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]: [-0.0189, 0.7925, 0.6044, -0.392, -0.0193, -0.0341, 0.9993, -0.02, 0.794, 0.6071, -0.3962, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1781 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0012 right_z=0.178 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3197, 10.2769, 1.956, -0.0757, 0.1587, -0.0855, -0.4308, -1.4427, 9.7436, 1.917, -0.022, 0.1148, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4b9c7b7f43f9a9c6001682a99c114d093d374d85c47612835940a209291b78e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a86e7619a09ef1ce9b947ebafd62dfbd90bd5a0f2df86566a27127c89a13935",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81107a232ca46ac23d68ce46acad24ca8f5a6a893c1813e29b2575d8ceb60c83",
      "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

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  "id": "rs_07a19bb4e725942f016ab43481054087d088e84b6c5d2b80e8",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSIt7mcliXRxd955zjw5-iShWdVpySJE98B0hDIpDJffousYzc-mRxlMeJ5f2P4BlPkUfaO7Ch5vimhI5slim-RxUmBATJdXWc-6fg1WWbtlBi434_KnjVmxt2T0LYk4uo_Zq-ImAcExb1PisEMRmTmv2qyUylMp_bBbDqgH28v47Q_ECIP1BFKzYDszwEQo9Aty43VuURMqxSXCDbwwBux82n6GQ3RAXMrhmhZmnMUD72Iy1QA05CInuFEPpPvg_RJNClMmASTRT9x6w-iyn0-LL95o6tNSzBbRsnHOGcoC9rKPtqvhi4mvpUuXf_imVC0UCPCN1lmkfqfyxr7wa8WDk_HHcuUh1NXb_f6sO130uBFn_ITgOqB3bYFo7w95otlnX_T0D-z7jeu4bVLaI-RQsxiYOi-oiEBBN5knVRESHufkmTF7sG2K_EBZrZ_wSfaICyCI2IB4Ui9PPXlODqZuqgyLRWV-cHuhXIR6RJQxRd36-9gsB37TwDjm9paXJYWZAs8HQgbFrOAFAADdySy1tMvw8TdgCD_ND4W6olE2CavwyCmJxfuyf1-iKIX4MRoaH0_95gXVF-tQf09MKnpsu8hcnEm_QtvyBhyOt1e-bALpJSWjRaMHQBhCDbHWTByYVtaUvow12x_cR6Zk1Cc7Ny29hYC8eailgelUCG2PQ5XdsQU8IFpXThQO-FETc5QRzEWJEiWRaeQX_bzSo33tGhCHzH8dbyiegtwX1F0-belovjV0cf12zKlrbgR5h4yMuh0-5UbprnqVjX51YeiM4tB38EW3fTu3xHg4A655T_D5kSbVFhso49u_THJLYrnAkTUMNC8I5ToaYW9LiJc8Gf8iG3D1yY_aQhsJC3mjqRl_vBnKghOxsCY6Xp8XJWnT8MiM10QB0K51zZt5eG5pde6h-scnVqrJW5daiiwSMwoNYZ75dnH_B3KvguU3u16H-Wh1RgoKXKdVsKPHZXiaynqdHC7g0gj8mLv92S6K89iQko2SH0SZI2D5SbCjUNL1LEzaqufZ9inOvtqEmTkktgryJblfyUDl5QtDFXGcy6Dbh8zckvddPHLIK9g9EXlOMlzWlpRdWiusDAKx0JjoYJ9sKzxktoZ2qiM-aD9uenQMAb1LPgp2xMrUXYxrkFcYqPUwp_NmGidqUrafL_-Afza9vvtspAC1ijqg9HOi0xYgNrO0C6fgfujiyOW0i7zUEsiTVyDhyhzil_O2z5hlGIRl2pKg3HjM690oH9V9p_REpqgsK9reHzepEocpyqSQZfdtinMwUn_mKLMr_3ZFuNPkJSsfLARFvypvdSuU_KRjm4mz7oGzbKtDJ6sYV5GMgnPXHv2xAYgRibi9kxjYOL19I-z8fplYcARwQX4nfjjsjby1Hh2zKWWKWRMjcvqIsRboOaf70zmfuR4Wus35IBXlSeZyq4E0U0jwgNEpMM5SCCzUEaG_9_a-gsioG3pDYI7s3cgXr_4UGTVyx_NMgd-dOf2-nazDSorSwWXJaX67DstwZJdHin36fn-7fS264F-QeBPJkSpcQeqN0io8OsJ1uUMIe2pr6Whiyhd5-wtmJ4RT5M7NPlxLq4GTCb5klTsLs-x99meZaxhLVUAWokECmL3Fq6943qhJ5tvt2VAZ813DEXJ_Znlm4VsgQToNEELLujgVK0VaSDn8ofH5fPGZBTbg0eAUcjbyW4TPoURl3Fj9f6KfSV0r6dP4ANvhrTFqlaTm9K5K_mMfhZdFJIyDk8dAcWqKdxrGzFHxIcdKZ-nkXs8QzWHdhL0y1q2iQN3Axv_gRHhq44VaduuxrWi7m5V8XHDFKc1ODVNfOCgRGwQsPVCKsEhKm7H9uNPZeLpy-M27PZQdR0pGTxfa02G4m0OxlH9TZ2oV4iW2c906YnaojdO0HD2zx0-vAcWNFZaDrrrfAbbRQakDrXSaGPWIqrpxOYAG29_TRUHZdop3-7hIl514lKzWNE_6He7jN_oiJcBa5yHhKDlRIpi8tNI3nkV1HNusaoNvYyQ88t9XfPeKtooJJK4P8YeG-OAU4FJZ713-mnF3ed4Bcetbmb63KUaFM4y7NQnOGSOiFpKqc3gHZvAtI42AzVIc5Kef1q3bG8pWm5VjTRPQVXcJNuZgekHyKVZocmMTi3UowyAxlYyyC8ckpZYqnLQaMYO",
  "id": "rs_07a19bb4e725942f016ab43486166c87d0a90ac391fbc97f67",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.15},\"note\":\"The safe is open near the upper left, with a yellow object to its right and several objects nearer the front. I’ll bring the right gripper above the yellow object first, keeping clear of the table.\"}",
  "call_id": "call_O46szApZmfwn74pexySPPCQX",
  "id": "fc_07a19bb4e725942f016ab43488126887d0a21ee5fe6918c9b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_O46szApZmfwn74pexySPPCQX",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.6537, 1.5929, 0.9886, -0.1474, 0.4995, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0156 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3875 right_y=0.1948 right_z=0.1325 right_yaw=0.0385 right_pitch=-0.06 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5658, 6.8444, 1.8046, -0.0317, 0.0317, -0.0171, -0.1162, -7.706, 8.7179, 1.7021, 0.3736, 0.2955, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb8bd6972cee88f34de73977a61c83a42c3f5d57e04c0ef53a90e08ca6c1a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6622b557791be309c69c9642d35f49dfcd309edd9dadc9cf43549fcff048e69b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0698596368aad349f6ce91993b35aa6e74db7397ef80c1fe3c1fda965064a5c3",
      "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 7 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.392, -0.0193, -0.0341, 0.9993, -0.02, 0.794, 0.6071, -0.3962, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1781 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0012 right_z=0.178 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3197, 10.2769, 1.956, -0.0757, 0.1587, -0.0855, -0.4308, -1.4427, 9.7436, 1.917, -0.022, 0.1148, -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, 0.7963, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.6537, 1.5929, 0.9886, -0.1474, 0.4995, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0156 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3875 right_y=0.1948 right_z=0.1325 right_yaw=0.0385 right_pitch=-0.06 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5658, 6.8444, 1.8046, -0.0317, 0.0317, -0.0171, -0.1162, -7.706, 8.7179, 1.7021, 0.3736, 0.2955, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb8bd6972cee88f34de73977a61c83a42c3f5d57e04c0ef53a90e08ca6c1a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6622b557791be309c69c9642d35f49dfcd309edd9dadc9cf43549fcff048e69b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0698596368aad349f6ce91993b35aa6e74db7397ef80c1fe3c1fda965064a5c3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSNDWv5V0C8oJ6gC4YXeGi30k6URENNslbBYZIcYXTbPWVOoSWnoijClNMwyhnH8icwu8192NT-oh4CX6dyNCnFa9HFuypY9wsWzmPdkfa5xOiXYw6j8CxdHa2bTWVpKS53EUXy25t9MhL3Rx0Qox4O6-VES233WjcTn6_NEQ11FeeRvbyI_Lp72CWaHzQ0HOHpCBBR_cBTBdHZOpjlmvzI6hrRGXH9aRv3hrf2yiXVuoN6tUJsIVDcbxYNV3GX_l0Ys62aEQxOiAZdJAHYqhx6QjqUgnE89kxXm-tMb3JI7HZDe0d-RKXRVp55H0qMBhkt0UDPMvpUiWyPiipZGNz_XhR3MNpb5SrW5a0EpAkyUaZiB9Z2K6xwmmpcKc7gKEAnA8By1wiWn9s6rLIX5h03Vl_g3A37vY-sweW5deLqqWqzoCtvrDSBgV6cl8Wmf3bR-9TESyO0nMM1K7nHvtwqY3rpt2Lvm5EZG9QGvEtBJKKAMlo6UXyVYj8nPC1B_BXRJ644tgrMTZooJ2-Ac5GmWvaiDCJcjYTvmmmsrayG-NU28Ue4dnaMCL0d98fxnmOrz6EN-Ey3YO2BunD7x2d8tdsLmGw5A_Xy-GKzJvcBewwdzGxtG0TxQfoqiOy5LhB-zqfL4NwMhfozuIkMFL7-RcAFuEtGj16Zle7x771XSDX2yxwefM-Fp2tlPJT7hXVmLx-mKJv5XmZr01MGtjxS-d2ldf22y0bhxi6oWps7uaMu3Lkpq0qoSyyzT4K-XiM-RgXCfvXzXld-NwV4xzlkAmYDGkMPDGtn8Vp0qEFxAa9UPi1x0OnKxcu7thm5Qwwmz207Nivvpbm851TBlCPAZkwQVUaJ4zEGkGTWfQMr20uIqbjTpYKVAJZgop6tLnFPH4-V2q4j4-D-UunqFaHYxccNeeDnOLL2MWif1OXRAllD0bG5tpZGmq6L85BV1YxSZL8wk-Bz7hV6-5aou9Td_bqR8LOaq1xWLM17wYDHLf171Jhm6lCTMpLG18m3KEVyzNDCbfbx2PqN6a5Q1SrlHWGATXQPVMv8Q9ejQGRzwUMncorUaTPHPAOBqQshkyEt7XStG16M9f4vYIkITuhxxlg94yRWWRFkiocbqPUZvY2J_e9CIN9EP_Zr-OBkskfuS5gvT5bzKsVlk_59b-WdCuFvWSl2Mv7B4AVQ5CnKrTjvIjB_BPza4Brc06tAwFiswrjGOyxeRQdTRlzERKXujLQuEUxtW_SCW0DO7zMofHNczkbHGkN8WO0-CZPFyTkfs_TVF_rbcNwWI1LzOzLFg49psjyUQcik_Tmxe1jxwYxgaWWGD0ufGHqDkQk0pdwsRpISlbbYQhwjxAW4JlbCKeUdXZh1q_zA0jSd68eSHo5YEmJJheO6CAiSxJksCOFh6UGrW1RZCQ_bcMYyKocAZyoLNyZkLwU3D-JUw5wzQ5eopp-kvKVlUGa0sGQHSlt_IDR6vyGJu8dxtQ_KFqzd3-gPgQgMQ9jHNGdeqj1-cqfJnehNYwOOReNVP4RNIPWE8Gp4BU7haJBDRnAoQERmSB99Yf3pNE2zZVX1rQCfFBG2qOK9ua_IQMRsQdy7JI4U_Ja2quLmOyQqGv36vzIBBz_Kg37vVMbawV_bUtdOFvrHEok1wNstrehJJarEMPSw9LnxyHWjX3axF0pAGhdqPFKmqCowlSDISfv-CdBqz6bwz0siUwvmM9MKIzfCd0dnUx-o3dJxO7-a7_zBcHbQtTXN2gQwU227O2DjVTsBnY3yUKIGA04--InLwJi1PoCveAZ4QZ4k3d2lqDN1qpg5_Chs-ePoYVSwYkKbpsT50r77s9Ilp-gOUpR3STLiu7euo4LmDc9OLjwlogMp3UUWEg==",
  "id": "rs_07a19bb4e725942f016ab4348b8d5887d0805533d87747695a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.419,\"right_y\":0.212,\"right_z\":0.065},\"note\":\"The yellow object is nearly on the right gripper’s jaw column but still appears short of the fingertips in the wrist view. I’ll advance slightly and lower to a position just above it before closing.\"}",
  "call_id": "call_VA1LiWObPI6bzK9yYPSGWeaq",
  "id": "fc_07a19bb4e725942f016ab4348ce59887d082897771efd8254d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VA1LiWObPI6bzK9yYPSGWeaq",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4114, -0.0193, -0.0383, 0.9992, 0.6392, 1.8267, 0.9756, 0.0257, 0.4816, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.1733 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.4056 right_y=0.204 right_z=0.0563 right_yaw=0.0398 right_pitch=-0.128 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7949, -0.0757, -0.0464, -0.0122, -0.3761, -8.7726, 6.653, 1.8291, 0.3199, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf508624e3f1f4d92dccdb84156620b26634af65912ff22aaabfb659619594d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bb21c7fe6a6c28c8f1bd904814c13bae3491c82ca1377f03b21cb29d5c86ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f90957c1dedfd92b7c1a1ca8a3984fc40cf9fb8112379f4a98f32617620324c",
      "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 7 changed as sent

message 11 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, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.6537, 1.5929, 0.9886, -0.1474, 0.4995, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0156 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3875 right_y=0.1948 right_z=0.1325 right_yaw=0.0385 right_pitch=-0.06 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5658, 6.8444, 1.8046, -0.0317, 0.0317, -0.0171, -0.1162, -7.706, 8.7179, 1.7021, 0.3736, 0.2955, -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, 0.7994, 0.6067, -0.4114, -0.0193, -0.0383, 0.9992, 0.6392, 1.8267, 0.9756, 0.0257, 0.4816, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.1733 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.4056 right_y=0.204 right_z=0.0563 right_yaw=0.0398 right_pitch=-0.128 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7949, -0.0757, -0.0464, -0.0122, -0.3761, -8.7726, 6.653, 1.8291, 0.3199, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf508624e3f1f4d92dccdb84156620b26634af65912ff22aaabfb659619594d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bb21c7fe6a6c28c8f1bd904814c13bae3491c82ca1377f03b21cb29d5c86ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f90957c1dedfd92b7c1a1ca8a3984fc40cf9fb8112379f4a98f32617620324c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSRwfWW_7Lg0vZNdZRfLbl0TiAkwFcRQUzLQTlQ7y4n6yUu-NGhbnPxaGmqQzgLnpAx1s4Xfz855ZeWhIH5lYYOJDLa9leufjC5kL4vttGEgJlmX3s1XkBSmCwZDm7UbqtrxeQD4N4X3TVNGhY2y2nSNGalWGmMGtSwR9tDFkywQhWY8hfKlM0UR3fXJxjq9tRyKxQUiqYNk8qxrK0gYYk91mFUupgg0aC2b0hI4dSOCRtPz9p79w48PkdGo7E4iWTPjA7rEvvNXhKNneOJYjDymWErMAI9UhoaeOXKrf22xLwW-Aax6q18Lh73distUZ74szkh3ZNUFDXvpHo_lca0zCJXBOHCyoMzDsnT8Ucnzt38wdq3k9NbtDzrNBLf2zr3YLt78aLl5o9LVgM3FW6vhGlqfKuvDRuEVp6-ta2fuSJqEjdoCneWYdzgxUwkjxMtEBWiVGzupkfTPfmE_LZEf-_CW6we0JShDKt_GNTn3uqYxR1VrwunEKsPWbks_YGq5zD2shRVPEGtCabaB71Wrv-6ySRnebouxN-PCahU3_xDmVsH63rCzTxCp4Jyaf6C7wgQVuEEbilbX2xJjm4rwb19SFPYITpbOtXCwj8Pwsfk7zldufcquhWUYPbMlzi_MB8rLiwQhi-o46QlQBse2gTjP3f6LvmslBblAClp_NNxp8qYgxEpt-ZVaAdFAZIZDHh9buArpowvhe1sr5jhzJcCT5mfa71K_XTW4_uPEo2jFwoth_ljDPK04CPoiNKMiOmzm_ciwVUMPtdXqDc78YhHQaxUSuSYEK7hqqB1YTiUjRFn7dTGWqkFKcen903mwlXpXIpF9G1HjNbbatL43VfbcigAIuE01Pt9PUE3Gu7zYi_MMDIiEaMLsFTdU8Pn34ESO2RtJFOlhFm9jLC1L9lsjmhn4I6mUpLL7AJpXgDNVlpMWorTnNfs4sm0U9mqzNlbpmlISnCpewD44lKYSnpk0oSckGS3mQFAx9G2LcVbIGDoszjPoHr-Ls_WRdRYWcfbc1f-AUmyXfJ86H0PapgDHlNSuuB-GRMUL-K8EzlxZyl-z46P8hN8sLqWjc9pSdHetskOvzdTmgxSsgBtCIkvkR8Tkcwxi06BxrKUAlj8jygZbui4K0Sc61nmB-VDvL_02rX0pN0h6Qms6gsZwMnEbLWnlzo6O2HSGWhV2dZNLbJAZezFzq33LLNX2LdGD944Mw8ITgiKj54Yn-CPwGQZPafot_5-a79IyduzDda_hYQGOrt5KZlcupDaXj1LkMPQFYaEa8DMijW5guMghHIWQxZN46EJZ1pxygtXeSOg1yDb664jLOhflEvnFUZBnoWW7bA5iZ4Hh6JvUCioB_urdvoFrlWdzP4S7cW4feP9JoaUE2t45rXcaPfGndGP75N4S_0KYqX4bo0GsBHM4qGXxaTOzFRfFk3juVhPZdFd1Na4YR86QfR8xxD2G4Hjjqa5gvU9PBdlx8jeGiUvPcAt8sxZSVOQB6_U4VO3_XCfkTFBTc16j8m7IxIsei9tXSdNMUy26Rlt3ztPiYi7Xx9WlzwEQDyh4MFW96udLEs0CoxxqTAlTdo9x7EYXmzTueGdHsBLH9jakwJhqWyyc4zk_yPT1zo-RqV-i8ptPUO4phNuLXC5qZJqaPOT5MbntFWh7aHQlr_HZJNWbjqnr_aqQUh7vtfAAtf8dKTCJ11qXNodWlXiGthim69clm56qTFlPcYvmqMrPKKlbQk8hYcV375UyqmIU8VypPZMjid69N8PGSE0H5IeEd4zrmLVaPVuvlLm-4UnRAkN-doDPUflQYdSER8vRGBODubCYhjmaW5-hKDD0CJWd7y2WBaa",
  "id": "rs_07a19bb4e725942f016ab4348ef47487d0824d56605e6391ac",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.436,\"right_y\":0.213,\"right_z\":0.023},\"note\":\"The yellow object is centered in the right wrist view, but there is still visible floor between it and the fingertips. I’ll move a little farther forward and descend to grip around its lower half.\"}",
  "call_id": "call_nw1taeOdnB6GVvz4LL9ssZl9",
  "id": "fc_07a19bb4e725942f016ab43490757487d09eda840630faff8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nw1taeOdnB6GVvz4LL9ssZl9",
  "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, 0.8032, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.625, 1.961, 1.0348, 0.0971, 0.4553, 0.3241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4246 right_y=0.215 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.1427 right_roll=-0.0842 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4838, 7.1863, 1.8242, -0.0269, -0.022, -0.0122, -1.1556, -8.9778, 6.8855, 1.6435, 0.2076, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fa2ee056427d6efb475ff208575ccbebed421a5617197d7504e5c4d49439e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0250be066d2bfaa08a8e0e1ad0d9fcb1adb5c629dc28d5db1571508b6161edac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466818b12b19f85099426dba6855b9bcfc6ec2181f4103e6e11599e2b56321f6",
      "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 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.392, -0.0193, -0.0341, 0.9993, -0.02, 0.794, 0.6071, -0.3962, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0015 left_z=0.1781 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.293 right_y=0.0012 right_z=0.178 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3197, 10.2769, 1.956, -0.0757, 0.1587, -0.0855, -0.4308, -1.4427, 9.7436, 1.917, -0.022, 0.1148, -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, 0.7994, 0.6067, -0.4114, -0.0193, -0.0383, 0.9992, 0.6392, 1.8267, 0.9756, 0.0257, 0.4816, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.1733 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.4056 right_y=0.204 right_z=0.0563 right_yaw=0.0398 right_pitch=-0.128 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7949, -0.0757, -0.0464, -0.0122, -0.3761, -8.7726, 6.653, 1.8291, 0.3199, 0.0317, -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, 0.8032, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.625, 1.961, 1.0348, 0.0971, 0.4553, 0.3241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4246 right_y=0.215 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.1427 right_roll=-0.0842 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4838, 7.1863, 1.8242, -0.0269, -0.022, -0.0122, -1.1556, -8.9778, 6.8855, 1.6435, 0.2076, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fa2ee056427d6efb475ff208575ccbebed421a5617197d7504e5c4d49439e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0250be066d2bfaa08a8e0e1ad0d9fcb1adb5c629dc28d5db1571508b6161edac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:466818b12b19f85099426dba6855b9bcfc6ec2181f4103e6e11599e2b56321f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSUZaFVir1YqgjgQAR-1g4JlKkKpj8nowvRJZuZYuEUkCfYzaCGYDBkHAZISERPeANxAmabVUKJAH5HimaG_tLIjnndw5duD087Y11J40aa0cXjJLkmqHOr3vT9ir1TlFhb64uwYYFgfFXC1sArxqYLovVtzm5MujdqIV9Ys0OxZ8ft2g1sOfoaHLKEp1LfDnMImbmmbWBolFo7JVGQlWZJYu1ihUaWro2FNxFujfkH9mgTSnWW-I8x-z2ozvw5G4BAWNnSmNn7g4sB23fCJiQ9YZT1rjD3A01EywrokKy0-QJLLFy1ninmWT5O0u5dKELMR29h-3UrSG5ss1qU83dotYhw9_VGocTRc5wlw62fCF1V96a1mB-R18I5f52i49y-xZ0s-wrTvrwal9hssbk3nHuBOtgGr030wBXA7XwXYLSpY_wXf5V4jnyg5j274qF416J4norYr_GUwJmnj-9hTzM1gH9Y98NXvbx-gj_mlZYACeT8qZphrMe7pjJsVsMpSJ_kBxsKrp_LOmvsJtkPERWPEtw2pdHDWyDmiHAKF849Sq6lDE7L47Tni4tlktv8ZMH7wlGcOO_qQhWZFhXOD8u4xFJWTJtIaRkPpDFzUIhdhY0bBnx82hBh5dStq_fx5Sa5xJnhjTW5ucm3S0q9FdOhjmr64jZiDwimU7hT8QV2m40WGEtb3Gu-7Z4XqnccxTCj1X2R1v5Hqzj9C4w_fnX-RB5Dd__RH6FGSCPPNm5ScYhv9CimT0kPWE7bIryxSikMTHMWHwZq2ovhhFjcYeHUPpI7DGB_vKlYoe5u_Nd0Vn4PVB5TsgOkOuIdA_4AglFHRFhrFBNEcki-6S9BwutWJU_DzjSN84kauNXgqJOXCfvqFfuzcdJiSniQSfIMCWspVOeqJruZDh5aVGwab9Pm5wvmOm2168CXvQur6QhHVhdBuLy5N3vzELZdHNG66b1rZm9J6gU4xlcsf6OsboPezKhkmKlpBEkp1qVupSD8at0SyLhz8_73bG0gI-JzJ6_tkMboDPPIyW58h89ljW6hobTfqdILGqz1Tm5nZ-vwmS0JyytaQsuxdc_MPkptXn0qVGfQ5MnHYeFEILSPg3AFiJDoMzjl6asXG_qw_Fvb5Aa6uHN5vTsoDR8OIPyN_KCDorQe_aj7xThX_Jh_GgBNET8ByUYOU2PL1fbEE11W4QwusY_Ac0sjm-RW2dvas8e_ecQCykR0LLW0msMCFgDlRhN3oXpCATrA_QjwARCAle2dyx2f0pwKBQVP3J5kYFNB5Om6Kcvt-ox0OoNX5PeHXD43gpJ520uJTmj5jY3I3vfZOGidD3LmViPz3bY0s_hfoQegJldNUPe-o62nDZX2Kqvn60a1R2NcK2qD_WEfegJnqer-Bycm29AcGyr8FiJ771FkQGSVdsteiHqAYkiFqeo1JVcXdb-t0AXYekkCrje3Vy7uj7N8sMVf7db6ARRl1LX2QnQg-9VHubYgU8QlFwHvX4J3GtZEq7iqEqVsWFTjZaaJbhcbBa_y6y4Ftk6FA7z3ynfzDaT-p4HLzTFoHdGAmaV2-jx8tqet1D_ihIgGHQKLrs0afbFmHEwPOPvUOk3Gw6dnlESE9SXCe-F-Q8zsg4iFgYQeipZXku3Fi-KUZbG9jSPOBzee5Z5zQLZ6lyk3ePyFbbZOKUt7ALh7DApPLPPXQs0ygJtOl-DbItebWeC8ZRCmdprfc-olKpARNWAFIp3weI9xkPwmRL07aGPA172tmnbAteqnkr8pWvJomlMrR66gRiY1K83Porgq3CjLpiY5kGy_q_1bAiDOKzBTXRu0zsQyty_GKwmm16zPbE5BpEqByoArkFZyd1K4D62F1RMFfrqISk2sYVTmcMGMISR-k3bSUEvD71gvvsQc0F4sirU7oh-Ay3bpdORzHtluKs1fV8vyvFsDE8KEJDYa07I7pdSdfZkQ09CrlISaO_ESFJQIJP7n5r5I",
  "id": "rs_07a19bb4e725942f016ab4349265d487d0a7ea28eca21cee95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.454,\"right_y\":0.216,\"right_z\":0.023},\"note\":\"The yellow object remains fully in front of the jaw tips despite the descent. I’ll make one more small forward adjustment so the jaws straddle it, rather than closing behind it.\"}",
  "call_id": "call_4aJF5ku1Ok9Zm5NYIYLohNNf",
  "id": "fc_07a19bb4e725942f016ab43493e17087d0aa757a264b87d33e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4aJF5ku1Ok9Zm5NYIYLohNNf",
  "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, 0.8032, 0.6067, -0.429, -0.0193, -0.0383, 0.9992, 0.6155, 1.99, 1.0435, 0.1116, 0.445, 0.3176, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1687 left_yaw=0.0023 left_pitch=-0.0454 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4284 right_y=0.2142 right_z=0.0195 right_yaw=0.0568 right_pitch=-0.1519 right_roll=-0.0856 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0462, 7.1179, 1.6777, -0.0611, -0.0757, -0.0073, -0.6359, -9.1145, 6.9675, 1.5849, 0.2857, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47764991b9d3b21a20620cbe88fa62069f9ec6b68c2261fb54c58fe0f196f1be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1f5ff66732d90cf30026fdb06f311e42aabe63550eb92571d405fd39e21888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c709c1115861594abe579fc7d3d25c5e72d56cebed3b297d3f46356776e84573",
      "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 7 changed as sent

message 15 changed as sent

message 19 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, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.6537, 1.5929, 0.9886, -0.1474, 0.4995, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0156 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3875 right_y=0.1948 right_z=0.1325 right_yaw=0.0385 right_pitch=-0.06 right_roll=-0.0444 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.5658, 6.8444, 1.8046, -0.0317, 0.0317, -0.0171, -0.1162, -7.706, 8.7179, 1.7021, 0.3736, 0.2955, -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, 0.8032, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.625, 1.961, 1.0348, 0.0971, 0.4553, 0.3241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4246 right_y=0.215 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.1427 right_roll=-0.0842 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4838, 7.1863, 1.8242, -0.0269, -0.022, -0.0122, -1.1556, -8.9778, 6.8855, 1.6435, 0.2076, -0.0122, -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, 0.8032, 0.6067, -0.429, -0.0193, -0.0383, 0.9992, 0.6155, 1.99, 1.0435, 0.1116, 0.445, 0.3176, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1687 left_yaw=0.0023 left_pitch=-0.0454 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4284 right_y=0.2142 right_z=0.0195 right_yaw=0.0568 right_pitch=-0.1519 right_roll=-0.0856 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0462, 7.1179, 1.6777, -0.0611, -0.0757, -0.0073, -0.6359, -9.1145, 6.9675, 1.5849, 0.2857, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47764991b9d3b21a20620cbe88fa62069f9ec6b68c2261fb54c58fe0f196f1be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1f5ff66732d90cf30026fdb06f311e42aabe63550eb92571d405fd39e21888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c709c1115861594abe579fc7d3d25c5e72d56cebed3b297d3f46356776e84573",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSXZ09qVPeiS12hZRgaKbCB4chRAw8EYAx3KVPj0Z032RqYXpKvwzNmfhUdByeuWrosLqC70vNZt_-UEhKAS6loZawbQ0m6ZYP1P2_b_Lr4B_Nw55Shjwqz-4P_krk-R8xb4IthYmVlusMerI_60VQY6MFaDb8IDjyKyKadiZynLtQlYv-rIzoGU8JoBaMlZuVxR2xW6XGz7wFcUkYp6WcxfSuZfZ118PhIy_0oAB8pxZNzwmo31J23sNmU7OZcLAJFUOfYZaP7q2Z76S-LMaLzUY0sUrw_3CmoHoqHl2d1vUjywkKNju2ClPdWQrvlSLyI-xDQhC7B-0AJkzKDU801DC4MM5pr_UhcnPfAlZUMmnjL6SMBKPO5YkP_RvbmBWasSdYbQXT4IUEcUufGMk4XMEISoAdVQ3MwwBrwQ5BvDvz7Xvxv6C4FbHG2qk3rKJ69Go6kszIoMFJZRBPdAZkm8BYShFOyk-0Z1qi5zveIJwuFTDovrujq7HlCfLJJrKyjtZZjCm_htlyzl5Wz1xOkNU55H4Ft0g1KtssullJ7XOF8XcK7js_KWmKFwndENFU9Y84WS0HUe4WVhnr_auNQK9VhYiF0jTwd9-Au7K_X7pF5bejYBM8sWzO7DeWkBM3qRoCpY_da7NkonK8JKszTvAOJuyp-ALCGoBuUS-72XT1wDMLa_sosHpcdQAjSvWhCNS-iJFnGAqJlB8hIzfVgf19x3DT2E_mnFOGQyc5wBWKUdeksf-LyZj6x5g9DFXU6kva1RQIMdeEcno7IAj1yB18c9DP444ZxJZgUFoIysJUTXTzf3WhMFNtFkPxcSP569TF_qHi-sPtlrW68pXtNmnEMPGHJJIGckOtB6n_Km_ArKQjkWyWmJgvMNhswm19qJg0gs_cnQDk8pPopHGIjUWMg6zIze0Z_h_F3HIRKX1BqzdIhTQP0JuQYSLvVrFTTh8PB58lRFOR_z10ZbaNoGI20Ima04DTg3sSJ9kU-I0w1WEwo9JZJwSdv2Z4rVaHxPKUJWOtbc9JlLNcM1Iz78kEtb35nvaNcTwCHlCfWOzZ9fjvpWjs4MoywTXHovV26eXEWCdCQRkHkYcqAT0M8CCIuPTdWVd7Hgg7LH1dmQuIyrm0FT-2vN5N0E5OJBjLF3MPG6FEFGaWCxdXdpBi7cR4GWb0V8OpJT1Lc-glAKJUGnNHWnYPWU227alJG2FdgW6o0lwv4D57szHUaGdI4d8CtgH4AZ5zNX4Niy8-mvfXKVKFQ1SZpu4T4Fccl1T_LFp226V1Xs6rOTVrAAcOMglvzgNBfBe6IiQsogqrFfngL1otRhalSCbCScBh_z8GZj_ZNDslaAoNqzwr-KATtJZRfYb59hHPShQJxR5S8eCabWK1s5WEP_SPjJls86nPd",
  "id": "rs_07a19bb4e725942f016ab43495e65487d0b3a4e4e9880f8e9e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right arm stopped advancing at this low height, with the yellow object centered between the jaw columns. I’ll close once and check the gripper reading before trying to lift it.\"}",
  "call_id": "call_Xxup9s5hQyiqUs8mckuNyCvI",
  "id": "fc_07a19bb4e725942f016ab434965c2487d0b72ddf962a9ec69a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Xxup9s5hQyiqUs8mckuNyCvI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.6205, 1.9881, 1.0424, 0.1165, 0.4282, 0.3187, 0.0403]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.427 right_y=0.2194 right_z=0.0198 right_yaw=0.0745 right_pitch=-0.1535 right_roll=-0.0711 right_gripper=0.0403\nstate[joint_eff]: [-0.0205, -1.265, 6.9949, 1.7314, -0.0708, -0.0513, -0.0122, -0.1846, -9.4291, 6.2291, 1.3797, 0.2173, -0.3199, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f16eb31b9e647a53f605eafa0c1be28527c58d9917b6aafef9354a8f89c376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83191cd0978397e175efc1c55052cf794aea9f6414be96b8782bcc9b22672efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e28109581ef8958d46649773c64c1227ca80b6b507c2576fdb7bc3375a3923e",
      "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 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4114, -0.0193, -0.0383, 0.9992, 0.6392, 1.8267, 0.9756, 0.0257, 0.4816, 0.342, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0015 left_z=0.1733 left_yaw=0.0023 left_pitch=-0.024 left_roll=-0.003 left_gripper=0.9992 right_x=0.4056 right_y=0.204 right_z=0.0563 right_yaw=0.0398 right_pitch=-0.128 right_roll=-0.0847 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4564, 7.0085, 1.7949, -0.0757, -0.0464, -0.0122, -0.3761, -8.7726, 6.653, 1.8291, 0.3199, 0.0317, -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]: [-0.0189, 0.8032, 0.6067, -0.429, -0.0193, -0.0383, 0.9992, 0.6155, 1.99, 1.0435, 0.1116, 0.445, 0.3176, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1687 left_yaw=0.0023 left_pitch=-0.0454 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4284 right_y=0.2142 right_z=0.0195 right_yaw=0.0568 right_pitch=-0.1519 right_roll=-0.0856 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0462, 7.1179, 1.6777, -0.0611, -0.0757, -0.0073, -0.6359, -9.1145, 6.9675, 1.5849, 0.2857, -0.0562, -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, 0.8032, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.6205, 1.9881, 1.0424, 0.1165, 0.4282, 0.3187, 0.0403]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.427 right_y=0.2194 right_z=0.0198 right_yaw=0.0745 right_pitch=-0.1535 right_roll=-0.0711 right_gripper=0.0403\nstate[joint_eff]: [-0.0205, -1.265, 6.9949, 1.7314, -0.0708, -0.0513, -0.0122, -0.1846, -9.4291, 6.2291, 1.3797, 0.2173, -0.3199, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f16eb31b9e647a53f605eafa0c1be28527c58d9917b6aafef9354a8f89c376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83191cd0978397e175efc1c55052cf794aea9f6414be96b8782bcc9b22672efb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e28109581ef8958d46649773c64c1227ca80b6b507c2576fdb7bc3375a3923e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSdOmLp47TfGSYzdt_ETcCwStMC1YVuzByuN-TLU2VdE7w4WRCWQpTrpkaOH1GqmiXzSy79XGD3qMfv2hGViJ46lCBMjAvRwvtBj4_MgQ5DOXSJ3mgxfVjMD2kxDPQToUCnmgmBDD5pRZATFBVUdQXJ1UMQZqn5ibW93eqaQlHYa9K5MMjq6Sode1cJRWErtbaXij_y5WDY0v5H8sKp_9fBWhLqJUGO1LDap_0mYcqiTuseP0lPiEhqEirRfWZf1B_2ATNKWDTWjORMKjPoB19YlEw8lsgPLPowjtvZs6fB9jv_2MwJ6nrKdOWw5cyQi9SlZcQm3W4OX8CUUSAnalIeZfWiSgNPRMIBqqtZM8V36Za5EWi1GludSUvolJZqp3qp3fFMp-3nAeqWHYK7EmzopSe5tLAhuX8m1Ru80jAfMvK190l_-D2MzTKlNzE9xkO-TgXd26jxzwcx-jwOLyVuPiAFxl72uB0mDtW9FE_D_tBZdgQ5xAYA5zgcX1vL1o_mrQ7QX9WBGpUFap5oMJXZ7Bh7p4jZipKPtjaGVFb_8akT-x7XEc9TsRaHo7EXRnEdnmK8pmVpzax81e0oYKa6A3d_e9sTGBFDjXIzl8KT6L2DoaYB0_vEHM1ONtA0xOKdv099AN2tNfxX7F6NvGlSngT7WJ_engMw-giA0C4_A7dSWKz1V-1IsGxNpatJmPIdy-nzkAUyv6zcRwj29LtgBUXm3EzdfxvQ4TZPoK0Zsy4emPk7RwcCw4VrMgeye6UTYNMvVUE3DHdnN5zjB1u2z51GUoKqT-2KCBRspTV8QutdtfZNLRgDc0YNUDcFOysYFD0O23rCKagVhka8-6XjiiN1B9acUjJFff0j7WXviUrB5ITbjWv-fGb7GkP4qCIgC491THMQ_kL1fI04aPwNwTgUU2dlB0BIdWLQQ5vS8OyCSUpmBzfWGOL1YfBWFC2DKGC9T91Xo5QaqatQMuYfR2b1fmUMWH1JjVoyx4yrsEfrpB49v5n-RUVSHJ0uDe228ODB7r1dMNZUMPwW2eXMD1GDri70obx2tyf1UBFWBxy4Fw0C9JaCV6l4ZTPDkK3nkNg4vZbGTv4koksRhjsFS4bKsuUsKEURonE9wl0QcTNRn2PF4sKmTMU2mMMzFh4INhdzGhVLy0tKERcguKzWmvnhhU0jYPa_j9q8gdvZTtrEPNDIw3SV5Rey66Nm1OLcRBy8GVhWhbHdQuSG9ewXywFBo9XrKPYK6MWpaK-bUgmHwimRO1TfV36fojS__UXcIz8GcK1dl7dcrlosqYLTYbSpvbHPC0AP2jFqG4FzmBGFPXafwU-g5-vofwrV4MpIgfYW5IVDgGeIBgWFX69Mge6aV0iXbrAubu7TEoiirgVMO3dhkL2YAwxiA7Kptd2J5tlZ0cOAPy3bNc8nwixAVa-Wkp_Nt0GiP9D7x7CzTWBIQD4_4B1TbZqqZ_eoS8GvF1oIEFr3DNAdDYRVNxkNe5xyPbzMpD1wTYe7wmcQm2luMuE109nvbQWaWFE-ZIJuE-bvc557HABjS53TjI02mrpv0xyio82Rb5v4DzrgPPrKE0vYDf23urA-fBW2g_uNzZH4e5TxIyk9ojKNoOHkTHOqTeAW1KPdbhD2dAQuAsbfwMOPKK15Is68eSN9LmlERpJazS6PxLEqCeB_yACoUW-3mxFa5zww7GpU4zHJLHSKXM1vaKGI4xVcycgZarPMch-b5E9-a0atl2oUn16mNvm8O8HEHI-ME_2ys-AxfKIvs-EtNAsTYXnnZtCouZyke2KEtJr0Oc70IkOf70tmCuhPPYs-Tzby-hUQSX3DX5zzKPy9IcJhTn9F3F93a3iFJiylXMusNixRHRgXMvfF3EzMBeMRduiz_pZbi7GtJ9wklWH36b35C0lNuD0A_Qko9mBhARJZy6x7rjC89tOPnxJUH51qGWrmuXXSbAHDN6uoxPwCYhsxQZMAiFS30xf4s6CsQurx7295egN9rsCVL87BbdPvxpgsqTF2ugLZ0TamnaYADxh8DCL-Q78UZkdp-gmXBbITHXqyrUI7-ILxVCdL3crvZqIEavfUthknuoEsq5Hs2Q4xqhX6zsQWxNZ31yhRWcL8sXBkWo1q6AfS4iUkUWMmV3yOK1_K3kB50TGjrfGfx-CbTujBXuHIEFjGapKbxOvONMcUAP-1g6oShulqFbCllCGP8nc_icVFqJQtw75u1S0QGEjTOkU93LKXuGABceLHhkUvaEhito0bTseN3EAj6pcH7GwZ3SvVLWIZeRwq9wxWn6KLLx2oRFUJog4FAF94OxlqCpyRM4B250GBsrTLtXGyg5GMENB2f5ge8l07RKy_QZeq0r5ewuOK2Z2BGCkCRMFzAeNksD1Ct8qMLh4VU1-X5dQSLR14njLKWUTSS9MZH9HQVyPm8SyS04OIKi15B4GY1KjkwtMbkzdYfEua9iXrJT92HTf8G3YdJ0jPVklLqiuTTEP_tx25JEQ8MMtZPIkUtNcqQvQpxU-sdbIf3TM_WrNnO2AMxGH0q-6ScEv9L-bbMndXqes48kvvBf4qyAiZiR_IAjQvqwP4ZJEBoIav7qNBLeFSQvxH_MUYnUDCBFF-YN1YjEr2RD90-VQVS8tQDq0FmYecZkKBIRS3uxVRWCZ-3eDLBbQRFXQpYY0CNeoQ21sx96HEV07FSSIQBD0iJWd9s5-Qdrz8JTcffNUwBaGLGAiu2RkcGNxazuprAOh8hsnvY2q_cxArG4z04FGptMiHKIUqtIdD-_82SCSgIeLQdVsZeDFYWhqYdHoWrggZ2N8hL0kw",
  "id": "rs_07a19bb4e725942f016ab43499167c87d0a67dc3098154b25f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.115,\"right_x\":0.461,\"right_y\":0.21},\"note\":\"The closed gripper reads about 0.04, and the yellow object is still visible ahead of it, so that grasp was empty. I’ll reopen and approach from slightly higher up, where the arm can reach farther forward.\"}",
  "call_id": "call_T9CROTrUuRZqSq1kilK5Jkdr",
  "id": "fc_07a19bb4e725942f016ab4349c3c2c87d086b47e6c32a8d6af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T9CROTrUuRZqSq1kilK5Jkdr",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9992, 0.5583, 1.919, 1.2839, -0.2451, 0.3759, 0.2573, 0.9945]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0022 left_pitch=-0.0694 left_roll=-0.0026 left_gripper=0.9992 right_x=0.45 right_y=0.2088 right_z=0.0825 right_yaw=0.0828 right_pitch=-0.2201 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.8388, -0.0269, -0.0562, -0.0122, -0.8137, -12.9436, 8.9231, 1.8584, 0.149, 0.0317, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f64b9148654a9c8594c3c7de9cfd9d8a32a6c11d6468628d3899ba43be58e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e901b3088c82a68a6a0802cfca288645708114225e83fbdf691b69f7ca733967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e90c0c2c435c4b312a83258125a962833daec0fad344fec265e8b064980104a",
      "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 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4278, -0.0189, -0.0383, 0.9992, 0.625, 1.961, 1.0348, 0.0971, 0.4553, 0.3241, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.169 left_yaw=0.002 left_pitch=-0.0442 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4246 right_y=0.215 right_z=0.0279 right_yaw=0.0553 right_pitch=-0.1427 right_roll=-0.0842 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4838, 7.1863, 1.8242, -0.0269, -0.022, -0.0122, -1.1556, -8.9778, 6.8855, 1.6435, 0.2076, -0.0122, -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]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.6205, 1.9881, 1.0424, 0.1165, 0.4282, 0.3187, 0.0403]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.427 right_y=0.2194 right_z=0.0198 right_yaw=0.0745 right_pitch=-0.1535 right_roll=-0.0711 right_gripper=0.0403\nstate[joint_eff]: [-0.0205, -1.265, 6.9949, 1.7314, -0.0708, -0.0513, -0.0122, -0.1846, -9.4291, 6.2291, 1.3797, 0.2173, -0.3199, 0.9451]",
      "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, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9992, 0.5583, 1.919, 1.2839, -0.2451, 0.3759, 0.2573, 0.9945]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0022 left_pitch=-0.0694 left_roll=-0.0026 left_gripper=0.9992 right_x=0.45 right_y=0.2088 right_z=0.0825 right_yaw=0.0828 right_pitch=-0.2201 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.8388, -0.0269, -0.0562, -0.0122, -0.8137, -12.9436, 8.9231, 1.8584, 0.149, 0.0317, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85f64b9148654a9c8594c3c7de9cfd9d8a32a6c11d6468628d3899ba43be58e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e901b3088c82a68a6a0802cfca288645708114225e83fbdf691b69f7ca733967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e90c0c2c435c4b312a83258125a962833daec0fad344fec265e8b064980104a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDShqUjj0mCwX-NNYw9Yw10WRgoSAfJA7C5s9L6X_QvNpdT8ufiPrXUrpNkW4xNbFrJyjH6EQvCAuJ0tqVfw6auruCzzI8vOcMyiYzTwQW33tYDDbc9h8qGwxix5ARdzfvdA-BVNa21IjrrfuX4OwFzRyIo58XpqvtfgOoMn8Py4cNgUsoZS7Wc2NsIxhLijcAbwQN50Zjnat7to7aIu8K42CIlLXiu7HqclQ9xGuMcLdQfzROxTdf3NYOH2Uo-FdOqUJd0IBVUUQSHTD_yXmoXHsxgDDH3vMi4ZKRN_zy_lzXgFhGa0MAn3JD6XKAIElEEjkPyLL8TSI1inrqWJ5CrScYFBABovtrRMneDT28-qtiubOlCK6KngULlfXE97D80ht3e6BfOIYbBHUh8FLDIgBpfnQpjXK3U4iDYmDeFpbBiwD30eFWtR0G8ISwu1P4E8zBhgc5Bx0x91SXqeG6deuypZXknT6NhV7tibzXTNDR9Vi1cPdPmDvqyC0FEapCuf1OQ6YJNfuc7HE5WBBZP1EuZSH7qONX0xsDZNGSCkhQVcenvBDVCYQWN4efov4cdp-QEO6BbQ1Jcr2N8YFH05Eqgc_KXSiM1qvBlfkCuFCAibl5_C6zD30i8LgkHjb_DB-kWSGNvDoLFX3dajKsfVzaJaEIE_8c0CtR_ksZHzuZR0DXFg8svp44oRn2Tn5G-dmxPsVbEIsE0exLonVLAbuPrrsb1GO28iPuXFlFd4D7QleEtCt6qG8PWYq0Cb3m7VEnql9sRYqqM-7LrQS0nLBc9ljF1P7DKcPDnEqKMM1ugShYk0vqN5itDNfHUFtXhkinE3UgLo6_TTVx8rxFrHQogbKUGL9nFDBAQRarC7sK12y8Afoeva5iCGRDb8qcXGjenSB02lNmehr6u_HGS8i-ULCOg98h0G_jhq_Zq_EnFzGqVIW4VKBD1DI-rJcwU2eUBEanI3ntjKKj2e9-MgjDV6Fvv5aeUvkgqqmoK_swNW7QrubZARG2UK8R-eQwGor8wkxrtetLFGzkjNIOWroQ0_rEr06gb5khbUDPstQJD9pMnSups79LjhBj71ri1JEPPCVS7LetC9jCpZMkhFR_UbQZPmZMkVWJ6Oc3TpH3zbNeAubA1wUPC2PjXIrqo12FJpZpCBGEhfw3wQcuPKOxqniJCUi05nh-IJcVvqFqoffbpIJNFEaIz6gm7SREzjpcn6EmEIxlETsp-H3Y52DnKJREDwA6gLrXb7Mn4kdqISsvR6-r2V6LXx14SCqtDU5Hkco5dhw1oKu1TRupg0-BaP_amHdhePZe3LZC-tQXMe69fWlDWijlLpL24nIvL5z46KtFZt35footqRUqi3X55u1oan1IGqqOfXC1v8FG-wbtiSja3KZfu4Rznpzgks_6iHz-EP3uYyGGflJbwltQvsa4rPneR3ugxEhh-IlMTaI4oVCPAO3bPB0dTfd_CxBgvbvijIhHKyMcofEcJqsLNKb1MwB2nvUKR2Nq9OHwCsOCrVRgzDh4xPO4aKC6G565O3wPkdAxSGQrQS_KW0vNej5dSvbZNyippmMQJjjCzOZPXxQba_ZZ_ZKSFV2woCEv7dAzeKYYwvFJPgPEOec9pbLHt-_ko1NvAEJ2uEKnrlWDghFGgSjDMT2cCFG9M5qXymVDxN2QS3Qts6XI266LV_4PwDrjBzcmSAJ_pfYC4f4_9JuFy1RSl_AIAUpf0l1bVHOQHkyDRzl2pgBmJc_ybF2Li9juDYg7H8DFSAs7PA9TkQkfWq_ADG5X-Kzp16bvXtIh4UdHxj2wo7M86kJuRP3OQ2tWumW4z5XN9wx1GpLuVbAnVrrfxlUtOfQYTbNxd_Jt8s5ghEOKdB-z3WHuJBHh9m6TBn0uArJSZsVPOHfjsW1WO4U2fJrzFjRZyS",
  "id": "rs_07a19bb4e725942f016ab4349f3ec487d0a2ac1ed9b357a84c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.464,\"right_y\":0.208,\"right_z\":0.025,\"right_pitch\":0.25},\"note\":\"From the higher approach, the yellow object now sits near the fingertip end of the right wrist view. I’ll lower while pitching the tool forward to keep the jaws over the object at table height.\"}",
  "call_id": "call_gEmwEimAifJLoSvzTXOxPw2P",
  "id": "fc_07a19bb4e725942f016ab434a0db9487d0aa75e257f53813a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gEmwEimAifJLoSvzTXOxPw2P",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.5892, 2.1513, 0.8867, 0.7944, 0.5125, 0.1001, 0.9953]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4583 right_y=0.2065 right_z=0.0159 right_yaw=0.0954 right_pitch=0.1735 right_roll=-0.1216 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0872, 6.9675, 1.746, -0.0562, -0.0708, -0.0171, 0.3624, -8.6769, 4.3692, 1.9902, 0.2759, -0.105, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983b3911f051c243d96c380161ecb1ac7db1251841e90fbec9a2ece0e56f19ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31120720541be39db3240c007f92fd986c6d7d55609b0ee6aa326f961d16af92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97924169a5c02e68ea5aadf5d9620283df38f4e2dd4462b2d2240e93234a413b",
      "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 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.429, -0.0193, -0.0383, 0.9992, 0.6155, 1.99, 1.0435, 0.1116, 0.445, 0.3176, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1687 left_yaw=0.0023 left_pitch=-0.0454 left_roll=-0.0025 left_gripper=0.9992 right_x=0.4284 right_y=0.2142 right_z=0.0195 right_yaw=0.0568 right_pitch=-0.1519 right_roll=-0.0856 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.0462, 7.1179, 1.6777, -0.0611, -0.0757, -0.0073, -0.6359, -9.1145, 6.9675, 1.5849, 0.2857, -0.0562, -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, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9992, 0.5583, 1.919, 1.2839, -0.2451, 0.3759, 0.2573, 0.9945]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0022 left_pitch=-0.0694 left_roll=-0.0026 left_gripper=0.9992 right_x=0.45 right_y=0.2088 right_z=0.0825 right_yaw=0.0828 right_pitch=-0.2201 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.8388, -0.0269, -0.0562, -0.0122, -0.8137, -12.9436, 8.9231, 1.8584, 0.149, 0.0317, -0.0464]\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, 0.804, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.5892, 2.1513, 0.8867, 0.7944, 0.5125, 0.1001, 0.9953]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4583 right_y=0.2065 right_z=0.0159 right_yaw=0.0954 right_pitch=0.1735 right_roll=-0.1216 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0872, 6.9675, 1.746, -0.0562, -0.0708, -0.0171, 0.3624, -8.6769, 4.3692, 1.9902, 0.2759, -0.105, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983b3911f051c243d96c380161ecb1ac7db1251841e90fbec9a2ece0e56f19ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31120720541be39db3240c007f92fd986c6d7d55609b0ee6aa326f961d16af92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97924169a5c02e68ea5aadf5d9620283df38f4e2dd4462b2d2240e93234a413b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSlGxJnj1xVwib2p46Bhf7fswJ9L8hPsydRnHr1svkM3Uo3W4AvmmJeWZ-ykqgxtkckP77EQzIuZ0bkGLRBoZDT3xKf3rhyyGqdunAFG2ZA3xuS2gLQCLlwwpMmx1TJZsRBXlKnmzJ3X-XdL3u5funv-HGzRGcEqHHa55LdAM_FePMJtVvBIgzbiixyuDPGdWko7HwzE4Jc9jD5YrlMhj2DGjw23RR-xemkbeSV9g3R4TwTSg1X8Gd8zgt819AdlzP83rxnwMdDLkSBzK_u8HhGi_2iwdE3S53DOivG5cT-cyOQbEvAh8yOWxIW0w0-n-xxfSJlIobUcBeubLJT6fhtG_gD0G2at5lZM1Pr6cONT2utTpU11E9tdm2o6kyiQX4DbvmDhqwBPBkJT6wwM1nistKunCPXufE8f6RgZ9sWa0m1VbrHbZJCMEYqCXPZmD0tMpUplP1qnUA4X38y4rZg0Cyk_ZEwfeOWwtIgTKOPbf0JVqOpwlQ5NgWzxE_URh5RKTmRi1SFalYTimW7L4bt4AYJ4GlLJzsWZf19PdklSmXHvpTpdLlBRcC7rclR3mTXcYESWPYMQgd7h2pvgVyp37rscRv_UPlpWy8GGNqNvhGkZBdHl-vcjCXzJIrCC1asz5tbjLtFfvr6DXcCILZLrEJgigmYlR6hrS91p-c1jjMm6wJZ6yrAEsw1KdsOuR_niaOCwa3wUm_Yep0_Vp_PCCZ6ALXcV3Xu-vQIZZYgX0jEFWZiqbR1h3WOxd-TlUxij-DqNd_qZPZC4SltGnsF5_GTNVG9kJClWr-aA0elWpCVR0BZXbomNQ8UMp-OUODfGNCnBe9rioh3ZtcZGyNnZh9y8pxREYYB6g85CYf5uNlDTngN4APVHf4fXmKtoiUgMTfFMc1ZZoGZwHGlHgqRsQm3KRlzX_dxuyLLwzDx7k5d9Hv5CHfDN4V77gPXmJC17i9u_rbnSWtexAe_5OpOBbnK1kc0de4dw8RdvlNX5sehuUvPZo-1fega02hzdfiYWhTlTz-xk9CWe5NJxHFxdcwkoFHKmbzteH_rFKpg1zJf7DZdjSYKIJmyp480dGLrbxSbtE8MwAaA3v3aukRLClolTXs6qU4C9gKPbVk2ULvezBxyses_JAUhgEzeA_CdtlVgehVOOJh-PJUEYyRJYtTc_JDoFfeXNtfmPRA5h9x-nx1-_xYD_hBSwif50oHif-_zBltKCqNb7CepCroWRANlcp1qOcX9gb4vUtGVGi1SVbvNj7Gml-JuVpm3aOm_WVnpfr4qlyGgvnc9D5XecVDwKOJTUv3ZaB5NxbUWj0McjYIb0ljBzFc3syBluci8J-9Vu76-Kro29G6aEZqhTw==",
  "id": "rs_07a19bb4e725942f016ab434a43b0487d0876e0779a7b70af1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips are now down beside the yellow object, which fills the lower part of the wrist view. I’ll close the jaws and use the settled opening to test whether they caught it.\"}",
  "call_id": "call_m5o5TC6CzmiRwaKnVXdwOLvu",
  "id": "fc_07a19bb4e725942f016ab434a49d7887d0b37bfb949c84ccf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m5o5TC6CzmiRwaKnVXdwOLvu",
  "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, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.588, 2.1571, 0.8841, 0.8177, 0.4965, 0.1345, 0.527]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.09 left_roll=-0.0021 left_gripper=0.9992 right_x=0.459 right_y=0.2092 right_z=0.0164 right_yaw=0.087 right_pitch=0.1849 right_roll=-0.0759 right_gripper=0.527\nstate[joint_eff]: [-0.0068, -1.2103, 6.9538, 1.7949, -0.0806, -0.0611, -0.0122, 0.0205, -10.5504, 4.6564, 1.4823, 0.2515, -0.3785, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad5593a63c1b89152ee6274ae6cb8dff3d42783c41c034cda1ddac403f76f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dced28b150a0cb2e11aa7b03ed215f9f194691ca2eb6a42efe59348e623475d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc764b2d91c35f2e70db47ca9c9c6bb813e0880b96dd6285d64706766364531",
      "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 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.6205, 1.9881, 1.0424, 0.1165, 0.4282, 0.3187, 0.0403]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1674 left_yaw=0.0022 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.427 right_y=0.2194 right_z=0.0198 right_yaw=0.0745 right_pitch=-0.1535 right_roll=-0.0711 right_gripper=0.0403\nstate[joint_eff]: [-0.0205, -1.265, 6.9949, 1.7314, -0.0708, -0.0513, -0.0122, -0.1846, -9.4291, 6.2291, 1.3797, 0.2173, -0.3199, 0.9451]",
      "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, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.5892, 2.1513, 0.8867, 0.7944, 0.5125, 0.1001, 0.9953]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4583 right_y=0.2065 right_z=0.0159 right_yaw=0.0954 right_pitch=0.1735 right_roll=-0.1216 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0872, 6.9675, 1.746, -0.0562, -0.0708, -0.0171, 0.3624, -8.6769, 4.3692, 1.9902, 0.2759, -0.105, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.588, 2.1571, 0.8841, 0.8177, 0.4965, 0.1345, 0.527]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.09 left_roll=-0.0021 left_gripper=0.9992 right_x=0.459 right_y=0.2092 right_z=0.0164 right_yaw=0.087 right_pitch=0.1849 right_roll=-0.0759 right_gripper=0.527\nstate[joint_eff]: [-0.0068, -1.2103, 6.9538, 1.7949, -0.0806, -0.0611, -0.0122, 0.0205, -10.5504, 4.6564, 1.4823, 0.2515, -0.3785, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad5593a63c1b89152ee6274ae6cb8dff3d42783c41c034cda1ddac403f76f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dced28b150a0cb2e11aa7b03ed215f9f194691ca2eb6a42efe59348e623475d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bc764b2d91c35f2e70db47ca9c9c6bb813e0880b96dd6285d64706766364531",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDSpq8UtUkNDsWlnNkqsR0XlaMhAe4wzZDURDMavPqxgnjtKIC8P613js5QIEUM6Y91sLoWwTwl7YM0KoLgGsz6REKHrYefm1A4_OlrcL5iLLrbYq86yxnfuy0iYoroZIMRK-ym0cNLMbYNm_SClEYdaRzxOIsITpcCQ43dHcr34VKKu9RS8sDqjCIb0M2n8wpHUYc79kvZ0suHCJ4FCbFhMHgYIiSVoIci1jgtFHrI5NGIvl_190tiCaXfhKqNJ1rItJehHx-UkYAB4bUn_j6nc1XjKBden6V4o0xSJGlizZ-XE5sW-2Wye4ngl_HPBUnxfBh35TAEzo5l9kHByyFKDQTnQ9-1bq-JUxJHjysUwH9hTq9-cKPn10m0DjvJWI-1ZSj382aFLm56pRTlQJtTeVBsca0JkcMuc90dd4YucCzkqXtMhdzvON8ddu1QyQXDACEeNKKjpMuRa5tMFxOlOdsABjdEF5j-BP4Wf7KjUFRTm7qyUFOJVy7Pk8xMyQZQy1qX_4F82h3tUakj2ExTgfyx4Q9XpEtY8nwgH6_mB5TX3OMMf3GToFJLCJiPYL-a64cb2qb6p9BIJT5FEJIZ4OHcCYeDUEyxe8kBd8XOnlSRSiflSiXstgVeu9dTtoDGofujAIRr3LByb8pTNS2wsL13UClc-_KTZXJgoLO2mPH5oSpDNTvHQT_thQrQaM-spgaZbh_g3Jk9-9fKTEgDvUa7-CSiK_9EcN5wu5QoS4I9Y_HDLUeeFtIPL5LGYs8dvN1nNDt7jhGn1NgYroeGjjK9WgxgJCqLfv2pt2PwvyOkmYTrS0XlileY7IuiuEkLbdzpKRyDFvugosrVfvfjJjiAMARiDCdn5YusBmbclpILMII8M-ZHANlBY5_2Zcf8hB6HDQWpAPjP_kTiv-gX9RApe8k5aFj6og4VV13uxVIkmYiFxX3uTeD32-xFxvO5pyXjPkcrGkjrVvWP_UsoZtId6iF9fZP5syEbNBxuZtXo0CjZc2EAwGp-gJYy03fIecha14P0E4CYdw6b5cf2E7Ss8rUUUcgIeeoWPPq_Z3o-Vl_qKCBjkmQU2Ux6PTvKdu_f3hPz3iRmrvYCk8PRqBHWm_mY_34pZcM_RsTA47Tn8xoDpXb8axwejXX9RGmJOked9m0WH6p5B9JJ8SgC63dy2HbCPzLsbdtrEMIGq4XEDUC0MA8p0Tc99qdG122lHkZiVOpR8gr678yulMXTA2w6cxiKm2HbOkjWOXKFMyvzlCvY2LP0ToLoCdwq5EZsT1OiswTP3pJeUsNv-YpeXIxiJQIs5znlq5W6AK-BylqYnjp4rHjiXkqbwawuMSmKpB5tqX09kwXzar-eDUiu7gF5_oFTBXtofr2s0xK-6cPohU0Del0zUhI9rxpFgIZlLLPvr6RIvo-xKr-ftKPRTLQgPA9h8KCxfdCKFSgWdtm0VUjPZRHUrxbAhGOqLke9GI0qMGx2opOkaCaRXuvqKIDkJ5LNHZTd6gRrCe_RkyhgjqJZRMERwbPqxoLJ_UqNvTrqLCSH2sY4da4C0l2lml2jxI4lxep1OjrkTb3JfX2ZwAxGg1geyRchz2DRykZ8cu4RDlsyG-6tLzUHOg794N5Pz2LxHKdRyrLl026lMC8T-vKEVsNvpACnScIkCMHWLke3ST9YFpJVX6kNitmsB1ztgwSXZohDxj10Kb__STQbynsLYkcm6GAZdBTp-kVqILIhAEmbTbAlSoDgSVjkPrAxFCNThxR5ykP2wCg9IBJQ=",
  "id": "rs_07a19bb4e725942f016ab434a792bc87d0957841cad5f405ae",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_x\":0.429,\"right_y\":0.225,\"right_pitch\":0.15},\"note\":\"The gripper settled around 0.53, consistent with holding the broad yellow object. I’ll lift it clear of the safe’s rim and check that it follows the right hand.\"}",
  "call_id": "call_Aa9x9k114IKb2JGCv867Xe2S",
  "id": "fc_07a19bb4e725942f016ab434a8bfa487d0b16e33ef9a3846c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Aa9x9k114IKb2JGCv867Xe2S",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.667, 1.747, 1.0195, -0.0044, 0.5415, 0.1455, 0.5294]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.158 left_yaw=0.0023 left_pitch=-0.0992 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4108 right_y=0.2121 right_z=0.106 right_yaw=0.1336 right_pitch=-0.0425 right_roll=-0.225 right_gripper=0.5294\nstate[joint_eff]: [-0.1162, -1.4154, 6.9538, 1.7411, -0.0757, -0.0757, -0.0122, 0.4855, -13.2308, 11.1111, 3.0989, 0.3492, 0.4518, 0.6129]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1790d9a7fa8b01164ba153d383561f9ce2d0a833c42d9f37864985cb775adee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77d4e127d94dcd9246e45b23a7d13cbd70178493a184ea7a906eb6894275d4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10567377dc98941ebc3fb7b8515bc4b010f7bfc84877c1dd6eead5c6d1f51506",
      "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 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.453, -0.0189, -0.0387, 0.9992, 0.5583, 1.919, 1.2839, -0.2451, 0.3759, 0.2573, 0.9945]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.164 left_yaw=0.0022 left_pitch=-0.0694 left_roll=-0.0026 left_gripper=0.9992 right_x=0.45 right_y=0.2088 right_z=0.0825 right_yaw=0.0828 right_pitch=-0.2201 right_roll=-0.1064 right_gripper=0.9945\nstate[joint_eff]: [-0.1299, -1.265, 6.9812, 1.8388, -0.0269, -0.0562, -0.0122, -0.8137, -12.9436, 8.9231, 1.8584, 0.149, 0.0317, -0.0464]\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, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.588, 2.1571, 0.8841, 0.8177, 0.4965, 0.1345, 0.527]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.09 left_roll=-0.0021 left_gripper=0.9992 right_x=0.459 right_y=0.2092 right_z=0.0164 right_yaw=0.087 right_pitch=0.1849 right_roll=-0.0759 right_gripper=0.527\nstate[joint_eff]: [-0.0068, -1.2103, 6.9538, 1.7949, -0.0806, -0.0611, -0.0122, 0.0205, -10.5504, 4.6564, 1.4823, 0.2515, -0.3785, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.667, 1.747, 1.0195, -0.0044, 0.5415, 0.1455, 0.5294]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.158 left_yaw=0.0023 left_pitch=-0.0992 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4108 right_y=0.2121 right_z=0.106 right_yaw=0.1336 right_pitch=-0.0425 right_roll=-0.225 right_gripper=0.5294\nstate[joint_eff]: [-0.1162, -1.4154, 6.9538, 1.7411, -0.0757, -0.0757, -0.0122, 0.4855, -13.2308, 11.1111, 3.0989, 0.3492, 0.4518, 0.6129]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1790d9a7fa8b01164ba153d383561f9ce2d0a833c42d9f37864985cb775adee2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b77d4e127d94dcd9246e45b23a7d13cbd70178493a184ea7a906eb6894275d4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10567377dc98941ebc3fb7b8515bc4b010f7bfc84877c1dd6eead5c6d1f51506",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDStzcmlCLCqOr82q7_hHco1_Vi03OWExKlF3egNfsH5wMWtz5X9JFWEl7U-cgE3o_uT7lr-7LZKOnXZoRtwX1VClw0wTNmY12AEC1Fndqy4LKu_Yf0xeRS8Kg6zL6cvAxtC3O8XAzzGm-9sxvIvU3zNjKJEDkQ4yx4YaMWkKrSs5zSZ4Cho4vKQn2XvHdLhXMhHnfdQ2hzaM16BDBi4osg2Wz85MgqSg4Gh6KIlgB2Vk8m7a-hPdBOCu5UwYZGDCTx4TNEuaKKCZITkNfTC45sbz0Tg0DEEFMgPcuTV4GWsi9JQ3tU-NgkIJ6c_P2Ga7EqrMGxIQrC8Ip49RgBIWYM6w4B5jGiGRrYlvwLd9HkUi6JkmQ_gtVi5Nv_ZYo5rXIVu92U9TSh-c1n50Ll9r4_FCWpQeUg8_KV1-QyAMK4uwkMEt-ffthbQulXAHUxbOuf7NZE_MjRujjfWo1Sp86x_ia5U1tmhL9PXT5E76A2CZ1NDkV6yRiirWlKAjauOdiTzLTZLkt0-QK1kLXhHMNKS3mpp-kq09avAIrb5rdwdiiQDCpZfzFB5J97nF40kYFdeY1s1zqXv6vOagxBJHzNBFPlLoTv7hMvgHG2sFSnKzqxiZnBXfUMUo6Dn4bUi4ns5QY5PI71ziaxigPCrcGHZoRU-lh7WJUMedXh45CAb_3wBFjjLdIIUmUYNp53c2v7AwYOr1N3JskxoRkloJQZcKcfd_trUUH397TpCMLdAdbPBAq35ErXLauRZaabaTgXmYSGQWs4Cj0tghk9Ax46G92LqJ30k0oKO5eWy769vxOZk0tvo-XopCPMm7TF-Az_eZqMyx_YhA16e8juWVdpVsJefH1wZEKT8yX_qp0ftN5TaDUdx-OWnqxSq3O4yRaeyNGDTQ6attESe5HEbZKXCRHLyLGCwlKwtX-5H1xexkyta6QImLz-ah7Zq15agPMSeUtUfAKHFuklRC_T1eEx47725TLlUkHnsSHGCdDtfmyTGMF7Zuy0tKA13p98hH3g2k9xGT-2Z2wRgornFIx-9ALGHryOo9WajmlE2ahwIskL9WKJ4k8qT_BSI9K6dOvukrgqv9P10qENYRVs1XEp9Q2uRRk2bJwy53py8OKXld5NXKX3nS4WKVoPR7cK4VWf3uQCLbd6rYRBoJdeGGEBU_teyH4P7bmFa9RaBewNv8XaR-B_ga3XZTnDuprulxlileQw5bnpgz-HJ5vHD5kQ69kBsuYQ0LWE_qdDQsBILfIhjHYoE3Aa84jaH4gwYxWrhbcfmxkQu9klo-VJd5vX812kttHbtV0u-xCJwhk9_Tv0s5x_yFZjhSSaR7Nddy71uPCQD8Lvrx35PMQADqLfzgvF2a4Ok6IjdlcOWIQzMdjucO5BeRacq656QdJMgBhOMSgqxpo1LVG1R10zntZN4G_BiBR-Ub_rOynfIYtR1OzUo3NpgcKfWM2siwDJfxLElyJyPM9rwj3Ir40z_bPWBbIWdkWzUrA_GrXY_lTHBzO8iQL-IEzm9KhiSR2zXxMYlLHkhH1qFzUcAu7XxyCp3LmIPdga7aWY-3Mx4PqZCBRLAf6KaiZluHhvjKbz6bDANd8yvlBgXQV4PyhNpKE2fpicX0gCOtcGgUoA7RLLZ36jdpF20JTaU2kmBV9fqWOEJauja8cGCsZOwdU2zNU2CgXhedDhKRaBVKQSw45_7TwBnWm1m1J7sU1smpIVWWolMuVVd4_qCys4ywKRULRSqUA==",
  "id": "rs_07a19bb4e725942f016ab434ab9c1c87d0bcd687326f607b49",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.364,\"right_z\":0.2,\"right_pitch\":0.1},\"note\":\"The yellow object rose with the gripper, confirming the grasp. I’ll carry it leftward over the open safe, staying high enough to clear the near rim.\"}",
  "call_id": "call_RHCHr4hJQ90xpFxB4Xpad7i4",
  "id": "fc_07a19bb4e725942f016ab434aca08087d0b06fb505d77b242e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RHCHr4hJQ90xpFxB4Xpad7i4",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4992, -0.0189, -0.0383, 0.9992, 0.9241, 2.0769, 1.6806, -0.4923, 0.7429, 0.2142, 0.5329]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1201 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4079 right_y=0.3479 right_z=0.1484 right_yaw=0.2027 right_pitch=-0.0723 right_roll=-0.38 right_gripper=0.5329\nstate[joint_eff]: [-0.0752, -1.3607, 6.9402, 1.7949, -0.0855, -0.0122, -0.0122, 0.2393, -12.8752, 10.6872, 2.6056, 0.6178, 0.652, 0.3492]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7d8a4600f2bcfe089d2c2d2d60c707ec3b8c6aad15733e98cc9012f8d6cf4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6b7d0a06372a190188ebf1e66ddb5204a53def0ea4672f978777f4a2f141f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85810f0de6c4042ce42689924c48b7962db57ebd7d28b8c71bc86ad0b7802aea",
      "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 31 changed as sent

message 39 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, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.5892, 2.1513, 0.8867, 0.7944, 0.5125, 0.1001, 0.9953]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1627 left_yaw=0.0022 left_pitch=-0.0755 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4583 right_y=0.2065 right_z=0.0159 right_yaw=0.0954 right_pitch=0.1735 right_roll=-0.1216 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.0872, 6.9675, 1.746, -0.0562, -0.0708, -0.0171, 0.3624, -8.6769, 4.3692, 1.9902, 0.2759, -0.105, 0.0708]\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, 0.8059, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.667, 1.747, 1.0195, -0.0044, 0.5415, 0.1455, 0.5294]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.158 left_yaw=0.0023 left_pitch=-0.0992 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4108 right_y=0.2121 right_z=0.106 right_yaw=0.1336 right_pitch=-0.0425 right_roll=-0.225 right_gripper=0.5294\nstate[joint_eff]: [-0.1162, -1.4154, 6.9538, 1.7411, -0.0757, -0.0757, -0.0122, 0.4855, -13.2308, 11.1111, 3.0989, 0.3492, 0.4518, 0.6129]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4992, -0.0189, -0.0383, 0.9992, 0.9241, 2.0769, 1.6806, -0.4923, 0.7429, 0.2142, 0.5329]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1201 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4079 right_y=0.3479 right_z=0.1484 right_yaw=0.2027 right_pitch=-0.0723 right_roll=-0.38 right_gripper=0.5329\nstate[joint_eff]: [-0.0752, -1.3607, 6.9402, 1.7949, -0.0855, -0.0122, -0.0122, 0.2393, -12.8752, 10.6872, 2.6056, 0.6178, 0.652, 0.3492]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd7d8a4600f2bcfe089d2c2d2d60c707ec3b8c6aad15733e98cc9012f8d6cf4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6b7d0a06372a190188ebf1e66ddb5204a53def0ea4672f978777f4a2f141f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85810f0de6c4042ce42689924c48b7962db57ebd7d28b8c71bc86ad0b7802aea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab434af7e2087d08d243ed75f1c446e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.423,\"right_y\":0.4,\"right_z\":0.18},\"note\":\"The yellow object is over the safe’s right-hand rim, but not yet centered over the red floor. I’ll shift the held object farther toward the middle before lowering it.\"}",
  "call_id": "call_zxA16UBKjwFeTd4fZ7sIBKTD",
  "id": "fc_07a19bb4e725942f016ab434b1fe9c87d085348174fdf21f7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_zxA16UBKjwFeTd4fZ7sIBKTD",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9558, 2.3047, 2.125, -0.7959, 0.7437, 0.2176, 0.5349]\nstate[eef_state]: left_x=0.276 left_y=0.0017 left_z=0.1502 left_yaw=0.0022 left_pitch=-0.1384 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4183 right_y=0.3911 right_z=0.1577 right_yaw=0.226 right_pitch=-0.1362 right_roll=-0.4358 right_gripper=0.5349\nstate[joint_eff]: [-0.1846, -1.4427, 6.9128, 1.7851, -0.0464, -0.0171, -0.0122, 0.4581, -13.4359, 9.2103, 1.6874, 0.5446, 0.3932, 0.1929]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65130ca255305d81ef4918a378e8e0c2d7e8e284069f9038ae232207935ae32f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d2e8bf4336b83ccc741fc4dd50d990bed4e471689d9f174b928051047618d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e29ae6aa891bb553daf33ed1d8a7437bdece34e809f339f2123fe3d0ab4030",
      "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 35 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, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.588, 2.1571, 0.8841, 0.8177, 0.4965, 0.1345, 0.527]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0023 left_pitch=-0.09 left_roll=-0.0021 left_gripper=0.9992 right_x=0.459 right_y=0.2092 right_z=0.0164 right_yaw=0.087 right_pitch=0.1849 right_roll=-0.0759 right_gripper=0.527\nstate[joint_eff]: [-0.0068, -1.2103, 6.9538, 1.7949, -0.0806, -0.0611, -0.0122, 0.0205, -10.5504, 4.6564, 1.4823, 0.2515, -0.3785, 1.0281]\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, 0.6067, -0.4992, -0.0189, -0.0383, 0.9992, 0.9241, 2.0769, 1.6806, -0.4923, 0.7429, 0.2142, 0.5329]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1201 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4079 right_y=0.3479 right_z=0.1484 right_yaw=0.2027 right_pitch=-0.0723 right_roll=-0.38 right_gripper=0.5329\nstate[joint_eff]: [-0.0752, -1.3607, 6.9402, 1.7949, -0.0855, -0.0122, -0.0122, 0.2393, -12.8752, 10.6872, 2.6056, 0.6178, 0.652, 0.3492]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9558, 2.3047, 2.125, -0.7959, 0.7437, 0.2176, 0.5349]\nstate[eef_state]: left_x=0.276 left_y=0.0017 left_z=0.1502 left_yaw=0.0022 left_pitch=-0.1384 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4183 right_y=0.3911 right_z=0.1577 right_yaw=0.226 right_pitch=-0.1362 right_roll=-0.4358 right_gripper=0.5349\nstate[joint_eff]: [-0.1846, -1.4427, 6.9128, 1.7851, -0.0464, -0.0171, -0.0122, 0.4581, -13.4359, 9.2103, 1.6874, 0.5446, 0.3932, 0.1929]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65130ca255305d81ef4918a378e8e0c2d7e8e284069f9038ae232207935ae32f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d2e8bf4336b83ccc741fc4dd50d990bed4e471689d9f174b928051047618d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e29ae6aa891bb553daf33ed1d8a7437bdece34e809f339f2123fe3d0ab4030",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab434b4592887d0a185069361f9269e",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDS6Vw7tdG_6Pio5Zu-5HOrJy9NY0vMkb7u35CnWgfHmzrSWPqF0W4nD6-JiyGDebW2WstysGY5JJZqHF7e16KcTvu9hgBF_qGxW1KpzA-eb0rGRcgMb_LyHV0iaPDn3jQSeWcssk9S66PAI0ItU0j7xQgWPXidi9WmRk3VB81Ue8invrb9KM3zYH_VXVLYJ398nPe9rX8sK0QVH5ohZ0O5G9mIbY8ZFjtnV8MlE9rTWfXvf5dt3eRL95JK9H2o37dFudlb8Ho8jmFTsJTDEdT8SC-NfvIu_nFlff3caGcQZ8MATVmuTKT3vglC8LClrxk-5fLL45QY916--DGSNVbGBiRQLosoi9wUQ7XqrS_LI8yJCVznbsXoN5tllCikNxtp_2-XXcb5PGxeRoRb23aBz9m7_SOy5AuBqRYQdO_yc8ax2Z0T4sTqzOHQRg4Y0G7nurj2lBfEkWEoJfnFVVrYYFOULL0P8HQRWyBu1xe3KkWzIq04Oegx6NRC40sU7mleLMtUrJiBKhLUJhFpFPCwXBMuSPan7O4LaWl4I6PNj2cDEqZdi3VN6DmYp9mvPXGKviZRncaqA44yugYDGpYtkSAjsJVFj2TRduMFoYES3Z3ob3e-lJxXCpHp3M5YzlQzQNr-sPMUXc_XBLEcNWx9nTvMlm6aJbJani9yhiqhU7l7Yqrof_6Tk25cX2anc9EvzpTBezYw4YEAqJY7u69pt26Y7W6dVu1ururYbSetknt51kmZtONAxS_OCb6VhkqllhOA07-gMZ5p2WbWMP4hjfMeSD8s9_Jl1sMujJen27Q5sJDMsASoGfzw594xVWvIxjliBDSF71Xh_w96VmfZNH4DAvgHAtenXMDAIYHex2tw9Lav_-lgPCEyl8JTlDg2df7sct-ACG4PJ4YNOMIq9cy9kUcvxWWOkeJQk7_vFeiGpeSATDZu6iIO6AaQKLMUD4Pj7gFcdJnnE3FqJEbwvT3XDkSJakEjHus6fyUuqcyJy9XV0RWxFx8UmO3kNhbnwD8r9bb5CwZWaFCAOpgoGUXusQO3OB0J3yqoTEDCAU-BKlllAznrEq0WBhLxufdP__K_HxeOHC39-jVZzIb58rSk7Ba0nyfA5OMCpezwKDEmMCT_OXEypyZWyP4tgG0wrjgCLAD1XYFoBYdjFpJQXB4NG2ENBFfcAkAeZJxVQtVFsPNZCeRRnwBYGpvGPPuNI6PdBxRBsaXI1muBiIK86ackiA9D_RQRwbsB0woyPYbY=",
  "id": "rs_07a19bb4e725942f016ab434b94f7c87d0a19f71a2bbedfcd2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.4,\"right_z\":0.055},\"note\":\"The safe shifted slightly as the yellow object crossed its right edge, and the held object now appears near that edge. I’ll lower it gently toward the red floor to see whether it settles inside rather than forcing the safe farther.\"}",
  "call_id": "call_HUgWmX1bMqUpz7TuuWagzh9Z",
  "id": "fc_07a19bb4e725942f016ab434b97d8087d09bf034638d8f2070",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_HUgWmX1bMqUpz7TuuWagzh9Z",
  "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, 0.8104, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.963, 2.323, 2.1616, -0.8524, 0.7368, 0.2367, 0.5351]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1496 left_yaw=0.0022 left_pitch=-0.1419 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4132 right_y=0.3924 right_z=0.1542 right_yaw=0.2241 right_pitch=-0.164 right_roll=-0.4428 right_gripper=0.5351\nstate[joint_eff]: [-0.1299, -1.2513, 7.1179, 1.6044, -0.0317, -0.022, -0.0122, -0.0342, -13.8598, 9.7026, 1.6386, 0.5739, 0.149, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b91310c094119090a81ed0d5dbb87d0bde4f5c2602806fa8ebc23a15cdce8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102e3dd06f532dbbea47d257324888dcfd5d63c7f89251b4e08cf57fa7f9d04e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbcf298f2b62187d68f8ab91b7c015658b7539c44f76d7cd5358885a6577530b",
      "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 39 changed as sent

message 47 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.667, 1.747, 1.0195, -0.0044, 0.5415, 0.1455, 0.5294]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.158 left_yaw=0.0023 left_pitch=-0.0992 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4108 right_y=0.2121 right_z=0.106 right_yaw=0.1336 right_pitch=-0.0425 right_roll=-0.225 right_gripper=0.5294\nstate[joint_eff]: [-0.1162, -1.4154, 6.9538, 1.7411, -0.0757, -0.0757, -0.0122, 0.4855, -13.2308, 11.1111, 3.0989, 0.3492, 0.4518, 0.6129]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8104, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9558, 2.3047, 2.125, -0.7959, 0.7437, 0.2176, 0.5349]\nstate[eef_state]: left_x=0.276 left_y=0.0017 left_z=0.1502 left_yaw=0.0022 left_pitch=-0.1384 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4183 right_y=0.3911 right_z=0.1577 right_yaw=0.226 right_pitch=-0.1362 right_roll=-0.4358 right_gripper=0.5349\nstate[joint_eff]: [-0.1846, -1.4427, 6.9128, 1.7851, -0.0464, -0.0171, -0.0122, 0.4581, -13.4359, 9.2103, 1.6874, 0.5446, 0.3932, 0.1929]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.963, 2.323, 2.1616, -0.8524, 0.7368, 0.2367, 0.5351]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1496 left_yaw=0.0022 left_pitch=-0.1419 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4132 right_y=0.3924 right_z=0.1542 right_yaw=0.2241 right_pitch=-0.164 right_roll=-0.4428 right_gripper=0.5351\nstate[joint_eff]: [-0.1299, -1.2513, 7.1179, 1.6044, -0.0317, -0.022, -0.0122, -0.0342, -13.8598, 9.7026, 1.6386, 0.5739, 0.149, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b91310c094119090a81ed0d5dbb87d0bde4f5c2602806fa8ebc23a15cdce8a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102e3dd06f532dbbea47d257324888dcfd5d63c7f89251b4e08cf57fa7f9d04e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbcf298f2b62187d68f8ab91b7c015658b7539c44f76d7cd5358885a6577530b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTA0mG7UYAXUxQPC9Uof0v8nV_MKwzeLjh5kQX6VZ3-YKn4_GXGXaPigPERvQWGKikEaiF5lUs0Nm5gYrrMiElSh1bajfiCe_IjDFynTXQREttLyDlqiIgT-Oxenoq0sZzlZb8VVxY6jmOjyy04kahUKFq_8oXYN0fwybwB6FgnDOVx5LhVj4W0DClVk8WiS18q7jDKgfG_0tk11EtVjXoC4fRItMSu7KUr7dOZwEIn71X05ep-8Ns7x5Q8WF-0BJodLfwmtzKWkFdLeVDInEUId9AF8sunzSNwoO-6ajLgUvtXcE3ojvzlxjvh03rv8UUIccgER8fpp9YEEIccMhvKXPoKCnMZ2Vvaa-pqxbemiQ7keUaTrhiJ9JWzTXxURXlrjgVM6vKCyJQLyhCigaqV2QO5Nz7FuNozFEGCrWBrV_me1_rrAnl7diFs_4CUBEbd30huJNLJu-7Dp7QMKEcXuQk56tJf_1ABMrHMn0b_FL09RxlbpaBJsNEWJHYfHoxcbLzofbwAhnbqnm_29rK7aB3AaGlhVKnfuiIXSFdrqf0Sa6hgvQUcLLsEPztuk1_SmAPwf1GhV7OaSN9jhO_4gkjN-LhrcJQ9zooBcPuGBfBM8sPbhL8p_Yx0C678w9eLclCt7w1H3UJ8J9BnWE3QkEoG0xbhDInxqFpwTQy0Do2AbcrdsS-qtI8hAEhggVW4ZW2ut02yqoky3hMg874ayVlOXt49JIX4RB71ykWhaZCilxkYBVSgQg5CXKC_fgPgrVIotz_QHdIIUH6Pj9Km2Nnm3_rEaHWSfXMxolRklSv0UVVtIxE2583mddO70RvPFslP8g9wgCeYha59D_fqP-Uze3DQF2uOQwWIHM3drdm4wG16Z7b7XlTrMdA7JhDtA4QrNZwlTWvx8fSMSdMmTwKpQqYw3UYW7PVrZ9HWTNphjaqEkYeoHu1UgvCmhPrvbqyDfhjRhyGHSiJEaMDimDsol_RBNduRvfElh4vg5WzK3am8Gyl7tuEpCVjDQlUdENc-7Y1VLaouoEbq93aiJmD4ktEK2elz5eu7s2LMiQSjUaRNHA1ODfgw-TbH7CQBxaYdcP_gaMuWBECQCwK1kNDCLBtAJiS4Tb9Mz6mylZbnsvMyhjJYsNDdHouUXPm1das7NpWGGRNZGshqJQUCGRKSFoetQrdne4XHtRnOa0f23fCxHyr5WfkQHaTxRckjSetmaK79LMv6GNNV7h08rrP_X3BSg-2pPlZn3SyLzZ4NXZ0CcQKxHM1iffN4WXojPC1I3WC0i9ZpR3X7ZkuOzIS5B-pTrpqtQiK9WzmgiULrIT9Oq7CShReKXauuEPDDVwpDfofTdFd3-SJwLcw8kO77KZVmMnBBWOWQAie47SH79aP7T4zJQV3fxNr0-EiKTKrf8CHNt_o3KO3anWS6I1XdePHH8TcgX6BhzQJEfoczbmD7Vq6CcP93fuIJHNd_xpy89h4uTr93mKVaNzcQ46Jp3lI9QzLO_TGtwP-j-chLJQYaXyiVjvGhJeNOhQbTUnf87u5Ur2EDYPvvQCryeSQaNRMxdc9Wuil5Xy1k52dILcPUZwElBDLsVIhO_eLfpZt6QTZWUcDHLNWw8QseTgWC9FcgNHHe1koqgAzFKcq7Zp1dNwcJPbgUX9UHSqGZp3sIi_BUz8TXaNWpw08mCTNZ4yxbABjoPwJHX6TB4iMba9jaCOq5gSPYdQwv46KURfYq2-bgSY3-rC6lpOs3JkKHkR5ngMHqOxpjfey-Aw4LjzYjXaFfnI4TC4Ood82-CP3jHnUvEq2pWml3xUu41loz1QNeGtgLqtsD2pXunaeUabsGjmTFpbN9gw-4Vi6HWt82hxL4y4Ijfz7lW5QYQ4JUBj_52-nzm13kggqBe7Ehy3VmOeVmkyq_S33STvfcnnDsVBBPSEU2Zp_PPA_kWJkGp9vMe6OFNXrYw562NQyoiV3SO7bR4dj61G5l0yzbYfWZIb5H4RO9Gcpoyv9J0PmVk7cp7KMqaL9NDL4EYhAcLpQDtCQnnck-TOZAnIsyvfVM8wBWKIxJOnmeL5T-wgLtL8XpOUpVu0vgyaWj1xvdd7RGYnMpXWKtT2e6wOcANQczcxiMLGyxCwGGpCK14yd0gTu0E2QgG0DdqYyRJGGEqOpsJxzwJPySz20Zb0Nm_5EDSCIr19KAf4TaYnuAju6ImNwBh11IEm60MO1H8JmuuucrVxRit_yp8JcLFeGOM8KiG6Hf3aogIjaubPAka4pRDS_k1AOcGoKRhnhnWj3BaiX4K0gnIww2qGEPi20QqJBlIYAQqOMYAOIPa3dPSQtGNvp4VM1hvTjKLo0RRyv8qkCBngrkdTTbo8o2LTUxFQIOqgumkAtRgzV62iT4auEb7KwSZDJplBYKn_r1fxc_atLGImvtZolFRqhnTsJ1wxeBKkInL6AUZ_Y7SD8Hkg_NgJSrZ5cOtK4VN5VPZENCxwuUyfWPlIsmBvRiF9VRJ99_BGw611DBrYG8YufI2EC2LzbtFGJYgn3Bm-kcgxHwbLnuyWk-Twlcpflm8Wwjel8_dP8jcZD4_8j-GxzdfpQrp50GOsCRERy2RRqC7p5weZqVnQ0EDaVwZ9EcKMHCSX7ddgkjqKSj6qnxdmUS4lu1PA6IK8bhCHq4sLkVU2unAV3WkrQGxak46eSnhAQ6Ft3qj_zqatc3lQhPQxhKKLAMlNjqHWlj7_eVhBqB7CrY8kSVbGxFO0VMoqZAsN5hcdEEajVTPL0WTvXshG00mBapgwQH85yaHVvOOhDUVrbb8SdWqpUnJSn34VM4dJZ_y-mtZszzGIv1ApJHXi0Ny2OvRa1e3J6bzB1TQdXyp8I9yGgVtGQXev5AGLph5VEgn7YLMBBLPrwwABh1P-qUvSkRCEA0ZurSiWM35SPBgBMseicT7grll6WNf34t3zF0zEQehVP6F9XafYmqsiSGIr7cr6UNHdywfYlvTlw-x-0chTuQVz7VucmtySvRWkf_PiWrDH-08UVQU8B6LCJBDEk6eH_hXqCSSZTclGms6XYCAbTW6KziekfSNu0v_6q624cMClduZHrOssdDY9x5ucdClpciathGUoyUQZ4MvndIkesal-6xobBjwhZayISaw-epoCOg_vRYzWErClakeQ==",
  "id": "rs_07a19bb4e725942f016ab434bc2e7487d08db00a3363845996",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.36,\"right_z\":0.12},\"note\":\"The right arm cannot lower here: its height stayed at about 15 cm, indicating the safe’s right rim is blocking the approach. I’ll pull the held object back to an open patch of table so the left arm can place it from the accessible side.\"}",
  "call_id": "call_FqJeKrP19D8vNg7smmSqiuN7",
  "id": "fc_07a19bb4e725942f016ab434bfb3dc87d089b5fdb67996cf65",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FqJeKrP19D8vNg7smmSqiuN7",
  "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, 0.8146, 0.6067, -0.5323, -0.0189, -0.0387, 0.9992, 1.0744, 2.0647, 1.668, -0.7006, 0.7708, 0.3466, 0.5377]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.1602 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3356 right_y=0.3687 right_z=0.1301 right_yaw=0.2493 right_pitch=-0.1769 right_roll=-0.4416 right_gripper=0.5377\nstate[joint_eff]: [-0.1573, -1.1829, 6.8991, 1.7558, -0.0708, -0.0415, -0.0122, -0.8821, -11.1248, 7.5556, 1.37, 0.7302, -0.3932, 0.4176]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b58bdfe9cbe596e2bd421df78606999b3c3874d30ca928bad6069854853c5c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82fb9cc0aa58e6edcec09e586005d4afdfebfc2fd87c2376c96e82cb3d59a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1951678077ce67093a515bbaf9c3b383988180e65316e1de180b86d02d15f0d1",
      "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 52 changed as sent

message 56 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, 0.6067, -0.4992, -0.0189, -0.0383, 0.9992, 0.9241, 2.0769, 1.6806, -0.4923, 0.7429, 0.2142, 0.5329]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1539 left_yaw=0.0021 left_pitch=-0.1201 left_roll=-0.0012 left_gripper=0.9992 right_x=0.4079 right_y=0.3479 right_z=0.1484 right_yaw=0.2027 right_pitch=-0.0723 right_roll=-0.38 right_gripper=0.5329\nstate[joint_eff]: [-0.0752, -1.3607, 6.9402, 1.7949, -0.0855, -0.0122, -0.0122, 0.2393, -12.8752, 10.6872, 2.6056, 0.6178, 0.652, 0.3492]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8104, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.963, 2.323, 2.1616, -0.8524, 0.7368, 0.2367, 0.5351]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1496 left_yaw=0.0022 left_pitch=-0.1419 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4132 right_y=0.3924 right_z=0.1542 right_yaw=0.2241 right_pitch=-0.164 right_roll=-0.4428 right_gripper=0.5351\nstate[joint_eff]: [-0.1299, -1.2513, 7.1179, 1.6044, -0.0317, -0.022, -0.0122, -0.0342, -13.8598, 9.7026, 1.6386, 0.5739, 0.149, 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, 0.8146, 0.6067, -0.5323, -0.0189, -0.0387, 0.9992, 1.0744, 2.0647, 1.668, -0.7006, 0.7708, 0.3466, 0.5377]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.1602 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3356 right_y=0.3687 right_z=0.1301 right_yaw=0.2493 right_pitch=-0.1769 right_roll=-0.4416 right_gripper=0.5377\nstate[joint_eff]: [-0.1573, -1.1829, 6.8991, 1.7558, -0.0708, -0.0415, -0.0122, -0.8821, -11.1248, 7.5556, 1.37, 0.7302, -0.3932, 0.4176]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b58bdfe9cbe596e2bd421df78606999b3c3874d30ca928bad6069854853c5c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e82fb9cc0aa58e6edcec09e586005d4afdfebfc2fd87c2376c96e82cb3d59a8e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1951678077ce67093a515bbaf9c3b383988180e65316e1de180b86d02d15f0d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTEwr3KtQzyL_chWSjicnjUfpgmJwi53koBCHpYv87sGDdazqAH6RxdV_dph8-ZkWBNsJ1_lId4cYbQThrBzhOOdf0hNigF1h_X7yNe-Ppmvo82UiM_tPL4IvddUn8zYCtpzfPrS66J3uNGdW-GI74Tlyalqo0305Kaqh6iPZpqAxunU9DZanQTlgHhHt6-CiDbB3KVgfvx7wsskBs2CkOaXX7MBnSlTvM8IVkZz4ZrIZ7VjF6JieBMz2tw8yifis_TqA9kKApTAUkuVDGAMvNjW_cKSuhFn6il78Zn-oG7iNBhCPDQqQk5Fl5JBBWFZ-bOwTaBmcF60XhZj_XPR1ZIVMyHpUxh3Exnibc4xj-FuWQGomn0vpevp-dogR5Yx7qTO2uFv1sm75poVUY3XSEwWafDATQwi9ORj-RjwW5MV7zqcxLh_vpTQCp7t1kiFEfEclOvQz-kfpeL1sllIVc9HpjLXs0hkKMUNp17O_nUar9kVdBsmF1gvocIXf9YBbRlWQoPvsBMXwSIVzpyiN1zzGWGf4U_Jh2aSIk4c6IHAJeUKen3kiC3iugraZHG72lpQZLjTyQRMznexB2UPpzcZOcOTy4rCi85Le_QZtE_NTGx593xmxnZboRb9QXHVpiVDZ84qm65iqirrycrqfWuBzuhf_7ZRx9pAolpbW1FhMRf0O_jCdI2mPGJ089ogxFpU37YijG3r-SwvPyBMY5Nx5pHzbf6-985MHa97LhIEcf2kUjyI3k1Sm0QDYqUFLkZx7M58J-OnONHG9FRuRox7RhdDSjp41kBFImZx-8wzqfMCcQXw4zoIcPP3L6tr1bBszkFoVpuivNLzGoGrfjNUrbk6v0Lhwxt0aDn4UOEwmPBo-XiC_a4EuthAvTzovDvcamHbYA0OK16tf6Gv5DCnR4Ow4Ly48PEIXyymHkTAAgQ1uhFylQjikLDDnppe6-lUhg45jmoVlSiTyfQpeS4aTWurJtwlMGEKNhZqe2NYuLVZW_gZjAZLksGwP1ChV2O7LCHWPbjw-O1nFJdGAlawXpBrJl-uTgEluodXhptGVIVYcuJ8IhDCQD2F9LzqSg8xLPIpp20_6BaXitsKYidd_d_F4nKT5ega3tcnK6joY20ohkylrImgOjPUMi7tzV9uwNUjrX6IA3IyO9I89oHyCbznbUceZd9M_xpQgKz-urMj4OdEi7AYIUhE6TGYa7y_xyq4-ENLwGf7w78fj_JaaBgojzKvbivHqhmZk1gu0v6xrkAD3I_Yorp8rKJS55jkuI2ngYriHaWmm_gSvT9Nd2o4LFPgWQ-esqg08YViIoi-URQeLVHaXbSoJrF_a3xwsCpH4RJCHyjLu6GG3M5fQl6UUUqN7mVQEnrrvIA2DZQcDadDSDObzKsDvGCmb4NOrSxrJzM4UXEIWdgKolS22nThr61ybqxfKVjliFxIhmmaRoy7hsdlA1L9zezrEZ51tWsOPEs0wbxGnbbxay1kMHZ_qe3BILV5uFYAGoPUdw1GutQhNF5SkttrgrFSlT_Gmb864KUr6KEUP7gxdMVOuhLeDNEckM1SSSF0F3X4hyKT2obyXZlqg8EEgBIsw-HdW_HLulM2ns0rvvZoIr3luK3Qs-2H4EtHL2Fsl-3lZP9szXAuWezNWqnwg7Oo5Za-wSN7Hd8V5G4aHq4OnzHSm_WfFlgtJcvh2omIi3Y7ApgEFSYNV00QVBsz9lj9FTuSNRWIvpn9O4dpnXO1lf-646AU27QYis4bdt7OjFTMP_N437P_ziZckavl8dXZVMLATHvUhFgQElqoU7gypq7OZjSlunepo8ywo1nzRHTGwBpRZH5j1pPcTyb8kTSixlwiJ4HpAg9eXiSMpLecPeb8eavApLptkSTWHcLBKR1rYrvKZw4J2rWsWI6JaF3mIYC28OxkPH_lVQETQQE2PwYJShixP65XbWS4vhdBdPIrE-l-UG9QV_AyzDU9WKDVn8Zx4CWrEEh3CyDhqVimRs21f3kSo0-iBkgJ6h6st9FJYmDhIVWx-R51jd3Nqp8McERCXvjS9mOjd2IDH8lqDwaasAkYj5bX-FEG0KhpDsyNq6UMbd2Jh0Dg3Yk3qGs8f_0LWGwSdbI8bu0jzWMymhBg165SV0XWSREy8ZDlRW3ZkDevPMRN3sAVoKlFixF8as7fU52JuAXthzMjG0AB8_ecEoy7gGykqrc3lBQmer4tHg=",
  "id": "rs_07a19bb4e725942f016ab434c28e1487d0ad45538bb8cb40cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.305,\"right_y\":0.32,\"right_z\":0.026},\"note\":\"The yellow object is clear of the rim now, but it still lies just outside the opening. I’ll set it down on the table in front of the safe for a later left-arm pickup.\"}",
  "call_id": "call_5axX8UFYganUBenQdLoiUVwc",
  "id": "fc_07a19bb4e725942f016ab434c417d887d0952fab3d745ea3bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5axX8UFYganUBenQdLoiUVwc",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5404, -0.0189, -0.0383, 0.9992, 1.0836, 1.9984, 1.1915, -0.1661, 0.7399, 0.4431, 0.5394]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1446 left_yaw=0.0023 left_pitch=-0.1678 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3152 right_y=0.3481 right_z=0.0512 right_yaw=0.2388 right_pitch=-0.0951 right_roll=-0.2568 right_gripper=0.5394\nstate[joint_eff]: [-0.0342, -0.9504, 7.3094, 1.6435, -0.0806, -0.0415, -0.0122, -0.1026, -8.8957, 4.2462, -0.2955, 0.6911, -1.0427, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf891353f32810741968fcb397c341f2c5dfd0869bd181e196a8f9aee851c1a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51945bc35a9dd15f510931bf28f9a20b00e6022156b8ac58d9b442907e7b45b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b2f7d0ac16ab4f5ef5f0db868574430e21796ee82421828e342a9da5af1998",
      "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 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9558, 2.3047, 2.125, -0.7959, 0.7437, 0.2176, 0.5349]\nstate[eef_state]: left_x=0.276 left_y=0.0017 left_z=0.1502 left_yaw=0.0022 left_pitch=-0.1384 left_roll=-0.0008 left_gripper=0.9992 right_x=0.4183 right_y=0.3911 right_z=0.1577 right_yaw=0.226 right_pitch=-0.1362 right_roll=-0.4358 right_gripper=0.5349\nstate[joint_eff]: [-0.1846, -1.4427, 6.9128, 1.7851, -0.0464, -0.0171, -0.0122, 0.4581, -13.4359, 9.2103, 1.6874, 0.5446, 0.3932, 0.1929]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8146, 0.6067, -0.5323, -0.0189, -0.0387, 0.9992, 1.0744, 2.0647, 1.668, -0.7006, 0.7708, 0.3466, 0.5377]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.1602 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3356 right_y=0.3687 right_z=0.1301 right_yaw=0.2493 right_pitch=-0.1769 right_roll=-0.4416 right_gripper=0.5377\nstate[joint_eff]: [-0.1573, -1.1829, 6.8991, 1.7558, -0.0708, -0.0415, -0.0122, -0.8821, -11.1248, 7.5556, 1.37, 0.7302, -0.3932, 0.4176]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5404, -0.0189, -0.0383, 0.9992, 1.0836, 1.9984, 1.1915, -0.1661, 0.7399, 0.4431, 0.5394]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1446 left_yaw=0.0023 left_pitch=-0.1678 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3152 right_y=0.3481 right_z=0.0512 right_yaw=0.2388 right_pitch=-0.0951 right_roll=-0.2568 right_gripper=0.5394\nstate[joint_eff]: [-0.0342, -0.9504, 7.3094, 1.6435, -0.0806, -0.0415, -0.0122, -0.1026, -8.8957, 4.2462, -0.2955, 0.6911, -1.0427, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf891353f32810741968fcb397c341f2c5dfd0869bd181e196a8f9aee851c1a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c51945bc35a9dd15f510931bf28f9a20b00e6022156b8ac58d9b442907e7b45b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b2f7d0ac16ab4f5ef5f0db868574430e21796ee82421828e342a9da5af1998",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTIiQKTvAuv-Dp2-37Qvw9Apocw-qoHsE8XBxCIXq6qRNRqThLusQOqxJipoviVcZsAthmGJpM1KvGWAW7Mr_hOjUx6w4BeAyIDwI3KgTA49bmNIp-7hsVnKK0-4pjsZia_kn1pPk-v3F79IfKXwj2FG0wffD7I3nN4ufvoikqnZZdDccRn0nhA2h_gNBJmfqTGSwIoTINXmO-v-J9qD7VX_aluCHhZlqdOtGACWi3hQQVHZ6xoIsdBBhtwaVka7hjQOx8pRyolXu-AjUqcxG5fC5VlIQKH0X89mUDvRpm62SyLOmp3uGCsyzx5fyKwKTWS4L1mU6DKjGDqo9rrvPWwYPf--_D_ANDkgjyaZw2_-cuciu6Pj8R-eZnMChwX29-aDw7ivOtF-198XsM0EMyAfXQhQfUXegI-24gMp6xTmOwt6Ri6ge97dyr2uoo35j0pgYdPVzssQ22MbWefV82K4HkOkz9yqqAl0ndSqPk_r2y0gMxNMfMEeLkjaDatrBApOMbDTH9xV--nFhVcPrjy3obqS1nmxnNMPc8ypbnpETTThbr2ITXjX-aelITt_DobTlFS1L_gMgcySYzMVk4BI5Z24PQh6nQrlTdkCOIe3VFX2ZK1FGo8mpN5LS0UILfjcdTzgL4DGFxl5d2wL9QHwf90nFNHp5Zqg1cnd3lPR2JDaBKXkFdjpEOjA40UUVT2oRIShEfy5eBINV9VZIKYf4CqgLejLNU4tbePzUyXRFVhCJFCwHeafU2xLYvOd9uq4Y_v4w7z5q9u4hbrnandVEi9AYzSm8k0Z2u96m9rOOObcjwsXlFikfQuNLPIzoe5m4i-tfX_jt6ksOnEGoIlJkPN5r9FUSvTMO8ljLhNAtGzfSnHYhLyTZkpJsqxXDJLOtGIo3LrF7bBzQEdjZ51y7cHtDFugMXMh84Y6nf4UvUX8UPjaSIP6LIS--BtMI9UDNJHYmvfJTWdiYJX9hzagmKKfiI2-8hQ-Xj6CDsnLBj4W1cVO2MWY5YlXg44cuTMjCS_ITkrsse5BfUAkCSwyY6KdHp6ynTNhM8DSxD_kcekDFVwGRNx96QY_PMDs6tmE2hkaqebJjDeKqk1Nah2t4DnhdYFGCkGDq9cT_01m_8jvgdu-aRGw76uKsit2SjOP0-OR54uNQUMDWNMJ7_Q9WwWJgYbWYlxJnYgk-GmnKjtVUPI1pyeMIiSTvo8OctjHkd_wG-ZohhpxmcLI8SQMKJ0ffoE4lWinbfVEiIzPQIUTgBD75TVUmh5GWab8zIwF9vzwzFjkPPQeUqH_FsjtJmBpevyrkudYfCRywBsSt8JFPn-Ph4scd6T4-yRcsqvNrcKiiveRr32BoMgtg-Iu2T8h-8ra_FpeZPxkVR8fEAv-V6HReGRm6ECwXC5-DDOsV-4K2HZtaI4Hpu3QxuukY_N_3k9LxyzYXMFwBix1hokc6VP_n-NZxFvgmS-K2TquxjnzGXELf7WKpyAmZ1m9e7_IPrY28JwbS0ane_ZVoALqnmZqCZZk4qvH6WffvOuRb4sBYeXlZBn1cD-qQkn_Bl3TdH_J2C_n7JH0zKopUkE9ZdzrobVVWXvgiQEBxL6g1x88SRBqe0EVJztsXfdq3N-cj8ql29gjJsrtgVfNTp479a_8rs19AVWVpMr289ak79Em7NeNuVvoqgm-xmYolQZTaiR8hcs5fgNkbx-bxDKqQOj_Ahu1tJR9IuQ3iyP-y1kq6DRiSsjEaT5DruzrItilhCGKNKC8ylPthIlA-wuyfYX8CrSbbTrdVK_AvjFGuv9r91PywfND8yTqbKmGRtz4dBlSMT7YAlJENzUs9RYx_OkgBG9asC8a1JxwvJPocM2DW5WCnEk8yIiAoKrpOAyZTSetCmZjS0e7nKYLESTFNAxVRwt8iL0yT6ueDDVZo9BWLqlZUGC-DGk6OaBj_REoB7xt1Tx64pOmLcomFznJSF9fEEaXUCei_Ymg6axbwE1Jecn_dZMw3xaUXFEhlN8pyRdBmEEqWB7gf2DlV16tP7qMHp9ylPP-V1vHL8sHirAzV-5ZdB0Xho0ij1GNg==",
  "id": "rs_07a19bb4e725942f016ab434c6809087d09dc7a04ff7bb3639",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.386,\"right_z\":0.035},\"note\":\"The yellow object is down near the safe’s front-right corner, with part of it over the opening. I’ll make a small leftward adjustment at low height so it lands fully inside rather than straddling the wall.\"}",
  "call_id": "call_PTsjCwes6x63fSmmwhyVu6gq",
  "id": "fc_07a19bb4e725942f016ab434c80ab087d0af4e1c18af914723",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PTsjCwes6x63fSmmwhyVu6gq",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.548, -0.0193, -0.0387, 0.9992, 1.116, 2.1113, 1.3243, -0.1627, 0.7448, 0.5076, 0.5407]\nstate[eef_state]: left_x=0.2708 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1792 left_roll=0.0 left_gripper=0.9992 right_x=0.3186 right_y=0.3871 right_z=0.0447 right_yaw=0.2348 right_pitch=-0.0692 right_roll=-0.1907 right_gripper=0.5407\nstate[joint_eff]: [-0.0068, -1.5385, 6.8855, 1.6581, -0.0806, -0.0708, -0.0122, 0.4308, -9.4974, 7.3915, 0.652, 0.4957, -0.3687, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67343fc847a7daa7919d98a5249ff8e12c8fe0b031d7000658a9671346c967b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3823f455c023330a59dff4223e55eb3b9d5dd1f6125e33e9fcb9ea7638eee6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f799b6290985278806037d6c39b76217c6bf55ab83fff4e3805c27a214ae2b",
      "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 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8104, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.963, 2.323, 2.1616, -0.8524, 0.7368, 0.2367, 0.5351]\nstate[eef_state]: left_x=0.2755 left_y=0.0017 left_z=0.1496 left_yaw=0.0022 left_pitch=-0.1419 left_roll=-0.0007 left_gripper=0.9992 right_x=0.4132 right_y=0.3924 right_z=0.1542 right_yaw=0.2241 right_pitch=-0.164 right_roll=-0.4428 right_gripper=0.5351\nstate[joint_eff]: [-0.1299, -1.2513, 7.1179, 1.6044, -0.0317, -0.022, -0.0122, -0.0342, -13.8598, 9.7026, 1.6386, 0.5739, 0.149, 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]: [-0.0189, 0.8143, 0.6067, -0.5404, -0.0189, -0.0383, 0.9992, 1.0836, 1.9984, 1.1915, -0.1661, 0.7399, 0.4431, 0.5394]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1446 left_yaw=0.0023 left_pitch=-0.1678 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3152 right_y=0.3481 right_z=0.0512 right_yaw=0.2388 right_pitch=-0.0951 right_roll=-0.2568 right_gripper=0.5394\nstate[joint_eff]: [-0.0342, -0.9504, 7.3094, 1.6435, -0.0806, -0.0415, -0.0122, -0.1026, -8.8957, 4.2462, -0.2955, 0.6911, -1.0427, 1.0379]",
      "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, 0.8181, 0.6067, -0.548, -0.0193, -0.0387, 0.9992, 1.116, 2.1113, 1.3243, -0.1627, 0.7448, 0.5076, 0.5407]\nstate[eef_state]: left_x=0.2708 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1792 left_roll=0.0 left_gripper=0.9992 right_x=0.3186 right_y=0.3871 right_z=0.0447 right_yaw=0.2348 right_pitch=-0.0692 right_roll=-0.1907 right_gripper=0.5407\nstate[joint_eff]: [-0.0068, -1.5385, 6.8855, 1.6581, -0.0806, -0.0708, -0.0122, 0.4308, -9.4974, 7.3915, 0.652, 0.4957, -0.3687, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67343fc847a7daa7919d98a5249ff8e12c8fe0b031d7000658a9671346c967b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3823f455c023330a59dff4223e55eb3b9d5dd1f6125e33e9fcb9ea7638eee6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f799b6290985278806037d6c39b76217c6bf55ab83fff4e3805c27a214ae2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTMkYz8dUoe8r6rGGRbbvTQreMzom30T2-Cu6ToJTP02hseNy236-eHaaSQYBnS4ntnPyCqT7iZvXcxysDDAoeVqFVFR7KXoAB_85xRm8_DBK5zsxFNcdyQLdPbekf-QUUc15h2mBtpYSlzJHwdq203Va9QriDIsr5iD9FFVN3JYAuu8zz4SwCFMdu8_G4v2E5vdJ6bJqE4kNdnLtcsRx7uHYYaoM14MivBTN9Xhp10WpQRnTgFXVwZauXgNTNIX0beiHhqufw_9Fp0FA6aeH8kHpiyFVqltMo5KxonOxvjKHOczVW7Cbf8akLc46VtTrtwPHhOc8c9g4WHzDEE8bgkHulTnYg1Nk4sgs663QFoKgq0ZW_154IdkQASdBJlxweQu49QfVGnjvKrb5Ro1lrPcHfX0Uj3qTKy3jtt4yHW2wbOMRSMpc_SL3VCRHACHOJr6UHuOqZx6Dy59N3vMfEM5yY2sLONlRWxH1ZPC8JGAmUKFQc0dIZUR-SDdQOnKl0WxMolLc-YdymUfSptUyRbRu7W1ydZEtEJqW74ZnbJJ_BsF5BXgJ5dKqKjWeodUFU2Wmi5IkFEayW0nov01_mhPJhr9KlmI6kOqD50KuyEdEH_fDYBqIzESOEsel-sYQR8BJBE8WzNOlpni9mGknrnTeft6yYPRj7HCNq1LRFFFsPMlbkL8EvBzAeGcOv4SVvOJYJ1_GPNpz5v4U_FLVInLVy9t_E-HyYHofyqgDt0Vrl6hhIPVyuryE4KaMeLOT-OVc3UJ_lFsa-hnr3C59PVjBswVV9X3ML-RD_AVjRX0XNODcJEwhDqF1P0S_Ls4kDSIza4czRnO4W1_Oi08Mhtejn7qng63Y1gWUUyo9AURp7N45eFwl7ujiaTKmOVYmqf86ZpDU6z4-KbSBAQulr3wgyj1usZ5RJjCyoM_hXFE00LrnX24qc5fAxykKxhfECncM6erlzDlQKfLRF7BVej_qHdbuK0sKs-qq5Goj2btEmwsSXNhBW_1WbwpFjJqPRLLV_KdwS16Qtb-XR4EajXgGAi0cFg83_0bQo6C6ARv7Urj3re_xxgfaeZvq7h5sIi0xG3gTWPmpkkUf2jw8hsCf7ZjdAwZwFko3y-W4Dc3XCgMdZhPSif2imZApNdnk79fUdKwrH4kcBQqffmjxCn31unJ_IiH0G8S4H7PlJcseTIe7VL-MJqB_RkeOq1t-VPNdbfVb1K_8x8fI1GxukZYi6pzohKPpxfNjEVu0NacS4c__Psb5Xsx4PLGQzTik_UD4zKXu6rCB-e_RhT-K43y3ZAv3txX1DSDAJuhbirMN1h1Uzt_AFHYcBT3nqKYYZYskfgg45Y4wCClOD6wv9P_38IRlR5IKO_1-ho4R6GjRg6kSCBYvFvhDviz0VIFZs46FuYsxirwrzc0iyqDDJqyJuDTxEYxI86NcF_AkiIXy0Pju6x4Zi9Jp8_fM3iIh58DheUwW2_UfoF0-XegfZIGqxZFC9zRwoeK_-yLikPFwDKnMf1dsjzVQR6rZq9oFO3",
  "id": "rs_07a19bb4e725942f016ab434ca83f887d0b7b57628051099e9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The yellow object now overlaps the red floor in the overhead view, though it is close to the safe’s right wall. I’ll release it and inspect where it settles.\"}",
  "call_id": "call_sbpRulxSVwtC0vr74V2g5939",
  "id": "fc_07a19bb4e725942f016ab434cb5b4087d0b43e2216bb6cf3f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sbpRulxSVwtC0vr74V2g5939",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 1.1248, 2.1277, 1.3373, -0.2203, 0.7452, 0.49, 0.9948]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1941 left_roll=0.0001 left_gripper=0.9992 right_x=0.3122 right_y=0.3836 right_z=0.035 right_yaw=0.2486 right_pitch=-0.11 right_roll=-0.2519 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.7509, -0.0464, -0.0269, -0.0122, -0.1436, -10.0718, 7.1043, 1.1893, 0.4908, -0.0073, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35338ca4dc9f4638a4503dbe1e3b97ff6a91e7933d24c9b807858dd07d9599e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390fd89087ab2d810b13839ddd30a8607ad2db22096c2bde3cf8ba5ac952209d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d289ae6601c550b84839b3d305cd1435f557d48239bcab76f7f5e6cc00d34201",
      "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 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8146, 0.6067, -0.5323, -0.0189, -0.0387, 0.9992, 1.0744, 2.0647, 1.668, -0.7006, 0.7708, 0.3466, 0.5377]\nstate[eef_state]: left_x=0.2733 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.1602 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3356 right_y=0.3687 right_z=0.1301 right_yaw=0.2493 right_pitch=-0.1769 right_roll=-0.4416 right_gripper=0.5377\nstate[joint_eff]: [-0.1573, -1.1829, 6.8991, 1.7558, -0.0708, -0.0415, -0.0122, -0.8821, -11.1248, 7.5556, 1.37, 0.7302, -0.3932, 0.4176]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8181, 0.6067, -0.548, -0.0193, -0.0387, 0.9992, 1.116, 2.1113, 1.3243, -0.1627, 0.7448, 0.5076, 0.5407]\nstate[eef_state]: left_x=0.2708 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1792 left_roll=0.0 left_gripper=0.9992 right_x=0.3186 right_y=0.3871 right_z=0.0447 right_yaw=0.2348 right_pitch=-0.0692 right_roll=-0.1907 right_gripper=0.5407\nstate[joint_eff]: [-0.0068, -1.5385, 6.8855, 1.6581, -0.0806, -0.0708, -0.0122, 0.4308, -9.4974, 7.3915, 0.652, 0.4957, -0.3687, 0.9988]\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, 0.8188, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 1.1248, 2.1277, 1.3373, -0.2203, 0.7452, 0.49, 0.9948]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1941 left_roll=0.0001 left_gripper=0.9992 right_x=0.3122 right_y=0.3836 right_z=0.035 right_yaw=0.2486 right_pitch=-0.11 right_roll=-0.2519 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.7509, -0.0464, -0.0269, -0.0122, -0.1436, -10.0718, 7.1043, 1.1893, 0.4908, -0.0073, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35338ca4dc9f4638a4503dbe1e3b97ff6a91e7933d24c9b807858dd07d9599e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:390fd89087ab2d810b13839ddd30a8607ad2db22096c2bde3cf8ba5ac952209d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d289ae6601c550b84839b3d305cd1435f557d48239bcab76f7f5e6cc00d34201",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTUUxVsLYggako3LXnPPsma2dSHo313xP_hqzJKxsEvY09GhuYelYGN9De38gSaNdJnPpAPyuLPZJIi92v5w582Hn-jg5OnMi4JEFOXpfC4OHRlTk5spxtsuvU8gpplZdZkheqZfPbjST4OhvSVrFqH8xiDtf3chMCMdiX15Fo-wzc3srBbJvkb7nDnwCFneAPes1CgoqwjHKb-E4g1d3dVZaswBLOJlpZgMAk0O-QBLZ8wIFkk1CEgBsTC_AJARBoF0v7C3RYl9aFNMV7BGcZKPa7qD1RA7cvy6LSXSN6uFgpR78i7ydYmhw2-VTuStk2Q6hdFCBubS9KrfC2iCH_3ad0raZZBSIxuaS-1eSBOVaz6K8IdyY5LwCsS_jHnY_m1MD3jnPbkyv4iPx1sNPc3m-kx0IIBExQZDC716SBZvuPtmjfSkadtGEoZAPCpf1UN5DCeA7p4KF9w4qBgRT5So_1uHxIce0mwMoeb0CMw-ja5HqUFvbQmWBOJb92R0tdVeA59NqmEpF2ADb7fK2SrMmWyO7YO5KPqNCSaGzJn1c4Vep1x_FI1K7SlbqYzsGCfG3SnFmITkQMhBllZP10-Exg4wg5Vhbbco9FjfU98ZzthdTWZhC3m7ymMNV_-u6OtGiCMH78OfpFlEnnb5M5kMEh8bCMojVgPphxWI-Zrw-mrCFbLhuBFVWRCxrAFrB1z7BBQyTtvgDi8vYsW6UqBg6jZ4sYVb5MOQzUFNpsp2tlt3jSTUmTIr-AeocLw0f-bkAs5mlLbcR4iyl71ro3Kv5-N4bEx6CGzvNWs7KTkS2J8JKiiXuAUNEVcsOmpU5Vtm1YEIAdu8C3zp6wd1bUqsVpD5D1IoUNvil2HQtleCnusDm45vS2NOqOe9G8rwLCefy3MnkFt9lFgvYL0V7hm8fQnXt72b2m7woERICJ30CfO_TbJE_FlH4HaxjUA7Hf-o_xrRD-JC4PtppHg-rX-W2dZpjuIgY87I0K4UQz_MVramzpCSNF5rUjyk8fj_yPh4eEXRPptRiJ2R5DcIV4OQJSBubVjtpF9-Hyh9T6-iFHFujlCzJmUyykW3Bro5PQ320Hw59xcDrK84_nf6_yOs5n7Wem_-fu9_yUqelT3cWABu_f2Bm-Ta7Ks4sV9VCq3h7Nk54JP8CIDKBLAeH68heiNyJmQWF8x-NJA078jfDaZ-pte4c1Y2d62oKo7szXzsgmA_nx83e_pDJbnWvgqJIgqzVzHqBGpNSv_c2XKInTXbPixscEn5UFa7EC4mEEQFUo6xr_VXZzBuypSQbpsakyljo-oaG7UH-gB2K5O1GNyNKySRYNKpGHEO02hWU8YQHo-NF4TAdC7wq7R92VDo5d9NUYxQUi03ENbFDNqd0sj_5qysdD_tGgqJeL_REO_iDiZZ23ujATbgetuh7c954Y9bte_hVAjULiUY7ehznXMesKCS11M64-NvBn7LJAWxxM1KLXLXy6wf8cLYHQA3Ww4tfk-3SJBWg8upzP936zjUBB2iTpZ6wGmgYWF1ehg0C1tC0ZPuvMuFr4xQ5fE1FvGxOWB4Ah4bxSRcPlpVgF3LVHjSNp4vhiUgaIl957EV7NEHjD4aKVcRwbCwZgG3pwVpZGbRGAKtSGUAC5JDTKUiDYg6oPBUmAz0FCaDQBLHXPxu1KbryqoUl6-7VlJxjhM0HtF28Q7t8sK7WHBjIsAqFkhk6Ntqd1ScRYq2aS8j4fmJCTNOewlZq4t8BKUmgBouqYGDjUOc2GW9KfdWQph_ktoLPPIZTwJrRFrMRAZpB4-H3I-FsmIoim4H432HNDJYYXojFzBq_f74GKXc1Yrs2CbC7hWED01FeVtakyOuuYnIFCdfzd47cKEY1HHO__OjWfaQFpKQNX1VOjSTqArwE-kBHBGlt6pGwywXSorCo_Qep9gIWKzhyWYCUhLcuF5NRLXfvxGQwTi8pjNMv7KqkCmzHShKTc2tdKl4hg_lW-pgMZHBLRyvvZCYQvioH4QKZD9oCC8TPQ2GWJ6xo2AK5HZ6JgCgB3UEk4WCPDyhghaltUwuNiKY68cxKdT1IUfjVJ4PE2m1PD0ZypjSwUvd0HWf3ComD37hpvVKlRhH6rbY-SmJ4WCRddz2o-qnbqll3HJMJfKruvragonOT9NVQLNeWPE_LRoJstnxaWn0mdmYjcBp9r96QHUKgxC3wSd_w37pYKqKa0NXH-kaZ-LCrk6lKVYtXV3aOekzZd26-33KiXmx7Jxm7Ay311qkR_4EaeQjJJgRqsqC9jlrZHiy9wolnWR54eL_2czeWYVH00FCS3IzKGzyNxODlZYTscAdnV3oe__VMW883p15G-WVkvZh9rUg9YoFuS17R6iteoNgwJG0eJxuMJNJnoFVQrjVsqTWjfY_CXTOKvnHi2d2JHlOuH3q_W2URcpz0VWiWWtaPMxyFSxqPdYywaGAnSXsFI1isYldcwLKeFHpRSQLU7uI-zW_14ZKeCkcbemvdD90xFvipLjX_ruv22Ijo-UNFA7KwUN49hKeRFagR2vYvxVi71szUHKbvHfFyIVjMfV6-kz9o77VbMoU_FYiBcWMx2UZy1nslr2w3jBaLqFMNe7fMaqtPUp69VZy7Mk3GYVKRheftbL391JwtjyWtaF3UFovdlF0_Q7Fv1NorgeV8Hh2tGy2gePAyZsOIsV6hu1tqzv98OYFlwtIxHBp6B5WuLal7rIKc9MqR96ijJ1MJLwal01aXyMXhC6ZN45NdLQynHFjkyEc0DI7wTSvh8APgnpXL963iIxXtJCTfTR3nfjQyH0beCoCHU1Rf-HA4hGxnNVnCLQEzWMCs5TnWayt49Pflu292RMHEDUs8HZU3_PGgXvQRvkcA5eOcv_RpnOQAMwgERgnLnmoFtUZjaQjy5Kh7r37yjGXWgez4_08YvK_WCOHiCpg79EConXfzkrkJHQoy_oB6lkitrAkzs9c2YGhzpk0-BQc9IG6B3loHVcBcyRTZosdqByL1Gny2agWSNVFxzBI5Z5bnt4ofcFo6XET77CHoeLj7d_O55mPhXWu54Jnjoy03P7C1ZOjAIS6TByZj1AUW4yDdbW-En1KxNcHEb7yjN_Smq9M-p3gvle1P61ZcDQe_FDiQKZv7ONC9Kzt-DtjYAviZiufkKjdRXNgj4tTd4pTDtnLFu5QAoP9jlA_pv8HG3JD_XQR61MA1ilPW4PQ-crYLBfzP7KbU1GgeZlUb1dC5rcT7KMt6yuCUiW-kwaOxQiYwwKcWXsFq_XoKv5xYYIQT6RMqax29S3xoO9oi9LfkQTlXSV93Jhl2j4u7dzae3jGKvYe9wpG7Zwu4MQdJe5X0-211M0ryUDTl-uaiU_kS41w3G1rssDRoW_qitxcusrW07Q9wlQnAbCQUpS_4yCOjY0DV4Apg94jzmBp74bi9fP6-MilwuD6utEauNV3ucBdG3Xv3XLAsFzw-dLeGqK-vpevhRt9d-Heuap1WaGJelsQ5TBV87Yd1KDL-9iI9j0r5zy",
  "id": "rs_07a19bb4e725942f016ab434ce124087d095579cd9f3cf797a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.01,\"right_z\":0.19},\"note\":\"After release, the yellow object appears outside the safe’s right wall, so it still needs another pickup. I’ll park the right arm clear of the opening before using the left arm, which has better access to the safe’s interior.\"}",
  "call_id": "call_dDeYdCQRKlgq0Hm4shvQ2Vzm",
  "id": "fc_07a19bb4e725942f016ab434d3884487d0b55491f54561b52f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dDeYdCQRKlgq0Hm4shvQ2Vzm",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5827, -0.0189, -0.0387, 0.9992, -0.0029, 0.8677, 0.7052, -0.572, -0.0116, -0.3466, 0.9953]\nstate[eef_state]: left_x=0.2648 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2166 left_roll=0.0006 left_gripper=0.9992 right_x=0.284 right_y=0.0048 right_z=0.1677 right_yaw=0.1874 right_pitch=-0.1716 right_roll=-0.2423 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.2786, 6.8444, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -2.3179, 9.7983, 1.79, -0.1685, -0.1148, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e458f2709b76d2c76d4ec9b640fc0e46dd79256d856add508235d7c1ebb78485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060ab49316f94f8b2f3130c4d9e0ed8bcfbfb6c28dae3bb57af6a0db97517b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9ad42e7b527103a1dc3641147ff21ee01a0e999b7f9cc87017bcce33bb0949",
      "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 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5404, -0.0189, -0.0383, 0.9992, 1.0836, 1.9984, 1.1915, -0.1661, 0.7399, 0.4431, 0.5394]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1446 left_yaw=0.0023 left_pitch=-0.1678 left_roll=-0.0002 left_gripper=0.9992 right_x=0.3152 right_y=0.3481 right_z=0.0512 right_yaw=0.2388 right_pitch=-0.0951 right_roll=-0.2568 right_gripper=0.5394\nstate[joint_eff]: [-0.0342, -0.9504, 7.3094, 1.6435, -0.0806, -0.0415, -0.0122, -0.1026, -8.8957, 4.2462, -0.2955, 0.6911, -1.0427, 1.0379]",
      "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, 0.8188, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 1.1248, 2.1277, 1.3373, -0.2203, 0.7452, 0.49, 0.9948]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1941 left_roll=0.0001 left_gripper=0.9992 right_x=0.3122 right_y=0.3836 right_z=0.035 right_yaw=0.2486 right_pitch=-0.11 right_roll=-0.2519 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.7509, -0.0464, -0.0269, -0.0122, -0.1436, -10.0718, 7.1043, 1.1893, 0.4908, -0.0073, -0.2369]",
      "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, 0.8207, 0.6067, -0.5827, -0.0189, -0.0387, 0.9992, -0.0029, 0.8677, 0.7052, -0.572, -0.0116, -0.3466, 0.9953]\nstate[eef_state]: left_x=0.2648 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2166 left_roll=0.0006 left_gripper=0.9992 right_x=0.284 right_y=0.0048 right_z=0.1677 right_yaw=0.1874 right_pitch=-0.1716 right_roll=-0.2423 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.2786, 6.8444, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -2.3179, 9.7983, 1.79, -0.1685, -0.1148, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e458f2709b76d2c76d4ec9b640fc0e46dd79256d856add508235d7c1ebb78485",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:060ab49316f94f8b2f3130c4d9e0ed8bcfbfb6c28dae3bb57af6a0db97517b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a9ad42e7b527103a1dc3641147ff21ee01a0e999b7f9cc87017bcce33bb0949",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab434d9297c87d0a849951bc9bcb822",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDThQtebxJl3fBrKH4xZHXz_Ne8LI1_xMPZPPzYfZfw18j-U57fsEOgsi_uW_zHU-IWSyeERyCXln5MghSsBmjCOuJJBjiRTBzRBN92HaprLqtFaYUnAcXYPTlS0p47Wfl6xaIPbEpGQhnJ_A6aSgRdKmGv9d7TIPSmMeCBiBy1blfgBtgrFUUQjykwLT8pjZpE3BAO8ZvTD9Dza1q51BiUI-IyxFdt-dLwSkaAQXrD4rgcyWtmITRm-zElCcIaNHrpf9deTYFH8SPDfizAimCDa5CYdokbAt-Pp8oPgAxMfwN-4tTxSxtySrfFRyQJr5aHarii2Sp33uUK2dsY0wKrZpbEuMcYNn7Tys6iOmOQpYYR-CAxWRDIYZLpreDJhlX_bjylZXUnnZFvYz2xJS_WLHi3ksjMlIC9Tg9b1-D1DGUVhpG1Fl3CB_edePTNDVv5AXSmnU4ZN5jgYrGvYTlZowGLiWnnse44yWFFa5cFO1vVjEsomhKCKVl8pp7TmnMUWIJGp4iG8UO1R6AYk16mCMP5pR291YyZpIZ71y3qQ5ivfUTM9Ob9b8-6PDCBJ_w_KFt8_9mF4zOO_CqWhIXa4ewtaa3qa1OWUcHxoWcQimmA4qST_sUN1_Gc0H-IRjx08trUs1r4p5au_ntevwirap0T1RDwZ4GeGf1YWv24RUENwfGODjKPSA1RYj1RMbk-Tx6CSQbzLE559FhhqXf2ip92SooCJ5MgCHM6Puk5iqL1N4kmeve4Aa70TmEjslElo-5Yw0NEuvWdpqlBdzFyBFE5sSZBiAo7Lih8ZDSbGMtyP7Fe4PN6-4tWyAtBlLcNGfSnl9kzkciSz76IGCNgIZBSI2nVqRDVEBW07NBwAUOIiHI2au82uTckaG-m3cGf4y5tsnBkGvG_vYnawVWoo4iwFekF7MM_i95R2UjfXwh3fA59eCQYNvqg7XkJM-WDprmgzhUve9xckC0QZ1rHhNfhmYgmjtFyK3iqjzzGxdBWpJ213yAjttEUSuCh3PNFK8djggopCQUOOlPrsife6zP8LEQpkqYQ1IAdF11aKuqi9ErXPIlELH43-9WW25Z2BlWUQo_s_gy7GikBo1kXuNCo2I67-f71nXQUu1mo78-S1UsOXL4o1rdpcm1XtuVHlIAu90rMOfFizPXs8wolkWkVBbQ2t8m4BXNytLKToa5SMz_wsKBCapiI_zj8qeY-ybCS_NF6tHOv033rZzdKFTkREorlbj7NoY0HySsg866nKqUlII3AqjRqiThScrDntIhMzWWQdDL6lqA3R1rAIC5fxCezgB2oFbOB6TdFwjP2bmBwUWOhH7ofeCojWTCkm2cfEWJrjUNBO9rb3CieBQUeBP9zn_OjLApu1hl-pNzmiC3eUtpzcN2wsn_XVuXe08uaPyo7wq48A6WBrVhcEcdFhu-cmhFWtefkHHlYBKsqHz9iENkhzhz-VrQUmPj11Ul6RDnYfXVQYVz-9_VSyPXyWqfDP_waGFaojhZGtpL8SXjhAWPDdIUP4IkamBgt2hzmD5K9LlSTNGcQEpanapYJcyUNYY61Z9MA3Hb6LhwiXYmQmRzsl3Yi2Y_-1jQZjh6DqrMfcy-uWYN3WpYCJ0A9_9K-ulJhfM9eoH5PuTRfWvELrWtPH-W3Yqxh_XMe_5pr8m0pP1Cf1jjYQsjIDyajY6o_TiX9b22p-zlx4GdVGNrArIxvjIpvvbXcFUGZ0UphIE6XEMb0XAcjSxJ_xQ--AXUrt1TB4GJLmJvGFTjJXS4PTWnxeCEZtwnoHgQhXik0Kq-ZOstq1_mUP-DCocInwok-gSH57OI5oO29GfI4wxXCuC8IEJB1teztV5hPRoI88qUH4K29nf22MfGF95EZyOSpaYafgIehFOdv2Mdu5u8jmgTB5s-i45E92Tfn2rslznXvZLfA7JPGxpQ_7rnFY3fOaXtaRQ-Pj0JsRumrPuzE8KKBozeS-D_ZDz0FkZFWt6Ik1vxNTzJ8Bh8DBjXrCsuN9fbbLB26LhjQ_TSTHs2LOKhA3jKY3-_ZC5MFFOmPvWW2HSeIb6kOkvNBsdDzOVOK1hvJsb-JJUQltnsel3wLnszVqILUmhASGsWK-zn-l8v-sC03QmFn6r6Wk9gKw9snSF7YCeYwkeAHu6r_8a5_yral72vUy-cXjZnoZjVvneoE5Di9Aa5mgz4ELeaAc3C2bAmfcGjb350ikkWKuY-iDXpf0t31rjbggMxL8Cq9NYefD3bva2UfQBE8h6SlDXC0LHOgJFThR3ZwxpjoE891B7PBp-8pemAkx8anUDZ1QUY1uFsqGN1_uczEjkqbSSio8xoA877mpn2FId-1eNthPftSpftgc1385nScd1YiNMXA4L89DKoxIeIGACeqg0pGcKw9s-x_4Z1WzntPDhTiw6QJolIw367zmlABk",
  "id": "rs_07a19bb4e725942f016ab434de7c8087d0a3ac624b27bd5876",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.25,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The overhead view now shows the safe’s white lid shut, apparently after the safe was nudged during the right-arm withdrawal. I’ll bring the left gripper over its front edge to reopen it before placing anything inside.\"}",
  "call_id": "call_BDRB1UivOSguSPUmpzQYNYho",
  "id": "fc_07a19bb4e725942f016ab434e0695c87d0b401a553c1e44dd2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BDRB1UivOSguSPUmpzQYNYho",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8619, 1.6688, 1.1614, -0.5507, -0.5442, -0.7265, 0.9993, -0.0013, 0.8703, 0.7067, -0.6121, -0.0189, -0.3626, 0.9954]\nstate[eef_state]: left_x=0.331 left_y=-0.24 left_z=0.1155 left_yaw=0.0015 left_pitch=-0.2618 left_roll=0.0255 left_gripper=0.9993 right_x=0.2775 right_y=0.0066 right_z=0.1605 right_yaw=0.2055 right_pitch=-0.2131 right_roll=-0.2407 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.9385, 8.6906, 1.2283, -0.5348, 0.0366, -0.0904, -0.1983, -1.812, 6.7214, 1.917, 0.0024, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9425aa4fc490c5f24ac2131557968b57f3ac6a827966a247c63a44597062363f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e1f68c9a78f9ede0c2ffc0c0caedcc9bd44b0dc10e14016d739adba3eea396",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5c0ddf6db42f864e5954a96944a7b8111ac68005c5a007599ddf722cd88cc1",
      "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 64 changed as sent

message 72 changed as sent

message 77 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8181, 0.6067, -0.548, -0.0193, -0.0387, 0.9992, 1.116, 2.1113, 1.3243, -0.1627, 0.7448, 0.5076, 0.5407]\nstate[eef_state]: left_x=0.2708 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1792 left_roll=0.0 left_gripper=0.9992 right_x=0.3186 right_y=0.3871 right_z=0.0447 right_yaw=0.2348 right_pitch=-0.0692 right_roll=-0.1907 right_gripper=0.5407\nstate[joint_eff]: [-0.0068, -1.5385, 6.8855, 1.6581, -0.0806, -0.0708, -0.0122, 0.4308, -9.4974, 7.3915, 0.652, 0.4957, -0.3687, 0.9988]\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, 0.8207, 0.6067, -0.5827, -0.0189, -0.0387, 0.9992, -0.0029, 0.8677, 0.7052, -0.572, -0.0116, -0.3466, 0.9953]\nstate[eef_state]: left_x=0.2648 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2166 left_roll=0.0006 left_gripper=0.9992 right_x=0.284 right_y=0.0048 right_z=0.1677 right_yaw=0.1874 right_pitch=-0.1716 right_roll=-0.2423 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.2786, 6.8444, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -2.3179, 9.7983, 1.79, -0.1685, -0.1148, 0.0415]",
      "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]: [-0.8619, 1.6688, 1.1614, -0.5507, -0.5442, -0.7265, 0.9993, -0.0013, 0.8703, 0.7067, -0.6121, -0.0189, -0.3626, 0.9954]\nstate[eef_state]: left_x=0.331 left_y=-0.24 left_z=0.1155 left_yaw=0.0015 left_pitch=-0.2618 left_roll=0.0255 left_gripper=0.9993 right_x=0.2775 right_y=0.0066 right_z=0.1605 right_yaw=0.2055 right_pitch=-0.2131 right_roll=-0.2407 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.9385, 8.6906, 1.2283, -0.5348, 0.0366, -0.0904, -0.1983, -1.812, 6.7214, 1.917, 0.0024, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9425aa4fc490c5f24ac2131557968b57f3ac6a827966a247c63a44597062363f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e1f68c9a78f9ede0c2ffc0c0caedcc9bd44b0dc10e14016d739adba3eea396",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c5c0ddf6db42f864e5954a96944a7b8111ac68005c5a007599ddf722cd88cc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTp73UX2FzCMevqfEL5Mo15e31r8GocXwmtZFmTHgQPjZqL0EFUqSKskufEj2LOboRgJ0LmKlQHnd6Sxid6QYUiNX9EiZ7rn3NRoEik-mJtEFZSQwFgHjIXyFGKtVLkgWoTtiMnBdPHNNaVOe9dnrf5_vGP9PEMZ_RZlFVF6FpwAxRDUQea6AWZ-yes1fUI31AUi3Pg-HGwo_iMHWiGyDh7zG7UWkoIrWEvDopmcXH4S20PT2-8kJ7x2d7_3YsnCLR6htX5sYpm4Ty4hti8fAQ1vcMpF6y0zJUSNaXcrppR7FjEObwEJ6PanUrrV3u6hv0JEnS0n45UVoKZmjNzKiN4VNmlfSbCgDS9Nz8xfhB8djQcE9AxewmnwrfQFCkXLKlXz7v947aN_MrZb3EWBEd4OBh8CWYawkAvmteZIbXlGDMs4yUGAi81430MyANH048SAdr_ac8kCsUOzZLYNO5iB8fvXrQpp5pmQnJJNTMRQLXxz1FVPTcRn78yW6fJiV3--71LQK8zSNwn9VVOYLiuHEmW3XgEvzLFszyd7-qlncpWh7ir3a_cGg9YQ0SWqga6M6HeJogAftneBWqkLgbsUU8wUEnDgjXkXDxWJwgIE1jCcc8vsnBseOGrkwo6VgnuU3P7Dlc-QjhwQ0c34ghI-maMJUX-6G4LB_XSpTTVSmZOqzvObQuhA81t0zDm71YAVmCpX34oNmPHTNEJvOLwerK2sXuo0kUcLljUcYZfDc6I5vnli3jkKa6VRvB51FZmYJoHD6P-KbRtZjzlXv_k0A-V5Mps1L4uuDOVlEf9Ng3HpS-KfORNfDRfNdk_xNizprrW7W6MFeMuDnLrSLELZBcT7jDpVW7OO2kfd9yWzo-qfi33zTq0OZKSWI_LuWHn9zfe8kM4FO6LspzTPhlIGztfskMvVX3CrPOs4L66RkwGn8N-zxaouPteDcxLlfZ-v2X_UJp1rh73kTLh7JLkAcB66YYoG8EToJ164EaVHF8aM6MKUYA3G2nvcVnsRhM8XzT2uIK_-VDpN1txPdlFGj2E062cZHcE3VbGZyXqTCSideWWM3KKnqWYCfK6SJq8XjFftxgBU4Dn3cr4mzVTJVaQb5ovLENAMOylpHdoblgWmff-ZV7vz16gtUVdmkfITFGBTMnlNfjA0QyGl6NkkjmUpKcA84wU0RXvfX039RUdWpfQbrExuHWMuRgDBsRFkdnlZInSeYVpW0J1Wy3gIoYiEG1ZbJLoNJQliBfdfu3ZM1h-zG42N79e_bhOllHKzIgjPhGx8W0MYqH5wWaFb0he6kw5Afh6Tb0iReN6EqaChcvDgXL6t6JAqVY3oYA2N1_QAAayn9A9l6pj4NacuG7RajVpwR3jMqLn-uLEaHehpc0VHr3_pp1JIq-yRkNc7E_v0uca3S7sLV9-s62a92tv1T7fSyBzZg5IwrI_hOswEj81g44sOOaG1rOF_VdlxZf9EksNvkZfm-_R8sXAUvSdZH62Z0-SbpLYHm8pxiaWNM0pVQT1NxaAe7TK-08Qn8AZZ4z7NLvp1TzDYCPNDmTVafLznJkFOHBYyVZcX_0PMtcLhkjqVqJ4TlNp8d853ZveXoZsCyHWp-CjO6Vt5X0mg_p9r49_2G5TlLLXPxgnaYNVrO_aPo2E_cZ6Co88jCch6zw3-2ry87a2jn53pu3ZLQQrc5aao7S_-l6N4qOs7KAFeits2bwSHZMY1HB41eN7OStlcbHxD9jtBcKq3b7DBPHd_6XrIv-QO79wEO1vPzH5rxEeUBuPPKz_Saf6v19Threj36GZK7GQ2xGzjKyt-gYwsL9Mzql__Xs8LzO-TNJuIrLij4QTzh81LnQ5_oNKQJ62bWmszK2caLiGwWDyYgRYZGCrJeLWdQGrKzHcp9ErLxyhLHke6ME3kms_DrWdfDm5eBL_dqohk90kjesX3D4c3_aRTOx0CB9fOG8OXhygT0vU5crIGQKnfGLmBA-Lp2Exq8zNfkqVXoQqqvbsrZpBDapZEVkkY2tm1j1ctuptz2tBymc_ygSL5c3eEcKpEgiNrX74-G2DbeQjVmOknavljbDv3KR70ikCx5nYMuFE-fLn96PQUfoxg7cHrreOcBMtYMS8Xh17YyuFy2s7E2IYT8Zc4cs7BZmqg20b5hGCSKwzaScH3LYJ9ly8vdXqcNP0ci8bzA3ZnUqAbzD6V21rFnXSfAHB_n4AwpPnMUlRzlS6V8O96K5X1-KW_3CQ0a-AiDpDy77Nlg6QXWEUZqatifkjojSBwG849gO7s5fu0X03_bUoSsWETPHK3VJGiunyPW4c0y_SgNqdD-RYl2CCU4xC4pWqYFB4QMk_2mYz5ZJPyDlW7KE_mtvreX4ZiT1Gq49xjq4OaRR08LLbVB-BxPKgeywczgMlt6cksEKo6uiucLY0vsdAawq17yjaZk8sYfpd8sgC6LL21aR7sqhN5ypB1wKYokhwtvLa_NkQGUIMLskAoGWDmy4vgZ6i7AQXn0UcHf2K3gTpTjis7A6NOymNiuhDMZe6Fgz23gCM5-pBhepix8QWXZY7ehw3BHZMqdZ557yQbXsHW3zNhnTA7WcxKmpbce9TfkfStG7gteFlmZd1e7qUJP1UPFnBfzGuxw7paWbjE6BM_1hkiVRcIAnXJzXY6MKbEVR6G5KqrgCyZGVTcczSp4Uc6-4D6bYjHRb2b1Zgpx0fXGipYNIAWYowXJwRY-sHb8ZTbofbQV7zZBzrxHC1054D_wVbLN3UyMw32WydrunKlTjIbMU1dEC5rA-6QJThu4M=",
  "id": "rs_07a19bb4e725942f016ab434e4c7f087d0adae0e938707d146",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.283,\"left_y\":-0.238,\"left_z\":0.055},\"note\":\"The left wrist is directly over the closed white lid. I’ll move down toward its near edge with the jaws open, aiming to get a fingertip under the edge rather than pressing the center of the lid.\"}",
  "call_id": "call_7sJCaCUeyQYx2vGXBR8K9PZ1",
  "id": "fc_07a19bb4e725942f016ab434e8efb487d08d58c36bb615cdf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7sJCaCUeyQYx2vGXBR8K9PZ1",
  "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]: [-0.9676, 1.6474, 0.9443, -0.3702, -0.6155, -0.833, 0.9985, -0.0013, 0.8745, 0.7067, -0.6315, -0.0189, -0.3637, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=-0.2433 left_z=0.0744 left_yaw=0.0027 left_pitch=-0.2203 left_roll=0.0023 left_gripper=0.9985 right_x=0.2743 right_y=0.0066 right_z=0.1561 right_yaw=0.2072 right_pitch=-0.2364 right_roll=-0.2365 right_gripper=0.9954\nstate[joint_eff]: [-0.4444, -6.3248, 4.1368, 0.3541, 0.359, 0.232, -0.0855, -0.1983, -1.5385, 6.8171, 1.7021, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b44c5421c5f1f2d4cbded7cec2814b7f8e2be18fd636d8b956a7ba0ebb6be5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94749b35f2c47931602d53ff990a78947462eb2ef74acd0b582dccbb244d56b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20480be1171554f5ab13d6a95a4995d6efc06d842db4a0498e3e008868b45f75",
      "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 68 changed as sent

message 77 changed as sent

message 81 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5621, -0.0189, -0.0387, 0.9992, 1.1248, 2.1277, 1.3373, -0.2203, 0.7452, 0.49, 0.9948]\nstate[eef_state]: left_x=0.2684 left_y=0.0019 left_z=0.1396 left_yaw=0.0026 left_pitch=-0.1941 left_roll=0.0001 left_gripper=0.9992 right_x=0.3122 right_y=0.3836 right_z=0.035 right_yaw=0.2486 right_pitch=-0.11 right_roll=-0.2519 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.7509, -0.0464, -0.0269, -0.0122, -0.1436, -10.0718, 7.1043, 1.1893, 0.4908, -0.0073, -0.2369]",
      "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]: [-0.8619, 1.6688, 1.1614, -0.5507, -0.5442, -0.7265, 0.9993, -0.0013, 0.8703, 0.7067, -0.6121, -0.0189, -0.3626, 0.9954]\nstate[eef_state]: left_x=0.331 left_y=-0.24 left_z=0.1155 left_yaw=0.0015 left_pitch=-0.2618 left_roll=0.0255 left_gripper=0.9993 right_x=0.2775 right_y=0.0066 right_z=0.1605 right_yaw=0.2055 right_pitch=-0.2131 right_roll=-0.2407 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.9385, 8.6906, 1.2283, -0.5348, 0.0366, -0.0904, -0.1983, -1.812, 6.7214, 1.917, 0.0024, 0.1001, -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]: [-0.9676, 1.6474, 0.9443, -0.3702, -0.6155, -0.833, 0.9985, -0.0013, 0.8745, 0.7067, -0.6315, -0.0189, -0.3637, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=-0.2433 left_z=0.0744 left_yaw=0.0027 left_pitch=-0.2203 left_roll=0.0023 left_gripper=0.9985 right_x=0.2743 right_y=0.0066 right_z=0.1561 right_yaw=0.2072 right_pitch=-0.2364 right_roll=-0.2365 right_gripper=0.9954\nstate[joint_eff]: [-0.4444, -6.3248, 4.1368, 0.3541, 0.359, 0.232, -0.0855, -0.1983, -1.5385, 6.8171, 1.7021, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b44c5421c5f1f2d4cbded7cec2814b7f8e2be18fd636d8b956a7ba0ebb6be5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94749b35f2c47931602d53ff990a78947462eb2ef74acd0b582dccbb244d56b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20480be1171554f5ab13d6a95a4995d6efc06d842db4a0498e3e008868b45f75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDTuo-ag7gl5LB0cIRcPuDtpazswSyC1SEPXSnwMXUjHq0G0Yd4fEHithDvy9MKrBKQRR3HX64jUal_TOwWjON2taYd_lfg5Kk5kzYEB8trcJ-M4Lja34BYCWFfdxCEGgtLhKJ8L2yANfm4pbUJaYojgRRbLxkyycx-PNez8cF0wYv-LEPh9rWgpL1aE-N87xz2CzCtxgO-3hgyhq-r2afiBsxJskmVBMycTAssRkxwufxn6JPoDEHX4Z0udsHEQxReaP9gNfYpYaQDXGwJcnvo4YQX87Tffb0hWeTggduil-2J6Iv3yMDeLsMHCC2dI-Tj-B5StIfAV4FsuUPKZhBhfX4WtGhZfB-xhKySKY4vGFiNJ3bghW0_qsu_tjf0m7RPaPErQVzoyW_aPFEXfNsWJfYwUs6wcgnKPksLVp0vi1dqekVK3T-m7lbN9kQ8gdcITCdrRigeAS1laJP67dxOSGERv9raCT0iVOtQ2z__HL20crgW3uhubshCcFupp6bqfO6C-IZ9keE6gmA5jby-CZ-34QP4F3x8vgFT9RuxTmQnlKU4biSZ9yGfT1I-6kiLwjb6PP0HIPvtZ8LSWhFn18pdqluvEUcOHOE_c9xN6hzuNsa98U58-uQ9q7Qpi4cByuDyPWjSUiOQs3E3B-HHUx8PPlpPaIU98Q5F3MTQENe42CuSZmfXHau9Tzgz6o08ywINin1BDpLMtiSRCdk6nc1r-ZGYevBsctQSDgcsbgOgEtJZ1BgTjego2Q5mVoQ45FJMAEKWNO8gsr3934QybYtF90G0ZnlWLY4kp1x6qpdiFdg745K3eNkABJn45BBVyeS5ysUBXPTeQ2slA9qG0uNjKoCG_EWwgib626WGROEMmO3t0LCIQhMYqSsMfEz0Jyp9EcDu5y0kxgHTbmmtlj2Sp21q84ST0II5SacC8jLPdtaqcz10vQ8pTJlg1V4ONAbeBLeHx0tPa__-ZU2phXWDMbSIx_7y6rrQAB7f_Qbl_i-49ru6lYyj6V423cgsF5CEhxi9YgKX9wy1KuD8XoUFbJEa8M2xAbtVMGYrwYRWwymRsSF5KzK5bJBzOqgqiqkjM2jKJNLsifCtlNbrJzeBs9YAecvlubPhZOWTTIliMuulEQJ7_WGQH9zRwJ92SeBvcGjYT15W_wuKrknTmKnBiAtf4qJX_Z25a866lPniLHbAROQA8ilIAW-Yh0GRb79BWQOhcKhTOqMX7QPYmUT2sxwxvO68MB-DtElhGUyMsVSJLZsUXFVR8XUEMG3sQV4xL0bWhVIl02n_nxok1UL-aoCl2Utw9WiVCH7-BN96tIcM7N2evZ0JcCKMCzBDm4zOUw_-ubFhuh31ZD-gQY7EZXCsXSMqdyMipslXDlPzyIHVfvG663sS5yVi7WKGZOHWe_ragWWlwCtbGOlcQkMpQ4usMMOdiuaWjCxuZdpazalq9DzAQTPy80ifJPLbEFO5_aCRgDPovp-rxUgKKTUO7GYt3iER4k3eaMzPjSDfYMZpfiz5BWWNLLdwn9WlpwOTD7HGiDiMvilN1UE0JjZZdPQBa29JKtbrk-bBWUa3FeShMfNAsR4TTdKhi1WLRz2nmah2t0BfFx__ubT1wjJwRTG3JgVo1Gi_gHkJmXlYGkQBKdP3kSc-vltrdyjMEIvgcRyyhAnc5qm6Sj1emF8ZpbVF7yCscoXM5VPLgEW5p1W7ptm_jGk_di1OOzxsvocpXl4j6_ryartWUZCEclal3RmcfqYN7dKXvMLV9R4a4fO-1HUgHGFaJG3ZUlb7MuRlL4HeKOq5j65n14OwqvMUDbukjTjmfDlKxinUnsPZw9QQKB7mFWwjWCh5L6K-xQYVOwp3yWJiIuZJBp7Z7Bx62BWJ2a2vFwLc9HKmTjqyYl53jjOw1I5kjXt6IZXfImPahqEmgxBP6JTQxgv79P3RcXdWZhemyH52mi-BzLC5hmGqAs6IYH8n1ROk6Cce19BaNLVUEtPbAKIxPeQC2rnkqHj6o0mM0i1vW2p87A3QzVvarA1EFLuPGq3CaaTu1NzBfjZgir8NvORL4jRK0KushDRnKjNAyQbVVR23UzLAphRp3Xg6IU9rBiWfY6pKf",
  "id": "rs_07a19bb4e725942f016ab434eb839487d08fa4bb3fe5dc5da3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws have reached the near edge of the white panel, close to its front corner. I’ll close lightly around that edge and then test whether the lid follows upward.\"}",
  "call_id": "call_7ZtSdJadiorNI7j8FR0TE8tJ",
  "id": "fc_07a19bb4e725942f016ab434ed4a7c87d0a9263e948cdb5237",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7ZtSdJadiorNI7j8FR0TE8tJ",
  "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]: [-0.973, 1.6463, 0.9302, -0.3519, -0.6247, -0.8417, 0.011, -0.0013, 0.8753, 0.7067, -0.6571, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2949 left_y=-0.2431 left_z=0.0729 left_yaw=0.0067 left_pitch=-0.2106 left_roll=-0.0039 left_gripper=0.011 right_x=0.2698 right_y=0.0066 right_z=0.1515 right_yaw=0.2104 right_pitch=-0.2624 right_roll=-0.2324 right_gripper=0.9954\nstate[joint_eff]: [0.3897, -7.159, 7.5145, 0.8913, -0.2857, 0.0611, 0.8913, -0.0342, -1.4974, 6.7897, 1.7363, -0.0806, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770bf98707dadf9ffc382cbe7dd08937be70e2191ca8faca8e7d4c5c2029a2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529239ccfdfcf6cbc77a9c194e90efa3599f4484516f23211dc049b02bf45dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4067cc63acd91b1b975c58b533fa568f5c5553b038ed697eba344278816f47",
      "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 72 changed as sent

message 81 changed as sent

message 85 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5827, -0.0189, -0.0387, 0.9992, -0.0029, 0.8677, 0.7052, -0.572, -0.0116, -0.3466, 0.9953]\nstate[eef_state]: left_x=0.2648 left_y=0.0019 left_z=0.1355 left_yaw=0.0027 left_pitch=-0.2166 left_roll=0.0006 left_gripper=0.9992 right_x=0.284 right_y=0.0048 right_z=0.1677 right_yaw=0.1874 right_pitch=-0.1716 right_roll=-0.2423 right_gripper=0.9953\nstate[joint_eff]: [-0.335, -1.2786, 6.8444, 1.6972, -0.0317, -0.0415, -0.0122, -0.0889, -2.3179, 9.7983, 1.79, -0.1685, -0.1148, 0.0415]",
      "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]: [-0.9676, 1.6474, 0.9443, -0.3702, -0.6155, -0.833, 0.9985, -0.0013, 0.8745, 0.7067, -0.6315, -0.0189, -0.3637, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=-0.2433 left_z=0.0744 left_yaw=0.0027 left_pitch=-0.2203 left_roll=0.0023 left_gripper=0.9985 right_x=0.2743 right_y=0.0066 right_z=0.1561 right_yaw=0.2072 right_pitch=-0.2364 right_roll=-0.2365 right_gripper=0.9954\nstate[joint_eff]: [-0.4444, -6.3248, 4.1368, 0.3541, 0.359, 0.232, -0.0855, -0.1983, -1.5385, 6.8171, 1.7021, -0.0122, -0.0317, -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]: [-0.973, 1.6463, 0.9302, -0.3519, -0.6247, -0.8417, 0.011, -0.0013, 0.8753, 0.7067, -0.6571, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2949 left_y=-0.2431 left_z=0.0729 left_yaw=0.0067 left_pitch=-0.2106 left_roll=-0.0039 left_gripper=0.011 right_x=0.2698 right_y=0.0066 right_z=0.1515 right_yaw=0.2104 right_pitch=-0.2624 right_roll=-0.2324 right_gripper=0.9954\nstate[joint_eff]: [0.3897, -7.159, 7.5145, 0.8913, -0.2857, 0.0611, 0.8913, -0.0342, -1.4974, 6.7897, 1.7363, -0.0806, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:770bf98707dadf9ffc382cbe7dd08937be70e2191ca8faca8e7d4c5c2029a2d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:529239ccfdfcf6cbc77a9c194e90efa3599f4484516f23211dc049b02bf45dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4067cc63acd91b1b975c58b533fa568f5c5553b038ed697eba344278816f47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDT1WQOrbQiB7stZM830D4isiZ_Nq1Mx_sb1EYGDmp6Okqw8m_Zf_TGD1dOFs0xHFqJObM68w8-vER7ot5vrSZpX4dlcszQi5OeA-DbeBzsUgpRkexmkO0CU0jc3gt8uufvL9quANeX_EaWyjWSISFTK3MFm4h08lKWFsm3nEm1m_NFYi39m8WdPM8LWLn8A1Zu8wSeTzeqsrI46qyd0WI2cBXMErxSS98Ni6gi-DUziAB2Ou5ErR_IxOJ9meeGyyA57poo-ypKDlTHhk3VvNueU2KFHfyM7To9YJmQ3tXij3Xyxew4RS_luRKb4pDkgr4lajsRuMYmGwZ7bX1ZVT-YMcfHbEUX_fb4WXrhL0yfXwZdEQrzdhXCCGo1z5OvwnVajhVPrlQNCwMvEi1sAc9KP2wS_7TIplKZP7ldRZeMIbPMfyUEeRMp0ZXNov0A5ivkUoEEZ-jyDvIOEtZXYmbFzPVitPd7nRidy2wNUiMuHuKiLjxPEPPWITozFsPKuFq-K86C0BV65g1s5PQjhczzlBzODBMUzwNfYkYE7buYJDU0aefljtirnF0laWccWqINQKRUIyN3CkQZ_kYQNmN6YvKeHWdQsmSu6tKULDvxyPkszZir7b7oDw0FaqCgnRu_7n19hVabCIJNkHSvSnUsqE3iRRHh_A-T5RK-ce0OpdFfNu-fpcVjlHExOj5I0OCXIF4r5Fbcozvr2GBznbY4cwBDWoweIpvrkoEzxD7Oe3tYYfirqH35uhRH-gLyDe3ZI4vFIwg3L31pniqHHP6aTh1LNe7I2jgFqWYNRbUMtEQL1e4WKsLuwASym8ppB09ywc8AiZP16amjgEzJydm2PLqEkIOwFCcHnoIlDV77GzcFtUsxe7aLQfF5JA0v3a-FLQkREklRy1BUjsNBIrjJEFrvKD7J7qXmFxfS3YkpKSulc9XkzPfwytQa746ywCdcnQIixsddmw9lN7m5j2YoFDivHAhsA3THlgilqd0flqO8ULbMG7dO9QKUmedE1SB_fvoTf6JPuUWDwfYWkmNnjzzYmkXFqYcQa6kaCBYXeaIzCQ0lFyPsBNxDgZb-2EteN9NfzP_k4Jxpi37vZituyseQc268jb1nKzDR9_FmrzhYwayOLZGm_AEkaoAnScs7-JCu_HogXdEbk4rh2QDWUpv48FUJ0i90yW-BRTmZUi5PFdAXPDwFWVtLt4NEMQJwcSdbanVBVguc9_5YMgHEOUd3g4nr8hAH272bvHc0_FZaUHWOr42XmpGiF4U70iZpxsbXfxcqEr-KvU8zUv-STfGz-hjq5hpljTn_FbnmYfnE1-T_zYUOfv2w9ZoVMM-kPxXKFuAIiFTOIJpqKgkVvwLJKANAMByK7XN5UKHD-U0UehGWTNhlamO1RZI9JEWDnqKewUTn5rUjnLPicnAQEWsmL3cU00hxUhCyI9H8s-F_OYR0BYTHFIGDTaR0tWGIwjiJbMOS4yJ3LbscQT-NzdpUzTkKDG77ovY-Tcv_fLehyTCeL147U9ashqTleabx-Ug1wtiyuYQyEe00VXurOlyT6DhbbshbChfrScJyGt3xbvy0DqLdwz6CyS2cFCCuYhjGPS8qR0H77nbrb2Qqv2MAFRCbmTdFtoFkVQYn5aL0MvJXw6hKVZhhhjwKBeGLE-ZJV-XAIWuyl2z8R5DN7ybDDEH6rW_bHo7RpUw4dtm9-OgTMErVqyBZIv7rLPOb0sEHKi8JBBtxPgTeV76aNsNFond0THioGA6LX6r25IZNT9xIyeW1-NYD35AhTQzwl5-8v383fQnX37ZE7nK1h4EFRhQsti9kWt1NuxOUwLOmnEcSZqKayhGlHYDafYh3zCwo8SrV4Y8L6a_fducr1tQcvFGoQLMbKU9plcnX0p351gmgnulClMSHyH6eA4I9flYLHdC0cbbXs-c0a3XHbZrA9jyTpsc-7ODUZHbCD9B-X0V948Asib4Xswl20TM_ZQwNqR8XHD5k4QZRMM3hOE5x-t-Mbwl6OeoEu0rvPTeDIHH6OaIOQHo25UlUqb-6p38eXA38aVdLVewTN0xnCpiEb-tCYIPUtBz7gGvtxB6pOpe0-rlKs0KKJHtXpvA3OpHNLRIURKCKqC4wm3QUL70kW7aYkEPbM8s2ci8mZ3jxbJaz5ijGkDGLfbBXkiE1dLa8Qsh8gG9yFU-p94K3UW2UqJWiBxlC7QOLX8YPlYUSFTJH-98nAaJGS3TcgYXGkKFQffiFWjS-vriYYi3hIglZKogNE8fq9HK_bjh3LxhVsVTLMlaJfrbDsAMz61a9nuNMPH7TKSYTRuEU19htR9c_pYW9MAmss2GTSCdlNk7RoQ-qooiJd-ZDVSYlbhFuR6P0fTbgipTHb_-xJGR9WnRn_qNxipEJbNzvZ3JBSlqe1zh6fI-Rq6ymX26vEREVk1P-BkOg9DVHsgcbGuXiRnJBz1KxXt9NikyWtWmhaSue56zPlOsND89IdvW_xWdup16TeQrC5zJRRhRtACY_C1NejOoDbXuI0qyOpgN3uXSB0fbqiftDp2aGa-v_3i0wzuY9BBagj3r2GZkJmqNpFPXZakmwvRp5gk8VxzZEdmTRy6jHUu4xMF1bBF5GauDrAJlKTz-6tZx8Y9cK98dglb8y1roewVm7wyNmGVxmL4jP-tprDYWafkaKVX6NTepDXx8JC3rQoj8WW1RXLYmfjXnLmR4lcH93SUz2sLTqYrgral71XahRnM2gFeUaXEReOQFjXxsDA7KbiVDfPqHqacPpMnnddpuByTeJPoHfD3MB2Fp0xtDz-2SPu_OMTpFdSkyGxYcwZaPGHGJzeerkGE3ohDqW-qkOq2XaVBpjKDTQHB1yu-aAzmpJtmdagMiDTDBu_C4-_8tt5QXtQrLZCxmOMlDHfkRHas0pF87Re5aUYwA6Kvcd8Flz81CVE3Li_qeZb0ssJOIgMPveas46bNtr8N_ODWpusCaCJTKPHOo16D1ZnrHgfjszN_vXNjFd0WQug53q0MqGOTnAmvlVSz383zmad3Taod-M2FK-7bcH7puyvw0_aZBV1HNw9eXZNGG8zn61VXAFS2IvDatgtNEKM5Mm8fzQyMSHuwL8URMhEVRQiXor1DnvzSlEi0g53HKOiXbpqXLB_W0tPDGKe71XMoS5ubLl20grAmge4iyQKsmsngiKYL1s518EXLVdenZfQta1eNO-giEM-o8SOv07B5aY5h8OqBfMjCacd7UbCXpj7nXiWSHZ3FhCdSpVO6hJz5lKnVya3pOK7DXsA1zTmueGaXlhsKRXiV2BXObzAEabYW1-L5VMsEhciInom_jgjbBSUtWsLVxY8X250ZPguS_sMySwBhzk-22BF-LIEhh7zSKQ2ENuPPZ_nL6j7ypUD7zhKIOQUdKv9H3gc4nJcSb5XaTAKHl6kv37YIpBuQKp3BMccF6ZblUqBrKMTbwowsTUz6GRXdJ4eCn3zODsjrBTMjCoa_TGDkX937nYAqsk083jaVx8Kj_nML5cfvFkHkhntfdRp1Qzwfu5yTWwg_fVGbG6jLNxcl988PyYl6B3xWYPK3avjHBqlNOXsRIwk5MrL6CLLeM5eRW0W3bkl6omM40Vv_WyG9evoE4wBElm5Ylc_W4xnX9ew5U4XOgqmMMgiZHF-wDDoFehLUAdLbmWIN9zFnKrCW3MWz7dgffwIUionSY0U1309vjIWgKm3lpv1i0SKvkOPqpYcIsQ1DVD5Gq-nJgc16KxF3OgC3BWtL40kVvdiFUPbV6qUEDId8KUsUbPq1u1XmScz7EpsBBA3qzEgaOTTD5kOL8pejVAisjjZ1td7YRpjPtGSGSfjVJpNXDgSLOSKRTS25tUEHfSZrejTm--5QWhtPz6u7loEeMs_wtKKuVIJThVZXROZMSY34RvPMbxEnQPOZGT7niFFFZ8KMSwLEal1S-CYZqQDsbKt6UurAl3spUxHWbvDrccNTXgFedNswJgLBZh0uY_T5hTCHA-j0A1McKvZeALVGGgA4lP8Zx3fOHwJ",
  "id": "rs_07a19bb4e725942f016ab434efec0487d0bca4a0929d6d4d05",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDT1cKaYSFeZImpM-TRrS3EU9DBRLwT_HlxW5_iG7dBLUIP5BfjZLydmdERRL2Q8OdCWz48tmB1tZonjm99zQextjblTNKHLAsASxx6pnO2Hgf3NRst3x5lb_XHyVL2PGsjLXk3xjKW7KceTtBj9An6IkPYyaLlGeBYRpmstQKHCW8uZqeFsc77zVRRs4l2nDBDY_ofLstGwMKXMhgLSTrXrv7_ZWKi0DP72nr1H5dpnKVFsAYW8mQxHDp_Fcep5UR5ngfV9LYpp26m-hqo_HcQUL2b4Sbqcd7MpWG37yblGzO02zX7v_Os9z8y5WeRyLFC7jdB4W7uRZuyEZNj5RUh6ehh_WumPTGHlYy1Q4sjQm_OF292Sqh-FDPVfNwtRcmNiUOwT96sY8eCzJf-4Opu8NwTXry48F57TxyEskUTT5K4osPYf4wX7y-H0JzCa2C4AeH8YbdYxcMkJo4fEuAC3yBGmoj6t2E9D53SOB4XqQLJpedXGUUloDlUI8o_Y6cx_x9Ynn34fM6NyPzk2PCB3CDCwLvwHU-PtSTt8WEzQlPXt2qRd2DnAqNeA9HdIq-x3dnIivtZvXZ4M1Fh_5uWAuwbZFu9a5dhN61mFfpaQHk7Hce2giIExbkfqNJaZ2aO5lX04sQVhnMUFndAavpi6GwGpPa3kvgAY-nWO5p2QdWgkAKxnqXS-m_SL2medjGTlDFXZwwCijuxIHsh-rNfPHuE2e9OwHk3BqBXZzbxR_engM7UvfNfEBWoQzURH3Dbp8BdrBTowg4E66sqBMQgUr8E-yMyLtxdmQ-_Xn6HZoXY4vTIygDn5xI8rdJ91JtM-HTxf3M_yn4MD2-rvHfS5Gai1-HWAwi9S9d9RS5HeijLNNbVYLv0gk9qzSTn2AvBWwl-uYG8dITqxpT5kNe_7WQelTq6EqJzsq2Kpb3YYaH9UY1VwJhXAAGoA-F2g8ohLWBjrhDZDy07Honpal7-aq5Ll6xLGemOizK17AUCd1NWZE4DguPEUFjj-QGbA7K09lrMFsOpMQdTkoH3U5cTAE84BXTkZM3WxkVAC2GlBwTFIuwtZJIty_bzU3xnmlN8aNe5WdXZUWXoYquo22MnFbNrgmFW25mKVE0Kk7xT6H6KfMTBYLORp4mffS6KPhItpJH9WQX9m6raBfXhiM41j_EaCwGQ-M-3nwkHd4j_2RiHlym4gg92TkTcECJaM6UPoBMaelGnPEDVz40fLMst7RCINKFnUPIxftps26MsOtquJnExxeeGgiJwYHHvQZgB4GETUE0N6_Zlt9LsjVxgMv9bCqPscUBrQ_xRq8rzIfStevbXT3AnAVpA5DarkNjCCzfdFnO3JsjVRVfRppq_F_FrTu3Q1PvlaPiBCNyA3vxEgPRLoI-kE1Mt2Y5c4FGDheCQISn1bi0yQ7iDc6NLj9Qxunsha_U_Ob8jO19mp3xo=",
  "id": "rs_07a19bb4e725942f016ab434f4a19487d086b9da71e611ee53",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.265,\"left_y\":-0.242,\"left_z\":0.045},\"note\":\"The gripper closed completely, so it missed the panel’s edge. I’ll reopen and approach the black protruding front edge a few centimeters closer to the base, where there may be something the jaws can catch.\"}",
  "call_id": "call_0euBd1IMkuslAjuMKzGogl1r",
  "id": "fc_07a19bb4e725942f016ab434f5043c87d09f2ca898c4c722ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0euBd1IMkuslAjuMKzGogl1r",
  "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]: [-1.042, 1.6424, 0.8501, -0.2333, -0.7204, -0.9459, 0.995, -0.001, 0.8753, 0.7067, -0.6762, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=-0.2492 left_z=0.0697 left_yaw=0.0445 left_pitch=-0.1196 left_roll=-0.0753 left_gripper=0.995 right_x=0.2663 right_y=0.0067 right_z=0.1484 right_yaw=0.2122 right_pitch=-0.2811 right_roll=-0.2285 right_gripper=0.9954\nstate[joint_eff]: [-1.3333, -6.2564, 3.5761, 0.4664, 0.2857, 0.2466, 0.0611, -0.0205, -1.5521, 6.8855, 1.6142, -0.0513, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c67829df879920c5cbc52ea13492cf5ff8affc2d686b9f99aecb15da24f7be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04c3d3bb84ed73e7017a05bf2096a9ba06abf8cc33e6fb998c46035e2bac34db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c010fa10fda7cb9eb3e6073d93ad1217bbf3eee9da38628afa272d504083fc38",
      "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 77 changed as sent

message 85 changed as sent

message 90 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8619, 1.6688, 1.1614, -0.5507, -0.5442, -0.7265, 0.9993, -0.0013, 0.8703, 0.7067, -0.6121, -0.0189, -0.3626, 0.9954]\nstate[eef_state]: left_x=0.331 left_y=-0.24 left_z=0.1155 left_yaw=0.0015 left_pitch=-0.2618 left_roll=0.0255 left_gripper=0.9993 right_x=0.2775 right_y=0.0066 right_z=0.1605 right_yaw=0.2055 right_pitch=-0.2131 right_roll=-0.2407 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.9385, 8.6906, 1.2283, -0.5348, 0.0366, -0.0904, -0.1983, -1.812, 6.7214, 1.917, 0.0024, 0.1001, -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]: [-0.973, 1.6463, 0.9302, -0.3519, -0.6247, -0.8417, 0.011, -0.0013, 0.8753, 0.7067, -0.6571, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2949 left_y=-0.2431 left_z=0.0729 left_yaw=0.0067 left_pitch=-0.2106 left_roll=-0.0039 left_gripper=0.011 right_x=0.2698 right_y=0.0066 right_z=0.1515 right_yaw=0.2104 right_pitch=-0.2624 right_roll=-0.2324 right_gripper=0.9954\nstate[joint_eff]: [0.3897, -7.159, 7.5145, 0.8913, -0.2857, 0.0611, 0.8913, -0.0342, -1.4974, 6.7897, 1.7363, -0.0806, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.042, 1.6424, 0.8501, -0.2333, -0.7204, -0.9459, 0.995, -0.001, 0.8753, 0.7067, -0.6762, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=-0.2492 left_z=0.0697 left_yaw=0.0445 left_pitch=-0.1196 left_roll=-0.0753 left_gripper=0.995 right_x=0.2663 right_y=0.0067 right_z=0.1484 right_yaw=0.2122 right_pitch=-0.2811 right_roll=-0.2285 right_gripper=0.9954\nstate[joint_eff]: [-1.3333, -6.2564, 3.5761, 0.4664, 0.2857, 0.2466, 0.0611, -0.0205, -1.5521, 6.8855, 1.6142, -0.0513, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c67829df879920c5cbc52ea13492cf5ff8affc2d686b9f99aecb15da24f7be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04c3d3bb84ed73e7017a05bf2096a9ba06abf8cc33e6fb998c46035e2bac34db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c010fa10fda7cb9eb3e6073d93ad1217bbf3eee9da38628afa272d504083fc38",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDT8tn1O7crbZakt9x5pAeCwDOQQfYxgpK1CxRG03A25G2a2InMtvFHxxzCjSXlGCyaGoqr5le5tK2HuKxkG2jXV3oiGG4OewZpfiyo0vAH_xKbdzrnHT0HIHkELu4dXohryeKd-vvGY8zHvVqriVgJtVFb0p_pDNZsk1RufN8r9DAcbNToCwx9PvudOGT2Z_3yjYyAwT-M4OBktYrW_QHhVID5dnpZuoYbPnbVxh7VkIjuwhwnI0Ov1dyckkA3wV9ruDKHECH6UooVpvR6GsqvDuGo2vrHWuZ3wgnetEq1MfZOjFApzlYbPSkicB1IIamblyHplSVnjoZrazKEfMsBc6B3dwlUUi4vFKrMhIsulWpuzGKSsKnTpTOL_Nz1Tg1VeEyj6wykVJjFPUtlKsIh2r_LOBC3QGNBk2Y0fr1ZnucbgYQq-vo2AgWGHlLYlAbeZbSat3GLXZqkJdFcyF6rkXGHencwpmrg_Rv3sBnboSR_VmOcMW4x5ZZgtLowGHTaK05IT9rntgWgVQnGRyKlmOoi1c5zagrxvXofVtGg5MflTXAc6cyt5SynmJgrfKdthi0y6Nh4DdaUOuO2J1qSbzaAoh8o7LAfuwQdNJh5q4MW4mT1-aLj-F6s8_1ikgym-hbMVmIJXwFLPQ-8viDVuNNffmhFU9ZGVEtCuqBcvwBR5D_n29SHf3ihU73nLgRr9T1Z-pk2AQvMXZqQqdewPVR23aI9c8OQTcECv9hWKl5uJr76yT2TH6Wfg3_K_GEvwRXDFfQ8YZ7dTynH1SasY0x6raLFV5qydx_4Z_wqcrOq8yLGjeIkS74bXR49y0gV8gso1ncKdI0q1XOunwd8g67hTwvR--NfAERDsVZoA1rr5CyXtZz94LiGXNFj1F8Su_Z7AwpkA_Vp3G8KOIE6sRfU8NkSBOdh-cYA2V2JI5evguSo7WA6gNRgA7tuWlWCLFh6RtN-ilIYXoxqqMycy8ovbqpxG72VvOX8jUgCxA8FtkYAdtPRkFQFjqqDeuJI9TOVCDPuPGGSG2EmJhgbQEgTL0uUFh8vdGhJsDkdOjJ-yRAbUgVQBjGyVex_Y6bwEVVBMQRlwyGqXieyiqQHP33XmGZlIqq2z_BIyQRxrIb8ECV45FYVqxXD1y4ZeVkJuchU2Xt-ZvgINsr7uxXGO4KbPiOJbNpXIF_P_SP22D_zi83O5jp6U5ZSNiAcP4ULCO6QnY4zNKoYthX8r1mzdewDZt68IzafdpmfKQppC97oC3GBGvactv90kNelOecRwjSHOHsIlWoQq_N7H99yxNiaJp13cIqkUZFmxk0gR-47DrKxjOC_8syiqNZHI42_S2-qJ2j-VxujEWIGQhcUn1KtzsxmOueA2trgZgI3QlUS2Pdf9Z7XBEDfo_JDWa3qSxXngol0UcR8uNzaruCJZMv9IHvHCz-SroPIqxtXSCU__PT_pdy2VLLACFBzjtSsglJIrpc1U9PxKpv7yR_s4TbSbo9krNzp4tir4ykySyZbytM1wpu3H8qaFHwgcR4f1dHprlgNuyNGvq97Z-3pX7cyhZHOn5FBBRvU49pikT0rEoHr57U8SoVhDyC8Xnk0wfViEXtp670zgIrEaL77z5Umgvn1lp0cRZAsjXd09h_Ad072rXpM0RLVxPyGVR85S5D_IuIg-7K_EqaJGLnrv6AtsG9yoTTjSNVXQZAgpXtRrpy0F9I3Y966ngrkmgPAEIapmeuh0_2KZ04JeHyN99c4aTQU873Z2bSzXFry8WuL6xR0rXQbB6Sd6sBWVOc89CBnv_s3W0TGhlWK9ew4k7L-4FuDkKpyledaC-O6Ghv25MGCv8vKgVLzi6m83JoZA4dQxpF1wUFGtsFZ8YsRpqV0AcLkWNmlmq6SYO-6EKTSSi8HDj03Ajuwoz75UR1TOxzjUnWTXUFM6qTibE8m1wuZ5aMRoWV4hLUCk9aQS9VBryqiUql6tc6pOaB8IwW7xHvVihBERwzgVkTh0KZrfPiHjKlTOs3n4nyQ-PUBpUm067CIJmCt98ojaKodw5ZRa1HvGjn6xe_ipV8XOsD0fDyeMrMEoOLJWqgr_GFx_zA4ol-FMW6s7_DMEtAvw4wXyTgYg9_EfyNgeBlxtzlcQiX5MS5E7mhbRbEB03nuOiP3LH7URjZ1Hz3OvyninoQAe5N6D1GI_8tAifo_bH1v8oDuY4HWgonZDdEgV0ngmqPUpKM5EknRWLKlSXaCUuPqPr5fH9XDuqMBGGRISUu2VB68_-onSZKHmoxJuB7Zb9O3nDxc4tCinzJzwO9CpQGoSkAk88qQEPH3KbNeoWm7DmSuzZxwa1019dAeaRppkHWIH9gJoDd_hJydVuUxI4IS3jEjra13Xk1IBbGotOw_38wS9WKvow6iYWbBuB6BCYcK2mS6JghObbI8cKSki8yaMyeAis15ngAuqYhgeSLlimBhwozZ2agJlPFWsO7IYXBUVHbzUaNPLd9tQCxxrGjakH_CI9jhbA1Xa-J5JcIsU-RjpqsZ4B31F40QEZRdcT19QZxZr5FU-4_bt4Rji-5n3L9KGV3zCD-Wr-AetWMJvPAi6TRTVYvyL3ZkGwdih9yCNSDP1Kx5_gILcQnEqhXgucvyt3g68Vp-afRI0tit1iLn8RuzHmM1n8ztfloqELQpPcNAh-U_quTnUyji4BZowWwtqlOz3E6ZoNN6zk0PSxfE2uP6o2pf3hxuMd_0YE2TMVAIkZuF2IFVLrzjtcdAljdmFy1MHAfoxBVXZbfcAh5-szHIW1hi35QziGl5XTXsWda_VKWFbg16i_72auZu9i_eBe1wq0EB4pIdDU9qndDqUOwAZxW9pi-8xSIvX4BHDq_sJwESXIvyXJee1xCR6m_l1MQH_KQehP0zV8_IFlqsw7qSjk3pKq1ocMbKvjOUcafe5G8hDoe4EctT6QM7JuVCxgnWoQNugRGGzTwo1_2o4o-BiEGVPd6Q1pJhjmwkFye5S1tJrTsIq_3klBOOQxvLCx2DUCuQ8HqjRladjHW024kT7tQnbpXQcPPTiOF0CQB27Vy0HWA11BWBKlB_DTL0LUoeZ8wI-KvRcK8cILge46-OaCyExrif0HJQtN4uAStyyagPlf20dV8LEGMJlknFzBsvDA1xhC1o7gd0ejLEWh_O1Dszwif5e1Ou1oJKiZC4tIK1oqpESi2gKIyJTQCmkc2C3dh3qiMpiRt-c8LrKKDrgQtOn2-5PiJp7-uyUCYKP9Qzt3nwBUultJElTr6hN-hpr_vTH6-EwfaPnjQLNcycJRkBnq6uOyadvl-Kzl1XizbgpKJR9mce4aRGRTWlJgVFOcdv99PKj6Fu6_fS0sh6QbHTZuI5PTZxTmSqOkz8BMKuZU1USqk3fvCAxzGSJjQVopcGJNVNHpAoaD8IYXcgUseBHJrThKLK8P64ser97WunCiO37Xc3YqQ14",
  "id": "rs_07a19bb4e725942f016ab434f7fe9887d09b172183f7e8cb3f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.21,\"left_z\":0.14},\"note\":\"The white surface is still covering the opening, and the low approach stopped against it. I’ll back the left gripper away and rise so I can try levering from the panel’s near edge instead of pushing straight into its face.\"}",
  "call_id": "call_8WzysEGq70Wz3h3zgdzY9kuM",
  "id": "fc_07a19bb4e725942f016ab434fc0c9c87d084c74e0aa4bedab4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8WzysEGq70Wz3h3zgdzY9kuM",
  "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]: [-1.1843, 1.3357, 0.8402, -0.5865, -0.7605, -1.0863, 0.9963, -0.0013, 0.8783, 0.7067, -0.6865, -0.0189, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2275 left_y=-0.2265 left_z=0.1303 left_yaw=0.007 left_pitch=-0.1185 left_roll=-0.1172 left_gripper=0.9963 right_x=0.2645 right_y=0.0066 right_z=0.1459 right_yaw=0.2123 right_pitch=-0.2942 right_roll=-0.2259 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -5.2171, 9.0188, 1.1209, -0.5446, -0.0855, 0.1245, -0.2256, -1.4291, 6.9402, 1.5263, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:449668d19c875659552cc1521d564cc9cca6cf8e5ccf4d52b85aa2014d00189a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e960d41a2019b007e2141a2982415bf909cdecf5097bc4571b5092c003a93697",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7284c4022dda7f2867584738b2b9f8416d6909d75ee6812ce352b9b8dc18b262",
      "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 81 changed as sent

message 90 changed as sent

message 94 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9676, 1.6474, 0.9443, -0.3702, -0.6155, -0.833, 0.9985, -0.0013, 0.8745, 0.7067, -0.6315, -0.0189, -0.3637, 0.9954]\nstate[eef_state]: left_x=0.2958 left_y=-0.2433 left_z=0.0744 left_yaw=0.0027 left_pitch=-0.2203 left_roll=0.0023 left_gripper=0.9985 right_x=0.2743 right_y=0.0066 right_z=0.1561 right_yaw=0.2072 right_pitch=-0.2364 right_roll=-0.2365 right_gripper=0.9954\nstate[joint_eff]: [-0.4444, -6.3248, 4.1368, 0.3541, 0.359, 0.232, -0.0855, -0.1983, -1.5385, 6.8171, 1.7021, -0.0122, -0.0317, -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]: [-1.042, 1.6424, 0.8501, -0.2333, -0.7204, -0.9459, 0.995, -0.001, 0.8753, 0.7067, -0.6762, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=-0.2492 left_z=0.0697 left_yaw=0.0445 left_pitch=-0.1196 left_roll=-0.0753 left_gripper=0.995 right_x=0.2663 right_y=0.0067 right_z=0.1484 right_yaw=0.2122 right_pitch=-0.2811 right_roll=-0.2285 right_gripper=0.9954\nstate[joint_eff]: [-1.3333, -6.2564, 3.5761, 0.4664, 0.2857, 0.2466, 0.0611, -0.0205, -1.5521, 6.8855, 1.6142, -0.0513, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1843, 1.3357, 0.8402, -0.5865, -0.7605, -1.0863, 0.9963, -0.0013, 0.8783, 0.7067, -0.6865, -0.0189, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2275 left_y=-0.2265 left_z=0.1303 left_yaw=0.007 left_pitch=-0.1185 left_roll=-0.1172 left_gripper=0.9963 right_x=0.2645 right_y=0.0066 right_z=0.1459 right_yaw=0.2123 right_pitch=-0.2942 right_roll=-0.2259 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -5.2171, 9.0188, 1.1209, -0.5446, -0.0855, 0.1245, -0.2256, -1.4291, 6.9402, 1.5263, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:449668d19c875659552cc1521d564cc9cca6cf8e5ccf4d52b85aa2014d00189a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e960d41a2019b007e2141a2982415bf909cdecf5097bc4571b5092c003a93697",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7284c4022dda7f2867584738b2b9f8416d6909d75ee6812ce352b9b8dc18b262",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUAxC2AYsF088gcE87SWEhsjdy1HcXksTxfMOSqn0HYtCkB1RJI9nea0EtKxQxVRGU4UgaLy-isgy8b_al4IYctnSqDluNMdkEEx34jnjJylwagZ4nMQDz4gdBFK0XyBqJ6dYzTjX2Q4yNYNYxMTRMlT6NRWS3FfSGRtWKo6SYBVvl7YTlmzggSS31PJ_RuMMXtCrkLFHuE3pJ1HsHfHwQ2-14dbfDhgswA1Ejxlrn6NzFRo8RCPPT8Sv-NwOg2iFigCnromEPxUSLdt0yCTi61O1C2_RuPxnQC9WEvwxX6uRab_m-bH-9EUzvXuIaWr4QFloHjMvlqr5udMo3ba3cFovlt7M3IbdBFheuIjV2RbX0iKdUH7OtmwkYgPV1Oynf64XOaagVr7n8vwWZEWL57p2wMWAVQ4Qa_iyPD4rer7MDLgcUz82CSUR8FqW9K1fp5fW1c340BjfOYqvcmJgzBSHE8ttuLXvpfTB_99JSVcXjFcu02jH_d-besHjhqXV9A0AWX5qp3vovdHUpKIljJiz2pF5vx6vO4ab8VcFfiQ-1e6Uornj4wwZQCICaqYkVk9Ms2l7BsGLG1OpPpAwR7scKvOzznaRjes3fuxntRiserKFXLa_sjWizf0pOiGdeU02lZmPfncKPqwe3VnaOYC98T3vxLIMTEyyPiB-sgp0DiPDzEXklxgpZp3qfiXaX04MRtM7eD_Q6J47kOmRLkkKSsP4DSct-r0ISWEJo_zTIHUT6j-xyjbK0zVi-QKvujek8RYyGNklcrkKz3mifVTWVQisxEBDvJuMX2kDvFUITIzf6wXyeUOT-YK679_u19bJNjSwdG9mDpu-CUW-e7s_j2HQrVQ3YbdY4VjJrMGwD9tW6MQ4V55inV7GelCEwmaVXrvq7-mMkAWJIt21KM7HOyHuFpy5u2K0iWvnhTqfovhwJMBzdgoHsSAAGbu-6UYD3YeL5PYRChSXK0zzzvsxByfQvyOrsNJ-cWpEXVY5ox4JxbbxMP12NucdsZqscSdvCB_o4I4qBWdChzamAerz9LYchcoQcXRKRJRkO6LS1NZhHGzgCKhRe6H703Mr6qf7PlMti-RNP2e70RX7ZYLFkToRy8_wcjIZ4e6xU_L9-79OSNW2qAtAioaVbqItr4W0mFQmPARF6DO-kwkVI9aXE6NM7g_C2QvMBR2Cm1UvTPrKi9YMYH1jpAeHPe2cYjs5UoBcvghtQHSNy9T5zgRHAiCHS63EObck3LOQTmM20_yy9Uuwy8kXdiVKhe4tW0ZBDJ5CetAyoih2db4dlW1fo9sUXJnzgWIBY9p6C31TGTdKr8mOIYtboPiNZwVKqpxpQrkQZVT0kAqphz3LqGhGg-4d3x-JOQpC-wtjIBz1tXgLwvg71eZT8wGZqk3DmUEF_UIWBYBb2XEdXMn8Fq_U0zZoVkFk9cr8LSJ1CrFVwUFpF9upsbv8AsYD6ic3dOGO3-KYLL7R6E1TKKrBUdN8Ikuh1V95naHekNi6Qvr8zYhNejN1xjR-qjx7Pnxe5wnTu4hrpN9aIdsRYkH-23Ntn4NntH1RUZm7WY7Lnv2i4NjyXPRbvbLoaHpOc3YtxZ6T7wmq4Ag2538SEz583KjP_MGUiVkUzRpmGRMfqDXuHHVPnG4-X4bt6FOo-6XnatVAG-W6ifleIORM_px2mgZ2uzAva-ZVNrhR_13Yq5hCESaVh2wDmubRdmGlAUaySvnNAdtnWuCRzgAxB4iROMYuJruI7fSNkXr9-QigraubDrHuqkaaDSzOtCBNtE6NCUzzJ_s4yriD08F6r09iBjpa3RPSbvbSueVak8pFsRQgSWpFJe5C1Zzj8osSSj2W4uxUO9JAgOxk3ho3QyzwOAFDQGpIfDKBy0pkzz2YZ9759btXd47SJ9emgJUo3a9uux",
  "id": "rs_07a19bb4e725942f016ab434feba3887d0a5433cce85548f5b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.244,\"left_y\":-0.218,\"left_z\":0.022,\"left_pitch\":0.25},\"note\":\"From the backed-off view, the white panel’s near corner is clearly visible. I’ll lower just in front of that corner with a forward-tilted tool, preparing to slide a fingertip under it.\"}",
  "call_id": "call_iv3lEAOpZwkqU8IhQjjPvPi1",
  "id": "fc_07a19bb4e725942f016ab434ffe4f487d08f8bb2da6edeb62c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iv3lEAOpZwkqU8IhQjjPvPi1",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2407, 1.5826, 0.6048, -0.3828, -1.1435, -1.0168, 0.9955, -0.001, 0.881, 0.7067, -0.7025, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2331 left_y=-0.1734 left_z=0.0664 left_yaw=0.0432 left_pitch=0.1314 left_roll=0.3179 left_gripper=0.9955 right_x=0.2615 right_y=0.0067 right_z=0.1427 right_yaw=0.2142 right_pitch=-0.3124 right_roll=-0.2214 right_gripper=0.9954\nstate[joint_eff]: [0.8, -0.3897, -1.935, -1.7851, 4.8571, 2.7814, -0.1245, -0.1026, -1.4154, 6.735, 1.6728, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9a431524f780898b4adf79071052362632fef1c82bc3775b9aa5180744a549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafb83c2bb66e698cf2bf5a6e1760462ca77e6a04cc7021273673c8031a60707",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9955b68bd63d6c9dffefbbff050f9b80eb99d0fd7ce8641f75aaf1cbeedeb592",
      "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 85 changed as sent

message 94 changed as sent

message 98 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.973, 1.6463, 0.9302, -0.3519, -0.6247, -0.8417, 0.011, -0.0013, 0.8753, 0.7067, -0.6571, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2949 left_y=-0.2431 left_z=0.0729 left_yaw=0.0067 left_pitch=-0.2106 left_roll=-0.0039 left_gripper=0.011 right_x=0.2698 right_y=0.0066 right_z=0.1515 right_yaw=0.2104 right_pitch=-0.2624 right_roll=-0.2324 right_gripper=0.9954\nstate[joint_eff]: [0.3897, -7.159, 7.5145, 0.8913, -0.2857, 0.0611, 0.8913, -0.0342, -1.4974, 6.7897, 1.7363, -0.0806, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-1.1843, 1.3357, 0.8402, -0.5865, -0.7605, -1.0863, 0.9963, -0.0013, 0.8783, 0.7067, -0.6865, -0.0189, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2275 left_y=-0.2265 left_z=0.1303 left_yaw=0.007 left_pitch=-0.1185 left_roll=-0.1172 left_gripper=0.9963 right_x=0.2645 right_y=0.0066 right_z=0.1459 right_yaw=0.2123 right_pitch=-0.2942 right_roll=-0.2259 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -5.2171, 9.0188, 1.1209, -0.5446, -0.0855, 0.1245, -0.2256, -1.4291, 6.9402, 1.5263, -0.0317, -0.0708, -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]: [-1.2407, 1.5826, 0.6048, -0.3828, -1.1435, -1.0168, 0.9955, -0.001, 0.881, 0.7067, -0.7025, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2331 left_y=-0.1734 left_z=0.0664 left_yaw=0.0432 left_pitch=0.1314 left_roll=0.3179 left_gripper=0.9955 right_x=0.2615 right_y=0.0067 right_z=0.1427 right_yaw=0.2142 right_pitch=-0.3124 right_roll=-0.2214 right_gripper=0.9954\nstate[joint_eff]: [0.8, -0.3897, -1.935, -1.7851, 4.8571, 2.7814, -0.1245, -0.1026, -1.4154, 6.735, 1.6728, -0.0073, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c9a431524f780898b4adf79071052362632fef1c82bc3775b9aa5180744a549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafb83c2bb66e698cf2bf5a6e1760462ca77e6a04cc7021273673c8031a60707",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9955b68bd63d6c9dffefbbff050f9b80eb99d0fd7ce8641f75aaf1cbeedeb592",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab43502fbd487d0a00462475791fdc6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.219,\"left_y\":-0.205,\"left_z\":0.14,\"left_roll\":1.5,\"left_pitch\":0},\"note\":\"The low approach met solid resistance from the closed panel, so I’m backing off. I’ll turn the left jaws nearly vertical; that should let them pinch the thin front edge from above and below instead of sliding across the lid.\"}",
  "call_id": "call_EXQn6ifa7XjGsnWonT2gKTVM",
  "id": "fc_07a19bb4e725942f016ab435075cbc87d0bd4206ccd28e2872",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EXQn6ifa7XjGsnWonT2gKTVM",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0969, 2.1059, 1.1675, -1.5787, -1.4097, -1.1526, 0.9956, -0.0013, 0.8845, 0.7067, -0.7246, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.1569 left_z=0.1199 left_yaw=0.0344 left_pitch=0.0144 left_roll=1.3701 left_gripper=0.9956 right_x=0.2574 right_y=0.0066 right_z=0.1385 right_yaw=0.2157 right_pitch=-0.3374 right_roll=-0.2156 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -7.8291, 3.0291, -0.9109, -0.4567, 0.2173, 0.0024, -0.1436, -1.8256, 6.7624, 1.6093, -0.0513, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e1d5ad4013ead7034e201c5cb61a5a3b9731f6d5dec03475c9e1bd51b476ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759f98b697f14a07b41407b9effcc9e8583d06d6cfa03b49d1550ec7678d569d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75785f81f22fe63e5370c1c5bd28b2ee82b805dcf20e2b4cb5cb2342c39f022",
      "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 90 changed as sent

message 98 changed as sent

message 102 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.042, 1.6424, 0.8501, -0.2333, -0.7204, -0.9459, 0.995, -0.001, 0.8753, 0.7067, -0.6762, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2847 left_y=-0.2492 left_z=0.0697 left_yaw=0.0445 left_pitch=-0.1196 left_roll=-0.0753 left_gripper=0.995 right_x=0.2663 right_y=0.0067 right_z=0.1484 right_yaw=0.2122 right_pitch=-0.2811 right_roll=-0.2285 right_gripper=0.9954\nstate[joint_eff]: [-1.3333, -6.2564, 3.5761, 0.4664, 0.2857, 0.2466, 0.0611, -0.0205, -1.5521, 6.8855, 1.6142, -0.0513, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2407, 1.5826, 0.6048, -0.3828, -1.1435, -1.0168, 0.9955, -0.001, 0.881, 0.7067, -0.7025, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2331 left_y=-0.1734 left_z=0.0664 left_yaw=0.0432 left_pitch=0.1314 left_roll=0.3179 left_gripper=0.9955 right_x=0.2615 right_y=0.0067 right_z=0.1427 right_yaw=0.2142 right_pitch=-0.3124 right_roll=-0.2214 right_gripper=0.9954\nstate[joint_eff]: [0.8, -0.3897, -1.935, -1.7851, 4.8571, 2.7814, -0.1245, -0.1026, -1.4154, 6.735, 1.6728, -0.0073, -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]: [-1.0969, 2.1059, 1.1675, -1.5787, -1.4097, -1.1526, 0.9956, -0.0013, 0.8845, 0.7067, -0.7246, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.1569 left_z=0.1199 left_yaw=0.0344 left_pitch=0.0144 left_roll=1.3701 left_gripper=0.9956 right_x=0.2574 right_y=0.0066 right_z=0.1385 right_yaw=0.2157 right_pitch=-0.3374 right_roll=-0.2156 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -7.8291, 3.0291, -0.9109, -0.4567, 0.2173, 0.0024, -0.1436, -1.8256, 6.7624, 1.6093, -0.0513, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42e1d5ad4013ead7034e201c5cb61a5a3b9731f6d5dec03475c9e1bd51b476ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:759f98b697f14a07b41407b9effcc9e8583d06d6cfa03b49d1550ec7678d569d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e75785f81f22fe63e5370c1c5bd28b2ee82b805dcf20e2b4cb5cb2342c39f022",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab4350b46ac87d0a5eb9061d7b37663",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUTIAcKI1PbNmyjCDIOiqrMCv07wDvI_no2ksluqrcywSSwkGSv9iidjNSILaRm2St_9IWHFNl--9lAArVzF5CX7UJoDcsJOVB3GRQz7Ahk7zGcjLsqWqo0cJBUotd2d-tppdyKkQfDoho3E-9gZKmXfJKAHux6Jr6WL9SSHp7gjPk1a2v2RAf3uI8zhx02WRlm1Qh1wvb-SIWrWfUnpGIYc2EpbWj1KRorOFK_9gQNcCMg5PPWz1ONSuMqCbky4Vv4yGzEQ7yx1ZrILnpgWfd6Ay7poGTtLYS4Btv392hwSf4dfYVByyi7PF98_o1FSZno2Jzvngsmm7p7qDtii_rbdlVs7RXk-EZkLKSYZV_fivtXx7VNIASr7O3BCrZtTyabm7j-GSbkv-oKFIRWHfSPHPcwZ5ZRVOD-ltBaLO1pmkncatC2lElVAU04NyEWgkAnjPEmpVRzFS4RwQHh8Vkh6YVXCMQQdwANTb_EjH-DujaZDYtKA3x09chmQBByl2Xf2J2RH5AtXLTLh_FTz46OKjF7ZseqFBPVQBHvOSYqYMIFD8YEVhbmt4bKtY030ripoU5Zxqq_LRUTYCQXUjL7KE9db5AiP9fQaNWhfhRiTvkdcHMw1WAXTjVuyz9T39iYGUetvPAxtt-d2SYNLn5KddB_py0-ZRddWCJJz5_UIc9IwPUhC2jYL6-9tZo_2jtBnU6IXfcwXhkn-jVZu1Z0R3dJcM_5u6dhhxYfQHcCxEgQ3aiOX0xdJXEetyW0MQS-AV96oqh89_YBGmI3TrwwpMXbGGgwlUrv1FgAZXXwEttVFbzf-0kANlkysvEDoQgtoZeQrWai22NoSCcudfVGR8YUtq_NPZvfDMJwGLRkABokHewzxpZ-Q7LCvd1J2-rzGW7TwS9dSu-eR0qSKqOQErDNG3apC99_P4ODhbqvmYTZOOKfKVe_gSdv9_72uZdXynfJp1f9jKfRVGVm6qe8nfnJS--AcF0ToVqsckGcCukeYC8_ZsPi4QiJOKb165Wa-xRGfH28uJljnTFqImENljLUI81O5gwao1hG6qT3X4TvJpspYTGcW1X5_J53dq7eAP9Qcj_UxNrWLiUmjjUTLBKvYyJ4jrxi0fry-o_lS86IRN8NdnrA7SxgT3RdILKVPBvBBIwtXzVHWwAlPn4i2YwQ9-WGXLR2JjHDo9mEqbG0n2WvanUZUVYgiUB-WGEW0BVoq5tgJ55YFGshKlzsSeu45MPOXC4T-zV7E7MaviaWZXLWsusYdEmKFeXM9c-TFR6W5IgdifKWryNcXVE_HrEDI1vPidkPgA4nx9hxoif-5QN7NGIvasuOQkLPx8Oay8jZRWBfyPwP2sGeDlmKLImThKQp3l-JBDovLsdMKqvHBTq8aZMA2ZKr5fLp-WK8Mblk02I5T-SLrU6W0Bm2hVJm2mWFG3mcjVPV0QmQLN4pQsGpH-CupzklRCH-5wC3lNMVGVtQrFPly_1iZzI9JQwKI-Gki4FDpop6qk2c__F4SMyCmSKWpioIBAlx9fQwhl4Ar9MOgleWekjwv_Ep616_qw9bkrsxDyHweak83hnAEVg8BjFsdt8OlH-u-AE5M4UaH53Bj1wUp934V67uSUUNxjg2fOkZB_lMmP5ZSxiSdYei3KHhScstcpPNCDtdVDbF_hRC3oWZC70MH3-xeo599ENO6OKy9SIWTuh24uw3_ywrgG3u6Pjcg5FoLs2NEmv00cRX_ywf7H2Xl0CWw3xfyGlbo9wuHZNUgAChx9PUz187s-ZsXA9T_cvJVEV4",
  "id": "rs_07a19bb4e725942f016ab435101a5c87d09cb0215bae28d699",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.342,\"left_y\":-0.115,\"left_z\":0.092,\"left_roll\":1.5},\"note\":\"The lid shifted forward when the wrist turned; its near-left edge is now exposed just ahead of the left gripper. With the jaws vertical, I’ll approach that edge from the front and try to pinch it without pushing on the broad white face.\"}",
  "call_id": "call_1Ap9eVEZetUnPwckDqgqtkgW",
  "id": "fc_07a19bb4e725942f016ab43511689c87d0a9b17f5349ee04a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1Ap9eVEZetUnPwckDqgqtkgW",
  "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]: [-0.8974, 1.9182, 0.8894, -1.2934, -1.5055, -0.8738, 0.9957, -0.0013, 0.8864, 0.7067, -0.7387, -0.0189, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.285 left_y=-0.0689 left_z=0.1221 left_yaw=0.1408 left_pitch=0.0105 left_roll=1.4612 left_gripper=0.9957 right_x=0.2547 right_y=0.0066 right_z=0.1359 right_yaw=0.2164 right_pitch=-0.353 right_roll=-0.212 right_gripper=0.9954\nstate[joint_eff]: [-2.3863, -7.0085, 3.7265, -0.2466, -0.5543, 0.0513, -0.0024, 0.0889, -1.5111, 6.8855, 1.4774, -0.0464, -0.0366, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96becd08148d0c4eac8a4cfc374d622b97ec0cc180fceadf92117980b3469031",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbd7e491b4b1163a210ec6570f94d74ed3260fd73e96c9031389519f74a98f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2595679b6ae6a69c96fa7cd8f545bdfe83873e992b6da0c74e907374d28478",
      "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 94 changed as sent

message 102 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1843, 1.3357, 0.8402, -0.5865, -0.7605, -1.0863, 0.9963, -0.0013, 0.8783, 0.7067, -0.6865, -0.0189, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2275 left_y=-0.2265 left_z=0.1303 left_yaw=0.007 left_pitch=-0.1185 left_roll=-0.1172 left_gripper=0.9963 right_x=0.2645 right_y=0.0066 right_z=0.1459 right_yaw=0.2123 right_pitch=-0.2942 right_roll=-0.2259 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -5.2171, 9.0188, 1.1209, -0.5446, -0.0855, 0.1245, -0.2256, -1.4291, 6.9402, 1.5263, -0.0317, -0.0708, -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]: [-1.0969, 2.1059, 1.1675, -1.5787, -1.4097, -1.1526, 0.9956, -0.0013, 0.8845, 0.7067, -0.7246, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.1569 left_z=0.1199 left_yaw=0.0344 left_pitch=0.0144 left_roll=1.3701 left_gripper=0.9956 right_x=0.2574 right_y=0.0066 right_z=0.1385 right_yaw=0.2157 right_pitch=-0.3374 right_roll=-0.2156 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -7.8291, 3.0291, -0.9109, -0.4567, 0.2173, 0.0024, -0.1436, -1.8256, 6.7624, 1.6093, -0.0513, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8974, 1.9182, 0.8894, -1.2934, -1.5055, -0.8738, 0.9957, -0.0013, 0.8864, 0.7067, -0.7387, -0.0189, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.285 left_y=-0.0689 left_z=0.1221 left_yaw=0.1408 left_pitch=0.0105 left_roll=1.4612 left_gripper=0.9957 right_x=0.2547 right_y=0.0066 right_z=0.1359 right_yaw=0.2164 right_pitch=-0.353 right_roll=-0.212 right_gripper=0.9954\nstate[joint_eff]: [-2.3863, -7.0085, 3.7265, -0.2466, -0.5543, 0.0513, -0.0024, 0.0889, -1.5111, 6.8855, 1.4774, -0.0464, -0.0366, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96becd08148d0c4eac8a4cfc374d622b97ec0cc180fceadf92117980b3469031",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbd7e491b4b1163a210ec6570f94d74ed3260fd73e96c9031389519f74a98f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2595679b6ae6a69c96fa7cd8f545bdfe83873e992b6da0c74e907374d28478",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab43514bea887d0bde9ca3ec45b4d30",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.115,\"left_z\":0.095},\"note\":\"The open vertical jaws are just in front and to the left of the safe’s exposed edge. I’ll make a short diagonal adjustment to put the jaw tips around that edge before closing.\"}",
  "call_id": "call_NRWUodJO24Psxty5LOdIgGFj",
  "id": "fc_07a19bb4e725942f016ab43517dd9c87d0bdff84fa6dd78a15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NRWUodJO24Psxty5LOdIgGFj",
  "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]: [-0.9119, 1.9182, 0.8886, -1.1702, -1.5009, -0.7887, 0.9957, -0.001, 0.8875, 0.7067, -0.7464, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0787 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2532 right_y=0.0067 right_z=0.1345 right_yaw=0.218 right_pitch=-0.3616 right_roll=-0.2099 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -7.4598, 3.5624, -0.5592, -0.5836, 0.022, -0.0122, -0.0889, -1.6342, 6.6803, 1.409, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d596abd9a32b77573dde0f0627fba7c1d4f99f6ea617120ccf437fa9b338462a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edecda14a4e64ccaf5765509ec570257701f0113cc8c14702a0ff5995be2148f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ffa5845947e0fc151ebc9111f525776efb9b282bcc5aadfe42bcaff57babef",
      "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 98 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.2407, 1.5826, 0.6048, -0.3828, -1.1435, -1.0168, 0.9955, -0.001, 0.881, 0.7067, -0.7025, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2331 left_y=-0.1734 left_z=0.0664 left_yaw=0.0432 left_pitch=0.1314 left_roll=0.3179 left_gripper=0.9955 right_x=0.2615 right_y=0.0067 right_z=0.1427 right_yaw=0.2142 right_pitch=-0.3124 right_roll=-0.2214 right_gripper=0.9954\nstate[joint_eff]: [0.8, -0.3897, -1.935, -1.7851, 4.8571, 2.7814, -0.1245, -0.1026, -1.4154, 6.735, 1.6728, -0.0073, -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]: [-0.8974, 1.9182, 0.8894, -1.2934, -1.5055, -0.8738, 0.9957, -0.0013, 0.8864, 0.7067, -0.7387, -0.0189, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.285 left_y=-0.0689 left_z=0.1221 left_yaw=0.1408 left_pitch=0.0105 left_roll=1.4612 left_gripper=0.9957 right_x=0.2547 right_y=0.0066 right_z=0.1359 right_yaw=0.2164 right_pitch=-0.353 right_roll=-0.212 right_gripper=0.9954\nstate[joint_eff]: [-2.3863, -7.0085, 3.7265, -0.2466, -0.5543, 0.0513, -0.0024, 0.0889, -1.5111, 6.8855, 1.4774, -0.0464, -0.0366, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9119, 1.9182, 0.8886, -1.1702, -1.5009, -0.7887, 0.9957, -0.001, 0.8875, 0.7067, -0.7464, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0787 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2532 right_y=0.0067 right_z=0.1345 right_yaw=0.218 right_pitch=-0.3616 right_roll=-0.2099 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -7.4598, 3.5624, -0.5592, -0.5836, 0.022, -0.0122, -0.0889, -1.6342, 6.6803, 1.409, -0.0513, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d596abd9a32b77573dde0f0627fba7c1d4f99f6ea617120ccf437fa9b338462a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edecda14a4e64ccaf5765509ec570257701f0113cc8c14702a0ff5995be2148f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ffa5845947e0fc151ebc9111f525776efb9b282bcc5aadfe42bcaff57babef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab4351ae0d887d0822bb786e851b65a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUh9t2HsRmIBmpBbhflH9_Eo2FdSlruri0cQCbaSijyHlJFj-9P3G3ZKEQ89-Z5tev27_OEC22fD67Gg0X_4DeQq49o_gIwe6yuyOF_PGq_ZMbGZoVPtlZFlW-M-HIjKi9irBgjavMtKmdGTX8J2GtXN2qT5dXOq-Mnc-VGwjNypPJygfzlvXzcNpzvvfMhiTfPXKjg-9e7hnKVFbu6kOff3daECUpS4HtyVY_RZPupAw19gPVqrz46RN1OyO9XmRgyqkq7-OcqUvJZ8T4If-y4evmyjnH7JPo-FB8LEP0R5B-bzgZ91IIWjsxV423_OmC7EPuVVDbMMQuPN-nlfJawsWbfS0fAXuMrbR3w9BRygWFKGjit8ZJoe_cFzgLdXG9yPNxvY5FL0bu5M0qfTD2rV2a_Zv7tZW-Qjhdf7VqNoD4UECezuBwsr6QvCUd_92GUo4LP_aWolMiFG7Xzcl2JlHx2ceMPxfLIoo3a9Wj5x3hjBIYwJFGassLoUnn30zWU3hfdDLIg1U32G_0mI1HH-26C2kgFIn4Dj1OlTVtIKUr_X2TQ7rPFcTUfS1IqwJdMA0CKWvQsdZnkk1ON9QY93D1lLp_YVTcz67S7-n9DxPKmzZ5ajBaEGoavG_xOSKWdsTSACDAFl_utvQG5r3mIIpFneNwiP7gK7r5KVdgn54v3sEWyNyucjtYrLW9fnYLhAq3Ml6PVyv4WawYAluKsHg2ubU84weoQGIbuobaGAs6mh0s_WNAumljzzUiLmpek8e5JdYzRNeJ9iioL3wxrQcPXI76OcHJbnrj0C6zy3bJcNSXUoI4lcHVTktGLv-Ckubcmn5YiLJboDLEJvatMHcGxjtTNHqJDKcu2KGeoagOAtMs1KnBIjBvxc-HFkOnXyON_y6-4y_UkV9CpvneA912Jwd7eqZ4fQV1MjfMmEr6LpgDQYUx_R9vSqSnsy-LF2YD6XD5BqdmlzeknFOPhbY8lN0_t-Mz9IebNzdQVdv0vOqtXk2pERKK6r5PqJ46ytbt6HvsawBzztYeJq3ByeY0m7n8BEXVAbOA-jAHF2S6pMdAI4wMJZEbsyM62XQwyVx68myyftRqSYqeGtoWLjf3pEyn2vAtM6oJJfWtk27Jn6uQrzK5dbYv6ugRwptPgFAiBsVHOKczg4S7w5PiZaeTaQIkCDsFBloJWGcY5YwA4tAIvoj_FqynYibp6mM5SCvyljc8vfzQs2my5e8Ek23PIeqX7tMMBn9DCEYPoBWINQfWLkgLJxaDlZzO7dtTbyN64fTZSn7IMQsomqQNbD3coogZi-H5ia0MdQl41a8bg9ENJgcZdXZ1vwGvrZKH_AW3QI80oTwVChgWM9O3mJWlmEz6E8V-8ViBj21ybGbAfJ7Z1eO4EuGqxxO9YtPWE4hwUCmxjfpjHjHmnLz7r5NvQTcOFhNK41D1Zf5goJsxo9PbKLk_fDraE0H1LC1XRoxsjcJhqCQ-ISuA6zIuMCZLuznxngO2-qWenOspElXgqeYEN3WURCxuJDofsy1fl2jstWgJ1kZQB1JF0daaM7wfgJLx48CgL8VoILPGOZ8dZEm3G9KGYyxmCDZhnm0pFQowO69q_0N1p8hu1urf7PzrngW0Bh-dj7KpjTjIByw-2jkB4w7f97J6p17VgNKq58EbAiwCRhLd9KBYw0okHxecceEJwVW-fvoHUOv-TCmIwEXEFjQYgYlPiOls0JmxyXeLlYH72dFrxkusYJG4hGqdFrqy0aHM5FtTHmRR19zVswFO4G6ZTBEtwQ7-w_STyOVDDxWXdyouJf_NCsLxkmyIt-If7zsk1vzVGgI5XSfkyKUpIgXTcx7SysoLKo9u0z-OTkK69V1C_AhPhoJJPcJm59WXuJTtK8QWO-dRhSM6dm8RO13c6sBTJsjs_45VDxcX6DGt8-dcrPPhphiG2KA==",
  "id": "rs_07a19bb4e725942f016ab4351f1f8887d085f397a0ee2ca5db",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.349,\"left_y\":-0.10,\"left_z\":0.124,\"left_roll\":1.5},\"note\":\"The jaw tips are in front of the dark near lip while the white panel remains shut. I’ll advance at this raised height so the lower vertical jaw can reach beneath the lip without pressing the panel down.\"}",
  "call_id": "call_ehes58a4JCkGDLb5SnRlpEjC",
  "id": "fc_07a19bb4e725942f016ab435206e3087d0aaac1e74468e5f4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ehes58a4JCkGDLb5SnRlpEjC",
  "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]: [-0.9119, 1.9182, 0.8886, -1.1706, -1.5009, -0.7891, 0.9957, -0.0013, 0.8875, 0.7067, -0.7509, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0786 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2523 right_y=0.0067 right_z=0.1338 right_yaw=0.2178 right_pitch=-0.366 right_roll=-0.2086 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.4735, 3.3709, -0.5201, -0.6471, 0.0269, -0.0122, 0.0068, -1.5521, 6.6803, 1.3651, -0.0855, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b7d35540d06fc102e1245e4230ce7e68dba1bc5a5b039310cd864db90466eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96386cd10f88d952f7f38901adfb34eb3a1cbe58dc468b01d4869a91fa8aab3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0fe3254bda7831135b8f3f6acb661cb9d88283fb75c059de75ea5d192fab00",
      "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 102 changed as sent

message 111 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]: [-1.0969, 2.1059, 1.1675, -1.5787, -1.4097, -1.1526, 0.9956, -0.0013, 0.8845, 0.7067, -0.7246, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2805 left_y=-0.1569 left_z=0.1199 left_yaw=0.0344 left_pitch=0.0144 left_roll=1.3701 left_gripper=0.9956 right_x=0.2574 right_y=0.0066 right_z=0.1385 right_yaw=0.2157 right_pitch=-0.3374 right_roll=-0.2156 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -7.8291, 3.0291, -0.9109, -0.4567, 0.2173, 0.0024, -0.1436, -1.8256, 6.7624, 1.6093, -0.0513, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9119, 1.9182, 0.8886, -1.1702, -1.5009, -0.7887, 0.9957, -0.001, 0.8875, 0.7067, -0.7464, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0787 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2532 right_y=0.0067 right_z=0.1345 right_yaw=0.218 right_pitch=-0.3616 right_roll=-0.2099 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -7.4598, 3.5624, -0.5592, -0.5836, 0.022, -0.0122, -0.0889, -1.6342, 6.6803, 1.409, -0.0513, -0.0464, -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]: [-0.9119, 1.9182, 0.8886, -1.1706, -1.5009, -0.7891, 0.9957, -0.0013, 0.8875, 0.7067, -0.7509, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0786 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2523 right_y=0.0067 right_z=0.1338 right_yaw=0.2178 right_pitch=-0.366 right_roll=-0.2086 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.4735, 3.3709, -0.5201, -0.6471, 0.0269, -0.0122, 0.0068, -1.5521, 6.6803, 1.3651, -0.0855, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80b7d35540d06fc102e1245e4230ce7e68dba1bc5a5b039310cd864db90466eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96386cd10f88d952f7f38901adfb34eb3a1cbe58dc468b01d4869a91fa8aab3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0fe3254bda7831135b8f3f6acb661cb9d88283fb75c059de75ea5d192fab00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUkIwo9WwRXLDURClkQYjemWdd2yZ4rXVkrk9Xr3CCwUMtttrdysyN_kVOCKYaO2-8PG2P-5pJ8pKNXcEC4cbvLzBGoYGYwlVqak9JeSt2GplvNf3lgG0EMWi23x4COnn6e5TZ-9D225T7AdMPkt5bPi_Buvn-3tTcONbITAdMPE_mIxIByDlQ_HK28k8AdJyiTGe4MhNktqUlOxyTLtXSNk7aEYnojiQWFHqugg3ATDrj_HvFzfortwnv1Uno6C0uZU8pWXDhkF9EuKsiN6SOvpzK8IQTqsR6HowJmFcHvQH03FsFYC8dXfChaKIg2wHM1Jufyw7-6HHtmqydRlBv8iOPc-iu9MgjYf9O7wb_xQ0xg_-f-Ok0wMziGsNclq_3Yh-yPtJnkPz80rzg-T0LHOfdrBWaeEnsvN0z7LE2UFlcNz-7Qnza2VksxRaaUWwToyD5FTfZdL3XHRHmd3MUzV_o9cQEFt3f_ZCOrOsohoy7smkPfelM8YaQURP-S1jy4fiqc_cd8wxR7F-wutlQmozCrq2RKscQLvz4Toa1R0YVxe12NiMDG9dAFj66jqPioF4EirgIPlEiUEPGC6IVd_DEXHU8RJr3ArmU6BlT0-SoNcvQhtJYwss_lVMurt1HItWKTOtem2WDXIOY-6oVMhD9myCPLh3WvWPeYbNT00s0fvOIx932zSJKj81UPYyCWf-tVE9sSlVLjFs1OCvEuJognc-Oq1U1iMj0Fc77flvlka0FedcOfUTi21noj7X2rvo0hycBjHfRk2F4sMkSAgESW4-iZBj8rAdadGx6I-qCSW7nnNXvDbq5VnhF1bkThD_2V11BCdq7n6Xrw5Z78fcqB56KwPQKB7mZoClYCuzDU3sf6eO0XDhb9NWuL6QKRBUzKe2AIgy-bABJxZSj1x8SqbwSD8h9rcSUvM6EDuTGgGgqvnFoHCJPNWROcfhz-LnP_uiUJ_7bMssPaTTM_J9TbYCUnTgXfgbdL0zplesR348AiWDorb7xw21e1dlNQz8RpEsT0eBkiKB_cXeoYMKSao0vcj_njgSfw7nnQ8Onm8vmCeN7LN-j1_DJ6ft0SEuBi9bTI3NdjjLwrGtNk8g_GfjfCrES1XvnrCHwEAL5AmqmXIReWa-nS-rK4rncqe0cEFoc410mpkx4iUb5Dyh7tvxNUvAdvB-4TfznUHl1jf4IA8QUULSqIwEDilHdB64PuzR5D76PqRWJn8BN8WB4QMaY7ay-5wmq8yk1yOq1wt8STzWl6nbWj_KAhfO0bXbSnSM-TETXFRSKK-so3pVmDTRfg2ZzU2LGGy_meEMIFYQbFSN8vzjCLCxZY6GqpZF7RGiBVQ9Aqo33IM9ZsIOtjyDk7Q8w0ibkCu1kb9M4IkUWMex68lAE--jgzydCgKuSl4PnH36RiM-sYre5lKg7bJ_f2Sv3se4An0dvNaTtT2FRGfLyTmORXleXthMxMbxx3hJf6qVdS2U8ONuUQFA==",
  "id": "rs_07a19bb4e725942f016ab4352309d087d0847ec1ba1ac0058a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.14,\"left_z\":0.2,\"left_roll\":0},\"note\":\"The raised approach did not advance at all, so this rolled wrist configuration cannot reach the lip from here. I’ll reset the wrist above the safe and reassess the opening without forcing the mechanism.\"}",
  "call_id": "call_LbG5otq5ywoXNcEJM2hLbQq1",
  "id": "fc_07a19bb4e725942f016ab43523b07087d08e84bf631879e279",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LbG5otq5ywoXNcEJM2hLbQq1",
  "output": [
    {
      "text": "executing move_to over 19 steps (1.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7174, 1.3159, 0.9176, -0.461, -0.7383, -0.5282, 0.9957, -0.0013, 0.8902, 0.7067, -0.7689, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.3319 left_y=-0.127 left_z=0.1759 left_yaw=0.1416 left_pitch=-0.0207 left_roll=0.1292 left_gripper=0.9957 right_x=0.2488 right_y=0.0067 right_z=0.1306 right_yaw=0.2196 right_pitch=-0.3861 right_roll=-0.2038 right_gripper=0.9954\nstate[joint_eff]: [0.3624, -6.4205, 9.7162, 1.6044, -0.2662, 0.0562, -0.0122, -0.1162, -1.7299, 6.653, 1.5018, -0.0269, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76eeb78691f72e3205e7e1cc84a63302f46ee2f4bfdbbe213fe2bcaf80a08c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed74900769d1e95cb5d28b90d28eca37e0245555cbb23d1d250d20198eb942e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbb989168d5f31c0f4817dbf1cac6d6be8e5b986affd906b2ffc41fe36e9e1a4",
      "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 107 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]: [-0.8974, 1.9182, 0.8894, -1.2934, -1.5055, -0.8738, 0.9957, -0.0013, 0.8864, 0.7067, -0.7387, -0.0189, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.285 left_y=-0.0689 left_z=0.1221 left_yaw=0.1408 left_pitch=0.0105 left_roll=1.4612 left_gripper=0.9957 right_x=0.2547 right_y=0.0066 right_z=0.1359 right_yaw=0.2164 right_pitch=-0.353 right_roll=-0.212 right_gripper=0.9954\nstate[joint_eff]: [-2.3863, -7.0085, 3.7265, -0.2466, -0.5543, 0.0513, -0.0024, 0.0889, -1.5111, 6.8855, 1.4774, -0.0464, -0.0366, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.9119, 1.9182, 0.8886, -1.1706, -1.5009, -0.7891, 0.9957, -0.0013, 0.8875, 0.7067, -0.7509, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0786 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2523 right_y=0.0067 right_z=0.1338 right_yaw=0.2178 right_pitch=-0.366 right_roll=-0.2086 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.4735, 3.3709, -0.5201, -0.6471, 0.0269, -0.0122, 0.0068, -1.5521, 6.6803, 1.3651, -0.0855, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7174, 1.3159, 0.9176, -0.461, -0.7383, -0.5282, 0.9957, -0.0013, 0.8902, 0.7067, -0.7689, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.3319 left_y=-0.127 left_z=0.1759 left_yaw=0.1416 left_pitch=-0.0207 left_roll=0.1292 left_gripper=0.9957 right_x=0.2488 right_y=0.0067 right_z=0.1306 right_yaw=0.2196 right_pitch=-0.3861 right_roll=-0.2038 right_gripper=0.9954\nstate[joint_eff]: [0.3624, -6.4205, 9.7162, 1.6044, -0.2662, 0.0562, -0.0122, -0.1162, -1.7299, 6.653, 1.5018, -0.0269, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76eeb78691f72e3205e7e1cc84a63302f46ee2f4bfdbbe213fe2bcaf80a08c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ed74900769d1e95cb5d28b90d28eca37e0245555cbb23d1d250d20198eb942e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
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  "id": "rs_07a19bb4e725942f016ab435280fc087d0b1c5e2faedf92a4f",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_07a19bb4e725942f016ab4352c441087d0acd9d6e208f36d83",
  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.275,\"left_z\":0.18,\"left_roll\":1.2},\"note\":\"With the wrist reset, the safe’s white cover is still closed over the dark body. I’ll approach its right-hand edge from above, where a vertical jaw may catch the thin cover without the folded posture that blocked the front approach.\"}",
  "call_id": "call_NGHv2JotxKAAh1clunjTA6fG",
  "id": "fc_07a19bb4e725942f016ab4352d114487d0b383b556b1856774",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NGHv2JotxKAAh1clunjTA6fG",
  "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]: [-0.9829, 2.3566, 2.0178, -1.515, -1.2625, -0.7105, 0.9957, -0.0013, 0.894, 0.7067, -0.7887, -0.0189, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.3776 left_y=-0.2566 left_z=0.1553 left_yaw=0.1433 left_pitch=-0.0468 left_roll=1.0855 left_gripper=0.9957 right_x=0.2448 right_y=0.0066 right_z=0.1269 right_yaw=0.2217 right_pitch=-0.4093 right_roll=-0.1987 right_gripper=0.9954\nstate[joint_eff]: [0.7179, -11.8359, 8.1709, -0.5495, -0.9548, 0.1929, -0.0122, -0.0615, -1.7573, 6.6393, 1.453, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554dc922f40d5a2c21d548904227b789488fce34348fff16a30dcebda81cdaa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82777b010c0e1a2267e0d46fdeba00c9bd6b4c98e5f5ad75d36a92a692290647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7280f36057b8e4baaf1a1de1e402fa3ab6ff861b1c6062742b84db76d92fabec",
      "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 111 changed as sent

message 120 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9119, 1.9182, 0.8886, -1.1702, -1.5009, -0.7887, 0.9957, -0.001, 0.8875, 0.7067, -0.7464, -0.0193, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0787 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2532 right_y=0.0067 right_z=0.1345 right_yaw=0.218 right_pitch=-0.3616 right_roll=-0.2099 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -7.4598, 3.5624, -0.5592, -0.5836, 0.022, -0.0122, -0.0889, -1.6342, 6.6803, 1.409, -0.0513, -0.0464, -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]: [-0.7174, 1.3159, 0.9176, -0.461, -0.7383, -0.5282, 0.9957, -0.0013, 0.8902, 0.7067, -0.7689, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.3319 left_y=-0.127 left_z=0.1759 left_yaw=0.1416 left_pitch=-0.0207 left_roll=0.1292 left_gripper=0.9957 right_x=0.2488 right_y=0.0067 right_z=0.1306 right_yaw=0.2196 right_pitch=-0.3861 right_roll=-0.2038 right_gripper=0.9954\nstate[joint_eff]: [0.3624, -6.4205, 9.7162, 1.6044, -0.2662, 0.0562, -0.0122, -0.1162, -1.7299, 6.653, 1.5018, -0.0269, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9829, 2.3566, 2.0178, -1.515, -1.2625, -0.7105, 0.9957, -0.0013, 0.894, 0.7067, -0.7887, -0.0189, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.3776 left_y=-0.2566 left_z=0.1553 left_yaw=0.1433 left_pitch=-0.0468 left_roll=1.0855 left_gripper=0.9957 right_x=0.2448 right_y=0.0066 right_z=0.1269 right_yaw=0.2217 right_pitch=-0.4093 right_roll=-0.1987 right_gripper=0.9954\nstate[joint_eff]: [0.7179, -11.8359, 8.1709, -0.5495, -0.9548, 0.1929, -0.0122, -0.0615, -1.7573, 6.6393, 1.453, -0.022, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:554dc922f40d5a2c21d548904227b789488fce34348fff16a30dcebda81cdaa3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82777b010c0e1a2267e0d46fdeba00c9bd6b4c98e5f5ad75d36a92a692290647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7280f36057b8e4baaf1a1de1e402fa3ab6ff861b1c6062742b84db76d92fabec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_07a19bb4e725942f016ab43530f9ec87d0ba8393f43adf99aa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.292,\"left_z\":0.096,\"left_roll\":1.2},\"note\":\"The right edge of the white cover is visible beside the left wrist’s jaw column. I’ll descend a few centimeters alongside that edge, keeping the jaws vertical so one can get below it.\"}",
  "call_id": "call_pp8X7GOXy9EKoecSovjkoxA7",
  "id": "fc_07a19bb4e725942f016ab4353255ec87d098eb89ba4d6d5236",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pp8X7GOXy9EKoecSovjkoxA7",
  "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]: [-0.9958, 2.5641, 2.2059, -1.6039, -1.3418, -0.7334, 0.9955, -0.0013, 0.8951, 0.7067, -0.7948, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.3917 left_y=-0.2816 left_z=0.1249 left_yaw=0.1133 left_pitch=-0.0153 left_roll=1.1967 left_gripper=0.9955 right_x=0.2436 right_y=0.0067 right_z=0.1258 right_yaw=0.2225 right_pitch=-0.4162 right_roll=-0.1964 right_gripper=0.9954\nstate[joint_eff]: [0.7179, -8.759, 4.6154, 0.2759, 0.0366, -0.0513, -0.0269, -0.0479, -1.4017, 6.8034, 1.3553, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b59a05133265171bb6b475da7766594709f59aaa1cf91b933dab7ed86f066a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d259f082c0d1b67cbb4c57d8f63a509a5fa07cacf87e57fdbd34c5e13998790b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bfe693fcde312981d2b880bdda821cc20fea51d4d8328fb47aa37df9c33cf5",
      "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 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9119, 1.9182, 0.8886, -1.1706, -1.5009, -0.7891, 0.9957, -0.0013, 0.8875, 0.7067, -0.7509, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.2883 left_y=-0.0786 left_z=0.1149 left_yaw=0.1254 left_pitch=0.0234 left_roll=1.4252 left_gripper=0.9957 right_x=0.2523 right_y=0.0067 right_z=0.1338 right_yaw=0.2178 right_pitch=-0.366 right_roll=-0.2086 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -7.4735, 3.3709, -0.5201, -0.6471, 0.0269, -0.0122, 0.0068, -1.5521, 6.6803, 1.3651, -0.0855, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9829, 2.3566, 2.0178, -1.515, -1.2625, -0.7105, 0.9957, -0.0013, 0.894, 0.7067, -0.7887, -0.0189, -0.3668, 0.9954]\nstate[eef_state]: left_x=0.3776 left_y=-0.2566 left_z=0.1553 left_yaw=0.1433 left_pitch=-0.0468 left_roll=1.0855 left_gripper=0.9957 right_x=0.2448 right_y=0.0066 right_z=0.1269 right_yaw=0.2217 right_pitch=-0.4093 right_roll=-0.1987 right_gripper=0.9954\nstate[joint_eff]: [0.7179, -11.8359, 8.1709, -0.5495, -0.9548, 0.1929, -0.0122, -0.0615, -1.7573, 6.6393, 1.453, -0.022, -0.0464, -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]: [-0.9958, 2.5641, 2.2059, -1.6039, -1.3418, -0.7334, 0.9955, -0.0013, 0.8951, 0.7067, -0.7948, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.3917 left_y=-0.2816 left_z=0.1249 left_yaw=0.1133 left_pitch=-0.0153 left_roll=1.1967 left_gripper=0.9955 right_x=0.2436 right_y=0.0067 right_z=0.1258 right_yaw=0.2225 right_pitch=-0.4162 right_roll=-0.1964 right_gripper=0.9954\nstate[joint_eff]: [0.7179, -8.759, 4.6154, 0.2759, 0.0366, -0.0513, -0.0269, -0.0479, -1.4017, 6.8034, 1.3553, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b59a05133265171bb6b475da7766594709f59aaa1cf91b933dab7ed86f066a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d259f082c0d1b67cbb4c57d8f63a509a5fa07cacf87e57fdbd34c5e13998790b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bfe693fcde312981d2b880bdda821cc20fea51d4d8328fb47aa37df9c33cf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU2xrJyzOuORAOUSNwQ7KeqOyXC0fq-f8YgNSIWWGNnMCz4fJHEHPcQsHRfwkSnx4kijKzczKhAMt2yfMmMrOWqJoLeS4QPLzlBjJd7AIqLY_BO0_qL76tm8Qgz_lkBkx1MzSlCGRw0JPGwPdl4IAWYspanbz7XIBTQfhIVqgbAuwKyWtLHqmnwby83P20QhYTRdAesNvIuewddIWwAYCeAa-R5zf0EvAm_kDIutRHy8ZbSs1wTtqqiKPCQA8wQIjCa-nX83bVrhhKn_bVOMZbhKAE_v2lWj-IMYD6wccPv2g2sA7Pb7uBdhKqcrPwYJEki_Xhxc6Oun14hh-M0pql849CxH8YUlUy7hy-NpDtTRgY3Q2o7DEBMPL1ON-NhckOs_3ZvrrAwJIYhptpdoWEy89jpuJp1dFDtepUlonOOUCbhJRrBJFhRszpZRIJxxPy7vp8vamIVWXFhrOLz3yPf5VZhQdUjf4jiJHjHAGRw1IvDwBM_Yqs3PrANaQE88v2wp7xidPqrqfboNkvwVoDuiZdlri8-g1OV8N1d3zPG4NTMVQ1d89WbG7R_0-bh727lkOfjSyOqm4UIOUuBdQ0jx6_2639eWUZo6P6UMc70veygtN5GjR9Bjxo4TmyZd5cpcQHgAWhtviV36Wg0DpkuBECpVgyXMiR6RdR4EjbLC1qhvqUuLKPK2vcCfNwveypNsDM7lryU8ZIMbs947aUe4J6Rt4UTV7WNgFXGvkHQIN2Pb6oklXir19A8JZtN6Ttw7MgUxaMeCgEWmeYAxNUAL4Z20PC5fWspsT70_dYpwWl5l-sN1XT5sdtTxIXa1eU7D4rLpflAfa4jd6N1u_FfYJqOBkMGYHBQFl7PIkHHMchDVk4dQp-XFWEfWDt7hwlnzrBGk0lD-uegKtbYTeH976o2kh_1RkLSnCNYZX9jZNvp7yDgls3GWy3IldnDlQGgbONmCB1lK9KBljNWnaO0xey6xZfYD2BcmF7kvlId2MTawdJjnhMe_6xW7V-dtBlBg5LfBUoXWWOfjsa6ZLiWeL-jdsg952Yw_KW_Qy5WKdyd6fJ8XjJXIi2k0P-T7vbrmdkealTQigoKFbzqVXeufxPOpPhbpjpPVyXqnLl1NB3hv35-dvftHUKl1OVNZx1nYFp03iJ3FDXIayuSBujRcCbLGOzTMsR73O7iQ1RRUto7TeQ2y96yW3daf4hoJul_FL5eAaRkIjrjz-coLVzPmg4AQ8RgAPEVGcmeDqMX6Qu5nw1d2SjTlg5n55LDMpDhLfv_zmkuqpoNHUaX-LOSbpVt9YvlcxKVBt2krnV8tu5Xva58BEQpj3K53NMZR5AH-T-cFf6nZJiXX2nRCk33_Y2kwtvqsI1CxJiYCnga-9GADbOiJdeJ3Ej6_zY5_lerxpLUDuI9xMMfZLAkKw2eKmPd1g7dVngMvycuCFwPA3t2eZjl84ZCQGeYhEr38mGTZnNl7HX-VAN5L8CTvyAxN5ot6239jgzUEh1VXedexMQ=",
  "id": "rs_07a19bb4e725942f016ab43534d54087d0aae98a5491089004",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cover’s edge now lines up with the jaw column in the wrist view. I’ll close on it and check whether the gripper stops at a real thickness before applying any upward pull.\"}",
  "call_id": "call_0q5FWeN5wkqtJxPUjpeyimwL",
  "id": "fc_07a19bb4e725942f016ab43535a69c87d0912e3a047d227f0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_0q5FWeN5wkqtJxPUjpeyimwL",
  "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]: [-0.9936, 2.5629, 2.1838, -1.5738, -1.3357, -0.7147, 0.0107, -0.001, 0.8959, 0.7067, -0.7956, -0.0193, -0.3664, 0.9954]\nstate[eef_state]: left_x=0.392 left_y=-0.2806 left_z=0.1185 left_yaw=0.114 left_pitch=-0.0259 left_roll=1.2016 left_gripper=0.0107 right_x=0.2434 right_y=0.0068 right_z=0.1256 right_yaw=0.223 right_pitch=-0.4177 right_roll=-0.196 right_gripper=0.9954\nstate[joint_eff]: [0.0889, -14.7077, 4.8889, -0.3053, -0.6862, 0.0415, 0.7985, -0.212, -1.5932, 6.612, 1.2576, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b62e6c62564a047c9e756f7a06ec6c31752f35ac2bb4e0729facbd76c7779be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:313532329116bb9691ba7512ea99dc15b2b3148617655a54fab70e7bc835b0bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45fbd636589a8434e8f896fc66b94781a4d2bbaded8a65232c0418d8c4a54742",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}