZx-3oDXGZs2ZmvcHMXQjR1x1Wt3rB72tvdnJTk5g79hyRfPco2EOAsKEn6vo7GTOkl--oB94UNH4W-bvJ39GQE88lvQsv8B9eNGqY_bKZ8xTwaPsxvlHkyMdM7Duu73NV4sqnjQDQBZddHQNzSxUwl23FvJIa1Xl1HqUWpeMslN0f_Ykv4W4ZCM3u-kLVdXw0_PWm-_soZglx_w_CuYLtWjiZoaHfdqtIM9m3oDhcHC8mBXc7CjEq8tIBBBAVAzd5_kJ9HKZtGOFW86FWjEv9FV6QX54EbbmDrRknEzalRbX-xGAFTSZ3qtB1HnVnSfLiTm1mpNYV9n6sAbL_44wCTbw1XH_X_4QLB6u-0QBzL7LVtQfySgUmQQgYBTL4dKkqkBNf72sMsLB7tlj9ZGCId60rxCYo8DCLEYQuyziEi9CREsv35isVQcIkbdluLLfyTe2ddZg5JLV2IG-HOlFLTt6QA_3LSaeACh7PzDzbz57LvkSDbn6oBoNCDbeH7asg7qVE7KGRC6s5T_faDqEfRCOtlgTFRtsmVZAVz9cVg5xco=",
  "id": "rs_0b181e7dcb26dc4c016ab455339ddc87d0ab6517efd3b1d141",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.332,\"left_y\":-0.11,\"left_z\":0.025},\"note\":\"The white plush is now centered between the open jaws in the wrist view. I’ll descend to about mid-body height so the fingers can close around it rather than over it.\"}",
  "call_id": "call_589r8kQdmBmwBFr8Zr841msk",
  "id": "fc_0b181e7dcb26dc4c016ab455346e3087d0a60960d92dbf2d16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_589r8kQdmBmwBFr8Zr841msk",
  "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]: [-0.5613, 1.5322, 0.4225, 0.2798, -0.4683, -0.3794, 0.9996, -0.0208, 0.8024, 0.6014, -0.4957, -0.02, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.3206 left_y=-0.1032 left_z=0.0152 left_yaw=0.022 left_pitch=-0.1409 left_roll=0.0755 left_gripper=0.9996 right_x=0.278 right_y=0.0013 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1064 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9829, 4.7521, 1.8144, -0.2515, -0.0611, -0.0122, -0.0342, -1.4427, 7.2547, 2.0147, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b76e3cb2ad02ba4f0c06adc006219636c2e867f9b4bda67d33c51487c1e2908",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378f924a0a7863f39c96e9a27489513f90c4464027c7183eaa226b00ac45a295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139e9ac9c9ca49f7b0c6bfd5bc95b95fbf660e51572bdcf8637a79387f00d5fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.44 s

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

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7929, 0.6037, -0.392, -0.0196, -0.0338, 0.9997, -0.0212, 0.7948, 0.6067, -0.4026, -0.02, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1776 left_yaw=0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9997 right_x=0.2921 right_y=0.0009 right_z=0.1763 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.306, 10.3316, 1.9756, -0.0904, 0.1538, -0.0464, -0.294, -1.5385, 9.7573, 2.0781, -0.0269, 0.188, -0.0611]",
      "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]: [-0.5625, 1.198, 0.7654, -0.3046, -0.4732, -0.3805, 0.9996, -0.0212, 0.7986, 0.6056, -0.4549, -0.0196, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.3323 left_y=-0.1101 left_z=0.157 left_yaw=0.0202 left_pitch=-0.0615 left_roll=0.0263 left_gripper=0.9996 right_x=0.2847 right_y=0.001 right_z=0.1643 right_yaw=0.0006 right_pitch=-0.0576 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -4.6974, 6.7897, 1.5897, -0.1245, 0.1148, -0.0171, -0.1709, -1.2513, 6.9949, 1.8877, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.5322, 0.4225, 0.2798, -0.4683, -0.3794, 0.9996, -0.0208, 0.8024, 0.6014, -0.4957, -0.02, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.3206 left_y=-0.1032 left_z=0.0152 left_yaw=0.022 left_pitch=-0.1409 left_roll=0.0755 left_gripper=0.9996 right_x=0.278 right_y=0.0013 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1064 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9829, 4.7521, 1.8144, -0.2515, -0.0611, -0.0122, -0.0342, -1.4427, 7.2547, 2.0147, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b76e3cb2ad02ba4f0c06adc006219636c2e867f9b4bda67d33c51487c1e2908",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:378f924a0a7863f39c96e9a27489513f90c4464027c7183eaa226b00ac45a295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:139e9ac9c9ca49f7b0c6bfd5bc95b95fbf660e51572bdcf8637a79387f00d5fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFU47FBOq_-NLDQjw8c7JABfWfu8oEj8_1pMP272fO79SbMMwM88mI42yTYe1kgUgXzi0VOyQCB9MOF1OKCSPVbAUlPwkL0GfsNIAME_mJ3k45_sY9mBw8LivTqo7cfF7glZE71ZHZxizxad6W-HV-LJyiTG5N08b1hIJuZG7Yp3WKfMyOLyu5OnZ8u719vGqCWgE7C1TbNcAyEt0OIZZri9-tYgFN0A9zgjGL-Zs2abzFOBO2XasN4tbptOa6OIyVk-YE5u_ICMmWDdsNzY0oQxM0b7g3TrEpYsqgg4_Z6u2ph4mEG4So4F86twP1A2ZCUSozcSIsnNrdUeFrxM1FVsWSUkZIVwV_UJJ5_MrxnKsi0M6HBR9aMC7xlhjGTczxq-sOu4Y5wSJLcYdXxQG_cwM0-yjpAW-AmhW9J5aOBfSGOA_jWUjv1O_cMFaRgOjhTeinsXn-fef8KV80r6ec2CF1n9zgThV4eRijHLBI8m75MBPRY4rDW-tKrJy1gb8cdV97XuQ1x2GKLyIQJOdbI53oN2_d5jhpwsDhHHUoO8BOj3snbTczxpWKfB2emYFEDNosR8crAY34Jn8vK7EtnWpgc2TmNz-JlEuSZG4P5nCMY1Y_VgPSvkilS5TBmOUc3nxzhR_U_VhecwU4WfS12ekniComSLe9l8TWh6-tJIc_gS7PZj2N-pNusqnlazoPadGGJztg7EdaglfPR_5opJkhyVbTsKSTMf4nkg4tCvcMctc9vb07gO5Br0isBQKwrs0_n-J-FdZbwbUDyOSPYZGt7-LHRx3fw3cM2voPwbQDfC4SndYo24-xKNLDPstMITm-GMBpcWCuQYmjKCnpy_JIUPUZHUEXKe_Bjeu7eCcQDYA1Rj6_D5q8w_sZPrJjW_KAFw82TpdzNl_PveMKcKRD2XB3z7xt9VXsk_f671Ld43PpecvVQVFLbUKFKa2JEAvh2EdN3T9kk82Oc1HphLVo1t2xWVGgTJfSgUqKvZv1JzZClJyNqRFZWJyQykMoAtWaCKUWPYgnnEyHDU-MRYGkPq_14uifY8QibVGzQCvMJuNB1waixTs80PBgZWEhrfPGhyT67fD7Tcxrbpoo3skAcMkxZ2aa1CjOTX9RFSCjbGCLFCCopVzt3sMHG9uqZIKzQUeZKJ7neRzrQb1kgWdM0UWW9wApzEOy-pFajc_SdsSvY3mBadCAakbIxeacHYARMO2LA8Zcj6RkAuXRqv7LvR0o7VpUadXbvhEHFl6Ak=",
  "id": "rs_0b181e7dcb26dc4c016ab45537426487d0ace4e2da5b52d4ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The jaws are down around the white plush’s torso, with the toy filling the gap between the fingers. I’ll close fully and then check the settled jaw spacing before lifting.\"}",
  "call_id": "call_jP9VBWyqycBiOoOr8fKlo0Ao",
  "id": "fc_0b181e7dcb26dc4c016ab455377cb487d0bba6b7029d4a3e14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jP9VBWyqycBiOoOr8fKlo0Ao",
  "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]: [-0.5613, 1.541, 0.4088, 0.2909, -0.4725, -0.3824, 0.1975, -0.0212, 0.8024, 0.6014, -0.5224, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3174 left_y=-0.1004 left_z=0.0102 left_yaw=0.0278 left_pitch=-0.1485 left_roll=0.0823 left_gripper=0.1975 right_x=0.2737 right_y=0.0013 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.1331 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -5.9419, 6.0923, 1.2821, -0.1978, -0.0024, 0.6569, -0.0068, -1.1966, 6.9128, 1.8877, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2803cd55d8386aa81fc742ae728aefe0a180145f5d58400cedc3ee314a896fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d66229966d9224994fca91cfe1387cc79417d6c100d8629db231905af9db7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d61fdb50bc46c7a0be9fb9aabfee618d86894998748febb17d293ecaa7097b1",
      "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 · 5.341 s

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

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6983, 1.3052, 0.7746, -0.2516, -0.5438, -0.4503, 0.9997, -0.0212, 0.7986, 0.606, -0.4332, -0.02, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3287 left_y=-0.1519 left_z=0.1387 left_yaw=-0.0218 left_pitch=-0.0678 left_roll=0.0363 left_gripper=0.9997 right_x=0.2879 right_y=0.001 right_z=0.1688 right_yaw=0.0007 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.2308, 9.5248, 1.7949, -0.3932, 0.0317, -0.0464, -0.1709, -1.5385, 7.0632, 1.9512, -0.0269, -0.0269, -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]: [-0.5613, 1.5322, 0.4225, 0.2798, -0.4683, -0.3794, 0.9996, -0.0208, 0.8024, 0.6014, -0.4957, -0.02, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.3206 left_y=-0.1032 left_z=0.0152 left_yaw=0.022 left_pitch=-0.1409 left_roll=0.0755 left_gripper=0.9996 right_x=0.278 right_y=0.0013 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1064 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9829, 4.7521, 1.8144, -0.2515, -0.0611, -0.0122, -0.0342, -1.4427, 7.2547, 2.0147, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.541, 0.4088, 0.2909, -0.4725, -0.3824, 0.1975, -0.0212, 0.8024, 0.6014, -0.5224, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3174 left_y=-0.1004 left_z=0.0102 left_yaw=0.0278 left_pitch=-0.1485 left_roll=0.0823 left_gripper=0.1975 right_x=0.2737 right_y=0.0013 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.1331 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -5.9419, 6.0923, 1.2821, -0.1978, -0.0024, 0.6569, -0.0068, -1.1966, 6.9128, 1.8877, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2803cd55d8386aa81fc742ae728aefe0a180145f5d58400cedc3ee314a896fcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d66229966d9224994fca91cfe1387cc79417d6c100d8629db231905af9db7d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d61fdb50bc46c7a0be9fb9aabfee618d86894998748febb17d293ecaa7097b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFU7PasFkJa6gVUtFQ-SoiM6ddNDrZoddO9kJ56zDA-StjMe0j4B1TQXlvNMixmkOogzEuXd0WQUgDmGIxvFp38WKivpDwTZpwOtrMGxwpPtIX2UrmyUYoD_pXhGUGf14D7LBxDCbtsjpXlqtfk5zolGQzWsOmyGE0-Yo3NvhlbphjGHKW4if8n3JI1rA7lfrnBCVd1aT_TVf_536s68YGoTHgPwOY8RVPnLdl3JTSrMdxd2lA0P7HId8Y5fb5L6HLX-wNWG481uCg_shzkIg0xv4zR94m9tbI1WUAbhK9Zo35YruJ17gW_cqJP_t56RZXx1XkJe8U6TWLgGWhRfxNscAc2jUxfqxcGxAhcwmdMPQIrpGnhujbfNq0j4Xcy9Vf485z75rjzrbz-fSdG9_rRmo907-0GOWbFwphq4ii2EeQBE-r6ybw1gLKdZvr4k-q7v41Up-KE8vChxeYdOJ62BEENzRUMiC0Qy2SSsxlIeOOj_3miFWR_lIDLLNMlelOmI493xuO_X0HbBreWNPY9VnOjnjP7GXLKNQXAC-L6sc3KLbYuZ6UHteLgX8SkCesCQa4zy2N4dzh5N2P58jEtCpk7tV2mc4XmVtdcwKiKQ2WunC-_r33LRjz8glFSMpONWEW_NXdIyHCahv4goPyhAMl9gLqrYEzTp2XstJVJSiuyDgnwG1_DAsFQpLLWoBcT59nQadEKq1gB2IMBR1K55sHtd739vu5LXanv_CMygJ6RLUL2LiQaOXgnxuVBgKoxqAD3-4tkxCbTfac-Pz5jltWR283oIE54dbw7JLaWybXHupEhX7PoN-p-OCxR6krwjTTJAvbmn4s0Xgj1IxMRG7iok1EGrvJwWw78yLlzIKiueclGQBU6sLsfO-5RZdZdsHBXe7ioqhdLSASaFgJw8cgoyhR1lblfu2N66Q6FiSeKzzkCyDi0EMna8fAJKBXECdOGDPR9vLIWZJ3qRY8vHtC-gqwBBgSCvUMAq4zEOsglvOzMYuvrWjjkutF5aKNsD-1aIyp3V5J5LHjNc5yzJpCqsRdvBsJ1M1STXJufvq3q8VfX2u9r0oH-04U0SQIBvMNpUqEiDI3jWz4TDSdJEOi9nF0dzHJbEhoV1db8NueLGGNj2EmDQhLum4HhiyLfKI5qyk31KAqIJJFT3r2UbbROMkgBn9ymp4JTheKFzSWgYxXS18IVz9o7HKb7T_AEhhcJYsZLEJtHDkpxDnYf-Gky73JCCI9JuCjM0Xqtm5gI=",
  "id": "rs_0b181e7dcb26dc4c016ab4553abe0887d09c74db2de0f0f4a8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper settled at 0.20, confirming a substantial grasp on the plush. I’ll lift it well above the safe rim before transporting it inward.\"}",
  "call_id": "call_JFNYrumId6ze6J3KnQxWQdiR",
  "id": "fc_0b181e7dcb26dc4c016ab4553afaa087d0a4594a89115a5644",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_JFNYrumId6ze6J3KnQxWQdiR",
  "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]: [-0.5613, 1.1988, 0.8181, -0.4862, -0.4679, -0.3916, 0.1993, -0.0212, 0.8078, 0.5999, -0.5575, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1005 left_z=0.1491 left_yaw=0.0317 left_pitch=-0.1712 left_roll=0.0869 left_gripper=0.1993 right_x=0.2677 right_y=0.0014 right_z=0.1402 right_yaw=0.0024 right_pitch=-0.175 right_roll=0.0004 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -5.4359, 9.4838, 1.4481, -0.3346, 0.0269, 0.1734, -0.0205, -1.5932, 6.9949, 1.873, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d0f4b742c78f7430f0450b7bc484fe6594a5f5191bc51139079090375648e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d7b406bd389fa68e186a2efd0cb1b7ae4f90b840eed6055a12f2d05d409bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8466caebbcd5c074a9c06795b769935c2f09d28c52c15dd5715c3c1e3974160",
      "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 · 3.768 s

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

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5625, 1.198, 0.7654, -0.3046, -0.4732, -0.3805, 0.9996, -0.0212, 0.7986, 0.6056, -0.4549, -0.0196, -0.0345, 0.9995]\nstate[eef_state]: left_x=0.3323 left_y=-0.1101 left_z=0.157 left_yaw=0.0202 left_pitch=-0.0615 left_roll=0.0263 left_gripper=0.9996 right_x=0.2847 right_y=0.001 right_z=0.1643 right_yaw=0.0006 right_pitch=-0.0576 right_roll=-0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.1162, -4.6974, 6.7897, 1.5897, -0.1245, 0.1148, -0.0171, -0.1709, -1.2513, 6.9949, 1.8877, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.541, 0.4088, 0.2909, -0.4725, -0.3824, 0.1975, -0.0212, 0.8024, 0.6014, -0.5224, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3174 left_y=-0.1004 left_z=0.0102 left_yaw=0.0278 left_pitch=-0.1485 left_roll=0.0823 left_gripper=0.1975 right_x=0.2737 right_y=0.0013 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.1331 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -5.9419, 6.0923, 1.2821, -0.1978, -0.0024, 0.6569, -0.0068, -1.1966, 6.9128, 1.8877, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.1988, 0.8181, -0.4862, -0.4679, -0.3916, 0.1993, -0.0212, 0.8078, 0.5999, -0.5575, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1005 left_z=0.1491 left_yaw=0.0317 left_pitch=-0.1712 left_roll=0.0869 left_gripper=0.1993 right_x=0.2677 right_y=0.0014 right_z=0.1402 right_yaw=0.0024 right_pitch=-0.175 right_roll=0.0004 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -5.4359, 9.4838, 1.4481, -0.3346, 0.0269, 0.1734, -0.0205, -1.5932, 6.9949, 1.873, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7d0f4b742c78f7430f0450b7bc484fe6594a5f5191bc51139079090375648e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d7b406bd389fa68e186a2efd0cb1b7ae4f90b840eed6055a12f2d05d409bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8466caebbcd5c074a9c06795b769935c2f09d28c52c15dd5715c3c1e3974160",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVC3XoDY2gQaG4AwMKIEwpabAGfpbfsirizJMcq89uNxuDfuDkGsutPQk_4h2OU6V2QIXh3egyos3cO3LOV8dPci3AMdwhsmpqMbWJKnzSzBrwpz8HM_G8AXxfklphbFxraO48-d0iYXvVt4qvFwM510Q_H_3zIFK54cqKsM2VA8YyqzwzO1XRoJsz3KXrUyKydXVwET9IlJ62UC8QAkk9s4pstD1VS4iaPufDdMNKiRVC6Bk4wI8u1BWX7tC_jSnAoXseIHbp3uRAAVc8nCUFVFkPIsqXSvLve6LqmVikGYhFSoqg8aetwAt6o7srmptRmh-HbmEMDTSo8OT-vwvaA0qZs2EXVRQ8fspX4zZ_mOhNDGhCwnA0mEMyUbQZvjipO0v_ttozsOV8hXmXgWv7PahZj42PfKZdiVRG8IQauaTdNBqPk7civd3Uq87PwRr6Vhz6ha3CvwajWa89tws3KHfhI_IvcnVMRDEW8uKB7LBjyJyjRSkFw2-FisG7Uu4m38q-y0W-bbbq6-lk7rPEnNy3lAYMbci9HtgSIobn7zv1t-PTR18Sn8yDXStGHmwc9CGj8oRKpArkjjqy3U3KHG8XtuzDHic5biqw46_ALcjSZWKkTSPnlceUSq5UobrSasr9wOusi_0kvfZ6GeiX8OlXdN_qaSy56Dg0Fztsce0nn4uBV05O6P__UDXgYsegp-xgIn6K_Sdxwdv9gs_6j6AHRh3n3v55l0x1UJzDEEedmYKQS9vZJzB_Y6Qx2tX2miQfrY_tckQZF7yjD-rzePA7Xttc0ExhfR-vPPy8Zo_806o2VSjSLpqvwehuRWyvhUEHTWrknmmEsetVojwv0Mg3fTQdvTRonf_vKJuryVJyhbp-rA8O7DmPT65IHKDCUVyQbTPx7dacZf2FJeI-VMFjAPh41Wm3rqNpDgyNw2CEpkcEglMg31Loxli5TBDKYiMExTR_VzI0X3_Ni3FO1v0ASUW6DMnJbrymdoe0b9SxVFNR6NzSRJllPH_l6VHE5O9PBsT4gmvNPmnbRaulpnKJDB1URXecHyk7SRWjHVAz7FTGIFyiwsiwq8iQSFrX7osGX8nc_rfpVkKLRF59_-ujyjqdt2GbQplschiUQFdXmVzh0qDEQR7ECXNFGTZLHqpC_O9GgqDJPOeN9n1TCFGiRjNm0WhWRGsqMkwNOIXHwCa6742NBZEbn8ymdA4V8CMR7NB5zmP71sh0CwZNV2BMPwYVuw_0aBt_M3hN1TruwBrKpex5-HYhwCorxYSugHI_UNO2_hTK1ui2cPjlq8ziZq6jnJAB1FynXmttMXKEgOxYvCuGMag6QDRleidl9Sd_iRY3h6ZM-E5ebr6IkEtFrgvErDcLb3KSvekzrYc30VcGrwqdqf2hI4dwr5j5roau33YlKd3C_WQhmaajgHPnAXigd6E0XIQz96NKwIYukXy_fBLN2tUXYQlZ_um6FCP9YfGbdNHY1DQJ7R-CrdGf-fEckyoHrqj7FGdOkdR1CVG2IU_C79kltKZOvwXFnzOH1uHJMOHkcJdKnG_3enA8xxzMEYH3O0xmR0yHqzSDrlHjMTUaylE_Ah9KgUNNX-qpaRSlL7cjSaD7USQpXrUuj7lBQc1Vfce4lGg8tlENNFa1imACj68oTX_vgwBi6gZ1dhS6uLeCK-rc_Q3JAtt0JOjYoQ_NJyd6AfPyGxz1qnmRHAZ3e1v1w53saQYfT8ITexPLXdmBGtKOiYa9CRu0vl4q02rFvs1NbREmANspYCVVxLNXQCWaxawZ57Q5fICKXOzsbxlxs3KQVgP5NxQ9anHOfkfkXH61Na06mm_m3HiM1dLRS-ybwOUYtUOx6-sa5LdDyn04u7zMZKEA1joN4dK0pf14gGEd_8xrMcmfpcIF1mL96OxPp7FWfKkZSXIM6-BXqtH0fa4leVS-EedSQFe4SwJAe-GLh_mIggMxW3x-VuaF5rQza3mb03oeiXFjgd8DwehxCNmrsw7rf7x7rA4PsUyCz8S9xcmRww904tdv3kXnlZhD3c_jpmNT_ocJzO8i9wPO6SIelHsgCYFKnK3dAXmECiOL1RPW6J5i461RKhvJsqJoYMlBHutJWQHFgGxGNxy08rgvowcZRxfjsK7-eQKT5ZWBv61r0jKTkVTsxIRSBPhwTdD7cJtW0osj2okUkDdUxJc29hIGtPEGM7UynfRg2ctfgIWihxCDzka27h7fWIO83npagfyh5NJDn38W_An7i4zFiiNPUQ0ibaGBpgsWZlsTuY_wd5O79fKZH1n5BRJVhTjT4xMO2wDD19LQ0_CbH5auvWjX-jjgH0GnSalfwYMtydKyt0HAN38Dz7Fl_iIV25QXQHrOONhc0XwEgj4vQQpgdY7P1id-LD624Ur0wBD5A6qoRrUzXGZxEaaX75U8_UOSNwHSAoDIGtCEZma9rL8JFcxZ0RO0fWbS1ybLDIyhTNqnjcpX1jUopQ8rsRUdCNriQHNVABmKK54XARKzUNYJeXB9x_Y0Eks9M2_T5HvTGh00vTwS89FGRqpl_hcSX89FUJPQDRM_bkhlQlsOnrO1DxRzrSN10EiWxGPCEIrDJKvK7lJPZDGuKHmlJfyoJ4QAnIX1u49p7Zj1BtiPmI1Lw5JuwkCAU0ndYRHMCwpkAmQUbrt3Odt14B5O6kLMuNgJ-g1b7FJ-LXF1kbmC_l6_btpnaGk8O9dwzyq4M8ZEDqqN6GdIlbiR2rKuAPo5RTAWqdloFTyenwAta9nTZOx4193Ffaw==",
  "id": "rs_0b181e7dcb26dc4c016ab4553dee8087d0b3b4afe5df9eb3e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.31,\"left_z\":0.19},\"note\":\"The overhead view confirms the white plush lifted with the gripper. I’ll carry it above the center of the safe’s open red compartment, keeping extra height to clear the metal rim.\"}",
  "call_id": "call_J3XDZ2GWLuUEtYAF5xvh3pYk",
  "id": "fc_0b181e7dcb26dc4c016ab4554146ec87d08b61f02493becb89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J3XDZ2GWLuUEtYAF5xvh3pYk",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8917, 1.9774, 1.7641, -0.8616, -0.6338, -0.7208, 0.2014, -0.0208, 0.8116, 0.5999, -0.5907, -0.02, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3842 left_y=-0.3037 left_z=0.1746 left_yaw=0.0269 left_pitch=-0.2111 left_roll=0.0934 left_gripper=0.2014 right_x=0.262 right_y=0.0017 right_z=0.1334 right_yaw=0.0033 right_pitch=-0.212 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -10.7829, 8.8957, 1.0672, -0.6716, -0.0024, 0.2125, -0.0342, -1.4291, 6.8718, 1.7998, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e55e2765f9b91747a59e4b125798a5b5e09b5817e81a82c325f8a6fc9136095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9c4d3c918c90f9c22fbedb179fa9e884efb0b8fcd13cd80bea4bd51d0062ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ff3e55f42c871a982afabcbf6bf35e195856340ea05a40df176087896de6f1",
      "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 · 2.207 s

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

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.5322, 0.4225, 0.2798, -0.4683, -0.3794, 0.9996, -0.0208, 0.8024, 0.6014, -0.4957, -0.02, -0.0372, 0.9996]\nstate[eef_state]: left_x=0.3206 left_y=-0.1032 left_z=0.0152 left_yaw=0.022 left_pitch=-0.1409 left_roll=0.0755 left_gripper=0.9996 right_x=0.278 right_y=0.0013 right_z=0.1535 right_yaw=0.0029 right_pitch=-0.1064 right_roll=-0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -5.9829, 4.7521, 1.8144, -0.2515, -0.0611, -0.0122, -0.0342, -1.4427, 7.2547, 2.0147, -0.0317, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.1988, 0.8181, -0.4862, -0.4679, -0.3916, 0.1993, -0.0212, 0.8078, 0.5999, -0.5575, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1005 left_z=0.1491 left_yaw=0.0317 left_pitch=-0.1712 left_roll=0.0869 left_gripper=0.1993 right_x=0.2677 right_y=0.0014 right_z=0.1402 right_yaw=0.0024 right_pitch=-0.175 right_roll=0.0004 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -5.4359, 9.4838, 1.4481, -0.3346, 0.0269, 0.1734, -0.0205, -1.5932, 6.9949, 1.873, -0.0513, -0.0464, -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 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8917, 1.9774, 1.7641, -0.8616, -0.6338, -0.7208, 0.2014, -0.0208, 0.8116, 0.5999, -0.5907, -0.02, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3842 left_y=-0.3037 left_z=0.1746 left_yaw=0.0269 left_pitch=-0.2111 left_roll=0.0934 left_gripper=0.2014 right_x=0.262 right_y=0.0017 right_z=0.1334 right_yaw=0.0033 right_pitch=-0.212 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -10.7829, 8.8957, 1.0672, -0.6716, -0.0024, 0.2125, -0.0342, -1.4291, 6.8718, 1.7998, -0.0659, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e55e2765f9b91747a59e4b125798a5b5e09b5817e81a82c325f8a6fc9136095",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9c4d3c918c90f9c22fbedb179fa9e884efb0b8fcd13cd80bea4bd51d0062ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55ff3e55f42c871a982afabcbf6bf35e195856340ea05a40df176087896de6f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVHZgofjqQs1oTDdbnEig8bQFokzBgIsyN9zd_sJPTgmoszhkAGb08MmoxhlSdHbb1wcTgdFZlGbJTAosr4KvuXeIlgLilY-5S_buN8yICscLLt08x3gaftqvGNtaLwYDMALOWUXNYhgdlgj_UqzhNK8ggqpi-QMvWYqDeEmlnOfJ3pbIKynPZ7-WdB-v3UifBUqLJ2Igfz6ZsfKMqbtKZ1WleqszpRA5yvbKun0xB2MEDx-ZN1adGeunh1h6BYso1DjQy0Jdjqk2yotaXA39JK2g7o7chxZ9GgW6uw_Q_vm_5DW9D1x7D7CPKU4YgPup5wwU7wQ3uZuRrkXGBqi4oe1E8I_yFiQMPpLMS7RZtBtYMLrNDhKF9vQ1z6AlD3frE_XFajtYJ-hHsMENE2FC3oFOfCSXCadbLQIwbqji1gY4vgq-muC8PnIuvy7FBn2m1vznd3toGR3cJnGmqtiCvNV3kwaXROX2VKlWy28CdSnNyPQM_icPZJYnTzsHBISd52C2QCFbS_-_OmgWQDDD41ONTZseSiv-SNY8epIqHE8r89iM6pFN-bEqDWxtoghIpEEgksLRysmwnVWPVF2Vrjb5gyA0VFyW3tc1BdsPm6cVaxsrBvKszf0-uJy3y3XBVu6oSNUpc8S_qWdVxy6JsYD-WV7rop0FbPB1gq1VOZNQ0UbszHqn9lkEjppXaHO1RJxJg2pUfmyS18RTM5X6xH_ZBDqK5DB5WNqhQTL44QY8KiqorToSrSJJ1a5m6uhpoCHUvC4VR0Lr5959Wz1yPJE0ZE8kR5ujdn1ukCBTNEJbbtiz-Cdgb8akflwYuDxXD-Anu_I5eHE3C1C4yGnKzCuX3A3mMDTlxKjf37W0Q2zRLiMkzQEJbdvrzVhpvaaKSmKxpOhZ7w4ziBQ6UWXDTaASC1iOO1_8JC-eAnfOfzwh8TF0VCmJyhaYgqdLmEv-GozytC1nZOcH_6GCb6v6t4KP3Cbg5FegyvFC5l4DJW0to8Y8varYMizdLG7M4n5CH2KqwtxncAimDy4VtFszrlniIzbaawXq1p8wsTf4YbOfYsDfIO5MKbkjy-X4X2hQzYXieDojXF0HXin_hp1Dy9-qBFadnFLUq1Rx5zkyIFVRx_YEfSwunlGMCS-nG6u6F7Ng9mkjGpTjaOoAP1HetMlyzOzOP_v41rO9AQH8s-3QpcWukblmCgX5AeVzGydQsP3xKXwkJCFLhp29fBMXyBHcA217erH_zUxAxZnUz0OfFaOjdzxQbqmZl6zmgyxk1husM_IKTveKtS1LLzPE_yd4dzA8bpIlK0fR_bHLHCsEOKRc-DHMrVxQTIsDXkoKxl8vIDVKYAI8npCOJrX32huLc1z4cBK56LzzYpDq-nrC9S2LUxnEDjH6p2cKq9P5mqqH6AVFlM2Mio_PE-5d0PlfNwU6CNNAoy05A-4Rb0w4iaFGhP_23dtaIW64iCoikGpK1luNTG8dwb6ktBLl_wnlKYZ5UBEc5ZHThXi_3AqvolLGc3HeXNWLZW9sBYfiNgxVAw6H5GT2WBp-0SXluuIoTNgV3Pc_6pxzAneMbLCw2GLo34OZrHe7RaW2Cpbc-jUf-hemOZfBc58Fzd3w6TudI59GT-sXfYU5G2Q0AY48MdRhYydmJxocelMGlHnkquhSzWjBFNH3cFHxB9yM1zswFrVQDriwHBoJHs1EJfn8nB62jEab_qSYzkgAgLO4vPFcoufropm-I6fY2DzMgR7g==",
  "id": "rs_0b181e7dcb26dc4c016ab455454ac887d0889d1fe84fcfb717",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The left wrist view shows the held plush directly over the red safe floor with the rim on both sides. I’ll lower until the toy rests inside, keeping the grasp point slightly above the compartment floor.\"}",
  "call_id": "call_D1rtzTAaVO2nWnhEM1hzB899",
  "id": "fc_0b181e7dcb26dc4c016ab455469ce087d0bbc0833b7130fee5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_D1rtzTAaVO2nWnhEM1hzB899",
  "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]: [-0.8951, 2.0586, 1.422, -0.4923, -0.6247, -0.7231, 0.2028, -0.0212, 0.8158, 0.5999, -0.6128, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3758 left_y=-0.298 left_z=0.055 left_yaw=0.0296 left_pitch=-0.2502 left_roll=0.1311 left_gripper=0.2028 right_x=0.2581 right_y=0.0016 right_z=0.1287 right_yaw=0.0027 right_pitch=-0.2384 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [0.253, -10.7829, 6.4479, 1.3309, -0.3687, 0.0171, 0.1441, -0.1983, -0.9504, 6.8034, 1.7363, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3a855f8607cbf3a3cfea9e373be6a0d50c690e2666aab0fa8ac116669328e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23e457714f9f2d1fc9b447fa8a049750f0e3eb635f6bfe546344ef75f4f2589",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a552be4a5997a4619c02ebb9e5d7c669f8df4a61562db695f5d4ebe1de17597",
      "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 · 4.442 s

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

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.541, 0.4088, 0.2909, -0.4725, -0.3824, 0.1975, -0.0212, 0.8024, 0.6014, -0.5224, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3174 left_y=-0.1004 left_z=0.0102 left_yaw=0.0278 left_pitch=-0.1485 left_roll=0.0823 left_gripper=0.1975 right_x=0.2737 right_y=0.0013 right_z=0.1485 right_yaw=0.0022 right_pitch=-0.1331 right_roll=-0.0006 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -5.9419, 6.0923, 1.2821, -0.1978, -0.0024, 0.6569, -0.0068, -1.1966, 6.9128, 1.8877, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8917, 1.9774, 1.7641, -0.8616, -0.6338, -0.7208, 0.2014, -0.0208, 0.8116, 0.5999, -0.5907, -0.02, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3842 left_y=-0.3037 left_z=0.1746 left_yaw=0.0269 left_pitch=-0.2111 left_roll=0.0934 left_gripper=0.2014 right_x=0.262 right_y=0.0017 right_z=0.1334 right_yaw=0.0033 right_pitch=-0.212 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -10.7829, 8.8957, 1.0672, -0.6716, -0.0024, 0.2125, -0.0342, -1.4291, 6.8718, 1.7998, -0.0659, -0.0513, -0.0122]",
      "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]: [-0.8951, 2.0586, 1.422, -0.4923, -0.6247, -0.7231, 0.2028, -0.0212, 0.8158, 0.5999, -0.6128, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3758 left_y=-0.298 left_z=0.055 left_yaw=0.0296 left_pitch=-0.2502 left_roll=0.1311 left_gripper=0.2028 right_x=0.2581 right_y=0.0016 right_z=0.1287 right_yaw=0.0027 right_pitch=-0.2384 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [0.253, -10.7829, 6.4479, 1.3309, -0.3687, 0.0171, 0.1441, -0.1983, -0.9504, 6.8034, 1.7363, -0.0513, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc3a855f8607cbf3a3cfea9e373be6a0d50c690e2666aab0fa8ac116669328e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23e457714f9f2d1fc9b447fa8a049750f0e3eb635f6bfe546344ef75f4f2589",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a552be4a5997a4619c02ebb9e5d7c669f8df4a61562db695f5d4ebe1de17597",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVKdHyVal18DiaOXAPDqhFHeed39EUCmoregUmF0Sfi1fh3gkhOXTDX8VEyWzlc3hjZniyW5ajTn-M1an7wDp37OJsFawtBBqJhgA-UL0OPYz4zvJIeINAtj5lXzhL0EAMHzsuG3r5_7oUuEmDhNNUUf0B1U6pCMp4sKKi8dQeOlCbQxI4K0HVHHSbPUbg1zBojq1tzuDcFRw4xUlaZRquMSmWiOlgLQpJNrMtGi8gCNRxRMUMldYkAePRQuQufI_I0wzPYBqZvEkkbxZi3cEVnWzRa6l7Sse5ZObhftRZ9QXxyLIBOqcva8vnKpi_PSD2gFDg9qq6xH8zMfTpYv54hS-gOi2WvMvmQXvfGwBJjL-FJMftHv79IueV1FBDE1CCvC1aJBXvM_1YoQ6fq6mPhJmUb1SeEuTEv0I1vpi_NaP1zw4NQmyBhhBukz6FdQrAuSHg9ZfJBfrvD1CqN2wlkG0w8BhE_Ug-_jf1Uj3mQZHblhj3XfjPcMP6PIzxhRN6P2oV2gr9g--b72QsWXkqr4IZ8vzUqnpT2DSkGYi-a8OPv8ffRLT9E74vRK2l8BAVXYG0n18jiVk_kxc5NkovmohORQV8YVfMsNNRcTvWmPkARgHDbkOWzxLLtjHjVkWzubhOll13ya_IhprSS_ZGs4eO0s4lhM69l8oc_R1LIW96RPWmAf37KwPHObZuGjz3U3OL5s9ht5PPY1peGk9oQBPlq4Nf3lMBnraVvswPi6HmH3_f3c3QNuOVLeLXci3FB_CXluiLlvigdSdt_ZEm3kkR2-EcvF1MxCigIecyfu1MA9ZgiUaOcDY_YjYWv7vC8mNYIW8NfYYWwJQJibdvJNGTLRK4nxYACeObD7_LHfyFx8e12GgIwv1DaNtd74qDllA80Iobf-JF9EtFJdCrp7gfVg6yhwC8zLtKmrhsheSkxRGznVnObZ2utUCG5FBj4HJbVQdJhW_tMiywPLN2IyYQrJNrLXWZ3Y2AkgauStTaOA6O-QTq45OpXdaZGfVZWfaaVO7XcABPNLoqmJUncjU6IMb3BYEt-r8e2p3Yx4QBoinshTtBu-ig7b2kHrOrwR-crktZKAHmFCi072WIX7kBzW_oY-QyTSxlqJ3eTK4XTjE5LUz-0pocrkAczH7vKAiUVsxniSBhRfVseXofMGBjAd9gBzTn59Lk88fV2NvtiAZlm6HKUtJ6oO4U7Ausq",
  "id": "rs_0b181e7dcb26dc4c016ab45549ff5c87d0b5302fe60b0f41be",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The plush is now seated against the safe’s red floor, below the rim. I’ll open the jaws to release it inside.\"}",
  "call_id": "call_eSbd9ZooR6Xnz6vOojZbyJY3",
  "id": "fc_0b181e7dcb26dc4c016ab4554a200087d093d1e4ad3337529a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_eSbd9ZooR6Xnz6vOojZbyJY3",
  "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]: [-0.8955, 2.072, 1.4071, -0.5014, -0.6216, -0.7273, 0.9949, -0.0212, 0.8158, 0.5999, -0.6327, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3711 left_y=-0.293 left_z=0.0433 left_yaw=0.0379 left_pitch=-0.2745 left_roll=0.1575 left_gripper=0.9949 right_x=0.2545 right_y=0.0017 right_z=0.1254 right_yaw=0.0028 right_pitch=-0.2582 right_roll=0.0024 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -12.1641, 7.1179, 1.0769, -0.4029, -0.022, 0.0024, -0.1709, -0.9641, 7.3094, 1.6239, -0.0366, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcae5fd96a5c48284fe66a1ac055791fb990a2f88331babc27dcdbbbc892932f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90c95b1eee66a664a7ea83feb0f3437a1ef66caaa362565afa7db2c4a299567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de832ca205dd0253bacf5d145edba06446a142c1ef9bf72ca6ae48cbc2cd3fe",
      "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 · 4.122 s

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

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.1988, 0.8181, -0.4862, -0.4679, -0.3916, 0.1993, -0.0212, 0.8078, 0.5999, -0.5575, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3163 left_y=-0.1005 left_z=0.1491 left_yaw=0.0317 left_pitch=-0.1712 left_roll=0.0869 left_gripper=0.1993 right_x=0.2677 right_y=0.0014 right_z=0.1402 right_yaw=0.0024 right_pitch=-0.175 right_roll=0.0004 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -5.4359, 9.4838, 1.4481, -0.3346, 0.0269, 0.1734, -0.0205, -1.5932, 6.9949, 1.873, -0.0513, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8951, 2.0586, 1.422, -0.4923, -0.6247, -0.7231, 0.2028, -0.0212, 0.8158, 0.5999, -0.6128, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3758 left_y=-0.298 left_z=0.055 left_yaw=0.0296 left_pitch=-0.2502 left_roll=0.1311 left_gripper=0.2028 right_x=0.2581 right_y=0.0016 right_z=0.1287 right_yaw=0.0027 right_pitch=-0.2384 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [0.253, -10.7829, 6.4479, 1.3309, -0.3687, 0.0171, 0.1441, -0.1983, -0.9504, 6.8034, 1.7363, -0.0513, -0.0269, -0.0122]",
      "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]: [-0.8955, 2.072, 1.4071, -0.5014, -0.6216, -0.7273, 0.9949, -0.0212, 0.8158, 0.5999, -0.6327, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3711 left_y=-0.293 left_z=0.0433 left_yaw=0.0379 left_pitch=-0.2745 left_roll=0.1575 left_gripper=0.9949 right_x=0.2545 right_y=0.0017 right_z=0.1254 right_yaw=0.0028 right_pitch=-0.2582 right_roll=0.0024 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -12.1641, 7.1179, 1.0769, -0.4029, -0.022, 0.0024, -0.1709, -0.9641, 7.3094, 1.6239, -0.0366, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcae5fd96a5c48284fe66a1ac055791fb990a2f88331babc27dcdbbbc892932f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c90c95b1eee66a664a7ea83feb0f3437a1ef66caaa362565afa7db2c4a299567",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de832ca205dd0253bacf5d145edba06446a142c1ef9bf72ca6ae48cbc2cd3fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVPLo_YI3y3VOLnSlHjZu2Wj8Z8q2paqNNzhodYGuxopxC7cUKV7RFXMmffUXE2je7F8zcDwsYE7vQ8MQC60jyrIIid3q-cds0G0T3tKqcAnq5up8U8rp6Xv0muM7nPe7osBSMF0ZM1nQmt-SwQIdpz4VVpquua5rwX8Le73oaPaY1nqT0VWPmbHQS9UKM4w1lYzX8MWoLPoEBhnQuFON3ulkUnCGJFxvB9dB3-Ryfx2FHest8bbpyOUELTgKEZ9SNH-AmzJN9EwcpPM2ONNwY3-Wrovav75Zadjz-K34K3bklaq_dfdiCuL7K_BpOgzFI_szKIRb-rVbQ2xVzHsplTdx9JYdynGfaUdr15fZUwc5ttdpw_L3yR73bwfT1gbzaAT29Fj2_W6x6bZD8QP4QKMlHTgV7TT_u-YhcnuONaBWITv45ACcmYElKSzTbET622z1tivT4x_lenmYxgw_WuEnZwRQvtT-Ky0QeG8bhRE4cKoxEdUI8knjbuIqdC12gR2Al8zFj2ZH3Bc8oHC3F1rkCYHTpG-IFMTqTWskYwkXP2Vzj7Cm4LDPWeGMdivhqxBvOmU6CWLOKmbw4kWZbqxlg92UIboycYO5FR4ft7hkIzz5tUXypHumdSHdc5Tk0X2t0Z-_HznqHxXmU9TtvScagCDGUPHo_B-5T5fSTrJMEuBTQPizN8DACKEMqUaP06pxQAKJUsOV6pIufl8AMjhXLf5YHL6_2WYXcjeJK1h4EKwdf594D-j5MnQ9v23Nx31usy1B2Oi4jkxMHI5NN8lUnKW8qvpKvO4N1eFj_aaN_Zox6tqk2XtYWcBtx8VEgS0mJn6jeDL3A3-q8HQTnMfT3xV2a67cl9obORkScC_yHQP3dxB3hlOPkv97E4-UOT0UxQpZsWf-oX6FCD58R5qYN1PXn50LEXMWQmikb7lUSKJ_GAsCDSozFt0M0RXJ_BweoKiFWsXU_MkpLjUQ523Qbjoss2Kk-cJxP7v7V1AZXBrqBO6qQuOPZDIOuYsN89gyDB6INoRJAeN_W6TUPShW0RZCSHbbxkcsBUlwVTms2VMeeu9fOI1ZAxL-FOJsI2dXAD1ymaUhEMsZBU9U3VWnuojyu_DxAmPDyezMxY_9pY5aXA69ugwXR7TkjchU3W0iV5XmCcG_Uzz4q0jLsUfwdtSJd0-V8NnlLJ3CWB1Ew9d9Nj6N8g_eBKONhkWHFIsv606pXKwMoN7jN-E5JhlTuQaD41GMvz0zxQtl2tm97nznNzmB54piqaYcx1MOHuBadbbnF2RgZa6SIqQtsLBoigkOEqlpbf3fhCNCYpWtl8V7FD3pfL9Bqz43FKpjN9-BW3aJ32xH5-z-VAANjqKM7bKfg_U3mANP5Y6H2yvWMOqFFqviXvubm80Ply5cK7uhgi2wrTzM_ZIfIWqvcQkYEmmJLB_8Rwaf3vK6rY7wjI49wlY7-uPSVT1pLCu4FuYklZ3W5fpm9RcViDe2eGc_n7_-HtvPXlLVzmW8Qa8FjGlgnW7CFWAU9eL3QAwfflhajhFDP_4z-E8m6u_SkyBHy7S07z0xteeC44dqAmPgF9gogQBGcvfjEzQZwtN4iY6ht1ZEaLGCni5xyYWnvL-hSe5J14RKODFyv9oSay4KeWFiG-8ezTySOxtopoXUVkYNesexJr_lgoH4Kp7XlPq3VpjdXITbaPxv4ts6ANDlZEHA4PBkjLtzc3zq_YbcQX-G4vsxgFE5GnAgPDlEn5FHkdIFoqRa_MDT68e8PV2Krfq3BrwpUduzVwG-TdUBjilxn0yCC9NJGDlhDSOgEJHq8vh6Tt49T6ggQ5VAsEvwVQOIrRZX8hAl__LD_oAVkfR3nz9gVyTSkT0j7twNnEuWjej0w2Z-BJNAONTGbJXllWI5_-7ncD2FJmXk--fadxTqd1rMGLHuq-759PAPD4AfwtYiebwblX9KRxVSvu6m1SP48FmUInp2nbA1f1P-U9juxtorSeC_a0QCuoP4d2swzEw2YYThy9BtYk9J268B1hf5wpAwEwfePadBIdUtgFka5Ibp27cB29pTOX3p9cmgMoXQxm4MPtWoCpmAmqbfC9O3GeYYiYwrpfZ_mFRXtPaMPNdY1qbpN3fkhrB6dlGiUD61p5rL6n9fixLFwzuOrnW6dQ3q9FO0iCp9BYN3rWAkVJv5zQx5dTezJeq7uVHkLjjm4pO9fQ0NIkIaJ55Uvv7IyD8QJPMEM9nLNlqSgE3rOkhn_8XLCaPqFvn45vvr8n7klCdX8tNPqN9nCCJZIvz3M0uF-ZP7rs3d9XJEUgEMX-0GMDT7dTO7R11iL6p_ahItPudS0yeQSC0xZ5yhfBwxIPQDjQ7S_iNx7jUYv3MKuTOBKC1LPNqNtviXYHOjcphFB9tHHVd8dypYNBbHQp3188TXeVJlVXArnkzbBJ6d_l-97HIU4hSy5E4CVtuh9R0lpqdtz5pvodj3D05RM=",
  "id": "rs_0b181e7dcb26dc4c016ab4554c6cbc87d0a330dab12dd911e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.17,\"right_gripper\":1.0},\"note\":\"The white plush remains inside after release. I’ll park the left arm and simultaneously bring the right gripper above the yellow object, which lies forward and to that arm’s left.\"}",
  "call_id": "call_WZxaFs77VZFeiMx0uoUcRhlz",
  "id": "fc_0b181e7dcb26dc4c016ab4554ed84c87d093eb48dcf5de9725",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WZxaFs77VZFeiMx0uoUcRhlz",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1608, 1.029, 0.8684, -0.7322, -0.2462, -0.086, 0.9962, 0.5552, 1.7699, 1.4548, -0.6735, 0.3294, 0.3847, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0001 left_z=0.1704 left_yaw=0.0858 left_pitch=-0.2864 left_roll=0.1546 left_gripper=0.9962 right_x=0.4142 right_y=0.1939 right_z=0.1539 right_yaw=0.0267 right_pitch=-0.3216 right_roll=-0.0348 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.3436, 8.4855, 1.5311, -0.0855, 0.105, 0.1245, 0.0068, -8.3897, 9.2923, 1.5409, 0.315, 0.2222, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be922835cd538138d2c7c1f67e2992668c061ab87a4ff9783edff61c0889752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bceba82d94908370b3a7db18cf2fd61d479d80d731d129afbbc6340b4c15381d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8371c92cc1bfa19e7d84ee06e039431865089dc97342ca316af73a13ef3e17a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 3.445 s

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

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8917, 1.9774, 1.7641, -0.8616, -0.6338, -0.7208, 0.2014, -0.0208, 0.8116, 0.5999, -0.5907, -0.02, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3842 left_y=-0.3037 left_z=0.1746 left_yaw=0.0269 left_pitch=-0.2111 left_roll=0.0934 left_gripper=0.2014 right_x=0.262 right_y=0.0017 right_z=0.1334 right_yaw=0.0033 right_pitch=-0.212 right_roll=0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.6085, -10.7829, 8.8957, 1.0672, -0.6716, -0.0024, 0.2125, -0.0342, -1.4291, 6.8718, 1.7998, -0.0659, -0.0513, -0.0122]",
      "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]: [-0.8955, 2.072, 1.4071, -0.5014, -0.6216, -0.7273, 0.9949, -0.0212, 0.8158, 0.5999, -0.6327, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3711 left_y=-0.293 left_z=0.0433 left_yaw=0.0379 left_pitch=-0.2745 left_roll=0.1575 left_gripper=0.9949 right_x=0.2545 right_y=0.0017 right_z=0.1254 right_yaw=0.0028 right_pitch=-0.2582 right_roll=0.0024 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -12.1641, 7.1179, 1.0769, -0.4029, -0.022, 0.0024, -0.1709, -0.9641, 7.3094, 1.6239, -0.0366, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1608, 1.029, 0.8684, -0.7322, -0.2462, -0.086, 0.9962, 0.5552, 1.7699, 1.4548, -0.6735, 0.3294, 0.3847, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0001 left_z=0.1704 left_yaw=0.0858 left_pitch=-0.2864 left_roll=0.1546 left_gripper=0.9962 right_x=0.4142 right_y=0.1939 right_z=0.1539 right_yaw=0.0267 right_pitch=-0.3216 right_roll=-0.0348 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.3436, 8.4855, 1.5311, -0.0855, 0.105, 0.1245, 0.0068, -8.3897, 9.2923, 1.5409, 0.315, 0.2222, -0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be922835cd538138d2c7c1f67e2992668c061ab87a4ff9783edff61c0889752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bceba82d94908370b3a7db18cf2fd61d479d80d731d129afbbc6340b4c15381d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8371c92cc1bfa19e7d84ee06e039431865089dc97342ca316af73a13ef3e17a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVW1MHVlK5vsvmio6Rg3gnIcEEK-3f6W8gtI_M5y_Tk6KH_mnuFbia6N3oC1_9iNqGXR73CUk0WtHcclCfIUVmuPiIqiK1qktRaTyd0rwWwJ0u48QGRJFIZt6W5BbTNVtmQHVRLYXyWut3yR7oj59AtKR4Df5dfMa_pl-BSsIngYKiFGZC-Er8VSp-ZxBwh_wbQnO8F22tbFGHQXpyusLodbf0niNY7AFeWW0UcHwf8evgEe4NixxvtZFE1zkAhHr7Bi_LH_fPQYvgnB_53rlk8jV8P47x0flT5Eb8RbI7xT-FhbM6ABpsgziywIBCzv3jP0FsLnitSnIdEmpVjTOI-UZw7AB0E3enfRwmudRDftQiFfF24A83BAg7eJ2HXL1N97LB2GVsAaPEmUkrb_x4q0ZBWlww2xVCweA6NNJXLuEXOyhIaH542dqIsMeLTPSQQao8ZhFTOscGEqYXfDIX_6XMCb16FTNKs8wYSGLgkZeavCJ1kW7gTCtjPEPU3XNKP0knS4cmqOsTGoGoXqQWDOGTNuZsbepKy-9oq9OBaRUF1Ru2Z52HOQRv35iXBulCkv28UcOlx03jiR6EQLdJAdFIbCOl4rTCI19gapybznZD2Lrah9tSV2-ixCXDt18JB_YkQ5dYsmEEfBRIubTRMda-e6E7s_jhDchceJZpdzgJVKRf31eYnPa7AWGJ__VyrAtEMnvw5t0Q2yMkY5V46CZWW9kVHrA9IGT_HDDMSZr7i2huPV8Y66iBPXcIPc09UXqfXokAEED-XV0A62hBSVIAbmOQxEFu1QKKRGN8XosbRoSkziS3T6meIXx628qd5QAr3LIedujgWU8nFa25D5mXmmVHwwMra8hTmqELlvXbgqYum3D--mf1EWa9yQKZ1rMbe60kbe9w8yoYtipy-mQFAzFxMT3KgxFv1S1kegk7CAA8nyjje8-_Ok9QH1LOG5XJQvq3V_g5JIh7qRFzCFgoWVfJW4V55lDwTcxjzwaktBx4dIJFoejKFoFu5ZVkCOSG3ihICXeKPWe61uEXjQl8r41FfM1zO_WsU6cRdxXEM1IxzS8_yvuQ8TH4q6vScktoNDsUcY6aHNZkqe4iA3nj-ieZlzn-2kyp2xTdynEJoEETBM1nburjpANHBBso9eloOJ6JKuBTBwyF-NGlMXPs7DV8Lz6QMj_PIUI6QRanHT31y6NrsFm_rx9PXWh9xGWsjFB3dGg0o6fHQZXfP9JwJ6ZEaPk1O60S7dLKTM8y0Fjagjq-IEc7fMPXIpDWAoDyT_HEHw3ybTebFx_fD989Q9XaaSCPCjvbNVI1Wnrz0VpcRXUwstIfRzEKMkL7vrXlaolk4cfcNV-9Nh_LpS3J1llU8pMdIoWExEFkZA14QMaKn1f_BHeLrLc08-mJzndQyYUOPViQgodCQrnSWJwsUOMvJjqsOSDH6F-GPC5IT_5u74llUhAvxHFt1LrMJ8XEEU5ozzAyWvFJdbjrnzKoGRh3FZB5xEDfXQeU3X_55Gf7OaYMoYaCY6ElJAljJQbFikGnVQ5bwMyMaNmXbbiogQ7KE8a1jPIJgFrK-ptHAlzSCgaI7rQb01I5N8OHCBI76BEg8AT1W_OPiuSPcpidcJFQ5Vgkz2DwQNJYIX-1z9ZqfHb47vnasUkPLFJH_iw-AMg1yRM3Hx2wU5AgOBMayW-z_9yKams25u8bir2Y=",
  "id": "rs_0b181e7dcb26dc4c016ab455543b6887d0a7806739712b3a83",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.194,\"right_z\":0.16},\"note\":\"The yellow object is centered on the right jaw column but still has clear image space below it, indicating it is a couple of centimeters short of the fingertips. I’ll advance radially while holding the lateral alignment.\"}",
  "call_id": "call_R52B1VtFCfNZoOsWvM0gAX5f",
  "id": "fc_0b181e7dcb26dc4c016ab455552e8087d0898035e967a151f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R52B1VtFCfNZoOsWvM0gAX5f",
  "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]: [-0.1524, 1.0241, 0.8684, -0.7486, -0.2253, -0.0612, 0.9964, 0.5419, 1.8202, 1.5253, -0.7174, 0.3149, 0.3729, 0.9996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0006 left_z=0.1685 left_yaw=0.0631 left_pitch=-0.3034 left_roll=0.1573 left_gripper=0.9964 right_x=0.4232 right_y=0.1951 right_z=0.1523 right_yaw=0.0277 right_pitch=-0.3484 right_roll=-0.0436 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6752, 6.6803, 1.58, -0.2613, -0.0464, 0.0024, -1.2923, -8.3897, 8.8137, 1.4969, 0.1197, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb6fe37908fe0c9707b01ef7bbaeae5eec0175adcdf14234a859165cbb3aa2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc56fa9f1609b4ab70189bf8f82d28bd7fc73b0e6bd4a81c0f1bb974cdee93fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb535df7b02f309370bd9e24dcda9f813ed89940d36dc23032a051fad4ec8d93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 3.625 s

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

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8951, 2.0586, 1.422, -0.4923, -0.6247, -0.7231, 0.2028, -0.0212, 0.8158, 0.5999, -0.6128, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3758 left_y=-0.298 left_z=0.055 left_yaw=0.0296 left_pitch=-0.2502 left_roll=0.1311 left_gripper=0.2028 right_x=0.2581 right_y=0.0016 right_z=0.1287 right_yaw=0.0027 right_pitch=-0.2384 right_roll=0.0019 right_gripper=0.9995\nstate[joint_eff]: [0.253, -10.7829, 6.4479, 1.3309, -0.3687, 0.0171, 0.1441, -0.1983, -0.9504, 6.8034, 1.7363, -0.0513, -0.0269, -0.0122]",
      "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]: [-0.1608, 1.029, 0.8684, -0.7322, -0.2462, -0.086, 0.9962, 0.5552, 1.7699, 1.4548, -0.6735, 0.3294, 0.3847, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0001 left_z=0.1704 left_yaw=0.0858 left_pitch=-0.2864 left_roll=0.1546 left_gripper=0.9962 right_x=0.4142 right_y=0.1939 right_z=0.1539 right_yaw=0.0267 right_pitch=-0.3216 right_roll=-0.0348 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.3436, 8.4855, 1.5311, -0.0855, 0.105, 0.1245, 0.0068, -8.3897, 9.2923, 1.5409, 0.315, 0.2222, -0.0611]",
      "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]: [-0.1524, 1.0241, 0.8684, -0.7486, -0.2253, -0.0612, 0.9964, 0.5419, 1.8202, 1.5253, -0.7174, 0.3149, 0.3729, 0.9996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0006 left_z=0.1685 left_yaw=0.0631 left_pitch=-0.3034 left_roll=0.1573 left_gripper=0.9964 right_x=0.4232 right_y=0.1951 right_z=0.1523 right_yaw=0.0277 right_pitch=-0.3484 right_roll=-0.0436 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6752, 6.6803, 1.58, -0.2613, -0.0464, 0.0024, -1.2923, -8.3897, 8.8137, 1.4969, 0.1197, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb6fe37908fe0c9707b01ef7bbaeae5eec0175adcdf14234a859165cbb3aa2f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc56fa9f1609b4ab70189bf8f82d28bd7fc73b0e6bd4a81c0f1bb974cdee93fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb535df7b02f309370bd9e24dcda9f813ed89940d36dc23032a051fad4ec8d93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVa8nIzxlAgykNXZgTbXFjowSWRmqJ9pv0Wo02ZswvxWPWNkg_j7QZQBGQh12IwG1zCaSA2peGfIJvLrDyGsyJ0Kcw2rUkNE3BBzDKjbAj_Ti_6St4x0XiivBxNQrDCmUoAsqRSXmZAzerA0StVdKp2EcbAi-41nzHQs5ANlY_Mjg3pmQLA1Dh6YWn9ftlEICDEOTFRwdGbtme57hcHGmfkpCG3rt_ixEZ_QRlrYJL-pF89SYilKpyZHoyItsYquWlTU76CwMMwy-B6KfkBYdfDn17RvyDtyxpcZlWfxPd7E_TmbY_nizIPEvR5BBzCvGg-NOTYSXuCbZqnO-eOhDtaQOoATS3d247C8np3_0ucMF0EzAj75FFCGifuET_6EjBkZpMeXDpiYBevC9UMLX1tOSuxDQ_txzhZ1Pi2XI1njYL3d3IrHftaxj0tu4X-X-DH27EphrKVJoL5erDaPg4s8gcT9uMhvaYCR61sj2HVMqvJQwb1aJBsDf8nkwlmg41fSbBshKaPG0xzcnXoe7PbfCWney9DNJJUtlr9OBwbovnjf_2HHcV77bmqTWLek7wCLRJZ3DXj9IQJG7ejPaucxJNMkNrTrVn3eNGHJm9WK3tIvLttsY2dTeGAcMFa8Jmi9EDsFi3mFpJoTaqkXGVS-kS7vkWPvgbVVS1Smp0xQghuLzgHb-Xjw1pYsWv8fGZ_XqKFJZ1ck8GKOtfN4_2aSfdLRE6u_qh1pI916aF_CNIl5M0csFDk9ve4LV3k0vGgYv9DXThjiclu-heT6I_4Bml_ykoDH_FqBmFG3vp8r50tQuVH_eZ1l5KyBbrE1DDlMcgVd1NFG6sNNDJ28f_xLLW3GDrqT6JYuvVU5xFiER2UhxJpXP3WV7-UkBYzgak3ZitNvql1ws2EUEo747rK8sXXFbIUMvYxEpc-RB53mSOFRZ4YN3GqLabm-9HSZJOJ8ie2kcrFl6p0oKSblVLOfiL0ET5YBmVrOQIHP33oYnQDvkLRS42kvSCDm9dgIuUjoHRoRfmArmMDUsu8Bd7mkwR6v-p4I3sIObPxiqxn8GijNIFXiLl9WURk25b5V6YcTtCZEsn_JheX5vUoRN7GKK8mH8eYePe_kmE04jppp3XBXi1t_2duRiL2LmwtmgHPsLVSyk9ndyzQCqCmciVogHPI3IlobaOqsnkmEMJoSLUIVExXz5UjeaXzXpQIJmLqHkPAaBAiAlTlzBrEd3maPXgVk_yL7EGrKiBmus8taROMWdrJrB6WAfnqc4wD5hSqj7A0eUgBLfBtT_K9KRrjsTHY_bbIvK8uEkonzHe6RCudOOaliH-xeStpHfkSxGeOmPUXWRMdktXzkn3odUsF7kgytRLBIsaEFo0tcLBMtMgZCFiH6ZTzuubnwnX_hM-FZmbbshbQ_AfZCM05MobDHokqczdU6XXyKYSOGIoR5X6mUR80IPVEAHcwhtcVgogmaDEUivCqKnAPpeSmRqCV7kEa0qSm21XcqqvbE5BhwV-jfe9H5MwXa6IoXydWSqapJPiyihlxUcopm-4WHaX2unuhCi3fqP6ote6nJmH0zVvHgfI_H2kWW2pkQ1hxZppDjTPh_IHbDN3RC-z9si-tQv8b2edk2a2nZX-Jft19Be7muepignSuCG2DluBa7mNAkVWuiS7ctL86-h2rReUgim2wTSNfSXhndLpObV6SWUFImD38hZ8wNp-Kan5g6ZNBMLVWxaIbXluBK4WjaAgvt-fbxU4KCEBY95Ku8PCgJKewj8YlQhPGl42WxZ5FixpvZjiUSXs2NACS7ClJNTkXH_UUN6jJK61Pwt_fhmATiKioRNdzqC1thCbAK6Z2mavEVTV_igNeNMGNMN2SRK-plP7StKyDRVQN9W9kkQh1n8shLxgY1uQ4EsA-WTxOA1oOv_uyNyC53UzUW0D6NkQP4A==",
  "id": "rs_0b181e7dcb26dc4c016ab45557d42c87d08cb40291cdcde77e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.423,\"right_y\":0.195,\"right_z\":0.03},\"note\":\"The yellow object is now centered and close to the fingertip row. I’ll descend to its mid-height so the jaws close around the narrow sides.\"}",
  "call_id": "call_2FvEh8FeATfL0UwF7g1Xv3sW",
  "id": "fc_0b181e7dcb26dc4c016ab455596ccc87d090f8c90f1b7b28e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2FvEh8FeATfL0UwF7g1Xv3sW",
  "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]: [-0.1555, 1.0302, 0.8684, -0.7502, -0.2283, -0.0784, 0.9964, 0.5419, 1.9335, 1.1976, -0.3389, 0.3065, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1668 left_yaw=0.0729 left_pitch=-0.3089 left_roll=0.1501 left_gripper=0.9964 right_x=0.4103 right_y=0.189 right_z=0.0292 right_yaw=0.03 right_pitch=-0.4069 right_roll=-0.0778 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -2.7282, 6.7487, 1.3553, -0.1343, 0.1587, -0.0073, -0.1162, -9.1966, 6.5162, 1.4725, 0.2027, 0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85063846585a458fff1f79af98039f1ce2c0eaf5c101c3a0e8b703691f1a2490",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74661cffd47db0526e95149bc73fb478760276df59b3837d3f4d5abfdb727283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4b7533dfc8b96a441b3dd0ddbbbb7240f13f4f86aa22bc1742ef5210460585",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 3.324 s

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

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8955, 2.072, 1.4071, -0.5014, -0.6216, -0.7273, 0.9949, -0.0212, 0.8158, 0.5999, -0.6327, -0.0196, -0.0372, 0.9995]\nstate[eef_state]: left_x=0.3711 left_y=-0.293 left_z=0.0433 left_yaw=0.0379 left_pitch=-0.2745 left_roll=0.1575 left_gripper=0.9949 right_x=0.2545 right_y=0.0017 right_z=0.1254 right_yaw=0.0028 right_pitch=-0.2582 right_roll=0.0024 right_gripper=0.9995\nstate[joint_eff]: [-0.0479, -12.1641, 7.1179, 1.0769, -0.4029, -0.022, 0.0024, -0.1709, -0.9641, 7.3094, 1.6239, -0.0366, -0.0708, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1524, 1.0241, 0.8684, -0.7486, -0.2253, -0.0612, 0.9964, 0.5419, 1.8202, 1.5253, -0.7174, 0.3149, 0.3729, 0.9996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0006 left_z=0.1685 left_yaw=0.0631 left_pitch=-0.3034 left_roll=0.1573 left_gripper=0.9964 right_x=0.4232 right_y=0.1951 right_z=0.1523 right_yaw=0.0277 right_pitch=-0.3484 right_roll=-0.0436 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6752, 6.6803, 1.58, -0.2613, -0.0464, 0.0024, -1.2923, -8.3897, 8.8137, 1.4969, 0.1197, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.0302, 0.8684, -0.7502, -0.2283, -0.0784, 0.9964, 0.5419, 1.9335, 1.1976, -0.3389, 0.3065, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1668 left_yaw=0.0729 left_pitch=-0.3089 left_roll=0.1501 left_gripper=0.9964 right_x=0.4103 right_y=0.189 right_z=0.0292 right_yaw=0.03 right_pitch=-0.4069 right_roll=-0.0778 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -2.7282, 6.7487, 1.3553, -0.1343, 0.1587, -0.0073, -0.1162, -9.1966, 6.5162, 1.4725, 0.2027, 0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85063846585a458fff1f79af98039f1ce2c0eaf5c101c3a0e8b703691f1a2490",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74661cffd47db0526e95149bc73fb478760276df59b3837d3f4d5abfdb727283",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b4b7533dfc8b96a441b3dd0ddbbbb7240f13f4f86aa22bc1742ef5210460585",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVeMUcBxH3BZ-84Qfi2srxkj1bnKPg9JYVNMTXfdwcIzWjlHcsLJCxy-oimfquDxwAJtqqoERxZYvmKPM9DOhjz_QW3yete8N_TkRuG6LbGJicywEqdnZQhpOSzf53fGKPdsdHtNxrhogZMq39_qDzq3ljNhiNHNDdyDM4oe4vWjYrlzqjvHFaVu0R_EKx9TpBNAY4KESXlwtaXsmdd0oNyazoW8bsBXB_JVwOM6zjZ3rA4KwwPRPTNLBCku1Jbja0c5w5_7lawsynBb6rNrGzShBoy5k5sDKwfc4_FwUv4VJ57Qhi94x51-_eF9dWMr8EpnlRSdiChe-Bwimid6lTGaHpj3YV5pVfa35WeQkGYrnIRk0JklaidoBXTosK9BT5nI8Gu2NUaypOZnCDK1gqb9Muqjm9ymVewrfCH4h8ZOXzZEHjYu6AOg0wMGv5Wu1CvwFKCYUaAex1-OAOTNgHgsgx_e_P5Dq4ruc7zLbZVP00-4a2zNIlR5Fl1hAVyItfELW_hK6t5ePJfs8dXqUbZ5gG5BfcrKsOhjRkaz383bngC3GuNDycG1Xuksy3pj98iUvIWjv5SrXDfhsVwXAo8ni1nBVLCxjzGW01xBfnBq_4ZOOebkuGro93bfV8Epesig5cLVs37iw7AugBqPOUFpcenz6W_PogXEK1c6EYZzBrQPRmYIczB1FNfh-ZuLz2vm2hsLMZdTbSggFmLs9AOU1vOmqD7AGa-OxVA7rYWW4219ANv8NDaPWq-VduptcgQYutj86TzZxmziNyb6GnM6V8UUUJ5Y3cNWI5I8MRcoqUX6nAhQthxpl5KcyifP3_hXucWh8udptmfvG9K_jdwiaenDTW2J6BfxxEC3zKNvwd1ah6ss4auGZf2tXe2YeMmYk0Qw-92VNcRftLTFBJ4KFG73eMzWnNsZwQuhVQ6Br7tmPq8W4sxkhjDuhjW8K9DHOaQxuJDyEEEHWIRlL_Bz3QH_2rxPD_sZIJLL6RHrpf6e8WVgcSYUl4GPiNatEclrTrBoLAa3qL9y6OwXyfjHybeV9l0WN3u8lc6A3r0DY5hnjavZq1rnzgXydvFLLqhG1OB3BtV9yumO6tQeZr8mjMw9vBy-61aMs0WPiMLgC_qS_nhqj5VC9mjjt8bYJNhfzWuXefNsiZzrnc4tM8NI1N_D0eIabLoAvqURDntsf8w9eu8FY1twc8Wqp38vGKZ1CEP6h8g1DsAw5M9bfk05M0VhATLIHV2e1-O7piPY4UJMJcDX7Syjyb6CiIXz-NltBBKRC0hNQEvUzt7PldWsyI5GEEDmNneSRE1q1NkLgeE3dPzyDNd8mGYzrcS65L1qsay0wgfCA0HIA1P4mtarjsJxgjOLEwT4LBJewtl3qEVDjUFDgba755SRuvXwLLyDfzE2MSfvvMajLzUVRg93h5jLRiSRbZsyflDZPmEbE_DlCyLhNX3E0X-nt7s8By9ZHx3GtcS9IAoQDX6CvVN1RS4KyGOpLIEmC9cssQUNr3Y8gJtfEwwuqTL7vU6GOouMxtaZGyGp0gMcHTLGDq37kDR5gPHbiBTJcq68lf8qIHpcuA5rZvJquJUZBZRgHNVgT997HbaDBSVkwntjsLDSqEl8-lf6pZbZo8CWXxUmvYRFbJ8jYu3Jjta1rmuVDIhVkh7YeZxOg3xrrrIUqQWsbEHbhr4w3eHwo_CQ3KMTul_RnU9ZrHJY4mxnm1vnCHKUPmxSdpgYr5jyqHglziAbZRNoZaJ4qiyLLam26Xxe6HQAWqX_NI5jP4H3Bw_ByyJ",
  "id": "rs_0b181e7dcb26dc4c016ab4555bf19c87d08c5f8dd3c78c61f3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At grasp height the yellow object sits between the fingers, slightly left but still well within the jaw opening. I’ll close and use the settled spacing to confirm the grasp.\"}",
  "call_id": "call_hUHV3Qtcg9ckJHYmMyta82LF",
  "id": "fc_0b181e7dcb26dc4c016ab4555d381887d08fd3d0d4dfa2f862",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hUHV3Qtcg9ckJHYmMyta82LF",
  "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]: [-0.1555, 1.0306, 0.8684, -0.7502, -0.2283, -0.083, 0.9964, 0.5484, 1.9419, 1.1843, -0.3569, 0.2699, 0.3622, 0.0531]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1667 left_yaw=0.0755 left_pitch=-0.3088 left_roll=0.1471 left_gripper=0.9964 right_x=0.3989 right_y=0.1927 right_z=0.0177 right_yaw=0.0562 right_pitch=-0.4572 right_roll=-0.0661 right_gripper=0.0531\nstate[joint_eff]: [0.0068, -2.6598, 6.694, 1.3358, -0.1197, -0.0269, -0.0122, -0.4034, -10.5778, 6.8308, 1.3016, -0.0317, -0.5299, 1.2234]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848eeee2daccc2443da8c0254adef416bdd0632e8d28ee7f88a958b1caafa644",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d188c45d407c8ea9ca6839337f36098c6cf8c972983a786c343e41a525a54681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c095bcd67c2c0b0c8ce49407c3545f7431b6f3a023600c057171d805a85233f",
      "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 · 4.934 s

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

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1608, 1.029, 0.8684, -0.7322, -0.2462, -0.086, 0.9962, 0.5552, 1.7699, 1.4548, -0.6735, 0.3294, 0.3847, 0.9996]\nstate[eef_state]: left_x=0.2905 left_y=0.0001 left_z=0.1704 left_yaw=0.0858 left_pitch=-0.2864 left_roll=0.1546 left_gripper=0.9962 right_x=0.4142 right_y=0.1939 right_z=0.1539 right_yaw=0.0267 right_pitch=-0.3216 right_roll=-0.0348 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -3.3436, 8.4855, 1.5311, -0.0855, 0.105, 0.1245, 0.0068, -8.3897, 9.2923, 1.5409, 0.315, 0.2222, -0.0611]",
      "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]: [-0.1555, 1.0302, 0.8684, -0.7502, -0.2283, -0.0784, 0.9964, 0.5419, 1.9335, 1.1976, -0.3389, 0.3065, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1668 left_yaw=0.0729 left_pitch=-0.3089 left_roll=0.1501 left_gripper=0.9964 right_x=0.4103 right_y=0.189 right_z=0.0292 right_yaw=0.03 right_pitch=-0.4069 right_roll=-0.0778 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -2.7282, 6.7487, 1.3553, -0.1343, 0.1587, -0.0073, -0.1162, -9.1966, 6.5162, 1.4725, 0.2027, 0.0757, -0.0171]",
      "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]: [-0.1555, 1.0306, 0.8684, -0.7502, -0.2283, -0.083, 0.9964, 0.5484, 1.9419, 1.1843, -0.3569, 0.2699, 0.3622, 0.0531]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1667 left_yaw=0.0755 left_pitch=-0.3088 left_roll=0.1471 left_gripper=0.9964 right_x=0.3989 right_y=0.1927 right_z=0.0177 right_yaw=0.0562 right_pitch=-0.4572 right_roll=-0.0661 right_gripper=0.0531\nstate[joint_eff]: [0.0068, -2.6598, 6.694, 1.3358, -0.1197, -0.0269, -0.0122, -0.4034, -10.5778, 6.8308, 1.3016, -0.0317, -0.5299, 1.2234]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848eeee2daccc2443da8c0254adef416bdd0632e8d28ee7f88a958b1caafa644",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d188c45d407c8ea9ca6839337f36098c6cf8c972983a786c343e41a525a54681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c095bcd67c2c0b0c8ce49407c3545f7431b6f3a023600c057171d805a85233f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVip1D_Qi9Re4jA1knLNuIZZXwwKdRHD9wuOAqKNpCOIaaJAt_pavx6XCL5jTMCkBenQB86D8S1khRlxeDFLKlQFDJqFcJFswG2CTqLm4FO2DmWRRKvLsGGknahFhdft3KmCKF04E2v-VQksiI7i2PhbuThJz_bBYHUGTy1KS2xV-eGhA-F0xdcZBjzK2Wqx3AaBVu8wi-MdjvdW_rxP6MvFb-rJ2JD5SeApSCDLb-zjq_vEHIkTdUKSilOFhU4zWDCmNEEyJJFk29Sd4bt-N0nABs9Zo7CRskC9SWOn68FLrJsp5Ub1QQQQcBNC0Wm-3n7MSMfyV_V_oYeI85DkCLo-uJtDB5Hxxf3QB32bvzlKwGWnB3MlH98_AZL21Fz2gCOPH9ndZ8-kAE8uWXbsrUkN-biN3jbE70TY7T4S2Ii42vzU8xZ1Nt_TIXz1AJrW5L6zQJXclCegDKXRavogxyaKbmz5rVRNFwPl3MUWimogvqgKqEnXvJPHXrq2l4Pf1j9gSreZX1SgenTDqkKj10EAjLFo1nrm__abspnathC3osdRP1d69yi1saZ3CuKp11ovMP1blPPFLi5j8Mue0ytJahUA1-VzExD8RLX3fjzKmrxXKxPFUyp9wkJpkw3HetJU9dAifnwrmbMV42WIP5Q9QnEKRaLOgr0VgUJRTxYRFShR3VXVw_OBBmDkrxISB6toifUjp2Pfpr0FaUY4YT6I1P0VKiJVBekck-11--tY5I1n3JLFlEwDaRNWOf3Vtvkup-upvHQgkxAUuZc3GZnyJ0lcZvaV-sjGlJhSQJm1S1eDbehZqfVZGcpb5mZGqRssoGOQsjdXb9ZYWytMIvL1nuoQwfu-V-pPcpq4c-6KXHKGFcOT8m-4mbwyov1dLpr4FKWYJxZr0Gi6RRoFRu06xjeYAiLA6TFQzWRVy25cZJk6C4Non8ZKdIsKobIknurRhQRPvlXsTm_R7w193LVnswq6W5h2YhkLNWPFgkSlmsHwQTcXkBtaHpa-vc-YOtZch23dQpa5fDb3XevCTZbmZqOTg3ncD5ABJU5yj9vOcJQ1S8xCFWfNxhEl7aIwlijLTAiesdTXC4soLsB1p2ian9MnKNVDkQkSY4tKdkBwjmmJqStPPTj60a3V3KcLH7AWzoYb3ANTlNDnLvqHQ3DcbbAhMr8I0kNBupK0cm9MMTLMfMJGJSK9_JNMV6rAr7BPipu8L8Ps8OkVnQjpqOxvgK7ompiI0RtH5d0z5e4hEw3QNm3kPS7ss7Dv_ISyHHWQzmlMjHtRhufzVkoutWhVgN6sZm_H1e9NXweS3esW1UM7iiaDjhFUeOv_5Pjsr7v469Q45EPre_n4XjHalfc97fOykLVWAaQvqTge4V75b3OMBQAgbArcS_BMd0ETlVcUdbvmiQ-ftb02DBtBl9iXzJdl9R8Ve4Hu1TzGN6HRmPaKWo786tC44suRAxM2svpfatbmIGBmVOywonE24tk_8LkN6Pw0DWFCAfqSt2uSWi2Cr3YK90VwT5VjDjoppHwgn7J8U1drmHBV8VLQ-jFHVdUkSPiv4vgwwX54CT5F5M68CsZtnAxlgZPGPeSR71lT8Vm1Ykxt99VIQJ3DvArSOAkA5E4VDd58MF1POw6SghuG-0LWtyuu-h1pSjxQZ8hl-ZUrh5CaC8OPXgARBfuMh2Vv-qHnYyYvM5mL1KXO_hfRr--aMyn_UWogw_QnWaEawBjpgPUSsnM6zNQIr-xUG_l-_Z8qr-_Dwglvu1hXBjnNMNrEzmkX7GrxudyzJVuh_NrJXSLt7UxDVC4vP_9ukAWx-95mdfaJ3kbEaw1VU5ZBRWQl0gZBxVyCYXI2UeBUyjcQPe2ZdthiHmmqMIi7dZt5lC6Pezrq1SGeh8cY131lyWlL0HqnFo5U8vO80kP3rnvtLtjoVhmD-TjEFVh5UmLcQBP3TP8F5Cit-lV2ko1jONeJSlN7v2F3rH0fHYCwgIijdB4o_oWr0YjETGURRaOgtWjyXRz7ApiCP7iVN6frqOrdB6jNhhZkFYtJIQXWe766d74h4O-Xe0IpbJXUAOK5w6Fal4PhM2xkaImuL4=",
  "id": "rs_0b181e7dcb26dc4c016ab455606ecc87d099f9216ca5467da2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws stopped at only 0.05, which is marginal and may be a grip on the object’s tapered end rather than its body. I’ll lift a short distance to verify whether the yellow object actually follows.\"}",
  "call_id": "call_k4p05om6jaFF10RwukW3mHtq",
  "id": "fc_0b181e7dcb26dc4c016ab45561f38087d080d91b201bfc32a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_k4p05om6jaFF10RwukW3mHtq",
  "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]: [-0.1566, 1.0325, 0.8684, -0.765, -0.2283, -0.0834, 0.9964, 0.5438, 1.8957, 1.3079, -0.6151, 0.2501, 0.3614, 0.0578]\nstate[eef_state]: left_x=0.2845 left_y=-0.0008 left_z=0.164 left_yaw=0.0759 left_pitch=-0.3251 left_roll=0.1509 left_gripper=0.9964 right_x=0.3871 right_y=0.1872 right_z=0.0513 right_yaw=0.0458 right_pitch=-0.5438 right_roll=-0.0961 right_gripper=0.0578\nstate[joint_eff]: [-0.1573, -2.7556, 6.6667, 1.4579, -0.1832, -0.0513, -0.0122, 0.3077, -13.5316, 9.265, 1.4237, 0.2466, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6992d420a7e81632ff99c2e834ae9dd1b6c36a1188285013d391be457f6f93d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5935ec4ad9fe0d9804afa765e52f13d5594555cb935f9da59d811031190f11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835f85eee5855a8f6365ec0321258ba57eb7e71adb3d7bf55e5d4881fdd80950",
      "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 · 5.693 s

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

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1524, 1.0241, 0.8684, -0.7486, -0.2253, -0.0612, 0.9964, 0.5419, 1.8202, 1.5253, -0.7174, 0.3149, 0.3729, 0.9996]\nstate[eef_state]: left_x=0.2871 left_y=-0.0006 left_z=0.1685 left_yaw=0.0631 left_pitch=-0.3034 left_roll=0.1573 left_gripper=0.9964 right_x=0.4232 right_y=0.1951 right_z=0.1523 right_yaw=0.0277 right_pitch=-0.3484 right_roll=-0.0436 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.6752, 6.6803, 1.58, -0.2613, -0.0464, 0.0024, -1.2923, -8.3897, 8.8137, 1.4969, 0.1197, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.0306, 0.8684, -0.7502, -0.2283, -0.083, 0.9964, 0.5484, 1.9419, 1.1843, -0.3569, 0.2699, 0.3622, 0.0531]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1667 left_yaw=0.0755 left_pitch=-0.3088 left_roll=0.1471 left_gripper=0.9964 right_x=0.3989 right_y=0.1927 right_z=0.0177 right_yaw=0.0562 right_pitch=-0.4572 right_roll=-0.0661 right_gripper=0.0531\nstate[joint_eff]: [0.0068, -2.6598, 6.694, 1.3358, -0.1197, -0.0269, -0.0122, -0.4034, -10.5778, 6.8308, 1.3016, -0.0317, -0.5299, 1.2234]\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]: [-0.1566, 1.0325, 0.8684, -0.765, -0.2283, -0.0834, 0.9964, 0.5438, 1.8957, 1.3079, -0.6151, 0.2501, 0.3614, 0.0578]\nstate[eef_state]: left_x=0.2845 left_y=-0.0008 left_z=0.164 left_yaw=0.0759 left_pitch=-0.3251 left_roll=0.1509 left_gripper=0.9964 right_x=0.3871 right_y=0.1872 right_z=0.0513 right_yaw=0.0458 right_pitch=-0.5438 right_roll=-0.0961 right_gripper=0.0578\nstate[joint_eff]: [-0.1573, -2.7556, 6.6667, 1.4579, -0.1832, -0.0513, -0.0122, 0.3077, -13.5316, 9.265, 1.4237, 0.2466, 0.0024, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6992d420a7e81632ff99c2e834ae9dd1b6c36a1188285013d391be457f6f93d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d5935ec4ad9fe0d9804afa765e52f13d5594555cb935f9da59d811031190f11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:835f85eee5855a8f6365ec0321258ba57eb7e71adb3d7bf55e5d4881fdd80950",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0b181e7dcb26dc4c016ab455644c6087d0a9edf394cd8b9354",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16,\"right_y\":0.145,\"right_gripper\":1.0},\"note\":\"The wrist view still shows the yellow object on the table while the gripper appears to have caught the safe’s thin side rim, explaining the tiny spacing and stalled lift. I’ll release, rise clear, and shift about 4 cm rightward away from the rim to align over the object itself.\"}",
  "call_id": "call_7mCIEVYL6PCB8rYGcs47WYHF",
  "id": "fc_0b181e7dcb26dc4c016ab4556719e487d0aaf90e982be07ac4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7mCIEVYL6PCB8rYGcs47WYHF",
  "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]: [-0.1566, 1.034, 0.8684, -0.7681, -0.2283, -0.0837, 0.9964, 0.4465, 1.7878, 1.52, -0.9798, 0.2119, 0.2653, 0.9948]\nstate[eef_state]: left_x=0.284 left_y=-0.0007 left_z=0.1632 left_yaw=0.0765 left_pitch=-0.3296 left_roll=0.1518 left_gripper=0.9964 right_x=0.3807 right_y=0.145 right_z=0.1328 right_yaw=0.033 right_pitch=-0.6054 right_roll=-0.1266 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7556, 6.8444, 1.3846, -0.149, -0.0464, -0.0122, -0.4444, -11.3709, 8.9641, 0.9499, 0.0952, -0.022, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40780f19107dd2385d1136d20ea9b798d3e2ddc6da08b0ff83faec0a349dcd12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86637925c508c501248d86fdd234f72270a339947afe6a2e562001e9fd1078a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d409fd5ae8a63a8c1e5a8a4696bb930cd91ee674735b20667e37e55bd0036f2c",
      "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 · 2.942 s

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

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.0302, 0.8684, -0.7502, -0.2283, -0.0784, 0.9964, 0.5419, 1.9335, 1.1976, -0.3389, 0.3065, 0.3599, 0.9995]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1668 left_yaw=0.0729 left_pitch=-0.3089 left_roll=0.1501 left_gripper=0.9964 right_x=0.4103 right_y=0.189 right_z=0.0292 right_yaw=0.03 right_pitch=-0.4069 right_roll=-0.0778 right_gripper=0.9995\nstate[joint_eff]: [0.1573, -2.7282, 6.7487, 1.3553, -0.1343, 0.1587, -0.0073, -0.1162, -9.1966, 6.5162, 1.4725, 0.2027, 0.0757, -0.0171]",
      "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]: [-0.1566, 1.0325, 0.8684, -0.765, -0.2283, -0.0834, 0.9964, 0.5438, 1.8957, 1.3079, -0.6151, 0.2501, 0.3614, 0.0578]\nstate[eef_state]: left_x=0.2845 left_y=-0.0008 left_z=0.164 left_yaw=0.0759 left_pitch=-0.3251 left_roll=0.1509 left_gripper=0.9964 right_x=0.3871 right_y=0.1872 right_z=0.0513 right_yaw=0.0458 right_pitch=-0.5438 right_roll=-0.0961 right_gripper=0.0578\nstate[joint_eff]: [-0.1573, -2.7556, 6.6667, 1.4579, -0.1832, -0.0513, -0.0122, 0.3077, -13.5316, 9.265, 1.4237, 0.2466, 0.0024, 1.0281]",
      "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]: [-0.1566, 1.034, 0.8684, -0.7681, -0.2283, -0.0837, 0.9964, 0.4465, 1.7878, 1.52, -0.9798, 0.2119, 0.2653, 0.9948]\nstate[eef_state]: left_x=0.284 left_y=-0.0007 left_z=0.1632 left_yaw=0.0765 left_pitch=-0.3296 left_roll=0.1518 left_gripper=0.9964 right_x=0.3807 right_y=0.145 right_z=0.1328 right_yaw=0.033 right_pitch=-0.6054 right_roll=-0.1266 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7556, 6.8444, 1.3846, -0.149, -0.0464, -0.0122, -0.4444, -11.3709, 8.9641, 0.9499, 0.0952, -0.022, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40780f19107dd2385d1136d20ea9b798d3e2ddc6da08b0ff83faec0a349dcd12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c86637925c508c501248d86fdd234f72270a339947afe6a2e562001e9fd1078a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d409fd5ae8a63a8c1e5a8a4696bb930cd91ee674735b20667e37e55bd0036f2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVubhRcVl729xfhyHIkYeI0DBqg3VlPNfC_NLCfYvVyossG7wfx2HU9HdmJ_YUbdmRHXkCQLh5TDGh4iXqZmxHMpOGSz6fuR1JO3JXf7S0dXCtJQUtXaRBktBjCkFp40Iyql-nI3OkmX0ofkGTRDEJRaujTBt5ZAmovH5f39c_mOkIiSWB7aRd9zPGLrAdeQOJ2FKMqZtppPmXXG5-qE9gDk4ManEi069qVSkzTNP7LD0AzOSAsaTC4mjIHZT23K_OxZGBLkQSGwEud3teWT8yOSVC3kL2KVFynAk6VwmbUBbgDGpXI7Tnf7t4FOvYnySwYhaGvTsNtyJESfPX69UN7VnXPOicqvm-8cRu4hIVQSzNJotoCK86kCRSTSbBf6wlJqeQe2TI69kocz7wznxWLc34yXx-_T5NGaKF1n8l5-YpMZBeYB0bwR5QomIxgFCW_PE5Oy1OJroCEuo-FjGtPPADD7PQ9KfOImxVrh4IIMU8ViKB0n49xeczaRneLUMKa4nRWcV01YOiJ-ZUIkIX4waB5svPJH-7mO-5XlE-lit4Q6nIZU9tb6arFfufBPpmmjXmVz8QpvfAAWK167dUXlEPdcVAAAYWWKfWrpgdvWet63i8iFPT73S6PvqXMOlkPadTtyN_oa4IaaVaiCQGOlSK-tJZcX6WUjP95rhsEF6FFKkuc9gXVl7PfaEAdr_zE5Wtj9P7XtJ_YIoUrzkjwu0SiRns0L5Q1jn0AMlBvKkmQIJ0LSqIWYgf0jTR2nk4hbGvErt8tVQZePesBqSeJjy3U4orv0_sNg3sS7A65LWo08da8IAuun6OIjuBLVW1ObJdMNXbH-cCApqINoHXzD9ooA4MYfHHDaK_W9Fb9NcAriXQP2MOai80hjxpEKWR4b-YuMyfwlxT21x9mP2ykoOd5syt7wBWWSmJJQ9D5shRNTSSx7kp-qD5OAdS2B5G3MQAc6ytOMtQ_SCKvFFfmQOpo-1nqG467FsWPsCaOYIzzk357fskQbDTq4NJezBaj0xjb0t05X3yMg8ZFj9-BO0-SixaYBodnYDElC6DLlg1oqloZJAVtyKXYbrRqFqHcLbR3l09I8jQ0lJQFFl-2LznB-iOp7It8QWqaG1_GUyHPhBec1ibQnH4qau7cA5kG0-5UAc75EZvh9QijdDa2MYVcJ5_rB1hpnS_vuvSwefAz3HRjVk7UeBChvKFx0UDQd3NsDeSScaQpiLMOTalFcGSbDcykihqQdGrgcONktwW5JA05OhOxG-G95lPFsMJZ8zcJkRuiKS4-nqLyzPyY9XDf7qOEAlGiMQWOiBeXpaty5XIcvnve0aeWMw2M_HkDSCamgD4nInBH58lu40eVfwhjNZhaTYHnEGYeUHpC5BEU0z5bcUruoA8KrlLoAp3eao71-R_EaiV-wmeqrfzBylGS192XJfVUyXrBCfAIKdGnnY0rGvPqKpBNuowI7wadz4pYvJHxY8i0EdveFYQFw7A05JImw4oLVdiGTzefBEU5s-VtCqMOEzvRDT-ybINtZfVSpvblkRuWwEovtNqIyR0-WC_WhyCZqT1HNRB5lrRUN7jFn_K68u1qZ_DSP71imBuGBDIY4-IyoTBU7keapldU68lQfCCMuu30hDp8BfWAVt3ADzXWIxLeo-w89xpuAfz-BaSM1SySVY7a0fz-euhQNmav7j5SijDR3zCwKjDGBgXrUSeuqLh61ezxkhvmlNnnu4Q32K8HAE5W7CvndGCjnUTt90_8mNB58yG8cwxBKu-oqqkqoZ9stIxos5xiGhR1NhzOHbiPEw9CA5i6B60yauDBC31u4ZlhOFWULTTzGQHsm6j-mnugS_hTHcwNhV3S_j6J0PMQgh07TfBCJQlLp-_Jwwb7DxpWUL_B0GPPQAbRmaoEQdfDhieaVrPTqURyISGQUg4duoIqDvjSHVxUgxhdTwzRWJJCY7ZdmpsnDClItcVe3jEYlYodf9-8Wosmkf4hK2HK9gEwC03mnNNFVQTeyYD38BCOlifcVueLmPqgKfBAwV5Td2j0cRWSid3rZweEYE-wLh6xQqkJhdtGchTtUfbw666BSiMpJMf2QcHjHDMLAD9UX7MJD6z_BjtJ78Da0sc9GBFlBTD2H4dzyeEdn6Io137Qzj25QBOFPXkIo-Ie8rhzilrsWOY1Jl414qaBE5Bd4zJ-KysVkMAF6L7Hcl632tl3lMZpaBrYJ9rFoGG0eaTIrtQNx6C1yYIESFeZbKRE8DThsj6HcFRJ2XLFLMCPelwP7LK3RzRl8WAeelhagIsSUwJbRm82uU82fP9m20luos2VhA88wyrpJIl7c_KTptDr1cXcE41SzwHfW3n2KL00jTBslVA4PINREHfODlKOSdzjPuDc9uMGpHlU86Xyhjbe_-tBWKNs2asrWZcQFHVQi8x5WglANhxbxoGNUTcmEPz4ItWdfCYDmXX-gftulhrVrNY_BQ9CT5ZkA-I9Kq-MnIYueWU-CEub5M71Q-LL3aa4YVC5_fWukHK986AeGeOnANV83_6_tFhnHmaot44mE6CAxjfYdc-sMdZ6oeylkdCpG8jg0DTyLorxhQFW5C1z8pk7zt1nAOsF53Z8EuOpA7_f5OG_Zm1oqCFQa5qIanftolawwSwsSTwrgwGIV_y3MGJ3Ro4TbKxP720fiUveqLzwQOnT3WHOgskDrhP2wlcRCQ87KbXRLywWman5qCaP6O7iWhvqVDkECwur_sNSico5AyAT-21gBFNngPYnuHUtkH8vP8O80fYqpd12VyKr5YcsyjitpRBHbAGyFOuaP7yi2sEKxHE_MU4tR44yxaAl6v9yCukZyFjYavM4dKFZtxUVyD9hwb-5KCoXaIAS4AsPL74c8_4IbUMDwLZmIUn-w36DC3SNxk7IMKP0ui1ifVwipftwYsIxLpu2Bzir9CI_npNwrcd_gTEJOPFtgQe-s5yCXRwnM3KiffRxFQKcnZI6lpJ-Ri_fTTRutJqEHh_dMyHmEZmMFzjGwYg7WlLeWokKew==",
  "id": "rs_0b181e7dcb26dc4c016ab4556a345887d09cd6400b7df4d3a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.145,\"right_z\":0.17,\"right_pitch\":0.0},\"note\":\"The failed rim grasp nudged the safe lid partway forward, but the white plush remains inside. The yellow object is now laterally centered yet still well ahead of the fingertips, so I’ll advance toward it at a safe height and restore a vertical tool attitude.\"}",
  "call_id": "call_S1tZgl608cljbnn7SJsALK8b",
  "id": "fc_0b181e7dcb26dc4c016ab4556dc03887d080ab823b95a0495f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_S1tZgl608cljbnn7SJsALK8b",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.034, 0.8684, -0.7723, -0.2283, -0.0837, 0.9964, 0.4927, 1.573, 1.0451, -0.2531, 0.4198, 0.1566, 0.9966]\nstate[eef_state]: left_x=0.2832 left_y=-0.0006 left_z=0.1626 left_yaw=0.0768 left_pitch=-0.3337 left_roll=0.1528 left_gripper=0.9964 right_x=0.4084 right_y=0.1416 right_z=0.1416 right_yaw=0.0445 right_pitch=-0.1169 right_roll=-0.1602 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.5231, 6.7624, 1.3455, -0.1636, -0.0562, -0.0122, 0.2256, -9.3333, 7.3231, 1.9609, 0.3834, -0.0024, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d970ac115ebd9a69b571508a9deaf76772c05954e6b34c519486d84867a10ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9c63de7859aca657f7ca7412ab5efa7a5fcab3533ad82b3a12dcfb8c59b484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4ff92387605aafb76d8815dc705da8011e17acbc3c738b0154ac8f3483ee4b",
      "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 · 4.796 s

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

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.0306, 0.8684, -0.7502, -0.2283, -0.083, 0.9964, 0.5484, 1.9419, 1.1843, -0.3569, 0.2699, 0.3622, 0.0531]\nstate[eef_state]: left_x=0.2872 left_y=-0.0009 left_z=0.1667 left_yaw=0.0755 left_pitch=-0.3088 left_roll=0.1471 left_gripper=0.9964 right_x=0.3989 right_y=0.1927 right_z=0.0177 right_yaw=0.0562 right_pitch=-0.4572 right_roll=-0.0661 right_gripper=0.0531\nstate[joint_eff]: [0.0068, -2.6598, 6.694, 1.3358, -0.1197, -0.0269, -0.0122, -0.4034, -10.5778, 6.8308, 1.3016, -0.0317, -0.5299, 1.2234]\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]: [-0.1566, 1.034, 0.8684, -0.7681, -0.2283, -0.0837, 0.9964, 0.4465, 1.7878, 1.52, -0.9798, 0.2119, 0.2653, 0.9948]\nstate[eef_state]: left_x=0.284 left_y=-0.0007 left_z=0.1632 left_yaw=0.0765 left_pitch=-0.3296 left_roll=0.1518 left_gripper=0.9964 right_x=0.3807 right_y=0.145 right_z=0.1328 right_yaw=0.033 right_pitch=-0.6054 right_roll=-0.1266 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7556, 6.8444, 1.3846, -0.149, -0.0464, -0.0122, -0.4444, -11.3709, 8.9641, 0.9499, 0.0952, -0.022, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.034, 0.8684, -0.7723, -0.2283, -0.0837, 0.9964, 0.4927, 1.573, 1.0451, -0.2531, 0.4198, 0.1566, 0.9966]\nstate[eef_state]: left_x=0.2832 left_y=-0.0006 left_z=0.1626 left_yaw=0.0768 left_pitch=-0.3337 left_roll=0.1528 left_gripper=0.9964 right_x=0.4084 right_y=0.1416 right_z=0.1416 right_yaw=0.0445 right_pitch=-0.1169 right_roll=-0.1602 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.5231, 6.7624, 1.3455, -0.1636, -0.0562, -0.0122, 0.2256, -9.3333, 7.3231, 1.9609, 0.3834, -0.0024, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d970ac115ebd9a69b571508a9deaf76772c05954e6b34c519486d84867a10ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9c63de7859aca657f7ca7412ab5efa7a5fcab3533ad82b3a12dcfb8c59b484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4ff92387605aafb76d8815dc705da8011e17acbc3c738b0154ac8f3483ee4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFVz7lg_IM3zpODo2bowS2RXDPzFlePRPtcNZbY6ZDZZV2OxcHHEjwvjgTFob4JDZjJFUOhGnLR5cTOC6kmLuZBDCYvjzSShbtwYxFBtIU1GpWGSVGh91gH4tuznZxeHhedysiqWGRZynwp116_4m4mUsuuCq6qZjIarG5SzLXAFKddkJd_rrZPjC0gmLFtZykbsgkCjiFWPDYD0xWKOsOSF3qDY0kx3fgAVHuJ8uDJXW9U7T5n7m9M7uWVHVHyoAW-65jR_DZnu7tFa9m0cZiwijdjEpEzCcantj0aTJ8OkHpwgp8QvYHbbuQr6lAw4bB7aDFGclM-YguH8AyVK82H9tIWeiRxLlxMorNTMWZb5mYdb4LI1W3N0G95WILIUwDc2l5nqoruO-Icvmjl9tdKyymIUBXTCeSErI2Zc0Ig_aoXqzRmOJSXJ09uuq0mvLyaUe3C4w4IW_efQBj04DeHUAynD_dswaLHTllgyBHF2TES1h0ZaLBokV4yzd6JbO2DZz2F99C-QBkCg3el21fa_Q4TIqHoZmyRRGpnj9Apwjlo0S4To2fvQ2LOLO7_xI_4X9RsdOq9yOIqdZW6R7tm0r4Ri8e4AVsiJWELpVHay817pPVlf8lP96593kVyCkSZKygNS65wdj_KtWRCU71DVRTpl3RNqs22SDQ7-4zA_71iY0Kfzg83tFeeykSzv_mFuRT617huYavr4nfGdktNbWfPK7Sk1x3Vv5DeTbnd1YxmXkvUZx04aVLwjbeweOpxvh-4W5KFEhRUi7acKkUijrefCBZCzE2KHR2VFL7agyyeAy7hnU1epO2leCFZUquu0HuHLH0zKWVc2lZjbysSH_xxOYmH6DNaLO7xlcJq_oyhoKBXv4XAWl8O4wDDhTGTxZBmRJuWsVx7CIwVh5hylm5cG1obIQQPEbbhlcGEqYp3WkW0nh29qL1X5U7w8Y9YonAVgP04noZwMHG-bQhT7j5RL4Y0OEzzAw_VKRwYMpM8d84IXx7nt_TF_fdKxie-GPVc3XK9DnfTnCCR7te1Rwf-1V3B_WjD6KRU6mz5eAXhXaGPT66CgtAN9ZTqBVqhGQ0tFNq1BPDWk5TqENzdos54Z3WrFl30RlFAX-ffkdnQzwhTFCYcYJNREM5fN5ervSbFq5KNiEr4UvvPQoRCBI3OdiVAr299h-BJCx4h-IT-hEUSmv8EVlCPmLyg6b7ntQnoBjgQtbiiy-nNO_2__bmq5InrD4VTNOqP4hA6MuczeKo8iwvktYXDxzZ94pOdJ7lK9OffWo36Athnx9QmwbO6G5mGqcKwmAQSAxf8JQ-d5BECQVatuHAbiQhneAPqmeKJjg4BKKWFNhEmG4MMey_VBHliDUokz3c43T2SpFU9V2hdLm8RJVuM8NWV_T3ERqn9g4lX7f2iMgxjRruAoBRxNeoYAknlxC9P9KL1WVvigaEMenZzFgJuq7lIIFcH5KwrJzLFxX0XPQ06hezi68tgZppoU7FmtWjWBAGThtRABmX33M4z1vsYvvk-tNaI_Qa_T6N8aAD1b1n26XdT9s_Ulf9TgOdGGNwJcGTaVl1pyARluXzKNH1NDOrS0UIjPirzrn5o7tqr41wcs9fIyZmeEuy07Ftg7qCIMZkTrHDTDjLblZg8cJ9wx-mCxMpDCFFBuNOtqNF4eXy-Xd-mJ3d0dDgX5SNilO9hPIHyE_2GPkOhTg9sW-Pg4RkboeimVRYCKHbmH6clwOvxF_ao18A==",
  "id": "rs_0b181e7dcb26dc4c016ab45571cf4887d08dc9ee35ce1491b2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.158,\"right_z\":0.16,\"right_pitch\":0.0},\"note\":\"The yellow object is close and nearly aligned, but it is slightly left of the jaw column and still a little short of the fingertips. I’ll make a small combined forward/left correction while staying above the safe wall.\"}",
  "call_id": "call_ci0z9jWKtfSk9AhNG9fIeHSZ",
  "id": "fc_0b181e7dcb26dc4c016ab45572f4e487d0b1380fe5d32264e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ci0z9jWKtfSk9AhNG9fIeHSZ",
  "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]: [-0.1562, 1.034, 0.8684, -0.7727, -0.2283, -0.0868, 0.9964, 0.5182, 1.6077, 1.0397, -0.1844, 0.4496, 0.1383, 0.9968]\nstate[eef_state]: left_x=0.2831 left_y=-0.0005 left_z=0.1625 left_yaw=0.0789 left_pitch=-0.3338 left_roll=0.1509 left_gripper=0.9964 right_x=0.4149 right_y=0.1524 right_z=0.1381 right_yaw=0.0581 right_pitch=-0.0838 right_roll=-0.1804 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -2.6462, 7.0085, 1.3162, -0.1783, -0.0171, -0.0073, 0.4308, -6.8581, 9.7846, 1.8437, 0.2759, 0.022, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:653c5a4c89410bff37b2511e2e18be13b7dae5439eecc69a6e1b44fae7433d06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96425912030df110010d6dc526df02adc5f112bcba592ffe8a8e756301e20d41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14843e17a8a2822bb11fe329ec24af0f59a54660cc078d90a345aeed52681950",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 2.7 s

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

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0325, 0.8684, -0.765, -0.2283, -0.0834, 0.9964, 0.5438, 1.8957, 1.3079, -0.6151, 0.2501, 0.3614, 0.0578]\nstate[eef_state]: left_x=0.2845 left_y=-0.0008 left_z=0.164 left_yaw=0.0759 left_pitch=-0.3251 left_roll=0.1509 left_gripper=0.9964 right_x=0.3871 right_y=0.1872 right_z=0.0513 right_yaw=0.0458 right_pitch=-0.5438 right_roll=-0.0961 right_gripper=0.0578\nstate[joint_eff]: [-0.1573, -2.7556, 6.6667, 1.4579, -0.1832, -0.0513, -0.0122, 0.3077, -13.5316, 9.265, 1.4237, 0.2466, 0.0024, 1.0281]",
      "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]: [-0.1566, 1.034, 0.8684, -0.7723, -0.2283, -0.0837, 0.9964, 0.4927, 1.573, 1.0451, -0.2531, 0.4198, 0.1566, 0.9966]\nstate[eef_state]: left_x=0.2832 left_y=-0.0006 left_z=0.1626 left_yaw=0.0768 left_pitch=-0.3337 left_roll=0.1528 left_gripper=0.9964 right_x=0.4084 right_y=0.1416 right_z=0.1416 right_yaw=0.0445 right_pitch=-0.1169 right_roll=-0.1602 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.5231, 6.7624, 1.3455, -0.1636, -0.0562, -0.0122, 0.2256, -9.3333, 7.3231, 1.9609, 0.3834, -0.0024, 0.1783]",
      "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]: [-0.1562, 1.034, 0.8684, -0.7727, -0.2283, -0.0868, 0.9964, 0.5182, 1.6077, 1.0397, -0.1844, 0.4496, 0.1383, 0.9968]\nstate[eef_state]: left_x=0.2831 left_y=-0.0005 left_z=0.1625 left_yaw=0.0789 left_pitch=-0.3338 left_roll=0.1509 left_gripper=0.9964 right_x=0.4149 right_y=0.1524 right_z=0.1381 right_yaw=0.0581 right_pitch=-0.0838 right_roll=-0.1804 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -2.6462, 7.0085, 1.3162, -0.1783, -0.0171, -0.0073, 0.4308, -6.8581, 9.7846, 1.8437, 0.2759, 0.022, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:653c5a4c89410bff37b2511e2e18be13b7dae5439eecc69a6e1b44fae7433d06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96425912030df110010d6dc526df02adc5f112bcba592ffe8a8e756301e20d41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14843e17a8a2822bb11fe329ec24af0f59a54660cc078d90a345aeed52681950",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFV4h57SQKR-sBVyUMMftNXJPMaVe-gIklGHN5zWzx6fWpx2sL0ClTOKnZ1usGOH0HkcFuI7hzaj5GnOp8lIk5VJ7YgVyOdgRKd-TDV7pAIsZZ183uF6DDFofyrqQIlwUVGPmCKE153jVW9RQo9YMWTsBaMfXQvImuBRpQDqiFVEwF2WHl3Tqk8Le23cyfqybhhOaoZT2PbYz1J1xXlWk6O-7wRPN11y5B7yl1JPglpavDMwHbk34IFCYeRndUhM3-Y_1CTbxh0kazqjWiOjK8CjsXhs16Wm7hAprvcNcDUAl9oL50G8L-bZVCdMmbcM9Aq3Ee10OmevFTuJ9ySLH5N0khjgeHLAg0k0ntzvEgryy_U4gm0akVmdUsMk8gOw5wwDSBccn8iKlTDMjjbZvOQYhrMDNMSCTG5QGVcF91PKBYm_UkbpvfrqiTlLo9edfa_Y1zR0oFRRHH0kUtaEPNO4M-iht1TpZB5ToQe5k7Ya-yxSPRAQ1Wla-tJixQDTGjFMQRjhS7ij646hTFwa2QxYKK0LxdkqAuZjWHY0foOMXiq2to_HIlXnjG_6px6Cd9eNSt7AYJrMWvJh0DLes_-HPDWwqpBWLONtHdNn_lkpb1X8foIaJvycVgaxjP5Hkco9YyybbPboq4vRwsaD1oa8CyHKs4xiUDt4IT00wOGzTM13lvrYtPsMe14gOben7sKDB6T_yLrLEbLoFM65FofWy_gmtsReSlCRxPFzYn3aEmKrge4oDzml6-WXmUAgybzKQBvMXYyGK11aZ-vPL7OBM1Oa_efrEdnIiLhnYk1KKBcfQ4MyAJK_83P3kJy409IWrL7RX8GGnwhqPZKusrVvF_DvoamkZPk8fQQ-i5bgrghZ9Cx2dJ1YG039uv0Z_JICl1JMJbvYuLLo5BLQOoLhnY9HPB7VUjHdW1sQNBDkhL9RVP6fkkX1_K4wnSvP6Vnv5O_xXQm5g-3o7CiJ7aE_m_P2mHp26UVT5-bpLGR9r2RsTB0wO0GCFCH94jLRK71bJ8PnCh6Bh3SkhMqWrk8LaOH-Dars0Gg4LUx8YuOO9wBdiCP6bhayaJxjSNVHo1JEbfWvhAsYPlmvbs3rAyf9Aw3F2dSwvB_yWpswT35sfpb6oLrvHR1pr6eehZgILhwD5Oex2LRouzwY_W4MlLxdYh1v0G8sHq74Ey4eKbTgcf1nFze4c7GcQneYcgmE1TuPUUdqnNMQCI4Lrdo256PWdzHbjRQFE-qvODSlfs8XAL2NN9sHtb8nkXwz3eNmgEC7RBDqH1HInsW7mcf91TPE9au8_-mz01lC1t_-e5OP6b6w_wgokkj7jYfatDlpLEc9SNMcZ7ct2VYjTUjuqDQZQIpJVky_l-81BnxDuHW6lVmos39cJ13fkLDVueTylVxv11drPaeqxLX79Vs3O5NIDP1fTr-XfoEie2v7g34Y-mKCtTZhd3MJe5YljjK0OQ-aQ_zMwskJsvHV2N7MT3s1SOgxaXEDbKFqJfswH63qyVAo7dX3rTy4e1PTETPUWT1g6AO3W1QMagpJ-AUJj4lymJWURjQGm1IXDcIfuuPEfW05OmbvcNtq8z949gTVHttIUhsiBkcw_IDLNxLs1SVHqKaXkZaewPlBVMf_Lu-wAi2t6CMxVrUye7P_26sxvmQTtskQBsF9rUHDzhqAtSewGXdqkQTNDGecnqWsDp_ZviLuyXSwXQzweBoAHDurxa38llQPLXOQe-KYvA1lNzPb3F9oRYJrHwbmdiYVBNn-0E7AylyUV8Y-ivhY14iDs4d02k3FFUs921Ny8trcKVWrBFFhYEMtIeiW6oNZbEtAW2vH_o41KR8yNG6lagwdYtIUrHY8CCaMHsuwRpLtvGgDc62NpHlNA4WTvqf6bZL_f9iYaMhPMSS-jSYJxU7_RK3TehzJ99-W3426ogOgwTeRTO4xaLULZGsSz-NRT-Mp3fY1IbGezno1EPt3983rf3xOtFPP1sUOVm9r0kCXR6AED3vhlgE-6rKBxIeZ3dr6Wy8UaGIST3UF2dFDsgasp7mkA5zK7-9wbJcOEUgosccb9_hmrrHG-TU9XGeItgisQrrreedDf4hcUROa9ZgjQtw3uvdwouYIfx0fK5yDICxrXPsljAg1EPv9Rr53azcg0F88a1PjIOY1DFtT3w1tb_BRZDxuz3E-v5qbrS4c7IOaYTIQ7US6EdIaQwSCTfOFXbaSmfL9EV4WEOvXz9LdGFYIhxEkI3HrRtaU0ilPNl4mxePrSzKexWj-3HSvzLq_YEw9YDMHFfaIJH9hc9ejfwfdbJAhADcVOCH2chgkso5f57IFX-oBF8ARxgXv5XICl3L0yy5D25FUHl11pwPQrNWLrOX-CVTdximGAEzwuDrXP32wqVOKwgGfjEqJWEpspvg=",
  "id": "rs_0b181e7dcb26dc4c016ab45575ede087d09bf77971bd149a22",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.57,\"right_z\":0.17},\"note\":\"The yellow object is pressed against the safe’s outer side, so a lateral close would catch the wall again. I’ll rotate the open jaws 90 degrees at clearance height so they close front-to-back around the object instead.\"}",
  "call_id": "call_4HDRISG53xo7AswcSCzPHQx0",
  "id": "fc_0b181e7dcb26dc4c016ab45578033087d09b4d0283fd738a58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4HDRISG53xo7AswcSCzPHQx0",
  "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]: [-0.1566, 1.0344, 0.868, -0.7868, -0.2283, -0.0875, 0.9964, 0.4606, 1.5745, 0.96, -0.1162, 0.2974, -0.012, 0.9969]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1603 left_yaw=0.0802 left_pitch=-0.3482 left_roll=0.1541 left_gripper=0.9964 right_x=0.41 right_y=0.1497 right_z=0.1244 right_yaw=0.206 right_pitch=-0.1146 right_roll=-0.1927 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.6325, 6.7897, 1.4774, -0.1734, -0.0464, -0.0122, -0.0205, -8.9231, 7.0906, 1.8144, 0.0855, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d6b59a893c02a3b37f547e3a1650e865ba522577c925a843445f08d4ac1b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3026a89030d15c787e75d788c1ba0bdbe82c7ed7db2007aec1b2a5fe9a01691e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb588308c8d8156c01f2c96a04435ae56d04bc8f849427289aac0b8dd31a0db",
      "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 · 3.734 s

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

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.034, 0.8684, -0.7681, -0.2283, -0.0837, 0.9964, 0.4465, 1.7878, 1.52, -0.9798, 0.2119, 0.2653, 0.9948]\nstate[eef_state]: left_x=0.284 left_y=-0.0007 left_z=0.1632 left_yaw=0.0765 left_pitch=-0.3296 left_roll=0.1518 left_gripper=0.9964 right_x=0.3807 right_y=0.145 right_z=0.1328 right_yaw=0.033 right_pitch=-0.6054 right_roll=-0.1266 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7556, 6.8444, 1.3846, -0.149, -0.0464, -0.0122, -0.4444, -11.3709, 8.9641, 0.9499, 0.0952, -0.022, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.034, 0.8684, -0.7727, -0.2283, -0.0868, 0.9964, 0.5182, 1.6077, 1.0397, -0.1844, 0.4496, 0.1383, 0.9968]\nstate[eef_state]: left_x=0.2831 left_y=-0.0005 left_z=0.1625 left_yaw=0.0789 left_pitch=-0.3338 left_roll=0.1509 left_gripper=0.9964 right_x=0.4149 right_y=0.1524 right_z=0.1381 right_yaw=0.0581 right_pitch=-0.0838 right_roll=-0.1804 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -2.6462, 7.0085, 1.3162, -0.1783, -0.0171, -0.0073, 0.4308, -6.8581, 9.7846, 1.8437, 0.2759, 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 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0344, 0.868, -0.7868, -0.2283, -0.0875, 0.9964, 0.4606, 1.5745, 0.96, -0.1162, 0.2974, -0.012, 0.9969]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1603 left_yaw=0.0802 left_pitch=-0.3482 left_roll=0.1541 left_gripper=0.9964 right_x=0.41 right_y=0.1497 right_z=0.1244 right_yaw=0.206 right_pitch=-0.1146 right_roll=-0.1927 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.6325, 6.7897, 1.4774, -0.1734, -0.0464, -0.0122, -0.0205, -8.9231, 7.0906, 1.8144, 0.0855, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43d6b59a893c02a3b37f547e3a1650e865ba522577c925a843445f08d4ac1b27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3026a89030d15c787e75d788c1ba0bdbe82c7ed7db2007aec1b2a5fe9a01691e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb588308c8d8156c01f2c96a04435ae56d04bc8f849427289aac0b8dd31a0db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFV8YcBuH3MpnUpijobfTE3PiaRix-hdbfOxN078yQpeuJ2BqJwcm4pdtHU8eaYdEiESn2BosdDj_dtWP6Vx-cWjoJqDx0keUPozTL9FwSL0RxePZLuTXPQJLI7RdTlNNQgLwWomG8M9b0k3fJnSeHJuiDg5Az6LXuI2fy7R2Vi57RwHz2X1jWQFGWokPiVJnMjPgDG_k6TU0rI43MmeFuoZSRG-HVMDZsV0yw0um3iBwyAVSGHvUSj_LVZLMrUhBkEPEcDyXu4CSDkuF84OFmFJcVzqmbZECdg5UYrjQy7_drvJ-q5VV-ql9NJEj12yZRNnqniAekNXY4BHWFRhX8xMUEk5DX9p4j71OKIQROBpMNzFnKbIs187qPfdRHBoqIn1YtOoM90JBlrJR_zT2xbfSrQ1IcxG6ZO3YxDSFMIvtv7Gq48Q8aMkSk69Su-ckxXzLRfSv9M6ukDN2nhryz_7N9yUmMxlxLmnOC97eFMVIq8EPyiVfcSULKlg-LydnH39nMZDD7jUWQ05h-sti0Bu8H0PqRK6oyF31B-tXV1_EiFvArekLNeU_iRzrTONFBfPgJW-tPcDMSUgIQZ6BTme4jC88rR7EfoQ65Ssvl6Ot5xaS3ywmCfALXK_AVe2sQWgh31HzXLy6xb5NkczVRzoGwygHZ5qhnNW_2mbu4zr1UQWPWlLyBE8QJDB9byY6WK5m5AZjPIGnSVqzoIx_n9wEDC97y9vbTXsYQV1nlbynr8unNe8DpjeUTrXUpKShN0kB-O2PpLQM2EJAN6sxzg1DEfDm-yWvilCVqyt0mEgVRlc11zw47cG3R6t75pQy14fin-JFKl5NBDBxq4ZjsO4gxrVSgqZjLuPqpKovjHij33N1gajiKLWK1RoXgdlTLpI4bT0L6olNyQFCekyXWQrynCZaO2N3NfB8UVOCv81CmZxQpcSCximWBS19rA_rPFS4yiU0OHgXJNAOzSEuO6A7mz4hgedu9v4ykjGOKBGiQ5ZAnDXA7qwPC64r2mVuyNyAaMpsYAzcgTk6UdQUs8430Myos-9BPBhilM1aoZC1njajF9snAv1TRcp5oWPL2vsxz3STYnDx-DMSfX-Rs46N-9TceYSzpDc6jZX0tC5yVX8khKsNKJuL0VLtf2CeFXMBR_L4h3XS4BSeQyL2VPnKt72sw1DvX8g1eB8S2O2w-ppMkA6zdiAzpiZTN3wU1SpdSZChcrdIPO3bmW5wUQdJ6AhG_27YEA0jaPsS4OfUjuAG-AfaJpMOOJLHG0gLTNAeAQXeZtCjdIy_kGW-ivTnCq0OL-sHoxIx57oRco6byD_xMdN46zVYvIUEJVfXVbp5qZDDPAhpBMA4TjaFX7FdKO89H-xwEv6fmqvY5M6KvA2cJiPN3l0FzcDgVmxc5D5XVSOO_i1-04jQJLDHYyeVQ==",
  "id": "rs_0b181e7dcb26dc4c016ab4557adeb887d09394e059e3beb4da",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.0,\"right_z\":0.18},\"note\":\"The first rotation was safety-limited to only about 0.2 rad, so the jaws are not yet oriented away from the safe wall. I’ll continue the rotation in a smaller intermediate step while raising slightly.\"}",
  "call_id": "call_pjt8YloVkO1DqhA6QvpVQHpe",
  "id": "fc_0b181e7dcb26dc4c016ab4557b7d5487d085be1b2fcb4324c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pjt8YloVkO1DqhA6QvpVQHpe",
  "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]: [-0.1566, 1.034, 0.868, -0.7956, -0.2283, -0.0902, 0.9964, 0.1455, 1.578, 1.1797, -0.3916, -0.2684, -0.5789, 0.9973]\nstate[eef_state]: left_x=0.2786 left_y=0.0001 left_z=0.1591 left_yaw=0.0825 left_pitch=-0.3561 left_roll=0.1545 left_gripper=0.9964 right_x=0.4283 right_y=0.1137 right_z=0.1657 right_yaw=0.6819 right_pitch=-0.1817 right_roll=-0.2198 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -2.5504, 6.612, 1.3846, -0.1538, -0.0171, -0.0073, -0.7453, -6.4615, 7.9795, 1.2674, -0.2613, -0.0708, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6e7fb308f4bf8c36c52d8ee257cf3cf9460e9ecb195bb7315cb7ddce8b8164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6b8d5c91013d8cdd016910d22408096a652c2fe707e7ab1d7f6f222722de00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b22ca905f8a569752ec12be18e6d5e0249e928f6d5940b554a264fc23894eb",
      "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 · 5.877 s

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

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.034, 0.8684, -0.7723, -0.2283, -0.0837, 0.9964, 0.4927, 1.573, 1.0451, -0.2531, 0.4198, 0.1566, 0.9966]\nstate[eef_state]: left_x=0.2832 left_y=-0.0006 left_z=0.1626 left_yaw=0.0768 left_pitch=-0.3337 left_roll=0.1528 left_gripper=0.9964 right_x=0.4084 right_y=0.1416 right_z=0.1416 right_yaw=0.0445 right_pitch=-0.1169 right_roll=-0.1602 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -2.5231, 6.7624, 1.3455, -0.1636, -0.0562, -0.0122, 0.2256, -9.3333, 7.3231, 1.9609, 0.3834, -0.0024, 0.1783]",
      "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]: [-0.1566, 1.0344, 0.868, -0.7868, -0.2283, -0.0875, 0.9964, 0.4606, 1.5745, 0.96, -0.1162, 0.2974, -0.012, 0.9969]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1603 left_yaw=0.0802 left_pitch=-0.3482 left_roll=0.1541 left_gripper=0.9964 right_x=0.41 right_y=0.1497 right_z=0.1244 right_yaw=0.206 right_pitch=-0.1146 right_roll=-0.1927 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.6325, 6.7897, 1.4774, -0.1734, -0.0464, -0.0122, -0.0205, -8.9231, 7.0906, 1.8144, 0.0855, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.034, 0.868, -0.7956, -0.2283, -0.0902, 0.9964, 0.1455, 1.578, 1.1797, -0.3916, -0.2684, -0.5789, 0.9973]\nstate[eef_state]: left_x=0.2786 left_y=0.0001 left_z=0.1591 left_yaw=0.0825 left_pitch=-0.3561 left_roll=0.1545 left_gripper=0.9964 right_x=0.4283 right_y=0.1137 right_z=0.1657 right_yaw=0.6819 right_pitch=-0.1817 right_roll=-0.2198 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -2.5504, 6.612, 1.3846, -0.1538, -0.0171, -0.0073, -0.7453, -6.4615, 7.9795, 1.2674, -0.2613, -0.0708, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6e7fb308f4bf8c36c52d8ee257cf3cf9460e9ecb195bb7315cb7ddce8b8164",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e6b8d5c91013d8cdd016910d22408096a652c2fe707e7ab1d7f6f222722de00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b22ca905f8a569752ec12be18e6d5e0249e928f6d5940b554a264fc23894eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWAQM56s-B4JSRKUZsAqycprjrzPl6mHQD72Pvv05o74VEVQ-4TvtbUnf_1D_oO7S0nQlD7MOqKhQO5b_hjZzaFl92GqQCe0QBqGWUp1ax8bAzOuL1KTaSdqkmzVfA4hxBEUuv0R0NURqDu5WNQcRqapBRufGfC4iQVRSq7UajzgD6by51s58wdJz-erCarjKh84kh9o_gvpyk-jOk9CDeDCqiaIA5j9AfkTQ5SjH9ffOL33P6gusDqY34SUJbsThUenzp1cpDJpoX43_UpTRAqEf6ztTwXj66uyPfugA7E-2QSLtMWUMvaDaRhkr629wveDu9LnJ2qWpMIt2cwMtFN_EUVuIu6wQIn32TESjVXbva-pGxhms65-cnE8Z8t680BA1bWbCq10OWXtdlO_WmAbb2ilodAZvNAuw6SSkwKFJbCUmGDkswfNk6GAZPCwHrGGvjSgTUdPP06qi8VG73Wrn5v_TKXolZ9nMiBizK5UzUohbEUNSah3hlq3o0q5nQoT7T0H8SmPtoGOzvC_I0aPs65Hwlu0JvBDRWzAeQKI8-L-qWOz6VfDtACGOXHuOuokDw4XasqDrttZJ83T_BhOelfqXg6EsnBEY0XhTLAdsiy8FRcTVBxQS5QLPN8EpK7Tn5Bqzao-jJ1NV05-cgukH6QRrYNi90BKLpP8zkix2seuZ49muwzyVodcL2SH8W0Fsu8IK4DaQ4mICJvA6j2Ju9I4uBCNi0IvN_PfK_w2qN8fePvZg3-gvO1FvkJrPG0AJ6WJeNzQ9CBV7hN7Bmgwtvu7ESIUDF8VuKIw8YRXO8tFn3aaq9UciNwQy-qLbIHUYIsDeF4IDSNYjvWQIb_xUXqnMNIHv3GjvXRBlsz2oXFII6VyOtwoREyz1tnVd8CWntvdSv7rJxi8vZbOIdXB__RVLj-VYoRNZKKJmMuDzko0_GXHAFasWT_g12ENrx1azA_o6Q-CWEsvhi40SaBa4Qda4ZG8Nl9hJkm_YWEuPS6FK40nSjXTmXpyhkifrmg2_oYM7s1Z4_Pnv0l9CZYQPBcymfA8_fA3pAJB4VL49gvu7VcuYU3NmILTvxSkqegQFv4RTgXu6iRIFAicq5v60W-93kAL5xTJH7pmWj5mdEVYlhvY-ZE9BhET9CUxV7QWZLJBstz5tm_AM126ols0zjmEd9Jy9j3_ZrzvlT7uwpsDSbVDiraz4_5Tt1Ujldt8t4EEuG-WO40F_LzZtN5UNLi1efqGJoUoLH8pP3pJcN5DzFyk2--hiLl7XQjY0tZRkU_KeLXCZmvkdZqYDgpWiBytjg0DBQi8Nw0JMsQ4r8wzHGeG0ePM1mZnWP5Dd-0i7-jChSxZ6pd4Yql_6D-6vWFnJjP1jbBr9XhJkwwj-M0u0H1y1hkGGLhc5tjM_LfEYLHcnIlRs53coMmXk4abZ3Bd_F_gr3PCDkUn1grCSeR9Bm9qNH72hv6NbbUfoj4GMOEVlQTPeJdBf8laqjvwnszgG3UxbxfKvxCr_qXkXmIbtGtVqmST0RCglrxIdzvd2DqyaikuKiBGP5dvoLJOtn9CZqje81VHwkSKt2SIC5HFfUXVHasCwC4t0SoXOFMVjbt6sTO4xxLlTSI0zOXduADH_DPQVZwguzKcI_HrVWmkXUui2jR2KcM25TGw8_1kFr42kRHtOyikB1qZC-VLA==",
  "id": "rs_0b181e7dcb26dc4c016ab4557ee60087d0970595babceb23cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_yaw\":1.57,\"right_z\":0.18},\"note\":\"The wrist has reached about 0.68 rad and remains clear; the object is still visible beside the safe. I’ll finish the quarter-turn now so the jaws can approach along the free front-back direction.\"}",
  "call_id": "call_NRkMWCCL8NofBk4dzgOJoxaP",
  "id": "fc_0b181e7dcb26dc4c016ab4557fe64487d0a6f8bbdec0f37cfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NRkMWCCL8NofBk4dzgOJoxaP",
  "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]: [-0.1566, 1.0378, 0.8684, -0.8116, -0.2283, -0.0906, 0.9964, -0.0399, 2.0274, 1.8618, -1.0637, -0.73, -1.4487, 0.9974]\nstate[eef_state]: left_x=0.2756 left_y=0.0006 left_z=0.1561 left_yaw=0.0845 left_pitch=-0.3749 left_roll=0.1592 left_gripper=0.9964 right_x=0.4599 right_y=0.1031 right_z=0.1778 right_yaw=1.3653 right_pitch=-0.2118 right_roll=-0.2516 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.6872, 6.5709, 1.4823, -0.1441, -0.0269, -0.0073, -0.1573, -10.7966, 6.147, 0.0366, -0.6227, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2656b473ac974bf515f8c44ce290ec8e6850985b5cc7689272f91c438639ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8da3c2cd0976c875dba00fe3afdb6b1b2254c1b1a148854317ebcd4451aee3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfa369526c2a7908c77c48a0ee8398c89860a8978665294c2ab4e484fb1b0f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 3.847 s

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

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.034, 0.8684, -0.7727, -0.2283, -0.0868, 0.9964, 0.5182, 1.6077, 1.0397, -0.1844, 0.4496, 0.1383, 0.9968]\nstate[eef_state]: left_x=0.2831 left_y=-0.0005 left_z=0.1625 left_yaw=0.0789 left_pitch=-0.3338 left_roll=0.1509 left_gripper=0.9964 right_x=0.4149 right_y=0.1524 right_z=0.1381 right_yaw=0.0581 right_pitch=-0.0838 right_roll=-0.1804 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -2.6462, 7.0085, 1.3162, -0.1783, -0.0171, -0.0073, 0.4308, -6.8581, 9.7846, 1.8437, 0.2759, 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 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.034, 0.868, -0.7956, -0.2283, -0.0902, 0.9964, 0.1455, 1.578, 1.1797, -0.3916, -0.2684, -0.5789, 0.9973]\nstate[eef_state]: left_x=0.2786 left_y=0.0001 left_z=0.1591 left_yaw=0.0825 left_pitch=-0.3561 left_roll=0.1545 left_gripper=0.9964 right_x=0.4283 right_y=0.1137 right_z=0.1657 right_yaw=0.6819 right_pitch=-0.1817 right_roll=-0.2198 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -2.5504, 6.612, 1.3846, -0.1538, -0.0171, -0.0073, -0.7453, -6.4615, 7.9795, 1.2674, -0.2613, -0.0708, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0378, 0.8684, -0.8116, -0.2283, -0.0906, 0.9964, -0.0399, 2.0274, 1.8618, -1.0637, -0.73, -1.4487, 0.9974]\nstate[eef_state]: left_x=0.2756 left_y=0.0006 left_z=0.1561 left_yaw=0.0845 left_pitch=-0.3749 left_roll=0.1592 left_gripper=0.9964 right_x=0.4599 right_y=0.1031 right_z=0.1778 right_yaw=1.3653 right_pitch=-0.2118 right_roll=-0.2516 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.6872, 6.5709, 1.4823, -0.1441, -0.0269, -0.0073, -0.1573, -10.7966, 6.147, 0.0366, -0.6227, -0.1197, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2656b473ac974bf515f8c44ce290ec8e6850985b5cc7689272f91c438639ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8da3c2cd0976c875dba00fe3afdb6b1b2254c1b1a148854317ebcd4451aee3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfa369526c2a7908c77c48a0ee8398c89860a8978665294c2ab4e484fb1b0f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWG9EkvM1Aj-cqxiu-rpBji5PDlrQFdPzEwBwnk1Ub0O_10VPdl7-RkJVBdppg8hV65iyxYeeizGMFRaNF0Cvf2Zro9OPSlMqAD5vrGzr7gWMPHAisRWYqo9W5mxZgJcDbxpv57l0wLdpCsB32OwOr8yX9Qp7Ejp9RfB2ZEofrKiWRjWr7CcPK5NJ8wCGmnv8UdBOz-wlLz3TmHk4c9v16Jkz_Ts93ra1duOg9Aha1ms5A1Mzqa7WimobE7QttX1VTFphEeHmmPbcINMZRWIc72W8xGaBANkB8GKqlGip5HzYZJ9b4cYsMVhmehu4J2UbpWnSephMuzmPRnb8g0uknM3JU_WhvT8Y8m5qNuhwNY-jX_LKqQ6nhiNV3z92Y8H8LsDq06VWxgu35_mbUoTztXU2kuhLj68oegsfVYiUDxY2euLbPS3l3GMC_XzAnSJabOgG3NyNfYiojGMUmfyiB5xOtIc8pjdozWoBk2_8ueTTu12BOYo5pYhRUDcgeyyKuJs2J1467Di6xeQRvvHjULTXapOt6Y9esMKwow8tI0Al7nQNPuQnbDarH1ZzzqeHEn6sJerpnP5UKtNTnec7XE6oWfMrfs2c2bqtZSl4B-Hp_QM6tHpN8lF5-m8sARm2NJ6i4t6INgTgHw9fDoJPfLdbqfqH5PpmtkDaACV3eWQ9ETJrYxAp3zuspdAXOkHfpGex72oOHv7Khstzv7F3ftJtnJjzdZlAg1Xyrxiq98Jh_-WnHrSrI_79JKQ-LQcWZkNarWplkN0J26USEQ9uMXUCobJ2qEOE2EK1LJ7CQbJWFYCgokK0A-2Wdu85xUg8hGTqpRE3qQ2lTanswsmfXMDDbW6pR1zoKMvb4EI4x2FDihAxpK7AGPaO9PHoIWtqGpoyEA_UlvrLaqyD0jC2UxY6GwFN7KliQT7eoYLhyyQI1Ih7ZHgEROT54Hq6MZjONGgJPCAnV7hv-CHgcqVLPPh2QCEU0ze0xtmtLY2Eb5apvprMo2KTMbaV7U1KEICP128q-gQcJGbt7sGoOr_2DMKoKsonzJeXg8dTEX6U4GROccNipPnoGeLU2nCEheyM3l-jkRG3IUTXzOacCK2vjQ6Tdk6Iz53qu1ewieQrPfYnQbBiexYeh944AhVJuYqQo_FiA9hnaNZxofs9H7GvU4FKgIoRSAhmivtexXgPKttd7eVNCyKoG_RG_LbEPnreYZAz5Xgz7A0ufeneaf9QJSOKeaWBoGTXkR7hqiVHDKWHcfhZ5osNBXQClCCwDxwR2U_lgMiXAplCUI8iPbVyjXOgSgKO-qgzYeIzkLG5IyGXEHRPeDDe9QRGdg1KOKsPQ9iS-gAKxnWVN3I6t20WKkhW8nNKtT3GceU8UuqzUyGWP4ANuPyO29AwWP_G2vDPn8TShbHOLgVMmVbxZ5NjIbqF6v4UqOD4nSA_mf-8sm1DAaV7ZX29AOn5mutva7wc-PAfRvmeclyTfosfwO8D9NKNVFqQ94OclAbNYmlNwx9S2tSZZ5QWJV1mZXkKx4TOWCgEyJLhx2xAd5wXhiAMlBMWk66ODhQF-4KXzziTknmIdstqJVbBUmYcEf1IyXwowG3scAz1Nemc4ae5LYZz4_U638DkQ8eaAT0DMwPM1aGaKITs_8YYPay8wOgQs6FNxIamuoxliF82-uG7DdVSpzmDSN425zYTFZzqsiSrgNnDc4pi9kkV-oxRkBfbIyhA19L8CuyAviunnvEYoHGrwi8QKyC2pAh71uIWUJ8JQwPWR2CBGy7MlJ20lliL6MUHRc4CNrJ3zjwS_Xnb66M_4kT-x1pCxrj7Sh7Upz4yd9wGg5as96C7kSiDz0dCDwyz1Bzk-XHY3YdcrtSSvV96SScn9G02JFEVQ0vdps0oB96m73LLfRv4x1_oS3ARWUYQ_q_Ch25JLnqUp_vOER4hMBBHWJtbWFVfCtSi_4b2HV-4gePRedIWXbedr7-kzDymbpzt6SLTQd3jXhH45l4d0TcSTdN_I9ELxbUnVoA2JulB26A9S70TdmqY597KyIo_fHWmC112343Qg7XC5Wma-p-Ln1p0grjyZtsEo_qrrDhDO4HKII2bTkkzOjl_uKV9KBOLL_MzSThhzhx9TyHxEIu6WTYkXcvlSXESzYsHsy19yls5EmwsmFjo7hn5XkEa9voH9olHbH9N28wvTUGQ42Fdph6FGQgBtvx8gpNY1W3Mo0CD3sY_pUfevvH4uSUEOsAPBDPIF9sVNal4WDLEvaj7mijeJ9X-4D85WIA-GzNJVTaDitlxRfNpT_PZyLxqJg5eG8sUpjuEzmv12ca0lbocQCz42a9x7jJ-u-gWEHn7kyczHKdiIWa5A7AsIq9EQJeU0x0zfrCPvT54Ww8rIcti5a4FVgXR-CLjEUSl3pFKzzfNTsO30kxlc8KMZZs3b5lgpEF7CTemtYGVKblYTFmebqy4LiLvRphGdKWM5I-f8-7w0yN6ov9JOW1H0330ZKSxvuQIsiv_9gUedKvQt0UA==",
  "id": "rs_0b181e7dcb26dc4c016ab45582b06c87d091936b3cf56a32d4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.11,\"right_z\":0.18,\"right_yaw\":1.57},\"note\":\"With the jaws nearly quarter-turned, the yellow object lies about 3 cm to the tool’s left, which is now mostly a backward base-frame correction. I’ll center it while completing the rotation and maintaining clearance.\"}",
  "call_id": "call_7S0PyxHIMuaZErqAOnyPZoRm",
  "id": "fc_0b181e7dcb26dc4c016ab4558663ec87d0abf97a521ae2b354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7S0PyxHIMuaZErqAOnyPZoRm",
  "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]: [-0.1566, 1.0386, 0.8684, -0.8131, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2602, -0.7677, -1.6825, 0.9973]\nstate[eef_state]: left_x=0.2753 left_y=0.0006 left_z=0.1557 left_yaw=0.0847 left_pitch=-0.3772 left_roll=0.1598 left_gripper=0.9965 right_x=0.4324 right_y=0.1088 right_z=0.1686 right_yaw=1.5466 right_pitch=-0.2193 right_roll=-0.2192 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.6872, 6.6667, 1.3114, -0.1832, -0.0513, -0.0122, -0.212, -11.4667, 7.9932, 0.525, -0.569, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310a697d5cb242ff79f14f018f9e463df06b3570afcaa271d480ae65a5aad7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58830fc636e636b010218d01f67cb2285faf99824ad24e37b75a38b0d68fec21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df14e19317aec2e4cc339b24287cd09cf6b20a1709aa5547faf7cc29dc57484",
      "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 · 4.714 s

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

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

message 71 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0344, 0.868, -0.7868, -0.2283, -0.0875, 0.9964, 0.4606, 1.5745, 0.96, -0.1162, 0.2974, -0.012, 0.9969]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1603 left_yaw=0.0802 left_pitch=-0.3482 left_roll=0.1541 left_gripper=0.9964 right_x=0.41 right_y=0.1497 right_z=0.1244 right_yaw=0.206 right_pitch=-0.1146 right_roll=-0.1927 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -2.6325, 6.7897, 1.4774, -0.1734, -0.0464, -0.0122, -0.0205, -8.9231, 7.0906, 1.8144, 0.0855, -0.0952, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0378, 0.8684, -0.8116, -0.2283, -0.0906, 0.9964, -0.0399, 2.0274, 1.8618, -1.0637, -0.73, -1.4487, 0.9974]\nstate[eef_state]: left_x=0.2756 left_y=0.0006 left_z=0.1561 left_yaw=0.0845 left_pitch=-0.3749 left_roll=0.1592 left_gripper=0.9964 right_x=0.4599 right_y=0.1031 right_z=0.1778 right_yaw=1.3653 right_pitch=-0.2118 right_roll=-0.2516 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.6872, 6.5709, 1.4823, -0.1441, -0.0269, -0.0073, -0.1573, -10.7966, 6.147, 0.0366, -0.6227, -0.1197, -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 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0386, 0.8684, -0.8131, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2602, -0.7677, -1.6825, 0.9973]\nstate[eef_state]: left_x=0.2753 left_y=0.0006 left_z=0.1557 left_yaw=0.0847 left_pitch=-0.3772 left_roll=0.1598 left_gripper=0.9965 right_x=0.4324 right_y=0.1088 right_z=0.1686 right_yaw=1.5466 right_pitch=-0.2193 right_roll=-0.2192 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.6872, 6.6667, 1.3114, -0.1832, -0.0513, -0.0122, -0.212, -11.4667, 7.9932, 0.525, -0.569, -0.1441, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310a697d5cb242ff79f14f018f9e463df06b3570afcaa271d480ae65a5aad7eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58830fc636e636b010218d01f67cb2285faf99824ad24e37b75a38b0d68fec21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5df14e19317aec2e4cc339b24287cd09cf6b20a1709aa5547faf7cc29dc57484",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWLkktsYoRjltPnSQ5CLsJsNrw6lWFxXfdtBv9LS0Ef7Y44N6Cnm68ZwTRpT8Q0JklN6uGQcoz7IukzGIwMQy4hASdldmER0eVS04SdkdqFRLlkd6ISRnq97O-EwfxbNlytg-xv1-MdE8MsL5co-6t8CJ0eyuRqTwpS7Qmd-5zq1io8KAlTlrdBYk46Ec-l5Glb-5qdSbh9peqH0-_3rtuhwz1hrHqXrQANXrgR8kbaFcFmyUJcucmg8Wf5zIuswogVf6stZI8t10Sqqj25kpbGrrV79jStO0cr3iErOV8Gc_ruhH_jb6VTrx3TNt_5g4WDRdq0F40nvQgG8qjv5pA8r8ik2wosqgtIMssgGa4tJ7jysSXx3piGHY1DxPADPRcsCjfUhKz-RZ5jxvTFpijKQCHrdeHabA7HE88qnNWa11bv6jRL7IiUSH4VnWXtYktbDsY-r13q_XsCvyz97WNZ5SX-wSvaGzako8o4uJMRMg4hcq7ZNStPKwmcH3OY-fJlk23An0DVpB-j7wkJ9It-M2rfvVWv_vFnkxMKCPWzEbfX5UttYl8amIlPx2VK1Id8f5R0G-jYb8VIPoALZtO84WBORyq4fJs1J91vmMUSMvSsSiibHm0o2BG9_bZI65EZi4cMHGNwMEbtODHqRKpAitRuMlznwPZXaHlbOVHsNiyfz4PMTmgBnGcOvqJB_yVll-oCbwg8ajGTnaACGGVZ-9mj-vL11ZDqgaOvLr4zYJ4wECzTk-OE66_aB_i80nLapWyDrDsATEtFf8JgA4XWnDlfv1dlF52mIEvUqb2SP20QuNOSxzqVfA9ZI8KjxnkpuK_SJ3cB1ZG4GhDgWgR_3lzcl7frZZsks_nbzvFYfp6TcIu8cHQM0RWa-wJLZl3bhovNzLzVGBEDnI6Tzoia_ziQTMiVzHRrumd0DPJlYMe1Aq93MVMuyZMXutQsu8TNYaCXBChHIoUUnPquHiNjHLR2RAbzAv-Kv9hi47WthQQy5S069-kPZ94AbwDtWrNjuCG_bOczTpC28npw_A8rCq3ntuvvVBeDMCVkoBQnjA4G_25Sa74f-Xo3yuTmxSRQI6q91upog3MeFDBC69Ury8oN3RbfwjdecC3tDgQI5WouKsaVNG5ELl2nXv4r6hojYjsjPeNhEzxJMoRGQtbQryilWMkvldRRb9gooTTWLIoki1_2iGV1HD3xna5Kl5V_bSgMJsxiV1qckiK1J-3Dp25q1cyYWYutlDgoPBPk2XmsuZ2zN3-ir-XuD-rNn1hgiQQrUrqCQ2d_J_AXpjPGBnZH3W0h9T9N0HXkht8Bh4qiYVma6IrfPVlNBagOlBgSxBmpHwCzC--1EtLXq2bonA==",
  "id": "rs_0b181e7dcb26dc4c016ab45589de9087d0886a417166f2a755",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.432,\"right_y\":0.109,\"right_z\":0.035,\"right_yaw\":1.57},\"note\":\"The rotated wrist view now centers the yellow object between the jaw paths, with the safe wall outside the closing direction. I’ll descend to the object’s mid-height for a clean front-back grasp.\"}",
  "call_id": "call_CMNeUzoIWSKeq3Y3WhOKgWBC",
  "id": "fc_0b181e7dcb26dc4c016ab4558a518c87d0972b2466c0a67f45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CMNeUzoIWSKeq3Y3WhOKgWBC",
  "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]: [-0.1566, 1.0397, 0.8684, -0.8169, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2854, -0.7677, -1.721, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0007 left_z=0.1549 left_yaw=0.0852 left_pitch=-0.382 left_roll=0.1611 left_gripper=0.9965 right_x=0.4275 right_y=0.109 right_z=0.168 right_yaw=1.5737 right_pitch=-0.2231 right_roll=-0.2207 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6325, 6.6393, 1.2625, -0.1441, -0.0611, -0.0122, -0.4581, -11.6991, 7.9385, 0.3932, -0.6032, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78bdbc514c57ade41756ecc8b23d640cb522380471fc2e6cfa8f64913c737586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d1e935011399875e46253cf91b4dca5abe3f8a07b060270a9200dd8ae21a57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af8ab78c691e5aa1a2bcaa47d0b56cbe80544c2c8c817a7d8f53cc8e5e9e3fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 2.497 s

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

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

message 75 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.034, 0.868, -0.7956, -0.2283, -0.0902, 0.9964, 0.1455, 1.578, 1.1797, -0.3916, -0.2684, -0.5789, 0.9973]\nstate[eef_state]: left_x=0.2786 left_y=0.0001 left_z=0.1591 left_yaw=0.0825 left_pitch=-0.3561 left_roll=0.1545 left_gripper=0.9964 right_x=0.4283 right_y=0.1137 right_z=0.1657 right_yaw=0.6819 right_pitch=-0.1817 right_roll=-0.2198 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -2.5504, 6.612, 1.3846, -0.1538, -0.0171, -0.0073, -0.7453, -6.4615, 7.9795, 1.2674, -0.2613, -0.0708, 0.0317]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1566, 1.0386, 0.8684, -0.8131, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2602, -0.7677, -1.6825, 0.9973]\nstate[eef_state]: left_x=0.2753 left_y=0.0006 left_z=0.1557 left_yaw=0.0847 left_pitch=-0.3772 left_roll=0.1598 left_gripper=0.9965 right_x=0.4324 right_y=0.1088 right_z=0.1686 right_yaw=1.5466 right_pitch=-0.2193 right_roll=-0.2192 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.6872, 6.6667, 1.3114, -0.1832, -0.0513, -0.0122, -0.212, -11.4667, 7.9932, 0.525, -0.569, -0.1441, -0.0171]",
      "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]: [-0.1566, 1.0397, 0.8684, -0.8169, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2854, -0.7677, -1.721, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0007 left_z=0.1549 left_yaw=0.0852 left_pitch=-0.382 left_roll=0.1611 left_gripper=0.9965 right_x=0.4275 right_y=0.109 right_z=0.168 right_yaw=1.5737 right_pitch=-0.2231 right_roll=-0.2207 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6325, 6.6393, 1.2625, -0.1441, -0.0611, -0.0122, -0.4581, -11.6991, 7.9385, 0.3932, -0.6032, -0.0855, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78bdbc514c57ade41756ecc8b23d640cb522380471fc2e6cfa8f64913c737586",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d1e935011399875e46253cf91b4dca5abe3f8a07b060270a9200dd8ae21a57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af8ab78c691e5aa1a2bcaa47d0b56cbe80544c2c8c817a7d8f53cc8e5e9e3fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWQaW3bIWriIPsREEamoRC8WbiZH5euvYakvD9EHoBe7Ssw1kIznKaQG6b3HZNQ_WFw4WFZX9SRbTtmkxguAYBFdMS0MmyZaWCme0y61mJEoYy0ECa8p6aUId1sm9t096cwBiLkZJCz28zefj8H502qpqfqCTVAegU-O8KQrDFveWjef7uo6goo4JETMzhFZW_n9he5MReexFEIAlM9wC9CjDmBHy3pPQhhPwXn1YW7YvvfnH1pjYAurDAVUDUpNsZYJll_FrKAiJWrQbjWqa8bEIJtcZ58hl2lN8IbgD8KGIcqNnmz4M8HojQWNgTgOzCI7w9SCIBOzBgvFX3qhnjA97ocSeCQMfcoB8ef3LWziejqcUebbTncqe3ZY86JBysMCf34o5SM_YUFLRZyVvn9pG-Vvx2nxrVd08_3InMyYc6F5LXbVnEyE5LEMTL2opZehy8nt5sisnBRAC3AWvinhbTT2P202YnvaivyXx5WGZV1txuo3xGwY5o3IJWPsQBFoBDjQmz6yvCBCY5OBOC4vOk7x_Ms5ySW-8Bj4bY8sUMNfjE39pYlsi5SCdOrPrb2jiq725FaJiIg1XHo4j9XCkCKmQaj9-AyETliXQrNLDZGiPEIQNA81i7jiZsCu1iTkMDElZUMOt2LmHjZieBWj77aTBhvKjEwaqpqJcFFXGGeedUEA7aEx_CSv3tVYM8fPQfFXvGasg1I22aTya0B-IsPGqYpxCyP9o-kOyrmlkt3HMgMubobxZf-vh62WxpRFtw0KHYXcCTtp0_PyR9b1VMOFRYNfMJeQ88C974hwDcR8sz9H2S6WLecvR7dI0txRW6PqjRaTNU2F0PhScbfk0AIkYAH5UlypUbAArJlOuGwoLiQlVIXmvvzB4rk__4el8zgoDB3Uo31HL8Q9kcbbAYCGf2CS9h3oY3OoP2yav6s2p8Bw8UxlNlHydC0M8Wnrm8bRONDCkj95ivrBuWEIEi2iXYtEZ4IS0GYL_P3QtBO714JQ2CK-y6fdHKnHEJGONI5s-WPiO2nE6LJdm3ZqDKV4AwoBXBhZrbVewwiz_we60oZWIW440ok9hAXTba9E_njx6Dctg65XF6iRpdOO1tgQXok79ICubb5FWtH8S9nE6o7NgZyhEYZVY8A9HkWhNcEH2Hdu0X-tZ4TZl0xu7vAdPw4vsVOOA-e2coiCo58BqrYxUgrQ2ScEfLcBNgS0VAVOVrfJ7wPlW2_vmHKnWDIWUFYPJ50yO5vHwbyToZspvurbrDEFk1tVkLrKDM2F7V2nnZ1eiSR_6_apDUFMgTRdnYxWajY7bUmhCcPEEh2glk3oxBK25JqSlb-8udVr_0ZJ-EuKOL2Hvk7SzxNyMwJEDk05RDhBbZGBwYBVWIy15RfUcjhXbYr8Aj6NChmkwgeHudTvcqDiBt_yS90PF7wR1taLMlOQXn1HzEQlO60TMCfb9KFrhFIpKKZpzkVnBAPu2bbGe7PYgD7FeZrZbyNwkKob10Fgt4yBGGPSjZqU5Oh89KM2ffQuFSEEOJiw6BCD6SSBhKvXubBu0oZ3HddfDwPKauEX_96EQNGsTWWjMjwCs-wuRwz-UEHyYbJGJCMhGiS8SvLnEavm7I5p1m5QvzYWRmtKHVvmMT5P-AhSFRIe96uICO52D8Ko_NfoBrAZQGFi_4n7fwUh84F-EX6UCr77sdD7qEvWV-Gg7_AYJa4vNUcl-CJVokwsiP4jfjua1AAAg4bTJnzyf0SzXCyZsZhdzFrkZYqTP1AMXGfg7ZonDCk3WUtIyi_CmIzEsBtjgXpQOxddHEqupH4Nbxhu6v2MHphnIJ8aRlC6BLjK7mmkY-BAh1kclytgcMUPrGZoxN6gY7GDqrvGBlHuNNerVMbqpsaTDvKtDhvKYUuhL7ncHoi0D45Nxu1tNpFBS88fId4JIDKn-GdZuxTHnNmNvhBKhA8cMFol3Qy7uA0rlue0KLIQvUezvfq9E1P8dQCb7UkqLfloISD8moMAxRfORNQCLiBhwIuHWKmDXugR3XINVB_ZqTCGNAaXAAzHX7V2dDvAn_A_qofJNPQRAIFDWfDDpMy0wa94aXGTsAWG2QynzdLd2bbAWau1RhR_0pz7pVO901IKFevonIZL2TcVt1OMqdISMItdqgE0wQ1ida8F0hH0b5bA7ogBs0i8Fq9BvI8_iC3WXKOkjbfDb2hoHJY1NSQSNyETyqfTpov9U0-fWeKNIUvk1DQhmgmKKFsFKos_humqJgPhVKoy8QJFxFogmmWPQwqhVxaErxGv7sdK-FIocpQMBbMqACJJCe_IdrnM04963LwjUk7nOxG3Tmsb13Okkm8NHR1EBYZQ2p6U3KNfz4QsPz3_18K8kBEJSqia-l6VuenFIIOkts8jBUptnfH5GJJybI7I5ri_bb702dneV3c2x2OMwVlqqoEQ6ZPMypEbcpEMQhMJLZVWFeI9XTnFn5DVOUSLbU=",
  "id": "rs_0b181e7dcb26dc4c016ab4558d0c7c87d089b204bc80f5f0d0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_z\":0.08,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The first descent did not track at all, indicating the rotated wrist pose is at an IK limit rather than in contact. I’ll retract 1 cm and straighten pitch/roll while descending to an intermediate height to recover a workable configuration.\"}",
  "call_id": "call_3InKEQXEeTUsrRS0CtKqvzWA",
  "id": "fc_0b181e7dcb26dc4c016ab4558f9da087d0b0aab7d2fb013a50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3InKEQXEeTUsrRS0CtKqvzWA",
  "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]: [-0.1562, 1.0397, 0.8684, -0.8173, -0.2283, -0.0906, 0.9965, -0.0933, 2.2353, 1.7668, -1.2095, -0.9241, -1.7515, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0009 left_z=0.1549 left_yaw=0.0856 left_pitch=-0.3824 left_roll=0.1612 left_gripper=0.9965 right_x=0.4211 right_y=0.1058 right_z=0.0875 right_yaw=1.5703 right_pitch=-0.0523 right_roll=-0.022 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -2.6051, 6.7761, 1.2332, -0.1783, -0.0513, -0.0122, -0.7316, -10.2769, 4.9299, 0.1099, -0.6862, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397f2674dd06653668a797b3ab48bfc835a4400197f3c9bfb66523534f27796f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed43120cf8f376b30841ba601cd411c9b5568233b98e034895708a502f0b9475",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cb4adccf10b3983e5795f844409716f665487843642215d0884ad91b9928c6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 2.331 s

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

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0378, 0.8684, -0.8116, -0.2283, -0.0906, 0.9964, -0.0399, 2.0274, 1.8618, -1.0637, -0.73, -1.4487, 0.9974]\nstate[eef_state]: left_x=0.2756 left_y=0.0006 left_z=0.1561 left_yaw=0.0845 left_pitch=-0.3749 left_roll=0.1592 left_gripper=0.9964 right_x=0.4599 right_y=0.1031 right_z=0.1778 right_yaw=1.3653 right_pitch=-0.2118 right_roll=-0.2516 right_gripper=0.9974\nstate[joint_eff]: [-0.0752, -2.6872, 6.5709, 1.4823, -0.1441, -0.0269, -0.0073, -0.1573, -10.7966, 6.147, 0.0366, -0.6227, -0.1197, -0.0073]\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]: [-0.1566, 1.0397, 0.8684, -0.8169, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2854, -0.7677, -1.721, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0007 left_z=0.1549 left_yaw=0.0852 left_pitch=-0.382 left_roll=0.1611 left_gripper=0.9965 right_x=0.4275 right_y=0.109 right_z=0.168 right_yaw=1.5737 right_pitch=-0.2231 right_roll=-0.2207 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6325, 6.6393, 1.2625, -0.1441, -0.0611, -0.0122, -0.4581, -11.6991, 7.9385, 0.3932, -0.6032, -0.0855, -0.0073]",
      "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]: [-0.1562, 1.0397, 0.8684, -0.8173, -0.2283, -0.0906, 0.9965, -0.0933, 2.2353, 1.7668, -1.2095, -0.9241, -1.7515, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0009 left_z=0.1549 left_yaw=0.0856 left_pitch=-0.3824 left_roll=0.1612 left_gripper=0.9965 right_x=0.4211 right_y=0.1058 right_z=0.0875 right_yaw=1.5703 right_pitch=-0.0523 right_roll=-0.022 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -2.6051, 6.7761, 1.2332, -0.1783, -0.0513, -0.0122, -0.7316, -10.2769, 4.9299, 0.1099, -0.6862, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397f2674dd06653668a797b3ab48bfc835a4400197f3c9bfb66523534f27796f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed43120cf8f376b30841ba601cd411c9b5568233b98e034895708a502f0b9475",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23cb4adccf10b3983e5795f844409716f665487843642215d0884ad91b9928c6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWT8EyotqN2wgZvlEHz6LxMFbcWw5eRErkX52XoDSYwjetFIzS_MjmPz4722cF2wi89MTC-oQjrvDuPEAwkICe4A5iEHobBf-gQP8hTaP2kvGSdmZJf7gdFevSzsOz_Q5EaB7XA9MKejaDAUwmDf-AfyjPs5L-XWyGhZacKbRRLbzsb32sL-1_CoAujGe7eKuMsc_LCeUuOvw23tQyCXO7M9nNvJXoguWq4_nnddWwXjBSckrJIfIjV5lcsLtmsDiZ7t3YwNC_oF5qdyuE3PF5mVA1F9tYYwce0uz4V8IdqWcs_dDhjiI9oR1y8mBrTSfEuo6hFRLSkHS3mqqpuJhhA3JmsWXiyscrEE25RyjRxsWU7EEu39dF_w6f_GHLVZNFPTa1Ji4Zl4CNXzjOmV2WPljZi99u1gDeYJwvxB5YppV0ymNi-2qGqkCPIo2sUfmvGRSNhjlj-q5uwTQYan0FqGDFfO8w_l_3jC_Vy0kQ_Gue555Wjbbxow0D07q_3RVGErWy52cW4i-uQWszWkG6xNQlGllmPm4xF1n4WkALx--5yHhd-N2opQVExDhZ1BEM9ZEXgOqtmcwUjq0WKBn3syfjy9TKDHsePwKOZwd9u4tISviIZq2a1TpO-YL3VVz25eFr_j46MpnedVSVTYi2FVbUGKJrZOIJ2is-ngyHkQCI9mwDxTNWOOAlHl6dkRcN-ySKEj1FAnzrL-GTOcAl2GfhYoRSyENDx8kl7gX5nfj9fp-cgEbXKrDffjw8WJ2w6Neiv90PUUawac8EbG1G2h7nsx5IDlM09Ih1Bkr50Kqt0X-UfrxoPwd2G9UnMBQad8pPPcn2tuZKnmKbMvkGwK-fePPKDQqISGXQFFuxDacEquf5yQD0JXCko9eyAAt4W2zVi8Qtuav21ZyKSa1CQqggXw1bWtSGQfq7_2OiKoTGtvaPO1SIJMAipWL-FPuBlQSDI3XvRqshR7z-AnsbhpP9VeQ91sypTMvM9IipkNDZyxPlz73c8ftfENUpfWOgtmcT-YpW-wdW_Ncw3JT3-74EsKh9qVlx91K2PSYlhkm86PbOunDd5W0PF6c6Eo73HgPCAr3eZOeojIafCzX3FGs4-aaPAZ63zX9rqvlKP0CX_KtyJF4bgZwcJm1FpRqzQsY6wMEKO0dAc0fW6bCxSAuTQqvuHAo7uMRzQA-rpU9xwsam2JArtohqi0-wwm3ZQroQWedPLwwXCEHbS0OUGh0J5T7h1AbNkYuAIde3yvmgW2JgxW5X17KyI1jYJ3rOX8vnMeKGu_8Xp-VhOPK8V-Ij8zhpOHvzbbMmQJryyvPbNNLXNzQtgrwciuY5nkRod",
  "id": "rs_0b181e7dcb26dc4c016ab45592860c87d0985562b38321dead",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.106,\"right_z\":0.025,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"Straightening the wrist restored vertical tracking; the yellow object remains centered and the jaws are now just above it. I’ll complete the descent while holding this reachable orientation.\"}",
  "call_id": "call_6xEAsP98JrZiZD2ojQLK242y",
  "id": "fc_0b181e7dcb26dc4c016ab45592eeb887d0aa13c8959e64b8d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6xEAsP98JrZiZD2ojQLK242y",
  "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]: [-0.1562, 1.0397, 0.8684, -0.8204, -0.2283, -0.0906, 0.9965, -0.1017, 2.3241, 1.6783, -1.0824, -0.9478, -1.7657, 0.9973]\nstate[eef_state]: left_x=0.2739 left_y=0.001 left_z=0.1545 left_yaw=0.0859 left_pitch=-0.3853 left_roll=0.162 left_gripper=0.9965 right_x=0.4178 right_y=0.1052 right_z=0.0342 right_yaw=1.5685 right_pitch=-0.0241 right_roll=0.0145 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.4547, 6.653, 1.2527, -0.1832, -0.0708, -0.0122, -0.3487, -10.7556, 4.8205, 0.0317, -0.7155, -0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723b820c6bc5ed8af927cbcdff5ab204b40628eb12c949d0b30755af4c94a86c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb2f40dda3b93d3ac5620d23949d953b85364a16a2bf907c8e5addacb13ceae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21deee6e849982fdaf5e9e8f2708110d4beb97aff0809c0cb0dfa39745c83f5c",
      "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 · 4.859 s

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

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

message 83 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0386, 0.8684, -0.8131, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2602, -0.7677, -1.6825, 0.9973]\nstate[eef_state]: left_x=0.2753 left_y=0.0006 left_z=0.1557 left_yaw=0.0847 left_pitch=-0.3772 left_roll=0.1598 left_gripper=0.9965 right_x=0.4324 right_y=0.1088 right_z=0.1686 right_yaw=1.5466 right_pitch=-0.2193 right_roll=-0.2192 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.6872, 6.6667, 1.3114, -0.1832, -0.0513, -0.0122, -0.212, -11.4667, 7.9932, 0.525, -0.569, -0.1441, -0.0171]",
      "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]: [-0.1562, 1.0397, 0.8684, -0.8173, -0.2283, -0.0906, 0.9965, -0.0933, 2.2353, 1.7668, -1.2095, -0.9241, -1.7515, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0009 left_z=0.1549 left_yaw=0.0856 left_pitch=-0.3824 left_roll=0.1612 left_gripper=0.9965 right_x=0.4211 right_y=0.1058 right_z=0.0875 right_yaw=1.5703 right_pitch=-0.0523 right_roll=-0.022 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -2.6051, 6.7761, 1.2332, -0.1783, -0.0513, -0.0122, -0.7316, -10.2769, 4.9299, 0.1099, -0.6862, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0397, 0.8684, -0.8204, -0.2283, -0.0906, 0.9965, -0.1017, 2.3241, 1.6783, -1.0824, -0.9478, -1.7657, 0.9973]\nstate[eef_state]: left_x=0.2739 left_y=0.001 left_z=0.1545 left_yaw=0.0859 left_pitch=-0.3853 left_roll=0.162 left_gripper=0.9965 right_x=0.4178 right_y=0.1052 right_z=0.0342 right_yaw=1.5685 right_pitch=-0.0241 right_roll=0.0145 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.4547, 6.653, 1.2527, -0.1832, -0.0708, -0.0122, -0.3487, -10.7556, 4.8205, 0.0317, -0.7155, -0.1783, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723b820c6bc5ed8af927cbcdff5ab204b40628eb12c949d0b30755af4c94a86c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fb2f40dda3b93d3ac5620d23949d953b85364a16a2bf907c8e5addacb13ceae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21deee6e849982fdaf5e9e8f2708110d4beb97aff0809c0cb0dfa39745c83f5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWWq5n2JgykaD3bSqSKcRrXHKF9Yi-CUsNX8r3OAbZFWbaqqRLQ71xhustRbcnEcNLSnZUuJ9lOEfp6NKXEY9tWQRiosYBehGXbeaPG1nUcbaeIOpCycIF5QDgw2XIDpQyMsG39jtVdpgtDr3wWSMi-cTJFSQOqJuRuzuAxzakYnonmhRMFHcG0qrDiVGeeJXrMIBukrw5hVt5-vUsn1WuISNHdVbujl9CuuzS8V91Tx-NhGCPR-ubUaPFZpje_2ysvSBl8CYCyDLhUkrJaKVRuqlljN8TRoUUhRT-2gl0EChVeiE2p_QK01C1rUHkPlyrr0CjKJaoV8E2q5FrRnKqSI8G808YHGSIxBWg-LnFUW5vNgOQoeJiJ3v-R6zf6J6V4XIZmhoEC3xDJRlFh7YMMLjuZppqS2fYcJ-AJfyb4a6zRixmFu3z9CcCdiStj1SZw6GEw_LgYwalE0PIr-7iDuhTPStnBO_6Weg22L8Y_RCnAGoMTXL6APAo4jG2caIqNA-VqQ0IY-C0nKoUEk7I7ObVwVd0l4FAWD7VmkznW5ATBuCxi1c3PyKd4TbRLwoGkNIQCj0X4vwM2eKn9C3wl_HQ9L2vVGkQTTSKwil1peHC7XUGZZh5tXq4tWG7iH18hhPn68e6na5uI-6C-GFnzDFSjsDCGOeJYf94qCUDxnALkdwjNhKrRQoj2kB6xm1ZggynDM4x5yntXS0IAesZD-o_xWOpusCVV1IqRDEKh-n7iPeHd9x1tIQGT2fwk5a5wcfScTaOR69_IG50ZkZtVvCgxEGS4RoShZKyg1DmbaC2kodPRU9NdHTjoEvgnqUqGRJzaoXA0XE_kpW1yRMQpka0Jq0japTYYM4yyiQvIWC2CIaNrcBKQT411gCd7J8Kgkn8Ih8_rDum0-7zKprsSa4uSrXyhtqV5fioZzlI-qVVPGCWak0q9hWQOG0yRNeEgu9CZ1JJNWvOpucam1HTEqC_HB0ZSdTJkW-8E_T2nsorfG0jBWoBIWMerOn7P4jg_9sJH_Cls-6czxkV5WgP91bWInxYtQvtuvxjwcR4SWfAoEX6GpxRnp875tsDaGChh-IUJZn8-nYGYoJRE6PL_3iymDRdYajrHwwUOkhrLeZavMPqa5gASIk-USB_2BXQfhOubm-EWtCE5HiD4UI6a1tM7xezvO9GvJ44uVMX8Ewm2Nz32b6l2XweOQlt0pLWSKlnrdg6mcrqAX7x2bMpaPYL8rsoyYGg-WmtS1eBfexovI4QooBQfFvI9-PETJxi2d-sE4kIfXGCRfxlOQKGEzg==",
  "id": "rs_0b181e7dcb26dc4c016ab45595a05c87d0bff80360f983e225",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 3.4 cm height the yellow object fills the gap between the rotated jaws, with the safe wall behind rather than between them. I’ll close now and check for a substantial jaw spacing.\"}",
  "call_id": "call_Cq7A6Tz7fx1lNyaBf0QrauPx",
  "id": "fc_0b181e7dcb26dc4c016ab45595e4e887d08fafc9b7fa81cfaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Cq7A6Tz7fx1lNyaBf0QrauPx",
  "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]: [-0.1562, 1.0397, 0.868, -0.8207, -0.2283, -0.0906, 0.9965, -0.1051, 2.3455, 1.6638, -1.0481, -0.9485, -1.7779, 0.0172]\nstate[eef_state]: left_x=0.2738 left_y=0.001 left_z=0.1543 left_yaw=0.086 left_pitch=-0.3861 left_roll=0.1622 left_gripper=0.9965 right_x=0.4183 right_y=0.1038 right_z=0.0222 right_yaw=1.5718 right_pitch=-0.0231 right_roll=0.006 right_gripper=0.0172\nstate[joint_eff]: [-0.0615, -2.359, 6.7624, 1.2625, -0.1636, -0.0317, -0.0073, -0.3487, -11.5761, 5.3949, 0.0317, -0.7106, -0.0611, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b60203dc23d8dc3cb8bc492fa0e4322a492ee9ce6acfb425f45150aa80ded1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de7cb7be9c5057fefb5583f9c9fb10f14e6181142dd195bc97ee0bc6dc7b2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b9982dc35b0fd2b82bc1fb54d496f6e9d0c51087e9d51c5b9633c9ecefe1b6c",
      "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 · 2.812 s

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

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

message 87 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0397, 0.8684, -0.8169, -0.2283, -0.0906, 0.9965, -0.0406, 2.0724, 1.9114, -1.2854, -0.7677, -1.721, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0007 left_z=0.1549 left_yaw=0.0852 left_pitch=-0.382 left_roll=0.1611 left_gripper=0.9965 right_x=0.4275 right_y=0.109 right_z=0.168 right_yaw=1.5737 right_pitch=-0.2231 right_roll=-0.2207 right_gripper=0.9974\nstate[joint_eff]: [-0.1026, -2.6325, 6.6393, 1.2625, -0.1441, -0.0611, -0.0122, -0.4581, -11.6991, 7.9385, 0.3932, -0.6032, -0.0855, -0.0073]",
      "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]: [-0.1562, 1.0397, 0.8684, -0.8204, -0.2283, -0.0906, 0.9965, -0.1017, 2.3241, 1.6783, -1.0824, -0.9478, -1.7657, 0.9973]\nstate[eef_state]: left_x=0.2739 left_y=0.001 left_z=0.1545 left_yaw=0.0859 left_pitch=-0.3853 left_roll=0.162 left_gripper=0.9965 right_x=0.4178 right_y=0.1052 right_z=0.0342 right_yaw=1.5685 right_pitch=-0.0241 right_roll=0.0145 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.4547, 6.653, 1.2527, -0.1832, -0.0708, -0.0122, -0.3487, -10.7556, 4.8205, 0.0317, -0.7155, -0.1783, -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]: [-0.1562, 1.0397, 0.868, -0.8207, -0.2283, -0.0906, 0.9965, -0.1051, 2.3455, 1.6638, -1.0481, -0.9485, -1.7779, 0.0172]\nstate[eef_state]: left_x=0.2738 left_y=0.001 left_z=0.1543 left_yaw=0.086 left_pitch=-0.3861 left_roll=0.1622 left_gripper=0.9965 right_x=0.4183 right_y=0.1038 right_z=0.0222 right_yaw=1.5718 right_pitch=-0.0231 right_roll=0.006 right_gripper=0.0172\nstate[joint_eff]: [-0.0615, -2.359, 6.7624, 1.2625, -0.1636, -0.0317, -0.0073, -0.3487, -11.5761, 5.3949, 0.0317, -0.7106, -0.0611, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3b60203dc23d8dc3cb8bc492fa0e4322a492ee9ce6acfb425f45150aa80ded1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de7cb7be9c5057fefb5583f9c9fb10f14e6181142dd195bc97ee0bc6dc7b2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b9982dc35b0fd2b82bc1fb54d496f6e9d0c51087e9d51c5b9633c9ecefe1b6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWcWeJRyfflAQ1NSK9KOt87QyTUslzj3u7e0XLQ8OuZsGOXro11I-oM0Eai7T6-bbwWObTrw_Z17CR_Gl9xDTSBCeOuMnxwnECCXkBggD13Fh19lTvJglhKemBcFnwdWy80v3X79Njx435nEWU2g6fwoPTK5EQ4UlsTw8njYI5E4qK91cf-SSHHIuwA5OM3rskUKfhGpNTVMSzWRLKAaOSXQ_dq3dLd9G0QUc_EErqjVEYBEE7LVBonltQgGCoDtmoJEmSdmjLi9kijpJyaic60gytZVx5ohNi7LuJe3YnsyYrIH3KQilO0TDn71V2rJ4oaG2qRgC8yClq1WK8LJAOet5w3DGZnGotD5km5-y-XqbBULT8FJB-I4dBnI2X2E4OsBIESISYqPoR5eJyk9Ua-AJU8-UP_WHuMCpA4QK4HKu2Z5k2j4zZrJy0T7Iu0820FGS9-85oA4al5zDRtVbnNFd9xZs6ZdStnTBNUcWdai3HDROiMkE2WqSqFiIkxNN-P8zlmHhac4kNROEMoFgL-hCl-snyOIdAIgXu88VaCltcZ2ychcdU8wywM5ximwFS5RPiMzFIQJDAkEeMzoAEf2lwOEsFpgy_qzc6zmBOK65ADp-w441LYgYq4T1q8lnerciB7lHy2CFr81NQQCtBHYXTDvyRuWWfxJ94RWn0-hb0wXzr2ptLUyh-kXcdB122xKoIY4v2aAAcfZlTOBZbW8MsvIyFaQVQINzyNIv-jdkGLlsndWd_BC3LVPCDtcx4jkHNlfUK4ZPTnAuxq4sT4cXxKCiiL75-IGujQ4WI0cUlo8lJ3_fUQNbjWbCvckjlnclvEgG3JKegHlEnRLIQI9_IzSnHMpGy8NZKKxFxcGojYcTyPRSfSUSznhYAa3_ahZkHmOOlTG-yzBeZHr5ZcSMSxgjjnLBNN35JUUniT7rUoasd64mAe57kwUSOsF2EnrB9H4Jd_nC1QfMqJI8Uc7rl0g1xHhO7fCKySHIl10PWtrP_lnqZ1AoRI1EgKQ_TRG5l-8EokQXxlXOAOg5qg8X02batcBwKCIlqBOVE6jsnIK-qoJPVbJqRJNxnA5RNWylcr3TygRSOFHiQ_g1VA8R9wPQFb0hKEKA7C_eR-1hRwp8EuWxZikKlGOkLSpd3wBLKOVj1zCXxrkUK2A9OfDftUD7CkjGpgProSDjkDcUglZQqbNsRxyIPBDUG1fw9pyAIYX6vjd4JrOjykcQk-nANicNCtX748bW8lU1YYh2_KyU3B3kqIJIEnjApSRYhngk0zBcq1OKo6AMG77DRLOjCXmImBm2SHW2JfWW8yGY2QOAdPUjDXg2KB2rik8gSkqonjakhwmpZkdpgd9uXmRyH4XFyMzmuDYutOZWKV0iv4hN0dWABOM0XxLTPW35iu_sN4t1E2SrKZMd3utZcA0D7s7jWseAa1PmhtF1829NA0-ZD69dACJRelUtJIbSd1MsxBJ_MyOQjzXwJ-CQUM_Q3XofzocithCKzfvegyevIDo4CDsK592Rr_lokv15HOuAZkOeRyqzbKgJaR6SyAydguE2hWWE_g7fV00C9ZjdFU_OTgu3woOtwOWisqtKOq2xPMAg3hmm56qOF8Ob3yjky5wF4yGGILKJadhmYwR8oyDBOm0t4asYR_jfK7-NSaRMZswfHQLRDJiNQezWqR1aYRWOsLoAc0NVZNjVdBXTXrw9eSCI0SWDzrP6lU3GIsBmuEavC0HCrXL0uKiYQGVitAViMnjrkg3QNNrPGOiwAgPV4hRtlJnwLPAbBpJDJP1NyRCkd4bA5fX7SD-sJYbb-IG8W_EO1VegRHR-CCQUzdmMutXT3JQkrW5wn_R72-goX8xC8i-7Qc8WYggOPNfae-oFFaLS33gFrQbkr-2GCaSjKlYfYYxcp_itRkotUoEDiWmfw__HMwrsYyqanXOaxcHtvPstQ_GikIog0gu4X4GJ-S9mja9pg5NRpm9psFKD4q_j1Mldrw04BiHblj-ca9pHteTwLp4n6MrAvolvJQvRmFtzTurDGQBmawK1qQUiWBFDp0hCADOFl5tuKeHEzPM029rAnDoWMQvjCsav-cIAhQaHdmjqpLslJQq-aUoSrHgGWFFyyyp_9PdAC_C-gEMmK_fMkebRqjSuQ09YlzrEvdfa8w_vd5tfYi3g0za9Jp-7DMGf1zE56ZhLwEG0Fgq0vic8GV2zJYoxuCaNutZFzc69_2wS6aqXpZtusbGcosw-qBNzWRHAtSxz4wvQZMOPBrQMKSS1nMQmd7dUWpuWVFBEq4UEMiPvs8wttxUq4BwRrUOG8OwlY8kr76IZYQ6xHKAYCJYmtXhR0V_7l3t3MQpT6T9-AqQ0ZcGtjVL0CCqY_LKcruiDTLu6dhqYAtWoRTkUIWrF7cRUvFJ4sGeGtNQ3uqnNxQQre3MEE5yOUPBaL_vIrMzjrfZQtO1Bu-p05-OrMnbiAgVRnkGWpBlOg0UQ9ioxo-2tYTOerddby5quXYiIa6rPzpP5lV8iCELrJLI76ggtPgzKxb0pleGJpNGvgQ8Q2uENvzIzHplUgU9qGSZcXbkUFZ3OcP28S_teD4-A8vri8E7dgSzJ5JEb6vxXn_nKMb8UxTW_p3HXSiHSY5j4b-jqJgusaCDpkHxty-fR5tSHzN1cZZ3lI=",
  "id": "rs_0b181e7dcb26dc4c016ab45598d67087d0abb1d9e6a4a7888f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_z\":0.1,\"right_gripper\":1.0,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The smooth yellow object slipped to image-right during closure and the jaws reached the empty value. I’ll open, lift, and move about 3 cm in the rotated tool-right direction—mostly forward in the base frame—for one deliberate re-grasp.\"}",
  "call_id": "call_K4iR49kq6LzMoayvT7Zw25jd",
  "id": "fc_0b181e7dcb26dc4c016ab4559b52b887d08b43336cf417a251",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K4iR49kq6LzMoayvT7Zw25jd",
  "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]: [-0.1566, 1.0397, 0.8684, -0.828, -0.2283, -0.0906, 0.9969, -0.1051, 2.3699, 2.0129, -1.3308, -0.9463, -1.7809, 0.9947]\nstate[eef_state]: left_x=0.2724 left_y=0.0011 left_z=0.1535 left_yaw=0.0863 left_pitch=-0.3927 left_roll=0.164 left_gripper=0.9969 right_x=0.4522 right_y=0.1 right_z=0.0947 right_yaw=1.5727 right_pitch=-0.0298 right_roll=-0.038 right_gripper=0.9947\nstate[joint_eff]: [0.0615, -2.5641, 6.9128, 1.2869, -0.1832, -0.0122, 0.0317, -0.1436, -11.0701, 7.0632, -0.2173, -0.6716, -0.0464, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fa8569d6cb283387b2a7f5adc0b9c8709f824e78395ddd1d3b5684b16976db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:868ad13317ec9519507094e37a85f77b2758f7c209f727d9cb38653d099a52a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1952bc28a1a6e5077563076ca7c02d8f8fb21cfa14b059ab270fae877d042c85",
      "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 · 2.648 s

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

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0397, 0.8684, -0.8173, -0.2283, -0.0906, 0.9965, -0.0933, 2.2353, 1.7668, -1.2095, -0.9241, -1.7515, 0.9974]\nstate[eef_state]: left_x=0.2746 left_y=0.0009 left_z=0.1549 left_yaw=0.0856 left_pitch=-0.3824 left_roll=0.1612 left_gripper=0.9965 right_x=0.4211 right_y=0.1058 right_z=0.0875 right_yaw=1.5703 right_pitch=-0.0523 right_roll=-0.022 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -2.6051, 6.7761, 1.2332, -0.1783, -0.0513, -0.0122, -0.7316, -10.2769, 4.9299, 0.1099, -0.6862, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1562, 1.0397, 0.868, -0.8207, -0.2283, -0.0906, 0.9965, -0.1051, 2.3455, 1.6638, -1.0481, -0.9485, -1.7779, 0.0172]\nstate[eef_state]: left_x=0.2738 left_y=0.001 left_z=0.1543 left_yaw=0.086 left_pitch=-0.3861 left_roll=0.1622 left_gripper=0.9965 right_x=0.4183 right_y=0.1038 right_z=0.0222 right_yaw=1.5718 right_pitch=-0.0231 right_roll=0.006 right_gripper=0.0172\nstate[joint_eff]: [-0.0615, -2.359, 6.7624, 1.2625, -0.1636, -0.0317, -0.0073, -0.3487, -11.5761, 5.3949, 0.0317, -0.7106, -0.0611, 0.7643]",
      "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]: [-0.1566, 1.0397, 0.8684, -0.828, -0.2283, -0.0906, 0.9969, -0.1051, 2.3699, 2.0129, -1.3308, -0.9463, -1.7809, 0.9947]\nstate[eef_state]: left_x=0.2724 left_y=0.0011 left_z=0.1535 left_yaw=0.0863 left_pitch=-0.3927 left_roll=0.164 left_gripper=0.9969 right_x=0.4522 right_y=0.1 right_z=0.0947 right_yaw=1.5727 right_pitch=-0.0298 right_roll=-0.038 right_gripper=0.9947\nstate[joint_eff]: [0.0615, -2.5641, 6.9128, 1.2869, -0.1832, -0.0122, 0.0317, -0.1436, -11.0701, 7.0632, -0.2173, -0.6716, -0.0464, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5fa8569d6cb283387b2a7f5adc0b9c8709f824e78395ddd1d3b5684b16976db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:868ad13317ec9519507094e37a85f77b2758f7c209f727d9cb38653d099a52a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1952bc28a1a6e5077563076ca7c02d8f8fb21cfa14b059ab270fae877d042c85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWgterqFACoeapmrjRs4mvVbcVkpkxBncEbOHzaTgHUn4EIPhfQ19uWrirPeRWvx28hObmH1PRCCct6IW9OuWcPLyR7aLy8FiRe7jkMppDADykqa4ubbMmghhNA0k5_zaz8baNXA1TGXH1ivXBKRnxTN286tVzAP2tMHRvjn4IMb76yl_gsFIrEH964ZC0FstaC4LgOrofGy6NhWCSKipW09C61B7_7Ai24pWw47fpjGN5P8yWgwWiTlXjjcUilI_6WayLczYU3KCVPXKZVRXhZhF7XZajgbOlmIvDJ3V_6fHJdecbUWpp4vXNHDeGAdxTXSkJhxWP4gySIa0WPABSL3kFjy-Sql4fYwr8w2pvpg22hgOI5NXsNuJNfsBWVBkydXiBLv1wxuYOdURqP2TO6NLzEf3St2k34eSvub5Ft74Rse5dMbWcuCE_xsoL1g5WspbKP_MAIcufBSy9E9zEFtlCvCo9s_9IEWNTgB8tX-s6V5GMFpFE0pwdNdfe0LbVSu1O68NdpqGelUL1hKp7SM0fjw95kxDmdzhJL66iCqs-vsUwNLK60t0E8yflOCVJRz1EpuaJ_apL-vLQwqmu1lVhx9xt2AL4XhieOhH3BGyxJsAJZ_gsFJO_MXo1dUld6moHkjCfPNuHdbnHSI0NZafnSYGgvRVo7yiQK66Fk22kLLLkjy39ra0jMNnkz88x2gRQ4qiTFJlp8LdbKctjUYZ4ULQkeS8oHo5i0mJdSV4ZqEI2T9rWWaFZQFxxPOQWWUuA4akNUoVdcPUc5ExRt2vhrRnm8q5SEl5DonPKZfo7sKYKN66qtkvHf3V4MnU7T3xGMY8oOUC-TfXucL_ICbzRMrp9LUKqhfwZ7OcuXXNuZmkHr4GLWzsZH4JglKjpFq01Y7K-RpF3PPIrL9kPevMwX0wCdRPJf7yyTTyRb9XKBcB_r814JzQ4qz-UVm9dtx45yY4dDALn28M54d_1obdwEziy-LyMfI4tkcX2u_EKBYWkBNd1oru9XsrnP-51IlB03arMTXwcR-0wtZ_DZjaSWwVKxNLebdkPO_xJQFIOcCkhThEHVNjj8lk2rFhF7cobXbqRjt1C3H4roEg0rtzU1BHyW1UzHbEk9tESJ1KxBpWYtHjmaoD3a841ecaP3X-qWcP6nxDeDMqzCrrMUquV2zKna7vKP7SthxqEIjaH83S8MLQtkVKk-onnY7br3osMl0iAyMg0Y1XZWLHcOoi74s6f8ZUe6LYJ2z-1z-9-mEFzFYgM95j-v-93m48TWAxw_jyCDDBfJ6C-l2K7XAU3sTkathCbKwtviTIj7luo=",
  "id": "rs_0b181e7dcb26dc4c016ab4559e7aa887d080f8ca399efe75e5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.452,\"right_y\":0.1,\"right_z\":0.03,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"After the correction, the yellow object is centered on the jaw column with the safe clearly behind it. I’ll descend vertically without changing lateral alignment.\"}",
  "call_id": "call_l6IlXR5kps0p5iIYEZBqqtIZ",
  "id": "fc_0b181e7dcb26dc4c016ab4559ed76487d0813687e08267d0c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l6IlXR5kps0p5iIYEZBqqtIZ",
  "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]: [-0.1566, 1.0397, 0.868, -0.8341, -0.2283, -0.0906, 0.9969, -0.1062, 2.4557, 1.9182, -1.216, -0.9478, -1.7809, 0.9953]\nstate[eef_state]: left_x=0.2711 left_y=0.0013 left_z=0.1525 left_yaw=0.0869 left_pitch=-0.399 left_roll=0.1657 left_gripper=0.9969 right_x=0.4469 right_y=0.1002 right_z=0.0353 right_yaw=1.573 right_pitch=-0.0212 right_roll=0.0271 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5778, 6.5983, 1.3065, -0.1832, -0.0611, -0.0024, -0.6906, -12.0274, 5.4496, -0.0513, -0.7546, -0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c6556adae0ef3bb916b6ac8f5f9c5815218d4dfb96ac3babd0cafaaf29be78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1169a8458d7367bf79a996aea515b51f9c5436ef35b242de3ae80726e65479b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4d1af2ad34509ccf7d1c0e0ab59b5b69e199331d2dd9180324639cde36a84a",
      "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 · 8.04 s

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

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

message 95 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0397, 0.8684, -0.8204, -0.2283, -0.0906, 0.9965, -0.1017, 2.3241, 1.6783, -1.0824, -0.9478, -1.7657, 0.9973]\nstate[eef_state]: left_x=0.2739 left_y=0.001 left_z=0.1545 left_yaw=0.0859 left_pitch=-0.3853 left_roll=0.162 left_gripper=0.9965 right_x=0.4178 right_y=0.1052 right_z=0.0342 right_yaw=1.5685 right_pitch=-0.0241 right_roll=0.0145 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -2.4547, 6.653, 1.2527, -0.1832, -0.0708, -0.0122, -0.3487, -10.7556, 4.8205, 0.0317, -0.7155, -0.1783, -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]: [-0.1566, 1.0397, 0.8684, -0.828, -0.2283, -0.0906, 0.9969, -0.1051, 2.3699, 2.0129, -1.3308, -0.9463, -1.7809, 0.9947]\nstate[eef_state]: left_x=0.2724 left_y=0.0011 left_z=0.1535 left_yaw=0.0863 left_pitch=-0.3927 left_roll=0.164 left_gripper=0.9969 right_x=0.4522 right_y=0.1 right_z=0.0947 right_yaw=1.5727 right_pitch=-0.0298 right_roll=-0.038 right_gripper=0.9947\nstate[joint_eff]: [0.0615, -2.5641, 6.9128, 1.2869, -0.1832, -0.0122, 0.0317, -0.1436, -11.0701, 7.0632, -0.2173, -0.6716, -0.0464, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0397, 0.868, -0.8341, -0.2283, -0.0906, 0.9969, -0.1062, 2.4557, 1.9182, -1.216, -0.9478, -1.7809, 0.9953]\nstate[eef_state]: left_x=0.2711 left_y=0.0013 left_z=0.1525 left_yaw=0.0869 left_pitch=-0.399 left_roll=0.1657 left_gripper=0.9969 right_x=0.4469 right_y=0.1002 right_z=0.0353 right_yaw=1.573 right_pitch=-0.0212 right_roll=0.0271 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5778, 6.5983, 1.3065, -0.1832, -0.0611, -0.0024, -0.6906, -12.0274, 5.4496, -0.0513, -0.7546, -0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11c6556adae0ef3bb916b6ac8f5f9c5815218d4dfb96ac3babd0cafaaf29be78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1169a8458d7367bf79a996aea515b51f9c5436ef35b242de3ae80726e65479b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4d1af2ad34509ccf7d1c0e0ab59b5b69e199331d2dd9180324639cde36a84a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWjpXcOoqwA1xuLreFOhnlJPo0xjuJLCk9xHda6SOZSHTrpXwI58j0x-klgH5JALbmpGrhBHNsBbmB3kKUvjn_-bmC86ZT9hgcmri6StvYFHTUgszL-tMwXG80-gQrUKBuQ1o_eOGh8tbVGY9pOXQg1_Cp_0GGmVrb3kyaQ1xRiutA8-2uv_9EmMODRxGpmUdPMpOy1K-_X9U1CsLHCXfgjh4yChTxw8gnzkctFl6k04ZGuyWNbyco7yzGHnRhNG5Jafvgk0p2FQ4g5cXFfAIL4drcxUj-T6wbmlpdI1ZW6Y2Bni9QOHIqsD4WMwU8hLJ-8oKlbc9rsAFHslT6jJ-OqQpHwaqtDYpUK_8_XcwWl9DvyRKeAZDWiiGLDeiPMneepV8wkyXBSaG8BuL0yTpDgOS7uvJQeSI2cuE4Y5FJeSP5koYwsCTsPgNSrTTZn34VMrlFTfYWuDNAp7YoxPTov7JTom_9cih4SwiHk-pT26KJHwUHww6ex1jpK-xc3_UorX9P4vO8xVXhoxrCgV7EFZfq0385J6gHhkoiPVjlXyCch2Nm3iBPzbriIMLIVqYsBwrta96BgdewUrnfmq1YdwXAsSaxElVGZLmpBDw7NttWng7DzcXFWeMl24B88OZiFJWW_q975WbgWtLiiv-E7wW7KOlvNKfup4hh63Lg2IeogQZsdAniO_GFgWYKcCmUgSvj3zKw6mwW7UjR4QdhiZaEkuWuslZwtJYJtAUB-44MOq1zOsEKxktbpUpmsZVjYcEX3ZCMLuSYt1ywFF8MinzdJRA35u7HbYaxlh3yDf3sRjjscTbKG13P6cANmr3rXpxvdzhZiBBtD0NLawP816rnvqWlzTGVYBjDQFu4NxtleJMMUlQ2YoKxglp18GIkwVgi35Z-8lVAfPJnUCaYw8ciw95-5YL_zm-KsMghTQk35PDe1xAMEuCbtqniKZgEzLCPW_WxUOQtUwuzLdcx0nakSk_VWlvlx-mX_R_KGBO0SjhJE0TEK2C-2nYatyMoBObPnnzfpBaIu-A7jiebNfnVxEnaoYX3Ei48KyhUBeKn3rkNaYWkVJVV_9o6nchBzO7aSNcp-LKj93DGKCtfflJ4p10bNGn9M0_M-xNOjiHEByE6B1hgnG38v_i5o0n4FaduyudAn0SFuH3lGL4BrSqv4biBzaXvAe7Gvo3vCP9jewYhjpkT6ExvbiPbAtO8RJbv4yyIrRonBmpFJTr4do3xZfDmnJjxK8hBWkn6wOsqasfP_tBsM4Ab6YrWDVU2Tw01NrRBcUXJXj8L0kp031PX-AQOuw9TtlOfxSKOuVoXUNqf8woaJC3FrhJuvxYlAEh1LmNj8qCQ7DZAKa02igCcuYW1_mWJLBAFV6kfYpX08L7-0dWLZEbvmDUeYRviPAW_IcHqgQW6Vh7Aqr0luLW_A_hxBHMd7wY1b0txwlXuYBKmtuYCUsy3N9DvDoEHLBCY4bDvspDxuahLz3ST8HH73lUUKk6m_CWdIP_GlQ9u23xd4JGgz_rNnavtS2Cuo",
  "id": "rs_0b181e7dcb26dc4c016ab455a1e0a487d0b57dcd686cad1a3b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The second alignment is centered across the lemon’s widest section at grasp height. I’ll close only to 0.25 rather than fully, reducing the chance of squeezing this rounded object sideways.\"}",
  "call_id": "call_35FRqK5Z1OtkGV3lcdee95Ko",
  "id": "fc_0b181e7dcb26dc4c016ab455a28abc87d08bcb5e26516db701",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_35FRqK5Z1OtkGV3lcdee95Ko",
  "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]: [-0.1562, 1.0397, 0.8684, -0.8459, -0.2283, -0.0906, 0.9969, -0.1062, 2.4687, 1.9118, -1.2076, -0.9394, -1.7802, 0.2546]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1512 left_yaw=0.0885 left_pitch=-0.4101 left_roll=0.1687 left_gripper=0.9969 right_x=0.4454 right_y=0.0995 right_z=0.0271 right_yaw=1.5744 right_pitch=-0.0283 right_roll=0.0396 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -2.5641, 6.5162, 1.3309, -0.1636, -0.0415, -0.0073, -0.3624, -13.9145, 5.7094, -0.0952, -0.5006, -0.0024, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7018652a5426fe126b92d10dee42b03e0ab83dd9aa5bd1fa416100780e912c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e18ff77387c0c0e3c20a2bc941884669c278d16fa145881eae99d6ea76207bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c4adf16a24c3886f5222ea46c2315dbc96f39207e94e2b287428a4988cea67",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 3.414 s

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

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

message 99 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0397, 0.868, -0.8207, -0.2283, -0.0906, 0.9965, -0.1051, 2.3455, 1.6638, -1.0481, -0.9485, -1.7779, 0.0172]\nstate[eef_state]: left_x=0.2738 left_y=0.001 left_z=0.1543 left_yaw=0.086 left_pitch=-0.3861 left_roll=0.1622 left_gripper=0.9965 right_x=0.4183 right_y=0.1038 right_z=0.0222 right_yaw=1.5718 right_pitch=-0.0231 right_roll=0.006 right_gripper=0.0172\nstate[joint_eff]: [-0.0615, -2.359, 6.7624, 1.2625, -0.1636, -0.0317, -0.0073, -0.3487, -11.5761, 5.3949, 0.0317, -0.7106, -0.0611, 0.7643]",
      "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]: [-0.1566, 1.0397, 0.868, -0.8341, -0.2283, -0.0906, 0.9969, -0.1062, 2.4557, 1.9182, -1.216, -0.9478, -1.7809, 0.9953]\nstate[eef_state]: left_x=0.2711 left_y=0.0013 left_z=0.1525 left_yaw=0.0869 left_pitch=-0.399 left_roll=0.1657 left_gripper=0.9969 right_x=0.4469 right_y=0.1002 right_z=0.0353 right_yaw=1.573 right_pitch=-0.0212 right_roll=0.0271 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5778, 6.5983, 1.3065, -0.1832, -0.0611, -0.0024, -0.6906, -12.0274, 5.4496, -0.0513, -0.7546, -0.1343, 0.0513]",
      "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]: [-0.1562, 1.0397, 0.8684, -0.8459, -0.2283, -0.0906, 0.9969, -0.1062, 2.4687, 1.9118, -1.2076, -0.9394, -1.7802, 0.2546]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1512 left_yaw=0.0885 left_pitch=-0.4101 left_roll=0.1687 left_gripper=0.9969 right_x=0.4454 right_y=0.0995 right_z=0.0271 right_yaw=1.5744 right_pitch=-0.0283 right_roll=0.0396 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -2.5641, 6.5162, 1.3309, -0.1636, -0.0415, -0.0073, -0.3624, -13.9145, 5.7094, -0.0952, -0.5006, -0.0024, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a7018652a5426fe126b92d10dee42b03e0ab83dd9aa5bd1fa416100780e912c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e18ff77387c0c0e3c20a2bc941884669c278d16fa145881eae99d6ea76207bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c4adf16a24c3886f5222ea46c2315dbc96f39207e94e2b287428a4988cea67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b181e7dcb26dc4c016ab455a59fa887d0be91bbeb088fcbf9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_z\":0.09,\"right_gripper\":1.0,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The partial close remained empty; the camera shows the lemon still a few centimeters short of the fingertip convergence despite good lateral centering. I’ll open, rise, and make the needed final outward correction to place the grasp point over it.\"}",
  "call_id": "call_zOmSLk7TDkf5vkpb9UGBqcAz",
  "id": "fc_0b181e7dcb26dc4c016ab455ab47f887d080e8513fc6ddb119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zOmSLk7TDkf5vkpb9UGBqcAz",
  "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]: [-0.1566, 1.0416, 0.8684, -0.8539, -0.2283, -0.0906, 0.9969, -0.1062, 2.5153, 2.2375, -1.4174, -0.9428, -1.7897, 0.9948]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1497 left_yaw=0.0892 left_pitch=-0.4197 left_roll=0.1713 left_gripper=0.9969 right_x=0.4771 right_y=0.0965 right_z=0.085 right_yaw=1.5771 right_pitch=-0.0326 right_roll=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.6598, 6.694, 1.2576, -0.188, -0.0513, -0.0073, -0.2256, -12.1915, 7.1726, -0.3004, -0.7595, 0.0122, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919db07344ae68f4dac43b7f6af1c45790fafa0b681f21402080f9a54a41ae91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9033d1dd6eefff878a1e366b9d61350c7dae08938dfd8192f39178203ca816bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97acde3a6486e16f702429010a01b39e6bd6f156b3d610187739033d0b60f447",
      "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 · 2.907 s

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

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0397, 0.8684, -0.828, -0.2283, -0.0906, 0.9969, -0.1051, 2.3699, 2.0129, -1.3308, -0.9463, -1.7809, 0.9947]\nstate[eef_state]: left_x=0.2724 left_y=0.0011 left_z=0.1535 left_yaw=0.0863 left_pitch=-0.3927 left_roll=0.164 left_gripper=0.9969 right_x=0.4522 right_y=0.1 right_z=0.0947 right_yaw=1.5727 right_pitch=-0.0298 right_roll=-0.038 right_gripper=0.9947\nstate[joint_eff]: [0.0615, -2.5641, 6.9128, 1.2869, -0.1832, -0.0122, 0.0317, -0.1436, -11.0701, 7.0632, -0.2173, -0.6716, -0.0464, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0397, 0.8684, -0.8459, -0.2283, -0.0906, 0.9969, -0.1062, 2.4687, 1.9118, -1.2076, -0.9394, -1.7802, 0.2546]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1512 left_yaw=0.0885 left_pitch=-0.4101 left_roll=0.1687 left_gripper=0.9969 right_x=0.4454 right_y=0.0995 right_z=0.0271 right_yaw=1.5744 right_pitch=-0.0283 right_roll=0.0396 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -2.5641, 6.5162, 1.3309, -0.1636, -0.0415, -0.0073, -0.3624, -13.9145, 5.7094, -0.0952, -0.5006, -0.0024, 0.105]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0416, 0.8684, -0.8539, -0.2283, -0.0906, 0.9969, -0.1062, 2.5153, 2.2375, -1.4174, -0.9428, -1.7897, 0.9948]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1497 left_yaw=0.0892 left_pitch=-0.4197 left_roll=0.1713 left_gripper=0.9969 right_x=0.4771 right_y=0.0965 right_z=0.085 right_yaw=1.5771 right_pitch=-0.0326 right_roll=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.6598, 6.694, 1.2576, -0.188, -0.0513, -0.0073, -0.2256, -12.1915, 7.1726, -0.3004, -0.7595, 0.0122, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:919db07344ae68f4dac43b7f6af1c45790fafa0b681f21402080f9a54a41ae91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9033d1dd6eefff878a1e366b9d61350c7dae08938dfd8192f39178203ca816bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97acde3a6486e16f702429010a01b39e6bd6f156b3d610187739033d0b60f447",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWwRtLzh9o2HQLPTmduNzl98fRQpDAmzA5uKeRH95w7MRL3oojnqJzCeYT8jGg791TwaCrHtU_jr7gOwWKsdSnvV7n4Nlgt5CzGZHGrOq_KyxBaGd62PV-kawWiN9erf_DzG5uUoPVv2l7d29mX37id0sYlSjWX41ML7jzUTpTHnp-PBOkcFVHXcvLjt2UKHw2wl5lr164OOYcIeHGeVDMUaJhnK6wwhXcWRqu0iLArT8NrGQDkHA86-wrQeq9JAsebcKX1A8b6FhuduGsD5wsmBCyWtZ6XEobXqidEnCkjtPp-Q9x1hq6UnOQ9_3mdoVF1m4XfI7DcgLKOSHBKyS9nHk_I-auMj2P2rQIgQKdsSqIscu-ONfrQv-dEqq55Coct9jrxTBne0ccxJsTrsV_0G5EevCo6oRiBT1qjFETbfxM9eIX4yxmE9ehfvxiKCEDP2ypPjZijFdf1rxFdRtsBldMnsDOSTpSipGwxBoAVSkdjoA2hhRFXBl8rpELqxbFdDN0bDPfiEooiSlixiOLiEHnvvZ9LpqamgY6NhpUhhrHV2hBKF2vfyY3HG5gOkpX_RtRk6ys_Rsr6Wujus-WHMyBVowqvGtfou-Cf2ed0Z-XNjrKbJRYYdCG-wjnCE_1-qFbtvL8ecrG44Xk6JJabegSEqCxLo57ShiqJshaMzMp1TTWWaFX50HHzzg5wgKXbAMdqdJmL9B6KDjKHI5HW-FmTSuCMuz9VFgaHgsm4ffbjeapTTUN8b5_A1POExyfc3SCDliAplF56v-qy_1JQnbNYmTPGFy6UpKo36CoRSQ_OC3FPbQcdGP90T2K6sRn7L7vCczwXExAXNW7vWgsH24IOWnh5fuQ-X3zlNeGQWkCusCvV6J4Dfnftz2ahQ6OVzT8eAmD2Wdpp-ES_t7mCd-N25T77zi9l0uLkaBVpGMvP0cKclki9-NOJ-ZffInFQVurZM7gNALJ-DSK-A1P8dPaX5oYLu7r9WWwlH8Y_LPIsLEVJcZz4BGpH80VEkO4J44f_bfu2_n4vxCPIG031GCwM2eV72yD__5N3qw8tTyVfNfXcv5Mnl0mI7UCrWR6lXU7F05UTfkNHITgMYCvijB4A7aiRD0Hl71NvBrcF5M5Q9KU-I72veJL-2dxq9nYaTiUkfqCEg_EUT0LxUNxoGxIIpN9iM96NvLQofhaeFdzTU4nMrPS6NujoUiDKdNIXIkWQECId8-cHnSwJisuL5ID3vG0R68pBjD2_pkGZmmyEU9gzyZ1QSZPwD1ApVIxXGpP2AnekW7SibwOmQdjhS9iPUR5AXgDQ9kzAGdh8B9KXJ4V4fJwqpBeL0_Ir6-0fVQRL88k-NMowikXUzgIhvBOpBEobMqbIt3yvFtysEqcYNnUBuxM0k94boQeKPLFHU1Glr3Zt7K_lfFoFRewTmyeAE_dEuiIOiVV19qYFqfmttV8kp3XEbwbrZEBG7cMWP9faHTCakzIDuN5ai2lWgfd5NffR0UKX0IjFsJSiV7x7It-hWa4N8gDMtTCA0i0U2OXzd0Fy8iQhRgLU7kJPCS3CYzsEW4zK7LinM11MBw12dmjKV9YZUAObCR_nav3rV-5F6Q353TM8dx9MRsrFTRax5iKQMyjf1Zzv_Tij2jFFihfzIdY8paMZq-lPR1XbS9GIJU2soSXxNafoc1f0bs1ZDq9I7YsWXHnHN-AbqNqxucXumzCi6bRzMq5SZqb2QM0KgB6QvQFMTnKixG9cdR4VAu7cUFDgwT0yNH6iooo=",
  "id": "rs_0b181e7dcb26dc4c016ab455ae599487d09aeea36a99c678b0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.477,\"right_y\":0.097,\"right_z\":0.025,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The lemon now sits at the fingertip convergence row and is centered between the open jaws. I’ll descend straight to its midline without changing the successful alignment.\"}",
  "call_id": "call_Jg9bPHsjafp4QOO5ImsEyVxw",
  "id": "fc_0b181e7dcb26dc4c016ab455af55e487d0bed39b1fb414728b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Jg9bPHsjafp4QOO5ImsEyVxw",
  "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]: [-0.1562, 1.0431, 0.8684, -0.8547, -0.2283, -0.0906, 0.997, -0.1062, 2.579, 2.1365, -1.317, -0.9508, -1.7889, 0.9966]\nstate[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1492 left_yaw=0.0898 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4708 right_y=0.098 right_z=0.0327 right_yaw=1.577 right_pitch=-0.0175 right_roll=0.0262 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.7145, 6.7487, 1.1941, -0.1685, -0.0464, -0.0073, -0.7453, -13.3265, 5.7094, -0.0317, -0.6667, -0.0806, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f9b5b459d8918f2d204c616b5c2933a19429ef0eb3ec97a59c940c4451a6a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb601cbc9713c7b4069ce88a81d972d8338f37459be9969459673da78de12532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbadcd4411a9d4c65f432e3a8e1bf491964e5f7e9099ad1de1b2ad4876668f1a",
      "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 · 7.064 s

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

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0397, 0.868, -0.8341, -0.2283, -0.0906, 0.9969, -0.1062, 2.4557, 1.9182, -1.216, -0.9478, -1.7809, 0.9953]\nstate[eef_state]: left_x=0.2711 left_y=0.0013 left_z=0.1525 left_yaw=0.0869 left_pitch=-0.399 left_roll=0.1657 left_gripper=0.9969 right_x=0.4469 right_y=0.1002 right_z=0.0353 right_yaw=1.573 right_pitch=-0.0212 right_roll=0.0271 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.5778, 6.5983, 1.3065, -0.1832, -0.0611, -0.0024, -0.6906, -12.0274, 5.4496, -0.0513, -0.7546, -0.1343, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0416, 0.8684, -0.8539, -0.2283, -0.0906, 0.9969, -0.1062, 2.5153, 2.2375, -1.4174, -0.9428, -1.7897, 0.9948]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1497 left_yaw=0.0892 left_pitch=-0.4197 left_roll=0.1713 left_gripper=0.9969 right_x=0.4771 right_y=0.0965 right_z=0.085 right_yaw=1.5771 right_pitch=-0.0326 right_roll=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.6598, 6.694, 1.2576, -0.188, -0.0513, -0.0073, -0.2256, -12.1915, 7.1726, -0.3004, -0.7595, 0.0122, -0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0431, 0.8684, -0.8547, -0.2283, -0.0906, 0.997, -0.1062, 2.579, 2.1365, -1.317, -0.9508, -1.7889, 0.9966]\nstate[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1492 left_yaw=0.0898 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4708 right_y=0.098 right_z=0.0327 right_yaw=1.577 right_pitch=-0.0175 right_roll=0.0262 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.7145, 6.7487, 1.1941, -0.1685, -0.0464, -0.0073, -0.7453, -13.3265, 5.7094, -0.0317, -0.6667, -0.0806, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30f9b5b459d8918f2d204c616b5c2933a19429ef0eb3ec97a59c940c4451a6a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb601cbc9713c7b4069ce88a81d972d8338f37459be9969459673da78de12532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbadcd4411a9d4c65f432e3a8e1bf491964e5f7e9099ad1de1b2ad4876668f1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFWz37UDrQnF8mxfQoc_LrDvR-Z5oIVKEIqr7KVaC_Kl5oI1QEIjrVY40ZKIvBaiOiACBeWCnKuciRmfgMYIwiUX0giU_Cizw1cvt_cliZrSDL3_QtmxSkVtw8B56-U-NbAxrSLnv_Vn148gRTo2YZvMPHPYz6ZDU0xe2y2aTq2hmbdExrmc345UjdMcRM2DcJzYauGlh752MceSntodOn5eHcc-gcAeCywkKGmkb3zhf5UVNdGliIR6s5V9I_CODhxu5wADmpv0P_kIRz-I1seDS8FT0PHCiQQR8pVgA9J1DQnVn0bzM2DfuTvurMsh0l_s3JA-T6xdFFz7ggvrS8U1Lq2PpH8w_Qgb7Y0v9j4RO-a-V8A31knzVzGBHe0qYAzDqQDkD55diO4_ZvRVKv1FlYK86qpZCSUjfv12OpDMe7QxhVECQyI4eJCX2Ars0_JwKG8Qv803aJofrovZ5UlIuVXPw4D8Co80Dh63J6Ax-MZ16t_cuB1or_RJ8ymf5R93YCsldU027UyJDmcNesjby8WLrmjEQeRjliJb_V1SuA47TqflkfGyOO1K-961C4WnN6gSUzzJJ5nZpx_90AB-TVVV1eLCvD9qO_FUE2YVH5anmDE6cTz4JvxjBCppDp2fzbZgJkVWFQ0J5IRPcqihqgC1d0QnoAX5yZ3lL5St3OgrWT0-_1VcdugUkF_5bYiY0szfEY1LBR-h3D-HvvfcdnQterGANN3dB6oRJriBtGwv3nw6ilP1lI4x79a2pJ7NiKoYI-_J7wj4YIafVYl2v02aGcVcGhYljVtuXs_KllFptAMl8VbAofuCtk_W4zeN_JA-VPHoe6i9euQqQGwGBaWuyjTYXzq2fLgmgOSwWSvBZUiSg0ixHTqR5RpFnhuFxUSGDTQEObWfBXuRCiqZV6sjwPN0cMFwlNY9-mxliIMlyvkLvN8EBp4orFW4v2CLZUtFC70WHvNxZlZnLP0S8RtDXpYUIvC3x3-rbznFCoS185J5mWAbeCb57FM91iqPv3ZacrrKzOryTAn8l8Kvx6eeLVp_V0lkxoLjKuorkrTLfm6xj1ChdW8vnmeF1PHMLqDCjCArwZ0go1-v1UkGC2H0AYb8AtqAqIgZQWnyR_dMhZBL-jjC3FID9LSqBZmk0YmYIZ52zNhRCn0YZBVB2XJHhw_n2kOaf_AySL-7DurUwHoiDokAmNoUiLJRQPoM2rw0A53EAioa7Jnk0swEszBe6zESrgZVyaUH3WfRdO9w20efU160Vzni-yUneNZqGPt_9ll87ajCcryCm0YLpRebbsHkx677sE_x-wlOD0cx8y9UJ6XZzyYE3voc5_4T2b0Is-daPy8kJyzECszBsLj2kB6XhEBMpyut3j6iDaRckMW9EHDiAOMyzRbR8Mjl-JQfirGyzKu10TZrcGqo_H9VKEKnew6AJUPKOjcUON-X3Rhxcw7PQl70JuB3V7v0CV1PqOcjIhC3SQhmqLegLG5UWcr-wAPskWWMlJLq7WWXhAy-RHXH4jUlLz4olhOSfQXzCI6sWHu7VhIQBFrq9mUazA8lxsGpb3MTKrjMmzBNgQjQQxygspGVWiT-eZxB",
  "id": "rs_0b181e7dcb26dc4c016ab455b1d3b087d093f0b22ae0b60980",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.3},\"note\":\"At table height the lemon is squarely between the fingers and no longer offset toward the safe. I’ll use a limited close to 0.30 to secure it without forcing the rounded body sideways.\"}",
  "call_id": "call_gfSM3jk8EpK9CqP6ASya4rYX",
  "id": "fc_0b181e7dcb26dc4c016ab455b2a45487d09e1207162c175481",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gfSM3jk8EpK9CqP6ASya4rYX",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0435, 0.8684, -0.8543, -0.2283, -0.0906, 0.997, -0.1062, 2.6015, 2.1262, -1.3048, -0.9398, -1.7908, 0.3046]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1492 left_yaw=0.0894 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4682 right_y=0.0971 right_z=0.0187 right_yaw=1.5807 right_pitch=-0.0258 right_roll=0.0464 right_gripper=0.3046\nstate[joint_eff]: [-0.0205, -2.3726, 6.5299, 1.2088, -0.1392, -0.0562, -0.0171, -0.3077, -15.788, 6.106, -0.1392, -0.5983, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8b7129f06e75c1d086e1d5ff880357cd5c5a4b09a39f9363cefb54220480dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174ddc249e950822f7a7339a1b945aa8b609481eeb73f7797e97ff2baec9e6c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0fbd51b096ab34a6c6fc781cb4f84e3ca428c4278fc883acd055c0d59bd073",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 5.527 s

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

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0397, 0.8684, -0.8459, -0.2283, -0.0906, 0.9969, -0.1062, 2.4687, 1.9118, -1.2076, -0.9394, -1.7802, 0.2546]\nstate[eef_state]: left_x=0.2688 left_y=0.0018 left_z=0.1512 left_yaw=0.0885 left_pitch=-0.4101 left_roll=0.1687 left_gripper=0.9969 right_x=0.4454 right_y=0.0995 right_z=0.0271 right_yaw=1.5744 right_pitch=-0.0283 right_roll=0.0396 right_gripper=0.2546\nstate[joint_eff]: [-0.0889, -2.5641, 6.5162, 1.3309, -0.1636, -0.0415, -0.0073, -0.3624, -13.9145, 5.7094, -0.0952, -0.5006, -0.0024, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0431, 0.8684, -0.8547, -0.2283, -0.0906, 0.997, -0.1062, 2.579, 2.1365, -1.317, -0.9508, -1.7889, 0.9966]\nstate[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1492 left_yaw=0.0898 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4708 right_y=0.098 right_z=0.0327 right_yaw=1.577 right_pitch=-0.0175 right_roll=0.0262 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.7145, 6.7487, 1.1941, -0.1685, -0.0464, -0.0073, -0.7453, -13.3265, 5.7094, -0.0317, -0.6667, -0.0806, 0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0435, 0.8684, -0.8543, -0.2283, -0.0906, 0.997, -0.1062, 2.6015, 2.1262, -1.3048, -0.9398, -1.7908, 0.3046]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1492 left_yaw=0.0894 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4682 right_y=0.0971 right_z=0.0187 right_yaw=1.5807 right_pitch=-0.0258 right_roll=0.0464 right_gripper=0.3046\nstate[joint_eff]: [-0.0205, -2.3726, 6.5299, 1.2088, -0.1392, -0.0562, -0.0171, -0.3077, -15.788, 6.106, -0.1392, -0.5983, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d8b7129f06e75c1d086e1d5ff880357cd5c5a4b09a39f9363cefb54220480dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:174ddc249e950822f7a7339a1b945aa8b609481eeb73f7797e97ff2baec9e6c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b0fbd51b096ab34a6c6fc781cb4f84e3ca428c4278fc883acd055c0d59bd073",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0b181e7dcb26dc4c016ab455b5981487d089bd5471dc936bef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.09,\"right_gripper\":1.0,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The limited close made no contact, and the wrist view shows the lemon still in front of the fingertip point; I had corrected in the wrong radial direction. I’ll open, lift, and retract the grasp point about 6 cm toward the base while preserving the wall-safe jaw rotation.\"}",
  "call_id": "call_PB4ZTHRWdf2o1A3PmGUBLVkY",
  "id": "fc_0b181e7dcb26dc4c016ab455ba0a0487d09293b627a2992028",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PB4ZTHRWdf2o1A3PmGUBLVkY",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0462, 0.8684, -0.8616, -0.2283, -0.0906, 0.997, -0.1257, 2.2784, 1.7554, -1.2594, -0.9478, -1.8149, 0.9948]\nstate[eef_state]: left_x=0.2658 left_y=0.0022 left_z=0.1476 left_yaw=0.0909 left_pitch=-0.4316 left_roll=0.1746 left_gripper=0.997 right_x=0.4125 right_y=0.0961 right_z=0.0732 right_yaw=1.573 right_pitch=-0.0172 right_roll=0.028 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.4547, 6.7077, 1.2674, -0.188, -0.0611, -0.0171, -0.4308, -13.5863, 5.5316, 0.0317, -0.7057, -0.1245, -0.1832]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d56fe3bf53dac093b2f267d427c3013c793c8060f3fa9bbcec400926526de4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c13ff4daa0141acfaa9cf8800658b56c0c1c505f3470f480624f26999cf258d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a71b3679bdb655d98d748ffa3d97e2f0dd007f47fc8746551ca47f0ec49a1d3",
      "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 · 3.056 s

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

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0416, 0.8684, -0.8539, -0.2283, -0.0906, 0.9969, -0.1062, 2.5153, 2.2375, -1.4174, -0.9428, -1.7897, 0.9948]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1497 left_yaw=0.0892 left_pitch=-0.4197 left_roll=0.1713 left_gripper=0.9969 right_x=0.4771 right_y=0.0965 right_z=0.085 right_yaw=1.5771 right_pitch=-0.0326 right_roll=-0.0376 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.6598, 6.694, 1.2576, -0.188, -0.0513, -0.0073, -0.2256, -12.1915, 7.1726, -0.3004, -0.7595, 0.0122, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0435, 0.8684, -0.8543, -0.2283, -0.0906, 0.997, -0.1062, 2.6015, 2.1262, -1.3048, -0.9398, -1.7908, 0.3046]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1492 left_yaw=0.0894 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4682 right_y=0.0971 right_z=0.0187 right_yaw=1.5807 right_pitch=-0.0258 right_roll=0.0464 right_gripper=0.3046\nstate[joint_eff]: [-0.0205, -2.3726, 6.5299, 1.2088, -0.1392, -0.0562, -0.0171, -0.3077, -15.788, 6.106, -0.1392, -0.5983, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0462, 0.8684, -0.8616, -0.2283, -0.0906, 0.997, -0.1257, 2.2784, 1.7554, -1.2594, -0.9478, -1.8149, 0.9948]\nstate[eef_state]: left_x=0.2658 left_y=0.0022 left_z=0.1476 left_yaw=0.0909 left_pitch=-0.4316 left_roll=0.1746 left_gripper=0.997 right_x=0.4125 right_y=0.0961 right_z=0.0732 right_yaw=1.573 right_pitch=-0.0172 right_roll=0.028 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.4547, 6.7077, 1.2674, -0.188, -0.0611, -0.0171, -0.4308, -13.5863, 5.5316, 0.0317, -0.7057, -0.1245, -0.1832]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d56fe3bf53dac093b2f267d427c3013c793c8060f3fa9bbcec400926526de4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c13ff4daa0141acfaa9cf8800658b56c0c1c505f3470f480624f26999cf258d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a71b3679bdb655d98d748ffa3d97e2f0dd007f47fc8746551ca47f0ec49a1d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFXBttqFpB7jbpxDBneu9Klfy51B4GEKyGRkucrIG0VEWcOwGRNKQFVwK_87IPVeExs0pHKkmsLxYSZDan8_9sEb1wJmdSScv-qnpgalIlOiR-MzNzs6m8fKprV16tlvx9cTSLivXluRK_qrf2l3PTFaYi1aLoYrKZo6U0VLdTez3ErlCBXhmwZPvw3bJ1XNAkYVBoXiJ3xWn_eRarQ86IOjctbftI_AhypP1iqG78XzAYViJlfwsCS5Gr7jGg6AQqRrEQClwDJU0I1l0yqoLGGSGgVxdRdJ7ZP_E3EwuWnsgepkFAQHZl8ziOkZ8PknZu0Na5mCbiSuXHwcFC2y8XNqOwf-0IZBQZ0UVvBcViJBKmFyCKGXLjbKjjfYW-gXEnEvfKDX4wAjqER9zZJtvh--fGTwzkKe_8vzPbAjLicVJxnBGi_L3wKiV2FcZNzzWKg_9gWYtP0oeaSi_SraVpPomRWWmAPPCnBIw5wECg-YhIsHlIwniHl35yHwWQoOMjFKmU37b4VgZ0ic6Pg1FBSCCHTsKky5uzVQVAQxUgI4PZg7YZymBj0CLVXPch_rt9zzz-6ZUjgheIa_XEQSO8OsJAHe6LgsqKlhjgn1MBc9KYaB09mSjlNQd6o-A4-cprNbPq80h-f1yu8yxoVsDRXZ7qWRYDfq9eHnHPjwllu6U0t3So4n7HdCxXn8qwCHt8aN7M_4lgbihFnlFem4UeE3cWsaoFRJ1G5wMPCT0rSLYQKELivA9b54FgT-5q_e0Pnf4PtJ357bCFzQY1Ux0bJvIknvXoLCgORa7AYR-WKDldFauVyVetwTpneA5dCIDnD26au6ZRguL4xdGTDeEHNrp4GM5ayGSrF5w4vssuqL1krpPjfi7jFWs5QMjywFCjdgHvydd-BvyEOukU0SpfiDnlmVa9yqEH6Z3ZYlnsaRTrZqiwsJ44_vRVIqqxPs-oFi3nKrfL7XWBBcMfjorZI_accU5D395TVwmMhlUBnKkJ3r8Zs4cWA17fPKww0t5UZETyxO7r1oVuJ_IqvTGOy6makcgo6g7FnKyPqQBrvzf0XoQY6ZYN5-4ywoET_L-7o6gjLoxN4byrSZhQMrv3hS68496AEgGzME7cqgVu64ViqY0QIXy_-D1Tbr-WJUQMjJLPovMCxVX1Lc0j8nvVQHTApP8_k-wzhOx5NSnp32n7iRqT7MgqW918fEUYbWMYOlheoCLcf_701cCHs6CW_pjlYuybDCkN3KTnKQA6UsFzThN71ut-3zZnW_9EERsAq_KUsoJNfvi2EUGG68xzO6EFJlKCUMeh1313UuEGnX5qNMeHVXWt3UjioU3QanGO5qO7kQRRW9XBYsLqWwatfAPrbLqnGSTvTm_abel3F8cO9MdlR4j01deRSSLFVZRPWRddyHYCUYnPYDcREg9BYJJWAp5x8_PDcCidt4670j81EB8YTO4QT5DSl3VAmCF_n9msbJ56vyZQR--urDTJXyyu3G9GMvUzU44TDjOir6H90P6YKYuxKIOevknFifuCuACnzZXkm1p1_WWyg1c9qhHGQM-FZ2svUy3yPY6lMjmzKMs4Jdi40P3WEX6J1q-pXTOIHXpJxJUMZsuU3trwa_cyz_FoPQuUZYHce26riryVpMG3hCpI7khTuoJdWNHD_-qz3LQ-EIXbGjdPUjaOPUNtaV1wWO5V2lT2fSt8GROLgEgjSaPOfTw04qbKbQpiJSwud7njSj94GdWbXNZ_6r452cXJTx05INWQY2tybNddMXpdskEs2fk42KrzAFeB0KoylD-v_8tHZeAFtrTLLWagK1C8FmV9DpDx0BvMH13BvLEXoJlU0feXqg8_42IS4Be2Ni6B7paZPz1S0LLwTElb9cc0cEMz3PIZgvHQt9liRFduxu9bWzHxIzYHIk0Qt-BksttiKeGL_KiNqO3yT0Xy1Mv2hp-ZzK-u2SGZn_TJZqLPcXkBkNNYB21cnc5Gs9NawaW4VF-UIqAF5HzgR7Otvd50jVTcHcyBW45tlpzjOTVzQjNa_pa3YJHTp0Q3bcquX6ej-N-O3zZP34hZ5H9DVEDT_GYcQhYpeOb5Qx0BM8qsOjC1DFOny3xNoZD36pjDL6HcVayvE-MyrmtNvY59a0fu60fEBwxn0pX3ZMYyQ5dAybeauvN37vn2P0kAcP8UG5Pvjf_9zySGRhRhh2EScIarngSTLt8m-f_WpbArPl5aAthZMgdzOt9juWpFgaG10TOWC6KIogkCiR-6ssNek0GtVoI7EJXEXZgdftamH4UtNBO5U6f4AyZDmAbC-HEBJ-96WLignbM5P8wpqmEmB37QBwtFqnmYNTpzyF4Z3XitebahE_E4AcQrQ7AHYk-mKMukq-RNsZjjPjrP60j5KrnFZoEyUAu9eGJzfc85cYBCV7HQlfrb2XKbOnjYmW",
  "id": "rs_0b181e7dcb26dc4c016ab455be1c4487d0a0686b3473c872bb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.096,\"right_z\":0.08,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"Retracting brought the lemon much closer to the fingertip row but it still has several centimeters of clear space below. I’ll make one more 3 cm baseward correction before descending.\"}",
  "call_id": "call_sDPgqahaLVyJwmlPE2VBiE6T",
  "id": "fc_0b181e7dcb26dc4c016ab455c044d087d0866001c9f365b775",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sDPgqahaLVyJwmlPE2VBiE6T",
  "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]: [-0.1566, 1.0489, 0.868, -0.8669, -0.2283, -0.0906, 0.997, -0.1371, 2.1891, 1.5616, -1.2064, -0.9504, -1.8332, 0.9966]\nstate[eef_state]: left_x=0.2647 left_y=0.0023 left_z=0.1462 left_yaw=0.0915 left_pitch=-0.4397 left_roll=0.1769 left_gripper=0.997 right_x=0.3781 right_y=0.0965 right_z=0.0653 right_yaw=1.5717 right_pitch=-0.0073 right_roll=0.0636 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.4547, 6.6803, 1.2723, -0.1587, -0.0415, -0.0122, -0.5128, -14.2017, 6.2701, 0.0659, -0.6178, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f75e0b39f12ae40d9e84f166c83f8fb6c8e2f4e88bccfa071a061cd416fb9fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f355c2db93b289cc63eee7f3a817332fa1bfa9fda81a4d4cd97865d49272ffab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca467c8eeacc8162f453fd1633050c107b572025132538a391cb62dc55eddc11",
      "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 · 4.021 s

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

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0431, 0.8684, -0.8547, -0.2283, -0.0906, 0.997, -0.1062, 2.579, 2.1365, -1.317, -0.9508, -1.7889, 0.9966]\nstate[eef_state]: left_x=0.2671 left_y=0.002 left_z=0.1492 left_yaw=0.0898 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4708 right_y=0.098 right_z=0.0327 right_yaw=1.577 right_pitch=-0.0175 right_roll=0.0262 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.7145, 6.7487, 1.1941, -0.1685, -0.0464, -0.0073, -0.7453, -13.3265, 5.7094, -0.0317, -0.6667, -0.0806, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0462, 0.8684, -0.8616, -0.2283, -0.0906, 0.997, -0.1257, 2.2784, 1.7554, -1.2594, -0.9478, -1.8149, 0.9948]\nstate[eef_state]: left_x=0.2658 left_y=0.0022 left_z=0.1476 left_yaw=0.0909 left_pitch=-0.4316 left_roll=0.1746 left_gripper=0.997 right_x=0.4125 right_y=0.0961 right_z=0.0732 right_yaw=1.573 right_pitch=-0.0172 right_roll=0.028 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.4547, 6.7077, 1.2674, -0.188, -0.0611, -0.0171, -0.4308, -13.5863, 5.5316, 0.0317, -0.7057, -0.1245, -0.1832]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0489, 0.868, -0.8669, -0.2283, -0.0906, 0.997, -0.1371, 2.1891, 1.5616, -1.2064, -0.9504, -1.8332, 0.9966]\nstate[eef_state]: left_x=0.2647 left_y=0.0023 left_z=0.1462 left_yaw=0.0915 left_pitch=-0.4397 left_roll=0.1769 left_gripper=0.997 right_x=0.3781 right_y=0.0965 right_z=0.0653 right_yaw=1.5717 right_pitch=-0.0073 right_roll=0.0636 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.4547, 6.6803, 1.2723, -0.1587, -0.0415, -0.0122, -0.5128, -14.2017, 6.2701, 0.0659, -0.6178, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f75e0b39f12ae40d9e84f166c83f8fb6c8e2f4e88bccfa071a061cd416fb9fb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f355c2db93b289cc63eee7f3a817332fa1bfa9fda81a4d4cd97865d49272ffab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca467c8eeacc8162f453fd1633050c107b572025132538a391cb62dc55eddc11",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFXEfazHrr0nIAEbYRnSoaDn-FDoRDkxOmbIWme_uAopDRVVOIWOPkm7M0rbcZd8INKS-Z7tmz5E_7mAOR9cKrEfdsbmP-IMAs_R5kqB_F86uGhaiD0bg3JVEb6l9-yinLe1M_S87g34HEL1LvtFyuQuX4eaBjvml9UGn9kOEOfrsX3pX0zMaj_0DVM_WnJTBdC8dYk4oQ3GaLr5bCfoGK5dXB7-MHr7_mPsh7BgkbZEteMm2t366i0j8ZQ4-eB_4WdvTRgP6aJ0A54bkjDvYHp8TiCdUx1Eb4D61vbg-rUtvp3s7mpy7xGeqSS9vQaIRpNxo6Y4KGl86pHOxF-00WUGEFwMVLfDRLVIXeiqN586pWvX5BjSpXdfy6z9il19MdOUq9N0fL3aZf5kIWNCxe9ltXwrPTGWLCW-xMERPrz2zDIaRulHunrDT9ylk--1ju9XjOw-GnIcSLVD48UbZCzTQ0ydW76Oem-vv_aMs6sV-dR5ZlvWqUN-O8R5B-czFv1DEJipc_962QUpxz53rjXFSyzc6QmrLKyaqg65KJJrVyzB7pBm6vO7415RCdOieynMLP9FjduztHTM3On8iNTMyne-Z3X1565U6lhMFrLYeV6loAbWsF3aQXN9xWWA4xU3eZhBObOuN7lleoN1sLw54sBV9PEegS4F7yofWhhmXDSDJ2SHWji3I8ARBPchs_UtMQdN6GKzc3OU3ABCju9an2MBWAVSssJxYriDTT3qs4N-U4cSDtZpzoSeY20EN8tI0PmzlcvOX-Jx7R_Np_iu6eLSiMiyReVjwNyKPrYTtS4f1WKYlx-Fhwko0QDUQIAJDXYlG3QDRloHcwfvQxIyBxLyDCwIBxkysMyFWkyp54KUVCm-KLq0j03sSbA2zdp1ewqXf5kjl9v5os7QwCjlLqgJK5zDrTIYkpUE_Pd1bsmcrt56NAGe-ZnIzK8GAd-sWdJy3TvGS5XkJ4p2xQwJDGCzR6iVTTHpWYCuASc_fXiVMW4I2nRSZbnHbfkqx7cEGH3eMo-a1iOMSlUKVa4DieJdlU1Qz-3pjO4Pb8VQpELloGQ8M9khsgC63pPAQZV-edX7_-f3tdOZ6NZCMisyqAD26pf8I0DQ7YNx2pv4ZsfiWOW_mULuaS8E_ZidIpwSXt-C1JRamRVdUVKVMLtKN3PeTOiyR0LfcGU26fAIs1cZmHu-INdXJvd7QYpguH9R9oaDKgsN7rurkwq8yXJpYXYssC_yURI23yGCbpAcfYmE-YCHoRkb86rKjUGgHjRmDLbRwAlQNQr_CRy8U4R_qYThVMDSn9rGkm9Wv8FznBcosrg1Fx2P3pTPds9qVGfZNazzE5biFnWVWXvGzEmYQdjCiZwIUyjWcI2ZZweI1uLXk_zoGY98yrTwqQA4vFad8GnUNNbVQFJGFSG4_2mO6w==",
  "id": "rs_0b181e7dcb26dc4c016ab455c30ff487d0a948fdfe80d761ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_z\":0.07,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The lemon continues moving toward the jaw convergence as the grasp point retracts, confirming the corrected direction. I’ll retract another 3 cm to put the fingertips directly over it.\"}",
  "call_id": "call_Ay6oE8lD8eRMJHaNBoofMu8h",
  "id": "fc_0b181e7dcb26dc4c016ab455c3bd6887d09a673bfa950cfd14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Ay6oE8lD8eRMJHaNBoofMu8h",
  "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]: [-0.1566, 1.05, 0.868, -0.8719, -0.2283, -0.0906, 0.997, -0.1486, 2.0991, 1.3804, -1.1343, -0.955, -1.85, 0.9968]\nstate[eef_state]: left_x=0.2637 left_y=0.0025 left_z=0.1453 left_yaw=0.0922 left_pitch=-0.4456 left_roll=0.1785 left_gripper=0.997 right_x=0.347 right_y=0.0975 right_z=0.0588 right_yaw=1.5684 right_pitch=0.0004 right_roll=0.068 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -2.2769, 6.7214, 1.2283, -0.1441, -0.0073, -0.0122, -0.3897, -12.6017, 6.106, 0.1245, -0.5934, -0.1148, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3c312cc5f42ad20e155c175972bdb4b694a3b68c1a721925ca191534b12b1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69cb4a0197201ae22716c677c2607aab5182c3c3a625f70645b6d31dde046cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2fc5dd701c9598224e30dc6539468c7caed758014dbf480647df12a1e25167a",
      "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 · 4.058 s

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

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0435, 0.8684, -0.8543, -0.2283, -0.0906, 0.997, -0.1062, 2.6015, 2.1262, -1.3048, -0.9398, -1.7908, 0.3046]\nstate[eef_state]: left_x=0.2672 left_y=0.0019 left_z=0.1492 left_yaw=0.0894 left_pitch=-0.422 left_roll=0.1719 left_gripper=0.997 right_x=0.4682 right_y=0.0971 right_z=0.0187 right_yaw=1.5807 right_pitch=-0.0258 right_roll=0.0464 right_gripper=0.3046\nstate[joint_eff]: [-0.0205, -2.3726, 6.5299, 1.2088, -0.1392, -0.0562, -0.0171, -0.3077, -15.788, 6.106, -0.1392, -0.5983, 0.0024, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0489, 0.868, -0.8669, -0.2283, -0.0906, 0.997, -0.1371, 2.1891, 1.5616, -1.2064, -0.9504, -1.8332, 0.9966]\nstate[eef_state]: left_x=0.2647 left_y=0.0023 left_z=0.1462 left_yaw=0.0915 left_pitch=-0.4397 left_roll=0.1769 left_gripper=0.997 right_x=0.3781 right_y=0.0965 right_z=0.0653 right_yaw=1.5717 right_pitch=-0.0073 right_roll=0.0636 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.4547, 6.6803, 1.2723, -0.1587, -0.0415, -0.0122, -0.5128, -14.2017, 6.2701, 0.0659, -0.6178, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.05, 0.868, -0.8719, -0.2283, -0.0906, 0.997, -0.1486, 2.0991, 1.3804, -1.1343, -0.955, -1.85, 0.9968]\nstate[eef_state]: left_x=0.2637 left_y=0.0025 left_z=0.1453 left_yaw=0.0922 left_pitch=-0.4456 left_roll=0.1785 left_gripper=0.997 right_x=0.347 right_y=0.0975 right_z=0.0588 right_yaw=1.5684 right_pitch=0.0004 right_roll=0.068 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -2.2769, 6.7214, 1.2283, -0.1441, -0.0073, -0.0122, -0.3897, -12.6017, 6.106, 0.1245, -0.5934, -0.1148, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3c312cc5f42ad20e155c175972bdb4b694a3b68c1a721925ca191534b12b1d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69cb4a0197201ae22716c677c2607aab5182c3c3a625f70645b6d31dde046cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2fc5dd701c9598224e30dc6539468c7caed758014dbf480647df12a1e25167a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
  "encrypted_content": "gAAAAABqtFXIeCPXlDIXarQxVLpWQUaKK8jfZIo0NIMZUuebvPvZ10hNSz2s8Pzaa7Q7gcBJ3K_1WruDrYaXSvxJ_Zp2amiuk_p84d_rLDqjI_LUdnFAthvpR9H2UMkwhzqudiJiD-cS7eWQVsCz2G_yyvBVKxyEY467Hjw-SrYZqMP6nxYjhIJrFFW1tdxbSZUqdhJNR14xKPDCFQ2YrpXbQ4rPxYkfTJbHJehufSostlmtr6d8I6Oc5fDB3-pwrSZtKK6KvzXlO2WU1A-hDNR47h1tLao4WjBPOhRbEosCUmiCvQQyPp3nzRA9XUGh2nGM7oTWpU3bVrRmQTDOUu-0wn_hC3itK_9n3seHjOpoVpzWV5NpGOC27daWlyx5pYpiujqhfLpVnJQS05c785hsSuuapjg5yIq9Y6JUYDD75u7DxodmodA0_YrjbCjuBtn3FSuJd7IehUZO10QN_5I6d_fMYw6wrhsXmhfWGngwrm7mlYR_DIrbuXZeOieIBD4vIQg0xIBWUQc0fozLSEiEmnGS9_2qf3m6uAQoRF2wgQCWst1CWA1swmSAr5SE7N2ClVYc8ffA5m4r3nHTmdwDB9VvRmB6aVL03VMclf5KMSFflnY0twgH-9J-O_nTkjHUoaj23bDEAjx9C4c_MybOafoV65qxlJW9ysCbYkSXwD9boQBPJVg7f2TOeKcQGL5dG_e5wKWe-ZR32mWR44SzoGbOKjfH0UIu-zjMkXSwu1M-7duXow7hh2XdInqGm5fi7owQbM9dW-FuB0b-uYawrngyCVzFUSxCzeplfsObjzzpGCfbkLf4OhaeRwAPnWI3etO60Y13MvQOL5qoBxSH9ygHTRNEcP5RS46-9qgrFiJ1-HR1B2H28TefR0pIrfzDAYs2x0lL0VbXE2Q7taPhuV6w6reAJBiBM365cQU0-fvRpts9KZyLPOoGcH9lgWYuoTvEmXPkdj3BMSYfgNnMk1dop6aWDZonN5NLR6hfv5e2IWHb0aCO1u2aq8YWifBhSTgaMoGpHjVuBE9OY5SoKZkRmms8PATWJcWJ-7YXLgo5haK33njPGn5ge5KCuu0J5lkbepp4XbgImf-g0XZ80zMOHJgOr6UMZ2-PdPkFdMjdOuTxCLivtjN7MhYC01Pdp7LYtiym4-OGcnHgadP4Qxk4UpayKO3XEr94TeoJiHiSYh8TiYyPR4uq-cViY1RllvafFWqe7d-Y2udnqEL6PG99-VRjDdVorM6Hs4pAbs4A_flu5YoMh--s5YzX8PvfY1wmAiVyPdH1iLPWH6sP2m4iD4lCSuoBk2vJHmPnPOklP6YdbvVZUiS5TdjwOlz7Z-jEeDwwaInUQIoEhjXMX9zhuZ_xRVUQj1ZXVHYzhSphUnWh-mzNbbkuvmA384dJZ0vrXPIusy9HcI5ldh30mLAk5z3K4IvYS8rsClwXmgmT0U726N9Afo_mxgHwgjpro6M2G3hEcn6F3NdA59Jq4GB6rWRKkfy7E2s1i-YqQR_FtL7EiZrjrFGkfdbxHqsh3OUk_IVPndGPzgzMfh458opKhGQXh73eJiaQhtzK69mAdK1Cs6FzL8gcMji8yHkuvN6eJ2p5Cgt5SxNPaxXtLyirL3_-CKxJSie35QwSJFzzX1B4U5Qvn0lfNRNmDtGqYCnw1quQ4rmZ4RVRER7LetsV3YrPtCO2GpYSSOHJN64ZzpuhnT8=",
  "id": "rs_0b181e7dcb26dc4c016ab455c6797087d08d54b40603ba81dc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_z\":0.07,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The lemon remains just above the fingertip row, so its true radial coordinate is closer to the base than the overhead perspective suggested. I’ll bring the grasp point back to about 0.30 m, matching the near-object region.\"}",
  "call_id": "call_0SmOSI9bbJinWYvBX0J11WQV",
  "id": "fc_0b181e7dcb26dc4c016ab455c797c887d08a50a40ee8ff49c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0SmOSI9bbJinWYvBX0J11WQV",
  "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]: [-0.1566, 1.0531, 0.8684, -0.8757, -0.2283, -0.0906, 0.997, -0.1703, 1.9362, 1.1427, -1.0714, -0.947, -1.8824, 0.9969]\nstate[eef_state]: left_x=0.2631 left_y=0.0026 left_z=0.1443 left_yaw=0.093 left_pitch=-0.4519 left_roll=0.1803 left_gripper=0.997 right_x=0.2993 right_y=0.0976 right_z=0.0605 right_yaw=1.567 right_pitch=-0.0042 right_roll=0.0539 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -2.4684, 6.612, 1.2674, -0.149, -0.0269, -0.0122, -0.4308, -9.5658, 5.4769, -0.105, -0.6374, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26aa4ee49b1cb126122dc42c1b01f43aab3fa1e5a33468bb14ab1588c766c567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed8dde640ab3009789c41f4df87ac432f37d95371898122f5328d1ffd3522a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9d2d1d5f06bcb67bc5e42207a432cc15aacb82ef8b33a530012e00d8c1d2a2",
      "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 · 2.998 s

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

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0462, 0.8684, -0.8616, -0.2283, -0.0906, 0.997, -0.1257, 2.2784, 1.7554, -1.2594, -0.9478, -1.8149, 0.9948]\nstate[eef_state]: left_x=0.2658 left_y=0.0022 left_z=0.1476 left_yaw=0.0909 left_pitch=-0.4316 left_roll=0.1746 left_gripper=0.997 right_x=0.4125 right_y=0.0961 right_z=0.0732 right_yaw=1.573 right_pitch=-0.0172 right_roll=0.028 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -2.4547, 6.7077, 1.2674, -0.188, -0.0611, -0.0171, -0.4308, -13.5863, 5.5316, 0.0317, -0.7057, -0.1245, -0.1832]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.05, 0.868, -0.8719, -0.2283, -0.0906, 0.997, -0.1486, 2.0991, 1.3804, -1.1343, -0.955, -1.85, 0.9968]\nstate[eef_state]: left_x=0.2637 left_y=0.0025 left_z=0.1453 left_yaw=0.0922 left_pitch=-0.4456 left_roll=0.1785 left_gripper=0.997 right_x=0.347 right_y=0.0975 right_z=0.0588 right_yaw=1.5684 right_pitch=0.0004 right_roll=0.068 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -2.2769, 6.7214, 1.2283, -0.1441, -0.0073, -0.0122, -0.3897, -12.6017, 6.106, 0.1245, -0.5934, -0.1148, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0531, 0.8684, -0.8757, -0.2283, -0.0906, 0.997, -0.1703, 1.9362, 1.1427, -1.0714, -0.947, -1.8824, 0.9969]\nstate[eef_state]: left_x=0.2631 left_y=0.0026 left_z=0.1443 left_yaw=0.093 left_pitch=-0.4519 left_roll=0.1803 left_gripper=0.997 right_x=0.2993 right_y=0.0976 right_z=0.0605 right_yaw=1.567 right_pitch=-0.0042 right_roll=0.0539 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -2.4684, 6.612, 1.2674, -0.149, -0.0269, -0.0122, -0.4308, -9.5658, 5.4769, -0.105, -0.6374, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26aa4ee49b1cb126122dc42c1b01f43aab3fa1e5a33468bb14ab1588c766c567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ed8dde640ab3009789c41f4df87ac432f37d95371898122f5328d1ffd3522a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9d2d1d5f06bcb67bc5e42207a432cc15aacb82ef8b33a530012e00d8c1d2a2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0b181e7dcb26dc4c016ab455ca8a5887d08e6ff3879fef7be2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.098,\"right_z\":0.025,\"right_gripper\":0.2,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"At x≈0.30 the lemon has disappeared below the wrist-camera edge, indicating it is finally at the grasp point; the overhead view also puts the gripper directly over it. I’ll descend the last few centimeters and close gently in the same aligned pose.\"}",
  "call_id": "call_1gr1iPccpKFQeSq8pAPkcmdO",
  "id": "fc_0b181e7dcb26dc4c016ab455cc630c87d08266cfa8d4587220",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1gr1iPccpKFQeSq8pAPkcmdO",
  "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]: [-0.1562, 1.0542, 0.8684, -0.8768, -0.2283, -0.0906, 0.9969, -0.1715, 1.9774, 1.0657, -0.9161, -0.944, -1.8889, 0.2048]\nstate[eef_state]: left_x=0.2629 left_y=0.0027 left_z=0.1439 left_yaw=0.0936 left_pitch=-0.4541 left_roll=0.1809 left_gripper=0.9969 right_x=0.2984 right_y=0.0972 right_z=0.0298 right_yaw=1.5699 right_pitch=-0.0131 right_roll=0.0126 right_gripper=0.2048\nstate[joint_eff]: [-0.0889, -2.6462, 6.5026, 1.1453, -0.1734, -0.0317, -0.0171, -0.1436, -7.2821, 3.9043, -0.0269, -0.6325, -0.0806, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2520eddd4591667776bf0a0be8c31c7961e966770db1b8e8175c05617f5443c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6804888817932488c4bdd0b28e9bbbd308dd055d8172c5fca21e150929c3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb86f53003665dfcaab8194f52576f192b3330d89612aead0508b6e4626d971",
      "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 · 10.04 s

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

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0489, 0.868, -0.8669, -0.2283, -0.0906, 0.997, -0.1371, 2.1891, 1.5616, -1.2064, -0.9504, -1.8332, 0.9966]\nstate[eef_state]: left_x=0.2647 left_y=0.0023 left_z=0.1462 left_yaw=0.0915 left_pitch=-0.4397 left_roll=0.1769 left_gripper=0.997 right_x=0.3781 right_y=0.0965 right_z=0.0653 right_yaw=1.5717 right_pitch=-0.0073 right_roll=0.0636 right_gripper=0.9966\nstate[joint_eff]: [-0.0205, -2.4547, 6.6803, 1.2723, -0.1587, -0.0415, -0.0122, -0.5128, -14.2017, 6.2701, 0.0659, -0.6178, -0.0562, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 139 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1566, 1.0531, 0.8684, -0.8757, -0.2283, -0.0906, 0.997, -0.1703, 1.9362, 1.1427, -1.0714, -0.947, -1.8824, 0.9969]\nstate[eef_state]: left_x=0.2631 left_y=0.0026 left_z=0.1443 left_yaw=0.093 left_pitch=-0.4519 left_roll=0.1803 left_gripper=0.997 right_x=0.2993 right_y=0.0976 right_z=0.0605 right_yaw=1.567 right_pitch=-0.0042 right_roll=0.0539 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -2.4684, 6.612, 1.2674, -0.149, -0.0269, -0.0122, -0.4308, -9.5658, 5.4769, -0.105, -0.6374, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 143 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1562, 1.0542, 0.8684, -0.8768, -0.2283, -0.0906, 0.9969, -0.1715, 1.9774, 1.0657, -0.9161, -0.944, -1.8889, 0.2048]\nstate[eef_state]: left_x=0.2629 left_y=0.0027 left_z=0.1439 left_yaw=0.0936 left_pitch=-0.4541 left_roll=0.1809 left_gripper=0.9969 right_x=0.2984 right_y=0.0972 right_z=0.0298 right_yaw=1.5699 right_pitch=-0.0131 right_roll=0.0126 right_gripper=0.2048\nstate[joint_eff]: [-0.0889, -2.6462, 6.5026, 1.1453, -0.1734, -0.0317, -0.0171, -0.1436, -7.2821, 3.9043, -0.0269, -0.6325, -0.0806, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2520eddd4591667776bf0a0be8c31c7961e966770db1b8e8175c05617f5443c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a6804888817932488c4bdd0b28e9bbbd308dd055d8172c5fca21e150929c3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebb86f53003665dfcaab8194f52576f192b3330d89612aead0508b6e4626d971",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFXQiawIBCJvdbCiLhIRhiGEKAoHemeA2gob75CAdg_KwpfFqD69Y3kBirE_jKxG8Krn-7XpPPOuWQhrEG1kkqKONeC4reAul9iuTHoJDP4HLlF2wr8aruJmsJGS6jSsvNb2pGhAnlRCuz1ArXdCWlS3E7XD-Iq9zPRrEh8RWWYFbjdnAgQNr5MDsCmztUSI4kAs44QQErtdQG5l5xXj7jIbik6hX55FYCcqXDyTsHHj1Ksxv-MKFQNiPjYHwpYAo66XwRJn4-6crqOQOXr9gTi38oj345JIT3Bu1Iyt1_R1YEl3B0iw9gIJMTkF8U6TGh_bSkz4iObjCS72cesElG0Sp2JVl_9LSgwPh8xfhX32Puky4XTQMxQwbvECTc3ibXNGa9FY4EErrC1UVxnVyko19DvJDVyp_j1GV0inRVM9Rk7p46PdU2oUfwP55fJxda-5_7gQCpT6TtDLrBJ1QRM43RueCK93quDhLKd5y8osqHaKUXBnY7f04tpc5v5J26nGQFp5I46vaVndMuTzo9TsbJ9zdMjVBH03ktMca1KvpVq-TfMChgRe4R5TdH-acJOypWz3-FCkDev1mYUF8TsKmF9CvRb1bIhOYb1R6r0oQc3mEOMgNTqdmYoCWak5-N97xjUTNuqy0kq397ix9Df0AZ4Fv2vIMUZdpHWc_Jiny-Y9XDG8lHBGuieRiajWqkYlDgivmbs4ZTF8raT2sTlBWDN8rX_fPqonl50tfHkJN--ti29p0n4DR9W6-YGmkbEFTr5CCDXMhCwearpmHznTK_aRJDewgyZs_9IbG2BUUvIh0VEQ_gohHQoYf9OoiTZF-efqIay_MRu1khJuRAfRNnRMcv2a_pTMrzYf6EgCs4YjOsGDcCO-WQucPVZpBdvmbJiDZx2-Y9WwwwJ2LVuZ24znE-6EmquJU-YR9vbgHRVkVY4WoS0ffr09KcNNkqJRmAc3v9JzC4EKhMxNdP9lxGWR6fpCBrSKUNBzNG-FMWD6tC7VmGHs7YEpvwE_wAOcsyRJJYqEhP8tVap0WG0tmIrEpK6Ed2F4s7A0AFnJtcHXDr1Xb1CMgwMOY1-mglTr8ulb5LiynARTRSCovAdI3W4QiZCxWm2Qte6gTQBj7WLOityc-lG1RKr6TgI02wKBnZq33nt5tqM5E78_eSV-kXUPqdwMCMnqt4SKDtfJTo1lBXlYn3lccTo56pRgzz9fRhxVgYJ_BMfjQPaHo1LCQNDtJhukzTBAcID53fp8GOHpRd3Lg9WMJMrQoAtwcacA7RL3r8wTPaaFGqRipdy5lkpMGet7tBa7zhj92taKEmgSWF32D4oIStYO-O62NsBuzQ8f4CGMY05GNsgONQdkLlkZpnThf51dw8_B71eeKW_XiK66Aq_2QTfrWqnBp5mjqn96UhVm0-m__08DqqS66AM_XmXHhbW6zz8LIezUrUTFsXrb8ong1O1fB5mv6NAfeIdb1wUMHRCUbW-BQo62ONEgO2pstjsccn6y_GfRY5A=",
  "id": "rs_0b181e7dcb26dc4c016ab455cf651c87d0a5777da831bf364e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The jaws are at a plausible 2 cm opening over the lemon, so I’ll lift immediately to verify and clear the table. If it follows, I can transport it toward the safe.\"}",
  "call_id": "call_LaFV2cE0TyEHrOtHoCqEdZC0",
  "id": "fc_0b181e7dcb26dc4c016ab455d00e0087d08e99bb6a33105ea1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LaFV2cE0TyEHrOtHoCqEdZC0",
  "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]: [-0.1566, 1.0546, 0.868, -0.8776, -0.2283, -0.0906, 0.997, -0.1715, 1.8217, 1.2724, -1.256, -0.9325, -1.8893, 0.2038]\nstate[eef_state]: left_x=0.2627 left_y=0.0026 left_z=0.1435 left_yaw=0.0934 left_pitch=-0.4556 left_roll=0.1813 left_gripper=0.997 right_x=0.3055 right_y=0.0947 right_z=0.1207 right_yaw=1.5725 right_pitch=-0.0279 right_roll=-0.008 right_gripper=0.2038\nstate[joint_eff]: [-0.0615, -2.6872, 6.4889, 1.1258, -0.1929, -0.0464, -0.0073, -0.1709, -9.9214, 6.5983, -0.4371, -0.5641, -0.0562, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45edc217d3171cc54b56799f6e4248fcee16cea30b8d7527938a281f3c455b5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89e0a4b539c1324150560dd5ca089fc3cb2ef5e66fc0cbed31465e74e931cad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11f8bcb6417780a68e48e7c244b3a6b716d85feccfbf7f02396489c2261711e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]