adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6033, -0.3912, -0.0189, -0.0341, 0.9998, -0.0204, 0.7933, 0.6052, -0.4034, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1779 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2917 right_y=0.0012 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.4291, 10.3316, 1.9463, -0.0171, 0.1783, -0.0415, -0.5265, -1.4974, 9.8667, 2.0342, -0.0464, 0.0904, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca3b609d20f6a08df97830ab265a47fb52ac8307eae381552860bf0d2897f4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f29cd63e04efa96e74f3c274f4b532ad40a7a069b9f385898dbb1cfeb1316ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38fbd6e2a259d9322eb39103da8e5072cc7c9d3e400c6ddb955053bb2ba04284",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
  "encrypted_content": "gAAAAABqtDeuq3rxaYok_OPFjOua_3kEZOdA9eZassC6gxm507ujYe3Fk1NeMINl05qSwgrP77sZxCvMfqGGN6MoPy3wQwN_OdCTW2FPF4Z6XOkGcSGgVmYGdtpSUaPsemXGIhQnYuUTUjTxkwkLHjU7L0wpX6-SGqHYwVeBszTFMU6xAQrHtvnc1cltExDdJ1b_bg8HQdjt1aHQERQU3KJ-XXw_FGyyVblhXPCE4RPN0PGr6KXTfLh7TUvo3Ng0ta5dEQFWfEiLztwePfN9xpSx_fFDg44y0jegWdO7zGT9qpoBSQtLy3TIV7h_X1OnTCTtXNaW1d_OKCbrdNmEggQbE1-9e4O6-JAsfljn2q4ABcXncMP-ekuepd5GOpeij-8bbaIs2HFM3jq20njDE1dUXH8knCj0t9Pd9S5_1-PlKi5vE4mOfFTLm1yFh_dMULK-gO1ZWwM3Y01Xfx9xorSblQCkES2-SkMYn0YsR9bb8PGIOSGuwi1_Jq0PT_UVCEt0EiWULIlwrvWnv9f517YmhrK_w9S3hw7LG9OJUQeoguNsJrQJ2v7yCMrmeLG7-saeCIqMXyOqxVrUW1Nb4PtiUoaD5hclisA9lHBHdJYShMeFrRtOakNbgng-oZWYlleAyEJY3qD14kwH8lkJDxW_5q-eYyc70ul41ZruLnRrxHY5lw1FDpgmfAZ2Uz4H9DgSdkvYIKMI0swt2SoWUboo7ZtAUQzJLz9bR5hlXlQXaCKUbMW_SKnP3ctYJDMrNquyMzspBuoxEEQg2jhlNja82hCxkDPZKBFTTbJ2-JIy8MUu6mwmlf2OqhcUU3AIz9cJhlqTMy8pkGt0PMpPyBAyrU_4PGv7bmqH_1_iUi_jIKwwS8SFq9Uh66d0nN00EBumq8p5GPBHGmAMkkf8wWDsGsF4Vd_H8OpChe2WNuxyYXVZl9fQzHQ5_lvp2F9xCxPeJefg-DRnPZ2rjSE52Q4pe6UkOkTW7VtC63oEkq9-M6_KyAZfQoN53a7igwikKMI-XpDubiTJbq3Qe3_MefXLDNinUb0WA-4qlh_V884tydWL62v3ZFJ90XDEcTNriVK1NpwCDTTblZ56q8NsZnYhbM3N9WqEyYevSfadtNRYMW-txcQxqxFpDwTE1KVXs5PW9PLioe1vOwlyyddgDFacpL0IbyC9Z4lLAuP9rrDXkpllX1NMFcfHi8KiT7iTJ02UY1J8NgJ0nBU4MO64C_J5MRyStMCHHnHoNGOXYv26R6gdZlS6xb6BVK2wyUAXZVG0FPNIQFS8IG4tv8SVvDxAWM26LPY1NPxZwr1jWzsHJZdWc4xngIy69FAoyy01EIuXrJHEgeKM2LVPHtsDWbIWypKRLoTJDwZb3Dykkj5EOMq227Lr7MndQiNnLdZHs8tWB4av19QrVLB7leg0nnQMMeVZzCix7Z9bQu9AuYOajWeHA15gnuDh_5mz1GsEEpgRrThep3ZN8AMg4XFnEl1e7QGts2pvbSaKp8npJIkLkmu0jaLJw0n5eLIAZRzx_VBb8upilLTfYMzk9PFlwVuUs9hAGOqKN1hvXIrqP58qVTgSWoYPnJ5jKpvubAvihTT4HiJXm4lft0XV7mjVqg4iyLMFDzCR4uT5EfIZ3f_MnmdJoJXRmGWwnzyVKN3Kha8I5sE1mIjcDMv-eXxboFAHigaQWWtqd3ghTFG1ia5tEkBdkHreZt9S10SaXyX6N3iaxF0gf5v2rz4s6oTEZ1EuLk63doYkkuMQF5qYdlQTtPOOwfd0jav8lJ_51hG8z5UIYdA8BBZ69sRHajKItJOeZjkWMOXlsUCMvrH6h12GoKwIBp9WgegC5EgbKki27V-nWY8R7qcFCUXEmQnzYHwsjTZ3YT5t6xjU27w7wP8xoJje1p5ZyJQiLYozzZZ6ddvBDe9OOO8Ts_TalBgbUO19tqysFFNxRFxw1nXcQLIsMshC5Kymrw9AA_qSGoX0uLG5-SJnIsC5npI8vaLUY09sAf9_2RiUVmPjxGQkF6F7FOQem0ca7VUv9ImN2ogWQLBbJiFaOX-CrdFM1aAstsEtVPNcNXpZH23ssUPDbtbvn-qSLZDDPlHmS2OoSXjbEzYa66TFF2JBVaA8A__l3MSwsJHLwsrG0VQk9coO9BI6vPhl5yw2gNWkhNr_6yMaeujnNbC1DK1qxlsf8c9DhQOIEbNd8cXFGVH1kWddJcHYtP1kAVFs3DMwYJ6ecDXnX4tyzY2wxLrIeR9mt5khhvva2tgTvXsRMk26ObgHY07ssBD71TyAs3aQOKRu6BCWi5vBNipVpXNK6UhqyTTMT9c59Gxr5PpJpKX6tKFBiAh9MNSQJ4dSxqfFKOpEpj8TbC97edykMNamIEKS8yki5C6lpjX5Dortb6Or7nxP2n-skpO_-XPDRlqEDo4KZWHWtQE8o6E9VJ7W2JuSmWIXEwUDlm-aqUwwrL4y-kW6C99TdsVvclE3XxZF0_q4xgRB4SVYrSyfhpW1vOQ1O2iz6ePJUiY1iwcCxJ6-6XP3jLWZEnw4fM3v4Kbp_txbE5dAjeqhGoGKWN_L5Zg8QHk1TWte5MxpqJxitnx2H5YjLpOb7r5hrRhjiv3UzzG84kQLOQFII0IMrw1AFlAZP7G3-U4TroLjxUNW0Jz_zMSQVgkShflMSPnDcTGUUpgLxF04v4AfT-UG6qum8_Rt2_gkCnODRNOGWiumPrQWzgqxZhWvNlJL-V1fKAeEpboAYfql0rXrNQjbG5vudQjH2DftVYi7mBLKdPyKipEFtoSPszSMpMfQfUuYYix4WzrmwxJauQ1tsA5WkO4ENxcyaXdiohJR5W4kSTiHKISVOU1d_pTRBRa52meOPP_R_GV-AgYoYdlapypTA1W876YLRUo525YjU_icyzpCqDRl06pxzaTAd601IisOj1DN2F3qv5PLDZvbk-Nw-DSl2JzXjwbVGaEeWpa93YxdfNbQjWQ00WHwTONS2eBoW9BPd5tn99LOhF7zvzM9s7YZOoZqfC49wwlyJzEuekWYi6RYem3ZeHkYEMvgOtST4_8CZ7bvJm4wSjpPW8UuiLcF",
  "id": "rs_0d2807bcbd85ee72016ab437a9e51c87d0900fdb3bac251f39",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.245,\"right_z\":0.14},\"note\":\"The safe is open on the left, with a yellow object to its right and soft objects below it. I’ll position the right gripper above the yellow object first.\"}",
  "call_id": "call_RLSA8vQS4fMMLEGZ9k0ogi62",
  "id": "fc_0d2807bcbd85ee72016ab437adc20487d0a715690638227d76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RLSA8vQS4fMMLEGZ9k0ogi62",
  "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]: [-0.0189, 0.7963, 0.6064, -0.4061, -0.0193, -0.038, 0.9997, 0.7731, 1.6951, 1.0801, -0.1875, 0.5861, 0.4545, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0028 left_pitch=-0.0164 left_roll=-0.0026 left_gripper=0.9997 right_x=0.3796 right_y=0.2388 right_z=0.1256 right_yaw=0.0363 right_pitch=-0.0514 right_roll=-0.0427 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.6205, 6.8034, 1.8486, -0.0415, -0.022, -0.0171, 0.1299, -8.2256, 8.4581, 1.6093, 0.4322, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c318e60f532fc7db87852ed6b9292c4aaeab913d728fe5f0d0cb66f1d44f7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061e7e6227c44439f092d0da394dd2025a5cfb526856faccd916d4c44c5b28a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b91674eb34ebfe0c321f0745981677e84ab7d15d170600d9030219a7eff47e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6033, -0.3912, -0.0189, -0.0341, 0.9998, -0.0204, 0.7933, 0.6052, -0.4034, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1779 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2917 right_y=0.0012 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.4291, 10.3316, 1.9463, -0.0171, 0.1783, -0.0415, -0.5265, -1.4974, 9.8667, 2.0342, -0.0464, 0.0904, -0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.7963, 0.6064, -0.4061, -0.0193, -0.038, 0.9997, 0.7731, 1.6951, 1.0801, -0.1875, 0.5861, 0.4545, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0028 left_pitch=-0.0164 left_roll=-0.0026 left_gripper=0.9997 right_x=0.3796 right_y=0.2388 right_z=0.1256 right_yaw=0.0363 right_pitch=-0.0514 right_roll=-0.0427 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.6205, 6.8034, 1.8486, -0.0415, -0.022, -0.0171, 0.1299, -8.2256, 8.4581, 1.6093, 0.4322, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c318e60f532fc7db87852ed6b9292c4aaeab913d728fe5f0d0cb66f1d44f7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061e7e6227c44439f092d0da394dd2025a5cfb526856faccd916d4c44c5b28a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b91674eb34ebfe0c321f0745981677e84ab7d15d170600d9030219a7eff47e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe0P6pQMxYxuZavPA4tXIBKf0Hq7MpCkrk7E6fQG-_xuyliOpR6rot0Gd67h1NEw820wogztUXnEDvA-vFFouTl58ySaufSGNPVwEKDKlemB9zgtAObaq_WwJFk82nmaT9O6vxMMs8q7Y66mBvLzfwj0hsDzeKXlF_U69b3Wyr_0Q4VP0AY_QPc1_LVeYY3VzS_8Av8Vz1H-ucwpETV80QCEZbcyDI49AxQ27ODCU4VztAeW9eoUcJ6Y_fihvanDGP4UzMDsA8LIzJrtJrOWacZZi9-JgdYP1M4E9R3MMSyfJ-hPrqddoD7OH8ck4D79zA9kJFHHaF6X_iXyG_Qiv07c9r1yWcuu0iyHIgzXEX_WCWng8y-0T7-P6beeSbDfezd_50PZ4S_zUdzGEzvCRKVpbPi-X0tQvgDfVrnDG1UjTel_wskyNyFYKlblkUn2bMRofa-euZ5_t63iQY_sUpnlSJbTU2tL3vgymtEIdfIfUE7YaeC-E17ffyG-Zopf3pdDAtV1800CEo6j7ivOiJh1THa3WUDyEYISEYrqC4uw_WcnURUy_g8Kd6oKdNHqgs-HJYXC3taXz1R1Smz8jKJaIVGiNAddrIhhJSCFpqlN8Lm8mt1F8UvbRusTbv-_lJpnwhZI5gLs5IlIHmlgAItUO-TuSvmlAjwjgQLR6EyvXp7kmYwuzH1uQ4r2DQDuSex5T88ZwGxVFEJ1Dcri4gVvqHjK5h-83wzk9ZZtflKVRYZP_EHaxvn207akCJAlKgJp-MzMkjlyITrFiPL3cMkLGze2DgVa5QCAFc6lejJGeR4xxzbHsMmwTh_q9VfJUb91wfDr1nzCFaaVWklwmtBDRunzgWw5_U_M4Y4RKeGaeJRa-9LkQgfu8dkLtViHla9giwBB8Po-37hHCKo0iQI08IGoQae686bXc0K4tt9cdDx_tRHjD1LqO1vPoTH_mwY-6PMwpjj8UUICqaYQGy7yiCHTWWy5w5eNwY1MEB3CCCQFXR8jPzWMvGTpJNq9y2mFDP_rt0gharBb3FEuUXFL9g13WysgkL110A4wHpKzE3pHlUYKr4qKN2vab89ff584Jc_0Ydsdj6-0lTDriNu3A4J7lELXaLA0DXiUMOyHez1VNZZFcv_qKxCxAavVvwVUnIMbYUQsyr_7bL25fIIgJXXLbgkK-yoz9XWj7JGKDwg4BiWVQqDZ1-3f2Wc-SLLx0w0Vxw9AZKlF1K5tr-T69ol33OQGmQsn_5_085FeP_y5tG2uyEKNCNR2s4XHM1Z3awahV3roipWKEk534SMod0AWBWg1xoR6LR3WcZp3BzN4xzBgBgzPYIXaNyleCoj3pxgz_OhM1cG0RylMNINYKeaodJ2jhZeCSbRqXd_haDUykEbllT2QZm3fcp7BoxpJ8E0O0UTBC7tz_wtY0YQzIqRvgGBrrbPlvrZT_LZHs2QND8NbSvI3XU5qgCxxgFKR4hBk63omhg2fRsZ9eUtdRbkF6t-2fCHZR1N3vQj-zxTyymidIgK-xuVY9qsklOXtNEQExhNeYFc3VFE_Y33ooAhytKI7-9Wc94O5rcFcL2RKhH7yxgrZMaKI7QJPw9R0lWV_Hy7CZsNNw8alZQLGDUZaHc6QkvvtcOsWzKjY8KehauelkRAm68iJiUuY_eCXd7OymxumClRszaH8KzSHStxDkhJPA-t4T_woKjbntZDKoUdNClaXrtdgmOwV3V5jwRfkiHlLq94iwemBplrBOCIXwL1mCFhp0H-cG33niASarhKH34go0CASfyNEC9wjJm0vg8_WToVt1K8rY6DarhMMSeXpyZhcOXIuxintM4eZl6RbDRdrNASLK6ew1CncEiLMSo2hThfxstZgCbl5ietUc5binIlKIKodjVMZOuFf9ep831Uz2D58RdN3nKTj4E6hlYJesT9K6D7MnEDKw==",
  "id": "rs_0d2807bcbd85ee72016ab437b1de6087d09764c778547e9e21",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.26,\"right_z\":0.025},\"note\":\"The yellow object is visible near the centre of the right wrist camera, but still short of the fingertips. I’ll advance slightly, align the jaws, and descend to its middle.\"}",
  "call_id": "call_elZA6vu82sI9QTZ51i2wcQaw",
  "id": "fc_0d2807bcbd85ee72016ab437b3520c87d093c0e094c51ca694",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_elZA6vu82sI9QTZ51i2wcQaw",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6064, -0.416, -0.0193, -0.0383, 0.9997, 0.7708, 1.9762, 1.0313, 0.1272, 0.5827, 0.453, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0015 left_z=0.1725 left_yaw=0.003 left_pitch=-0.0282 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3989 right_y=0.2569 right_z=0.0326 right_yaw=0.0368 right_pitch=-0.0644 right_roll=-0.0523 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.4291, 7.2, 1.8046, -0.0757, -0.0122, -0.0122, -0.4171, -7.6513, 6.3932, 0.989, 0.1734, -0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80cd3bb073bb150c78325afe1c82da02ae59fa317160b95576b4d91514b679c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd07a3f8b5be68019c77dfb6092ef3cf4a4e018f8a54e0c50f1ad576b07f83f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7bd5c0907b33377b15187f5ee2dec612f86ec7227eb3a33b5dc9b2dd93f8543",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4061, -0.0193, -0.038, 0.9997, 0.7731, 1.6951, 1.0801, -0.1875, 0.5861, 0.4545, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0028 left_pitch=-0.0164 left_roll=-0.0026 left_gripper=0.9997 right_x=0.3796 right_y=0.2388 right_z=0.1256 right_yaw=0.0363 right_pitch=-0.0514 right_roll=-0.0427 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.6205, 6.8034, 1.8486, -0.0415, -0.022, -0.0171, 0.1299, -8.2256, 8.4581, 1.6093, 0.4322, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.7982, 0.6064, -0.416, -0.0193, -0.0383, 0.9997, 0.7708, 1.9762, 1.0313, 0.1272, 0.5827, 0.453, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0015 left_z=0.1725 left_yaw=0.003 left_pitch=-0.0282 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3989 right_y=0.2569 right_z=0.0326 right_yaw=0.0368 right_pitch=-0.0644 right_roll=-0.0523 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.4291, 7.2, 1.8046, -0.0757, -0.0122, -0.0122, -0.4171, -7.6513, 6.3932, 0.989, 0.1734, -0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80cd3bb073bb150c78325afe1c82da02ae59fa317160b95576b4d91514b679c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd07a3f8b5be68019c77dfb6092ef3cf4a4e018f8a54e0c50f1ad576b07f83f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7bd5c0907b33377b15187f5ee2dec612f86ec7227eb3a33b5dc9b2dd93f8543",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe3uDXXe2GJbKcAQ9pFLpxIWJRoXtfgA8WKWamNRHiFd13obJWHqR7cjSW7eBPJj0r7anGUuaZHOkqv_f1dFHjtFbxNUSLzd-LhOhaWa4-mFvXcaavixXzuhja0-bjNaHTnqLlUZ87zSgjoIQkVDzRJXJm1eHA1ryPyByLQuX6XxABUwC2_E1GLC_LIlL2-HrBjfNaAIZgP_E3Y9fiWuAcmhtQ2cdHuimoL3UHsZIM9CRDnC4SmONT8yi5RaXdlplsnXQutZmmX2OGi80tryijyS2LZc7vUCD7uxdNxO8Yqw6mWp-U7f39GJOrXmweNt_69UkEJ4MVIQtiSZB9MHnpb9abQhM3zwzORZ9aknTnGIyf_QedC-l-_aIPAXqdrMMZJ0W6E___99LSRJoiCk7NBE8MLfL2GjLvz3h90y0XaQJSZzptCfSFXCG2MN2TBFCK_6-cA1dE-WW2dn66zpV3ovCArEZyTbLas4afh5F4KcHnqSOeVbNUglVpbFmYD0mAke-fFm2dAMk3u7G7NAjeaN3Aj2IhAg_tMokNkF3HWRATB72V10ZfuSPxY5_ceZF6Veybl6C7Ert_QXUjADLrxt1dGtA7TEK_gz1SuMRlPkXykBGfLdt7Dt7XuB9fH5PXf2E7C9BXEj2F3IDtIYmd69RatAjnJbWh9IC-FdBIt_Lii9lvtTYTJlOd0oCKkRwiN6oS11yDKx2IWXgzAi1wPNywYz-mXBDMJnyWyD1NZkrUPAfcOd_8Y3rcmUtpK4PFJVUBCUHVJx0zEBai3IPkBkn36SKL_mtqKs_lSxsw1JGX0U0_vUp9-SA-0vfQ7QCWifyAQMeUDwUgvm5fd2DE3eYd8ZGsYf3nUtJaiv29K1rm5GUKpfsaOBnycL492bRWdklYc13ksGq7NT7QqmwWaWMeUWhC9LtD_UoVShsYxrntHo-FJwQjDua96Wrra0CRKBEFpwp4pl5nDjch8FXXQtFXwayITT1Y8A3arXq2OW0gWdvMrEkLREEHiXfrl3XGF4dHrBOdnJVwRUsFHlHWxz5mi3B3x_yWX2X9ybCtKzcQApNDA2su0pjZE80mnefcrneX6RMKyORlEppb8cDeiXWw2L2i6kgZX36_JZ8KbrCGH-UeaTsgIlzTP51jlDOYSSzNhv9rKEev_xsrHvRboD136ud_g9PDtnJWNiB3wPfD4u3LtWcBJMxpVj9A9WU-ZeXVuhvR1h_gvBQsOu4hWVRjJT7fJDsnaMGR0d4cP1ZLtsOT59HqYJt31vbP4aOwyHvt9AN-z8E2SWzuVhfDrWFx8Q0HFc5ZAREeqeT5NR7tWD-IAbqqAZMNvd_nS0lmDrbHev-U-YqqWNkETVh57EHdSbkjbxW7k9K6eujOuhZVK4z1pGpZKE04RNUX6dBLT4Y3vpWz95mMSdsjqLLJf7-Ql3vDKM8ukuE29sjKUrHVc6rw1Z1AqZAajzJDBf7TBRP_BMcsCKKgd54JjO2Ib_I6m2Ly2oYbSbmUj3DZMMt0hCEw6JKvZiaUygyllZlTz5Ast3kIcMRMEqtdIHc-t7TTszkO71lYSt-MOHyRYvaHBCX-RHnEASMKHoD3dljkeQ9zZCtRvp4ly5Z9yhInuCEYFxE1Dg4XBrZW2oMDsyrFdvdimShQVGkrG6rt4s0FrdlovZB-ZvipmE-gIL1ji7ob4tmLAamHQOuRjJ-36h4Q=",
  "id": "rs_0d2807bcbd85ee72016ab437b5d86887d095c8b6e66942a8a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.427,\"right_z\":0.025},\"note\":\"The yellow object is between the jaws’ columns but still appears ahead of the fingertip line in the wrist view. I’ll advance about 2 cm at grasp height before closing.\"}",
  "call_id": "call_knmQtQHgml3bsBsImbtruQP8",
  "id": "fc_0d2807bcbd85ee72016ab437b6d61087d0af376782809268ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_knmQtQHgml3bsBsImbtruQP8",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4282, -0.0189, -0.0387, 0.9997, 0.7361, 2.0296, 1.0855, 0.1528, 0.5465, 0.4248, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0029 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9997 right_x=0.4184 right_y=0.26 right_z=0.0284 right_yaw=0.0453 right_pitch=-0.0622 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2376, 7.0085, 1.8046, -0.0415, -0.0464, -0.0122, -0.7863, -8.5402, 7.0906, 1.4286, 0.3687, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2f85b5267654b937085cfe565e822ccbd8f5e2b3d841d9399c2c42799defdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655290a5c0ee0e0c78eb872a71286b5f125d8ca585f3199c7256273961547887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c3faf3b3ebd8926e676746caae6bb84778e321757ced663b9f82e5ccc37644",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6033, -0.3912, -0.0189, -0.0341, 0.9998, -0.0204, 0.7933, 0.6052, -0.4034, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.293 left_y=0.0013 left_z=0.1779 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2917 right_y=0.0012 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -1.4291, 10.3316, 1.9463, -0.0171, 0.1783, -0.0415, -0.5265, -1.4974, 9.8667, 2.0342, -0.0464, 0.0904, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.7982, 0.6064, -0.416, -0.0193, -0.0383, 0.9997, 0.7708, 1.9762, 1.0313, 0.1272, 0.5827, 0.453, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0015 left_z=0.1725 left_yaw=0.003 left_pitch=-0.0282 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3989 right_y=0.2569 right_z=0.0326 right_yaw=0.0368 right_pitch=-0.0644 right_roll=-0.0523 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.4291, 7.2, 1.8046, -0.0757, -0.0122, -0.0122, -0.4171, -7.6513, 6.3932, 0.989, 0.1734, -0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.7986, 0.6064, -0.4282, -0.0189, -0.0387, 0.9997, 0.7361, 2.0296, 1.0855, 0.1528, 0.5465, 0.4248, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0029 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9997 right_x=0.4184 right_y=0.26 right_z=0.0284 right_yaw=0.0453 right_pitch=-0.0622 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2376, 7.0085, 1.8046, -0.0415, -0.0464, -0.0122, -0.7863, -8.5402, 7.0906, 1.4286, 0.3687, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2f85b5267654b937085cfe565e822ccbd8f5e2b3d841d9399c2c42799defdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:655290a5c0ee0e0c78eb872a71286b5f125d8ca585f3199c7256273961547887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c3faf3b3ebd8926e676746caae6bb84778e321757ced663b9f82e5ccc37644",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe6wtV2t8jxa2w_a-4cCexwh0jjOJkqd9sHwwoFH4bBv1Y7Zi8ohH6dm_l5HU5OqcfuD1oBYs7ZwCTIWR3BYC4kqW79gYwPAtiIx89_qCxcBBDTRoSJLWQrLRlXp5DXIW_n92GVmgFCQ_pcxG879RLt2WiWAZCeOOK8HqREJANpHnFvaL0hGBXfKcd0v1BowIQSOd1zTDAyVDZCePgDCKt-so4xmRjn0H9Wf9tZxr6Pt65yttjsZxzghVIRyLKont6GuD5qmS0yl3LufD9W0Qrd6dhb0fJy4FWYJWsjMleLX2HFck5mpj-Ady3_G_ig2R4w4k_iDSI6yhrvan-uL3IcRW7XItK4NOh2sAx3uGeREqAH6MddasIohX0UUOMq6k3abbDTcHf2OJ0ed50aWJTxtQmaK0ZbOFXkUrZEgrBvF1N3qGSa6TrF_ybcOEuAW5z8rI-Hcu9Cjk4vlPC-MBex8UiGTihQy-4cuskTFzO2J1h6TcSJT9d2SekO8NLmdeCFwkQWCfS78FxpYa8NoA7UZXTpzpKki9ZE7tx-B1eRbbeQgmAJ-8tnlGIGxZFZfZSFlvdmJwEO00l4JGAseuBJpcOdGrPeQ_ZcJ96ovP3dcGLjNUFZpN5zBBudl0qW2cXukQe9A7_OT3dZX9esL1Lg_u4DcZQJo_UUQi4FzD_Wc3hQ_cPOonlr3_DGov9xCuOW36qQl0H6IV8rlVV7CPthpwEn5yim_cCe4IlOzkf3B1lsBoUUluiV72s5DRtK88j7l01P3Y5bO9vFIPYL5IuGwIfvFzSNxVxd3ab-Kogzgl4d11HBgEVkA4YuSd_ZUUCA6LtduEX9GuN41IdmBftVTN0LsG1jPXBVbnFEaHm5Pi95Y29VWEOTBYUuPb_vM3YwAKmjXqxLCO6HqLpISa_oPxdqfVuDdZMIX_kmo1CcJhsFgD2L2-IhtTNW7ztYm_M4-VJ5bvhrUDQhoJPjp5KTQej_bmxgoN-GLaoZO8LXJp2PR24xVR_VVmQIvzuEjXoI4eqDW68UDlH7yJBwOu3meZVtQnkdScEtRtBjXwGE_n2sp5_vdbkZr-tZ1iKtszgLhvfoZ-qkmFQUx7sLLxnktElx-wU8qfTvovyjrxB_nt7MR2HwZV78mNGqbQCTsC6b9BsXSatCMNFY-4gfsIKODFb7YQqn_lsFAUAGrqBUfeaDlBwbrVQoix3WPVTiuPkR39tLP6qlY5uXg-BC4-cw3Z5z76MANN0CpD7zu1s6vcSMZEyaymL93TRzhUZkbnunkswIeihcOBKDCoCQ5-20YZXHlaypLJshp8BnUdzkLzDJYEJQK1bKZnxmSfq81fHN6mtQnun0rRufU6nmKcbXQKMWr5qYxT64piPD9ZZi-urgk65blRYms9dhvf_X_XcOghIitNL509lXZM6kLlrUQMdu1i4IQ27G8lUtC-vGRLIk8nN322U2XFxce8DYdgU_SAFNKCXOiRMy6G7AsgJvuvUChVQ2npAlybLiuC0yv94IBjoLS0GYSPqNqm6j5kPPqVf0E0EwctGdNdkPQurc7g3QdO6It1KirfO4ACBHnJP0zykAOUKAw01-ATn8qxHFUkgTtLiU6ZQzqkG6-fz5oED4TeJgf4HtDwE0oTYOSLxtsJk6Urr8WdBNTqvl8b6XHI-i52HkUPa54K1kILxRyNQJPFk_LYUw1dwfF7vmjWSjPfS4xx8b0VhUW7ZeT2UCCoVp3aRyIOM7Sa95rzbnN529bIQHGZKTYEOzSAfuo8KvWR21ckIEUPZ-I8_SEvg3jQUcciu5sqLqhF15L1HKNssFEP8WgWGD01U5wS4zqk6z8SFZoDqwfQoGT2vLBSmON7fXkwz6hDwm8b2ypIsA5UMvhbZcE8tm7wwVG5yw2N6u0lP8Ox9b9veHErl6cT5aVNvAWVHRUqWr1Y0hGXKJfT-WjVpcqVS_XYgs3Jai_DA=",
  "id": "rs_0d2807bcbd85ee72016ab437b8a63487d09ec8bad387a23ae1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.441,\"right_y\":0.251,\"right_gripper\":0},\"note\":\"The yellow object’s near edge is just above the visible jaw tips, slightly right of centre. I’ll move forward and a little right, then close around it.\"}",
  "call_id": "call_WPvbdqpFiSTItXpUIOvpjUlc",
  "id": "fc_0d2807bcbd85ee72016ab437ba1f1087d09b52d851eb91f3c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4358, -0.0189, -0.0383, 0.9997, 0.7258, 2.0399, 1.1023, 0.1539, 0.5327, 0.4061, 0.0401]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1684 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4238 right_y=0.2609 right_z=0.0287 right_yaw=0.0559 right_pitch=-0.0627 right_roll=-0.0402 right_gripper=0.0401\nstate[joint_eff]: [-0.0889, -1.2376, 7.1863, 1.7411, -0.0611, -0.0269, -0.0122, -0.6359, -8.9231, 6.8991, 1.5849, -0.1001, -0.3053, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a22a61a44e4085c6ce2de8c25c6cd427d0cb09e4e250a32851de76599531da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c6e3f1cdd00197e2ddbe1a810536f4cb39e1f7fc064416528267e0e9650449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9b149b3ce603f77f8796c02e45bf03171df36c59904c6cc53929004faabf52",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6064, -0.4061, -0.0193, -0.038, 0.9997, 0.7731, 1.6951, 1.0801, -0.1875, 0.5861, 0.4545, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.175 left_yaw=0.0028 left_pitch=-0.0164 left_roll=-0.0026 left_gripper=0.9997 right_x=0.3796 right_y=0.2388 right_z=0.1256 right_yaw=0.0363 right_pitch=-0.0514 right_roll=-0.0427 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.6205, 6.8034, 1.8486, -0.0415, -0.022, -0.0171, 0.1299, -8.2256, 8.4581, 1.6093, 0.4322, 0.2564, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.7986, 0.6064, -0.4282, -0.0189, -0.0387, 0.9997, 0.7361, 2.0296, 1.0855, 0.1528, 0.5465, 0.4248, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0029 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9997 right_x=0.4184 right_y=0.26 right_z=0.0284 right_yaw=0.0453 right_pitch=-0.0622 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2376, 7.0085, 1.8046, -0.0415, -0.0464, -0.0122, -0.7863, -8.5402, 7.0906, 1.4286, 0.3687, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.7986, 0.6064, -0.4358, -0.0189, -0.0383, 0.9997, 0.7258, 2.0399, 1.1023, 0.1539, 0.5327, 0.4061, 0.0401]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1684 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4238 right_y=0.2609 right_z=0.0287 right_yaw=0.0559 right_pitch=-0.0627 right_roll=-0.0402 right_gripper=0.0401\nstate[joint_eff]: [-0.0889, -1.2376, 7.1863, 1.7411, -0.0611, -0.0269, -0.0122, -0.6359, -8.9231, 6.8991, 1.5849, -0.1001, -0.3053, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59a22a61a44e4085c6ce2de8c25c6cd427d0cb09e4e250a32851de76599531da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63c6e3f1cdd00197e2ddbe1a810536f4cb39e1f7fc064416528267e0e9650449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd9b149b3ce603f77f8796c02e45bf03171df36c59904c6cc53929004faabf52",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDe_GWPjZ9KS8P8yQLWPcXaDnKz8x9-QZNYfosLWY9O5OfHaB6Zt7MMjVQloHy32dlKewQbVwokzLr44m7FH1rhDQk0bp6wBuiOoz39kxPyWUX0e1UWvONDsgaPs6s5RETyQavB7cdIcC4NoFJszOqfGIbdzedUFHxGvvzXWIAo76kVF551k_go8-TtQmDUpkxBK4kde5o1o5rFttbUN3wdB0XK6vVYKovio9MwQ8CjFTXiP1s1FNzfiYvHoarMhG2tnT6LuH3HI85WTDYgnD2dc7XkRcbYGwGIoMiv7lu18EdICg4uv7TmES7S8TBFHuOOiHe0B4LGCNL0bZfcWw3a3i8LWSYXaAVPxbV0mT6JkPrMohxPRdNcRtXGCsonaHPUh44xD93V3zg_UkIRay8JdUqZlxM186OpFRDZcqX4mVWdFzsLOQZsEf1Wpsft1Bik_O0bQonw33UX-TTzpNz4Dmn8ErptQ7C4FDLpV-7PVeO03WLKYubSpAIK7bov4Rx4WCKyWKWrUD6E87bbv8yfQTvnsKg-I0m-8br4aXdVj09Yh6TO4dmVh8FUQs4EPSYDkUC3I6zcYzIb4HJmtzheldFaayzlvhrcNFcZpexX_djmcB-fr4c6En6mCt_U4-dCNkuNqKA1FacAGlsJvxUlISph_K77SMDh_l1fIJ_VdzVzfblq65vbtnCviIeNiENaCsulRT7pXaaWRHQW_EgOSB4rJf4Kmsrr4-POtIgd7NmYtsmpLqS6dZJT4rte2oOU8xAiSC1V_wsROInTf6rlkqiXzN6U6hgGIHtc6NklEwI4kPp4EWO9zA16bcUwCjd4pJ8HbLSSoZh6kgaRR3RYI7yDTjbSFHfad9MOU2KogLnVNpVcP5HGCoHB3gUoV4-boVm9s9IGh62uLj2KbCxY3K8ixzFqLIKzSkonjO9IifYeF0Giwtgjjm9s9in-69k7GKyAT78AZ7JMCddfVn_R-f3gHIFySp_ARKreAK4WJsFBCbpMwLIw-pb-1sSd1TFkws_j0iwKqX56A8FC9IPWpX0ru9yVZYnZNC91tbzeun1LNomkWVIip0q8FZF_8T7mu9S-GKiJhFguggw-Pz44th3HSNSO45Nj_mWIMr8SshO0EKOvLI7j6f2cjb1sknfVc6ovm1gfVfGF5oj1OXaUr22FiDharcGKTyuOdnhhrYTzdFLcf4T5UOoCWRHXlJJQ9B_Byu6LretgUKBb87nZ7PZf04xBDEPc9zZyUgnoxySutBs6gqJksfamSLmhjXTZLPFQJp8anCIvufm2mc0rOfPcL2PbUrLrm-9z7Yp6Ez-kWy3aGWnHvquYNsDYBv2HRXM5GB_-Vqhp6nsWoE4OBdo8ut9P6XkE7QQKL-MrDyISSMunvUqsU20K8lbDWd3MdN7Yyg0oKEDdtLAzkJ190iCCA5lBUsbY3r2ZK7WJWUItUwIAEd-Q7v9Y5KTO9HWQHjpt6aVq9VEqS7VrNIWc6jE4eOYlDEfh3ecEKfP0z8Truz2mSK1WA8XvBOJQnpmFfV3jWdlibb48TtoIKOwlpRNliMeB87BPwi92eaomN1rD6UfnF4RFxT9QMbk82dHMTClIvlSZBeCIBzxNjYSE1XsVfLXYcKlvhvr1y77I53z3LzxiGLR05k04Gqh-94rcNzAgPaWuEfZ-WIkZ4A3SPImzTKh95l3RBtYkVyI8Oli5SfwqJ9k1xLI9jh7UCu9j8j7S7yGYWUbrcCAX1lkdUrHqsu1b5zan2-7qXVjmLnDT86bY_AG-q5E16bMvF91Rnm-7VwmJy3bM9couAzzXwwWFli2XfQycSUxl8ATHC987Dpb4jhZKSrV0kquMBLdnqK_DRAhJQt8nnqQEt6SA8XLIIfSuZdwt5gplUDIbanhs4xRrLGOLYMqB5PEXwAnTnj2CGdYWWSUTbW4aLduNFYqtldE_M0PGs5v7Qticaf3QTaKyaQCYzp7pYgaNwYxRAHK5vhsojcUUE_L57x_zj0Uep-i4oKGIE1hmo3VBCi6t_DR4h43cJqIIj4mFOrR7BHClF8uOQTZ0Y4Hlf65H4NFhz6mx0rSu-o_cCggxBzWbUIwsirWEAzR6iTPSUzInoF763jVQbB6NaUhsBGaFQV9WKf9RvTv18-_0xkRCttvVimIRaQONE_gusZWdPRVaDTqiUCoUebzKVyQBOxKFM5Xq5B2g16DTuotovEO1rgJ4ObGY82uFSHRpwHYmqi66uUr68FJBR63yZJ5scoUlQMjqSJ1BjzBrmIywLjgXVKd0WkTfPLcFZN69L-yJkOmN35C8j6FMgUvQArQ-JIJM3foznp4-kFpqWuoKEXhgkS0rCLXEpD22OvZ9J5QWAzuYax9xppzt-PDLjLkI5oB7WcZhi76xpPZfBenQHGuSs0tLbZ_-NF7RxK9GHkbL3ObfrwpBxws_jytbraKQD42PXfX_2CrxncTziEErOxf9_SxSCdQ5axhgnSBijtj_0fZaylCapT6TxbjuIgFeyV8V98TWlzHrr-D4MxLzD4Ie5dV_y6_aC_Uvav5m66s_6hqiYxLVGKIYWbQzLkQr9EosLXLCCLPASdkFi5KftenTJ_zE=",
  "id": "rs_0d2807bcbd85ee72016ab437bcab8887d083acf04dabcd306b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_y\":0.195,\"right_x\":0.43,\"right_z\":0.065},\"note\":\"The gripper closed empty, and the safe shifted slightly when the arm crowded its right wall. I’ll reopen and move right of the yellow object for a clearer approach.\"}",
  "call_id": "call_Sc4mGrH0VeBAL1tEjgynqKTS",
  "id": "fc_0d2807bcbd85ee72016ab437beefd487d09462d3331f534405",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Sc4mGrH0VeBAL1tEjgynqKTS",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.5797, 1.8751, 0.9756, 0.1272, 0.4252, 0.2955, 0.9947]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1649 left_yaw=0.0027 left_pitch=-0.066 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4262 right_y=0.1962 right_z=0.0483 right_yaw=0.0538 right_pitch=-0.0985 right_roll=-0.058 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -1.2239, 6.9675, 1.8877, -0.0415, -0.022, -0.0122, -0.4855, -11.4803, 6.0239, 1.5946, 0.1734, 0.0122, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a24f516f953754a3898062bf4d49262b5530d9f470cc6619cedf5ff55f02fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e582b5e1bf91563a21a9732392a3a0e59899b1c0963b2a8fdcb4d12ec824ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9910eb13d2c111bf6aa6c5c0d84102a54c61f9a9f3bd75e7c90e59752fac73",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6064, -0.416, -0.0193, -0.0383, 0.9997, 0.7708, 1.9762, 1.0313, 0.1272, 0.5827, 0.453, 0.9996]\nstate[eef_state]: left_x=0.2904 left_y=0.0015 left_z=0.1725 left_yaw=0.003 left_pitch=-0.0282 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3989 right_y=0.2569 right_z=0.0326 right_yaw=0.0368 right_pitch=-0.0644 right_roll=-0.0523 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.4291, 7.2, 1.8046, -0.0757, -0.0122, -0.0122, -0.4171, -7.6513, 6.3932, 0.989, 0.1734, -0.0952, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.7986, 0.6064, -0.4358, -0.0189, -0.0383, 0.9997, 0.7258, 2.0399, 1.1023, 0.1539, 0.5327, 0.4061, 0.0401]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1684 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4238 right_y=0.2609 right_z=0.0287 right_yaw=0.0559 right_pitch=-0.0627 right_roll=-0.0402 right_gripper=0.0401\nstate[joint_eff]: [-0.0889, -1.2376, 7.1863, 1.7411, -0.0611, -0.0269, -0.0122, -0.6359, -8.9231, 6.8991, 1.5849, -0.1001, -0.3053, 0.8034]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.7986, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.5797, 1.8751, 0.9756, 0.1272, 0.4252, 0.2955, 0.9947]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1649 left_yaw=0.0027 left_pitch=-0.066 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4262 right_y=0.1962 right_z=0.0483 right_yaw=0.0538 right_pitch=-0.0985 right_roll=-0.058 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -1.2239, 6.9675, 1.8877, -0.0415, -0.022, -0.0122, -0.4855, -11.4803, 6.0239, 1.5946, 0.1734, 0.0122, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a24f516f953754a3898062bf4d49262b5530d9f470cc6619cedf5ff55f02fd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e582b5e1bf91563a21a9732392a3a0e59899b1c0963b2a8fdcb4d12ec824ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9910eb13d2c111bf6aa6c5c0d84102a54c61f9a9f3bd75e7c90e59752fac73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfDm14DZC7Abln8_WPfRhHL-oGfTviUxDB61ut7-BDLodRdlG24c6riV7oV8UJRWhVKRWdLzT3E3F12mFzoOs0HodCDsgm9nKO-TsezM5ILH38raLpmp-mohlCIcZ3suyOUzfNkx6cYG_w9qO0rPj0IngvQe9rYZ_cxXX7kVgvDvZoVvjI6I89lYmJv4qE64HNfDrzWilM_zqV8I7lXKvuMUydkILVjkgIsJuU1aAKlaWVTFmE8ukgGXv_1lieeSnqPtaunPGDjQ3FWVYgthX3hEB-rtoXrVFcqZk748MrJlFaoml75Gijnd9w1z2YJf-VZw29UuvhPlN7S7vSv51i-KtYzrrq5SqrNSzXjx2ZPOVo3txI1sCXrmwZEoR3EXSnj4pKCF5J7VL-OPPbDpcCawK6C5szZwUFvIXuyweRQF4HlYAb97lgv3LBUYqErkLV7ojdzw0Akm_tDkKJ1rFI4sOyAeBttCWRSG-es6V_XSusJHhJhOmPKHQlcvl02T7iAk2ZUJdngEiF-pDCxLO-LuNMHUAtS-W8VBUq2wgeiCOWwT2VOKSRqQNmaLfDsFrSv_uj3iqfnU4ka1kRzSrgUNeNLUHAgg_9TWJrQod9dDO6a58vJCYyuE7CSpxOfFn7s_qpInE3wHIhPox1nFC7D7RJjz3TDa7rBee8mxnFEB3V_7yG9_vC3EwPIJNaiCbejksR7ctJu5tbkor3377S-niAsrwa61eebGKclcqTwm4JzA8MB2h5mjzbE5Q6oHD_r4_dPmkxYOrwe81-MFC8iDyIChK01lrSsCVgpxyUKOVeVWdVsxPvcLQq7AmhI5gEZ5k7dhX9dFE293Xzz3vqk789f6g9wKTPHPqsP7083cg83LAUTnCiiS87dO-FASqj4XhZFsFy4591JR3mGYD-Tl6_T2uoOvhzCQBG910jYi0i6bGg2TSSii-OsBqLRE8-XimCa1BZGT7gVIbHMILz-xjVgqQMviWlC-m7VEyzheFDbNGFrtWnhxwFJqAxzXtYj6F00BVw5Ekp0VJd_gN-5HQug_2KM7pDZiuXkGLlqzIl8RFMncdNbIffFxmWnf8BkA-hOvg7v6d3pvHxRtCpFcN0VziUgtJwljp5AdfsQDc5mZbIpCYiGiGPWUxZ0OMi_P8xT8cYw_l4prUdEmNDeabvWPcvht1dy3kDHQqxDjAdQuJSJqKvsvL7fG_EpNpi-YhamECa5JuEzafGS0Kvvz4hu7qSGQ6nNmU9sIri1_M6ubGBpIewm1jcVgAoxsE_sbj5MHW7lZFumFyrk-4ehHCELyoxDiZWE47ir7IqxByhAXHGauGNum-aMMcJxTvZM4OsGUWjJdK2goJQeKrplo9NViGDkztZQeF0VWZb-AGayDOIUmTYYTdBQs7-wzq4XbMEFiwCwutpdvuLL3y8bvQohiZfm28azcbl3V9ODPo-yD6lphV3xQkuw7gQduN50elKcNRgRZdAp7T_8zy-aNb9bmwZ0QolSntWhItzmbm2dtAzIbfVuaWGOXG-fSj870SSevwc_4yO4v_WOMrU1fEZ5OcARUTxIJdbpM_vb8BlRvfbyg9BnSHOp-S6NlrSxYGNB91cnxH0BX0xKpDiIfpcTM0_vozEswjChNtk9hWejAa6pX_pRH4hHm3xKGjVN1Qtr_gKABYzlrFxDysk14YlQXzmJ4qmZSxR0sWoe5RR_WbJZzGbdZ2oQhXoM-PzAMeLeiatqsE5HE_0x73LNl4ZU5tIQfIdVrGn2POkc_nJBCMcWMgRTpVT41jXTuRVi",
  "id": "rs_0d2807bcbd85ee72016ab437c196cc87d08ea7a0e185928408",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.456,\"right_y\":0.208,\"right_z\":0.025},\"note\":\"The yellow object is clear in the right wrist view, just left of the jaw column and short of the fingertips. I’ll align over it from the open side and lower to grasp height.\"}",
  "call_id": "call_fthg1L3trj6kvJXrTpe25TRO",
  "id": "fc_0d2807bcbd85ee72016ab437c2b11087d08a34dd1b6f546783",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fthg1L3trj6kvJXrTpe25TRO",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4587, -0.0193, -0.0383, 0.9997, 0.5716, 1.9987, 1.0634, 0.1482, 0.4099, 0.2855, 0.9953]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0031 left_pitch=-0.0751 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4459 right_y=0.2074 right_z=0.0264 right_yaw=0.0624 right_pitch=-0.117 right_roll=-0.0636 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5111, 6.9265, 1.7363, -0.0415, -0.0171, -0.0122, -0.9504, -9.8667, 7.1043, 1.5751, 0.2564, -0.022, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33aac11f2ffd6ac77863c32ff9097022c023386ba48a70dda0669237e315c67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb10ce295c555759cce85cf51c33121619d3f65d388ec97447d6b6dc8b92251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a0a161d320919f6f0c3b5ae4cab95dcdcc8ecbaaf49ee1facdd534fb4e2772",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4282, -0.0189, -0.0387, 0.9997, 0.7361, 2.0296, 1.0855, 0.1528, 0.5465, 0.4248, 0.9996]\nstate[eef_state]: left_x=0.2887 left_y=0.0015 left_z=0.1699 left_yaw=0.0029 left_pitch=-0.0408 left_roll=-0.0029 left_gripper=0.9997 right_x=0.4184 right_y=0.26 right_z=0.0284 right_yaw=0.0453 right_pitch=-0.0622 right_roll=-0.0377 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.2376, 7.0085, 1.8046, -0.0415, -0.0464, -0.0122, -0.7863, -8.5402, 7.0906, 1.4286, 0.3687, -0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.7986, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.5797, 1.8751, 0.9756, 0.1272, 0.4252, 0.2955, 0.9947]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1649 left_yaw=0.0027 left_pitch=-0.066 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4262 right_y=0.1962 right_z=0.0483 right_yaw=0.0538 right_pitch=-0.0985 right_roll=-0.058 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -1.2239, 6.9675, 1.8877, -0.0415, -0.022, -0.0122, -0.4855, -11.4803, 6.0239, 1.5946, 0.1734, 0.0122, -0.105]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4587, -0.0193, -0.0383, 0.9997, 0.5716, 1.9987, 1.0634, 0.1482, 0.4099, 0.2855, 0.9953]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0031 left_pitch=-0.0751 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4459 right_y=0.2074 right_z=0.0264 right_yaw=0.0624 right_pitch=-0.117 right_roll=-0.0636 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5111, 6.9265, 1.7363, -0.0415, -0.0171, -0.0122, -0.9504, -9.8667, 7.1043, 1.5751, 0.2564, -0.022, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d33aac11f2ffd6ac77863c32ff9097022c023386ba48a70dda0669237e315c67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb10ce295c555759cce85cf51c33121619d3f65d388ec97447d6b6dc8b92251",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a0a161d320919f6f0c3b5ae4cab95dcdcc8ecbaaf49ee1facdd534fb4e2772",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfIuqvNtLoWa3zhQKiWUeK25u95l4xB231DZiZ5U7b_0o5MHY_mhnYZKn7Z-ECIq5YuAM92TdAIdbPiRaCZqma6Ee4oMjKRDSXkUxpPbqZBkIWoITLn0sIShE2cqrPrlj9cq0XLMitfuhVlR45dc-xzqnjCNQjI-HbYMr70J42cta9OdUO1M0ypZqIB9mV8BKBvYr8vw2_9S-r9wFnZReQnkpP68qTevhuKtX3gbOd792qRO67YfytMvhVpCCmJEGy1ELwEdA2MiBU9LPMi93ELQd5_NYsXgbE2jFM6Bnd-_T0is5FpqqHrErwHGAi5e4m7TULSl8cJXdNpfEEfW7y3YpK121efKpq65hvFFRfyYdJv53QCarVH2UXpPVA40withVl5kdyulYbpZWO71BEo2Spnht1L01WPc1KChICb1xasqQZkqeTjGkYoH8Tjospo7fj4-priDYLL1s3VfwOCpluTiFZqZIsxiS9edbFRtYlm54DqSS4sQrAfa-LB8S7eu3ZAq9xWklAfJFXOdjAnzb4tqHzFO0BhbRI5UIr7pZqIxjTFuwuD8lqRw52oNXwendYx7l0ekOW_cQGxNTzKT_8ps5X1LnaALXSXRpzrfcSAoeC5VfIeOSZNgzRSduYtS1HJp4bmf3moc1BKsn-l3SPeaHTo5ZVsjfxQ0cbejBRTM9CyfCZ6FVAfK3Qtx-nrkLBEUu0HsK6yQDy3TklzT4tlh0Q4VjnpzUBHc1s8LgWMy3qWrz_M3GZ66Y3e0uKeiysfPGwhWKv-YIm3vakB4fR9suKNCW3lvQuh0kc3LfUzfiyF7oozvH93haihZvTJs3zogw-YHilZv_iDch7qyo_ybemaWtbx7bYdQYerf2S5Cq-AP29G6QZn1u0gj773k6Um7SVUYW8AAy4HLuRUweMjSksKtrdZzMHihvn0V0ttrz6WtK_T2H4v8LaFO-iUisZYjOCsqIf7fEVsrOhSkxTWLSvpiMH1WJhL2jc6L3niRQo1GxQXABvHXEigK-rdZGKET2sgKoDYzRDUAqt3QHSba286OyyQRqxRXlm4NDHt-Ku4KEgXrpkisPDSqavM62ZecLUdZYHfU8Q83X_XFnBeF6_j0EpoOCrl8_wmfH5BXtZiVZRvJBdD1202DesHzxtPFVxmSKznPYS4xFxE2QnNnDxPmp8X5W0o7Hd5UjR1hT3IcQrxMd0n23-Lb09-c4Vrt5TYNqPlqblK7bY0hupYR_YcheNcVHbujevYEgeXxm1MQMEDomfwkcVHZx3SOdLiBM5w3LSqNktEsWvrApktH0T--WpFj8T5T3wWn4NPDIGTdocj8ZOhnz7W7DprC-9oKmg5nV6o-bN4UW_H8v04-2uce1Yg3HMxUb8UAnD-scf6avE1KP2iUDPQonIBXrpdFIARcQN6_PjdzMkIi2BmT1GWi3FGHFpkiWQwItxNrtMCds_Z4iRAUSvZaEMn-lg_NSVMpcngwz4dBBJ5vp2FK50F0H_2UFa5blp4GO6PyZd-rBiJ3qzOv03Mq__mpKH5_j99qCzL2G4aD5EKVVtyCmCO1yOf22Qi0NlsaT20il8hXpb1mZHjD9SKNvE8AATjes1sJiN3NaDTI201Z9E1gEg-aRbAgIXV71ZSFfPTm5kwpTKrPBH1GdRUrENqC4bAAmE06evrv9tbUzO1mYOUmrvdr36MF7uVYLog3qsNye2aHpW8Uvfti_tDccjNC_InYh1KrhZKMikNjXYPr4UrM_uXh_Ue_fJXA4DF8jyQZLzZ7SjpZxOTabHvj1h1MFHJCF6p04oRXsQwFSaU28Qv3LEBEMS8kdoVYhYPZ4AcFZh9TLSzRhRC4Ee7ltP4VNkCaAAekG5DPkssngPfML3U_fvQI8iZsA-V6mVS6tg7hmHWoDsyIcAsEx1cmgCWWQOnjkrDi41yFi7buo4EhGXZHw6ZSWoUzR4qXTNgzcVDJZTZNnsegI_eVnAkqrDym3MH2uCJqr9fpLX_gApQfualUC70eyoY_1Te7kT3sgBxKt8tivyILBwcrf6xnBdqpsSDuvbJEV-Yc7Lrl5uTJjLB8NiP9dN_hVKQBFkGYF6zHC65wtENKcAnaX8dLKOEJ_1RFAtvSknp9xSVjPY3jA-eOK4zT8IglHy654POMV2gXTBDCYxWo9uxWTZDLLYNfl_8-nFQyD51Ed4-xu1tH_tlfoPfyR_1KnjEslxPQj3elxMDn9g4nCdBsQgZIZeFkHAK9gnVNOEGnOqWr1PAl6q2Rc3mAPbMOQ6fcROPJPv8Db_H0h--NUAYQirsiEWHWXvaXCuW02AEPZ5VF7KXthKn6FpNZO8IzTHh0hGnTGd9DuCkrBxJ7tTDgb0ICOieMnkDZDycT9_8Ta0BFiiIfQiEJBJmijlHOdH4MC9itxYzpxzFD-ztXekBjb6MJ9QlKlQ6kblTLo1VzAwNtKl6Jw==",
  "id": "rs_0d2807bcbd85ee72016ab437c4839c87d08143ac491defeb9f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.225,\"right_x\":0.455,\"right_gripper\":0},\"note\":\"The yellow object now reaches the jaw tips, though it is still a little left of centre. I’ll make one small lateral correction and close the gripper.\"}",
  "call_id": "call_CNBvp2PTD61Je8A9E1XNdQe8",
  "id": "fc_0d2807bcbd85ee72016ab437c7865887d0b2e54f859727a834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CNBvp2PTD61Je8A9E1XNdQe8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4767, -0.0189, -0.0387, 0.9997, 0.5816, 2.0163, 1.0725, 0.1497, 0.3908, 0.2897, 0.0269]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.159 left_yaw=0.003 left_pitch=-0.0946 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4443 right_y=0.2158 right_z=0.0207 right_yaw=0.0845 right_pitch=-0.1295 right_roll=-0.0518 right_gripper=0.0269\nstate[joint_eff]: [-0.1162, -1.1966, 6.9402, 1.7998, -0.0757, -0.0513, -0.0073, -0.5402, -11.3162, 5.8051, 1.4383, -0.3053, -0.2027, 1.1795]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9ff576f3e204421975567b4f5efdcf62b5b40cba443741326f50a6ce92c107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb1925877e94bcd875a0ecec4f2c003ded1b17404365f82e1e56ac598b3e08c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209d56cee3d51323169698d70779f40e1c50fb80c0d1c56023a4afb66abdaff0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4358, -0.0189, -0.0383, 0.9997, 0.7258, 2.0399, 1.1023, 0.1539, 0.5327, 0.4061, 0.0401]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1684 left_yaw=0.0027 left_pitch=-0.0484 left_roll=-0.0025 left_gripper=0.9997 right_x=0.4238 right_y=0.2609 right_z=0.0287 right_yaw=0.0559 right_pitch=-0.0627 right_roll=-0.0402 right_gripper=0.0401\nstate[joint_eff]: [-0.0889, -1.2376, 7.1863, 1.7411, -0.0611, -0.0269, -0.0122, -0.6359, -8.9231, 6.8991, 1.5849, -0.1001, -0.3053, 0.8034]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.8024, 0.6064, -0.4587, -0.0193, -0.0383, 0.9997, 0.5716, 1.9987, 1.0634, 0.1482, 0.4099, 0.2855, 0.9953]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0031 left_pitch=-0.0751 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4459 right_y=0.2074 right_z=0.0264 right_yaw=0.0624 right_pitch=-0.117 right_roll=-0.0636 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5111, 6.9265, 1.7363, -0.0415, -0.0171, -0.0122, -0.9504, -9.8667, 7.1043, 1.5751, 0.2564, -0.022, 0.0513]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.4767, -0.0189, -0.0387, 0.9997, 0.5816, 2.0163, 1.0725, 0.1497, 0.3908, 0.2897, 0.0269]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.159 left_yaw=0.003 left_pitch=-0.0946 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4443 right_y=0.2158 right_z=0.0207 right_yaw=0.0845 right_pitch=-0.1295 right_roll=-0.0518 right_gripper=0.0269\nstate[joint_eff]: [-0.1162, -1.1966, 6.9402, 1.7998, -0.0757, -0.0513, -0.0073, -0.5402, -11.3162, 5.8051, 1.4383, -0.3053, -0.2027, 1.1795]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9ff576f3e204421975567b4f5efdcf62b5b40cba443741326f50a6ce92c107",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb1925877e94bcd875a0ecec4f2c003ded1b17404365f82e1e56ac598b3e08c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209d56cee3d51323169698d70779f40e1c50fb80c0d1c56023a4afb66abdaff0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfNhURCL1wIPeCXtZzxGjDf3V7KAqOJNcku2fVWeEJOMK1d1NLvPgpe9Wo_VssfdvQv961V7yGBmdwgLBIGKnIGcjpskwf70MlsCifMuKVVOlX60H9EbZWVbvKMlH9qmhpiPwdDSJUiSJ4OzRgIhoDep3auetDayGWOePaaOFTSxjbEyqyC7Mq5rSLJHzCEf4_hJwEyZPQGdH1mwmhIxbZ3G1rRWq8IeJJ8BFGlzE8gu3htJgHTNanv6vmWFpjEdtS1xLz46huHybTCIzykL-ZFu-0PCLSFbpalvHkDLCCgkYk9HGjvncTEVha7qFMSR66Z1sMgI4XHyNBg5jclRvV-YxYulWYTYlm3KLlsVvuqhbQW0EMAcoH00ILOu5WnY1llCaeiG64x6fjdVLjig6hFKA1s039uvYxwaC3cbZrUIK7GDAXvSJxLFXgQKHOSF_EjNi-tQlfMdBtBvcZvE9wc7TdC2aakazKJMZbkdIioFde3d52ylF1wrFHA9r_BUY3w_M2qB1nIoSUoG8MgKIRNhnHnZ6bAwHkG53bFBJcrslTbY3JydVjTty5hSCM9-DW_TxR0rSJTPFo_AsuBNdMXegseiew4K2w2d0NxIDdVpufRCvr4vJ4Eyo889ANeFAnMdBt7WF4RcUktoGVkAXYt8cvuxF0MsgORPT003KA62sY2Nn24ttgX5TRzT9edCN5SDD79wptMEa8rAonoztKWExIQmEi0W7BUu4d0lcsb_LVhyu8hhp2Qk1hN34HsTlkMdVI30mtRCjhN5oRgiSDeu3aIuumioLv0GoX3CkSNUZagvHiFPLAljplU1Xjmzl1nNSM7NXZHoLpD71qXOwrGjCeeacLcqQlPAAzSFE_kAFcHzg1F86CnMsRwohtsuHsw4qjugBEF5ew-n05IS0iYip4SWHTOW5l525yvnVqYHCwvS1Hly-6t7Snq6bBafn7iJ52BUw2-MJ8mzdJqhRDrYqePigPlEMn649wolRO0mKC442jqgX2M2hiTizC04TrxrnnhOKBlZUiTPKrMNBXaieA4Y8yuYt-vGC9EeQS9QD7zgShFFwsbgoWhLM7eXtivuLrCvg4a8Qk0LgQBM2c-gxR-HDruvDeEHtWm82rm9XCqJgTLg93__8eyNi1hjzYXIjlve8TZ8VK1x_dGHc1Sk6tN5fEXoIaVZb39m34sCM3P7vlilYlN2tIZ72a_9HgEXNK3qHkSg7nuoz7xT6mytetJlx9C6dvxrAUG__wlrHkjr-5BUfz_YbZNOblzJjfMyfo-Mop4FjScwBVcviVHZ-SEb3onAo4lPxr8MMiZf3VtXYlg-uAa1u5nuPo35Ivf5Puz1_n62RQqp1IJmrhrdYNKN-ZL9c3YuNIDjxhEX6IH1SRzVdbm2cZBIJGdCm32NUoPsdliKnbIim1ft9hJ9UF1o6O7qQ_0X51Piv75vtWnxruCpO9h7ym1m8KQd-nmkBTfxSN6fobIjQwmosmi4QHDxg7OFNW1WmlECvVASwW3xAaxb2hyKxMOuPc2eYzWNTpLUrZPo-wDAMacVHo6ueCX-Skm5WS7KdG7SBgzJKaKQkAl23B_8-4FTQ188SuVKLKe5kbztP-NXPSnxwNjHdtb6BGsuv8Y3DuEvBanEJSav5p-gQ9aBmTCLBdhx_jswqd-lAgrGyhYyddJU38iLAEigwCmqxVS0_3Rr-pHZRFhIJxovb2-qoYF3ctJG-vkOchrpRBo-1jzViUSyW6xh_-CsKOvsOT7VlHD1D1XDht1rWPIKsyYMgI-l_uqdu7YCJz9JeCktsro-HX4XfxOZhv-qwHYHPU0r0D6fRX3MO8O91HbAj4b8MPI6QHHF4tyXUQGAnE4lFf4xdpIs3r_xbteDkTb7XV8e002VlnC7AeT82JdpRuvlz3_VXVK9Gft3zLiDgVyChJqebI8j4zYoBeFD89VkxyRaCZIVebfbJjOBfD1g6Ve_kou5kp_fBT4NEGaKk8Ldvdm3ZGZYCDMDZyuyWO1VekjGvQMdfCq65J2BBvtSFxmvNSG-gW_lqDtvUWurEre4d65L5u7ds87ZKu-bIPrz7uSsEDBrNcPHKv5zYyOPR_ItknY1Drp9pG8iwOJeHGc3xB7jSerOd4E5FIBr3IyZp6v7kNR3MQbBtRyEwzsNPulYBuFbmGwhxkJRX0HP8QfQURc9hp6o-1x1cLUxVjxf0vgWH00HUIiOimuL1SgeuBtVpVB96xgVtW8xeN7TLS8XAYhklEfuMvV1CqqWIMqZkQQYCcsvwFtaZo6Jbk8vnfySyUONMdvDFkY",
  "id": "rs_0d2807bcbd85ee72016ab437cab70887d0a7182c3eadfb642d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.055,\"right_z\":0.095,\"right_gripper\":1},\"note\":\"The yellow object slipped sideways when the jaws closed and now rests near the right edge of the table. I’ll reopen and approach it from above, clear of the safe.\"}",
  "call_id": "call_687pi1y7TR1ntxbXLMldyQCm",
  "id": "fc_0d2807bcbd85ee72016ab437ccc49c87d087975ab6d2d1c58d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_687pi1y7TR1ntxbXLMldyQCm",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4953, -0.0189, -0.0387, 0.9997, 0.1467, 1.7657, 0.9901, -0.0265, 0.0868, -0.0078, 0.996]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.003 left_pitch=-0.1133 left_roll=-0.0014 left_gripper=0.9997 right_x=0.456 right_y=0.0555 right_z=0.0656 right_yaw=0.0667 right_pitch=-0.208 right_roll=-0.0613 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.8486, -0.0757, -0.0073, -0.0122, -0.2393, -10.5504, 9.2239, 1.9512, -0.0562, 0.022, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd96382076fd053b3f3c62200186f115cbadbafdf898f4484586be0c22be3dce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:637bfe7463b545af5802a2fa593bf51abdf94ec297b2356af94f3df51b0a8a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15eb60fec3f9e63cc9239383044aab4846f23108d5238ef0dcc8ab75ae271919",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4534, -0.0189, -0.0383, 0.9997, 0.5797, 1.8751, 0.9756, 0.1272, 0.4252, 0.2955, 0.9947]\nstate[eef_state]: left_x=0.285 left_y=0.0015 left_z=0.1649 left_yaw=0.0027 left_pitch=-0.066 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4262 right_y=0.1962 right_z=0.0483 right_yaw=0.0538 right_pitch=-0.0985 right_roll=-0.058 right_gripper=0.9947\nstate[joint_eff]: [-0.0205, -1.2239, 6.9675, 1.8877, -0.0415, -0.022, -0.0122, -0.4855, -11.4803, 6.0239, 1.5946, 0.1734, 0.0122, -0.105]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.4767, -0.0189, -0.0387, 0.9997, 0.5816, 2.0163, 1.0725, 0.1497, 0.3908, 0.2897, 0.0269]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.159 left_yaw=0.003 left_pitch=-0.0946 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4443 right_y=0.2158 right_z=0.0207 right_yaw=0.0845 right_pitch=-0.1295 right_roll=-0.0518 right_gripper=0.0269\nstate[joint_eff]: [-0.1162, -1.1966, 6.9402, 1.7998, -0.0757, -0.0513, -0.0073, -0.5402, -11.3162, 5.8051, 1.4383, -0.3053, -0.2027, 1.1795]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.4953, -0.0189, -0.0387, 0.9997, 0.1467, 1.7657, 0.9901, -0.0265, 0.0868, -0.0078, 0.996]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.003 left_pitch=-0.1133 left_roll=-0.0014 left_gripper=0.9997 right_x=0.456 right_y=0.0555 right_z=0.0656 right_yaw=0.0667 right_pitch=-0.208 right_roll=-0.0613 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.8486, -0.0757, -0.0073, -0.0122, -0.2393, -10.5504, 9.2239, 1.9512, -0.0562, 0.022, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd96382076fd053b3f3c62200186f115cbadbafdf898f4484586be0c22be3dce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:637bfe7463b545af5802a2fa593bf51abdf94ec297b2356af94f3df51b0a8a00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15eb60fec3f9e63cc9239383044aab4846f23108d5238ef0dcc8ab75ae271919",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfSt4Y91gxYbOFrTUk_XerSZ25GVEavuW-RxJjWYMmp4dYJGofvHj4bUbLvdKRn4kHB8fMkUg00pIoZ3Kg-qAqd1dog7hvfmx6f5JwJt7D4CUJ7QVfmh5GjuyxatJNjNgkzSem8d7quxRfv4zT0BEy81c8jwt9aiorPAx64IeP14ggMucayUxODrK3AMqv5akXiUGLNqACq_3fYZ0j738jgvbl62zULD_cK1dbMBztznR_0erUsSe9MRfkasA0Lt6ufqB00fq2TMcTkQ7ikv7vH9uFOKYGfG5l4tpFLSqxTUNfmjpDWpnKPl6D_6poh3Krk98rhUwCBsFWKaDjeE64rZhX2cLct1okG8MQjE_Gy2qzlRZVuB8Ih-v_tWgbaoZsoMckymPKVkHYxOAaa-SF-L8HbI_4LK_ei97FXR6Tvj8HN_SEnWMdkE3bUk0KG-Ec5czreUZ4vHkgGIJvCWmIboUmvNXO_oGHIlfbmNnFJHU0nPDGk_O8N9DRIjVbmHb6ijFg29mvu6ubb-8BcjbcP_YyoYGcXTGE3E5u03NjvTz6w6E7fh2j4LNEREydT3ezFrHidbfgioO5L_6iuYdVC_vnEizkTQvNQ0gJcKQBJPkjhXeO4V8b8wkTEadVrWtvHERO2_idqqThWUguZ4nhEq3nzkICJ6txSp4xQM6TViBCU87fOWOdKEMCJEg4rCM-DV52LGYF8m41PQT_QWZnlngOBnGXYcQ7YD89K5Ee6AYmFNaaT1BzXAMg9LXG7pYL6dGBp50XjvVZpYgUsYhMqDp-yziKjdIQ1K_PxbmWOgJ1kH-Vmv1fewZI09bZMpt3intBysiIhuKmqNPQ4Q8O2hxVcuPrlXVmA41k5SjCArunkZKc-bCzobpIj5CUT0_XcdwSNknDYMfcfgkbIZk9Gn34j_cOrr7qWBi2CHksHkSQGD_4pztUEKMuAp77UJuZK6eh16VJ-c9utzW5VPTs0AJSmtP_rlJMnfgVgHVRM0SrZzmge2saaUGbmbV73zBBrGdabHa3lH4jJzOBzL8JhPmBRAtw1wMGxKJqZsMOB3zLnl7wjNK1ROXHY_3Wc6XKB8yJ7E6khcmAJpfkajMG1UfDoZDcZNYRZ6SKsfcbUN8-BNNNZAoMobmktML5QP2TkxfvZfuXhaagUxylbnJMO45CCr3H20ejqu6be63KQtyC5utvAgvlAaQ3ccNNhfyiD3SvysKBOhMjhiSYTiQyTdeJYFu9LISbBSSnzoJoXcOMfB6bGxuUHxLxJQVIypglZ9DPBRnyBnXCfPxi82-C--bxD6yN0bcn_c6UKIqHmeaKlFo25tFb7AV9xKQDZnb4apA9ugNPKWjmw2lJCHXS3NMgYQgjXIhrEoMdGOcpTVgX3CqQEFbkqIA3jFTGhijoOYxIUcnANBEz9ho59Y3ph8OonU8M4vbHuCjAuMH_8zL66yU9bbFhZ-MW_wtFq9mRyXqYv7H5Tdxp_xcgLnpmXzdIvDiFKNKaLXihDOfsdZsSNPP0eNgZqwZauthpJ4SqqsmH_EjOFR040W3RF79CRl1XY9wcpGMpVSYH0gQzP_SZ_yUPZO9iAU6jYQKCxpTPbU4twa-ukCrFAYg-lh0M9FES6cgQT_Io6JVldAChruknajdEBUKsVf9E2RBlNo9x3F8n1FMz1UA0wu1LOalkyioixXQD46bmiopoR8iSnLr6GBFwA8ejLr6hED__J1KQ2plpIuDxO6CE5yj-15VlBq_ZrCm-ziYShbr_9C2CwPX0sCYbyQ52g0GZgbrsCTE_m1OznnIycHKWjy-fu055xrO5qBB9D-TbZ1P4ONmPkhJICBTjZ5RRsZShIR_bITeMB79qviYZZBlSXHNB9F0TXqKYavWOC7hl2l4_svADFmC0COj2OuQWcgWHWOrZgNOA5DGngybLct3693P4GZuMblAXp2eVZ0jY70GE6yd8Z-ywdBqO6GWMAsIXMz7zv7JPZeW_XZn2QoNKjN0q6CuS-VujXvanZJdxzZcRp_rgWDqB6nanCItsv0Pjii1TVTUdaLBdfoArAk947f0yIsIQ2nwNp_IEFZIWyypWpokz4UVDwXAsPC2RfCiUIFZZl3cslxwVJXUGO37pDb0idpXae7IYObWk4gBhM3u3zHQJaHJoZLBGbYasPo2sgMCYN5rvhyf3-5M1uwkthPU3HTGz8XBmKc5gnkjTZ-VYPZ-cd169fmxnUgU-LZvAIyMouY_HKnMJk9DNYssszFfq07ms6jyIWuWLPukksOOpbjaiwryg=",
  "id": "rs_0d2807bcbd85ee72016ab437cfd41087d0869477ea898b00a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.492,\"right_y\":0.002,\"right_z\":0.055,\"right_pitch\":0.15},\"note\":\"The yellow object is near the far-right corner of the working area, ahead and to the right of the gripper. I’ll bring the right gripper closer while keeping it above the table.\"}",
  "call_id": "call_6x4MvVZbAjjPSCpPBSxs8S6t",
  "id": "fc_0d2807bcbd85ee72016ab437d1ffc087d0a34006f2189984b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6x4MvVZbAjjPSCpPBSxs8S6t",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.511, -0.0189, -0.0387, 0.9997, -0.0116, 1.9163, 0.7845, 0.5861, -0.0391, -0.1028, 0.9973]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1525 left_yaw=0.0031 left_pitch=-0.1289 left_roll=-0.001 left_gripper=0.9997 right_x=0.4789 right_y=0.0049 right_z=0.0363 right_yaw=0.0676 right_pitch=0.0453 right_roll=-0.057 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.1829, 6.9128, 1.7705, -0.0366, -0.0317, -0.0122, -0.4991, -7.9521, 5.2171, 2.4005, 0.022, -0.0171, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9130f1efa05bbe38f2c13d29213cfc26528d962318b8cd7f39f6a7c1a50d76b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c959674430ceb93f22eefce7bd99671a58f658ce67de8fc609c329a9d76070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77438cc5d6814ba8d7e4be8a041dc16f183342241236b9d92e04402d095537a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6064, -0.4587, -0.0193, -0.0383, 0.9997, 0.5716, 1.9987, 1.0634, 0.1482, 0.4099, 0.2855, 0.9953]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1629 left_yaw=0.0031 left_pitch=-0.0751 left_roll=-0.0017 left_gripper=0.9997 right_x=0.4459 right_y=0.2074 right_z=0.0264 right_yaw=0.0624 right_pitch=-0.117 right_roll=-0.0636 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.5111, 6.9265, 1.7363, -0.0415, -0.0171, -0.0122, -0.9504, -9.8667, 7.1043, 1.5751, 0.2564, -0.022, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.4953, -0.0189, -0.0387, 0.9997, 0.1467, 1.7657, 0.9901, -0.0265, 0.0868, -0.0078, 0.996]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.003 left_pitch=-0.1133 left_roll=-0.0014 left_gripper=0.9997 right_x=0.456 right_y=0.0555 right_z=0.0656 right_yaw=0.0667 right_pitch=-0.208 right_roll=-0.0613 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.8486, -0.0757, -0.0073, -0.0122, -0.2393, -10.5504, 9.2239, 1.9512, -0.0562, 0.022, -0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.511, -0.0189, -0.0387, 0.9997, -0.0116, 1.9163, 0.7845, 0.5861, -0.0391, -0.1028, 0.9973]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1525 left_yaw=0.0031 left_pitch=-0.1289 left_roll=-0.001 left_gripper=0.9997 right_x=0.4789 right_y=0.0049 right_z=0.0363 right_yaw=0.0676 right_pitch=0.0453 right_roll=-0.057 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.1829, 6.9128, 1.7705, -0.0366, -0.0317, -0.0122, -0.4991, -7.9521, 5.2171, 2.4005, 0.022, -0.0171, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9130f1efa05bbe38f2c13d29213cfc26528d962318b8cd7f39f6a7c1a50d76b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65c959674430ceb93f22eefce7bd99671a58f658ce67de8fc609c329a9d76070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77438cc5d6814ba8d7e4be8a041dc16f183342241236b9d92e04402d095537a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0d2807bcbd85ee72016ab437d4ad2c87d0b54af8033fd01cd1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfaYFtLVtIUkqw3RrfUHH7vQxiwMZRu8UqNI5Vgd8TLk8vx8GhEdYDtm7Ltscd9H98GubheIDTdKers3xNXbQrTsP2V5JUA07AQTmBmQi2WuxcPkxUXbKroSX36H_VEgX92WQbs-jmVHSJdY2ZLKZurdVbtFuZ97rQgu40zWAh9dyEsHFsOVPQ99OonA3oXZLVKaRQc2uxbosUUflfFpXIZrMo9TVielxecEIL5yxXcsh2647CAPlZB5ErDErjqXjo63sxFoOZMLS-5z9mJfy6AZe5qgcyzgUWoz11erfzX5PIeREIxmZVCQZ6o858kgjlw8e2MsGz1Xt_PyC020Jbx9S44XuyrmHyyAu4lnDFWGDxzsNB3U0VWk-uxFc95lFJVjSo4nUxmUL3g5YHpejteabG6F-J3RjtgkQSFBM7iU-2RVBc5GfLhHMz_B5IykxA4to2_Uw2wQTQivnQRg-pKmQZ1pG73Ctmu9mMuDLca_hzZOzyPAuBZ0JEJS34yoW_PmOpU9C1Ofd-Mq9ldNPo31MCtdSOsai-tKClRwHlunjRaT82A6avrd9UBq-t1srD14eqnc2aqki-uapCgvDr4QvizZTiGBbth1q656vuOXsWZMxrK4sHxbOWuxog7ueUZ6syHKkcHeVRwkC1pahupiCzDCR7BUVqb7ZI4Xf3iYa_1xODvwhu83FbmLdcRwN3AHFYRbLSfhrnbMDk2wdWgkvAjzTY0MKgHd_3H3JbRCO2aZfNNB2ElzAxQIiK55hWa0TzdtGcGIu33Cj93l4SwhmNQ-QPiRLDo6oH9sN9NTYshO6T4MzwTgC9reaH7M944dvO8d5UAtEqOwd1tRtEgITN2o7DgeOtnezVTy5gm_nLWDrxA7xDVnWxYnrubJBi64TXH7TMHxDwHJoN7t7B1TOeCwYKoFust6UymzdQ3_vSsrPhpwRpS3FQ9UoTvXq4UQOTGhNT5DVqYXDuk7_haa98mhJMDW61jJN4dR4lDq0b4r7WHPLLFTWasse6KWc8C2cPQZF4Zi7ToiboUBW0rvnjuTvFUUYyltjhByYKSzB5ZGYVNOKb2toq31Z9FIPctv2occh-Ne22AQLHc1l9vPHobirctiBlXFP6Qq_3KiWHqeJPDZrApMPu29HXFFVXRvJgDKUHAHS5EaZHYwR21AOrn7FKMcdsKTqviCtJvEtDEwUTtv-VeJuottW_Fvu42Wa1JNDX6z9eWPFqPnebE9DzVWpZYqmrIx7pENpUJUEuBJtVKJZc-D6cnbcH3_XsfA5ColuCcHf4gbGLVPqBXMIUABdY3aGA5ASp8LjfAS4s3uABmLGhSYtm2L8N5hyE-kR26-BR7s8ulYBJYftGi2KMxQ98H1PY9HHucPTzTmu8FPmDC49jHm50xmud0yi1nCrbECl0VOaOjVWSEvvwhvqis57WVb9BswVcn8jqlrcRr-KYhgTmn5j-NiZ3lJuH5s5IYW9OSBuGsJ4k-3EsaSQ==",
  "id": "rs_0d2807bcbd85ee72016ab437d94dc887d0914064a0e9435418",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":-0.055,\"right_z\":0.055,\"right_pitch\":0.45},\"note\":\"The yellow object remains beyond the current fingertip position near the far-right edge. I’ll try a higher, forward-tilted reach to see whether the right arm can get directly over it.\"}",
  "call_id": "call_9Zsz2JH06wGq8dlwwjBLSsfc",
  "id": "fc_0d2807bcbd85ee72016ab437d9fd9887d0afdda179373bdfb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9Zsz2JH06wGq8dlwwjBLSsfc",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.522, -0.0189, -0.0383, 0.9997, -0.1818, 2.2005, 0.7769, 1.1748, -0.218, -0.1192, 0.9974]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1504 left_yaw=0.0029 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5053 right_y=-0.0504 right_z=0.0323 right_yaw=0.0698 right_pitch=0.3479 right_roll=-0.0523 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.2103, 6.8855, 1.6777, -0.0073, -0.0366, -0.0122, -0.5538, -8.841, 5.7915, 2.4103, -0.0464, 0.2076, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb943bf6bb48ee25d8c95dd4808568c12f1c4b7887a6da624968c3b8dd5df92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e328695495b24ef38f19f5a911d05d5f7cb0a83cab49f0080f7a73de3c4a284e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfe660c2fb961800a3d22f02ad37173e2b0b60167b562b556ec3f31d258d4a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 30 changed as sent

message 38 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4767, -0.0189, -0.0387, 0.9997, 0.5816, 2.0163, 1.0725, 0.1497, 0.3908, 0.2897, 0.0269]\nstate[eef_state]: left_x=0.2817 left_y=0.0016 left_z=0.159 left_yaw=0.003 left_pitch=-0.0946 left_roll=-0.0018 left_gripper=0.9997 right_x=0.4443 right_y=0.2158 right_z=0.0207 right_yaw=0.0845 right_pitch=-0.1295 right_roll=-0.0518 right_gripper=0.0269\nstate[joint_eff]: [-0.1162, -1.1966, 6.9402, 1.7998, -0.0757, -0.0513, -0.0073, -0.5402, -11.3162, 5.8051, 1.4383, -0.3053, -0.2027, 1.1795]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.511, -0.0189, -0.0387, 0.9997, -0.0116, 1.9163, 0.7845, 0.5861, -0.0391, -0.1028, 0.9973]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1525 left_yaw=0.0031 left_pitch=-0.1289 left_roll=-0.001 left_gripper=0.9997 right_x=0.4789 right_y=0.0049 right_z=0.0363 right_yaw=0.0676 right_pitch=0.0453 right_roll=-0.057 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.1829, 6.9128, 1.7705, -0.0366, -0.0317, -0.0122, -0.4991, -7.9521, 5.2171, 2.4005, 0.022, -0.0171, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.522, -0.0189, -0.0383, 0.9997, -0.1818, 2.2005, 0.7769, 1.1748, -0.218, -0.1192, 0.9974]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1504 left_yaw=0.0029 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5053 right_y=-0.0504 right_z=0.0323 right_yaw=0.0698 right_pitch=0.3479 right_roll=-0.0523 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.2103, 6.8855, 1.6777, -0.0073, -0.0366, -0.0122, -0.5538, -8.841, 5.7915, 2.4103, -0.0464, 0.2076, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efb943bf6bb48ee25d8c95dd4808568c12f1c4b7887a6da624968c3b8dd5df92",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e328695495b24ef38f19f5a911d05d5f7cb0a83cab49f0080f7a73de3c4a284e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfe660c2fb961800a3d22f02ad37173e2b0b60167b562b556ec3f31d258d4a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfgxaiWuL1jzlyeWgG94rNjjx_n52czr0IM54WHAjjZXB24c5DIsXqiHot0Cwdb-oD2DVJLBHCeZ0fCtqfJVxT6Nu56MTmiz9JjuGQ76ZMDKnkMMpG0y1pqg94CheYNFlvg8J9-UeRlPlbr0G5bufYnJj7lnd_IVyXAdkL1ictrHduzyJ1G0iKEjwOLGH3HUbbGGsaF5SqsAnqMimj45B8DoFgwnrjfX0E6bAafOvc27t_OWlid-LDik2vKuvT6oEENvBoTkcfhG7n6f12h--IqejqqGmy2lFsiO22oRg4OaM7eCe9l40pQnAcQHUvazNnncxcRNDDboP-Vdc5z3nK-YwCrz5lSwoaQWXRuXYqai7VK42o-7JSImKcX-G2g5ol9JXhEeoVjCapbQvfLNYh86nSTnABXHTcOHNaOVP8wqduL8HGs0mdh1bpFqtU1vxS_TbocJymqu9c-lsfQlSY1sW0Yd_bay2HS9JuGtzXCn7wKBG7Ij8gzjN22VHFCYuEyhXND__BVWS-u5UE8h-CMsteOVfVS9ypSg9UoRebSx_eKYGOQR1lUqDGF1H7G4-rNVZIIZiRKofY2Cwza6LBLQoYz5q2QPbc9eocFyDiPBYC07It_uuVxWE70GieYdBL1WZFUYcNqiw-eC0oj6lc5a_WSgvtigFdoiY6_t-EINzPPucDdtEI3MgDUYXc07ruSL33_IzgismfCFf37ZV4is9iFAwCu9pFWuibaCNS40cIEElW8vKA404goXS9FnnXJjNqUxVC269YZcMfkrnlZq9cm13x0_QwhxY49WtwFLNcIQ6ly0bsnhN662Kxggk_S0T7W__Z2gNaEU0IUgV0Kkd-qxRAOC9CpqEqRt_K16LaZXp0kpNSoQxDaTCVysKIyNB2i2I7p4PFLlZYlbnRNbB77Gohya8RilNG1U031wk3yb8fvmbGaUt2A11x7xkqxyuBizQqvlUThq_uJVo0vmS2UTlVjRUFE1NgCDUCXHOdFcqz94DsopjRmiDppq6LqzW4mM7FkzDHE-ru3Q-1JRbYuL5RInk7mDtesEmke7Yq2fBSd_p4T7E-W6iGQ6TuTTJ4Dr3vXd1ww_jQdZrDQ9sS7aF8H9mTLd71brHhH9nhgJjlAeZP6Y3sCOtOW2BmISoBAgwN9g0yvS-isMIg-0imLQ8bw0y3sT2bVAvmasFgVrqHqvP2APmd5OuJNOHOexn_sKGhH7qTzsTS9cYy1Xw5SmJWDI-oi36BCkxOGzMGuCfXU3SeCLJr1UmDTUfpVtYPsavjvndLlyPAvo0aFeZJwAJGgXQN9bwpqrAkSQECLonon89F9UA3jV-u16co5UKlanly3O7OHXrX6zBBNzK_SiB42k2d9OI06sebjNIYscbo30rvv6z089V0tzcbthcGCfLMxCCHe4lmUhTm3fmWa7YnAHeE-DSbB-Vdi7Z-nRUoLTueT8tl0Tn_uVBjCBanui2OrtfyAJUbfoXY466vpCA9OP5mYh2CS2mV4OlNXUouqe1kuoOJ7btl43dJEahx8kqne1NGSVNG4b47yog-dfyK9JmqsXUqa046-xlpi0zf52C5C3QEMxdSFMIsOmgWuY8DnRvtMYq56_g5Nwx3xzEdozRhytRfhOR5QnKOChKMMQTanNI3ahtfDm92j8c2fukvAY97UeFLYXhPcsHM71euvcrpY2h7NxmkhxSfSxb9GmHqCHt8yEsug9sAGsHqZ4kns4rBAD7VybvhY_VzkxPCKAOUm8pkCozDaBDcyZxoDUWCLhZTHC3Kgv9rkaJm4r7S2J6sQ5-WTnPEldoHuQ6DHXmBCFig9DxwX1owRpw_DKY58N6rQWE11HT2sDWi5F1LLhC7X2QL2rVF6bTzE2Xv8wp5vLpLg9OZ966F6TXMM8m7rnWils0gKOhyT5SDGbJ-0Hjtlb848jFNfHQvWCrYwYPeZdU6EKp_zKYCyNn-szq0v2u8JVh_6mzsDRfv-vTe-K5swexje50R94Q==",
  "id": "rs_0d2807bcbd85ee72016ab437dd10fc87d0a33004946752fa1c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":-0.08,\"right_z\":0.075,\"right_pitch\":0.55},\"note\":\"The tilted reach brought the yellow object into the wrist view, but it is still ahead of and right of the jaw centre. I’ll extend once more toward its upper half, staying within the arm’s bounds.\"}",
  "call_id": "call_Nh5PTNW2vfi6OkJi6mAWdecF",
  "id": "fc_0d2807bcbd85ee72016ab437df11a087d093e38c8b36cd7c52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Nh5PTNW2vfi6OkJi6mAWdecF",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5354, -0.0189, -0.0387, 0.9997, -0.2302, 2.2936, 0.9668, 1.219, -0.279, -0.0933, 0.9974]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1479 left_yaw=0.0031 left_pitch=-0.1533 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5482 right_y=-0.0748 right_z=0.0612 right_yaw=0.0785 right_pitch=0.4871 right_roll=-0.0556 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -1.1829, 6.8718, 1.7118, -0.0757, -0.0366, -0.0122, -0.6222, -9.7983, 5.8325, 2.4103, -0.0952, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646873c14b161d0b6d1ca5013f2881f81c24aed073a503e219c3b95dfbd5f46f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f2fc0d4dcd86b555f0ed8f6cefa68ec8221cc5cbb61656d70f647e7023e06e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15c968cb98039259b0dd538d57d5d72757e1a8e8e140fb0a8a8dce09400145f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 34 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4953, -0.0189, -0.0387, 0.9997, 0.1467, 1.7657, 0.9901, -0.0265, 0.0868, -0.0078, 0.996]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1554 left_yaw=0.003 left_pitch=-0.1133 left_roll=-0.0014 left_gripper=0.9997 right_x=0.456 right_y=0.0555 right_z=0.0656 right_yaw=0.0667 right_pitch=-0.208 right_roll=-0.0613 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9265, 1.8486, -0.0757, -0.0073, -0.0122, -0.2393, -10.5504, 9.2239, 1.9512, -0.0562, 0.022, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.522, -0.0189, -0.0383, 0.9997, -0.1818, 2.2005, 0.7769, 1.1748, -0.218, -0.1192, 0.9974]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1504 left_yaw=0.0029 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5053 right_y=-0.0504 right_z=0.0323 right_yaw=0.0698 right_pitch=0.3479 right_roll=-0.0523 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.2103, 6.8855, 1.6777, -0.0073, -0.0366, -0.0122, -0.5538, -8.841, 5.7915, 2.4103, -0.0464, 0.2076, 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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5354, -0.0189, -0.0387, 0.9997, -0.2302, 2.2936, 0.9668, 1.219, -0.279, -0.0933, 0.9974]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1479 left_yaw=0.0031 left_pitch=-0.1533 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5482 right_y=-0.0748 right_z=0.0612 right_yaw=0.0785 right_pitch=0.4871 right_roll=-0.0556 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -1.1829, 6.8718, 1.7118, -0.0757, -0.0366, -0.0122, -0.6222, -9.7983, 5.8325, 2.4103, -0.0952, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646873c14b161d0b6d1ca5013f2881f81c24aed073a503e219c3b95dfbd5f46f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f2fc0d4dcd86b555f0ed8f6cefa68ec8221cc5cbb61656d70f647e7023e06e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f15c968cb98039259b0dd538d57d5d72757e1a8e8e140fb0a8a8dce09400145f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfkuoBSkIVAvMkvKOp2ym7yXVmPSaQIoF3-rFuN4b2vu5IQWsEwzRpawjFyqdW7QzpeZpfb83uiZ7uKVTAiUL53U5bMACu10OM-puL6V29lASrdt9XQ4csB21vzhME78Bj7TncNDoVIUyv2-vd1CvF1DJad_s84vjXAtr5tB-fi0-HDsTtJm2PUdReAaiJf7GwH1WB-AWzSgbUP8HBwzrN7di4gVjAldu0Ca1Lln01lQ3CHCzNZyq6iyuc4gMkV_CaJsbbJ1KRsxmLDibfkJVIrNjBrmHdSu3LtOD22jZ2-nACNHx1OEPZ1juYZbdn1HbtG6n87kzaGLw6KtF37qZRzoTJEW-rrSJF6i4LDoKD-8RC7yNjo3iDi4cwiP-PUfiPI5mI7oY7ZWwqImD2j6VBRhaJKLkj0BDU8v1e95BmPuYBwhmerzvIEi9e09ar6qSnXpmubXRWX5___fgeG05FbgCuYkd2Lwh4QuPmhsLbYdxRypRatiC55XhWF_-SmcgGkkdn7kEaKJU4xngdawI6FRz02k-h7xf2sjQqXqe-n4A8cuRJbhpXsTof0Vm0oRq_wCG58lgaiEEeuw1HiOqCQCPkuWeSGancoHOuQd5ASgAYx3uC-kA0S2dP2_4pmLeUcJo3e3TEAgXBNKCI2dSIGmofkCJ0AszaMcaQix1pfi0O-3KF415yWe76stU8847F-fp8kQP7t6LRnxWBT1Z3sC36cusg_rkv8KAzQLLuLyTA_dwxLzZCfDUkj8SDr_ODhjthS16Kl1HTozZXk7RAWSSy4cH-_O1KrnVoqt1VfgmgeAQMvpqcVKSNMGFuptdkqCqRxQ-mNmENMTYdyylyoYTJ9fLHZDRwtQIe_oVC6-GZxTJE-m_nXF7zDmm1BrN067lWUdgHD-oEZQbES0R52M-rINueYC1mGyvUVz-7_58ECcOZiBC2BcamY8ir9bW5bbsrgcGVTEugcb2_l1c_irSFryz-VP5rQZZ8CExqDjFV8_7nnhZ70Ruz2hr3K33G-JA9ipnt2i7AYqW3pEFsaNOUxKMxeK1GWoUWNUh64UhLAZSkvCV1YOdt3TeEYWIQqPNMwmlphLCdPWRJbDdznsUXxDU_Ndoe-xXTGj7js4Az0mYR8z_gkXsL6uhmu5E-ok0VBNU9xF7kGKmxF5SdR-m5rB38L_w8-bEDGpWfrpwyCyO3r3Yixf2XpQd2Kudfy6kL9-d75gKOYS55q2ViqNdD637QRsfVIUVWGpjJ21Q-ObV62hR5S5IYzMO-wlk29Ab9rLg33Qxd662MSTZ0qaGDyxZBoFzuBGOEBVrez3ZCy_cnShSi9bnSXHU4dL_W8GP6ulCaF1eSRM5K7V_GlVMz-va1n93qqXqNKWJMr8Qf2dSPmsp7RRBnxkw5be9ZmZJtun6ccAcVWn4SQ1nge3Zgsj3u6X2sKqfGZRUyoVAerfvcTeVpT4f_zEFzvnquvc3e8dpM5DYhw8FW94AHxDlsPhSe7zMsyr-LiRANnzBg8TrkZbHr0Cb9e19CqprY-EYuOREGgpW0A3Ti5yOj10WY5xt1IrM0o_KXOiXqRKhhvsbd3L81-GxHu73ck4bX-vBR5ZufIhC9odjnaDG1FxhS0lZsR-SZEet2vr9j6aCBqMzxkcsae2576UtV1Old325fgh1kBNPi6ocfBPM4MD2alsTfespH4qJ3IEBPdJrjJav2ujwV_b5Eq1DLRMNB2yEGrg6rc-c01IWDW500sDcL5KJNrPk59q3GNn3YmjN5gSyxscSjL4R4t98X_kXSopfM5fl-UZXOHJZ-0a181a9r7Git6kgxXyJStd6a7PKUg2zI3Pm4_UWg-J35ohA4SSxl32VOEptbJnDHQu9bTq6SsvZ-pMxd_4M_4c7SmVkkPh9qFEghEexdzr5E1bJBUE7roKPcYg-s04awLHI0Y_siDdd86rkUrcvChF44a_o6wD4u4Yg4V6PtfvNU-Zg1YjBve-TzM_V6XTNy3liyiM7meltuEM_P-W-bWnCe7V8_26CmJnFJTM6Es7bYuAuO2LRMgfGT8FvY3w8KwGM3rnrlvi7a3zM2_shfHiJU8MJGezyfiCyPjsAZx9v9RWD4Kyxtykp-kBjbs9rNqBP9pHYSLrYAsdgOJBl3qUK0dylyYbYKZQmMwcN8DB7Q8OGo_wcALZyxE_I4d6fXtUDEAyXuOfq83DN1XCXrCKyrygEuYDQmGkiQCdKeGzur9HnXbmi00aNVgroTmbxr7wt2UiPA1_WWhkPr_t7tRAI7O9U82C1KUqs-9e8BWSC4uOm4ZKqb6Bbqct8n1ti4iVCzycXPc5G-Y42oHziUdic4Kpx-btR7vF24-RmYFGpKaOayg",
  "id": "rs_0d2807bcbd85ee72016ab437e2018087d0907ce1608dc30595",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.579,\"right_z\":0.055,\"right_yaw\":-0.25,\"right_gripper\":0},\"note\":\"The yellow object is now alongside the forward-tilted jaw tips at the edge of reach. I’ll angle the jaws slightly toward it and try a careful grasp.\"}",
  "call_id": "call_8odlGpRoWwWvVgMynGiDxwhu",
  "id": "fc_0d2807bcbd85ee72016ab437e4171c87d09f7bf654a096421e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8odlGpRoWwWvVgMynGiDxwhu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, -0.0765, 2.3512, 1.0824, 1.1549, 0.1268, -0.0578, 0.0085]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1433 left_yaw=0.0032 left_pitch=-0.1773 left_roll=0.0001 left_gripper=0.9997 right_x=0.5768 right_y=-0.063 right_z=0.0559 right_yaw=-0.1707 right_pitch=0.4775 right_roll=-0.0652 right_gripper=0.0085\nstate[joint_eff]: [0.0205, -1.4974, 6.8718, 1.7314, -0.0366, -0.0562, -0.0122, -0.0752, -10.0855, 6.2838, 2.0733, 0.3101, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37eb83f9b7f7cfeb9d319a247e134093d9313bf26233eff412bb671ea3f08d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2d0cca16dc4d830d463f2177388279e6e0b36e9d8fa8bdc29b7e83fa7e5da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9cc35ffcb325ff1e40e77338df31cab913bc02f2950caefdc024c33e49b4ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 38 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.511, -0.0189, -0.0387, 0.9997, -0.0116, 1.9163, 0.7845, 0.5861, -0.0391, -0.1028, 0.9973]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1525 left_yaw=0.0031 left_pitch=-0.1289 left_roll=-0.001 left_gripper=0.9997 right_x=0.4789 right_y=0.0049 right_z=0.0363 right_yaw=0.0676 right_pitch=0.0453 right_roll=-0.057 right_gripper=0.9973\nstate[joint_eff]: [-0.1573, -1.1829, 6.9128, 1.7705, -0.0366, -0.0317, -0.0122, -0.4991, -7.9521, 5.2171, 2.4005, 0.022, -0.0171, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.804, 0.6064, -0.5354, -0.0189, -0.0387, 0.9997, -0.2302, 2.2936, 0.9668, 1.219, -0.279, -0.0933, 0.9974]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1479 left_yaw=0.0031 left_pitch=-0.1533 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5482 right_y=-0.0748 right_z=0.0612 right_yaw=0.0785 right_pitch=0.4871 right_roll=-0.0556 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -1.1829, 6.8718, 1.7118, -0.0757, -0.0366, -0.0122, -0.6222, -9.7983, 5.8325, 2.4103, -0.0952, 0.1636, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, -0.0765, 2.3512, 1.0824, 1.1549, 0.1268, -0.0578, 0.0085]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1433 left_yaw=0.0032 left_pitch=-0.1773 left_roll=0.0001 left_gripper=0.9997 right_x=0.5768 right_y=-0.063 right_z=0.0559 right_yaw=-0.1707 right_pitch=0.4775 right_roll=-0.0652 right_gripper=0.0085\nstate[joint_eff]: [0.0205, -1.4974, 6.8718, 1.7314, -0.0366, -0.0562, -0.0122, -0.0752, -10.0855, 6.2838, 2.0733, 0.3101, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37eb83f9b7f7cfeb9d319a247e134093d9313bf26233eff412bb671ea3f08d52",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a2d0cca16dc4d830d463f2177388279e6e0b36e9d8fa8bdc29b7e83fa7e5da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9cc35ffcb325ff1e40e77338df31cab913bc02f2950caefdc024c33e49b4ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDft8r42wBe7aAP0hrK7mqKaNcKThNuRkbDmj3CRkmo4hl-B2mWHEiaQDVrST1Pcpe2tjbgvzNmQydrKkhGrC3bXh3azzwjzIB6Io065h5pOuCCL13RdvV3I7ofsWmtwH0_FBs-DHZeTVxk2_ZltTQsvnLn3sSuPggn4xVcQ_n76Tg-9Y_0gwRO6kIaUpZRhbui9zyx6VuHMdRv81Zu0dVhSYFkv3SwOJ6Md5z2upcM86EXZwRyrKSvFVJU7-pR2Sg7M4jH0dDbE7zzlmf2qs0fCk8XNUvjNxhGpPuM2Ndhv4T2-RWSCwlA8he5fKnOtgF1dSVsPjzRtIxK4IcYh3UxRsQAwsi2nPycEYGrj4EKj6GvWa7E1ufc6HkpDj1Eb7za1B9_k4OKz-bSJV6k6ZxNlRb-5ge1tkenqvaCQxBS_ViUEp1y-A9ZcdWxs1yWRa1fnXN-7JwGBinPdwwabO8YW2B9ggOdm4xaowgEVu3ZzJFB_POckk1qrQd06qJ8SxVcxvzj_D11atlUn46iPDQ_Lrcgoeu7ogBEbPlAUjpxNEGiua-u-36ACzrrk4E14Cc5LOjY10TMfQdUwoziSmI3PXXSf7E5flBRHfdn2FWQnzCBlQlgzVdTB69J1ffQZwUznUr96slYVXfcM2MeUOiCu0_Dy1t_zMWWzSUTQxRs1MN3DWAvbMri6tIN8HyDmmUXfbP6Ud0NNJ83SCAGY317PNZFxpw8hIca1FjvOCWbxA8imIKCOHhV6qdDaLIfRzhFlGJ7GU8fkFw-yzrI5favq5UgZ6oBKlp6dLQTAXCCmKZhCtPj9pBujL4gLVz-6Z7jk-HJql-4Zb6aVIcdYOpUyFsukbeDP6MLble897ZlvvappEVyHvxAnI6Jd6UW43LYZkg1olAgFXH087bvputpIO9Jb5705_Opyae11gXxdafpy5A3VP44GFZcl7FYxUWE5KFL8JyIh09Ce0TqbiCyCDOR-jv-N3VX_ZucOwKvHhgU6seeeGvK8jgZch7_cFBk7T6bWEID6pS-IAMEljbf1DYzbdHRpz5BcY5WW1g_EWDeyJqYt0ZL9GS3wfK7RMpe9TxnB4hzCUlshelsE7Q1iNeIpsbIYxwOeswzzmqTCrVxIhV1VTyx4w6gcuA4JvHx25Hb1lmNiTmrAztIjHpe8ve5i3s4zRRbLQRQ7vwSo3PgEZ9-x5zOsNZLgAy_weDTCYBc_5G5KEOzBpPBGtLNcaqw19SnepSRwvNbTZeHRW7l-WRxODhgCKXsRHzfqimbyrnRT2_fu6N4dpLn4f_ybOO3sqAQtjXnVtuYmjr4354x9k4uOzmB8Xco_Wq9SoXg1XmF7r5xdTjFTEEx-4wIIaKM10rR_8xnGUC0ujVTwJ94ZA48PBTrgmh46TQgGT7hdpuJJzg763Qe6P7BDGiXQjhNtfBvHUYDdFq7JIYlFd6Ey9YxPZI1uO4PE9H9cZfbVnEyltqBT9ofNtHDMdHSz-Wouq-u1Kle63sLuZ8sUGuPagA2awa5FXCWxqu3KhrStnVHtH_wiNKN-_Fc0M0xbUSXKNmuIHSv-Vbxe-yMAjzt8NUFVNZiEYk9SXbsHLe6vCnmhAazaIYaXx347O3xqQNmbOV76mycjSwdiwRTUGDTxBao50s64LuczaYH7paUVdBpv5yZFKaZA9Unf_OZtxTPZWFepgl6tGw7dht__At7Hx9lxcG6HkoWroF4JyweoZREIwsQAhSsvcEwkyfVcnSaqrAHi85Cl7_V_oWra38bFBZJ_wkuWgldOxArx5Y1hH_Hon39-g4RKN0F0dNx1_6vW4QujYBDYZkr3Ih-9CE8OUXyuIyXzLTOhclyqFQ4E9YF099Weao0oDJ4FUk0XvmeXBNQ7FFb_adEPsH3eBGVCEwv_0gXIKHZVkWHgemMt-Tkr7qc8vq-Mkf7nS9zF5ph5mLPpdXF4DUyXwiuMNhJPwmfCikYKIsJUCvDhgqWnOeqqxcEOPyx24CI97851mUihdgiB9ROS-q1LcF0QpxRGPUNorMpikU_ua-QeE1seHNL09Ceh693TI6XqfCb-n3G3xzy6tCTi29K_Pn8bxxLBUH9gUAbZ6ZgWfDlIV2JJvi99aGlZgs0qSh33fdWE4sE1UE2pcIQ4vnD4dB6x_jR_Q_XKNgyhG5E3bloTQHqpIiWfTR3dkh6NYVfuz1iKHnZDbQVzVtyXVmK_i4eAatT3_8p3YaOXokbint7e-TFSHkFkix0YdsEdqwypuVIJBHBe07ZnG4lU2MUXFl-gD3qlYnpnMLPh6voSnI-MzBX40Aym4Gayrn_a-cOe_HL0W0r0_RH84ePiaTY93ZevYn3Z0HgaR68ZiF6eZKdXdADB-8ShacngkHCKrzpB15BeHz7DRebTT2CvVF2pB8BXHWHERDEBHvAQjc8R3ENPYE8xG1-HGqDhBgkZh5DdbzTbE2IZLw0tg4P88O-wv5MIea1NoOwa48xk_5cIePDGT6Y6SlL_fFCfQMFnvxgSrdnUII3mBrRTR2gT2-fawXm6tlxoP2UATvz8v9f5hOC_6ZimcrbiG2BS3J25fJoQshWPohwl_2O76znbe4hOBEmyysbcVKB0hSY43UGkI2tf33chh3tH8qj11jnE4vh21jMzQspB6_obVNt2qXG86GyVwEuo8KEcU4FYzBP57Nt6FNII1Q8gp_M58nz8ZCO3kOS10xZSw4ctGwtgi5VRdo6lBQuNmZdl4gT0hru72mazwtuAVJgb0Padif0JRA_GYb-E0iviigmlzCDt8gU6-A7koARw5uyA1nnfSZ_vDZkWdo4QYIHVUnIptdkbBablYTIPunSu6-mCjEMfFhDH9IdnbFj0Qaz-oJyNWUS_7Hj1ekDpMNOmN_1C44TOtUU7r4AE1gR-obvD-ndtvur3Rc0F5YdgnGwPm1s308WVIW3KZkUpXVFa3oWRqYVNM4G5AAxQN_kxV9NDk1nyQupho-tqpHLuNq_q0jb7Pu_j7Mdujs_1H7brH-526D6epv8vaYGs5eD_SwWVS0aBWq-7UD8BRXFwvckwfIwESJ8OocQSCaaTL7Pb6WEtF3l4uNu4KrPobBd9wbjKgirgPyeJVcrTPFnSfp2H8hdQ04WSZwzFRDlPPHqzr_Fxf98U4IWHtgBqS616-YMNfzIUTYCqd5_ZsQUh2EMEYt7EGSFE3rLVHR5KtjOOqE14EjLVkIapEA8YcqkYO3RE7eRtms5Aq8xQ-ZierY-T2G6VCJ7VRq-TKQQSemSJw_QQSh6v330QKZgo57LoK9e0t-H8VBhHsPqRSlRbT2njJ8xv-PCQ44JODy8DKe5K73Yju07MOJOy86ob7MpEUcOIgrsdXfkYRegmzlZNBAw9hAvjgIdohK6O8by4pnTRe6CzjD8Ns94jCwrhg_j8L8tdpOUqkbS5V_JlTOZfHzCllEebHVKbkmoXSZOettPfNeto8j6SH6Vq23CnpbFltYCPTcSBFAn8awiLaf-UPCg6i03RVbZfDV2pz8DCSG2hxiPIMkAyixh-xGelVNaIFjyU1TlfLK2rwpj6Dp4fd9XvRwLclWoI31qMYd9cT5lcB-P93yt4g0si3E-k-DI3Lx9lL_kGJwRiMsjmkuUf7qzd_40J6mvvj5_Zl5zf",
  "id": "rs_0d2807bcbd85ee72016ab437e7534887d0a1cb8ccf003d0627",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18,\"right_pitch\":0,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.345,\"left_y\":-0.135,\"left_z\":0.095},\"note\":\"The yellow object remained outside the closed jaws at the right-edge limit. I’ll park the right arm and position the left arm above the white plush object, which is clear of the safe.\"}",
  "call_id": "call_CPtlIHG4dsgBoZCEVCk6dZ8P",
  "id": "fc_0d2807bcbd85ee72016ab437ebe35c87d09e4c33336addb679",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CPtlIHG4dsgBoZCEVCk6dZ8P",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5659, 1.404, 0.717, -0.2237, -0.3904, -0.437, 0.9993, 0.0093, 0.8387, 0.5804, -0.3157, 0.0444, -0.0708, 0.9976]\nstate[eef_state]: left_x=0.3307 left_y=-0.1262 left_z=0.0791 left_yaw=-0.0011 left_pitch=-0.24 left_roll=0.0278 left_gripper=0.9993 right_x=0.303 right_y=-0.0014 right_z=0.1701 right_yaw=0.0013 right_pitch=0.0165 right_roll=-0.0732 right_gripper=0.9976\nstate[joint_eff]: [-0.4855, -4.8889, 8.8, 1.5897, -0.3492, -0.0659, -0.0513, 0.3487, -1.7299, 10.2496, 2.083, 0.0415, 0.0904, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20091d7d4583ccd1eaadb3d91c97e5af78ed84d33cf8a76434da008f045a0e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e13f51796b43ee9b02a6b77aa39fe4bfd0425096ed1ee4daa6916dbdee92c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7223915cb4ea82a0c38ccb03987aa1a670fa4f0a900d167113057fedad93f203",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.522, -0.0189, -0.0383, 0.9997, -0.1818, 2.2005, 0.7769, 1.1748, -0.218, -0.1192, 0.9974]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1504 left_yaw=0.0029 left_pitch=-0.14 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5053 right_y=-0.0504 right_z=0.0323 right_yaw=0.0698 right_pitch=0.3479 right_roll=-0.0523 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.2103, 6.8855, 1.6777, -0.0073, -0.0366, -0.0122, -0.5538, -8.841, 5.7915, 2.4103, -0.0464, 0.2076, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "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, 0.8078, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, -0.0765, 2.3512, 1.0824, 1.1549, 0.1268, -0.0578, 0.0085]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1433 left_yaw=0.0032 left_pitch=-0.1773 left_roll=0.0001 left_gripper=0.9997 right_x=0.5768 right_y=-0.063 right_z=0.0559 right_yaw=-0.1707 right_pitch=0.4775 right_roll=-0.0652 right_gripper=0.0085\nstate[joint_eff]: [0.0205, -1.4974, 6.8718, 1.7314, -0.0366, -0.0562, -0.0122, -0.0752, -10.0855, 6.2838, 2.0733, 0.3101, 0.0855, 0.6227]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5659, 1.404, 0.717, -0.2237, -0.3904, -0.437, 0.9993, 0.0093, 0.8387, 0.5804, -0.3157, 0.0444, -0.0708, 0.9976]\nstate[eef_state]: left_x=0.3307 left_y=-0.1262 left_z=0.0791 left_yaw=-0.0011 left_pitch=-0.24 left_roll=0.0278 left_gripper=0.9993 right_x=0.303 right_y=-0.0014 right_z=0.1701 right_yaw=0.0013 right_pitch=0.0165 right_roll=-0.0732 right_gripper=0.9976\nstate[joint_eff]: [-0.4855, -4.8889, 8.8, 1.5897, -0.3492, -0.0659, -0.0513, 0.3487, -1.7299, 10.2496, 2.083, 0.0415, 0.0904, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20091d7d4583ccd1eaadb3d91c97e5af78ed84d33cf8a76434da008f045a0e44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25e13f51796b43ee9b02a6b77aa39fe4bfd0425096ed1ee4daa6916dbdee92c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7223915cb4ea82a0c38ccb03987aa1a670fa4f0a900d167113057fedad93f203",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDfyMEEqxs_INuj4obpNs9tD8Na-MWPab7QLNvebLhZnA99NOoID9hQ4hBXgBLoz5wk_PP-geb49JiFppajdbrkFpbtnQ7BcQAw9ZmJ2Qd1u4Wl_DfHaWpoXLfAy8A2ZDj_zeHcgthrPlvEa7LujPTcPNrm9eOtmSODVk3h42UINoQzHCJOz7c3r1PqHIfYx_AEEFQOwBTl3KLUU4o1KzyV1lAhKgLRPQ19JF7WeppA2FIBhSKZqvURzK9Bi-5hO0r8Z54YEcqouWMJnGgfTh53IUbkTd2I8pIgGxE4l2hjEGoKprVU1NNFeGPE57p6vWafhqQAYMCYW_JkPVNDHXsANNrNcBP9GTl_R9okElz64FKo6T3AGtB6NScfQWM7rHmIybU5PWV-iV2IiR2ZntGL80nw_RYlAbMkRmMC0dCFNkF6LNf1-V_xiMdQuosahulnXgkOBKz6c8t6pJ8MHLiNIyQxrS_wLy6McmwcsiSeUriBqjq-zMxoW9BceAdthB7y4fPhpEYKXabgiU0hpB1BUqNgbFnF3EAO59t07qeD5Ly4zh45Mo9lCeZrm6chQUx0YvH43f2toQpuZgkGB0nSKFdF1UlSYV_-YvMqrYra4wl4PkFv1MHYH2_mNDL_0r8ntr_rbpEEXb0l6GUryNb9UhXDecj8yZ9MgfeHuhyi2psUbk-agWuGOUPRwecDgfIuKzgClcr9LOGG2sDkia081dkhh0hx2AkLe3eKJbqSe4NjvAZfoJtQX8WUpAKNjuGq-pvanN22F6fO0Tjv0xoaGi5l0gdF8Bg-jrFWUKntBItqL2CZfecOMAE7QBAsZWBqCITzx5Rudb-BBxzW7ndQeBv5j9H0hiahe95uMbLVfl_w9EbUfNWoC2IS3qvNcth_iFBOoCe1hwB2zSNtQcsoTluYM4vHDYHanZb1CUJoTkXYjPlolDDpfdgwYWptZHS7szngLegJ6NQLt0YVlwrX9Q70NdhjNUFF9NWz9T6o-_NFluWpBFJ0YIUmP451_oXDakL2NJvv8jc7I1WaIyZlsqUuB7zbRoECBfsWwveGoHlHayO1hmeHTasXQ4_1J67xdHdpbr6HBtQAf5GGkzbSihIQmtbiRHbmvNM2GuKrpAy4snnDk9rhIwAjJ6lpUHamQ72HLs5E5cq5L0vJJekEz17naEN7rzGjZP4bQyuH2ORVr-lwD3NKsmc7rxKh2GhV9MhXD4G80oaqlZYlw8z6Ax0xeF9IUNDkhzG_XcVG_Q4qb5LT6yn4E_eK3qRpe7L5IA0UFPq_iwK0UNIz00R5oWkBM4QMDz5_3yb6piTDirTTrLImMo_j2LadFYBFcS_t18BTQmocCnu3SANshpT9A_nEx2kgnfQ1oye5yQjxix_UXm5V0b3X8Og7jvWGbPcLhfd9DkTe6z2QrN0XDQpFueA_kHLpbJypWr9ouaHT2oE_Hg6NkOm-DVkDrdNML6tECs7697-4e_1ZoVW5ajRmJ2-9x_7AvvKrWqAZN4WzvOo_KmxALOcztId-NYAfUUYloCzvaOwwN5mK7BVyG3jujudTTtYcSNsH40oEwraidLjXJsu9M34PbiHf3cseq2vWwStsmOrPGyBlv2bJgSjLKv8pdkgrxItT_4sqYmA-GmAtwybNtJM6tZWR0urLMFWQxkZ0lJ6Eek0HOEft4yRZywB2SJnGzPVo-ZOmoI2_XnKz-yAts5OOfVycyz_X3g83c0JEDMlUdhiakcj-t77cwPjaG-TkVRmkvauQf-f_IbI2rYrCvcvmX4ceZ2ONNLYqhQrX0IEiDzuZ-UzstHsIkEH-ZJhfhw_oCw6lY6eCkb_1ETa8P_RRWAzJvelQJXL8u9z4_t8WP28RSHYT9467uNmOCEMM_TPFmcRmqe8cwQ4VNMTSOZOjujcQoeryv_lWSR9FHUpv6WbdcMNDDEhfEe9S5Fk1mqCmj0h9_7Ex7hxE=",
  "id": "rs_0d2807bcbd85ee72016ab437f0972887d0ab0add537f23a6a0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.075,\"left_z\":0.035},\"note\":\"The white plush is left of the jaw column in the left wrist view, and slightly ahead of the fingertips. I’ll shift left and lower the jaws around its middle.\"}",
  "call_id": "call_I5jMlhRPUki51UVCIjpWxEEd",
  "id": "fc_0d2807bcbd85ee72016ab437f2638487d091bf92d08fc142ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_I5jMlhRPUki51UVCIjpWxEEd",
  "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]: [-0.3557, 1.5002, 0.6014, -0.0193, -0.2844, -0.3012, 0.9993, 0.0109, 0.844, 0.58, -0.3634, 0.0437, -0.0715, 0.9988]\nstate[eef_state]: left_x=0.3433 left_y=-0.0708 left_z=0.0307 left_yaw=0.0481 left_pitch=-0.2887 left_roll=0.0478 left_gripper=0.9993 right_x=0.2965 right_y=-0.0009 right_z=0.1587 right_yaw=0.0039 right_pitch=-0.0369 right_roll=-0.0738 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -5.2308, 5.3128, 1.6142, 0.0904, 0.0659, -0.022, -0.4855, -1.812, 7.2821, 2.1368, -0.0073, -0.0611, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52bb457d1fa3dbc2b91aaf358d73083e96836871e42dc324fbc13abdffa372f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c9c8f20a5476aa1f926b74b9db9f070498fc0ff49095b59fc6436bde214810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9b28bc7444a50f974e32608a5731d0451390d0a6a2608fe4b0e10d8bda29b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.5354, -0.0189, -0.0387, 0.9997, -0.2302, 2.2936, 0.9668, 1.219, -0.279, -0.0933, 0.9974]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.1479 left_yaw=0.0031 left_pitch=-0.1533 left_roll=-0.0005 left_gripper=0.9997 right_x=0.5482 right_y=-0.0748 right_z=0.0612 right_yaw=0.0785 right_pitch=0.4871 right_roll=-0.0556 right_gripper=0.9974\nstate[joint_eff]: [-0.0479, -1.1829, 6.8718, 1.7118, -0.0757, -0.0366, -0.0122, -0.6222, -9.7983, 5.8325, 2.4103, -0.0952, 0.1636, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5659, 1.404, 0.717, -0.2237, -0.3904, -0.437, 0.9993, 0.0093, 0.8387, 0.5804, -0.3157, 0.0444, -0.0708, 0.9976]\nstate[eef_state]: left_x=0.3307 left_y=-0.1262 left_z=0.0791 left_yaw=-0.0011 left_pitch=-0.24 left_roll=0.0278 left_gripper=0.9993 right_x=0.303 right_y=-0.0014 right_z=0.1701 right_yaw=0.0013 right_pitch=0.0165 right_roll=-0.0732 right_gripper=0.9976\nstate[joint_eff]: [-0.4855, -4.8889, 8.8, 1.5897, -0.3492, -0.0659, -0.0513, 0.3487, -1.7299, 10.2496, 2.083, 0.0415, 0.0904, 0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3557, 1.5002, 0.6014, -0.0193, -0.2844, -0.3012, 0.9993, 0.0109, 0.844, 0.58, -0.3634, 0.0437, -0.0715, 0.9988]\nstate[eef_state]: left_x=0.3433 left_y=-0.0708 left_z=0.0307 left_yaw=0.0481 left_pitch=-0.2887 left_roll=0.0478 left_gripper=0.9993 right_x=0.2965 right_y=-0.0009 right_z=0.1587 right_yaw=0.0039 right_pitch=-0.0369 right_roll=-0.0738 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -5.2308, 5.3128, 1.6142, 0.0904, 0.0659, -0.022, -0.4855, -1.812, 7.2821, 2.1368, -0.0073, -0.0611, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a52bb457d1fa3dbc2b91aaf358d73083e96836871e42dc324fbc13abdffa372f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95c9c8f20a5476aa1f926b74b9db9f070498fc0ff49095b59fc6436bde214810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9b28bc7444a50f974e32608a5731d0451390d0a6a2608fe4b0e10d8bda29b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDf2akNnAeF3MGHRNskXbOezsDtMNKe1-DZhw1LnREKSZxeu0ZmBeDeD08NavPIvnBKsucMEDYGpoXmuVWkpNNSo5BG1LXNG5kPIeifGPhdEU2OjDQP0lI_U5wGILtKo6YnAqrKS-J73GqCOuoM1Nwf_mUUiTwEar2ZFwpg5Hn-JCbts1l1P1w7J77SwzHK-o_v_FyqhHtqpfHFeEX6w7prpXSJPGqYTTEPvpdIDXodFQ2Ui_iITYywpyH2CEGlOcoU3_uBB7u7hoPUUNRRA4CvB84vQpchBlLN1Qt71fHEZMBkeduC1aUSJ26CuN1BXsqmrWbE-zE0Rgmf7gokOEoFiE3zfLQilJvc5LdQ3Em0n7BKW7BGPPAOcvrGA_CA_MoIgInGPem4WZYEO_IbDirpfMjmq1Qt429Jw_X7w7kU8DxR_HM-lLjEQd_QskflDvwDYxfMgVbJTcrVcG3t0FcPFBBVcLvU03XGYglGcz8shsoSMYZ_d-fhojmmoOZP1zWSAuPC9V-ueB8fuIlRBOJICn4AmkKSxdT0kyk1kIoiImxuiH5hbSdzhQRPXbG-F8c8sj_RFahRbewq5DasJTV8FzQweHlvLXidkXy1uykkfpC2IRFUfkhWaQLstW6SmWwl6TyZ49G4lf4rD7-Khq1cTFfIPtEgy7TIow1gyUQdkMlDXkDFr1Wme3rEwwaYCZAtrWLq5zpHAZmLk6FR7fCY1ZLGb7GLJ6YG7cxy6AtkyOHY8CfMaBzLIHFjFsj7Su1qd0utbvi9zYR7qqFliNDeH0ULVgspCDZ5-wBLyG2mfE10ZpqCqZeE1PL5-X940jj8TBFkt_uYhhri0cc0QmOMrwmck10ArLxsi0eN7ZZpgT1oCbi_JblZre3ZhDJhWGK3EKfHScc7Sh1YAxF_bDoR4Pz5gv69psZdI8cVXMx42TdIla2Sz1bR6lqqQZqqvH6fs1bQJ5CsoJtKhF4kjnqlwFiuHH8IXUFKffBi9jWr5JKJh_lSXEptfKiGDZkR0PmsESobnCMQ24EBcFwASQCZcxmb1QDdXArUCIcBa0cXn62lPDyVDb3jmAehPEjLPxsOiR4FPCujnSq3fO_B9XA8RINfKTBch0QWFvU41SLaHs7pnRHgJyzPlqzuGeD3O5BPQQNptNHahScG6mOCH96fbT9TEnxcIaCtR3fb_G7FhuazHI4bFOUdzXRWITpNGFbLgdO5CKQzrbBi4_Hgv8QVlugyCc7LRB2qpjy9dlcto839KR5oyX8NQIj6RRb2ocVHVyDN9AjzaFNPKjjTnlzcDsDFEG1v1JRmlGUw0zpwuru6GTZIJKno_dC55bK5ULR7F-GEXnjvbFg-jGpXLfAtcs4N-EFgt0FsyILzbmuzEXh7UaHSOpJJEA1A9Cqv6aPqtGZMKmV2z45R3xKHenKXuIrTetGR1fo7VnGdwwg9Ng6jecbksrGVvCex5xsf74U1Nxsq7c5quw0W23aS4W08dLLLEH_O8WBh4neZHgjC7ophBtzUTPG9Cf_Qdh9_9HxMDX9kOC0amfcmaHMbH7wu56CDlB3-txve9wMkRZ0VdwquO9i0Dh4ovLU3NeRRPmqlAujXib-DE59Eq97iU_xFKiauFgtvPM5CqPqo2Mg0Bf_kJj4D5R82jZA-8vlpXQ9xZ9Syl9qLTMVof_04WcccXuQs5v-X-Mo7Tk3-a53srQy453eLDx3Pksh37pINSAWjyGNU6FI0T1uqjOwDaNTpQlXVghH2mh0_AxMgfZx0wZ1Mzd9QSTNRDNOGeR08CAvDv",
  "id": "rs_0d2807bcbd85ee72016ab437f492c087d09552d315e2553d67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.366,\"left_y\":-0.04,\"left_z\":0.026,\"left_gripper\":0},\"note\":\"The plush fills the left side of the wrist view, with its body close to the open jaws. I’ll make a small leftward and forward correction and close around it.\"}",
  "call_id": "call_28fm2UUl2XLnTAIe7EFXIhO6",
  "id": "fc_0d2807bcbd85ee72016ab437f5bcd087d0ab0cedbc5984b55a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_28fm2UUl2XLnTAIe7EFXIhO6",
  "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]: [-0.2199, 1.5604, 0.6048, 0.0189, -0.21, -0.2092, 0.0078, 0.0113, 0.8436, 0.5797, -0.3832, 0.0441, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3519 left_y=-0.0373 left_z=0.015 left_yaw=0.0706 left_pitch=-0.3295 left_roll=0.0566 left_gripper=0.0078 right_x=0.2935 right_y=-0.0009 right_z=0.1547 right_yaw=0.0037 right_pitch=-0.0567 right_roll=-0.0738 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -5.2855, 8.1983, 1.58, -0.0269, 0.2125, 0.5788, -0.0205, -1.5111, 7.0359, 1.9267, 0.0073, -0.0024, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08867c9fcca3bcf01664ff83d6321dd761faa1cc6aa6179d4040949453e2223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0cc1089f056a21e92e7d58efff05466abe65b1a99d6958ffc32c5cee53b4e98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48d7299c707bad07cc105a821dcbbc980a868d24ed277a6ba323b0da78a99b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5556, -0.0189, -0.0387, 0.9997, -0.0765, 2.3512, 1.0824, 1.1549, 0.1268, -0.0578, 0.0085]\nstate[eef_state]: left_x=0.2691 left_y=0.0018 left_z=0.1433 left_yaw=0.0032 left_pitch=-0.1773 left_roll=0.0001 left_gripper=0.9997 right_x=0.5768 right_y=-0.063 right_z=0.0559 right_yaw=-0.1707 right_pitch=0.4775 right_roll=-0.0652 right_gripper=0.0085\nstate[joint_eff]: [0.0205, -1.4974, 6.8718, 1.7314, -0.0366, -0.0562, -0.0122, -0.0752, -10.0855, 6.2838, 2.0733, 0.3101, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3557, 1.5002, 0.6014, -0.0193, -0.2844, -0.3012, 0.9993, 0.0109, 0.844, 0.58, -0.3634, 0.0437, -0.0715, 0.9988]\nstate[eef_state]: left_x=0.3433 left_y=-0.0708 left_z=0.0307 left_yaw=0.0481 left_pitch=-0.2887 left_roll=0.0478 left_gripper=0.9993 right_x=0.2965 right_y=-0.0009 right_z=0.1587 right_yaw=0.0039 right_pitch=-0.0369 right_roll=-0.0738 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -5.2308, 5.3128, 1.6142, 0.0904, 0.0659, -0.022, -0.4855, -1.812, 7.2821, 2.1368, -0.0073, -0.0611, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2199, 1.5604, 0.6048, 0.0189, -0.21, -0.2092, 0.0078, 0.0113, 0.8436, 0.5797, -0.3832, 0.0441, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3519 left_y=-0.0373 left_z=0.015 left_yaw=0.0706 left_pitch=-0.3295 left_roll=0.0566 left_gripper=0.0078 right_x=0.2935 right_y=-0.0009 right_z=0.1547 right_yaw=0.0037 right_pitch=-0.0567 right_roll=-0.0738 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -5.2855, 8.1983, 1.58, -0.0269, 0.2125, 0.5788, -0.0205, -1.5111, 7.0359, 1.9267, 0.0073, -0.0024, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08867c9fcca3bcf01664ff83d6321dd761faa1cc6aa6179d4040949453e2223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0cc1089f056a21e92e7d58efff05466abe65b1a99d6958ffc32c5cee53b4e98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48d7299c707bad07cc105a821dcbbc980a868d24ed277a6ba323b0da78a99b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDf76TijE72BfBue90Crw_j-oHRngUF0vMW7w9nLIZvXwrFTbknoPsBRFfq2hJoxbnpGeD6VpNXzj8IJsHPv3agO-yfMD2phwOx_uEwYvvYpnf93E2Ror5z-uVxfmSHGKk9QXPVm1re0J-RY_I4tDXf0uTDmub6oWEbDGBNmzDtksH7mo7R3AID3LUXFXV8R0y9XUQyq8v4paVAu4dCxgH5-PMdTJypeq8u2m89Yy3SoGR8EwJMrL6YvAZ8TgGUP871NSz_ZBRtqrz-zklUjyytYVfCElxLa9-KXcgC3f27Q96jiy-z2RcGQ1mNEM7klcXuRRsUlaTBAX6GyD8WcP5NqVNMdOs-y1U92VDi-BQa8QOiz0W3zGK3N0iYr8Pvdjgg3EonmWmg-fg9jkRTVnYoVD71aW2EP23fKkoaUXYx7BAG9iHE1NBTTslPl-VljoX_Q9-ijEulkrmrRG7h1w2e0leROElORy_hYbbu3xfg_Q5FcQGHgm0d4paObU6U0s0xuzHQcE1rStdDbk1C4frD2vwigiDGgVO701fypx37LYjVbpsrO1lEY1bAqg5SCsToTKCUogEb9R9xheXhebIqxlyURiY8jMt__1B2sdPr-C-lW_QlQJmBIBa58VzhGGT-JN3BOZTxCRGdu3Hkxtw6NnV7jr7dafneJWo1XmcAMumEGceBz4U9cBRR1_jlLyoAmOdjmKD7zF8ptrcE5p0Qz-vYzo7hnNJWBMeBmtw_sF5gVyA-32F8QzE_Yn8uUdsbPbmXPr3HY7GhoMXRkTYNra6SU7ZC5gLlmKxMx9NYsfWX8UVI7nr0upkt-Zi8UAxPNbHrk6tbZkdS4OnV9BK8KcdhgIVSObGt-TcRvNOxtzUcqlPRV1DwGG197stsLO40AMMOuQtOA_igsQ6xv0tj0mdTpGA9njXGg2fXXqA30RLpSrHF8pM5cxpHsyAkwU4KOD9P7x1zvMcZ69TrKD8SDY4XGg7bfvNFhxuaqyNPp4RDO_g5g44KF-bu1w8fgSyKv2XRJdIMMzFhk69pQdTtYZ8GqICJ8kBSyMU-QevY7_9waP30bVIIx0ukEu1QtGwT2X1UbGIru8fTa3qP73DBCFvYIje76JF6BIrOvPeh2u_MAsqJCuh3xMbwaek-Zs5Wi8ZdtmRlyTYs_Da36GChueDgueNCu23m3r0Kb29Hp7ThvpYupgrfSpwyokIXhzOGpJJrAU5RLZNCKSLHX_-jFMCM8sPluW_mQIo7wOOouOvCebhyoPqYxod1GLUPttEyxNOTjOu9HtRFwMZMmpNsTGzmVM7fBw9gcGpwC0usvxxrXaF_i-q8J9W6OPuOIXJbDe6lX7Jd9zgBC9TRIEK4Pbu0fACy_W7kX_LY6RvwFuVN5b51VjD78zPN7K9AcswnmfkrRkZZhQATg4ZSzgw6oRtXnPHXniieiqbawjwrp0s46zhbOWhE1VqARu4H94hAXtULFWG4-EHzZiilw6SQxAEnhDVdJfyXjXaUP57Bp8tIRq5mOt8qPDCftufoFkFDquVdbzhV1qZ0dukqPI6TKZjisQNlaRwn4JBBMNlhi73SgYzB1XrL94ZM9RNgCcOYZXdmvQ-utPmfbBcigwLLSADr0k3eU2pw4EBnPKKD8AHmn0sg09bdLsSncyXxuX_Zs_lbXTl_MbJXwz4HBUxjb2YP2-kT9S74INGIokdFujarZOQ8AghfswAUIcg0fvAu6a_kluKZKsbTGo3ysXohzsKzdGVF-yeW77DOXHBLu__n7ApHytq5RtDdQZafMNKZ9N0nLpJoy-M8MhEehQJKXQ3STHMO8KwLzHaQLqnix2YfhD9kWTxJ0uuyhuxaF_mmMXc4_JTVYyFSGZVkZOr54y1edDOXMN8KxcyQyeLKp_kCFyD_0zIrQAm20X49BlJcr7UQoLZvhyiJreJsVxXAapSdO160RN6xz0C6iVDLliDiqmgR6zAf9KExFQ8-3BR6VqZK02NG_d-cY3G4V8e8gJed-6uULChjCzaxS5BGP3L3JYikh8K7HUeTusZnhz6M1UUBOX_pPKMsVS634VMPZyLK9dMBBp-uFNb35iLeLBgy7zFUQJyMlUdIxvzeFAAEoWFrq5GErva-O0diR0wqhg8eAMIv_YEDAnfx_i2UMiJlGjxsZ2yUdB1onCIDAVn7utFoKI1F8tnsHDAjt_yySKgu3eKwSP5aOFDiWQ8KAHf2i6U0d4-ANy2d9807Wv2qcLy613GaHqGNtLvgfYTphtooQrhVxFgr64cYJc0mXSz4=",
  "id": "rs_0d2807bcbd85ee72016ab437f88ba487d08018e13828841842",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":0.038,\"left_z\":0.035,\"left_gripper\":1},\"note\":\"The gripper settled nearly fully closed, so it missed the white plush. It is still visible just to the left of the jaws; I’ll reopen and move left to centre the body.\"}",
  "call_id": "call_81mrXO26mlRXGx1lygtLR3K1",
  "id": "fc_0d2807bcbd85ee72016ab437fa4a1087d0a70c0fe29f3ba6d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_81mrXO26mlRXGx1lygtLR3K1",
  "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]: [0.0658, 1.5642, 0.6575, -0.0608, -0.0559, -0.0097, 0.995, 0.012, 0.8448, 0.5793, -0.3885, 0.0437, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3547 left_y=0.0369 left_z=0.0172 left_yaw=0.1056 left_pitch=-0.3875 left_roll=0.0557 left_gripper=0.995 right_x=0.2927 right_y=-0.0006 right_z=0.1532 right_yaw=0.0048 right_pitch=-0.0636 right_roll=-0.0736 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -7.2137, 8.4308, 1.4188, 0.1392, 0.1245, -0.0952, -0.2803, -1.6205, 6.9949, 1.6825, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462b89861b044becc7dbbf705c5d1ecc0e6be5cf1f72727d466d5f97809358d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad900bae38dd9837c9d7549d5f03bc031ad12c47289ef6d9b69aab667124d6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b6b153f729d701ee1e1537797c49566757a917f1ded768af79088c7fdf4da9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5659, 1.404, 0.717, -0.2237, -0.3904, -0.437, 0.9993, 0.0093, 0.8387, 0.5804, -0.3157, 0.0444, -0.0708, 0.9976]\nstate[eef_state]: left_x=0.3307 left_y=-0.1262 left_z=0.0791 left_yaw=-0.0011 left_pitch=-0.24 left_roll=0.0278 left_gripper=0.9993 right_x=0.303 right_y=-0.0014 right_z=0.1701 right_yaw=0.0013 right_pitch=0.0165 right_roll=-0.0732 right_gripper=0.9976\nstate[joint_eff]: [-0.4855, -4.8889, 8.8, 1.5897, -0.3492, -0.0659, -0.0513, 0.3487, -1.7299, 10.2496, 2.083, 0.0415, 0.0904, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2199, 1.5604, 0.6048, 0.0189, -0.21, -0.2092, 0.0078, 0.0113, 0.8436, 0.5797, -0.3832, 0.0441, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3519 left_y=-0.0373 left_z=0.015 left_yaw=0.0706 left_pitch=-0.3295 left_roll=0.0566 left_gripper=0.0078 right_x=0.2935 right_y=-0.0009 right_z=0.1547 right_yaw=0.0037 right_pitch=-0.0567 right_roll=-0.0738 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -5.2855, 8.1983, 1.58, -0.0269, 0.2125, 0.5788, -0.0205, -1.5111, 7.0359, 1.9267, 0.0073, -0.0024, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0658, 1.5642, 0.6575, -0.0608, -0.0559, -0.0097, 0.995, 0.012, 0.8448, 0.5793, -0.3885, 0.0437, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3547 left_y=0.0369 left_z=0.0172 left_yaw=0.1056 left_pitch=-0.3875 left_roll=0.0557 left_gripper=0.995 right_x=0.2927 right_y=-0.0006 right_z=0.1532 right_yaw=0.0048 right_pitch=-0.0636 right_roll=-0.0736 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -7.2137, 8.4308, 1.4188, 0.1392, 0.1245, -0.0952, -0.2803, -1.6205, 6.9949, 1.6825, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462b89861b044becc7dbbf705c5d1ecc0e6be5cf1f72727d466d5f97809358d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ad900bae38dd9837c9d7549d5f03bc031ad12c47289ef6d9b69aab667124d6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b6b153f729d701ee1e1537797c49566757a917f1ded768af79088c7fdf4da9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgCEtlkHs54GJov6GSrwmwezzLDNYCLxITz_o9JuVhVNN9oCYzLd_nAJpYpgsA_l_kXdN9RndManmqHZaES15AFEcJpqFAsQedvXWlO59FuszKoX4Gpy-RbePZaIyf_d-ewkaFrRpAuVVCq58DgSn4suh_LZcpqxr5QkQIeOFH-X2lc2IQ_An5Z_QHZpUC3wB4D-4ercAWVVt9-MR5OL39WqYzGKQJ0xJneIiMGqowyz_eOc0L3nz5Xy-8vEir-bSSbkMXL-ZJsndgWQbyyiDqFYUgaL8Af3KiqhJ4RuBO-hhHXx3Im0edhT0P8KLWDtd2aIftqO7t7T6E2XgImOXvPSVesC8r5KCllwZeJ48Z5lBcIAF5gIsdtFbw3Zsgz3KDyrErqe8eEfQ5Z_Z2kgcUokIo7Anv1tkCgBUN1lv94_1uF3rJXp-fwxwHDtt5lhMGfQ91t_2MxaM6rXhUfWHc4bURUC3jslFamsTb7qFC0g2XYEQgVGRGCjRG2K1WlaBxDRBPUeEk77552C8KVIR9h6nEedbu96HA3oifIttXDrFeyX-4GQsewcTAHuWUSd2FgD5bQ12O9hDzTWGkXjIwUlSP8rzVQf75EVHFwDZQ9Ayx6gqRACyHuH7_cuOTkLHJWyZYkOzQH_GQy5cvcT6hbwCgVa1QRIHKxf4AdQ0W6sFAQR-sSj91dSNGjrh9nZV8F1CZTdYgVFF8QZB1Cqej32DtZdJO8AyHpLwRiuS155BJn-p0r-ZPdsztJWjEzeh7AkEAbefzZz78JkD2NIR9MLyliDM9CUXIkzPqoiYH4GZYZRpdEpRIMD-sBka9IGgGcykjE7e0yTYTDsNYNn6bGzqQ0oomT0TPSMLgA0xnXcV-9II4BEqkqzOsXkZWsAXRulP7bF6vlvlrD6VT22BOo3OEhPU8Cq1yBtkEfoMRroiO2cvryEJVdYQzeltqJ9zMwSlEM766bECLkO6R0uOh4QLmHZv3qHAWSwSLchAcW86FfzqINjsPOu1iQp_frPo41djN9Nmj2ts6cZ3Dj1SJEeRUjW9SVQJfSdzo9-Gf8YbQ0Adn2ZM2QRG2nBuYp34DCkzMbrCNu8Cl7L-3JZpBCJhFhNwosp9pcErEg5NlVmGvCBmQtLceykemdVtwG8fPUUkauqZmmf7Jwz6Gb2AY4QD11loFvT3pOqHs4YUn21U0WPYTuIojXLXzCszoz4bvcp-0Qa0xKTOd-5cUxEnVbj94tc8Ujk-_Tkf4o9jhBM6Pjz6aSmNK_-CPKJoYvLsVeYaIYONmdfWplYFsLAEsG7l6ZkfFYjAWB-WisZmTq78jYexwYfd0bnEhrAJFJWw55jr4ONWfyr279ZCD92SR5F0Y-IRL56VFdBLDE8Md9IlssYvoxuMF6XCpP1C3AMlizAuS144e17g-3b9cSvhDoAsv2S6XDiCpbRjkq3_HrIDQ6NYnq_DTZho5YcFcMCl2ojF7W-6b11MQ6ZD--7_fqT8eJS-vv0TYErA8_3Mm6XxpWfxKv7CQJrDdnztV6sueejhBy2BUDrD3WBeVQxFM1nI9rj1JRG3NEIH9zMnzBOUwk_IyEtFKJTJcrrgJ-FeTCpIphYIAao3jXR97M7KhnCWXszIs9t9sgFm7DHWqfZXSu4P7wPWDsQsSgnmso93IEICrQ_TsiodH6B2vsw8vEUtyefgdgVtcxMcvdCpGGc_Fb_0A0YKhO7n6uB9q5ImpgSRtJsFSutoPD40x-PtIfuSgEjuJjUXvFQGZGjO6XNco6JlAE4GNiWPylNwysYqioZDuEfVqGcaWsbpOXm5LzZ7sO7Rdyw0i1FA8q1fRsiUKLG_C9iJuJrb86eh3T9tklgtI5oCvtNY5IslSf_UdafJtXAd7_klkDvseUzzG9WJ_qQ6uG3u_ArN6Lq8DVZMy9Gb8g8zxHWm58AWTzjwy32WHsN_qeItwQxAv4QAyBOwBdyZSPds9o5xLdU4Ce2dq2z5xbFn3zBpGiyTJvejrwvwbmXyD7JpDa4IKFOC7EoMy9wJJetFjsNXkv4a2AZYDbbdA2P-xAO9gaXgibEKE2HHcJhe6rCbcwxWv3dKeqBApzlkh2OlDXs0UzlaYGZCQELTG5lNxl7hWiDiBJyHvwaAaQOvmwiiAMTDT58v7iun94KhMcHzISPPYfjpi4I9Yty0dOaQmzelhFrW8xDkLb5i2zPOO2uApBxizakG8t_WpnRkh0DzPLdR0bzO1y_O9RHKrQkI8Edj3ZRcAFQ661sHXTaPxJJv0EtotLOB2nSLnRENfcs6THZyn7UDbv1lFBkfE6bbB9XDPqCUC0d7faeUVUYFeo4JeiJ8G_2_M4TkNnomDNUDHvwaY7xNy1ZtE_5QJtGPApyMHzy2t_LzJPuFwGK5oOBWCKqejMf8iSICEDlCpMHvgivcaJ8CWhlRJOEw6ROkL7wDGkec5Z3Aa0weXAfbGzVmQn8UCAG-Zk0VJ1H4RxO-qjlg40n3sfVERvXvcNCy9VPqGv6FHySRR2G_iBDNjni09w-UoFjU-mzegewkt3tpCMpurW_fORxgput6ci8_kqFKFOSgV7hbdAKu-YiY4vCPWzHVp34JkKxMg4GUbg8ErgyLFzHz5MJrRUj_EWr-GJ3pJHiaqrHiLGbqjLDV_dIEm7SvnLzhXv433VPxQI8Ucy4oLnMi1rSDOJ1hObgaNzynkEXYCbWzHhso7b2i-lJrS3WlTFmqlguUP2A0dBMr7KAwY0x4jQnJ_U8DkRg_k4FBmvrjvfzm-LqCUyaD4ZewEk0k1lTFMzfagQNa67GxHsU9gcMxJll73yQdzoD7aDvSc27KlpftWMSFWR1WNxgCBgnhmQmApQwRoUh0t_2l2oJ5sHDZ7ZpihIqAPbd0XQWG1oEi8klLRkxy-WuRXo9DQtuy6xB5XGvBrt0VffZ0NirVwK0R1rRBGahJ-Ci4rl1_QAyzdMbLrZi0pAsCzesqkeDdeguqZAPRdaC24LyHIluZwwbGA9npLogt_plnjCgYoS_bnqG-hl_SAKC4aNUvo9ddcHqN0stUlgugZlqGQJ_NwGwu8EWe8HV4JOiECQ6RNkkM8h1orPBpN9Xgi5JOdonfgnuYbajgnKXvyRmpVDlduz7HWg_NmQynuthX8pENPZtTBmd_fLE7fz_ZEjSYJWJIbWw2RnBcXwxSsli7ng6Ry3rIr2ZbWfsgrUXaopYHFdAQ0UUbRYYS_9KYe333ipKBIy1wir5KTpk0RKaoClu8Mb9GXo30o0AMpvgl0pvHkfdozvTh-5ygYvfd6XM0U2PwyJq8X7R3lhx3rylELxTjTN8iWXigTqfh1t-iwcw4iKRhLmZpstJyoVzfbfeONROGpK-APuM0qoLI_yK6rlpZfwcTuLm7T_",
  "id": "rs_0d2807bcbd85ee72016ab437fd42ac87d0a91b20cf351111a4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.18,\"right_x\":0.29,\"right_y\":0.34,\"right_z\":0.105},\"note\":\"The white plush has been nudged against the left edge, so I’ll leave it for a clearer recovery approach. I’ll park the left arm and bring the right arm above the brown plush in front of the safe.\"}",
  "call_id": "call_6Rf8aAR3q3Mii3lKicleOX30",
  "id": "fc_0d2807bcbd85ee72016ab43801b77887d0a9ef6f128a632de6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6Rf8aAR3q3Mii3lKicleOX30",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0982, 1.1271, 0.9695, -0.8719, -0.136, -0.152, 0.9962, 1.1465, 1.8965, 1.293, -0.5415, 0.8005, 0.8513, 0.9989]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1613 left_yaw=0.1024 left_pitch=-0.4362 left_roll=0.0518 left_gripper=0.9962 right_x=0.2851 right_y=0.332 right_z=0.0968 right_yaw=0.0335 right_pitch=-0.0996 right_roll=-0.1119 right_gripper=0.9989\nstate[joint_eff]: [-0.7726, -4.3966, 9.5658, 1.409, -0.3004, -0.022, 0.1197, 0.3214, -9.2239, 7.7197, 0.9402, 0.6422, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c328dd0fa769d619d14d831d77e15f422c8cc2e615fffc35977cd00ba47cd66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930a6896571bbbdf380d26783bb5b7ee5c3ae0e9637815ba32b5987f3dd11ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b5b0db1a8275fc4994786d9af3d8cc5b3f2eb05825bb2e6ab4ad01f99a4ac8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3557, 1.5002, 0.6014, -0.0193, -0.2844, -0.3012, 0.9993, 0.0109, 0.844, 0.58, -0.3634, 0.0437, -0.0715, 0.9988]\nstate[eef_state]: left_x=0.3433 left_y=-0.0708 left_z=0.0307 left_yaw=0.0481 left_pitch=-0.2887 left_roll=0.0478 left_gripper=0.9993 right_x=0.2965 right_y=-0.0009 right_z=0.1587 right_yaw=0.0039 right_pitch=-0.0369 right_roll=-0.0738 right_gripper=0.9988\nstate[joint_eff]: [0.1846, -5.2308, 5.3128, 1.6142, 0.0904, 0.0659, -0.022, -0.4855, -1.812, 7.2821, 2.1368, -0.0073, -0.0611, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0658, 1.5642, 0.6575, -0.0608, -0.0559, -0.0097, 0.995, 0.012, 0.8448, 0.5793, -0.3885, 0.0437, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3547 left_y=0.0369 left_z=0.0172 left_yaw=0.1056 left_pitch=-0.3875 left_roll=0.0557 left_gripper=0.995 right_x=0.2927 right_y=-0.0006 right_z=0.1532 right_yaw=0.0048 right_pitch=-0.0636 right_roll=-0.0736 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -7.2137, 8.4308, 1.4188, 0.1392, 0.1245, -0.0952, -0.2803, -1.6205, 6.9949, 1.6825, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0982, 1.1271, 0.9695, -0.8719, -0.136, -0.152, 0.9962, 1.1465, 1.8965, 1.293, -0.5415, 0.8005, 0.8513, 0.9989]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1613 left_yaw=0.1024 left_pitch=-0.4362 left_roll=0.0518 left_gripper=0.9962 right_x=0.2851 right_y=0.332 right_z=0.0968 right_yaw=0.0335 right_pitch=-0.0996 right_roll=-0.1119 right_gripper=0.9989\nstate[joint_eff]: [-0.7726, -4.3966, 9.5658, 1.409, -0.3004, -0.022, 0.1197, 0.3214, -9.2239, 7.7197, 0.9402, 0.6422, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c328dd0fa769d619d14d831d77e15f422c8cc2e615fffc35977cd00ba47cd66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930a6896571bbbdf380d26783bb5b7ee5c3ae0e9637815ba32b5987f3dd11ec7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0b5b0db1a8275fc4994786d9af3d8cc5b3f2eb05825bb2e6ab4ad01f99a4ac8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgKTjWKlomvwLlJ6ilqqM-l1O2dL7j7e-9gX2vtJtNbLtwKl3HaQ0p9Ij0j_hR2orYeJJLKWiB5Rvjra9uD-DEDE3LafpT9hWiUOCgMI0BhW8-KcaIsxiPYWVIADkQdx07781un-dDkFHVMTmroqCwXZ0dZlQs5Nk26RYuPsw6CT8hR3E03-t0b1iCmdesDC6JaM9-vsl0abL9tOtqWhzGkEprbfAboYaa_w48ma478_vd0vbShdYHyjniNJy7YDUZtn2C3kR7r5J4Srq6HAEyDzUzioJ68EGKotZZ61B0AFJg2Puw_5HDkn1fWie8lbEoiYxYQUqAfrR8naGlaLKktHZ46SDN2HNRiTRzRyeD1inqhgeeiBCAAGrkddxIDbtxIyx5mZNeK1_pAjS3mTTuMN5hX2lWiFj_L0goPC0030cJVlw7dZCBSFAyO94dQoY_R-HcaYV7kaCTaBobm90tQ0fLeblkpep_EotpOXCUTbwSzb-s0uXMSnm0Z8L2oi2_g0lJefW6SpB8HSo3YnkcuvHQzXDJXv7pfvg-v0vqcrHVteupq2J9NM8-X9L2ViOyxJSqBC3-OLrTXpRR8n8O4VU2vHhmgo8CDAqq2YcM_ABiyz_NkGmt6cjVid67smrbZT3PmZUMgtYt03z5Bkf8aF7TA3unCkyGhH0Ue_SPloXVClqS12cXR5cADiXEaCB1X_glfYS7Zc2Tt2aB4qVdprbnpdMl-hbzU7KPWH-V_p52HzyzoL9wey2QWNTfCcrqxMD8FEask94MfFTVTsDu9SE5zKwL1QrnCv7I3FMSBhD32khDnyBj9a9pQa1mH_NTxYsu5eUrBAtpxcniwrL_0a35T4FaklHlDwsORKM94Sb_th4IHQ9rSVLnqgYyXZAazFcfXj-N-LdUjG5yqkzdaI8va1PXJLjI5bUBjK24aiACaVlwpSIsiwzwHGUNcRikx79yX0qh4OFDOfYMf3SvLdB1U9MOOBYP_KwlLr6Jzksiqe7Z2qgdbPJnbOlOkB6atUPv_wnLRJVllmJ_E_G5p0OxcbQudlDjtHg1d_7a6X73TkgXMjUtCWuSYSFnDZYcePuhk7p70-TvBttaXXwALoA8K9Xk2wmUzb00LrKPyRbbXUw7VLu-yBlVSeJgV52b-pyu-YjxIGIynCRlbtxRy9aq-JzfIKC_GYtr_HaH0FCol9quqOzGvc1FuaG1yytWo402rnBznNoSMzmW4-J3fCRlwToHHW656kDK-_ouWq-Tr-B6ySa-Oaa3QjZjkxNxTFlWUDzyYKSbbPnh3k2AhoZ7x66Fc3MjAAbNBYVvvy5s-h3Eo73cXsb__FiICOe8J71_PA8H-DGfzZM0pF0PkQtvlE34QKG3jREE77iFlSAiZER5m-yAVrXk23leBazB9fdT-JS1cu3oSP__b7gyd4M_AglUPPIodqx1Ytew9xbIwFKt5pfyx2YiKTON7RY7wj7ZPiTJiKuBqjLSmBIxx4VGeglAIeMuP4qTazvRReZiMUBSzXn7mnNda-by3Hea7e6KwT28ypO9aM6SrvVFIEaFzkHMZQXEx3xhi__ZSFxJNlylHyPF71_7YiJf_sP4dc1EEQhLeLh4IdBALv1LoriIb8x3QVzKQs6op2YbfgmpWryf8uTsEMtXjC_-86ZUxkkzMHYBl1RYi5ZPvTWPZoEvSaAP3yHN60ugGqOdGnPPGU_9_MrMdcE5EV0g3yj8GDB1Gsbe4-jH7enh2oUd_jA1FScj8KinTBYvOpXV6SZI48fkwf0_A7Y62Fm--1LPOf9PSySe47q4rfFr0Q9jCA1qZirfNySJlwlTp_jJv0o446Ep7wxbvXB8MK_TIc5IBzlHvYh3DVpTueH_7J2KVMW_MzvSvaDhHR9nvGp0Py_KY5LosXBykkxD-BjS4SeKAGF016XRjr-fFjDi_W4z9sMlqaoJtBbOXuXqaOoOAIo7XWzuxHTRPxJGmItCw6n05LejocS1dOp6rA35Nf5RrrVV8HGJ2dEeV7I4gHyxprsmWGdYI65AgxljSXeVvUowVDiiKT7SgHcTVWLOsolwlPkLFhUfhl5SzxvHqSHEYc1ADNHf2oOeIiYj9mjmOM6wCDmA1220p9L-140w_Dq1XGA==",
  "id": "rs_0d2807bcbd85ee72016ab438075bb887d0b29c6955b0e2c542",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.34,\"right_z\":0.035},\"note\":\"The brown plush is centred between the right jaws, immediately below the safe’s handle in the wrist view. I’ll lower to grip its body rather than the nearby safe.\"}",
  "call_id": "call_rX8D2LzAeWTaJzzfc98sYlFd",
  "id": "fc_0d2807bcbd85ee72016ab4380937d887d0b3397880174d6fdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rX8D2LzAeWTaJzzfc98sYlFd",
  "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]: [-0.1032, 1.129, 0.9749, -0.8948, -0.1429, -0.1551, 0.9964, 1.1728, 2.0003, 1.206, -0.4278, 0.804, 0.8738, 0.9989]\nstate[eef_state]: left_x=0.282 left_y=-0.0003 left_z=0.1601 left_yaw=0.1075 left_pitch=-0.454 left_roll=0.0608 left_gripper=0.9964 right_x=0.2729 right_y=0.3302 right_z=0.0384 right_yaw=0.0378 right_pitch=-0.1284 right_roll=-0.1659 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -3.3846, 6.188, 1.3797, -0.0611, 0.0171, 0.0024, 0.4991, -9.5932, 6.0376, 1.0623, 0.4567, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9da6a9076162c97c6778d0c5a974f618792b07ffe728e35d7851785167f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ed0527e132be5127ed504a1d17b42c4f8b5326bc04597cb5357197b58b9d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88dbd3f6ce2bee084718d1979f341204ef4f8dffc28016bb11d40e8c54d3d13c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2199, 1.5604, 0.6048, 0.0189, -0.21, -0.2092, 0.0078, 0.0113, 0.8436, 0.5797, -0.3832, 0.0441, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3519 left_y=-0.0373 left_z=0.015 left_yaw=0.0706 left_pitch=-0.3295 left_roll=0.0566 left_gripper=0.0078 right_x=0.2935 right_y=-0.0009 right_z=0.1547 right_yaw=0.0037 right_pitch=-0.0567 right_roll=-0.0738 right_gripper=0.9989\nstate[joint_eff]: [0.4991, -5.2855, 8.1983, 1.58, -0.0269, 0.2125, 0.5788, -0.0205, -1.5111, 7.0359, 1.9267, 0.0073, -0.0024, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0982, 1.1271, 0.9695, -0.8719, -0.136, -0.152, 0.9962, 1.1465, 1.8965, 1.293, -0.5415, 0.8005, 0.8513, 0.9989]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1613 left_yaw=0.1024 left_pitch=-0.4362 left_roll=0.0518 left_gripper=0.9962 right_x=0.2851 right_y=0.332 right_z=0.0968 right_yaw=0.0335 right_pitch=-0.0996 right_roll=-0.1119 right_gripper=0.9989\nstate[joint_eff]: [-0.7726, -4.3966, 9.5658, 1.409, -0.3004, -0.022, 0.1197, 0.3214, -9.2239, 7.7197, 0.9402, 0.6422, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.129, 0.9749, -0.8948, -0.1429, -0.1551, 0.9964, 1.1728, 2.0003, 1.206, -0.4278, 0.804, 0.8738, 0.9989]\nstate[eef_state]: left_x=0.282 left_y=-0.0003 left_z=0.1601 left_yaw=0.1075 left_pitch=-0.454 left_roll=0.0608 left_gripper=0.9964 right_x=0.2729 right_y=0.3302 right_z=0.0384 right_yaw=0.0378 right_pitch=-0.1284 right_roll=-0.1659 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -3.3846, 6.188, 1.3797, -0.0611, 0.0171, 0.0024, 0.4991, -9.5932, 6.0376, 1.0623, 0.4567, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c9da6a9076162c97c6778d0c5a974f618792b07ffe728e35d7851785167f17c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ed0527e132be5127ed504a1d17b42c4f8b5326bc04597cb5357197b58b9d29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88dbd3f6ce2bee084718d1979f341204ef4f8dffc28016bb11d40e8c54d3d13c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgQsJSjnUPhbrCqGsv4QzIh86W5FuMWw5whUo6MbYBdzDmlEG2d8XTVNnxmHEeiT42VssoUegkZceTTMJQ8utJ37yVpTTiwo69OIvdcj8VkUq2FupBLztu0NMDDSlf_H7NmgiqRG4ZHdXDDK-fS96-eoNZA53w2slrBuqf7KCirgFYAR_5o7AhAGFg7I1gbGK24yd5CWlQcxmBICdvXRuTavV9LXkLLncX6bJ1neQGvw2fYKAK9OVbxMvX2IO-Z5MXyHUv47vDQvjQVlYgVUzNLbCzXmajqNg-dYUP9J4lB8bbpyaAt7vNWbdiRJlSqnnENUhBwM3KuKfB_1K9Q4jA1VNlhcdQyJBgsHAsNaELBGDbNmS0uWpKxhPyQHLCScCXuNUjl_RwiX3QSX5uy8AD_sLLNe5sjUJGwF6_FO5wxXb_dtqGv2r7D2X-zPGPSvNP2Kz4YyVW1ravXyY79rHE8U_82OpRmg_u7ROhkXV_xE7LXwfBXsPQ0PVFYv8OXkKmrh40CeWWVNTSxSyVO0m59-gNOatYsKtXEjpIqmtVkzTtJbt1RLmEd1E4M6lG2ft1CPZZIcpnTTRJ5CHKN9rT4CQTEa8c1QBi7sI34CbxVATXhWgWuG4q-a4u_9dyJW3E6-whWASFXVGoUmnE3XGR8MpE_5M99ZQrqRAN3Gz2WjHUuAVyVERrIzrnRmuH-mM4elq6Jua6B5bGdSiOTZ_iuLzLEupnYbVwSSlJEVtYOJn65Q5atImyfKOrj0A59qYC6acgwli0ARxjvzfil1TCiAo_WnpUo_rlX8e_wvmS4Fnn8GcNG3OEC9vifnToMyQ_bzc22QKLZ0dDFpB3-rzeuxQSzhi4ysOjPGtexjYXHfe0JlDHI1fY0zVyltS5dsoICVqDxjFKh_LruN6IwHnDwY6odCAWQuPk6SM2xKktE2u6_Pq5wv6XssqTcbJJTNYyJ7YiYq3nhaMqFWNPPdtA8fmKMtRK3RxRlmJzYawAAgJH4eRvttKxZJEG_EJ-IXrvEoV7qJlA4yx4diDc3nvnrNtAIQnVinsabjMrs7SwaHFxHA2tITo0ugzvYjU8WVOm1vFrbH4iZ6LG6QfRLBEAYiGAflXPHwZr9jeuZxElWC-48d9BxkxyOQze22B8lng25Uk-Xnouv73ylbLFdevcUav_y86-1rQI-QiGwClj0opTPzPpoNtTrVZoaN5tAtbeMe1lpYKaLMagMYVWCjnfv3eCUw0R8MOMnSWJO5d5aGKnNeoSQGQQllAeX9XOP8LuHVem-8a75EmEzhhMb4hUS872GVHjQDaKGIeMJWHM6FQfnm-cyKadPb8S6NoJOnX7eOTPytOgp_yfbDj1TWqOAfp318Jim7GWnODikRTujyq4=",
  "id": "rs_0d2807bcbd85ee72016ab4380c13e487d0a68483be5128dc9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brown plush body now fills the gap between the open jaws at table level. I’ll close on it and check the gripper opening before lifting.\"}",
  "call_id": "call_SGmUuwBLAUpHygRWFksgSl4T",
  "id": "fc_0d2807bcbd85ee72016ab4380d0a0087d0bd32e28635c658b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SGmUuwBLAUpHygRWFksgSl4T",
  "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]: [-0.1036, 1.1294, 0.9749, -0.8989, -0.1432, -0.1585, 0.9965, 1.177, 2.0209, 1.198, -0.374, 0.8043, 0.8886, 0.0085]\nstate[eef_state]: left_x=0.2811 left_y=-0.0003 left_z=0.1595 left_yaw=0.11 left_pitch=-0.4582 left_roll=0.0603 left_gripper=0.9965 right_x=0.2737 right_y=0.3365 right_z=0.0318 right_yaw=0.0364 right_pitch=-0.1163 right_roll=-0.1317 right_gripper=0.0085\nstate[joint_eff]: [-0.3077, -3.0974, 6.6667, 1.199, -0.1197, -0.0073, -0.0073, 0.0342, -10.1949, 5.6274, 1.072, 0.4811, 0.0611, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d47e24a93f881e977f33a0c59855dedd61e2d740a6caaad969b0cf65b2bab35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d43f6d5e7a0a55449e259ee809240801af89f90d88d8a6d3e2d1778248f73ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6438640cd848a088d847f18b9bcb31ae8a626108df9ecb404dde59216fe8f15",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [0.0658, 1.5642, 0.6575, -0.0608, -0.0559, -0.0097, 0.995, 0.012, 0.8448, 0.5793, -0.3885, 0.0437, -0.0711, 0.9989]\nstate[eef_state]: left_x=0.3547 left_y=0.0369 left_z=0.0172 left_yaw=0.1056 left_pitch=-0.3875 left_roll=0.0557 left_gripper=0.995 right_x=0.2927 right_y=-0.0006 right_z=0.1532 right_yaw=0.0048 right_pitch=-0.0636 right_roll=-0.0736 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -7.2137, 8.4308, 1.4188, 0.1392, 0.1245, -0.0952, -0.2803, -1.6205, 6.9949, 1.6825, -0.022, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.129, 0.9749, -0.8948, -0.1429, -0.1551, 0.9964, 1.1728, 2.0003, 1.206, -0.4278, 0.804, 0.8738, 0.9989]\nstate[eef_state]: left_x=0.282 left_y=-0.0003 left_z=0.1601 left_yaw=0.1075 left_pitch=-0.454 left_roll=0.0608 left_gripper=0.9964 right_x=0.2729 right_y=0.3302 right_z=0.0384 right_yaw=0.0378 right_pitch=-0.1284 right_roll=-0.1659 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -3.3846, 6.188, 1.3797, -0.0611, 0.0171, 0.0024, 0.4991, -9.5932, 6.0376, 1.0623, 0.4567, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.1294, 0.9749, -0.8989, -0.1432, -0.1585, 0.9965, 1.177, 2.0209, 1.198, -0.374, 0.8043, 0.8886, 0.0085]\nstate[eef_state]: left_x=0.2811 left_y=-0.0003 left_z=0.1595 left_yaw=0.11 left_pitch=-0.4582 left_roll=0.0603 left_gripper=0.9965 right_x=0.2737 right_y=0.3365 right_z=0.0318 right_yaw=0.0364 right_pitch=-0.1163 right_roll=-0.1317 right_gripper=0.0085\nstate[joint_eff]: [-0.3077, -3.0974, 6.6667, 1.199, -0.1197, -0.0073, -0.0073, 0.0342, -10.1949, 5.6274, 1.072, 0.4811, 0.0611, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d47e24a93f881e977f33a0c59855dedd61e2d740a6caaad969b0cf65b2bab35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d43f6d5e7a0a55449e259ee809240801af89f90d88d8a6d3e2d1778248f73ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6438640cd848a088d847f18b9bcb31ae8a626108df9ecb404dde59216fe8f15",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgZPJTywI_Ok7ZZGZEjcoTVuf_VYIXtkgoiSuF-Ju2uImH_zcN0k4RauBkY31ZyL5YWu-3Vk5oW_vlUSfQJDLnfxuokPURUNdRZuqTB8OCo7z1rviuW_okWIAQ0i0GDJBZDCQAqMCKXebr2OsKzweSXYkkyZyJzv2Pr6wfksYM7MBEHNVQhZ5I8vzEBy58Izi8C8yplgaZ3FD4n_vn-Xb00TKVRiuGHv56Yk_bc42cJE2ecGJ-YGDnWIzmljba1zbJlS4dgQSisa1fYcQj9AZIMllY-V9De52uaGI4g-UmwfizuRPFtj1xV-Zsf6wPr4rPB_C3TJaCZ5NiPmcp2TtlpQdlZhok9_RhVlqpEICV9UrqfPp2XWMwBt7dsovq2pcvoNd3yG-tTfmWJy_6JXUjVfdlP3icDcNcn8U1_DbKZYzEPUCM7igR94OVlRCC5d4AnnbAMh6TdXW8YM-Zo2TddCdqcjb8lMf3GnVvYL9SYtw7wqLOB8s14FZNlQVDu8Ax5cBTc6PM0FBmHDbie-XbHQZ2BYAKND9NnLMV9z69RAvkqudTUP_PEWJ_dXDlpKda2k6yro7HdLkF065hYgVLehfVre13ORS5C8RQ2XZz_TH3ksZ3mmY9LsR9gPhf5-SaTXGz8KKTHhpZLnFB4ber_X8SQzqDBzK3oOlI1GbhR5_Bcg2lIoQBTN-K5WVh0Zzls0LAWjumY_ONV5sX5ZEqNW7ezmDQ3eDe-c8YOSixk1Gzp4a6xqXGDykwl5su9KRm-9O9dVMiSUJta5r59jILjhT6uXT8pjtK-0xWotl9b26C-05Va12wNUmKeVT8HcgDE7gfaJOpNIxIgrUSF5PCafPDaoTvOCtQ1ZFclrRNXa3MeKvRexUnAEfSOujo1VmzgykarIMUfBLhmk_HKJ8Mr7adjJ8ZS-VajaxXUrGR_s0O6grdLWOznfMaotr0E81bJyRIq6uJEYJdaByZYimctdhDRRP_YHaYLlnlv8p3lK0nntMD1MXo0ZZqsE8g26RYvT9y4p14UYlQE91DxSIGZ08FVkaZePVL73quB62bzS5HvqMA5tgmONI_1r6e7t8uvvU48HpnvVa1p3FvmlgmThdYCm3tDsLDtog3KiVgUXAqFsqNWKz8LyvRSnjI8ydW8FsPbhXxHiBYdDhTAQx01W1RDMpdca9wtY6y0hsQcgb-HQGDyQg5J3jVV6F1yPbEHxpg5d96U1S4guDKgX4lM9b7RXU7Ph5tpunPBTgxHd_7zHqkrAjhet0PigQ-fbAGeURXsWclWAjXCBccK5rM2YWDB3hnjMWOgocZ-L5FTdvTHUmmvRIF9IYKtO73WBs80TzFBCDX9NdNCAfVb5uVsraBqvch7VneQK1PatoIFtdFnEjPK0c05pIyH4Jp2VCiTuRY1y7mnJMJHCucNh7AHfipGoFvO01s8C575da6N2ACU1I3mA8LxvEb_V6CUPw03J6F14Wn_sqxEz76k3S8x_qfdEndEzCbJTRzzjKXQ4uiYtVrZ2XLpOw89U8Wg4xlR_1Ls1_xDBDXKlUuyr83lfjVQUxLR76myqkxshJitHzafjA7YUuV1TJSrKqEnARfVPah8Tx_GyL8X6YLbfAPOTzm6p36-ndXlwmYNhihUtFqE2vOjMb141oWuMCVe_0Q0W0YI-4_212_FjNm2Krm1UT0HbuMpPSHjJmo1_x-5eEJ9-SMgaFaepQDSgyMu3AYWW2gqfANzzK1pTbPSUbFcaO0T7L_8aiar99fjA-lSCRw9tCxuQC_OmkYU42azcL6JRxALmK3kGTSgMYOIreTboDycprijkuUNZI2jSsuOon7LIzYg-slxeK1vGTW8qz3tTI3FJh_6RjjiEEmnHSdshjsX3tXacDB_6EyMFQQ4MgUK_fKFZ3oRP0g61uMOAER61_vhPDTOMBwfZeAP7qBrBr_LNtleVTsFqtU-Jnqt3UkPYgm2hF4GmeosrPjQT9Qe0uVlE3qYV4P4_0Q88DZy-SaOerJcN3vObQQ90Zg_XiYOhWN_hXSXtaDh4_biHCPxjV92biJlmj_8kNdej3JXd4QtF9pUfjEcIijAdGdbaEFv0R8OPagNgISjtw1IPaGYuTa-RuHFRr3qUjebBbXnCTIZixfeFiAQXWXKPqPqumiAoqqaLNmmdMDQaYawOPF8WT7uRXsLB2gX8uKCQgb63Z53qxOe_VMX1Wbal4Gs5WTAvpWbW-V6RT_VHvDYGyqG_UlieDtaB2ZYGRILQGvuy3QBfUdyUaOGkK2ITL9MY4c4dOdjcdCemUGrm_xZU6r5fkcC3FWdK6qXs2SUGPoKCV0-Jic-czjCWAqdXoSynTqoh5ULRVnQKpG09IQv6l2pCInuw_n9uEv23t8KnDhRwvPQjOMFZy1ScJ131r67JA3wbtE-kwXjF2-dy8skaJxAREUuGIb-_Pqwa0XOd6fA3IRP5udMOCTgW7brGTTTYs4HRrtz6nzxJGp7gBoxOGDxDft_WQnNAJbWBicxTyBOm9KuuyMw5sIqWaVpCxME2RpudpaPROx8bCDnaS2rCA5_2lxNKa_m1MU7Fdkn9f39KzxZz89efDt9o7LmbE9vdXSV6CiRsltw0SXnL78MebzoJhaJigKdr3FSYpAae3hPsZDBHCuV4v0HVwSr6Op9WtjH5iV7nAyQoKnwsqZGAsVrI2QfyCF85XQ0d_2vfUgU2kGgz3Aifmghl4BLIkGR9aZThk4RElKlzALXFN8arfFh9-PTztWrehbPVp-9_sJTsFUGyiaXjcJ1WBuq_U7US2B1oUNQsQPHKFHAyiMnobpbZZ8tDBY-DgBM9o4BM7oSddSLxtNSwEYiPh1k4fE0Sx9klgmDKuh-x0HNOOtlQoJoW1krmVhNAzKaOfePLSC5S4rCsTTF6mZcyjMFM2XPlOnRt8cOP6yNVmz0p6-pXiF6s53cZU3GaUSt6hYDNBGXEiNCqyZXEtK_a9tKaWX3D26ghWSkh9DJkwZE1AEw21cVhI_QAAAIqYkR3jzY8eAqS5mTfeaFNgsNU3tAHBnWEcpmPETAwpsdTaQjvYfrXCTeTr7f3iRF-QS1urfIzFKN0mgmvNRsAXP31c4QjFArdrQFQVOB6fKTOKmPopGZfICWzgF-93DNuI6eNdlvr09KS7tXVKlJKNWcB9ZAftWZA95iEJYPNfUHqrK529yLTnAPuSfbpz0C-nnVpWAdfsoz1me-s76eagzO6yE6D30HtdqTOnhIyy4HYmtbZ7NnhnG_M8nVoyMoYsc2ZBsU-EWy4Fm-U4W9PwPOK2OMxDhIfT3H1jwmhbGH7BX8Jlcr3Io0_40w0hCHMNTRbmZHuiHyGh8jrj3FfIZG0fKY0v59jqJZzkurZBD3YRcfPKSTD30imSQqNmK9yw5i0dabi8-Fky3OXFPmHdL7npicpMWsqk37nNxu8IG9NRckMldkW1l0jI_PFiC4l2Yv3t5rueEX-scd-3cHR8h2fMZw8hRPPtqSQ8D1IwN9O379YeaVT4swBQ7G8EgB8rCuCQcG9Q0-CChN8cPOikeL_3QTQMlfTwk8k_N5O99X2YYDa6jRU2yob4WzQZIr7tRie3XSdYQYOUJecTMWxcVMqw_5NHFE7k7Ly6cQ1fAm8uztLYSwarybUvNsqXePWIf2zman34vTdA==",
  "id": "rs_0d2807bcbd85ee72016ab43811e87c87d09b617d64bbb9133a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgZYVuBCS-sWGbbYdcyexe-oI8Zacgu9boeY_YadhNxkSWoVv-i6ePveuHl-CUAcJl7l2ZHKg3rpJsopNhJXiHS5v50WEsfj00AqpnmdmFqLnDOywtewNS3jFPa4Tyxefc3sY_lzAW_NPlgnNOX5EfDrISDo-9_CV1KJPsV5PXJCiRuIBGp0qKTPl3cx1I22jofK49fEiS7TUOGE8wXLnKo4qoOJsCGsF-jKNIkPtEX2tt3IVhRqOORAb6FNR2Y_tGvi_334vu26-DB1q4hTQYCfPxHZfM3P5YQy5K4hmYZsHblMfTdJnd6l_hP32957olrj9PwMFJp_HPEfUZ4FT5lf5t1OrpNREyI9gOsSzGkfFIhduGCwX_eFjyGnE7a_Wlomfaw0MP21_lDdCutxcE4vz8BSRJnfq5kwhRPoPxDjtpt7c2m60_c5Gh_Dq6qLRnadOSKxa7zoMGYsMTKX3eaiG676AZPM7fqh9KORw333z5Gw-yNywB_OBvz4tJ1ujtR9gnkK0M3W86ZIok_6FGdZdjyhon3BldnNPVzmO-2fr0UQqKfVxi9WwbYDSridJlaFPiAQhKY4a4Mhi1QFIysskXgN19PduUQD1KHMtfwpYAEuydqB5lg2k1w-pQ8lw0LwS9wT_p-52GdnRzrKDDlAUpPbYrJN5xEHG4ktSsrm4RXFlXh-FaoO57j6r4Y5l0Zazg8dB6HetAhht4pF_mKHIx32WH2gZMUx2brlJa3gkbqLb3U2RQg0HkrGMTXawPBufA_M739FMyeHvFLgN8MRn0dapbBGVHwwX99Ml8NS7WrI9ZwpBsO09phr4-FspU7glgi7UcYghoyxwSZ85vJtTbebu4O9nUC1KVBmfV3UkEGfEQCgujiB8V7qk7V5i-9PuPPkUz8CqbJcMtvGt6wjMKfWKB3cnv8fDigPLQsBZMVz_Z8-ribWgNb74lMkLsQctiGdKNnocaK-Vt4Sq_zdR2mu9QhQuixK-gplptLAJn43A8NVJhoy1hdmB9GBVZAgewAIeFH5ihrFItQ5kul3lay4diYFTXTBRvrtzRRRJAB2XP29SICS17xWGfgtvfkErfIVv2UJZ2XTcopCA7ZyUydXs7qb7lUvzBuVF_1jY5pXogy5b-5V_8j-IaS8c8Ua14KGxdU7W9n8J81eZHK5kUxz6DRDcmktFFLYhAGW1iPL-GQHbAMefrCnmzo-S6lYt3QV6MJoSr_fBd5_boHnY91oQSTrd_CIwpQZ8czPo6DYzMi9JbOEcOD52j6woSsu79796ZtiAyVfYvdOX0hs3la7cLLfTKMNIHfkkr9YXwFv-D4TATM5jdi3j8q_Ag0aFiugXX3UujDyNMFH2trbGw-HJ5UBZgUj651NkAjFepjcr5uQlxe4oGWMr8oZM_ZXRRRrAO3GEvi95Tm9hMZMalRIGZ_CoKDngUEEpQKS22w5wI9NpmmIllhV_Hyn0fIHZMxAisY0jucUmkBxYGPPWb_WrFSsraP83MRb9wxZsOYyha4pPV7HJKzZi1afwPm",
  "id": "rs_0d2807bcbd85ee72016ab43816aae487d0a15e8efa8d40377e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.335,\"right_z\":0.06,\"right_gripper\":1},\"note\":\"The brown plush did not stay between the jaws; the gripper closed empty. A smaller tan object is visible just ahead of the right fingertips, so I’ll open and move over that object instead.\"}",
  "call_id": "call_DAX90qUWaanGkvtixwGeILMd",
  "id": "fc_0d2807bcbd85ee72016ab438179b7887d0a26abd487a879cc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DAX90qUWaanGkvtixwGeILMd",
  "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]: [-0.1036, 1.1305, 0.9749, -0.9016, -0.1436, -0.1589, 0.9965, 1.05, 2.022, 1.2877, -0.3859, 0.7422, 0.7315, 0.9946]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1589 left_yaw=0.111 left_pitch=-0.4619 left_roll=0.0614 left_gripper=0.9965 right_x=0.3215 right_y=0.3278 right_z=0.0498 right_yaw=0.0342 right_pitch=-0.1424 right_roll=-0.1556 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.3026, 6.5299, 1.2234, -0.1441, -0.0415, -0.0122, -0.3487, -10.2906, 8.1026, 1.1453, 0.3883, -0.1245, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bf6b3f3d4e4436eb962df947fdc44b67e4c1da7a5841dad483b0205f0604c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88faa91efc5b0018406e6b38118ed34bf45bd8ce7232abba37bedf31fd3a9bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79dbf46ce53fc08f87d493b25ebf3dfe70e50afbdc49fb6d12616893cb7b421c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0982, 1.1271, 0.9695, -0.8719, -0.136, -0.152, 0.9962, 1.1465, 1.8965, 1.293, -0.5415, 0.8005, 0.8513, 0.9989]\nstate[eef_state]: left_x=0.2857 left_y=-0.0005 left_z=0.1613 left_yaw=0.1024 left_pitch=-0.4362 left_roll=0.0518 left_gripper=0.9962 right_x=0.2851 right_y=0.332 right_z=0.0968 right_yaw=0.0335 right_pitch=-0.0996 right_roll=-0.1119 right_gripper=0.9989\nstate[joint_eff]: [-0.7726, -4.3966, 9.5658, 1.409, -0.3004, -0.022, 0.1197, 0.3214, -9.2239, 7.7197, 0.9402, 0.6422, 0.2027, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.1294, 0.9749, -0.8989, -0.1432, -0.1585, 0.9965, 1.177, 2.0209, 1.198, -0.374, 0.8043, 0.8886, 0.0085]\nstate[eef_state]: left_x=0.2811 left_y=-0.0003 left_z=0.1595 left_yaw=0.11 left_pitch=-0.4582 left_roll=0.0603 left_gripper=0.9965 right_x=0.2737 right_y=0.3365 right_z=0.0318 right_yaw=0.0364 right_pitch=-0.1163 right_roll=-0.1317 right_gripper=0.0085\nstate[joint_eff]: [-0.3077, -3.0974, 6.6667, 1.199, -0.1197, -0.0073, -0.0073, 0.0342, -10.1949, 5.6274, 1.072, 0.4811, 0.0611, 0.5543]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.1305, 0.9749, -0.9016, -0.1436, -0.1589, 0.9965, 1.05, 2.022, 1.2877, -0.3859, 0.7422, 0.7315, 0.9946]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1589 left_yaw=0.111 left_pitch=-0.4619 left_roll=0.0614 left_gripper=0.9965 right_x=0.3215 right_y=0.3278 right_z=0.0498 right_yaw=0.0342 right_pitch=-0.1424 right_roll=-0.1556 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.3026, 6.5299, 1.2234, -0.1441, -0.0415, -0.0122, -0.3487, -10.2906, 8.1026, 1.1453, 0.3883, -0.1245, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69bf6b3f3d4e4436eb962df947fdc44b67e4c1da7a5841dad483b0205f0604c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88faa91efc5b0018406e6b38118ed34bf45bd8ce7232abba37bedf31fd3a9bcc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79dbf46ce53fc08f87d493b25ebf3dfe70e50afbdc49fb6d12616893cb7b421c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgeq5fuAYWcBCHuhylGQ2D3SOt69He54tFKPcoDvq8oxms5lFmTtsyQ9_51ih999B-0b6cjN6tKPZhCUyXG53eAB7oBtbeoMNWaAxZtFeXT7_pKU1S-kg54JfJ6tNumcae2Zde_bdxyBSNK93r1kGCmNoxKM2jcK5guwxs4j5IC7WztykeiN182-ZbCU8VNJsNc2dfwHW_xbX6ESTyR_A38_ohIZQyDAZvXVCdaTJPuCV3AjSO-GNry3u_Jfd670USs6ZER2ayokAqBtWBldITUaBdhJN_g-nia_RfslKS0xXTSXge36LN2khIFeTvuiML5f-e57dNacOZMwgqNIDCxsrnNUyyyWd2VZ68euBDq7AHxCarsi3lP17Gfvlb9rH780XflGuQcSxRHFR7DyxRYreZLxOlIebZaxe5GHL7PRmzPS5MO5mKyompe1PziZCzk-Ur_MASqXLoJwx5D1DjttFdxs-kDCqYmOnfcJju7ukKSuO6M8jt9X1HCmgSLwMCN98nIXnxfGAa0qpvX6v-5z_sJgWocFOgOuLIxp9WSqRA9RgNd4XdpDjeMhwJWpctsiV0W0p2vX9cchCDDqk4SfQ-T-wWA5fqxe_qcaDqGKHl6nOumFNrUTjThmOX6Ng02YBpHoxfABRcO44SY1k54uPmHxXdXx3NMKq3diC1ngn12lB125Mzc4BpbUNblHiVhO1kBentdQG3DRYebfMLlXkWdOsg3oc2l_-vd7znSd8jpuXK5Q2QOxl2I_BoZi0oe97i0rc9ZV-6jM-g1Way2-CxIT2naMxL5Fx0MVQs5qLjVEaICCtzBfeLlQ6tr8JU1dx1YrtjM3yiE7WAULpkN9NNzuc0B0KdY2vENpO7jpx29s8JvU4Z6uU_FpE3NmrWvejQi0VG_Pox8MrXffxhoS6q18tqGnMFhRWxMs3NIYRVksfm6Es7kf8amCZ3SAASto2z3r6rSusTPwmPmuUnKcBVUZxGJIoMfhvmNWcCHq5cRpifggvsiKWNSADziGUEHopS0pwhkmNDC5IjhC-3oaWcoqbjOm-Qob6veuVxGT1RNgJOx7Ccsx6rqH0dhyMldnUo3ye-bJaZLk7JIqKJEgIvTjvZgPvfCo6N8d2NZFg7FRsz3b32lUhixPpFb7-eT42u3Nkr9OxPj3_2bmpm46o0mLehSIbLTqUJ8nk7YvHUEjbtEkbFxbObcR8wndw06AvWPX0OqUKVpX-GWA3L2AodkCPpBG5-lm0oszltt2RFBZjFJh37Lg0jdQMMWek8xIgl08IAq4Pxg8YsaBOo4GB8sftge8q9HoZHD175S-yQMU87Y-_1kpsgD72o6SzfoPdzmc6Y5BVBoiojriYUdSUn3CclZRE5zErEo8W-VG5-d15yOW6R-TwX3x_O9mAjrmqGmlYmQPUPm6cR33mbfkbT_-QiaJeqgmkt__o72QMGxhBHk7wgsl2rTDCHXBXBcj72R95U0OAg0Nxfq5tfJ22CEAmsv5-uF32lJuFZvQbsoGEO7tGsVGwmq_t6H758C2d6J9o-23e6nn1zU-Go9z5tcqi9GIR61SakTEFX44TMEJRAWGSpzLp9huqKHYp8bLIqWIYhzluTNCPc78aufwSdUj0Xj77KBifzULsvWgCdNnqASuPMZ3xIcV_014Gr-YE-L0i64zh02e9SQ0nq-V2rhgig2KxyARvnlUN1MagnKCglpM8Jpbf_m0k53w0h-U2SagU2iOO5t1BNhK8Rc8o3qygKOiwJsKAu2ZQOdB-SzOBPrr3Xm9DbaW-ABV0VTri060qWVTfL_fKcd9Vlz5VNLkJrl9QE3iVD0O_k4S81LPNBt37OEVCGFAA-Agh0irR1mWUM3YrFk6ZgwH1C6jRFAjHn8n0TTDkwzyaJV7tuvrvHn67w_WL8CNAlTk2mJXXgiGkAPRHas6n2xin2VDojBbpkO2NTCJal0qhldOYoO1Zua2bZZt8jpdmMTjL8_G3m4Ff_SHbrg5hkBpIat71rOGoHBGs7u0lxLxEMRYo3A924zkUaFqXqHnfXMw6-qxdYkueF_lw8wu_PKugZj_Vyi3O3hFazoNRcwJ1OGIT65p04u_ErlW6AkYL8w6e3LdKAcUgpASxbNonToruN5UcWn-BHRmsiiMx8Urb3SmF9K0NYgLmocTekYrkP-sqxlWT63G74D50Vmq5_M7p3BJ_6_JS5r9eyEDoEXFxK0B45C2LQxpQann3_RPO2Cw1tw7pkV722CpENekUVCyaerbXKP2dy-I0G6kJQUQ7HJXqjpYexzFPSEnggvBESr8Gefg8rL3G3fdZfW1WFH52v_Tg==",
  "id": "rs_0d2807bcbd85ee72016ab4381b0ed487d0b89783ff23be4a76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.18,\"left_x\":0.215,\"left_y\":-0.265,\"left_z\":0.085},\"note\":\"From the overhead view, the apparent tan object is the safe’s handle; the brown plush is farther toward the front-left. I’ll park the right arm and approach the brown plush with the left arm.\"}",
  "call_id": "call_UmqNMzvtwHvAzB7JAyjhEXgC",
  "id": "fc_0d2807bcbd85ee72016ab4381d3ee487d09de2cee7b5438c60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UmqNMzvtwHvAzB7JAyjhEXgC",
  "output": [
    {
      "text": "executing move_to over 28 steps (2.8s)",
      "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]: [-1.1477, 1.6939, 1.1618, -0.934, -0.4908, -1.1957, 0.9969, 0.07, 0.9112, 0.7162, -0.6098, 0.1497, -0.0814, 0.9953]\nstate[eef_state]: left_x=0.2095 left_y=-0.2538 left_z=0.0769 left_yaw=0.1162 left_pitch=-0.4954 left_roll=0.0948 left_gripper=0.9969 right_x=0.2809 right_y=-0.0031 right_z=0.1558 right_yaw=-0.0216 right_pitch=-0.2111 right_roll=-0.1601 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.1316, 8.1026, 0.5104, -0.5788, -0.022, 0.0366, -0.3761, -2.6598, 10.5231, 2.0049, 0.0024, -0.105, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19869dc7b029ae80967925824dd6d24192920408dc2e88254794f67966d126d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94e2d59d661162f192af1f2f3f3b06ebc954a0378c7a1736e0029abcac6845d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53083e001e06afc8952c045bc4a9c807b8c60795166264dd3ea299a25a09930c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1032, 1.129, 0.9749, -0.8948, -0.1429, -0.1551, 0.9964, 1.1728, 2.0003, 1.206, -0.4278, 0.804, 0.8738, 0.9989]\nstate[eef_state]: left_x=0.282 left_y=-0.0003 left_z=0.1601 left_yaw=0.1075 left_pitch=-0.454 left_roll=0.0608 left_gripper=0.9964 right_x=0.2729 right_y=0.3302 right_z=0.0384 right_yaw=0.0378 right_pitch=-0.1284 right_roll=-0.1659 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -3.3846, 6.188, 1.3797, -0.0611, 0.0171, 0.0024, 0.4991, -9.5932, 6.0376, 1.0623, 0.4567, 0.2271, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.1305, 0.9749, -0.9016, -0.1436, -0.1589, 0.9965, 1.05, 2.022, 1.2877, -0.3859, 0.7422, 0.7315, 0.9946]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1589 left_yaw=0.111 left_pitch=-0.4619 left_roll=0.0614 left_gripper=0.9965 right_x=0.3215 right_y=0.3278 right_z=0.0498 right_yaw=0.0342 right_pitch=-0.1424 right_roll=-0.1556 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.3026, 6.5299, 1.2234, -0.1441, -0.0415, -0.0122, -0.3487, -10.2906, 8.1026, 1.1453, 0.3883, -0.1245, -0.2222]\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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1477, 1.6939, 1.1618, -0.934, -0.4908, -1.1957, 0.9969, 0.07, 0.9112, 0.7162, -0.6098, 0.1497, -0.0814, 0.9953]\nstate[eef_state]: left_x=0.2095 left_y=-0.2538 left_z=0.0769 left_yaw=0.1162 left_pitch=-0.4954 left_roll=0.0948 left_gripper=0.9969 right_x=0.2809 right_y=-0.0031 right_z=0.1558 right_yaw=-0.0216 right_pitch=-0.2111 right_roll=-0.1601 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.1316, 8.1026, 0.5104, -0.5788, -0.022, 0.0366, -0.3761, -2.6598, 10.5231, 2.0049, 0.0024, -0.105, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f19869dc7b029ae80967925824dd6d24192920408dc2e88254794f67966d126d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f94e2d59d661162f192af1f2f3f3b06ebc954a0378c7a1736e0029abcac6845d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53083e001e06afc8952c045bc4a9c807b8c60795166264dd3ea299a25a09930c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgk0WB8ncxLV7xriVh0aI6N_J1Y0rKnnTt5wXvFDeTNzLJqM9D5usH5e-QX_rUrM-UGEXfW3Wkjkr-3Qbu4uvT62paOKs3bM36MH8SeVKlrr8bOvPVn_IjnZTyGGg7fDUi_7Sbwg4vGU9TGd6xE3v9Jk9ZGVWbXOvMTMWSb13VWwA-ucNpUteyhjyZk7aZI6cPIhnatRZ1ekks9gn3sqdjfHt1TV8xPKkSUiGjNiCRiGKNeJKQx7_55TOu7XTGgfZpEoOEt6iOGBDKeCCxei6bwbIuhX6c_v8VEHG0WW1-lZzogIQDbuTQrV7gT697RY95bm5Di4prcDZ4OxkyMv_AX84AZq6-0cWHMJdkR3Udbmd_u5LJLVAbvy4saBmegCuxUYjKhYUdMKpinzRdB2ZfZl2ekMJdW0joGHcov8SX4WeIHI_XpzO1kvZ-XLuWHmkqxwU92CiLoKfCrW8B7bRNsrdWwmujOs8YlOojX-OuMDqBhrI8b9_Y8iwKL-upBVydZ7WM5GwGhGxe6i6tgH6K8prxv5g6U6vdUD298QeHZTcDOjXXIN17Jefe72qXvPSq1kL6XcrqjV-Osk00BxKd4Y03vFgnjEP8rNxhsziR-cIvBwfRIeVpRVI9AN9hpBQ7pkZxT9kfQeRGa0GysMoEnKJPwvyshTWd483lJSJ88OXDZ-m-3i6jwnRGj6VX9jj7d7xbqq2RwC5MomsD516r-K-OjLAHj4bGxUjFmeTNgy4OK70g1eVtvO94gXwnviEIOR54Bu098JITPA7XgJNocOFnpAjnHpI3h0K1DCHNFqPpuRhV1TKibBzNDimNYzbO84yLfcZGlWLn5DaiuBV79illQLKz2en_Foi7iwaiVh3ytHI3k2KyJemd_1F7lTU7vJ1sZ7KCdPwogYLXwtrVL_bKsuVgXjvH3fEMntULUqSTDTvoHlwFbnCnUCUStV38KWc0smOEWPGy5YNcMXhI7WVty4mWio8N-VGj86rdPKb5dkJ_ESQufUar8Jb8VqVyUrYkRWP3RIctD3N89UoSmftVtGIOn5EE79gOmp-daGhASzraGkI-_YsJJMw1wNxLoVG5gepSTtoKC23Z44sQVn8rN4JCoRJb1S3WHQcBEKDyRmc1N0RBL2jjKpoYB5DyWf2fto1VIR3ux8zlSFF0A3-zbgQPZY68RADnwB49Yb1UpdNJ-pGJdjfapZgcpGntayOGRNYpS9g3j5zch4vdUZ9lYfZzTA6YgRgMPDX2CLL2ERlV5mZDeH1Atldci9nUpDEap682mQ-9TNgJ2Yey3XXPopiDjVpqWRoqz3yYM-a7iep_d7aol-q6Tc0AvL6daGkhyShrYgj8WvmyADv4AkAnYF6e1yBNrFvJ3mU9SdCX5BqFaEj-eTzeIOKDI5CTx9ngkx25ozp0vZiwpPehHvc606P55gV78eqR5wEVymWsmtkXUbEaSoLQKjKgWruYRRrC-b2Z2GTrVKK1hiKYJHfMrvT6xL5ewxaNRUw41xCFHLx4Ox4QEES899UH2Qs64tNQi93Yw-o_CtV3kEuSdikAat33ef50SqshYHTHSGcjI7CxkcEHM_nxuCkSx959BpQlwwsTFlWJHLmX-1ObA2Keish8PLKJvdmkXRquVYZT1ZpwZ4OeHzAmd7m4eYjIcD2af3PwpOu_n0-drA-WRiyQKzrBHtMGAOKKCPijWvtjtc0AioJQksfDS5FAVQIJSBkekL6yjyN5HEo-F8hzltxROr8sqoPtZvlYzJu9zMS4UuCwZwvcOT-G6NuWXHsAP7kEZ1I0O__q2VZ4nnbLp2O_MQX--ZjyuLBunJv0vbObMT83Zf8hqG5Nm6Iz7qIxeLM9R4-r1XSfaCSc_HqscQvKe1as9SUJVyL0gUpTvfiSQj6w4Eyamh0u1txu99fFt06XxVd93jzC6YNe6atIV-uetJCOldM2tjTMh8OpaT9YA9_t0hmf3pP6-itZMExVF",
  "id": "rs_0d2807bcbd85ee72016ab43822073087d08fdca90db0e72c70",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.232,\"left_y\":-0.27,\"left_z\":0.035},\"note\":\"The brown plush is large and centred near the left gripper’s fingertips. I’ll lower into its body with a slight forward correction before closing.\"}",
  "call_id": "call_dZMYGvAVirsp2SXtGwVsYvKu",
  "id": "fc_0d2807bcbd85ee72016ab43823837c87d0bf7e67682f12bbe2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dZMYGvAVirsp2SXtGwVsYvKu",
  "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]: [-1.1137, 1.8095, 1.1625, -0.8371, -0.4831, -1.1824, 0.997, 0.0711, 0.9146, 0.7185, -0.6327, 0.1249, -0.1028, 0.9954]\nstate[eef_state]: left_x=0.224 left_y=-0.2615 left_z=0.0432 left_yaw=0.1493 left_pitch=-0.5089 left_roll=0.1189 left_gripper=0.997 right_x=0.2774 right_y=0.0013 right_z=0.1516 right_yaw=0.0123 right_pitch=-0.2383 right_roll=-0.1586 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -9.1556, 5.3265, 0.5299, -0.3394, 0.1197, -0.0024, -0.1709, -1.5658, 6.6256, 1.7705, 0.2515, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4b5ae86108fee345547cd64620c89cc8a1f8c0e4ffb1c80e0d62336cc01f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99762edde35b58e4f819260a52be7f5b258b346c7c76ffd033fb5a7c799ce7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa41e0a4527839a3452c60d36d87816524d6891fe49f0e7ab20a60e13705139b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.1294, 0.9749, -0.8989, -0.1432, -0.1585, 0.9965, 1.177, 2.0209, 1.198, -0.374, 0.8043, 0.8886, 0.0085]\nstate[eef_state]: left_x=0.2811 left_y=-0.0003 left_z=0.1595 left_yaw=0.11 left_pitch=-0.4582 left_roll=0.0603 left_gripper=0.9965 right_x=0.2737 right_y=0.3365 right_z=0.0318 right_yaw=0.0364 right_pitch=-0.1163 right_roll=-0.1317 right_gripper=0.0085\nstate[joint_eff]: [-0.3077, -3.0974, 6.6667, 1.199, -0.1197, -0.0073, -0.0073, 0.0342, -10.1949, 5.6274, 1.072, 0.4811, 0.0611, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1477, 1.6939, 1.1618, -0.934, -0.4908, -1.1957, 0.9969, 0.07, 0.9112, 0.7162, -0.6098, 0.1497, -0.0814, 0.9953]\nstate[eef_state]: left_x=0.2095 left_y=-0.2538 left_z=0.0769 left_yaw=0.1162 left_pitch=-0.4954 left_roll=0.0948 left_gripper=0.9969 right_x=0.2809 right_y=-0.0031 right_z=0.1558 right_yaw=-0.0216 right_pitch=-0.2111 right_roll=-0.1601 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.1316, 8.1026, 0.5104, -0.5788, -0.022, 0.0366, -0.3761, -2.6598, 10.5231, 2.0049, 0.0024, -0.105, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1137, 1.8095, 1.1625, -0.8371, -0.4831, -1.1824, 0.997, 0.0711, 0.9146, 0.7185, -0.6327, 0.1249, -0.1028, 0.9954]\nstate[eef_state]: left_x=0.224 left_y=-0.2615 left_z=0.0432 left_yaw=0.1493 left_pitch=-0.5089 left_roll=0.1189 left_gripper=0.997 right_x=0.2774 right_y=0.0013 right_z=0.1516 right_yaw=0.0123 right_pitch=-0.2383 right_roll=-0.1586 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -9.1556, 5.3265, 0.5299, -0.3394, 0.1197, -0.0024, -0.1709, -1.5658, 6.6256, 1.7705, 0.2515, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4b5ae86108fee345547cd64620c89cc8a1f8c0e4ffb1c80e0d62336cc01f72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99762edde35b58e4f819260a52be7f5b258b346c7c76ffd033fb5a7c799ce7df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa41e0a4527839a3452c60d36d87816524d6891fe49f0e7ab20a60e13705139b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgmcjKklm-NhHzD96C0fNcTyijHH1T4S-b0_BprFxAFxdrL7fjZdIKjUO6qsorVCzTJ0ks8VR2215GBzC3MWn_P__8tXYa-mvRngk4fx0kPZDoQ4gyJmlk2VlRdu8xI9z11FNzoHFg09aBcCcWZQnGEGNRaVrYpVui9ooz4SWR8ELROmceVMWyX8ayWU5yDzml66JQWQF916GYAYJiqIGT1GwxZE_IuF0j0LuqFPRHuaaIgEAF_JIU6mWRDnTA7n9uFhdhh7ycEuVnZximIAb5m-8BNZjcb42hbJVh5X5u4hbxdkkhnzEIF_nnezj1AGS8UymWQfT48Ihryyz92Q7XuqRDLpH6Ryxc5veuVizguAtdxt_K04X9M5d8RRZxsLoLMFGsIanaxpOHXSgFWtVz_RxNIwxr7bHVIVd1pgv1qXOjBul8OXSCEYXYmgpskawmg1vKAllNOm_cHCyPAD1-PCUMXbyAa-eq50YGpyl2AGE7pIhwms2sQLt_jAUpdRiw5EffapdvS-FdphZRpWON3NE6Ws7XdfD9ADI5TgItf25FA8d4TKduQpXj8fdqX7Hea2VACUE1t-uEJt6ga5pE589zBWIh0wJCfgQZenJ_Nd1WBSVZ5oDB2CYEiZGPcWUT4SARUR7VDy-4X0waLuViPrVA7h_-XVpByd7pdI0fOkXlocjUzntoAW1m4TTAgn05ZA0GKnBDRtuexa7aHjhAmbLQbo0eKl4BirTj7hcmtKny8Dok8-lX-VA56UzjSHPL98Dl8DhCGRhq1v5Ijlr-0cZPftPYcpSsAuzyETF2jPzbz8yom_EY2SQ79VsINK6w9cH27gArNHtgT6nqyBWMzkItbVI3JdG3Bq5aGAvI3pEjvZR7WwqM-GXGtmWIRXJQso-FMj1NO5Dg3JfgYRVQho2kPyWghz0S4VPCXgei4cZo8LD9CeejP19TqK02DMsI8rna0LXfk-3DxfN3UaDX5ZtwLwENo-nqc9YW0dbCj8jL3CKWSnTMQ1GRXmxl7RMqTcSNJMfpCNZ93_PXzFeBPuFUnX45DKuuLHNrsEmVq7Gl3Az7gN8oCDTA5807x7-VydxeGOs1gGy-bmuZCJ6s8LYsTFK7NEK7JZ1SVaHYQfqi9mg4UMtRrToam5rbvFmboE6Z6dVWW9Qvhqf8R5myxlRJ_t1HXw9wfmLkFJfLICkNh12z-wZ5N__kZEdNUN7ZVxm429SvvO71-RrtFPJMaDes9KLp_zh1ZDtpZez25WbGtjTRv_I_jU4TxCq9h03G65YKoKQIYWhg4w5BBn87IBshHaJUDgk8M1cR25nn-zDm0Ose6VTqrsogaM_480a-G",
  "id": "rs_0d2807bcbd85ee72016ab43825bc5487d09ac6733f2ac7568e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown plush now fills the space between the left jaws at its body. I’ll close and check whether the soft material remains gripped.\"}",
  "call_id": "call_klL4bw7xfRdPAZiYjuPKAuug",
  "id": "fc_0d2807bcbd85ee72016ab438261b2887d093697e210581ef90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_klL4bw7xfRdPAZiYjuPKAuug",
  "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]: [-1.1122, 1.8385, 1.1507, -0.8272, -0.4835, -1.1831, 0.0076, 0.0708, 0.9146, 0.7177, -0.6575, 0.1337, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2228 left_y=-0.2577 left_z=0.0315 left_yaw=0.168 left_pitch=-0.5175 left_roll=0.1525 left_gripper=0.0076 right_x=0.2727 right_y=-0.0007 right_z=0.1474 right_yaw=0.0051 right_pitch=-0.2635 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.7282, 6.3248, 0.2662, -0.2906, 0.0122, 0.5348, -0.0752, -1.6479, 6.9128, 1.663, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9033547f3dfda8fca928d2b3f29787ebf526ec14838f7fd4468839166ef59469",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dae3d3f19e4c59dc7cbf8957c50a2d655040ed3c6fcb7bbec602b2287c49b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779b9a217bb00b8e75bacf2f22d8694373c9b8f08f8711f19973ca9153350d4c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1036, 1.1305, 0.9749, -0.9016, -0.1436, -0.1589, 0.9965, 1.05, 2.022, 1.2877, -0.3859, 0.7422, 0.7315, 0.9946]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1589 left_yaw=0.111 left_pitch=-0.4619 left_roll=0.0614 left_gripper=0.9965 right_x=0.3215 right_y=0.3278 right_z=0.0498 right_yaw=0.0342 right_pitch=-0.1424 right_roll=-0.1556 right_gripper=0.9946\nstate[joint_eff]: [-0.0342, -3.3026, 6.5299, 1.2234, -0.1441, -0.0415, -0.0122, -0.3487, -10.2906, 8.1026, 1.1453, 0.3883, -0.1245, -0.2222]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1137, 1.8095, 1.1625, -0.8371, -0.4831, -1.1824, 0.997, 0.0711, 0.9146, 0.7185, -0.6327, 0.1249, -0.1028, 0.9954]\nstate[eef_state]: left_x=0.224 left_y=-0.2615 left_z=0.0432 left_yaw=0.1493 left_pitch=-0.5089 left_roll=0.1189 left_gripper=0.997 right_x=0.2774 right_y=0.0013 right_z=0.1516 right_yaw=0.0123 right_pitch=-0.2383 right_roll=-0.1586 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -9.1556, 5.3265, 0.5299, -0.3394, 0.1197, -0.0024, -0.1709, -1.5658, 6.6256, 1.7705, 0.2515, 0.1343, -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"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1122, 1.8385, 1.1507, -0.8272, -0.4835, -1.1831, 0.0076, 0.0708, 0.9146, 0.7177, -0.6575, 0.1337, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2228 left_y=-0.2577 left_z=0.0315 left_yaw=0.168 left_pitch=-0.5175 left_roll=0.1525 left_gripper=0.0076 right_x=0.2727 right_y=-0.0007 right_z=0.1474 right_yaw=0.0051 right_pitch=-0.2635 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.7282, 6.3248, 0.2662, -0.2906, 0.0122, 0.5348, -0.0752, -1.6479, 6.9128, 1.663, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9033547f3dfda8fca928d2b3f29787ebf526ec14838f7fd4468839166ef59469",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11dae3d3f19e4c59dc7cbf8957c50a2d655040ed3c6fcb7bbec602b2287c49b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:779b9a217bb00b8e75bacf2f22d8694373c9b8f08f8711f19973ca9153350d4c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgsyyVjk5kx4aEjNvoJBHuqM1s5_FjuuUFAgVcXlku0zLQbEadGL83ReOrBXZoqV4Yz5QdvLfeW3uIskG4WR6A4resfSi_sJ_oS8rlkT5mLsRZ9A-nbxORlW86bqhtWv8FdNrxwKbscWUDX-Wj-xJONqxWb-ws7dyJYHAwVrD1ggNz8armDkJuq2nRWgy6y0sk3pXaDXVrSg5rxORhlqJW2iWndzTs9WC6SagsbCJZV_tuLde_H_cpKsXWCynfouPKBuYOxkVayw5cDfMGtB7LQUhspc0WXfXSRr-2eBEEVPLSEWw9tEsFweE4tkbJXjKvaBVyKgsdntUT34qJWv-YdSVE994-0Ir9v62rlWwOLLUmzsx3dB943-zePEL78-rpNQMI0atpyzRSqNY5_1W8hjjyeEmpY9lPa2JbVjRjcxqKlaAHnJINQJVp80aTlhOLOnW8pd2pXKIV05MHyFk5R5_SHRekMgz-Jyve1824tr8sbQec-qJRlBNgY7VGNHzPso734oZyJgqOx-bsWsNZBSAMdqLH8_wRzR-nvnHW1C9xuX4zU1DZZEPdLMyb_TRoZZd9C5D3Ex14ZlUA57HW8AvpFMEcP9ODCrOeTBoXTRIWhq14FHzscaG2gF9KUC8eAypu_OzkdZrvzyReH49XMllKRbYJ37QfrYDfH46b8jrN41_SOh5Yr4NVZ_2_fj1cNR08ZYkvbHrLXOcV3VGsWDkNU6QTYhPteYwy-pU0q3OVa-6VeQkVz0azn9fOSM73MkN3EcbHRMjy4f49muLGpY0Xmf8TG75uPN1lPswvH3N5iNgu33CmI2IFWhg3hVDnxScANANnHZTjPx2D_TD2IGOcH_7X5nw5wVFX8sELUXeqnBNZZe1OO6qtAZ7dOH_I5E2R_kLRN1AvzbEqrMRtxuiXASx4Ch0nMAG0dGnz1dF4FcfL-bpAejLshrj2jlZjN2dQqU5DVu-bcCZulB0zeZ8FV9oLH6eUtQpH6dTICYxO5_4EMwgg9m4WiqiynAEqzG5kEcRXprtXeBykU10gvBWHDn1nEoZ-wino8Ya1TBQW_mCykM1ihGHSEHFq0gAqyPp-XLG15MokAq5wR0-O4t3BbkCUlP1aJ5Mem47wHKQH4IrtSm8uTGhaqcbqHE6n7PZa64jBxeaaOhCZ6GOBNnsnuRNicwdeO0PCfKI9lotodpHbxeJoipNXsc-W5snC-hsiwqEyT6tvCYkjKMTTpPEdzbu-0CXdkRJBZU1JTaTbzfZ2c830JiP7T7hqsLAcgPR3sbM6qHy5uv0mn-1zHZAm-vbJgxR9KoHVoT0GwHYBImG3e0mxYO2VZaVUghjz-ouoVm1x2Uvp696dB0j8Wscy0GSXq645W2Ik3hGDiqwWFMzao0tYCaMcY7inlCdF8Wm6HaoAhPZhfLJKg3aV83U2Y4_tyNC-jNyJdl2FH85uYkGhLOMdo1aMAAJlPGk7GLH-duoechzac4GNS9PAWow2rlF_yfKDKv7MfENOXJ3kFVcV7LLD9133T7NMm0T4wun7VvYdGnL7jxx_nqWZj8Z09ZqTiNiky3o0R9iLs2BwIIsYYz60RPrxuvufMCTmAOu2wuOmZq6mSlS7JekiD2oMTw5jyo2oJzhaBvdlkR3EtxzEIjRAGSlSSsTnmR7tnbj7JWnJoSxIZlMukKzUuPmyyqGAFvH-kR346EiJNDlaI638uAdpXnlL5fHo2auBLwcFIBwhNZ3dp_hGsC4il0tW7aIk2GxRflSCDc_3YrpDqJVa9rsWHJ-Fdk8Tk34dBt6Obrt2-gIGV9JP8F9pO5sV-W8qkxv6YbaMu-AB9LuUWyuLwDdvx4gSyHL4t2HqI7bPz9pYErPA8pXp4IJDYXcKi0DhOslEP-wOtLPQ20MJVDZ4b64fgXgiBf4ZfjSndOQVp2andeLsbUL9USoCD3QjeA5z6RL6RkbC8-TXQcembRdkatgDFv-Wjlof1sYzzLKMO5fOLf2lvH8nq7mOBMEsl4W8vjRuWxSrSWPu8-8WKZXlfhs4nBikozNQvX5qsUFxnk9S3gFqQXmpnAEV9fIDAs-qDQXn4bs8zaVBeUFY4ql5GMNW-hBAeQ8KdbvPwfLQPaMa9BX_VON5Lf509gc2wxvP2d6bnaw8V1LVk2mEvN-FzmkTef8uU3WBmQwC9fXmvwXacETljmAdkNdrokL31NflqKajk614gK3vUfa7TZSZX31MtcT5sjAlZXwtCzjw0u2KPRl1Ar9W8V8ZboCnKW_gsMg4JhJDvjD9XKORu5aH02MK3W5zvAqVDQZHj7O4dO6eI1Z_BqIf0_W976H5uyD5rgVvZGluWIf0hZUEE3kK3X35g419RL2PRF-mISmy5U83YZTKV2WRjumO_cRDkilgih5oA8ScWvmBgwnbcChQc9IfnYNdxPeU_ZTu5X_dhSgucTyeG3IVYCiImY8gzw8NhVpLKbE4rFgZAu7stzQ1ZyfL62IQ2pI5CYRDbe_Ff6UG4irg_yZkHS5kBTUn2q3nFtb9sR6fVx2EJegB-AH95sXCtDIpp4DRxsScj79Xuny3No5b7_5qOeWEQt0mgnuNtNZPGbDxL6d3ppwxp14HDPCXaZDatAlpc3gZF",
  "id": "rs_0d2807bcbd85ee72016ab43828a33087d087ed70bcb968a0bc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The brown plush is still ahead of the closed jaw tips, and the gripper reading indicates an empty close. I’ll reopen and advance over the middle of its body.\"}",
  "call_id": "call_Tlf7kOPpVn2vNQ7q2qcB6Rwo",
  "id": "fc_0d2807bcbd85ee72016ab4382bd58487d0b545af45a49a61f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Tlf7kOPpVn2vNQ7q2qcB6Rwo",
  "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]: [-0.984, 1.8725, 1.2705, -0.8764, -0.466, -1.0657, 0.995, 0.0708, 0.9146, 0.7177, -0.6762, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=-0.2499 left_z=0.0481 left_yaw=0.1981 left_pitch=-0.5324 left_roll=0.1674 left_gripper=0.995 right_x=0.2692 right_y=-0.0011 right_z=0.1444 right_yaw=0.0043 right_pitch=-0.2822 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [0.294, -7.8974, 8.5402, 0.5055, -0.359, 0.1685, -0.0952, -0.0889, -1.7709, 6.8171, 1.6044, 0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4e5f9fe4f9a4bb7b759a9e11f0ce4918700b1f4f5cf89f8e8145a96c4151a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e625c6727e74970c29f03766756eb3a216e7fb5dd211bd5044fe3d9b457f91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4c2f8ea51579afe8cda75449207fb9654ce6e000faa30c43321c524bb29659",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1477, 1.6939, 1.1618, -0.934, -0.4908, -1.1957, 0.9969, 0.07, 0.9112, 0.7162, -0.6098, 0.1497, -0.0814, 0.9953]\nstate[eef_state]: left_x=0.2095 left_y=-0.2538 left_z=0.0769 left_yaw=0.1162 left_pitch=-0.4954 left_roll=0.0948 left_gripper=0.9969 right_x=0.2809 right_y=-0.0031 right_z=0.1558 right_yaw=-0.0216 right_pitch=-0.2111 right_roll=-0.1601 right_gripper=0.9953\nstate[joint_eff]: [-0.5402, -7.1316, 8.1026, 0.5104, -0.5788, -0.022, 0.0366, -0.3761, -2.6598, 10.5231, 2.0049, 0.0024, -0.105, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1122, 1.8385, 1.1507, -0.8272, -0.4835, -1.1831, 0.0076, 0.0708, 0.9146, 0.7177, -0.6575, 0.1337, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2228 left_y=-0.2577 left_z=0.0315 left_yaw=0.168 left_pitch=-0.5175 left_roll=0.1525 left_gripper=0.0076 right_x=0.2727 right_y=-0.0007 right_z=0.1474 right_yaw=0.0051 right_pitch=-0.2635 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.7282, 6.3248, 0.2662, -0.2906, 0.0122, 0.5348, -0.0752, -1.6479, 6.9128, 1.663, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 1.8725, 1.2705, -0.8764, -0.466, -1.0657, 0.995, 0.0708, 0.9146, 0.7177, -0.6762, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=-0.2499 left_z=0.0481 left_yaw=0.1981 left_pitch=-0.5324 left_roll=0.1674 left_gripper=0.995 right_x=0.2692 right_y=-0.0011 right_z=0.1444 right_yaw=0.0043 right_pitch=-0.2822 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [0.294, -7.8974, 8.5402, 0.5055, -0.359, 0.1685, -0.0952, -0.0889, -1.7709, 6.8171, 1.6044, 0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4e5f9fe4f9a4bb7b759a9e11f0ce4918700b1f4f5cf89f8e8145a96c4151a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4e625c6727e74970c29f03766756eb3a216e7fb5dd211bd5044fe3d9b457f91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4c2f8ea51579afe8cda75449207fb9654ce6e000faa30c43321c524bb29659",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDgw4pT0JWI_44XBklDS9OLJMuYjS8i_mvA6RQm9Dbgsx7HokzJ_pIeA8Bd_rUJX3UGMKVB89BDPLymsf4UfCghAjWhXSS3f7R1K6ViQrCjl1GwHF4Qe9Lu901avs6XbzRQPpAQXKd72fIJTUyCZEkvO-6GR2P7MQ4L1KmzmY5g5Z94FC6qBM2Iw4QVrKhvb2t5i3mhd-8iLE2mT6PPVIONPhQi8GZ9zoW8jQ75FfXtK_AzpTOQWj_N-I8G2_-i0WuOi8NrySbGJ4DlCklIW1wWEMQcokabYihI4GnzSbjIzSVfJNVqwkSsYhy3YW8c6Y3wGD0AYkI_K8M6qXG5-Q-OtbOW7RzpohtgsqsLQUf-9OwZo4_1WIkGG8a73Gq6NVo3tISeR88DaCUegE1cG5kM3YldpXAaNr5JgCT3R3H1lRHAo8Iub91fytIHEQjtcRQSuQz765Cs2RAzm0mkTl9n26lZWddBX6mZ5J00ozxrSZn9CEa31XRoSJ2FY08Bxe6pxhnSepi00Z7tWoq8_uUigI_xMGfSXTC_RA0zJVi5IEt1D6TFyVjepa1Zu-XUbyjHIdoyHIkwEMiOTAjhxUDTgfVOsmJWmc6A__MEJMsUbxlV3IXq5NOSFdkKBR-oXMDjJqDM-O5iJm1msdTB5tpzkJnUU8YlMmR8pHzVa0uvi1kHjsQWOmM8CXlz-eGg1vwL9QhHO2mLObH_PZIb0prCPLak6VrvimIuine5YL7st6ucEUxD82fx7NHWbWPx9xSjdvSvOfBJ0LrPUHDsjMBZrHQymgCXkwC-_y3Xli60AQ_cqGBpmbJD-faU_LqacwLBFrhygJ-HpnNAAkNYtn425v2YMvyBqqyhoSpoj-wCXkBbmex4cxKOaTJHr6p1Vloca2X8k6mcjfEXN7aMxEz_aPffDzmOG9P_q7gOZK-KD0kvh-F4KdxkPAw0-JnWyjfW1jqyn7EUNN1dgnS3YyVLu2s4EM_4Wcz5sl_-ZYcfQnCHrLQ1XkI19e3rKXs93W37dTqPAEhQ9hVLhmShsFlke07dK7kah7Zwrvy5ds9lD9IzIDJDflazCTiVlhurIJHbrJ4LpeZJBPaNkE1-1w7gj96x0KCdAHmJ8k73EmwxEWgBnjNTQT3vBHnI0y9-2Fet_7F59Ebw0IkUYSPANuOFA9Ek1SXph12GCtbdXrYPKkzS5HLXUiZm5m4JaJkXAp_UKY52_rtX6wAk8jLmr9Ma412SH61MwnmX7wEvNGRHNYDVdPp6pmcgRv5cZOWl79UVWYHv1xphung8-Oq_gXIb3HBbDJSTA8DdTvv65vbd-RJQaOqZ8xvOLcCpLROkzBB6JDBh04OweljkmAl5LmFZjHUe2sOWeUEiOgG5A7CTAvFzM4u1FEVVLpB1gGl7Q6qkqMeHMhIMvyOnpfRdxAyBC237gc_wC8KrMfM40gvBQS8rGThxYaJIn1ZFFniPeanBmzb2dKv2SFku3y6elnbZtk16tuFbATBdBCMoptotEAs4TU6EZXQNuhUwFVXvMjaphCRkWqxbG3qg5R9JQXaLrYXmL9u3M_4z_11cfSCttprwjBfIIWU6B2uL6GbC2L6hITiuV3d7b6iqWEfXVvDrscB2cM8I4XtUE7UHLSOoRaxU=",
  "id": "rs_0d2807bcbd85ee72016ab4382eb3fc87d0a7980c1c79a875f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.035},\"note\":\"The plush’s head and torso are now between the open jaws in the wrist view. I’ll lower slightly and close around the thicker part.\"}",
  "call_id": "call_FKHTjhRd8IarGBfqzl7aZSro",
  "id": "fc_0d2807bcbd85ee72016ab4382f829887d08234cc56e14d1688",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FKHTjhRd8IarGBfqzl7aZSro",
  "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]: [-0.984, 1.8797, 1.248, -0.8413, -0.4637, -1.071, 0.0078, 0.0708, 0.9146, 0.7177, -0.6842, 0.1345, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2656 left_y=-0.2503 left_z=0.0404 left_yaw=0.1979 left_pitch=-0.532 left_roll=0.1579 left_gripper=0.0078 right_x=0.2677 right_y=-0.0012 right_z=0.1431 right_yaw=0.0039 right_pitch=-0.2901 right_roll=-0.1707 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -8.0479, 4.9162, 0.6081, -0.315, 0.0366, 0.486, -0.2393, -1.7846, 6.9265, 1.4969, 0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723be3ab98a2ee46929f99a6255658783551d7b92274dedff2d79e71e39ce696",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094abac69c5fcfd62b22ceff752ad2ea3b57da10101210aad784f5da52c60e69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47207a867b12e9e5da4739d59d04a3588feaf349bd627d62677a26e259633029",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1137, 1.8095, 1.1625, -0.8371, -0.4831, -1.1824, 0.997, 0.0711, 0.9146, 0.7185, -0.6327, 0.1249, -0.1028, 0.9954]\nstate[eef_state]: left_x=0.224 left_y=-0.2615 left_z=0.0432 left_yaw=0.1493 left_pitch=-0.5089 left_roll=0.1189 left_gripper=0.997 right_x=0.2774 right_y=0.0013 right_z=0.1516 right_yaw=0.0123 right_pitch=-0.2383 right_roll=-0.1586 right_gripper=0.9954\nstate[joint_eff]: [0.0342, -9.1556, 5.3265, 0.5299, -0.3394, 0.1197, -0.0024, -0.1709, -1.5658, 6.6256, 1.7705, 0.2515, 0.1343, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 1.8725, 1.2705, -0.8764, -0.466, -1.0657, 0.995, 0.0708, 0.9146, 0.7177, -0.6762, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=-0.2499 left_z=0.0481 left_yaw=0.1981 left_pitch=-0.5324 left_roll=0.1674 left_gripper=0.995 right_x=0.2692 right_y=-0.0011 right_z=0.1444 right_yaw=0.0043 right_pitch=-0.2822 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [0.294, -7.8974, 8.5402, 0.5055, -0.359, 0.1685, -0.0952, -0.0889, -1.7709, 6.8171, 1.6044, 0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 1.8797, 1.248, -0.8413, -0.4637, -1.071, 0.0078, 0.0708, 0.9146, 0.7177, -0.6842, 0.1345, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2656 left_y=-0.2503 left_z=0.0404 left_yaw=0.1979 left_pitch=-0.532 left_roll=0.1579 left_gripper=0.0078 right_x=0.2677 right_y=-0.0012 right_z=0.1431 right_yaw=0.0039 right_pitch=-0.2901 right_roll=-0.1707 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -8.0479, 4.9162, 0.6081, -0.315, 0.0366, 0.486, -0.2393, -1.7846, 6.9265, 1.4969, 0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723be3ab98a2ee46929f99a6255658783551d7b92274dedff2d79e71e39ce696",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094abac69c5fcfd62b22ceff752ad2ea3b57da10101210aad784f5da52c60e69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47207a867b12e9e5da4739d59d04a3588feaf349bd627d62677a26e259633029",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg2KaheIv4AlC_61LTu-YLxaoWODaMWzZfXNyl7IOzzgNlhOav0ejv51GF-kp6YYCEsQgDMBHhb8jy7NwSs68xc8YHjxIZG8UL_41Ya1Qd02o6K1AxtbpDxH7YrFyJTDc9wezfif986aGnZEv47lvMllRxyDuOIPZLz7id-nLIorH4A9-MHOyfoZhH7Z-EHi_gxKMpUchaOyvJWbLsPBe3pSbVEjC2mdPFZzuON6-GFCVA3shO0_mnPT3YqFni1PQjsofeX6puKmh45KRlTw19jqpKVSJ6yr3EAoIEaxGK_zofeDIsZZ0eFys6dyTOq69acH6H-6zFXOO14fda6-9roBsivAv-9iGACJqZggHrf_i3nLhRjl4ajbYLq59qGnzYOzum2Gy2cIQEkgdHGxY8_Z6s7upSVqn1Z-EP4V9M9ndiVedZ2T6NvGCLOKiA-IeaFCgPcBZxEcYCGQ2CwmO7SGLjSGiIz5wD_BPoAfkXIlZDFyjT9CoMVBnG6vEjUJTraJauRYRKCkgpbAJ4UXAf8YteWsFiG9aao49fHyF8IS_tFKXggM4Z8TSd9RcvLeQQTf5jqwRXMvrlHJoBlSX0C4ruhM0d7rtuDvFzzohT1HxcvRwiPJBj-_4J-5B2VRnms-f5f38V_d2-3jENUzLexrxO0DWzKjBItwLt8RZwDKXN8fSqNDakMXVaKWneHYdUHu7NK_OXHVhMViOR8HJbK9oTgiiIfEG_bVBmjTC-JV8GAtXqgQ1Zbit4CYRmxFFRHCFbcEXVFrq95M_u0z32LC15bQRhknkP4u8TBdwnwkUa-ZcSn60xpJW1KBcGka7gJPxrJfn7uKJc1HX5eA4BQhwHfof27m4Jsm5FS9b0bMheqa4Co0Iz0XTQ1Uz2Tap1xXnBLTKFgY8u0ig9-GWstOAAxo1cVzUMFQTcbzv85O058pxo5OKLPQyh3-XW3ajRP_b2E085x2nJmGqv3qY6TRYq4r8H65CeMaJvsJGwt7gGrGfq3UmjiHxlHOH8vvPGOrQKp_qyxuSmDgr_lvYTadPCAD_gbKzveyFCtevgEYLXEaWROJjEeQf4-TM5bj_B7wXGXwVGlGkT-VzJiIpRfilgU3DFhhh1pPlxgGLaaTVPJfoxLFtXq-8tlaeuP7Y209reqxpJT_sZ_g6wklka6busE_Ix9X2Jw22LQiyuiZ4ic0Zcp8j5_sy4llsF0C4ELSGP4DvLkKpjwziopQFzQYoBBIfYtmMN-csmLQGNWIXsKBMKu7p9Qv0vCANCsBGzod4zV0j_2SDdo47V2ZO8eEA2n2omJUClHnglOkUAYCJSriCR_OXdt5vPiZy18SZFQRvxm2vuL6MThlKNijDk9XxePOM82G7wpBveHZKG7zCEwoEWmMmJrYUKgUwXS7yZe8S5BQQUEIY6TyEb5NLGf_0XSf4asJR9R37_O2ERx5eIak1Xs5zij3Wh05yvWdNqqv1fQ20A2xpsP2w2MT_oYVIu5yhjpAkOLWmuc7YB_1lVyMkyShAVHYMMoBa6MW-zauRaMCNGT7_8aUBEo8lJ7Vr1kLoVN2iwxz1Uocn0f4zmXyGIzaycB-XW33iRfxR-Wubohn4v-0u1Gb0Q6JOeXBZVUfrZYv9uZpzAmtzNloUjZgc94MFU9d6N8cCkXXiUOZmrB4rPtf7l2-jiWgfiJeb3AH72cbZmCRnOCgQ2oAcdg43xSc7A5fxf1FMIeCrTiPkp7yUYuNdMMAk0uiSss6HiEIbr06XOMzSmgr4MvcnAdqD8dswwPU4AHm5DKVjzTXqKILFWY7ASmmUZAotP_fOGwEzFVImpZwodvROpQg0PklzhUamx38jHNChSXro4E1UfgHWTPc2oJcgAPvvfXEp-JUQtoLnsnfOniZ3_7iMdrmA6mnvsicL_Z4ocEGktdV-Ysu51nwh8Lhn-Oz_k79PjbSBBlB-IdglCcS-T3IfNLHSUqE8wDrRwEgySi0Rq3_6mOcnMUhcphZ1O6y8QQ8GtvomvmJy0micbt5d_neFMVSJEYtRL-VJWt0bN05Uu4opvVrjp1BDXnCO4WIqBRAVEIOOxpHHv9cGLRVnOgfMePUwhuXF-mPO3Npa0zJRf02Jndx_KOQOWrREpp6IkPP485pVVMZWZUIWxcpUfhDWoi-cnWUVbdMUwdA035ZmW1vIJ7A98m9QEs5CSnZddKMGXIzpw9GDqQBdUTpxFXpNAb85IWwEW-QjWvMFlIqp5WTdELOyYd-bLFXf2LKeFh6lcrFm1M6wsOOPa2Wa6o3yDk5_aZBu6LBwvYwIyhhU3ISouSrgyaB9Ct2x-YAFH1UU3R8ZOg5zWHKcqqMajm9QoxpbWMLJXUjoLpi3VnLHAxwHgRJs2GorS0jSlnk24Q9wmsoEuR6mmuC16FsvUKWO8XsZ8ZRCUgCwnHb4u_CSDNB_cs7RJjl9rbEGSTEveWDKhMPFYpxQ0-a6t3UBgUWs9EgGUSCJkmsVhy0FJ9ZOQ0p_bZLBVKLid8wNBPOrgUOE0H1KDPoOk3ecIb0JQORmOT8GGGP37MjFEgblNqu3mQj9IYKH-qZmhbMglInzxRnzf_DCUqaDF3b6TQkLWUXWaNozCB5ZLXVlvfNtCbfb_W--bx1whyl2teJgFkJ5e-PHzTzj5ntLTlYLLJywDYCpB9OpYoHTMZGIMbhW9nC4-rWgrpgFrAMdhD3x6Bch7E687dSV1VKBm9fRNoIMjm64J28txXkrNDgMRyLFPqxQaT0nK7yvNhqTJ8ooWsA_7JgE6tPq0cdJGqimT90UcI1S-21zs3Oh-u2pF0Bu1ivqY6IeZI6Cp-IMCACZjC8oq0qljPDoObpIpnsNGqyJjgDR_6r_IXXFufJPBwSpKyiJSuGEDm-P9YNFfUMH60ob0ql6lrOfofq0pIcTwbxuqR2JZV_VMZ0pRCfvXUm4BV_N_EwK9qzMBxmtGPHwpzTg0N6jN_cBhG6GcbbpSq48Exw58HOEKUYbeTPncqr0Mdutj13VEdeuKJi2CKLxomYOtMQz8kfskBhWln7MZYa8iutkrRNoJRAVm1S9h6g23nq0pbVE2V9aKwD-yYkvFgXIKv4YttqfjkinUCQJGmLM1kDQSlILt7Tqt1Kd4wb3HRsI9IIjQiJngADY6-MBME_-EqNQ==",
  "id": "rs_0d2807bcbd85ee72016ab4383232bc87d0928922889f602059",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.215,\"left_y\":-0.25,\"left_z\":0.012,\"left_gripper\":1},\"note\":\"The plush stayed on the table after another empty close. The overhead view shows the jaws ahead of its torso, so I’ll back toward the base and lower to the plush’s table-level centre.\"}",
  "call_id": "call_jE0KiUkpKweqfeEGL1nbhMJZ",
  "id": "fc_0d2807bcbd85ee72016ab43835553487d0bca5734c24735ba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jE0KiUkpKweqfeEGL1nbhMJZ",
  "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]: [-1.1046, 1.8618, 1.113, -0.7723, -0.503, -1.2106, 0.9947, 0.0708, 0.9146, 0.7174, -0.7021, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2263 left_y=-0.2522 left_z=0.0177 left_yaw=0.1999 left_pitch=-0.4982 left_roll=0.1506 left_gripper=0.9947 right_x=0.2642 right_y=-0.0014 right_z=0.1402 right_yaw=0.0038 right_pitch=-0.3084 right_roll=-0.1722 right_gripper=0.9954\nstate[joint_eff]: [-0.7179, -8.8274, 3.959, 0.2564, -0.0073, 0.1636, 0.0855, -0.0479, -1.5248, 6.735, 1.5507, 0.0611, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f733e3a3c8d5ee20f4ff84cc2d1f87d614e177f0519a3f070bd39ac0b8e6ab16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc6bba8d2e31cdf620b70c9e734312a9690c18dc31bedb0906ce17951baeb58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abc0c783ecf0a83d7e3b045c997b7350dc00ab11426a9ddd3a9e79c145c4559",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1122, 1.8385, 1.1507, -0.8272, -0.4835, -1.1831, 0.0076, 0.0708, 0.9146, 0.7177, -0.6575, 0.1337, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2228 left_y=-0.2577 left_z=0.0315 left_yaw=0.168 left_pitch=-0.5175 left_roll=0.1525 left_gripper=0.0076 right_x=0.2727 right_y=-0.0007 right_z=0.1474 right_yaw=0.0051 right_pitch=-0.2635 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -10.7282, 6.3248, 0.2662, -0.2906, 0.0122, 0.5348, -0.0752, -1.6479, 6.9128, 1.663, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 1.8797, 1.248, -0.8413, -0.4637, -1.071, 0.0078, 0.0708, 0.9146, 0.7177, -0.6842, 0.1345, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2656 left_y=-0.2503 left_z=0.0404 left_yaw=0.1979 left_pitch=-0.532 left_roll=0.1579 left_gripper=0.0078 right_x=0.2677 right_y=-0.0012 right_z=0.1431 right_yaw=0.0039 right_pitch=-0.2901 right_roll=-0.1707 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -8.0479, 4.9162, 0.6081, -0.315, 0.0366, 0.486, -0.2393, -1.7846, 6.9265, 1.4969, 0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1046, 1.8618, 1.113, -0.7723, -0.503, -1.2106, 0.9947, 0.0708, 0.9146, 0.7174, -0.7021, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2263 left_y=-0.2522 left_z=0.0177 left_yaw=0.1999 left_pitch=-0.4982 left_roll=0.1506 left_gripper=0.9947 right_x=0.2642 right_y=-0.0014 right_z=0.1402 right_yaw=0.0038 right_pitch=-0.3084 right_roll=-0.1722 right_gripper=0.9954\nstate[joint_eff]: [-0.7179, -8.8274, 3.959, 0.2564, -0.0073, 0.1636, 0.0855, -0.0479, -1.5248, 6.735, 1.5507, 0.0611, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f733e3a3c8d5ee20f4ff84cc2d1f87d614e177f0519a3f070bd39ac0b8e6ab16",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc6bba8d2e31cdf620b70c9e734312a9690c18dc31bedb0906ce17951baeb58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0abc0c783ecf0a83d7e3b045c997b7350dc00ab11426a9ddd3a9e79c145c4559",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDg5_Ds6vFIeyQjIkGWclsK4u2_JHsGb91g_Ny7SAvJU_6LUwY7TatObvW7JdWD2c_uwSdhzufz_6XJcU520FPumxA80QgHpR5C6oEXlplerOQPRw82oSSa79HidozNFPTLOKXlrpsGAK38cGF5FCISUcqopX2A7HEYSbjE-JrmykKQZu0m7baUORGWSFF2yWf9yIMOGteV6J8yhqxwh1nCbeFoPqgkFhDCyzq_B0cN63_-IkYrekMWMcE6FWEbWRNnmNoE_UZ2EaWP-8mXIGNo5viqa-KJekk3NhqkT8sKBottEQp6L73RCRge-sJoPh6ydp2aB_FErrxyQrElDS7EM6gtmVzNi61-JEDRoHMwajtMFCfaSLBXwbDa-EgjktXCtHzXzQwiDPrXXXUSOYrwVG_j8ISTE64LvjiW1WmqXsvhXlvGEPKs_1dYecS3pp8LKy2M7eK8FVJhPhMohuWpOSZMNMqakm7EmYATsK3Beqvu6RySTx0AHHoYzIRbI1cyHZOoVzrSdFHojdvbyZDgKRUT1lmmYqMqdPZalBISVGmaYBJNXao6NtImBQlnyVUmQS2zt4AeNVZbAzgW4NNmQIXPoH6wpj-3DuDEDggYCpS0Cix-6uXfHgJSSQWxLf1f98-_kKq4J1Fp-23E4nTbYxmNnnBar5tmY7PmpDXsWgpsC8lScMmSuiXe3ZfE_XYMFDhFzKTrlhz7D6Haa_yLdIJ1j-NVIJL8_48MU4YPilCkdKsbgFHtk-kYFkfIaWYEbR7SzuaWvVDQBi8RDUJEnMolGi9SP8-E3sj8HzBqaMEg83zfbSXdXeGMIwEdW1P2XR7NcU7dPRvCstHWbcnviLBaoWPWj23Erg57CC6vSpuls7mC1iJFAcB_quadkyyp87vIJVefUNzX5R_qeXoiCdatvCpbkOVq_SpaM3AlMGtsTS34wyJ8r8unw59VX6ujNPh1vxQ9ypjo77tbKO52QkRaXiualBe_ShYveCT_FKeReDbwOMcax8wsIfSDwzwQlq59d8wWRr8HCO38u-Snn2JzWkg9abuG_2RsN0_3ds1bzssyYrs0nPw1HvGkD9Hu6hZcfb6cZeUUVJhJo0-AZvrLfauHUTa8nnsQyyUEEH3mctJ6gECT5Bs_0CEMffvTVqxkTTSZIIDTpq9TMJ5qNdFHDMlSZCAgQKpUdzRQ2X-NS0Qk31MMoQdY1et6Bx4IZXgG_T40HhvZSI6vIGK7XmGVRRd6pMBCLXA03q5eE8Pj2Pj7pEFHvot8PQVEa76AR7ZXOuocnIOCZQUA_D7vWSbznIglWqUmgZ-dz8XVhQHfdemJ310Sb2Q5aMkTn9UjJHqp37VxGvBtL_fJiU6LQdNhP_ZarDO8QAsGkCPNHIcxHdLTEOrGYXGELsldU9t6RiQsiPwmFoCvYtGY6sRAAGVWdOpI6xxhml-n4wzhxhM43lGWIjm9lF7csVhpe4qh1cPtarPydXgFD5zfEY-akZ2je5gDwi913Ue7Ev9bJiELDiciZ4hJIGxOba8l1Qpt711m39FUq0HL4GSI3TVrrc35332_9gvWC5vNpSadX_dXYMJQphlaEpTVN1P5U9G6bforDwi33L2B2d49hfRK7jLYY8gsUMH8wJiWCnXo3mF0=",
  "id": "rs_0d2807bcbd85ee72016ab43838255487d0a9e4a25925867daa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.003},\"note\":\"The jaws now straddle the plush’s torso near the table, rather than its head. I’ll close at this lower position and check for a nonzero grip opening.\"}",
  "call_id": "call_TyepT2WSlj19YBicuxIEa0ER",
  "id": "fc_0d2807bcbd85ee72016ab43839001887d09f09ed3c53ce823f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TyepT2WSlj19YBicuxIEa0ER",
  "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]: [-1.1103, 1.8637, 1.1049, -0.7166, -0.5282, -1.2156, 0.0161, 0.0708, 0.9146, 0.7177, -0.7242, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2324 left_y=-0.2602 left_z=0.0183 left_yaw=0.1796 left_pitch=-0.4613 left_roll=0.1058 left_gripper=0.0161 right_x=0.26 right_y=-0.0017 right_z=0.137 right_yaw=0.0033 right_pitch=-0.3301 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -6.3111, 3.7128, 0.4762, -0.0317, 0.0269, 0.9255, -0.1573, -1.7436, 6.7077, 1.5995, 0.0269, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce217b0c42785c12a0e388f666600a2cde6ac437091fe124b54ddd6ce54b7703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83da4a5f1a9e230f60c4cdb9c60487959bc60b4d558978d9cf67cad3ca13c516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e969f80ba001ff2a1beeabb338b804f8afc281fc218968c07561e613ad3d376",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 1.8725, 1.2705, -0.8764, -0.466, -1.0657, 0.995, 0.0708, 0.9146, 0.7177, -0.6762, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2657 left_y=-0.2499 left_z=0.0481 left_yaw=0.1981 left_pitch=-0.5324 left_roll=0.1674 left_gripper=0.995 right_x=0.2692 right_y=-0.0011 right_z=0.1444 right_yaw=0.0043 right_pitch=-0.2822 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [0.294, -7.8974, 8.5402, 0.5055, -0.359, 0.1685, -0.0952, -0.0889, -1.7709, 6.8171, 1.6044, 0.022, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1046, 1.8618, 1.113, -0.7723, -0.503, -1.2106, 0.9947, 0.0708, 0.9146, 0.7174, -0.7021, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2263 left_y=-0.2522 left_z=0.0177 left_yaw=0.1999 left_pitch=-0.4982 left_roll=0.1506 left_gripper=0.9947 right_x=0.2642 right_y=-0.0014 right_z=0.1402 right_yaw=0.0038 right_pitch=-0.3084 right_roll=-0.1722 right_gripper=0.9954\nstate[joint_eff]: [-0.7179, -8.8274, 3.959, 0.2564, -0.0073, 0.1636, 0.0855, -0.0479, -1.5248, 6.735, 1.5507, 0.0611, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1103, 1.8637, 1.1049, -0.7166, -0.5282, -1.2156, 0.0161, 0.0708, 0.9146, 0.7177, -0.7242, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2324 left_y=-0.2602 left_z=0.0183 left_yaw=0.1796 left_pitch=-0.4613 left_roll=0.1058 left_gripper=0.0161 right_x=0.26 right_y=-0.0017 right_z=0.137 right_yaw=0.0033 right_pitch=-0.3301 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -6.3111, 3.7128, 0.4762, -0.0317, 0.0269, 0.9255, -0.1573, -1.7436, 6.7077, 1.5995, 0.0269, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce217b0c42785c12a0e388f666600a2cde6ac437091fe124b54ddd6ce54b7703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83da4a5f1a9e230f60c4cdb9c60487959bc60b4d558978d9cf67cad3ca13c516",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e969f80ba001ff2a1beeabb338b804f8afc281fc218968c07561e613ad3d376",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0d2807bcbd85ee72016ab4383c213887d09cf983326eb48c11",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.21,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The closed jaws still came up empty; the overhead view places the small brown body ahead and to the left of them. I’ll reopen and centre the grasp point on that visible body.\"}",
  "call_id": "call_i1HcUR2luXfHegP0D3GIOqzU",
  "id": "fc_0d2807bcbd85ee72016ab4383db17487d09790a4f22290ab46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_i1HcUR2luXfHegP0D3GIOqzU",
  "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]: [-0.9066, 1.8023, 1.0145, -0.6201, -0.4961, -1.0126, 0.9951, 0.0708, 0.9184, 0.7174, -0.7403, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2739 left_y=-0.2076 left_z=0.0154 left_yaw=0.2175 left_pitch=-0.481 left_roll=0.1359 left_gripper=0.9951 right_x=0.2569 right_y=-0.0019 right_z=0.1336 right_yaw=0.0028 right_pitch=-0.3503 right_roll=-0.1752 right_gripper=0.9954\nstate[joint_eff]: [0.294, -10.6188, 5.1761, 0.7106, -0.3297, 0.1001, -0.1294, -0.1846, -2.0581, 6.6803, 1.5018, 0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da65f699640fd7ca833ac8c7a4a0cfb749904f1cc2799e6c51a213a31c8db542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee75a6ee462c8b32e0a4aad640e9fcab422e3e773e0356873befd44a9c6719f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87ff7a018a2fde308cafc946393ac625463a0b32d633cf94b5d091beae7eff5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.984, 1.8797, 1.248, -0.8413, -0.4637, -1.071, 0.0078, 0.0708, 0.9146, 0.7177, -0.6842, 0.1345, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2656 left_y=-0.2503 left_z=0.0404 left_yaw=0.1979 left_pitch=-0.532 left_roll=0.1579 left_gripper=0.0078 right_x=0.2677 right_y=-0.0012 right_z=0.1431 right_yaw=0.0039 right_pitch=-0.2901 right_roll=-0.1707 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -8.0479, 4.9162, 0.6081, -0.315, 0.0366, 0.486, -0.2393, -1.7846, 6.9265, 1.4969, 0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1103, 1.8637, 1.1049, -0.7166, -0.5282, -1.2156, 0.0161, 0.0708, 0.9146, 0.7177, -0.7242, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2324 left_y=-0.2602 left_z=0.0183 left_yaw=0.1796 left_pitch=-0.4613 left_roll=0.1058 left_gripper=0.0161 right_x=0.26 right_y=-0.0017 right_z=0.137 right_yaw=0.0033 right_pitch=-0.3301 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -6.3111, 3.7128, 0.4762, -0.0317, 0.0269, 0.9255, -0.1573, -1.7436, 6.7077, 1.5995, 0.0269, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9066, 1.8023, 1.0145, -0.6201, -0.4961, -1.0126, 0.9951, 0.0708, 0.9184, 0.7174, -0.7403, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2739 left_y=-0.2076 left_z=0.0154 left_yaw=0.2175 left_pitch=-0.481 left_roll=0.1359 left_gripper=0.9951 right_x=0.2569 right_y=-0.0019 right_z=0.1336 right_yaw=0.0028 right_pitch=-0.3503 right_roll=-0.1752 right_gripper=0.9954\nstate[joint_eff]: [0.294, -10.6188, 5.1761, 0.7106, -0.3297, 0.1001, -0.1294, -0.1846, -2.0581, 6.6803, 1.5018, 0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da65f699640fd7ca833ac8c7a4a0cfb749904f1cc2799e6c51a213a31c8db542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee75a6ee462c8b32e0a4aad640e9fcab422e3e773e0356873befd44a9c6719f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f87ff7a018a2fde308cafc946393ac625463a0b32d633cf94b5d091beae7eff5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhDZF2N_jHx24ZkgMi7G_ut3aXy1jignzCrrYqDZHXv8UG69vZsXQm6026RUzeZu3TVYyhpIG6QnOBNCPFaLywgE0N2S9j9Qk03VgznX0Q7D8CEtLliYTAt20b_6ddIyuw8ncFExtMxkmVF8FDaWYJ08dWrqr_miguYy1TYb76MRCPF17jjPmivJV5Aa4oCCYEpBESy8SoNC4o7aitmjRfjfpydsK8a4b2jlM2L13p0aucnPa6iGwuZFfvSNrZe1KD7DRLeRePcdGnfWA1r7j7pQJH4eNOittkfipJRG3kSFEhto236C82AZEDAj_sR3qVqIJaC8P7xOZwgWw_E5V2ghI2YGzKvhaTW3ILi3Q7hVqvyM23FWO6fc6y8o7sTS4gyPdaoN0vfLMVoBnk3H4x1R0v-_50V78BQXRIEBwpQ-41Pjjal1kjwj-WweE40z95qvFJrP-aVqfZts4rFmL9P3vLTMsAX6U4GMFBKMMa0T9ssJc9Jr6OtkIL9FYWywwOiTkvEDZk3AoI6NUfVuhzomIqPuGv6--TWCgrN4oOElhleImo-fSYz_9-GD65mP13knbffIcxe8DBRjB1s0SWX_qBw_3akhfKfiNwlGqyebum3e9icVhvp700yMpR39V6HJCUfApKnqhEs3FbWMKztKF6XWPtji2yuj3B4TzBz4Sf6YZhACb4BnLNE-RuEL7pCg0Kh1QanWE-EAtwRaiESLHHjxFHfRALU6TwIVmDGTZlIogL8SOCruQBqr6LRXyO17RwQ8A8I3FhrJl9E3J2CV9OA7CaTMOICuJ2mz3RD8RQp29oJwF3TOk4hwUowkSlhEztoqN1Ajx2qISez_JRq1soiOijI2qGT9XMz-acRzyPLZhiQy66msw3GkgvyzJvsxdA56tWlfD0lxc-ykZF8v8Rzn3hjCi-cFNyU2QuHshiHU2eX64DCbnizr8_8njWO5Ho_B2L58MO8Th_r4RTr4QtZuT4pSKCqLWKMk833krVAFeeK-7Bkls_arhrwHQv6vsmpf9L2GHVJtfXPPe7n_ntsTXZ0GRzbfYTw0aUdZmeizXuvIlZ4-nKfB1iMxAJslMORUTnavZIZ2hTLj3W5zlZ7QL00etEckQY7rhtahcPIdjirdDamsyfc4ggKx-N7SOFo9Vowc99PkDrc3V0KAp2JSk4yKZOf-9kIQRXta8BVzawL1J8KZzz98xEZXIu7kyyYSInSuGq3GRC3WlsVnLNJWItqQcKOjaOD02XKvg2eoGfA8_cNgpNgM9cEByi-LnaVk1aLXwL-xoZRSHnJmrJhv4tbIUDX8Ej9-87EMECetIDL2k3Y56MhvhpR6kmv1KXRzDrSSIAJcw-OVNEnJ2ucYAoNOxwrk6hFBbo98Q5BtT2FjEwbBZHkT30WtAwOq3M6jYBCpQsWYEPsgnV5vmFWLzwI5U6mxXnE7xCAONIWG5aFtcVsTjFJzMjiFQQtgh8foVZmA7uRFSpdEdybzdzBteadPbEWcZERpRJ1rmJiaxb5yI1S9B81zVc8TZAzBseJEqWKEA0ckbUAvlSRoeuJoI1NPUt1UUKMdGTYFlfUvhxQj8C1kHlGsToZ3ybv6KztAkgqMUo6t0HUuFVKm_ngdRMH9ZfCkC0tbvUP9ynkPj5JN_7IlisrxA0AwwnYN-0hlk-Caz3408iTiciy-Dx7Cg1hTcFGwqV2LaL7gZb89KtJVjgiC96xrJo-pIFwHsSNAZXEkd3OYnZzo3G24e1Y63dKfqUY9-eCgB2tjnEF-oeHES9_nZSzbRwI0kg_cPXVaEHEnWa06Y4GDuZrReaCJaZ5Lj5iPARVkNJKgjsE4BwkJQw3B97x1KQ8v9xChsLDGJ3P9TdSeVOpGe1VkFJFayLedxTzKcLDLrij5KKacEkdI9R8PcevYirmcAjXbfcWgP2tmTa0WY8pfbNxDFHNPh5fx1KZIBy794zeVEqF3zvvkPN_4Ig3YzIFIJYMTECSYMER_zyNNq0rW7BpxYLz5IituIV4JhV3gGzFTv2CWs0CiJJS-HOqs2gCWCkDf0RwxixoMqpVA8MmFqkaeBV2sSiMHFRjG5q-TOR3-JIsM11AKMN5ZhVABlQiffrOr2CESBLovGYldYz5lhQoybytuIOUfM4boeFAKpmufWZzhVR_-kdIiyODjkY0sz1bPwMpc1H5JfWabcagJvzLTLWvPEGe79CQmBhuSWb9zQ7Tq4KkgHYWm7IIVy6xM-i2omWso7FFdem8gqv4wkh5kFCskLuYSU_Evv4jDqE-qwP4dMXOMPngZ1PukaC1S1zp6JSI6v5u5MPK7RC-X9YVZ7Ft0tqWY3D13bjcvUleUo8DY32MnjoO6-Oc7rn5Fo9h31m7gsxwenWLaOLsyUGkkjlAlgrrh8Ld33swjBaEPq4d3e0u41x06TqQGOYqRzUDVe_huJXqcW5TpYxU1p8czoFS-KUj8H4Fz0vtl3Pmxv7UwYAUWfi2RpxYh1hj6HKmi8Hl7XJPLDOqqkCawxRLJWbdL_xleiukQmba2omlnfhVWfIqDo0Xlr-BEruGcF_ZXIXD8V2ToDGmXKtMCTV3lnPjfGWt14c3YrHINlGdXCQ9lmurt3vy_q2Mh9zpekwy5MsZO0wANAGlVgo_1FWN3aj_g_Eadvqw6fVmYnEkKB1r5K0N8kt2wckmIKcSeH7u3_FaW-tUflsr1rrytqeZyYdZwbukKxEbdz2Hp5TIhGg=",
  "id": "rs_0d2807bcbd85ee72016ab43840926487d0901e421c4b0de277",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.185,\"left_y\":-0.245,\"left_z\":0.075},\"note\":\"The open fingers brushed the brown object, which is now behind the gripper in the overhead view. I’ll lift and come back from the base side to avoid pushing it along the table again.\"}",
  "call_id": "call_OynnUpFZzWeIc1CXLEWRMF0j",
  "id": "fc_0d2807bcbd85ee72016ab438431fb887d08a8422593dc8afd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OynnUpFZzWeIc1CXLEWRMF0j",
  "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]: [-1.2083, 1.7329, 1.1343, -0.9604, -0.5072, -1.3106, 0.9962, 0.0708, 0.9203, 0.7147, -0.7544, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1904 left_y=-0.25 left_z=0.0598 left_yaw=0.1783 left_pitch=-0.4944 left_roll=0.1392 left_gripper=0.9962 right_x=0.2536 right_y=-0.0022 right_z=0.1301 right_yaw=0.0023 right_pitch=-0.369 right_roll=-0.1766 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 7.3778, 0.1392, -0.4518, -0.0757, 0.105, -0.1846, -1.7299, 6.8718, 1.4872, 0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42572cace27c9500fa7aadf4036756e7cba734aaca2e599bc896d0469167f435",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db7e3b2335aa913c48a04464765d00964caf682d265363505644c230e47f30f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7c14bc4bbe706ca4e8dff33769fec7435d94e5c40c14e0ba9d1ff3dc8749c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1046, 1.8618, 1.113, -0.7723, -0.503, -1.2106, 0.9947, 0.0708, 0.9146, 0.7174, -0.7021, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2263 left_y=-0.2522 left_z=0.0177 left_yaw=0.1999 left_pitch=-0.4982 left_roll=0.1506 left_gripper=0.9947 right_x=0.2642 right_y=-0.0014 right_z=0.1402 right_yaw=0.0038 right_pitch=-0.3084 right_roll=-0.1722 right_gripper=0.9954\nstate[joint_eff]: [-0.7179, -8.8274, 3.959, 0.2564, -0.0073, 0.1636, 0.0855, -0.0479, -1.5248, 6.735, 1.5507, 0.0611, -0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9066, 1.8023, 1.0145, -0.6201, -0.4961, -1.0126, 0.9951, 0.0708, 0.9184, 0.7174, -0.7403, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2739 left_y=-0.2076 left_z=0.0154 left_yaw=0.2175 left_pitch=-0.481 left_roll=0.1359 left_gripper=0.9951 right_x=0.2569 right_y=-0.0019 right_z=0.1336 right_yaw=0.0028 right_pitch=-0.3503 right_roll=-0.1752 right_gripper=0.9954\nstate[joint_eff]: [0.294, -10.6188, 5.1761, 0.7106, -0.3297, 0.1001, -0.1294, -0.1846, -2.0581, 6.6803, 1.5018, 0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2083, 1.7329, 1.1343, -0.9604, -0.5072, -1.3106, 0.9962, 0.0708, 0.9203, 0.7147, -0.7544, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1904 left_y=-0.25 left_z=0.0598 left_yaw=0.1783 left_pitch=-0.4944 left_roll=0.1392 left_gripper=0.9962 right_x=0.2536 right_y=-0.0022 right_z=0.1301 right_yaw=0.0023 right_pitch=-0.369 right_roll=-0.1766 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 7.3778, 0.1392, -0.4518, -0.0757, 0.105, -0.1846, -1.7299, 6.8718, 1.4872, 0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42572cace27c9500fa7aadf4036756e7cba734aaca2e599bc896d0469167f435",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db7e3b2335aa913c48a04464765d00964caf682d265363505644c230e47f30f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd7c14bc4bbe706ca4e8dff33769fec7435d94e5c40c14e0ba9d1ff3dc8749c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhG1_lzIaTsSPBMU_3K71zC7NL4cPfgID8a-_Sb8jhqkgJ8tF8VNBkUdR03gK7WOnUl-IfTbjIIDKtr8R6JPoI8CNXVTZZrT9iSshIPCyPx2xZOozONwjJj21V2K5VIWQuPDrMyJ48_OKBrQpmKAEVY0wKQ9IwyyJ8XUAF9R4W4HztMsDdHzJ2-fZID0Rihnv7m1BXMApnbqEOTsOsK6QoY1zRB_TzIdlD5wZjl_LL41Ca9X5P3eUNTePKjhAKoLp4ncFl3eU4_znXSGne6FYb2guUWYw2QXF6NX5GNProhFDISF3YNA3X0b508wGez9bMsHsMY82jCn5_JtC_b9avubQ1Z9FuCSZ2-9o7pApujwfxX4J4q6ZNlZbtvqbrgWK0OdS3VV-bTO7AL7mg5Vm5N1U4UXocmgpdlssvQdCCJGt10-bbR0YXYCQEltTOatXX-Od_-JvU9PFknXf44Qa2fjKiSgk34JF0d6d-VsD3NInG2b526S_bVfAsTusAfvojM1OcAzItLjEOB6WSxhk4rCbZA86v0wd_m9bKoX8EDKr6lv_x9PFw_jMb8UlzzSRHUhY53WBfnnLpUuMAJm5eytXY8bPPiLJUt8domi0_wt1rZSMPiW9pR3HmMxtNrrR9BXRKwMlJ5b4ft38ehCLHPOI_4Xezvk-fySMAUzudPwQPUf7wfZp9TtjsOmGc3c166rzQhqtHhOt-KJfMuOj0IGX-IWGcEKzCz1SGHYYFmmKdcQWlX0H_Uurlff8BixDy81kjrVwKAx9kzdyIiGrHoyTSPXVImMa-BeuxAVyUiYdWniO_XmIzc6hJNte9XWwsSD4N920hdP6Pvrhvj6WI-Ccy4fnUG3MRtEL2bnaibX00bYyjDBv9iSnt4HvLdNIiwp-x3eMJoY6MM7dZ-K1N2eYML8Sn-6iZxQaeu_fjqx91yQLTTwOX6uM5XDmpF8IfDDyZeeRbb5el3bE4FBNziYQOwLzMLcULMS9d--SfV4SYFm55s7DiBAEMk7kC_t0fQPMfCF7_Z1CPxYwJWQH_GxWACfXz5Li27S5iTrtFZjvuPV-l5wRBgMSIFJoAA_jgKJmMSwK45EUd9mBWAn-MoEzF1nb8-NBkCQfD7uBiArSQ-K4tx4ll2CzLPQyULsG6ETX5IOwHchCgBo4miz1i7I6k8u8lCRMNwYAdeqEo68EzsUzPHcz0ZaLnGjhqogekNXPBKFElDOEG3yUCkFz_-cJD4u8IvC6Bv_26KTQNXdNZz44JuRmw5a4D6H8xkSG2HHRvJ3zkDphjO9Fwsz-1UZt344aPbdqu2UGnGnjjeEt6rZSf1avsjKrihm2f3XJTLcfrMVKCF6SR2A0z-olDq38-l8QQpa87Qxu4MaP3wahPbQvF-Tbx-TbjD-3gQDTJBxdBvuezcyD0K1n6kKDMr5w==",
  "id": "rs_0d2807bcbd85ee72016ab43845a98c87d08c5a8d5257ef62aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"From the base side, the brown plush is centred between the left jaws without the gripper pressing into it. I’ll descend vertically to its lower body before closing.\"}",
  "call_id": "call_xf2tg6f7o9jQZMkc73RljdP6",
  "id": "fc_0d2807bcbd85ee72016ab43845ff2487d0837b1eca590db8a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xf2tg6f7o9jQZMkc73RljdP6",
  "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]: [-1.2098, 1.7901, 1.0489, -0.8619, -0.5098, -1.3319, 0.9964, 0.0708, 0.9203, 0.7139, -0.7662, 0.1349, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1869 left_y=-0.2407 left_z=0.0246 left_yaw=0.2137 left_pitch=-0.4971 left_roll=0.1777 left_gripper=0.9964 right_x=0.2511 right_y=-0.0024 right_z=0.1282 right_yaw=0.0017 right_pitch=-0.3815 right_roll=-0.1778 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -7.6923, 5.3265, 0.2515, -0.2564, 0.1636, 0.0024, -0.0889, -1.6889, 6.8855, 1.4872, 0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:163a168c843aa4544e0b1c42a3a3c554955adb332a46aed2d34c11b04b0999cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd54e332706487e488d364116dbedffa291ad727f8252b9cf34df4a13ae7aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0637765018a0fea6b76094fc8172b8253ce4c209f01245b9112daf29548a48e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1103, 1.8637, 1.1049, -0.7166, -0.5282, -1.2156, 0.0161, 0.0708, 0.9146, 0.7177, -0.7242, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2324 left_y=-0.2602 left_z=0.0183 left_yaw=0.1796 left_pitch=-0.4613 left_roll=0.1058 left_gripper=0.0161 right_x=0.26 right_y=-0.0017 right_z=0.137 right_yaw=0.0033 right_pitch=-0.3301 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.1846, -6.3111, 3.7128, 0.4762, -0.0317, 0.0269, 0.9255, -0.1573, -1.7436, 6.7077, 1.5995, 0.0269, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2083, 1.7329, 1.1343, -0.9604, -0.5072, -1.3106, 0.9962, 0.0708, 0.9203, 0.7147, -0.7544, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1904 left_y=-0.25 left_z=0.0598 left_yaw=0.1783 left_pitch=-0.4944 left_roll=0.1392 left_gripper=0.9962 right_x=0.2536 right_y=-0.0022 right_z=0.1301 right_yaw=0.0023 right_pitch=-0.369 right_roll=-0.1766 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 7.3778, 0.1392, -0.4518, -0.0757, 0.105, -0.1846, -1.7299, 6.8718, 1.4872, 0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2098, 1.7901, 1.0489, -0.8619, -0.5098, -1.3319, 0.9964, 0.0708, 0.9203, 0.7139, -0.7662, 0.1349, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1869 left_y=-0.2407 left_z=0.0246 left_yaw=0.2137 left_pitch=-0.4971 left_roll=0.1777 left_gripper=0.9964 right_x=0.2511 right_y=-0.0024 right_z=0.1282 right_yaw=0.0017 right_pitch=-0.3815 right_roll=-0.1778 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -7.6923, 5.3265, 0.2515, -0.2564, 0.1636, 0.0024, -0.0889, -1.6889, 6.8855, 1.4872, 0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:163a168c843aa4544e0b1c42a3a3c554955adb332a46aed2d34c11b04b0999cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdd54e332706487e488d364116dbedffa291ad727f8252b9cf34df4a13ae7aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0637765018a0fea6b76094fc8172b8253ce4c209f01245b9112daf29548a48e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhI33uTNZnXyXGyqxUxy64N_zHNjWexptE1NQigEEyo5_KOKoV9Itlef7zMgLAGnVJSERdo2HtdzWFgmL0dZYzqrTwbCdZ01gv8HohBrSkadH2WYFVTwWkgwqy9eVSx0CeLDHP6S76WUffpq8pmNl5X6N6jrnUhPqaCg3S6HQg99yh-3rtotg5-EWznxBmB5RcbwW3nnb-w3Au7_cD8rY4m8OB2HJeqb98oHlPBNAU3i4R-CcSZkkRlwkFxaoGALsAb4VRIWVnvIOOKPHAG4LGiMKLU3yNGfQi_PYegvPdgBc2Qg7dK03QlnubzM0YPbzNZdFdkkb_06EkrZYB5Unh1wBziWHoOm6P2GsgjVZDJ2agBsGtNM4coA0ZzbrvAMBnCppQHkymhZs7c_sLPgF_87VI6iI9CQ6nE7wJRZrhixGbuXZPS71bRz8pzLN4zd-nF3XnqFcAfxHCsyA32vx5HR1Mc-JPM8rSpuzlrb5GE4jBjLPwiCJqqJFEOghJTGRyWtWfXSQ8RQg7XFXjXwv22ANNNsdtz3e_RuonXbxJyk_Sfpq8xDSSwVWDSzB2R-xaEQ5QHu71W2SSCRczT9dKOne7y9uEsBfnPcfcGT_NUxh5q7u2q4nsXaBqgnfte9VO1V3SolJb3tM81ftUrAu_6osBVNklmnNZSQGQx7DT3SJtyFC7_wo2W-OgQ30pwEYrW3qye2iSH2_FKO1Z5hrtYAtMBHWc4XdW8UiNqG06aupX5e_efuCOciE_oFcdosBN5LXtlIvHdzdG-416RecN8hCKA8sNHnGj1aoMpLbYnXv3EfFexqkfayjLZPei7BMPkf0QVTbAdxcO9yW_M_k1oRFx3NZ2WM-aQFUm_4TMsH9SfRTCSipvYxfsK9intR11AfT0cFBHYl-2eZgml2UrIlWA_n67QvemLzYADsRKLlh7GI-TKHJENM5rZnkL1_UZwOcCBq-E37JhxZNwNKbpuda5rS-DbKOqnzCZovABWlRj6dGxwwZxvXu8NzI8yP2epK0PFcigcPXAIEZXiasWKLeZq5VwP8JHTjxHQeY2UNWwpGbDqu7bXL-WGiILHH7IWrm60KF9vdY-TH505wkZk8o7zCbwKTfSSFNIoQ9jFVlQpas0aALNjiqRTUAVRfokbbz-SyiH5IwzugSoBVzQaFE5tFt9PwGTiTH_2KhZtTZG8iNSVFowJxdY-qR4fed06SHaiQaixxq8cXx9CiaArbJ6sM7gHWZF5m9d-oaLDiYDsMmOGN9CTo_RiCfo9edBJLTz4cW9mTzGc5GBnEPyNBQ==",
  "id": "rs_0d2807bcbd85ee72016ab43847fe6087d09f937e2299fc4ff8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lower torso remains between the jaws after the vertical descent. I’ll close here and use the gripper reading to check whether this is finally a secure grasp.\"}",
  "call_id": "call_anmEg0TvN0sbZjDEiV5Nwshs",
  "id": "fc_0d2807bcbd85ee72016ab438482b3487d083a7828fdfcc791b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_anmEg0TvN0sbZjDEiV5Nwshs",
  "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]: [-1.2102, 1.8027, 1.0416, -0.8516, -0.5137, -1.3365, 0.0137, 0.0708, 0.9203, 0.7139, -0.7879, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1868 left_y=-0.2393 left_z=0.0199 left_yaw=0.2214 left_pitch=-0.4942 left_roll=0.1866 left_gripper=0.0137 right_x=0.2466 right_y=-0.0027 right_z=0.1252 right_yaw=0.0014 right_pitch=-0.4032 right_roll=-0.1791 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -8.8547, 5.8051, 0.1245, -0.2955, 0.0611, 0.7985, -0.212, -1.5932, 6.9265, 1.4921, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ef296537b72bf6df6e3d2fe738a810ad9dec73388266b7a85c4ee3558be4c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ef36d4b5255a5e46109e861870af25f08ff17694b1aae94448028eede46953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6253a9908d58afb93586429b5edcab5be9082dc1aa7cf4aa1e62a91665961eb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9066, 1.8023, 1.0145, -0.6201, -0.4961, -1.0126, 0.9951, 0.0708, 0.9184, 0.7174, -0.7403, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.2739 left_y=-0.2076 left_z=0.0154 left_yaw=0.2175 left_pitch=-0.481 left_roll=0.1359 left_gripper=0.9951 right_x=0.2569 right_y=-0.0019 right_z=0.1336 right_yaw=0.0028 right_pitch=-0.3503 right_roll=-0.1752 right_gripper=0.9954\nstate[joint_eff]: [0.294, -10.6188, 5.1761, 0.7106, -0.3297, 0.1001, -0.1294, -0.1846, -2.0581, 6.6803, 1.5018, 0.0073, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2098, 1.7901, 1.0489, -0.8619, -0.5098, -1.3319, 0.9964, 0.0708, 0.9203, 0.7139, -0.7662, 0.1349, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1869 left_y=-0.2407 left_z=0.0246 left_yaw=0.2137 left_pitch=-0.4971 left_roll=0.1777 left_gripper=0.9964 right_x=0.2511 right_y=-0.0024 right_z=0.1282 right_yaw=0.0017 right_pitch=-0.3815 right_roll=-0.1778 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -7.6923, 5.3265, 0.2515, -0.2564, 0.1636, 0.0024, -0.0889, -1.6889, 6.8855, 1.4872, 0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2102, 1.8027, 1.0416, -0.8516, -0.5137, -1.3365, 0.0137, 0.0708, 0.9203, 0.7139, -0.7879, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1868 left_y=-0.2393 left_z=0.0199 left_yaw=0.2214 left_pitch=-0.4942 left_roll=0.1866 left_gripper=0.0137 right_x=0.2466 right_y=-0.0027 right_z=0.1252 right_yaw=0.0014 right_pitch=-0.4032 right_roll=-0.1791 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -8.8547, 5.8051, 0.1245, -0.2955, 0.0611, 0.7985, -0.212, -1.5932, 6.9265, 1.4921, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87ef296537b72bf6df6e3d2fe738a810ad9dec73388266b7a85c4ee3558be4c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ef36d4b5255a5e46109e861870af25f08ff17694b1aae94448028eede46953",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6253a9908d58afb93586429b5edcab5be9082dc1aa7cf4aa1e62a91665961eb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhNznkTPEIk43FSnPmVvcv9p1Ww_97fGOsyK7IHNa2O7_HMdshpZP6b5zW9GqJnx4bjZXPL5tcg1wqY-aochcLjKx0ksswBwYJHk8DK5H0dlYxvwXpN_yHJxQLJCNtzoXmfRULw33Pl4ZI35KAUbnxoEfSI14Ly3FbZtojq2XwG47CTDYpyfoQm_EwzrjVvr3aVZGOLGrpAtgg2kbiHsitC56VmNeFx_nlGZof9p3_uiGDDBSGMustiiO6crDlTAl2DyuJL_vW4M400k68QZKWYuN2umi_nk-M5A-tRjsdrKaar0Lh0Dtp9OeZtdoFBUG1j6am4nTu9sWzTh1qgvz5ApwLgqt6d94er0P6kSDO286Qj5pC-7w7aztoBLM7s_RAcItuACnUky_h2xmP0jMjb1Fa54HeArkQGlxpMPt4iSnVOkzIiZ-5q1999W1Yvk5aCPx3-PuEZqVw9FK53sjydbsLVsABYVCt1u_KjwlcuQMEJ_62HB4YrW1mF1Atvgv3iGxXrI8PVsLRqEzqtAZfIMUUtnYRhMYAqOclYDQbIEPBLj41ZQF6yjm23zkgrFIfkSY1pXTcUnRoFKyGOZztWe8ZFfHT6UMTf50_2Phw3EoTkR7xP-j_OEWRjU4vq18jiZ_EpdElzZn5Vzb0qAjvxE6Jp8BdAztpy8OCnArpIQ3z_FZC7dCajKspQHUKsUktanCFE38DttvJQIYAXfwxGYCpdcyxDMV-alzRosfJZYIQR4iJrCFOQcig6JxGteZo1YElJxERd7j_mJK14ZDADdZcVppz_WH71uSvMfswZdyrgFMHMXT7rSJ3wfpYN1qIuevX2yNdljDU5R5yLzf70SVAsSVq7vt1pcHBRs_HJwfLIJaTeVaGHujOqec_4o1r0-eQ7YBcWYCOfFxp-dTEGDVuwZMOpbO2DDkb4kiogDBk3j88e1CnF-0n-FSnjLj6jzR9QXbZZ8ivx1jpN3g7FvGDvULFH0kGJRSBOJvRHjbXX_plVXKg1zT30D8gipRS5Q9Lj6XGh28xCrjPzsxfRqA5v6YYU5IZwpC9OXysvVDg7jJkgBUPH8ovhMtR4d9YNN3ud1bQ-rHFmcHPI-6uc0V75MKGvAJJSb1OmJB1QOmypGbhlIFm2PIXXvNkFjnR1U1gWPVzN8MIyQOioCZP2P4wzwuBqbHOsmqY6OnLlEXeioa62Slr0MCX9ZEqlgozbRrURhDjr8cCU18ys5MB2rxjlVZeIYrlUJ8pwidxkaNxMK8Y4Ud3TPFDS_86L_ovZ_k_OZYMWi0B0mD6jcJ6jLivBPr9LJek229cMruOcxejdQgVKiNBbdWM8-BaVcyHni5oBGcWJ2tCi72fnHD2AL5A0uxTp1HwPQPKvfZH0hKzkA3fqzsG8nNpBcM_5xdYBswe4p6nHEq7sRqKgqZESjTbtocgRo9EQvVf7raeguMxkBYwdO05WmIGcPg8pbisLJh5nKdBI-BDG_QmeXqTB8MopH49CFdbVaVu2rGAGLUDFIVq_qhobRAXx6OYBkTbGplQqyGZDi4O9cQY1Ep1ZdjLUc4h8O_xKbL_OMZb7my7i_Onife1NLBxE-fVbhqFrq-HArR2aNfJv4DJzYAwgoeu7hXclhDaUTO__9DNrpyW17442QixZ8XklZUekE-aZqxaabsoaolwFmekDf5DJvA3YR1rHN8QL6W3NWlQeR3Qw0VGxKlZ_b1thYDCrBg2ydE9R6IRD3HM6MQ8SVgdcbkBR-xyrxH40IYCa9YmJ4Ei5QZ33cG_lyYkVlV6IiPTFi5yvg4cRv67rZ02WULF8cJ6oMK_vjkKnSWhDq-tO6BXF5GB2aZ6kOKb-x5ky3xbLwv_9HPAqV12LTBjhewzyjcFaULoN9x1jDznQkRB6di79IuqSz6e8faH-_EZ2umIgiK7IB7oMlQwz8dOoYa3-KdRK9LoiqtVu358ZRx_N0K5lTmCNzSPfVKTvXIbH6_YMNGm72orveazLhixIGoNC1w==",
  "id": "rs_0d2807bcbd85ee72016ab4384b2d2c87d0aa7091362cf544c7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":-0.015},\"note\":\"The jaws closed through the plush’s loose fur without gripping its core. I’ll reopen and lower to table contact so the fingers can meet beneath the thicker body.\"}",
  "call_id": "call_IFhiXH8Ak4wwXpr7zm8TDRnc",
  "id": "fc_0d2807bcbd85ee72016ab4384c714087d0af21832ee75455ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IFhiXH8Ak4wwXpr7zm8TDRnc",
  "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]: [-1.2102, 1.8309, 1.0027, -0.7467, -0.5652, -1.3556, 0.9945, 0.0708, 0.9203, 0.7139, -0.7952, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1965 left_y=-0.2429 left_z=0.0081 left_yaw=0.2166 left_pitch=-0.4362 left_roll=0.1421 left_gripper=0.9945 right_x=0.2452 right_y=-0.0028 right_z=0.1243 right_yaw=0.0012 right_pitch=-0.4104 right_roll=-0.1797 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -4.0274, 3.2615, 0.3541, 0.2418, 0.1441, -0.1197, -0.0479, -1.7026, 6.8855, 1.3309, 0.0171, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b60ec3cb1a4e33a5731131ed672a8b0d8b0971a9c2b8e16ba0852b3d82b2c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65afbaebc4de83f5ae44a4309b726711bb53a6b1e3cc105019926a813d16f3ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab80b35ba8373fb3f46102d960760adf1a42f1c29740cc2d7ac95c29afd9242",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2083, 1.7329, 1.1343, -0.9604, -0.5072, -1.3106, 0.9962, 0.0708, 0.9203, 0.7147, -0.7544, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1904 left_y=-0.25 left_z=0.0598 left_yaw=0.1783 left_pitch=-0.4944 left_roll=0.1392 left_gripper=0.9962 right_x=0.2536 right_y=-0.0022 right_z=0.1301 right_yaw=0.0023 right_pitch=-0.369 right_roll=-0.1766 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -9.3744, 7.3778, 0.1392, -0.4518, -0.0757, 0.105, -0.1846, -1.7299, 6.8718, 1.4872, 0.0269, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2102, 1.8027, 1.0416, -0.8516, -0.5137, -1.3365, 0.0137, 0.0708, 0.9203, 0.7139, -0.7879, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1868 left_y=-0.2393 left_z=0.0199 left_yaw=0.2214 left_pitch=-0.4942 left_roll=0.1866 left_gripper=0.0137 right_x=0.2466 right_y=-0.0027 right_z=0.1252 right_yaw=0.0014 right_pitch=-0.4032 right_roll=-0.1791 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -8.8547, 5.8051, 0.1245, -0.2955, 0.0611, 0.7985, -0.212, -1.5932, 6.9265, 1.4921, 0.022, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2102, 1.8309, 1.0027, -0.7467, -0.5652, -1.3556, 0.9945, 0.0708, 0.9203, 0.7139, -0.7952, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1965 left_y=-0.2429 left_z=0.0081 left_yaw=0.2166 left_pitch=-0.4362 left_roll=0.1421 left_gripper=0.9945 right_x=0.2452 right_y=-0.0028 right_z=0.1243 right_yaw=0.0012 right_pitch=-0.4104 right_roll=-0.1797 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -4.0274, 3.2615, 0.3541, 0.2418, 0.1441, -0.1197, -0.0479, -1.7026, 6.8855, 1.3309, 0.0171, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b60ec3cb1a4e33a5731131ed672a8b0d8b0971a9c2b8e16ba0852b3d82b2c2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65afbaebc4de83f5ae44a4309b726711bb53a6b1e3cc105019926a813d16f3ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab80b35ba8373fb3f46102d960760adf1a42f1c29740cc2d7ac95c29afd9242",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhReC87SGRHBpi7pwFgJlzwTUAG4U3KBmsa01x2H6Ql1V7lMNnEIpDYIeI2Jxr2QJgbNqJmhKINtMMgrGzKU5VVRU34pcQQEqsyV5UdGR35Qs-C18Z7lYxKK-oSfUpcWmYw4iD_meBv0rZhXyY_MvScL0nUdqx5uzRzRn1w-qPNvbKA_VNTImyJax5Ey9BEYaVB_Z9fx8bSYTxSK6grTF40_7hJN_P1i6Pr7HGmBgLR562mthe0fIFUJ0msTRYWY7NzApVGI-aSeJQxToqtwOLOoWQPdN3RvEt36vP_4_ZruAhzVvhpTlt2_c_MAUQb68qBOLOeWiqxU7VTbhN4lPoVIepN3TGphEExiFyVD2CQ21jv-3jCBMqsaZY-NbGxFIbo_3tGCRTKCMOLnS6PTGSWlDDrAuetXiZX50MI8Wlxv7-RA9QahDhNCY62apJMTDmzZGpqmx1inFHqqHgH7gdNwLAamV-EtolrDH8oKNKNVJOvycdqOjm9rmbF49ZLMqLmA6DhCshkYpcXVim9rAYxdPRyfO8uqoTYgomnSGM-L9Q1w_RVQSlKR8VJcPLOtbU4zatyho6vDT_-6oKdP7tScTw5evVI-s49H3LQ3f-PeUbNdEzewdJxWzwqWQyDG7Wbz95ayBv5PIKKdz5V5HhMQC0M08IXWzmJrn64N7WF8-tT69g3GEs7mzdLMYeU2KhpYvVwUowuy1zcpCRbxwlvGeiKxrgVekfSOaA7n5QH_yndOMypQ0JGZv35P0_nayNvpTOUUT23Lir_j8AlXAzFTRuPPGlkbjydRgBW6CudBTZvE4pQsD3TpEd7ly_0K-GItb7O-qc4kg5LZB30SyupRKKpmU7gtmOQHQGgPkP6lOjPNKiSsJPnL-LJfZviGFcNIZO1ZorPnlP4LBCU1eOrvmSuQcx4NRQWMf5V-YzcDjU59l5mid1LwAjZeDU8t7OzdL07zOT3NDh3fgujSvo5HAoYdkwfzI0A2JUZpKxdvMqtoVoAznUHxr5PDYniGbh0a8MMq8XY29mcxDbkAhsbSVcCch2l8bbSgYFJ_Zl762QnFXzD-Bn8KB4V733O1RY4yLzHV8R_zk6rUbHzFvnVN5kVMgXYllpZpzELRAH-togE_4C1QB8APg-FmkHuPgCwfOtGWDYbimuHCTDEpWHTnkrhIhcrS7PM4OAr0-ER_ojCZognZFLTOgReaQsor__1CwIE_j3A_Wam3i6KzFwXIWXK0AAFUsIpIsdsiy5n5y-PcO8ohnVOuL7Njrdf4AinZdWOBCAD7UgREibrqeQTLzvZ7T7_23Ip7PDQ07a65Cc_VDb3wL9e2yz60YtB5Vm-XkDoF5rbA0V_LCew5n6hGI8pwkbhYVqqwRao65oSxiKJrmUdKTlMMj3z937u7GO9wqeUF_X-f1OdaJnriYk_ahm1s6p3JTuUZx98ZxsxaYAGwB5gnoG9tzSYJ13f8cb9jY5tJrLrV4jEYUGyXotAjLo_5j2HS-qf_tTqs7eiFSpm9q3K0zBinkldzlhifKO8SrYvwF7xK3Md9xUw_wtzfeBLa-35ifZGMq_QTeSYzeUe9gKJqg4tdB9Ekk9Rtmct6W5i4nHup0-FrElOaIlnM1lSbQbxR2GKllPNutyg_ic=",
  "id": "rs_0d2807bcbd85ee72016ab4384f42a487d0a5563cb186cdbb40",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are now at table level alongside the plush’s core. I’ll close once from underneath and verify whether the jaws stop on material.\"}",
  "call_id": "call_5xXgHjasoL01nRS08BZFuSTi",
  "id": "fc_0d2807bcbd85ee72016ab43850797887d0831d4ea5aa33434b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5xXgHjasoL01nRS08BZFuSTi",
  "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]: [-1.2106, 1.8271, 1.0069, -0.7341, -0.5884, -1.3632, 0.0383, 0.0708, 0.9218, 0.7139, -0.8112, 0.1345, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2013 left_y=-0.2461 left_z=0.0123 left_yaw=0.2132 left_pitch=-0.4096 left_roll=0.1189 left_gripper=0.0383 right_x=0.2418 right_y=-0.003 right_z=0.1218 right_yaw=0.0004 right_pitch=-0.4279 right_roll=-0.1808 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -7.6923, 4.5744, 0.1734, -0.1294, 0.0659, 1.1209, -0.0889, -1.8256, 6.5709, 1.4042, 0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9780c4854bbf9e7a3f8e0387f115ea99b44c62d306b58e44edb9f4ea596f3cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6aad1b4f1a92f150f954165cdf19ab36dcd4dc1fdb77cfcdec49eecda31b27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2480188687f9e60c01e974d00cfe031d280f427406ff670168d963b38440e39",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2098, 1.7901, 1.0489, -0.8619, -0.5098, -1.3319, 0.9964, 0.0708, 0.9203, 0.7139, -0.7662, 0.1349, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1869 left_y=-0.2407 left_z=0.0246 left_yaw=0.2137 left_pitch=-0.4971 left_roll=0.1777 left_gripper=0.9964 right_x=0.2511 right_y=-0.0024 right_z=0.1282 right_yaw=0.0017 right_pitch=-0.3815 right_roll=-0.1778 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -7.6923, 5.3265, 0.2515, -0.2564, 0.1636, 0.0024, -0.0889, -1.6889, 6.8855, 1.4872, 0.0659, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2102, 1.8309, 1.0027, -0.7467, -0.5652, -1.3556, 0.9945, 0.0708, 0.9203, 0.7139, -0.7952, 0.1345, -0.1051, 0.9954]\nstate[eef_state]: left_x=0.1965 left_y=-0.2429 left_z=0.0081 left_yaw=0.2166 left_pitch=-0.4362 left_roll=0.1421 left_gripper=0.9945 right_x=0.2452 right_y=-0.0028 right_z=0.1243 right_yaw=0.0012 right_pitch=-0.4104 right_roll=-0.1797 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -4.0274, 3.2615, 0.3541, 0.2418, 0.1441, -0.1197, -0.0479, -1.7026, 6.8855, 1.3309, 0.0171, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2106, 1.8271, 1.0069, -0.7341, -0.5884, -1.3632, 0.0383, 0.0708, 0.9218, 0.7139, -0.8112, 0.1345, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.2013 left_y=-0.2461 left_z=0.0123 left_yaw=0.2132 left_pitch=-0.4096 left_roll=0.1189 left_gripper=0.0383 right_x=0.2418 right_y=-0.003 right_z=0.1218 right_yaw=0.0004 right_pitch=-0.4279 right_roll=-0.1808 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -7.6923, 4.5744, 0.1734, -0.1294, 0.0659, 1.1209, -0.0889, -1.8256, 6.5709, 1.4042, 0.022, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9780c4854bbf9e7a3f8e0387f115ea99b44c62d306b58e44edb9f4ea596f3cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed6aad1b4f1a92f150f954165cdf19ab36dcd4dc1fdb77cfcdec49eecda31b27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2480188687f9e60c01e974d00cfe031d280f427406ff670168d963b38440e39",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDhUEkavWJf4HhbVFWBgsJvEc0hD_i4PamLvfl9FxtaKvlXaFgsvTTxbDy8Yl7cIunfLVmWaKxs3TyNSImFgVma2-eJNb5rqp_0E1dL5heuaOeaP9AMfuUOSXhwml0LJtIHK_TqOSo9VwbwBAl42Dg-MWNzv-F_lStWAAGT00gxV-THfPzFQqpspMH0bcPbJbVJU8KoWEKysUdDlb4d7UMP79B6uD9G6_oWcBjhBTEVlht9cUqAunLTijUcDBo-8e2hoKIKNTIApZ00YpSHvTXPQMG6fCyChQ0Dm555xHYoJkp-5dYZF4pqsbS51hqBE55vxu5oQt8XguWOarPtAeNHeIPwvwsVVz8rTYTuo8S7xbke3alHGvUyhS939WigEP8gOoCY2qnVf8rdpkuGejv86jiVyEXi8qtPJtY-oP1XteBtznYfduBO-kNonrVF-Krvs9Za3JaikUouREjnEtSqYWPJXahHcNJvp7I26yCK3RdiJGCT5RIKRa5fcbpr6C9XeTAbXqu5bgzB3WQHOsLRedpR4YMgDwPvvn5Uc30lozzTAY9X4Ee5cNHD09VAgEj60uJQQnSckFXJupYN9QDZv5wIRGNZeSfiVYIHRupMSF4WChqG_3-fIdXaPXf6kWUk0H61YxXq5CueJsm3iH3rkaMQRivaxhx3O9c-kUDgDTAScH-nF4ZI8pVV1j7kT15oypw58KKZQn__XYsVsNJ6_ps_9mTqfnlycZm_yMsDcRWI3q1e3szkHUIiKwnBAADUOrvryQo6pn-mpPBGNcPbupqOY22IAhY25aS34lzzd8aFzTwwajJzShvYiHRLxkKcKhZafjJe9tFFCcQdmzpUvW7FJQpXn6LtooYONkDQq8tm2Cg5LoCHBXYzVgUb5aU1Zsh0MGscAL4TRTmZgFRb8gIt6YsYQrt0PYGSiZXgM4Udjz5bwzM41E5X2F9RgJLDIcPHEkgaNKwaufFIqMkKmc85Qe5EqWCu5nrSqbvapTpw-YQdMuBqWbPxz72i6hLXqM3iozcqWcCmr4-dcAzKV1yz9anIFaldCY_i21cbHr9ImkkCuI6NqPEq0Huy0oBtfOk3opYp8EtKyPKJ1l6BcSbBWiHemh8yD-GEZPNiAWp5RPPExHpgpeXUR7quG9V7ETzSWZ9BAy69geGCz4ybTtFWNtj5Dc0nZvV5ZVnPjsMdwOINlQhHBRd0_jo7KXIKYxqnoDcJ0qpf8jMp62ZNqkFEKMdeydQpw23dGJP2s2n0fcJMw2oUixAy0MdC_1n7q",
  "id": "rs_0d2807bcbd85ee72016ab438533a7087d09245ab3f1b7f6039",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper opening stopped just under the empty threshold, so the plush might be lightly caught. I’ll lift a few centimetres and check whether the object actually rises with it.\"}",
  "call_id": "call_WvI9M4uCmQELF9vn2XpuQjiB",
  "id": "fc_0d2807bcbd85ee72016ab4385375b487d09da40d6635ed11de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WvI9M4uCmQELF9vn2XpuQjiB",
  "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]: [-1.2102, 1.7233, 1.1957, -1.0309, -0.5697, -1.3705, 0.0395, 0.0708, 0.923, 0.7139, -0.8284, 0.1345, -0.1047, 0.9954]\nstate[eef_state]: left_x=0.1999 left_y=-0.25 left_z=0.0828 left_yaw=0.2183 left_pitch=-0.4282 left_roll=0.1162 left_gripper=0.0395 right_x=0.2383 right_y=-0.0033 right_z=0.1194 right_yaw=-0.0002 right_pitch=-0.4462 right_roll=-0.1822 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -9.7026, 7.6239, 0.1832, -0.4908, 0.0415, 1.0281, -0.1026, -1.6342, 6.8581, 1.4139, 0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cee31f29030f99f19f361e8b1c98d9b839bc1800da8099e1746e40052567d021",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d946f73294aa216bb727cbb18f0c81c1a72663917e98b2af857b50b8c24582",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d85c5a43da6e4990579313d7c6a7fda8f60423a285a27759764f575914d41c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}