adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0338, 0.9998, -0.0212, 0.7929, 0.6052, -0.4019, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2919 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.3744, 10.3316, 1.9805, -0.0757, 0.1978, -0.0366, -0.3077, -1.3744, 9.7846, 2.0928, -0.0708, -0.0513, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed386d966ffcaa0ce07da61ef6d02680bbcb3e4572f48a8821058aec9b4a2bc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020c792ab7dce91f87185b5d954553b3b50f20dd879a81c20f746bde21c4df1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356eb8a06c22efa57b969f6a1758ea37abbfbba6b06d7c78825cd1960ca70dee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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{
  "content": [],
  "encrypted_content": "gAAAAABqtErxt0sAJ6w0Q5UTaiRAqn9w_MetU9wOBmO0fbh6guh0nF2atHq-0FFTzm_vRTDw9mL5U4ujAV4eqnM-q7OY4svu4hguqYfa02fk_bldwAlanbD8zKl0QMbvYtIMQtxWxd5RGUZHn1_0hrhbUkThtRMcVWsntaxERF-qgeQhgTt1oN0Kq6VnyYRCv2KXcbmIMz-Qp05NEUJD8A3IcICFP8RKrhqyxeGOnnX4r420co2G8azav9fyuvM17Grxmj7BJeQfD8dkgqwxu8odiPTR7skbn6Gh_xqdFusHgN9Cwg6skpCcrgSostMIgusNtfOWXhJV6kZ8ZmwL1xUArFOEHx-KTuSz5imOG4aizm2RafvKtM-YTCzvdJiTnMtf7Au9_g7VjQJZ0EEe5jyMcxc2nVOMUknMTG1-GvEzSOjx6i84sVoF0ayqC1Arn-e3NYq3OiyYFxSnjP62nQHQvuTGwbUURG-tGAfGDLKefD9nEMyBESd-GOGMXdr7eo1H3_oPASOS5-wMj5AgJ8DZbuQRpLkKd-_WFcsO_uHtqp1odGGTA3N9zay6xn0E1ggqB1TxPea9ixaW0wsws7cGEFUqcxbP5jg32J9c9ZphPMCzu-3GRs541_5UMmxGufCQLZsQx-4rNu-XzV4_fkbn1nYMKhUozfw5RiCZrptJ2gJsqpOhM-X4qpIZi0wsbpk_-8kmRBwRb1ui1syDxMgW8jbyW7Sw7p8rgAi6hcMj46O_9kNWvf-XwaY7ojNICU0rAXIcGn0FjvJKjtgVbCqNlCrmrpFeH5mTEysFgFRDqvdXTOYRvkqJhDmDzRnuaYeTsWodYJzrSxnfUUxo4oJPI9bAWKyT4KQzM7o3Yc47jNU83Ec8CRNNtu3nKP20SrkTdvTfAghXt12WqeG8FGSqASg6FPSMIS1C-ENz3TGm0TDk64yTsUjcCXNbr5sM1V3e-y5_l1a8nfk6PFkyvYqy0j1EXk0EiT4cg2UPYLNanOxzYXcFmxSWznT6CBwkK5GhCCkf8ihtaTdELzWMtk-HQ0V4kY8s4K1P1ZO3kLll-iHAWgd8qjIeFny7sGrzf3eZO47zo0UJLK3lIH-I2csu40uGyupUnUhAQAWYEQNkATmTlbYn3NW-IhxzhEixk1msb-vhjOD24o-aNEDfLqHIyRt1cPE7bWUsL7DyCIZXxFcDx2pb-K79puO4JlyS_PU87tyJmRUXa1_mgWMQjbZUHi4zXXkefgtg61rT6N4WY4tvrdEc7u33Vr5DiGh11106lN6NoluT0Awr81eW7Vj4A3-Ppr1aLXqxvjN_q50oIk3zu-liT5_p2Ybe1RJC7Z94GqRwdh4Pimup63YvVaBJClqpLmq_cySsiz61eyZVyRAWrGkFLJai9wG0mLHiQaMhiV3CftOZOtEljcXX7HD4f7u8LVPHjSESVojyrdzgj4d9ybm_OWk3Vin4VRO-dBbcY32WUByTlaDkmyJEl9MksN5zJeLgGbi8p_2_XZV6ulG2sN_FUulDigOFI4cA0iffpeuogR7jiK06cM2uK1DleYQ_lb_1YmEzya-fMPd61uXOoOBIlNKSyUmI7HkkETqFdvh0SbLP4du8aT0EnGVSohK7Hr-KvA==",
  "id": "rs_0fc0d1298a6cb22c016ab44aef4a3087d0aeaa891a44cba6cb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.11,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The safe is open near the center-left, with a yellow object to its right and several plush objects clustered below it. I’ll first bring the right gripper above the yellow object, keeping it open and high for a wrist-camera alignment check.\"}",
  "call_id": "call_Uyc7wt8qwAe8Y52NHQ2jj3uI",
  "id": "fc_0fc0d1298a6cb22c016ab44af0631887d0a9908cacc9020640",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Uyc7wt8qwAe8Y52NHQ2jj3uI",
  "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, 0.7967, 0.6064, -0.4057, -0.0189, -0.038, 0.9998, 0.4042, 1.372, 0.7765, -0.1261, 0.297, 0.2008, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0034 left_gripper=0.9998 right_x=0.3719 right_y=0.1067 right_z=0.1253 right_yaw=0.0435 right_pitch=-0.0947 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6068, 6.8444, 1.8535, -0.0317, -0.0024, -0.0171, -0.0752, -6.0923, 8.8957, 1.8779, 0.2857, 0.188, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bf575a2f9d63b7fa5368a17d2e0e83fc5215c386a4038dc072232b408133814",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb9100b2baf37711cf7590e0cf814a548ddd8e5e4169921cadd5caa7a5d99a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e151b536a1cf0fb82ec4b612af7759b05b22526df2905469d2ba3f383c32d310",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-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]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0338, 0.9998, -0.0212, 0.7929, 0.6052, -0.4019, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2919 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.3744, 10.3316, 1.9805, -0.0757, 0.1978, -0.0366, -0.3077, -1.3744, 9.7846, 2.0928, -0.0708, -0.0513, -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, 0.7967, 0.6064, -0.4057, -0.0189, -0.038, 0.9998, 0.4042, 1.372, 0.7765, -0.1261, 0.297, 0.2008, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0034 left_gripper=0.9998 right_x=0.3719 right_y=0.1067 right_z=0.1253 right_yaw=0.0435 right_pitch=-0.0947 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6068, 6.8444, 1.8535, -0.0317, -0.0024, -0.0171, -0.0752, -6.0923, 8.8957, 1.8779, 0.2857, 0.188, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bf575a2f9d63b7fa5368a17d2e0e83fc5215c386a4038dc072232b408133814",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb9100b2baf37711cf7590e0cf814a548ddd8e5e4169921cadd5caa7a5d99a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e151b536a1cf0fb82ec4b612af7759b05b22526df2905469d2ba3f383c32d310",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr20UN6GlPQ8TYmZW8aXEz0kBEPiDEQV_q2mwBS_s91vEDqDAsFgoOWGbmz-LXpiS4Ax8myFZ2Ede3az-wSykWPWvaD7RYceCPwJSWdEmsm-zRNZ9unM5VMt3jHB-IpDNNoU4OhHXDqgRE3Jw9cRzibQTCr6Mke-bs-ZjkEnycy_QPZO_D341W1vrX7tCdPt0TO7NWDxzyJL-iyxaNSM0jAFdJYv4lxOYfVDIxnf8lY3buDZZ5ectTuSKvpCKIcxosA5BPd3lZ4SZtLmzEc1dDnxDaoV0R3ZuEGQfhXZLle9rl1j-MQUVrXszScjmPYk6Uw-hR0eLzXn6C2aVSwjVgbdhSd7Mj7UoXozp0zewy1oITmjaxVG2SfB-7jtKjnxYCo9JTv3P1j5DLhknUlWxH_IzIocFKUiNn29PiF4jY7_sYayhFFDpnXvOmHcJg0slKKnz8rHbJnt69MNyWJPk0DxYeoOiW5Owqpx52f_WDyv8fPj00Z2lVVnvi4cF9xS35Gfpx1KpNX6l_szQ5c1VMs09gJWX5SEc4VXrVTGExjNV0_Z_5BjI8hjbfXXkm_TQAxNrcfVODB49Vs2hypEDO0VrNRy8u5bwy0RQESg0Z9kD1AMusN0hvKwbloQ4Bi5jYoxMd-zZ1M2hXo8ORqAs5yMdjJbh8t0jrXHTd3IpTxYulSSqU9mNVq2k9LMt-qsMh1O1ud0VGCDHG1Gl-h_kSgeMhdUIjEzl3AVwq7bqp0v9xb71xOB8M_lVljqLL2TlkJlxtjzQ80JvsRPDz4Nui8l9rIE_PgvCj9SaQlqt2DeWCKFGCQCsple0yLy9EFfzcTvWuUHXy9wrTE4vUnI8K37Tgm1fkXwp6vnPtrjscg6JX_wWu1sPS220RV94OuzcyLCzkpvIoPqhkITMnGGcgFIB4WgISRtjkOeVW_veplIYAxrpCIgP79HJSsPSI-1cxbfFh1fzd7uzDsiAiP7QSHEEwPfma0GkE1RDxKLrX3m4P6z2OqIY95ZaPqhEMvRmWxMDsBd7OrmOBfam5S6i10-skGKGQufJ77VALcTHyQVcGn9ylkPErYY2FepsHyFMM3NPd8sf6-03WRgqM_FrOfq7P0_ST6KIsI9u3vhDCLv31wd6BNiBOR9cCOi7K3AfQ0whYq3IXoMo4Jg2SwuTP09lK4zdW4dFknS0jx1up2Vg_HwYaatPKigp-0N6pqyHsjl_dUQgamXmSZHYEug8aFFIq80Zp_6v73cloQOfDrhYqwahbZOE19dV-fFwiDADCn4KQfGybSanVljX0EvfP05h7ku6c7Q5A77-V3dUspE8J5nRGP0C9t6hwx-09-9q5XZu2Wa3r-uvAYTpctFBtX3xfWfscPpBCc7uBuWNviPsPBbd35pG1cw-ORhnglT0cLjw_5ky6_HwFsoel6G41BsIK8xbFD1UDsnjQxgNRFeLY8-Jt3O-PMpXee3N1xoWtQ88BmtRMe7CIZBgn1gxxnbKKJngEddXar-YaTBLya9bT7y1nfJ9ERvZyDT7kYFrsVnGM2ZHOB3TL7ZMtvcaN9Nq-iVjIoCX29psONtlm5BjWh6qqZIEQmz26IEDME1jijGlwycpbgOlyebj-JQdL4ajj1vB-FTyG-_4z11w8KymPclmL0UV-R0Cx9uCQoWCcdAIkX5Sn-EDAD9XhoOSeemrQXIFAZk9KGexuV0G5vl95klmdAjQ4i-DcXNmTKmZFrt1tEku1XmR0IadjzpW71FBXtt4GLseZ4n1iMTavFIF-0nDg2IPz0nPbLlo8uo5XGQh8AqkRGCxLxksCT3v_nm5frAYfE2hT5O-1uwzDbcIz3yioV6Ju5N_nr_1wmIg7N",
  "id": "rs_0fc0d1298a6cb22c016ab44af3cd3c87d0a7e3b6a89e50a389",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The yellow object is now nearly on the right jaw column, but it still has clear image space below it, indicating it is a few centimetres short of the fingertips. I’ll advance outward and slightly left while staying high, then re-check alignment before descending.\"}",
  "call_id": "call_hfJ0W4dEGT01RQPynUoy71JQ",
  "id": "fc_0fc0d1298a6cb22c016ab44af537c887d09433e3d7b1127a47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hfJ0W4dEGT01RQPynUoy71JQ",
  "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, 0.7986, 0.6064, -0.4091, -0.0193, -0.0383, 0.9998, 0.4114, 1.541, 0.9894, -0.2123, 0.2958, 0.2016, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1738 left_yaw=0.0029 left_pitch=-0.0221 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4086 right_y=0.126 right_z=0.1334 right_yaw=0.0495 right_pitch=-0.1346 right_roll=-0.0549 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 7.1726, 1.7265, -0.0708, -0.0611, -0.0171, -0.2393, -7.0496, 8.7453, 1.5409, 0.1734, 0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fbfd8735e30cb4f1b65af61e371b3d0838b0bb4d68a8128122984692acb637",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22745deef186ed73d9e9d978af39376188373fd5cabb0e80d70859ac3f86275e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f1bf27e3ff8c8e07fe3acc9b41dc4918e7e844a9d936b4287c3ea71f1177f6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-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, 0.7967, 0.6064, -0.4057, -0.0189, -0.038, 0.9998, 0.4042, 1.372, 0.7765, -0.1261, 0.297, 0.2008, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0034 left_gripper=0.9998 right_x=0.3719 right_y=0.1067 right_z=0.1253 right_yaw=0.0435 right_pitch=-0.0947 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6068, 6.8444, 1.8535, -0.0317, -0.0024, -0.0171, -0.0752, -6.0923, 8.8957, 1.8779, 0.2857, 0.188, -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, 0.7986, 0.6064, -0.4091, -0.0193, -0.0383, 0.9998, 0.4114, 1.541, 0.9894, -0.2123, 0.2958, 0.2016, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1738 left_yaw=0.0029 left_pitch=-0.0221 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4086 right_y=0.126 right_z=0.1334 right_yaw=0.0495 right_pitch=-0.1346 right_roll=-0.0549 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 7.1726, 1.7265, -0.0708, -0.0611, -0.0171, -0.2393, -7.0496, 8.7453, 1.5409, 0.1734, 0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75fbfd8735e30cb4f1b65af61e371b3d0838b0bb4d68a8128122984692acb637",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22745deef186ed73d9e9d978af39376188373fd5cabb0e80d70859ac3f86275e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f1bf27e3ff8c8e07fe3acc9b41dc4918e7e844a9d936b4287c3ea71f1177f6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr57Wuo-boUlP0tcdTyNWI0OfowLj0IB9KC2jvSxogD2e1zb0BwE1VlxMtzLo6J7_QdfZfzvgXyLdAPDOjJaIXl7qHY1AYvoi5e2PvwaUjcUBJAS4X_GGPPLteJx-NVh2kQ3oabB7ZpAjwR-rFoWUBv9BaZHIog6fRtfckmnBN_aD5Nhqt9TRaKbgMQphbe8rbSqL9WNJsz7HY-WtVHFjENwwkXNj-dZeY0e1BPSkFc2wbnCvc754IfZ5sbcokDiJ26266i32tgzSn95nMFpX0FAq8Vhc-l92mUvjK1XzeeZSqyrotlifnkBSZaZ1BVCO_Z7-3wN-jCC7RC1ePpiEhYMAfAIJmNWqxYr6eNvnjcGDLUL7fqn48SLPTIzd7FxPqOL7lc_GumXkQBcV_H4WH91yOxBA-IUVn-4eqNhZDWzQqpsbUvDiXY0Zv66DHH78lnVdTiqNtKbpW1vWucOAeFic8Fvz9eCNtYfk3GL1L7mhfujKE0yIil4--U8jMSoxqPvaz1H0kE1s9VqO-GVbHetymCPP4O55DLxb3eDNvu5kcm6n_uyReoaxKZ9QGP4jN_kezKVha_BJD7fJYRjBvAJ1VjCsIJQPlWw9bO9MAUAjj3hxB-NiKV9fs6EF4DWgGBNmCxhXRIYq4nAlg9z8GREE3A5B-sVSm1BpIHZ06iRDsV3r6iy8F97s-C1G0mtEG7bTnV0urJnECluBVLgIoMk5vdmOudbRLJpkIQQpaXytDUiKSkjWS5RYcZ_SMzG2GMLHPGsuJQhBZEu6ktg0KN2c4ccSXR7k8WmW95jcZ612bD5q9g88wkTI-utBi1PcpzbLTlq2mKPlMjzuR4Vf_jIG6hF_osmiFX9cS9vc2qp_TBTuKdYFQDwbidBVZhrqRnAmQQ7jH_OtUSHxqzW12JzooTwDmB9eWiRV5Sin4qbvSxVoGLWit2EjUcwoL4eItWTLG4vTj-VpGZENTB3AMYVlQEppYLz1JEoH0Pzmb6rcMC8IxWi5OcmJPybEP1r3CSji_pbgQKkIaQ102arcgXhzpDPJBNc97peyML3FBpnLoPON_PopNfV5l_Bq1prVftpWvGCG1XjSuZ_xFKYBy-OgOYK_Jo5PmAnWB0CERgBZAqQ9JCBQnTgF84g3e1TLrYEqPh9ej6KLWulbetDK8u4ktIZ-sphYEJrRuRa59QMK9FoVr2pMANnEPM4FyytR0d04ZaL9AzceIQQn_3i5hTT7gIn-O3lmKF6HOfWZyCyWTEt5AHZkQlJPCkbledjXNKYDoHxYPfJ0dbO77xl3Q1T0v8xmS6uMYJIL4yjFlDHaNCLNFp6gsovtazXXk-ku4HeoQBl1kaf68Xhm5qBl4APLNTlxTZ3Jp0swyOZeJ7maeAdtIu0Pakg4poEmT9znvQmPvIx0MN4Kc_4B4Fd_778-AuyCCl3fcXFu8UMO17Z9mab_fxgR6t4_ccIZmcvj9n4wyh-cGa2f27tPn1BLnUT0gec39gKe2llyUDNh-01oxCNYGpwUKUPWpSueBpm3X8dsVOik0DOAoIGSJnTwg7heD0kh59-ERd0QKXT64KW73Z5xc6ZY2vMWlyXb3jRvcZ9Z8lsUneThPZTOmtTqtKJXKOjswR4AikwGcrEI1968SI4U4kvTOj42Lbojbe0mWmY2G0vNOeQmi22miWPu_2AI85LevNmyo-gIFQ-_LvWkCEwEWdDoMF4UJhAmQxaUU4BvV2ArTVWBDVrJGGwwgkIV14-Nb408AXlRROt-9zZh9VQJa8tOxq8EhUzc3TNWLvsuZi2r5o0oSvuiB-rESQxkDX_SriBG3vzF3hM2WtX_VxrrHawWtmW61ZQPVjpZ9d9gyrUEBgbSDaMdkXBkPU5aFljNZ8wAEbwAsTcoiIGBpNgY48YRbEzuEFn6G3hmoDovFNb63DFNAJ1MiK3I2Me1aJ59Q5qsgSrKtCZy52xNz82n7gBeDiZssQiv29-n_4",
  "id": "rs_0fc0d1298a6cb22c016ab44af7788c87d08453a05df4e21c7a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.14,\"right_z\":0.15,\"right_gripper\":1.0},\"note\":\"The yellow object remains centered laterally but is still visibly ahead of the fingertip convergence region in the wrist view. I’ll make one more small outward advance, with a slight left correction, while preserving clearance.\"}",
  "call_id": "call_tWMfpqMDXYnAgP4QmlFSA4sU",
  "id": "fc_0fc0d1298a6cb22c016ab44af8c1a087d088377d48619396ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tWMfpqMDXYnAgP4QmlFSA4sU",
  "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, 0.8013, 0.6064, -0.4271, -0.0189, -0.0383, 0.9998, 0.4049, 1.6775, 1.1584, -0.3058, 0.2867, 0.1879, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4348 right_y=0.1359 right_z=0.1292 right_yaw=0.0547 right_pitch=-0.1945 right_roll=-0.0804 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4291, 7.0769, 1.9414, -0.0269, -0.0317, -0.0171, -0.4581, -8.3487, 9.4154, 1.6972, 0.0708, 0.0708, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e443f1fef2e7c1d0209fe4dcf04d01154acc77c274032638393e8a5d864d76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10e92c8d54b5b78a9f48a4a0218fbe4f3230da198051c4839ade7cb23d4e882",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e74971039e7d8d1a684a7e030fc06c3ecfa20f6b4bfb703e0a953585562b97",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.3912, -0.0193, -0.0338, 0.9998, -0.0212, 0.7929, 0.6052, -0.4019, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2919 right_y=0.0009 right_z=0.1763 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.3744, 10.3316, 1.9805, -0.0757, 0.1978, -0.0366, -0.3077, -1.3744, 9.7846, 2.0928, -0.0708, -0.0513, -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, 0.7986, 0.6064, -0.4091, -0.0193, -0.0383, 0.9998, 0.4114, 1.541, 0.9894, -0.2123, 0.2958, 0.2016, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1738 left_yaw=0.0029 left_pitch=-0.0221 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4086 right_y=0.126 right_z=0.1334 right_yaw=0.0495 right_pitch=-0.1346 right_roll=-0.0549 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 7.1726, 1.7265, -0.0708, -0.0611, -0.0171, -0.2393, -7.0496, 8.7453, 1.5409, 0.1734, 0.0415, -0.0513]\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, 0.8013, 0.6064, -0.4271, -0.0189, -0.0383, 0.9998, 0.4049, 1.6775, 1.1584, -0.3058, 0.2867, 0.1879, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4348 right_y=0.1359 right_z=0.1292 right_yaw=0.0547 right_pitch=-0.1945 right_roll=-0.0804 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4291, 7.0769, 1.9414, -0.0269, -0.0317, -0.0171, -0.4581, -8.3487, 9.4154, 1.6972, 0.0708, 0.0708, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e443f1fef2e7c1d0209fe4dcf04d01154acc77c274032638393e8a5d864d76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d10e92c8d54b5b78a9f48a4a0218fbe4f3230da198051c4839ade7cb23d4e882",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e74971039e7d8d1a684a7e030fc06c3ecfa20f6b4bfb703e0a953585562b97",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEr9yCCblHSQOWJO-fRTTejE3CEjPKjKPKW7S0uMPlMDxcSgJiOtySdul8JOFy84f1GcuUFN04eliWpKJ35hcNpigEPp0QX19ldWYCImnqootQ_du-2T5J8Mc3uFbEIvSvVAO_GtDxr1cR-9mPPOi_7byojfhvuwSUUQY37k6ByJI1NbdIW4fS575lJE-sDq7aGHpNoTMEx_8ukyM6sHEVqPCSNLFGMvcr93SX7WrpyjrkV5rJTTRqcGMHtIIEeflBntOMjzegU6DIMt8RMFimP2u7S94C5--eAvN6gRHUQ_CP1A33BG868UN7E8bUUsMtQm3kiH7YhanmOddC50unxj0G5ikpGs8de5sB1dhBEQ5Q84-glIr4HoJyUVIeypVm_dzEYhHv9e6N5988bc53cGPZwlHEgQo77vT-CtiLdNVVQQQRWfcrgeFVBjAlqFMyz29iTtMUtHEq9g0EclTHnRt6_OSXVTOWM5Zz_bUVau1AWsgUQV9ydXDn0wzczGnT475QUjTDqIko5gneIa3yufUWDV8vPndKzePBroVwLu9rOkTLsLcw-3QSRPyQWfPAQhhCw_5IKdsToQVkcwCCiOY1Rd__ftSzQvswdO6AA847oI0Q4RUvdEwu6MrOnfZ10Q8icLW1wtpJvOd4igl4ptI5_pAfLaAJ08JkNjrL6OwuXWE2D86iGgCC1qnOhGqudZCJVUfozhPf2oAR0cATBnHNbSOd2-eJVD5rFiv48KQBQTlNcr2000259NDknn5XBuBxTbXY4Ol3_X2pdU4TChcXBrarJM9EoZ4kG9jJYtGd9SZ4Q6N2X2J8bdZH0GK0-djlrTfWdm5dz2xyfWQ_te_BN2bZDlcE0SwlC_YtltqBOLRWxZQuNdD0gJDGR6iGMRg59v6zJ4HWth-BIlaoEiCiBwgFs1rZs1wYz6Brh_tgAsKhAvCAdIu2Gu3_-lKwv9Az47Lv_mKMX_0Ws_iyTZ7wdFcQb9O2Qk3DLnoHTXSaP8kqvL2ZeW57EWXXCPkBHy4nqM138tOri4qGNRyJTKiTmvWLSsgeJAjvyxZNZTekl2iB0WDhANBydAm-Iclbb6Ww8_4W8pfQPTbwogJmZPJ5r8MyeJNCuj07pMLFSZyzbPQhp57f6WA9vJ4T4RXJVYpgm_4iG7JUki66uQ6K-6CtFKTeziS-GDOL2CUrYehjJiW1OdnHFnzI8lJhe7M4-ci5Pzzw-UzwszptgCQdiDpxcEGdtDAK21qE-MaC7yMQkfc1Yk_W_SXmFp-n4sjtrNdJDv9GLFWkqOjzHcKkHnHXUkbirpqPAvb_myhVVuuwgl_8s6JYrchBTHoygA8PHS7kkZCvc393R5zsj7tf2QzvusqimFCGnf7QfBVZVEvSQxe1Ilr0yUpyNYjf_33kBfDc0BWbVhUd1Pi6Qin0NFLg4iwMH8tO1TMe8r-V2gqJVUkz3VqiQRyCO2sngEdBlYOAsk4vYFqwAsj8Ay06gwY6gkK_8ieNtGrJz6J_8A9Ww5jWk2dl0BJTD0mrJd_-3dRVl2-1K03qkf_Q-gLSdBROlu4iuHyUCculpxpYNV8Yg6xKL3JZVD-BZuieiNo5gONOmZkKN2ZOzTQFpEQ7vOJVxpy4dvmAQDxXJHR6I7bC2axOEgfzJT0zWDudXK1WOrPHwn-2r3Oy3OCDg2rr_-UE92IfNlFc5tlHrnEf36wYM=",
  "id": "rs_0fc0d1298a6cb22c016ab44afb2ab487d0a9c657878fc01212",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.145,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The yellow object has shifted closer to the jaw convergence area and remains laterally centered; it is now near the final pickup radius. I’ll advance about 3 cm and lower slightly, then make the grasp descent from that aligned pose.\"}",
  "call_id": "call_BKYeyzYeSinAGAf21Hss9ZLg",
  "id": "fc_0fc0d1298a6cb22c016ab44afc612087d0867c9a8eae303b9b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BKYeyzYeSinAGAf21Hss9ZLg",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4358, -0.0189, -0.0387, 0.9998, 0.3908, 1.8149, 1.2861, -0.3668, 0.2714, 0.1715, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0028 left_pitch=-0.0534 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4566 right_y=0.1408 right_z=0.109 right_yaw=0.0569 right_pitch=-0.2657 right_roll=-0.1051 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.3607, 6.9675, 1.7656, -0.0611, -0.0659, -0.0171, -0.7179, -9.5521, 9.7573, 1.7509, 0.0757, -0.0366, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11eb4163523ebe9c94a983f55ff21eaedf07e183cda36e9c8dfa55a883b3f029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fbff5a9f802c48b7da1884f88455986942576a1f79016e8032786022942a97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fffba62fa6ea459a7f46e491f75dd9cc891e8e0bdf0c10ce79a8d35aa3d73701",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4057, -0.0189, -0.038, 0.9998, 0.4042, 1.372, 0.7765, -0.1261, 0.297, 0.2008, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.175 left_yaw=0.0024 left_pitch=-0.0168 left_roll=-0.0034 left_gripper=0.9998 right_x=0.3719 right_y=0.1067 right_z=0.1253 right_yaw=0.0435 right_pitch=-0.0947 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.6068, 6.8444, 1.8535, -0.0317, -0.0024, -0.0171, -0.0752, -6.0923, 8.8957, 1.8779, 0.2857, 0.188, -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, 0.8013, 0.6064, -0.4271, -0.0189, -0.0383, 0.9998, 0.4049, 1.6775, 1.1584, -0.3058, 0.2867, 0.1879, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4348 right_y=0.1359 right_z=0.1292 right_yaw=0.0547 right_pitch=-0.1945 right_roll=-0.0804 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4291, 7.0769, 1.9414, -0.0269, -0.0317, -0.0171, -0.4581, -8.3487, 9.4154, 1.6972, 0.0708, 0.0708, -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, 0.8032, 0.6064, -0.4358, -0.0189, -0.0387, 0.9998, 0.3908, 1.8149, 1.2861, -0.3668, 0.2714, 0.1715, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0028 left_pitch=-0.0534 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4566 right_y=0.1408 right_z=0.109 right_yaw=0.0569 right_pitch=-0.2657 right_roll=-0.1051 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.3607, 6.9675, 1.7656, -0.0611, -0.0659, -0.0171, -0.7179, -9.5521, 9.7573, 1.7509, 0.0757, -0.0366, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11eb4163523ebe9c94a983f55ff21eaedf07e183cda36e9c8dfa55a883b3f029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94fbff5a9f802c48b7da1884f88455986942576a1f79016e8032786022942a97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fffba62fa6ea459a7f46e491f75dd9cc891e8e0bdf0c10ce79a8d35aa3d73701",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsAyWKEzFbCwQK6Su3FXImhRJe4JD9ZpmC_eXTdtxGrPl_OrreFwpxR_f3HRZvL9_dADmGqYxSFusTFB4lElMAu8H1lsf6XlaUqrPK3_c77ly0imUyixEQ_VqcvOFH3OzPK_soxHaQZyJmUfD0FO_6d3L9OHt_FI1NTNXxLIB7iStTcPqdaHOZDZSCYgUDmCI7_wNQhsI5ME1hU89f82qccJTcWs30qFdYvYNEVmi_ZZtwAKAz30sogE6iqQ5Kym5Esix7SghEmoKT_ta1zOySqbgFp23hjsB2_E0Kej9BkGOgXylv0VpJ1N3OnidTa0Agcmt783NBmkoGY1HM_Xy9Qn_9ggQDTqsuBOIK4A8MsN-SzfFyRJVYodmhpuJtBS4jDgEcAzY7-k0lNvntkQlFa0PleW1VPxQLR5KX1PyRT0-s8oEqi7NKOxeh4Pf54OaepCZyWFEBkjpq41wDNGl5sx5Ptnk-zZUTftFIaVPVeEtmSopzpti_Tld5EcyCQeaSkN49rEv7-uFEQEENAhir9WQJw-4yx4MzRsaUF3p62VCZdbcxx3vwGNoeHDu194PRRoJyNBERFdJFIqyBUk_toje_Zb708wcP4SLIltwoTN6wgsunHqhobKXZfHtkoCPTpQ9-7aSMhpBjhj99ExRi8IX7yp-0uL87yUig8sVunY_RH4GJTk8XdxJzXqsJjUKKBCxNX3xykKs7ZUoPVE-TXM3NvTPBv0P7VdW-TJ4JFKMFRBPTPkcT9j4E5rS0tIHvw8sk6ZlcaUqfkXcTxy68cnN8TTwneyq-JtgR9ZtnZBh_8Wsfe4XgBzoJzV_msNnvsfvLa5MuOnPx7wapg1WdsRrw-Os282uPOt2npfViPKa5QiAaCzaFFhm8rDdKN_v-hKg2GPETYx81rAjLX6uMGjlr-JNKVtblV3ZBkhAQg3X_tCVp_PT5wECSTCi7OEJ8X0HH3yuaD2FHGE8nvH_UMKWMG1eR-vUAuu9-fQ1KIlR69BIZvFN3lO1Q43S9ksmq19_RwR38WGTiiA0glWFFoZ5Hs2H-S66J1nplk1RTiMxp_21QdaK0csZL6FL_rX7isBgCVC-qTF0OHhcBUv1MPIdR7vbD-_cfYwfK1IE5fFJv0V7PcoGDJHCdKJZTWIbGufN12LVASMw-reujeKXl-M71xOXb7-6v1dMtq4q_hNnnw01l-DVDls0dj2vq2IUeDfnAjd57xcfjA0LC_A2CansA8M8UZoMmnpddUuBMK3GtbAyC9LPpmY8bUK-RWeFs_R2h55zTbaraXPYV0cD2U-fhG-_478zQiO3VooSybPI87WDVnky9_rFRFYLpmbRNGuNN3bC7dEaSL3NMtweWOnsq3Dq4WyLNW8uWbrmub7QWDXUa9tQ0g-SAx1gDDJ8CSbD5xN7lJunXXxQZQcmOJ2ClA-57cg2UbGzSOdcYSdsX4eQycADwo0yf8tiE8r9espjCCsJDjaT3eCJPjfBReR2Wz6Z65mViotrt2N9qGTQ_VBDIpaRGU32uh5pR1AxJM",
  "id": "rs_0fc0d1298a6cb22c016ab44afeed0087d0a5ca18c3d1a97782",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.145,\"right_z\":0.03,\"right_gripper\":1.0},\"note\":\"The yellow object is now directly on the jaw column and close to the bottom convergence region, so the fingertip position is aligned over it. I’ll descend to about its mid-height while keeping the gripper open.\"}",
  "call_id": "call_rZnzmUkJFot0h82BI9mgUwGs",
  "id": "fc_0fc0d1298a6cb22c016ab44affd44887d0b32d2e15f067cf8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rZnzmUkJFot0h82BI9mgUwGs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4526, -0.0189, -0.0387, 0.9998, 0.3893, 1.8271, 1.3037, -0.3695, 0.2687, 0.165, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0702 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4604 right_y=0.1421 right_z=0.1098 right_yaw=0.0615 right_pitch=-0.2642 right_roll=-0.1065 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.0188, 6.9538, 1.8584, -0.0806, -0.0513, -0.0171, -0.6769, -9.812, 9.4154, 1.7216, 0.1001, 0.0366, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f87995fc7786eb470f4d45212be6d7ad02a8abaebeeb501797e536ad7de87a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b1760c95b07b93cff99a6c047437e827e3ecd01b14ebbe0f294a00d7eb7d56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4f073b50e932893d43f828c94a4ad501f26a0856c33a5a13554af1071a7787",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6064, -0.4091, -0.0193, -0.0383, 0.9998, 0.4114, 1.541, 0.9894, -0.2123, 0.2958, 0.2016, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0015 left_z=0.1738 left_yaw=0.0029 left_pitch=-0.0221 left_roll=-0.0033 left_gripper=0.9998 right_x=0.4086 right_y=0.126 right_z=0.1334 right_yaw=0.0495 right_pitch=-0.1346 right_roll=-0.0549 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2923, 7.1726, 1.7265, -0.0708, -0.0611, -0.0171, -0.2393, -7.0496, 8.7453, 1.5409, 0.1734, 0.0415, -0.0513]\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, 0.6064, -0.4358, -0.0189, -0.0387, 0.9998, 0.3908, 1.8149, 1.2861, -0.3668, 0.2714, 0.1715, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0028 left_pitch=-0.0534 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4566 right_y=0.1408 right_z=0.109 right_yaw=0.0569 right_pitch=-0.2657 right_roll=-0.1051 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.3607, 6.9675, 1.7656, -0.0611, -0.0659, -0.0171, -0.7179, -9.5521, 9.7573, 1.7509, 0.0757, -0.0366, -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, 0.8032, 0.6064, -0.4526, -0.0189, -0.0387, 0.9998, 0.3893, 1.8271, 1.3037, -0.3695, 0.2687, 0.165, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0702 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4604 right_y=0.1421 right_z=0.1098 right_yaw=0.0615 right_pitch=-0.2642 right_roll=-0.1065 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.0188, 6.9538, 1.8584, -0.0806, -0.0513, -0.0171, -0.6769, -9.812, 9.4154, 1.7216, 0.1001, 0.0366, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f87995fc7786eb470f4d45212be6d7ad02a8abaebeeb501797e536ad7de87a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b1760c95b07b93cff99a6c047437e827e3ecd01b14ebbe0f294a00d7eb7d56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4f073b50e932893d43f828c94a4ad501f26a0856c33a5a13554af1071a7787",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsEne5uuJ1i9myfK3rQ2ZBystvkvEh_6BRbJxVhR3gZR3Da6jc13YlMKrF68wyswjaqSoDgf0fkwQ16tw7RNQQeTVf1hUuKh4qK1RKnFOm30wDCgHzI2IPZp7HZwR-rrCOiv6LY6GMJMRjRsgKwpf-fSR_XcmNYOSwjsoL7bVBceWXyLQxSiP7DXnv1_JLWgYOstbeeYYbsOzC2qXyeTmSxox4HhsflEKQhKgw_tNNZQ1uXF-ReluNN6gL-AhA-VCe9BfTuG4MSM_cFtHrYNKQFMNGGQXeWwjztXUkaPou51tQnq49KIHXW05pbnz5fYeb9D7BwkUJQuiI08ojxO05Zot8UW1h6iYRTgqSqIRpNYc5k3G9v_ran05gF_ejDFWeTIKIg1G-E7_bKiESnXJ1jb1QxOF4FyFRVWn3UhnJiGuHXfVyXyzX4p0Abwktje6-wBJnP9Ijjhkofi0T4JjITk2NDvAXvvoNjLP9isVv-Lr7Fxs7kiWIn-XzhEzFXkfG2Grmzoayy0ccKIFOeHKGtchZ1uAF5rfAOgFqG4-_A9rWy9RQSqHf3bl6UttAMtBCqr0buX6cJ-gHKXsWQG64xjHqwnU_FxNz--S53-YJYsCMgZaVF6rq7mgKVE5q9I5cOJ2fWFo8MmKelImrhsTfnVCy1W5ktZ0qSi0PKHHtEMHX0W31VNfkSmjn5wK9y55eebeEPbj5dHASHLprPITmcgrrUmNWpCQi-mP6z-8bE8z_ybJps8Oy6AErHVO3ungrrFv1Xe3IexM8ngUyzug0CxTW96a7LhNzBBIKt2JNNvnh9QJV27eEs7-QpTJglaGCrM5mIJLdqHZxcExfftsR1NmI__didN269LEicEIvhnIijWXqipaLJHZHQWyoNCTuTdrvSWQ4gUZAFq7AvZn0i4HlO0NPpq4qVD1fxY6zPyFrNWbA1PUqyMPZnMa7OVUrsnDcxfcKivjcz-qbgZ_bnaJxCqDgOkia2GXkuS0aimxxbqdk3DUfv5V3cllW7cRplT7jdiTmijNkTlqwBNNwUgflFitKBV0c1zT1LrJOhGMfOzHavlIvvQ758Fa6Mk609XptVzg0n1NWS388JBlFVqTH3FgIbEE40Tcujvsa4ZpKDxyZfd0o2AU0qCYrQF7f2fUDBP2MGhiudM4PCCz5eDITrv1JK3fFx81F6jO3PLDghC6V3K-_YEvWvHFfjN5njQHqSkLhfTBTPaVQFvVSMfSfZWD6KNNFxekxQjEupRe4waP9YX5TNnPZlpzo5WwObWG8lrbumU6hBj3VKUGXPW573eN_J6vuKtuaeE-XksdU-lYSo1ahUlkZCxzz_oFjbLEDhPFKis7dL-e5s9t_ALp_gZNZDDayoScbMHLJZ7o0vGJMS2ZtXDBpVNaEPpZ09GIY1OvI2Ll-8cm4VD1yeN3G8PHovbaRfcOT-tr2fuW2cT3wQ1n-hyDAK92WkoQ9aIFTscF1vkEvUBMYimj9qZUDe6nnmuvB7anSIo74V1pOUmIkiC8Kx6dpivm3JG12DfBLLuQpakKPcpxi7Vtn0OnGecJA4eNXs3d227u5ZkoxzRlnGr2AhfGH3aKmH77ObV_cS5phW6M4-_CixgDlFUjloPd3S4uKSiaW2HhT-c36gOL6XbzWtjfN8T4avK9DaXdCk5vq8H4Coc4PD_PNlSC34h15c1KAnVyRIMo7NuRY7giwzdqi7TF_wBESIj33yoMoBkvg2G8taQoBnhPXKJrp_Z4BbqdLJ_EDvkkBO5_lfphUc9eMkdJOOTPasEE5-nMWTYlzljAF5GTC--7EmGZlCw4vZFW7cScGEANTPxYzRmpmfcf6Djk9v4Jj-oBNQpq3zQOikojfm7SbNoMhxwxcSkQPv8qUUZaCFXVgkOm_IkpEQNNm37hUgl4lbhtEcGVhmX6lEgIxcuKJQwpabCpi8PgqT3yTELAYw3_OgFwg1bsYQ5j9YDlKkrFhrRj8F2TAsZlMPupOmu3yDUaueq__xSX-PWXHebfq0hAsl8EIK-HAmwFPaOwvAi1UcEg2VjhRKix4SP9SHTL-1gwfBwxOW_LB6ikfCKsRUYXsOgq-kWcY4YsrYJVzLhGi6I9qIbJZ-70ZdNGE0geKtJWHLnERobNdYjv0-OTAol7TZsI68PiQZXgl9dr2TcJA_29Blp2cmMw6GRpsXJbu21uvPUPZJ0yFHG7WWJ6ud70_rOtEnr96N0rT6IhavcyfZc_A0afwCBm1MUCK-UM6BbMdpuSQdgV59g3XTfQz3BiKckPSQenByJI_uJlDgYpUiYqgTOOCSxwiFOuIN_H_0qzC-n2hpZl6EnF5uhlD9ynycbwaGO_Hqw3a578TlKrU_EfxJQhmoz2gy6QykWIPVdOhhIDb7qqRaqQgfwh3oYglTsGqfLllpP1yrBDznZb-i12VCuXRlkTX2ekfOTtzAIzHC7DJBqX6YF1V6l-20A2Q-hmM=",
  "id": "rs_0fc0d1298a6cb22c016ab44b02045487d09364c795b3371047",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.145,\"right_z\":0.16,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"The attempted descent did not track—the readback stayed near 11 cm—so the arm is at an awkward extended configuration rather than in contact. I’ll raise slightly, retract a centimetre, and pitch the tool forward to regain downward reach at this radius.\"}",
  "call_id": "call_aR2BRqAi9gPfcWY56y9UNB8b",
  "id": "fc_0fc0d1298a6cb22c016ab44b03db0c87d0b2d0d37ab910ff1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aR2BRqAi9gPfcWY56y9UNB8b",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4728, -0.0189, -0.0387, 0.9998, 0.4652, 1.6939, 0.7414, 0.6521, 0.4381, 0.0067, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4461 right_y=0.1441 right_z=0.1413 right_yaw=0.0793 right_pitch=0.3141 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.8242, -0.0513, -0.0659, -0.0171, 0.3624, -7.3094, 6.0103, 2.254, 0.2125, -0.0366, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872ae2f063f7c009c084937eab548e0900c87e3ea03310504015aebd8bcc54e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d04434699be76db398eb529dd4d658dc32becd01ae34e80ead97a1bdfd6f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bcbd8063de98e754d7acfd23f83819a2b27cc3b1eedbac8e890305c70bf3a55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8013, 0.6064, -0.4271, -0.0189, -0.0383, 0.9998, 0.4049, 1.6775, 1.1584, -0.3058, 0.2867, 0.1879, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1694 left_yaw=0.0026 left_pitch=-0.0427 left_roll=-0.0031 left_gripper=0.9998 right_x=0.4348 right_y=0.1359 right_z=0.1292 right_yaw=0.0547 right_pitch=-0.1945 right_roll=-0.0804 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.4291, 7.0769, 1.9414, -0.0269, -0.0317, -0.0171, -0.4581, -8.3487, 9.4154, 1.6972, 0.0708, 0.0708, -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, 0.8032, 0.6064, -0.4526, -0.0189, -0.0387, 0.9998, 0.3893, 1.8271, 1.3037, -0.3695, 0.2687, 0.165, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0702 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4604 right_y=0.1421 right_z=0.1098 right_yaw=0.0615 right_pitch=-0.2642 right_roll=-0.1065 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.0188, 6.9538, 1.8584, -0.0806, -0.0513, -0.0171, -0.6769, -9.812, 9.4154, 1.7216, 0.1001, 0.0366, -0.0513]\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, 0.9998, 0.4652, 1.6939, 0.7414, 0.6521, 0.4381, 0.0067, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4461 right_y=0.1441 right_z=0.1413 right_yaw=0.0793 right_pitch=0.3141 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.8242, -0.0513, -0.0659, -0.0171, 0.3624, -7.3094, 6.0103, 2.254, 0.2125, -0.0366, -0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:872ae2f063f7c009c084937eab548e0900c87e3ea03310504015aebd8bcc54e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83d04434699be76db398eb529dd4d658dc32becd01ae34e80ead97a1bdfd6f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bcbd8063de98e754d7acfd23f83819a2b27cc3b1eedbac8e890305c70bf3a55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsJltOwlB07MOhKzmHgxfDP-M5zuAPo92waDXD-FNEG-rTw52wWNM91HEweRqX_GLq0AeP4TtW1rMfBEmXpmyDau-65oaBTk_myJ8AyNRGK-YrX-fFZyTl1_ClgdcRsjB7n3Opzp0kkfUokQFVy2fh9827bdmIwnL91a8j_5CMy2r7eiyWYsazAUV8lM8gpRtkerpeHOxDgJgmSRTSr-Ao4AOJTcPcNnD9y-dApDDK49qGTlY98kwUwRz6KTeKQIGHm7VJ936-5ExRRbT47HwecZxjbvxLmywI1SuRovLcesqbj7gEsIYguaYN1KNUspsauzQy2DqiZkizHrWeiwcmkrF19QN3KK85BZBvqbwihD-uegtUFqN6AvCm7-pS-ShmTdlkO_IncCCvu_n6BZFhzftz8rF-Sukm5wizqnUTlx5DPqPs61WPCA_rqr_b5EkSdXhJo85aB9vjS5DSQk85WxT2OWSaYAxiZ1I_O9SZ4h_-QVr24ZkRM6JpogpIRfRl7rVcWpvWbMBUCcSGFLI74C6hX1bl3rvRi6WvaTTA2jYMKx2Y26osU0q6TJn6JdzEicoiTLP_JwnXqpB_g-ifTm4auwufuwFEybiPGvLUwwFD8u9QwlKPVjlYmiKqDvcCORu02gj3HRz9FE4Unv6EprHTHMHUgoimHF7afOcVk7FYX0efthbdyBl63wkpjYlDORuK8NFUzlP6_6vlED80HEwt4BUJazwqEvVPpUwFR1Bal1N7DBhpRt4DuMd-tDaYnpKeLz2FM08KSWeY9Eu12jnU4V8HHMjESASLPIo1_YqxjLjPGXTm-Y9lxrCAeh7HzrgmlSnoH7aExC_1hmmQYdV-3nCtnUt98Q197qu6D9Ffn3oEXVCY_RYSBf8Ovh49OIbjGAByhwVPdF4ESNtnUzYaWkid6WijwLQzt2wZ3pbFUmWettYjneja2teSNo9-SE3qBly3knQqSg_HhLSvyKb54NzLQBV-G2Z2IiZ_7DATkZnLtP5lzCeGH7Z0fd69K46e8EpUzvAyCd2-93Zf_TbHO8badAgH1_Zhddw6o80kNH6lPosZVV_b3Cb75B3hGKYbj-bc0bwWa3i9Hbi7H2ZgVHg3G2wAOdTEAX2-IGz4iJfsTr9l63y8VPDgXND5EZ6OaFWxOgqMoJo26plRV3eokjD1YQkjuXFJhS9b0SvtyauHh0lXobWFw3JLf0jLd8TU5syFsECfWodkF5951FrtZdBkjPXilJDEOrAoCBfYjdiTZxjHTz79vK2jwy2lQ2zggfonDMbNe03kbrgsB0PikfBc434m0ba6gBCpFL6nuv1qrEmBUlCVxCCRJX78ZAciG9tuGY3gdhQlb2V9KGE46TeEtH4PFXSVWiN1l1YkHCPHygC_PTdZoqJWpdIo4",
  "id": "rs_0fc0d1298a6cb22c016ab44b08bf2487d0b688ece616cc4f4c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.145,\"right_z\":0.025,\"right_pitch\":0.4,\"right_gripper\":1.0},\"note\":\"With the tool pitched forward, the yellow object now sits exactly at the bottom jaw convergence point and the arm has recovered good tracking. I’ll descend vertically to the object’s mid-height for the grasp.\"}",
  "call_id": "call_y0sMBIdxbIqtU4CUfwUBpOfv",
  "id": "fc_0fc0d1298a6cb22c016ab44b090d4887d08f2e423b1f887f74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y0sMBIdxbIqtU4CUfwUBpOfv",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.4644, 2.1845, 0.6601, 1.3235, 0.4355, -0.0059, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0029 left_pitch=-0.1026 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4513 right_y=0.1468 right_z=0.0402 right_yaw=0.0742 right_pitch=0.4053 right_roll=-0.0982 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5385, 7.2547, 1.7021, -0.0024, -0.0708, -0.0122, -0.1436, -6.065, 3.5214, 0.6618, 0.2173, -0.2711, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528d4d38403bf98bdc02ca70fca6a9cf63d6db355e9be2849bec5432b0ebd549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86b2e5b99b4cd978e1d8b7754309d9ceb778643d15dd5b3a925ec2b144578d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4816230699804db60880262a1a6a551578ed85a41ce0b7fe96d72167e50894ae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4358, -0.0189, -0.0387, 0.9998, 0.3908, 1.8149, 1.2861, -0.3668, 0.2714, 0.1715, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1672 left_yaw=0.0028 left_pitch=-0.0534 left_roll=-0.0032 left_gripper=0.9998 right_x=0.4566 right_y=0.1408 right_z=0.109 right_yaw=0.0569 right_pitch=-0.2657 right_roll=-0.1051 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -1.3607, 6.9675, 1.7656, -0.0611, -0.0659, -0.0171, -0.7179, -9.5521, 9.7573, 1.7509, 0.0757, -0.0366, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4728, -0.0189, -0.0387, 0.9998, 0.4652, 1.6939, 0.7414, 0.6521, 0.4381, 0.0067, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4461 right_y=0.1441 right_z=0.1413 right_yaw=0.0793 right_pitch=0.3141 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.8242, -0.0513, -0.0659, -0.0171, 0.3624, -7.3094, 6.0103, 2.254, 0.2125, -0.0366, -0.0513]\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, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.4644, 2.1845, 0.6601, 1.3235, 0.4355, -0.0059, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0029 left_pitch=-0.1026 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4513 right_y=0.1468 right_z=0.0402 right_yaw=0.0742 right_pitch=0.4053 right_roll=-0.0982 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5385, 7.2547, 1.7021, -0.0024, -0.0708, -0.0122, -0.1436, -6.065, 3.5214, 0.6618, 0.2173, -0.2711, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528d4d38403bf98bdc02ca70fca6a9cf63d6db355e9be2849bec5432b0ebd549",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a86b2e5b99b4cd978e1d8b7754309d9ceb778643d15dd5b3a925ec2b144578d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4816230699804db60880262a1a6a551578ed85a41ce0b7fe96d72167e50894ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsN_lEFseEla6OA-clAq17qHQAhfXhbIuauZA9bDuHvmOBxEVXnFVIMHaViax4zQhQY-8hk5zf7AWCfmVT8uFREXy6GypfGHp6i-uuZM4h4a53xwBQd-6ekYOQHhEk_KdZ3c7oAdEoR-pRsghU7akEv4cyhI7ZKz-yzW9jiyDencYOQ0NLVZ6eHmBBuj6nJfJezXPUP9QEQEeKdUBCTx-WxwaPyVBciO1Pp_vHCv28Jp-RqGX5o2jri0tcVHzAd_KIvYu_1oKlT_tBtBol33BvJRLiIeuR5V_Hbo27jWyODgL0EFMMxMj6OeKKeqq0gBTT7tTP2q48f3Dn95HrX2vhdMfh02Qk5yqenjTdXr0DOhf-Nmb1qj8nM_jTvtEwkOsn_Qzzo7ImJzoMGiT-vZ8h5SIU_Fd2bJQtnQcYt7e9bnqJtzxMvi33Fbst89E7mAqNsHyr8o0I8Ml0enEJILI2HbN3cb5xhP1ZN3zrqfhIzJAy3_tyGHmckwpbpJGv4baVvE2t_N5sZfUJYdMmIzRq8rgaD6tUoEqAAjfBcw5AZJSUXtZnzkk9XnMhRrvLmdehjIBTVgwrC0XdSBE-LZ9ID3O6B2bqhK_OqVnpVzudneCASihyrVd8lroGgMp4j0xHa9ONoiotTT4VyT82ZoGStoy7IHSkgmlXoFR7OeHBYGNKq3iJz22UQ1qfFP6dQ-d19vw2XfajkpjNKHFrPDmWD1nK9u3N7soOr8UYgWxfVf8E1Bk-OP-xHDCkV-UlIPJDFLw9y_ZEPS2IOT0MxYf_2mJSy4jWZ_MIIy05JyAetuNKCRdDTzj10XomgbEo9NptH7jIIKCOqbXck5VjgP-8shKDZeCnuEU69Njw2pi8VkCgq82QKSkTvUfvE0EKeqyusCY1EctbAvr4ebmWVBHuCGGjVkSIL4tht1GxWnU9ynp_sj8lXrEnDuA_iDMHEsWUnmmiSy1CdwqlznvBhAbuDEBiQUb14y0XEsJZKoIViyH10VkSLYJE5CpXFArBYTdQqORRLgoUcl6-oJJb_AKO-k_YyVwWOfeYodu28K981zC4vLOL4Oih44PTePqXZgBwpVzn75orOYNS4Nd9O62umUU6xJxeR5wqrU3DnGCMfGGS1kzrQ5fKTX2VzYNmL8Yq07Oh0qBRb77PrCoayg90IuZuHmTg-S5_0Zyn5ozOR9YvLfAa3BoiqptmsHyZJMMOUWZ-1_Vpi-gpAY5Ojn_sqtE4uhY80G2p-qfqkXzjVFlXvbtrK5EHTFJ9zSTIBqGZuWGzWR0Us5SESkvkexgs7kvkb73-JIWXU1uIUVcAgre9jcTULpyuY4IrP74fOHWOJEtQNVf06rF9MURkuVRrIH6-S7BkavMoxoyI3hT6W160JD1X_1kKAMpNT-lxinc7YkIThmsPt-qKpS1RTjIqtxplNEe5B0Ly5VjJLt8p1VAHhoNKSPLYfm7cDlwjg0LsvIWiC6hGbCIZNTGtmC7DLkQ==",
  "id": "rs_0fc0d1298a6cb22c016ab44b0be4ec87d0a5c8abf3fa752bc0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.38},\"note\":\"The yellow object is centered between the jaws at the pickup height. Because it is rounded, I’ll close only to roughly its visible diameter rather than crushing fully, reducing the chance of squeezing it sideways.\"}",
  "call_id": "call_bzBekE7trgY2M392HIpA578p",
  "id": "fc_0fc0d1298a6cb22c016ab44b0c841087d0bcaf29c075bb877f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_bzBekE7trgY2M392HIpA578p",
  "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, 0.8078, 0.6064, -0.4957, -0.0193, -0.0383, 0.9997, 0.4683, 2.1857, 0.6655, 1.3678, 0.4145, 0.0025, 0.385]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1543 left_yaw=0.003 left_pitch=-0.1178 left_roll=-0.0013 left_gripper=0.9997 right_x=0.4534 right_y=0.1536 right_z=0.0511 right_yaw=0.0837 right_pitch=0.4491 right_roll=-0.0653 right_gripper=0.385\nstate[joint_eff]: [0.0342, -1.1282, 6.9128, 1.7411, -0.0513, -0.0317, -0.0073, -0.5265, -9.306, 3.1385, 1.5311, 0.1392, -0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda6d4823d87f9be6f6d718cde84463c51c9132c21ad9e4dd66eebee144acac0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee666b7c71a8d3414da2b7df880bcd7a70811171bf46253dd88da8c2c11248c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e715cfd69148226767efeba812300ef12d3d06fb6ae9f3c81ca4d4e977ae42",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4526, -0.0189, -0.0387, 0.9998, 0.3893, 1.8271, 1.3037, -0.3695, 0.2687, 0.165, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1639 left_yaw=0.0028 left_pitch=-0.0702 left_roll=-0.0028 left_gripper=0.9998 right_x=0.4604 right_y=0.1421 right_z=0.1098 right_yaw=0.0615 right_pitch=-0.2642 right_roll=-0.1065 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.0188, 6.9538, 1.8584, -0.0806, -0.0513, -0.0171, -0.6769, -9.812, 9.4154, 1.7216, 0.1001, 0.0366, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.4644, 2.1845, 0.6601, 1.3235, 0.4355, -0.0059, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0029 left_pitch=-0.1026 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4513 right_y=0.1468 right_z=0.0402 right_yaw=0.0742 right_pitch=0.4053 right_roll=-0.0982 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5385, 7.2547, 1.7021, -0.0024, -0.0708, -0.0122, -0.1436, -6.065, 3.5214, 0.6618, 0.2173, -0.2711, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4957, -0.0193, -0.0383, 0.9997, 0.4683, 2.1857, 0.6655, 1.3678, 0.4145, 0.0025, 0.385]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1543 left_yaw=0.003 left_pitch=-0.1178 left_roll=-0.0013 left_gripper=0.9997 right_x=0.4534 right_y=0.1536 right_z=0.0511 right_yaw=0.0837 right_pitch=0.4491 right_roll=-0.0653 right_gripper=0.385\nstate[joint_eff]: [0.0342, -1.1282, 6.9128, 1.7411, -0.0513, -0.0317, -0.0073, -0.5265, -9.306, 3.1385, 1.5311, 0.1392, -0.0904, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda6d4823d87f9be6f6d718cde84463c51c9132c21ad9e4dd66eebee144acac0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee666b7c71a8d3414da2b7df880bcd7a70811171bf46253dd88da8c2c11248c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89e715cfd69148226767efeba812300ef12d3d06fb6ae9f3c81ca4d4e977ae42",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsQoFQfMCbBQHZCwzptW9zmSh39eVx9RDqHzbMLKXwqKuTvxKHKTpzpys1SGLJK0eY3aMw-9CcrJcsDCMyiXiVO_6gHHOcYTXaVIuI1izd96gGnrUOmrc1TQDwExQHVMXZPcJvBVj0nNhquOaMoXbN8RMIEr3X0l78ylkqJUAdPIwxkxqfZXSowiVCUNIwHUUYBZ9P3EUyNDe0NTn-UXLtUle0d1a-AbvKT6iijuwmg9FIOKz7kit3p4XVXPWMuGhyhlwlFvqRTxTjywQFJPGE1OkZG4sBSbctB6gCDHTqK3vFFvKJ_yOIz3Suw_Z3ZUSKhksAK_fP5BRULwX3y5Qe6Y5VMK3JoED_eg_CGJXJDbmkn6vBxDrmwXVzc4XuZ_ye0PgTgmwFiUf1jIP7gtaTXmZsFffZvCCmeOTYviraSoMkUwgHIZmL6yVkmwvjWBkjXBqZtIEfX_LefE6Zg2-z4e3qoIsLs0wCdDLJUP_UhpjbxuAHnMQ_75DmEjFFeiRISwOgJtI-CjOF4AhoT6dPtoWEs10jBEAr8jpzgseXCwBxFuYd7MQuhE2bzlvKhYCFifnqciM7oNo2fJELDffwKQ3XY2TgpRh71YhLmjxvC5zmbbI-rQOBq_ABsC4tcLMfJAPoXzmk-mKj_kbYOucIZr9UiI3lVEiNUTNM2OvfGAU5ylpwO7pRNNLJIRRP3bSN755FpcypB1xBCAo1oX-d5AhUna3xerZogd79aSf2GB2vW5ERisf2AzKX9T1nBjSJtDLjwC6ChWNgedVI20iszgnOdP7QTKyFe7XJemindZFEortpMpzUgu-2lqWMFANl7DfeHaXl-8SM-b73njyHv7u65HdbuZ3dBjQGsJp-RQNx9tfHLJgi9pyn9OVEqnJ58qCAs806Zzn8vdNxJxnWr_avzn_G1LaRS4nnOfqO57A08bmDHWbQiMc5NzKOi7tv8lUj-GTBRiHBcrlhszCjOtH40x7KSqMLLawRFDKDAKA11ykw26ZBWfMP_1xetmHDzdmOaAe04V2pUkfjF6A16j8uIOLJ4CsGxA6MmmBFzpUo0NykK1PU4HG6Jt0c43eR6Y1dAbd3njt-_XRS1wm5BJuSDHa15UZZF4jEcp0o-FQCuxIyUL3b938IlV7xw5b3ElUfTlLTE0DGOPTX9vQKarOOVM53sfX_N_HeTNvC93b2RMCTQNEWKL8NTxETHNTb_dnM74BLL3sk9GfLJAW2C0EC5JmjQnTpo7oxHsIU9nzCl8VxhKIr3MsKFQze6JAVt7omgeo9fqjIW1toZOzMBnkGpOQdxUJ3Djkl4SbHxJIoi3sitdcKzrvH_-elkMfrpNblPqDmTq1mndosygAEHcjTeOkcVuJHVaRZ4n46___tGJTfzHmRGXGh7zkbs17XBaBg0UqAUfJBidEP6H5C0Ag==",
  "id": "rs_0fc0d1298a6cb22c016ab44b0ede0887d0ac320b291126e13c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The yellow object remains centered and the jaws have closed around its sides at a 3.7 cm gap. I’ll lift it about 7 cm and verify in the overhead view that it rises with the gripper.\"}",
  "call_id": "call_SCsBAAluKQf6FrYNNmE1hnel",
  "id": "fc_0fc0d1298a6cb22c016ab44b0f4ca487d0b6975cf28a2c0cf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SCsBAAluKQf6FrYNNmE1hnel",
  "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, 0.8097, 0.6064, -0.5106, -0.0189, -0.0383, 0.9998, 0.4683, 1.9259, 0.6567, 1.108, 0.4068, -0.0002, 0.3837]\nstate[eef_state]: left_x=0.2766 left_y=0.0017 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1346 left_roll=-0.0011 left_gripper=0.9998 right_x=0.4506 right_y=0.1536 right_z=0.1064 right_yaw=0.0939 right_pitch=0.4404 right_roll=-0.0706 right_gripper=0.3837\nstate[joint_eff]: [-0.1162, -0.8684, 7.0906, 1.7705, -0.0708, -0.0317, -0.0073, -0.2667, -9.5658, 6.1333, 2.0098, 0.1441, 0.0073, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea85f1f209ca5e80e938a89a1d3bb4122b9625614161950aa29d42ab9a099dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9ca9ff45e5a5063e2e607f794a89e00ad454ab22962b3c83fb4536fceb505a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59fc7192b8b39c6aca104248431c4a615faf74775a2e0212ded9b61ee37bb982",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

{
  "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, 0.9998, 0.4652, 1.6939, 0.7414, 0.6521, 0.4381, 0.0067, 0.9996]\nstate[eef_state]: left_x=0.2824 left_y=0.0016 left_z=0.1599 left_yaw=0.0029 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.9998 right_x=0.4461 right_y=0.1441 right_z=0.1413 right_yaw=0.0793 right_pitch=0.3141 right_roll=-0.1261 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.306, 6.9402, 1.8242, -0.0513, -0.0659, -0.0171, 0.3624, -7.3094, 6.0103, 2.254, 0.2125, -0.0366, -0.0513]\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, 0.8078, 0.6064, -0.4957, -0.0193, -0.0383, 0.9997, 0.4683, 2.1857, 0.6655, 1.3678, 0.4145, 0.0025, 0.385]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1543 left_yaw=0.003 left_pitch=-0.1178 left_roll=-0.0013 left_gripper=0.9997 right_x=0.4534 right_y=0.1536 right_z=0.0511 right_yaw=0.0837 right_pitch=0.4491 right_roll=-0.0653 right_gripper=0.385\nstate[joint_eff]: [0.0342, -1.1282, 6.9128, 1.7411, -0.0513, -0.0317, -0.0073, -0.5265, -9.306, 3.1385, 1.5311, 0.1392, -0.0904, -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, 0.8097, 0.6064, -0.5106, -0.0189, -0.0383, 0.9998, 0.4683, 1.9259, 0.6567, 1.108, 0.4068, -0.0002, 0.3837]\nstate[eef_state]: left_x=0.2766 left_y=0.0017 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1346 left_roll=-0.0011 left_gripper=0.9998 right_x=0.4506 right_y=0.1536 right_z=0.1064 right_yaw=0.0939 right_pitch=0.4404 right_roll=-0.0706 right_gripper=0.3837\nstate[joint_eff]: [-0.1162, -0.8684, 7.0906, 1.7705, -0.0708, -0.0317, -0.0073, -0.2667, -9.5658, 6.1333, 2.0098, 0.1441, 0.0073, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ea85f1f209ca5e80e938a89a1d3bb4122b9625614161950aa29d42ab9a099dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9ca9ff45e5a5063e2e607f794a89e00ad454ab22962b3c83fb4536fceb505a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59fc7192b8b39c6aca104248431c4a615faf74775a2e0212ded9b61ee37bb982",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsUlDJwo-LEFShrTSV5jJqGKy7Y4QV8ohq4sHJB_WW81a81GCeMnryQFz2kd3nbdyvenfWYGpQSZJUn-9FaSIOsktPoQEbN3ZDb2AW7qTKiCReFj257QEFQktXTTTVg9ZMc-aYdkgbYCqIFCjkvNyEeOWouAdMvapow6AC1BgzrF40ZvUJjDMh6qXAtGRZpgtxHoXESw1ewRrxz0_Wmq_M1QkCJFcHh5sl51dovoA9zwapu_Q50BBUB8XOzw6vK_0k67Spu_dYeLuGrK63vH7TCgz-WFuhnRir61toXDsResqq6NDWl2E_2ZyYkzkd_8pCnzrhNWLnMuAqFKdHEBl-JqpFiEwphzhlc7WoTGb1aVpQEr3Z80lwuoLOgRPZnmETalHFYC8SZZ66pq2O0cvgdCFsXcaUP1YvGZ72-dv7M0EMkQ8mdehq07IKopC83ToH08xAMMoG40OsNpCbKsUBZOJccqbRrUSBZ6eQL1mg6X7q3lVtersDKq9X_fOr113KfHoKW9tkT32HyjU_IU0iy0Pf2Z8W2rIwudoUj72tc1a55AUQ3Ayus_vuiEQywG23mpzHuQ4ryweDPTGO0CnSSlSUXLaNmIcqzIavNAeb0emIpsuCVkpAQXAIDj-DDwMY27hnQESrFwp7n5PqGnCRQZcwAdC8-ml3TYvifwk3SawbUKsbEYT_cwYusUaqP9ldOX5qlkT-PUOX9cnPIIVUzHRTVqhUyJTeyV0dWslUDQNZIjGtpqkvTN34lv7CQfOgGTklq64myXuBYb1I4lJTEqS9ZRq1NvlDPIUrTPY7AnmUoCbxEpM4EMTuIJj-9uao44TyPJZiXcIPJbCxKMQBojIDvwOkpR_ce3JfvG2wMpuluqB5dnwooDIR8ESMdSPIJ55-5UwQE56_7Xgnzs1splSQsX5xPB_Zk9B13FhxhTiOyrwfguKEVqgKmmIq_YRHPsp2xldNUoNHtkrV-WUD-fQxDdH0esNpylhhcEcVicx6GbmvXIbteU0ZN32aDy-lGIKc3z0YZkVKq1v-vIao98geAlHN7pHPsK90MwIw0buKzXfhpvL6YAsqjg3FSG9O19UJwpHkgm78UA5DOJE2VokLX2r-_lNPKurmeXzF1rrGuc53clEqi72Ga9o_UJIS5TMQ8thhO5tMYGHs2farS9zDRqoGlAediOuCvCrmjOOp0oBL7Zqdy5uOWGcAPzlnKpMJZHXtw3WsIJz5s1bLbNsOWGERZl8j40iOZaXvdGbM2fxvXeLww1P0jLi9KTTdUGjCPmXYhHPfSj0i7AwdkhLMiaexybRUCBOglk0iJTwy_-IJYp0HvouCpsjUvlH-UIRerLEEk5Y5o3-bMKunsezjhuYxAfGAtB_2RRJXBnwQuZ0d2gl1y_bhY3KwKqvUas4qtcP7jnyW4WGoJyp6mC882ALV19cFvbTgxSKNyf-0iap-IyC6aJJyAon7qNPyaAgPAd3AVgxuB6tJDA5n99-yHFv6JVNaN_p1YpFI7JeSG8L62DwMqiiQVJEnJTmQSEXjtlM2f-23lio278-KT_Jt4ApwBHB-DhXdgjkdlDI2-5vZolu1oKZZxfsfF6uZ5CtfO7PCf4QfYRaaT2cVxleSJSXeUGA86rcD4LyP05KhkQSV9j2XcZgIHHNHLKiS2QYUvdKZgPVOByT_zEWEq7rziOjrG1kgYAZjdQLAHVh5kIQp_H8Ccch4WAZXleviikETPBCWWgjKyuEH--xIZmvQ0L3aC1Cit_PGpiHbnr43ADA7ZShTcMlqBzkfjILEMjUpH4CTnTOjHLon7ehDown6-3vI50A_P62Sv_tRvUuWVQSjPD8j6o8WwS0dOa5Ihsl-vFz710CsHXxuUCab7Q7EecycCqLFn9umAn6zMmHTYS-KT-7HuYGMTaeLkAJ6BWcgzKFu2YhRdTTTTmUBO68Pziz9CI9wHihlW4NgTJKkoQSNfrsiTnaItqqt_QnDpd5jAp91bSVaJkmhMpA8nK6x-oyrUo4l7MPZSoD5ERBBf2Cn1RgAacYJifjvo8Mh_JuDVrmNL376kGad7lG08itwg_nMIrjDvjVGAG5GO3RZv2FYT0bboiBsnDxnEAyZ26zQb6rLrZnQlYtgpl14_pjEXSm7VT2u4scxMrTgMQqY=",
  "id": "rs_0fc0d1298a6cb22c016ab44b1187ac87d0b8da58ca33be31b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_z\":0.18},\"note\":\"The overhead view is still partly occluded, so I cannot yet distinguish the lifted object from the gripper body. I’ll retract and raise to a clear transport pose; this will both confirm the pickup and keep the object safely above the other items.\"}",
  "call_id": "call_g1GwTVKNMaT5XgVkaJ8kKv1M",
  "id": "fc_0fc0d1298a6cb22c016ab44b131c9c87d0a6f25fcd4caf64fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g1GwTVKNMaT5XgVkaJ8kKv1M",
  "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, 0.8139, 0.6067, -0.522, -0.0193, -0.0387, 0.9998, 0.5495, 1.5391, 0.5827, 0.8062, 0.4614, 0.0002, 0.3836]\nstate[eef_state]: left_x=0.275 left_y=0.0018 left_z=0.148 left_yaw=0.0033 left_pitch=-0.1499 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4041 right_y=0.1594 right_z=0.1764 right_yaw=0.1227 right_pitch=0.4539 right_roll=-0.074 right_gripper=0.3836\nstate[joint_eff]: [-0.0615, -1.1282, 6.9128, 1.7607, -0.0806, -0.0659, -0.0171, 0.0205, -6.1197, 5.9282, 2.0098, 0.1978, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7704129e50e9dd57fea9c0eefabe174e90a4b301e09a44e4a2ec64edaeb68dec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de54075b7369748294deb6a7819f98c42d0bce8d52a191704545855011c383b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6848299c9b63bdec47d0e027d4df58bacd987999a04483a1d430ff03fcf354f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4805, -0.0189, -0.0387, 0.9997, 0.4644, 2.1845, 0.6601, 1.3235, 0.4355, -0.0059, 0.9996]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1572 left_yaw=0.0029 left_pitch=-0.1026 left_roll=-0.0021 left_gripper=0.9997 right_x=0.4513 right_y=0.1468 right_z=0.0402 right_yaw=0.0742 right_pitch=0.4053 right_roll=-0.0982 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.5385, 7.2547, 1.7021, -0.0024, -0.0708, -0.0122, -0.1436, -6.065, 3.5214, 0.6618, 0.2173, -0.2711, -0.0513]\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, 0.8097, 0.6064, -0.5106, -0.0189, -0.0383, 0.9998, 0.4683, 1.9259, 0.6567, 1.108, 0.4068, -0.0002, 0.3837]\nstate[eef_state]: left_x=0.2766 left_y=0.0017 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1346 left_roll=-0.0011 left_gripper=0.9998 right_x=0.4506 right_y=0.1536 right_z=0.1064 right_yaw=0.0939 right_pitch=0.4404 right_roll=-0.0706 right_gripper=0.3837\nstate[joint_eff]: [-0.1162, -0.8684, 7.0906, 1.7705, -0.0708, -0.0317, -0.0073, -0.2667, -9.5658, 6.1333, 2.0098, 0.1441, 0.0073, -0.1441]",
      "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, 0.8139, 0.6067, -0.522, -0.0193, -0.0387, 0.9998, 0.5495, 1.5391, 0.5827, 0.8062, 0.4614, 0.0002, 0.3836]\nstate[eef_state]: left_x=0.275 left_y=0.0018 left_z=0.148 left_yaw=0.0033 left_pitch=-0.1499 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4041 right_y=0.1594 right_z=0.1764 right_yaw=0.1227 right_pitch=0.4539 right_roll=-0.074 right_gripper=0.3836\nstate[joint_eff]: [-0.0615, -1.1282, 6.9128, 1.7607, -0.0806, -0.0659, -0.0171, 0.0205, -6.1197, 5.9282, 2.0098, 0.1978, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7704129e50e9dd57fea9c0eefabe174e90a4b301e09a44e4a2ec64edaeb68dec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4de54075b7369748294deb6a7819f98c42d0bce8d52a191704545855011c383b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6848299c9b63bdec47d0e027d4df58bacd987999a04483a1d430ff03fcf354f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsbeBht3OYtvIyeZOeN-nuQBIJ7Ta3ai2HWpR6WgepIbq4QrjRNjdmWfGCEH3iPCoJI9YpY9Dmn708DPXaGPG4pREUqE4rAhHtca5-FfaMMultTTt3D01WPxbN4S5kkCP_ixmXbKgxIbOP-LOZNktlBKKyQ2SnrJWBtLbwsdSkmWhLyntfALOrv8MyMhoYaOnb-8S5NljGZui7xoEAkfAQ0xExeL5n1Wz4avH-Vg6OFJ7epu2_qi-A31r4FdZBLcyi-X3IR0BctR8JUuYIcYxiBRwrDn_ZSJWZQu729J0wDImDxiq6Y5YoqiF6vvCZIuPVOHTRlYWjPWsyNc0iRVd3WzDS_hnEU0eaP-NSmgh2NsseSwO5HeUYysUkYXmo0M8c_eyG6drCzl4KYQEefxeI1STjzCHdXbxO2KXhHb8lxtPhvv-_z1xBufedm9jh_QjKecMamEtbQwnoLcqyK74A5ZUHIBrjgeSy8udI1j3G_QGxTiaU9Wjjb2bYP3JhpYq3O8YofKmzOjRMg8ZQdpeoJotNNoY1xhxSrGO_4C0SF9dRuieznbvl6dKAMcvNsXLFL7we4HPzjt2tQBOr7gVdceL6Ly6rR0vLQpI9vogaf7aXtXKkBXPJhcLqXvZ5ocSMiwPC8KwAsiZjWOmwOtynXOnLq4i76CaNDR6osU_7crn_7XvJRb6bAmhc8kIZ7PJ4wqBX38LyA4_ygAXmHbjgI9RXxNjYsq_hxhOjRDfc4ZfHer1p98M4eKs4_WhIWNpUzp-8gnMhSUdjPQp7f9tAj5O8kyWgNTwgNr4Pw3yMyX9CElAyQL4uDln1ZsGZNovuLbTnrHIg86zHnW67pfJ9kOyXY4R37triE0_RVWzPv_3vM52yElh1BmWxYBw9jNAVi-uI-P9EfM_66cRaxfQZKSI0RF6_hd-Uda3FT6WepBv4Aaj7guFnmAOp3L_hMZBHcQSMgSWGwroMC56JSvUKG7_Ft5zPO-q651m4VH_jE1a27MeoJ-hyiTFUwu738C3NwyZA9iJEK3dvUki8Rmvt3fGxiTgvM-QYFMgqSeSSO8KdcMn93YNQwcjW3-tOKLc91acq55WZFaqt-jreUL0zQJdewNd45J_DgNyB3NaDMRoKZfrmwkPvwkj2C4ci27AksNIruFNAxvCn33YCp45Jd9wBN4z1BpJcGBhbasrcIdxAOvCG6lheyF_3GSg867R8yVWWYvqcFFPgicECDnH7gUfQ0L4rjs8HBZsLkDbvb8XbZ-Y8mh8na2ouEYdT5_vo7Q12Wum45QuER2zjRoOUfagCqDGXCzdA8k4CZQYdA5GknIZ4a9Xh3nRjZJ8U0yUekFcjFExZf7GEhvZleDRxysqjfqOKpLDHO_DPf3iHORryskKhlBpzjzIQAuNBMCZaMAMEXfxwWiJGlPiGBq89p5VquPtPZnDMG-rq1plqLzk5FUAO7x9alPCmgJh-tdoXwg2ncnu43tGk226heH-7I6A0nIUj4sixZMCjyDJYxm0YeRcSnKpV-w5IC_Kea6eeGCtlXritpUtEgdbRq2BZ-1UH6Y6ibOj7-P1wkyhr-g2E0MFj0E8p1RSrV2DqxZDpat0_azEvJEjBNpY3ID_dXKFEkS4NIRaelz0oiRlxAY1YM72zK3y_Q-fkM1W8Ae-ZnMxzn83RymsBdle1pS6Bd-lu2DdJIHmGpCBgANsFGPro2WhY9gxDZN8SfNDpSbw4QkiCzuEVFkGpLuxYDpn85owL3aLwtedJ9B-riRMLbKsVTlSYZOnSVyqC4bkA12PRPe8lMMgwA_pCXA617xnY79rLU1_IxuSQxTV33Rog7I5Omy0jatFOqWIzPvzfRh7kgMNuoWOoWqj0OmDPfAdtzND-NC5FmyQMvSFLcaS1JaBkX2C89Pz7qwIaTF3CeZx5xxbKLZUm_kY8hqMgoaXvswc0NEFovdY9VcKRmNYNUsHuAhNg6ivtR64FGT5HKs53_D6lcAMPGfR5O9JbRFhm4OmQhuIoc-1fWc8osFS18PXE2GXYUEBf7u77BI4OZVzv0oOJRTrZKyaiCBQlk0VEIC-EFgXQZs4qG9_o4K4A2v9dhRzY8fGsDM9NpM-DFi0pZDkRpJ7eYjmA5HFjZMZdiWsaV88tSLI-gvbpA9AQEQLF9WktkErPEQqsg1b9u5E61WwwOsIVZ0jCrFcHmrPsQkUjxqPnm-uLiR5Gk3HCBgyV_73TehCUn8qET6rxiKOaUcpkCxi1Cx773dyqO5Xay535zzt8HrshhLINQjYjqGBfXq_SdBfAK9OXyGblWfa86nwA27aVHRyGiMjyHHcVSYkwXSrbKXYij2E_LxOOoFf9XXjSUcz6kqDiELPNr8TmunsfLjZs0o-ENeV6eXm-Qsig4MI2NRzmovUUtCl83RtUUb30Frq79aUx2MFJ6y6R3yaEZAIZ9IHWVHG1PzSclDj2YpHEU4I8EfEtXQ6Krm_1h4UQhegB0I4grMqS3XnEwEkCXrkJn2TBtx0s3FQQlS7uDaX5G_EbnHR0Zm2-Jh2QQDnZBrXrXFxV6xhkEwbnmWvlfGnqqxAiDM-tSr96rtCEho6LgVPyBevcHQylm9YEWIq-ngHxUz-Q5eT0vQto0nXgIdSFfb35gPUXD58-rb_WJ9HjCyIMBXFpXPr62T2mPpygiTzcWPiFRL2u7oC9pAYZul1ODAv4MlCFRG3LVrz62OZHlrWXI4QsNh2gWd5swann2o8MJ_ZJIUFVm4cXGh8OTKcz_m-wnXGGaAukz15s0eWnRhaFT_acMFcALbGgyKkPQHiYs2ndYBuZrX9fSa2PvEAzqeFYowDXQakUo6KiZb7hJWPjbQNmNlmj6WpnLzruIAYeOyRqzh4sWrHCHbK5sjdy8aAyM7xi0Bj2JluvkIdLng56_YzTR9CRZ72tjbXnTSqMiriZlqz61FvQT9R9K30Vuy9kmcBrjrhSd3QqaY3KJA_eAdh2l0jvniZg=",
  "id": "rs_0fc0d1298a6cb22c016ab44b15fa9887d08dd2c1c57d32070a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.3,\"right_z\":0.2,\"right_pitch\":0.25},\"note\":\"The yellow object has moved away from its original table location with the gripper and remains secured at the same jaw gap. I’ll carry it high toward the center of the safe opening, shifting left and slightly forward while reducing tool pitch for placement.\"}",
  "call_id": "call_FnR90fPr6NjRZMC6bZgRORQE",
  "id": "fc_0fc0d1298a6cb22c016ab44b1a754c87d08aded5624bd3c6ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FnR90fPr6NjRZMC6bZgRORQE",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6064, -0.5377, -0.0189, -0.0383, 0.9998, 0.7937, 1.8343, 1.248, 0.152, 0.6403, 0.1684, 0.3836]\nstate[eef_state]: left_x=0.2724 left_y=0.0018 left_z=0.1438 left_yaw=0.0029 left_pitch=-0.1705 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4361 right_y=0.298 right_z=0.1924 right_yaw=0.1622 right_pitch=0.2427 right_roll=-0.0994 right_gripper=0.3836\nstate[joint_eff]: [-0.1162, -1.5795, 7.0496, 1.6923, -0.0317, -0.022, -0.0122, 0.4444, -9.2239, 8.7179, 1.9512, 0.3932, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c3c4aff9ff53166439e05888ee2904c301a5913ca8537971dc61b850d0638d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19d1f7a84e8f1a8c4f4f58d7d84bd020f065e36d82f99cfc025aba743d2ac43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1010b2faae04d2c4b4f67f8d80335d870d34a23a75bd728584579526fa351b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4957, -0.0193, -0.0383, 0.9997, 0.4683, 2.1857, 0.6655, 1.3678, 0.4145, 0.0025, 0.385]\nstate[eef_state]: left_x=0.2789 left_y=0.0017 left_z=0.1543 left_yaw=0.003 left_pitch=-0.1178 left_roll=-0.0013 left_gripper=0.9997 right_x=0.4534 right_y=0.1536 right_z=0.0511 right_yaw=0.0837 right_pitch=0.4491 right_roll=-0.0653 right_gripper=0.385\nstate[joint_eff]: [0.0342, -1.1282, 6.9128, 1.7411, -0.0513, -0.0317, -0.0073, -0.5265, -9.306, 3.1385, 1.5311, 0.1392, -0.0904, -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, 0.8139, 0.6067, -0.522, -0.0193, -0.0387, 0.9998, 0.5495, 1.5391, 0.5827, 0.8062, 0.4614, 0.0002, 0.3836]\nstate[eef_state]: left_x=0.275 left_y=0.0018 left_z=0.148 left_yaw=0.0033 left_pitch=-0.1499 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4041 right_y=0.1594 right_z=0.1764 right_yaw=0.1227 right_pitch=0.4539 right_roll=-0.074 right_gripper=0.3836\nstate[joint_eff]: [-0.0615, -1.1282, 6.9128, 1.7607, -0.0806, -0.0659, -0.0171, 0.0205, -6.1197, 5.9282, 2.0098, 0.1978, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6064, -0.5377, -0.0189, -0.0383, 0.9998, 0.7937, 1.8343, 1.248, 0.152, 0.6403, 0.1684, 0.3836]\nstate[eef_state]: left_x=0.2724 left_y=0.0018 left_z=0.1438 left_yaw=0.0029 left_pitch=-0.1705 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4361 right_y=0.298 right_z=0.1924 right_yaw=0.1622 right_pitch=0.2427 right_roll=-0.0994 right_gripper=0.3836\nstate[joint_eff]: [-0.1162, -1.5795, 7.0496, 1.6923, -0.0317, -0.022, -0.0122, 0.4444, -9.2239, 8.7179, 1.9512, 0.3932, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69c3c4aff9ff53166439e05888ee2904c301a5913ca8537971dc61b850d0638d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d19d1f7a84e8f1a8c4f4f58d7d84bd020f065e36d82f99cfc025aba743d2ac43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1010b2faae04d2c4b4f67f8d80335d870d34a23a75bd728584579526fa351b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEshLmq3N09yPHxQUhy2-eakVe3cSkXK3fb2xQLVkKc1PjPrG-CLb1gnBOXShFwdcVMe0NjqrzEh_2q7FMoRDyXEIT5iEPUgNWxG85kko9IyuPJTtvDW_Yxqo1oy48Z5MBPjqPQqCBwOWr2Xk03b7t-eL-d1XdaydxHpF2bmK526XYPqwLTZhXaBV0pHiTToWBkrbMSgLdodfYjEBEuxkYS_6TW6h4r70wOwCUk0g3Lq1uqbwTwh2RECQQv1G2yYtsT8vqyL7btmRqeaAOHjLeT4CoIaByX7eC7IWa9_CHezf9J_o_Feh9-7kd7U4Rj4PglCJMHREEqi7fW2Ki7wCjy0_wFHFbzH-eOjRGCLFcrkNYq1CcnECpY8soObOxXfCrG1AKeMh5hUldYzVve0L1PP6DT2SLF7ohvHFAlV39CZjv9gvAbBvZzxREhQ4AdhvuH3HwdOYRlFydlhqT8xodBxP-0UpX6bBBLaJw1dEPzvQ4cvTYrHoKZTNAv_94qbYg4Hr4RmueDIdPSyHi0tGLIYtKBlwQrf3ouDPs1UtZc-L_uSOqYpOda_ZK8I8tkUrMMRjyEIZh0zNDUs9Xc8Z75G_4s31Z7ao5r-WfHJtw0lLAd4IO46xYLXk9ZfUOlsSEI_WWXOcBOgXQa7e5AScTxTjeVAYqGEheU4SpNLqNQGbBnRsNO2sXThSVs2tI4AkFSvG7ZP206Sp25R13dTdAamK2IO1zUmVqoCXgKZQW9GJeLmkmDrkVPyxN1NpvQobeDT3GtcP67IuNflf7_c3G-tDN1-rnSVozba654Ul-E9ttZeLBBlzzzckwAWMbvSREQuzaojHfy-36lX-SdXa453c_-6s277M49-IaGEkpagHJQIm9gDi1jWEDxVnPs9Nr687oMcXKM9KFQYH7zhZQdP1Lb58JuDlGvt2WgBNXMnIi9jbRaQ8ZUDtLXf4G49J--VAGhoPBcWMP_nAsjgAz4S5eWbjWkoqF4JUOskpmiFCdhpnn75e5plfsKnMeKLvCcnsA_uAvGVHGpFyAtodcf1-F6VSYgH1uVCXa3ReheYJ9VDXht_d1ClONoE-mkYCEpH_x-AqzGQGVAjNO9pz2feOSUoPgrbFvK4GMuhV8c7I2CD8c2AaM1RnRPs_vtKVDL8UDBTgm1VpqdEprfdwi_qtaeVPfHzQB-WwrqKHYu0WtMhC9OQdB5l313gjXKb5Z4vmR6cRC0v2sGfI2sE7oUZ8qwAqFaxupol29hn4ppNK7cnbG3XBraBMBkno5ORUfY1w2fRe0m1RpfJWd-fyG2aQ0INfEYodUPP5RuHlrU_rlSjjmwDKG0OF5BA9HPmHINvX-JIGWY2hSEFVq28ZpL_ndDh3VX6I0-QLYE3f0Uadaa4ERPH2l1GrH2ihcWZRDwQRysM1KUHSeiBuURFQqJnhUBi-IJuRzVoWIfIf4UYLDtpiAdQ5AkOrBVuJKb5hqBx40QMp7pDgX9bEsadWjddNIj3azbJZVXzWLCMxgz0FF9YDc8HW6EuH3igxPtO96lE-kHR5fIe1ZquOiPARLex56RsLiSsi9wG2Ppvo6fxO025lCBahFmcKczjjVwXSPMcOFR7sLwqvWkV8znhIRQ1XyUC_ScttfDtC_oUw2DaTtpid_qXLyb6obMKsD5fIO-gU3P3-dcga-oN_kF3H9QlOZ4lRLh9Qeb27DwSO7O6mwN8R9x0WuKOKW-8TxLTLL1h1vDVimOh7bsG2agSDGgm0bdk-njb6XgsUMASTTj-W7jI9e5EFmw5A80DxxKoqVkBx4zr_0A3HYNraMkWWepPXeZw2WQdJLoAldoFOPnmNEONGKgVmYdg2l7XBEMPIDHevW3Af-IDjOxilr7l_oawS2FN7DFuwLzcHQT0mwbPS8c7aaX43oY5PQXUEccaXiB80DeidcVwdT-E_5Rvy2UfhBTyltbHj4UeGHg98K5NncJKeyD8IeBw2w1i-ZSE5kaMHNlsrZEc1p0jL89BzoqNJs9LcvbvJM2pj0mmDnsOBr2MCwrPm6Z0UyjCQbd8Hmx48KkbkPTLbNv5u5qO_lMxpfnkaHDEN3RGsIC4j-zxYSMNMosdKZEPFQlgp36OiALPzPVQWyvgK8_APm3_DxFOdN3REVN_ucU1lwRmqzu5thLGNdkM4OzoFycYALX9on3YyADqbLhxMMQqkjFrIpWy712t5N88-SHEFvaohfBbybfN5LGrAQY6LWtouOKYMNotr_DyigonAvhbu-QS8BRHi5M-UCG3I-_HqEu-KZCHBlyaQR3RSZjEh_1Y2dI5mP8ZQS7P7q4y0qYDTqRKstpI37Pa3srCxAFuyMpJzhJADUjXQCP3Iq9QMl08hqfnvdfaIpVuZJrmn1RCMzWeVIZxr9MoLWbm6ffszx1SU71zfLe7PCyQPRss7Qnw37eFrqsC2CtVkiysb5ut5ue7wg7grZ7nnwxmDPVVQsvBxWY5qf0BBUqYv5n54aHMPoEPpX7dMDb-yPLPHHKzpCdD1aczHswIr-q1fVtsNWblSAagE6HKeXe1NDDbaMGlyvzLrdNV",
  "id": "rs_0fc0d1298a6cb22c016ab44b1db5f087d093254a6a90f954e4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.16,\"right_pitch\":0.45,\"right_gripper\":1.0},\"note\":\"The overhead view now clearly shows the yellow object still on the table to the safe’s right, so the first close was short of it. Using the safe-centered readback as a reference, I estimate the object is about 5 cm farther forward and 12 cm to the right; I’ll reopen and approach that corrected pose high.\"}",
  "call_id": "call_IdsDKbZuVajkecIV9Dcc4k1Q",
  "id": "fc_0fc0d1298a6cb22c016ab44b208e8087d0afd74fb597c8f7f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IdsDKbZuVajkecIV9Dcc4k1Q",
  "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, 0.8188, 0.6064, -0.5533, -0.0189, -0.0383, 0.9998, 0.4736, 1.8568, 0.8982, 0.717, 0.3832, -0.0265, 0.9962]\nstate[eef_state]: left_x=0.2698 left_y=0.0018 left_z=0.141 left_yaw=0.0029 left_pitch=-0.1865 left_roll=0.0 left_gripper=0.9998 right_x=0.4839 right_y=0.1778 right_z=0.1435 right_yaw=0.1481 right_pitch=0.3618 right_roll=-0.1238 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.1145, 6.8581, 1.746, -0.0708, -0.022, -0.0171, -0.212, -8.2393, 6.3932, 2.3272, 0.0708, -0.0317, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be9edda0b4cf177fde8b902f601b18d877f80e45487dd88dda5baaefd182447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483e1a9f69274d6211a19305bf6669220c9dcf71b207c406583d828d9a3a5bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d104c2a7b451035f3bfb02d813c846b6207166d20fc42ba5c05dfabf2ccb8f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5106, -0.0189, -0.0383, 0.9998, 0.4683, 1.9259, 0.6567, 1.108, 0.4068, -0.0002, 0.3837]\nstate[eef_state]: left_x=0.2766 left_y=0.0017 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1346 left_roll=-0.0011 left_gripper=0.9998 right_x=0.4506 right_y=0.1536 right_z=0.1064 right_yaw=0.0939 right_pitch=0.4404 right_roll=-0.0706 right_gripper=0.3837\nstate[joint_eff]: [-0.1162, -0.8684, 7.0906, 1.7705, -0.0708, -0.0317, -0.0073, -0.2667, -9.5658, 6.1333, 2.0098, 0.1441, 0.0073, -0.1441]",
      "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, 0.8185, 0.6064, -0.5377, -0.0189, -0.0383, 0.9998, 0.7937, 1.8343, 1.248, 0.152, 0.6403, 0.1684, 0.3836]\nstate[eef_state]: left_x=0.2724 left_y=0.0018 left_z=0.1438 left_yaw=0.0029 left_pitch=-0.1705 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4361 right_y=0.298 right_z=0.1924 right_yaw=0.1622 right_pitch=0.2427 right_roll=-0.0994 right_gripper=0.3836\nstate[joint_eff]: [-0.1162, -1.5795, 7.0496, 1.6923, -0.0317, -0.022, -0.0122, 0.4444, -9.2239, 8.7179, 1.9512, 0.3932, 0.1929, -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, 0.8188, 0.6064, -0.5533, -0.0189, -0.0383, 0.9998, 0.4736, 1.8568, 0.8982, 0.717, 0.3832, -0.0265, 0.9962]\nstate[eef_state]: left_x=0.2698 left_y=0.0018 left_z=0.141 left_yaw=0.0029 left_pitch=-0.1865 left_roll=0.0 left_gripper=0.9998 right_x=0.4839 right_y=0.1778 right_z=0.1435 right_yaw=0.1481 right_pitch=0.3618 right_roll=-0.1238 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.1145, 6.8581, 1.746, -0.0708, -0.022, -0.0171, -0.212, -8.2393, 6.3932, 2.3272, 0.0708, -0.0317, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be9edda0b4cf177fde8b902f601b18d877f80e45487dd88dda5baaefd182447",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483e1a9f69274d6211a19305bf6669220c9dcf71b207c406583d828d9a3a5bb6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d104c2a7b451035f3bfb02d813c846b6207166d20fc42ba5c05dfabf2ccb8f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsl1zsvCySRSC0i7P6k6GA63rcQqNtYbfNoPkfFENIyarCaycHGnF-l6ur1fXqnSW35Y0L5t9Fuq1uwlILhloacKsW1Y_4pV4L-8qd1-hycUEJzKDkxt80xZMSoxPA-BbhnM01CW3NA8jsqHuGRWbMy8H9vZHuTq3Gf2315Y0fuGZAcv5ghMKdxKLHzD_z9NGrcJnwddgiWUbzWA0UfYjCC2gbLHlSyvW0teKcK4NWWi0HguU99R3utp8ZVa8y3Ihb-3NLQTJdTj1Lx5GM-OILSF_Da-cOCZ3e_-7GmMfu-do6AmRFS2MlK1Hnk3PBBEbERvqEieTjBFDqJKOL2ST7fR2dBjMx58W5MJO92XUJ-rD9aqCribBr2K4fMoYnFjUgpIrnKPvPJ3sd7Fbl7AtMnFvrFM28VnpwDYAE4neWjdQTYlVIVun0nBMCnL0Y9xG0UAuFb2nPyzYbCMjE8_jbs-hdAeAEff8ZNoOnIvl4PFuzsWFPPQpUNoQ1afAeWoxVZ0scRzJh4tcQQCtbbz46RAtCz0Qx9kw-RTl-np9-k7R2Q6Eo9DvIBU9IDnWH_K-HOtvfTl8s8OBakkb0KYWbiJKlskSm7mCnqawuONLCwRXD2j5OBR1ToUxNSs4rym_osC0AEOLG2eql5itW3oILV7pfHFC8kV3t1tqC2R4mjvT-P3E3Ni5pMIE9Qa7Fz2Ek0mP808bBp0CJU4k7ZyK3cyyatc5yrPhi3wDOZwzfTncxgn2nmEFBH6BpB-5KxgvSXZuk222anbi_gnFm1G-7FfjnwhceMbE_JsPnOwrvCGw-41kquVJsV4UnE7RYyKJErpRZ116OeHEFq7EyswfjSxDbZYuY0Tz84EbvccRfpAQEklOkRSCWlddeX3N8mwUHemX84mGQ-zqQFbrg7JpQUo-I7Xg_2rJReZruEwvO2Dtq6ayKzbdbhgQfAQMhgDnFfrvvGuB9jWaiNbzWZsVCajoD6WL2XffC9AN76nKLGR93vYnA1ORQb5tkYyN-bBBlHppEM6YfR6XcAlViVrxLpZXOdOw17eKxKw9oUWIVCbJ950J6TivoH0KBhqBSpJd0sPkAHhbKW1qyj47oqY6nYem4nUu11cyyq56_KIkOHKSSaZqL7gUJ8ZR5F1gp6_XZWCUJAAuoyr5SmF_dfFO2VSzcdDCuvf_LRyx4ls7qIXelJABjp6E1RYndCfXFqtTpVW6lUBGfeVrDm0dgVmKf8NClE0oXWdwfJaSWpfF5bBDV4kFfsTR_-gKuTMACddhCG-N8pt4IPRVrFO9ZmMFEuKeZ3fxJaK20tWToeaT60uPA7G0XfQs_AyrqYZVmg21m4nBVwmPczNl576Qi5mNN8xl4zBXBtUSSMblzZJaWgQcmlFlGkCp783Ftn-eF6TeoB70__YKLOh58POzuLHjf6_Q==",
  "id": "rs_0fc0d1298a6cb22c016ab44b238ba087d0beb1bfeb862f8d8a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.025,\"right_pitch\":0.45,\"right_gripper\":1.0},\"note\":\"At the corrected pose the yellow object is now occluded directly beneath the gripper and no longer appears ahead in the wrist view, indicating the fingertips are over it. I’ll descend at this same radius and lateral coordinate to grasp height.\"}",
  "call_id": "call_G17rEPzz63TtYJxottMHctAu",
  "id": "fc_0fc0d1298a6cb22c016ab44b24148c87d082205fc1e3149d89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_G17rEPzz63TtYJxottMHctAu",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6064, -0.5632, -0.0189, -0.0383, 0.9998, 0.4721, 2.2936, 0.8665, 1.3163, 0.3943, -0.0761, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1382 left_yaw=0.003 left_pitch=-0.2002 left_roll=0.0003 left_gripper=0.9998 right_x=0.4934 right_y=0.1797 right_z=0.0506 right_yaw=0.1477 right_pitch=0.483 right_roll=-0.1336 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.5658, 7.0085, 1.6337, -0.0562, -0.0562, -0.0171, 0.1846, -6.5983, 3.959, 0.7643, -0.0611, 0.2808, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021378fa1aa364f67296aa4ac603bc2b208c9f36d2448e11b8d1bafd2a57d6b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5942e271675cd0fd1dc0e3b35a2bcc1decde18c53a387868db7bd0b7566f1679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c88926a96ee8a2afe1289ab49306f0c8ff622ad6f9a6eda9bab0c6e558e5c2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8139, 0.6067, -0.522, -0.0193, -0.0387, 0.9998, 0.5495, 1.5391, 0.5827, 0.8062, 0.4614, 0.0002, 0.3836]\nstate[eef_state]: left_x=0.275 left_y=0.0018 left_z=0.148 left_yaw=0.0033 left_pitch=-0.1499 left_roll=-0.0008 left_gripper=0.9998 right_x=0.4041 right_y=0.1594 right_z=0.1764 right_yaw=0.1227 right_pitch=0.4539 right_roll=-0.074 right_gripper=0.3836\nstate[joint_eff]: [-0.0615, -1.1282, 6.9128, 1.7607, -0.0806, -0.0659, -0.0171, 0.0205, -6.1197, 5.9282, 2.0098, 0.1978, 0.0952, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5533, -0.0189, -0.0383, 0.9998, 0.4736, 1.8568, 0.8982, 0.717, 0.3832, -0.0265, 0.9962]\nstate[eef_state]: left_x=0.2698 left_y=0.0018 left_z=0.141 left_yaw=0.0029 left_pitch=-0.1865 left_roll=0.0 left_gripper=0.9998 right_x=0.4839 right_y=0.1778 right_z=0.1435 right_yaw=0.1481 right_pitch=0.3618 right_roll=-0.1238 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.1145, 6.8581, 1.746, -0.0708, -0.022, -0.0171, -0.212, -8.2393, 6.3932, 2.3272, 0.0708, -0.0317, -0.1783]",
      "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, 0.8227, 0.6064, -0.5632, -0.0189, -0.0383, 0.9998, 0.4721, 2.2936, 0.8665, 1.3163, 0.3943, -0.0761, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1382 left_yaw=0.003 left_pitch=-0.2002 left_roll=0.0003 left_gripper=0.9998 right_x=0.4934 right_y=0.1797 right_z=0.0506 right_yaw=0.1477 right_pitch=0.483 right_roll=-0.1336 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.5658, 7.0085, 1.6337, -0.0562, -0.0562, -0.0171, 0.1846, -6.5983, 3.959, 0.7643, -0.0611, 0.2808, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021378fa1aa364f67296aa4ac603bc2b208c9f36d2448e11b8d1bafd2a57d6b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5942e271675cd0fd1dc0e3b35a2bcc1decde18c53a387868db7bd0b7566f1679",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c88926a96ee8a2afe1289ab49306f0c8ff622ad6f9a6eda9bab0c6e558e5c2e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEspXRsrHZNQsT5TT7DGSCRmIjrY7faGIrNIpckeULJxF5AHYAwZ4G5J_OpT8xOSQ6lNlezvuonov-EC0wYWdOY5zaKyo7zSbiSjikjxeChg9sT9IOPPuK-IQ-ADd6qa4HNWjJKcUp1Tl2CP2eykvce9l_Xa6V0P85blEzdH8XY5LpxiwHk_a4ERqwwPUi5S7_YCEW9FVgvk9rWIc7rYkGQZ2B5rlN4nr-yf83hfEELgxR7nPDxU8KaWw7O-EtxzMebV-EW68H9yOCmSbeyuL_Zj1qnl296S-0hSDWXNEEeYCacmfhl56tq0Lk0KjDR2IkGzswtRtOBVsD_aqtUXv0UlGlGNWpx-4f0IIg7jbUdcFMyA0MOcs70Wcrz9cqmy5qJcTJihagPUseDLhzAyRrGazaCQSvmZbf2zG2ENqHZtiOzMPgAgebs2_NuaAvs9JIYLu3t5uIqQr2cXtHLKjG5r_V7ZYqDl8jP6K_qRZhMXvO8Lhalm-yf_6O8kHL22x1-nm8VJYkfNneRmcfTHTfeP_DDpFENhtowrmnn3p8uHPZ0K8ZCAoyvgfu5q4kL4cJC6VyslQ7UTv--cREiY0eAraHZmosfzKBbMHb-OXfytJu1gG37QYUbMED1B0pwZ_toa1ClMofOlMyzTXlBmvlQ6xKNoIUe39SIIRsggodi8B6mdBUdkTEl1-Pd4LGe4jt9YTDhX7PdMnKrCfm92qy4GoX1O8NnMUoDJONfz28qEJauvEn4cJerCLbIvgLvBxrXpOu9WeDu_iDGbPCWul6lcy-qQLsKAznmJxMUVN-w6dDKLugdbPw4-QvnoTYmki29I2ETECQ-DERq_syFSdgEzxw4Sn6dqSNi6cSuQu_T9r24slf4wMDSY6RI-keLuiGN58k-64lksnfgxwhf4bjQOO8k_8wDhT1EdoU8oDZZYlVkGgQPTW3NS-qrxpirPPpT7-mngYuuvloogyuPPbpfQFwRCv0N8dJCFTqbr4C1QsDvqJRXNVVSy0vAuTx-F4KI_ggKizv4wXxNyIaLaQ6XzAZi_zIIp-RqPu329QDPzF9zThgbhgRb9N40UX9-CS7CymwxTup6YL97kxSElnW9mUFRYaxhsWaMgDOjCtsZZaEyepL0WBS1Zxr6yVa0RHdSi4c1PC0uqV0Kthc3M0rGkzAeNkUnT9fdmPkpdWCh3w3Y-5OZNFsv5NW95mkmZ3mKUVK0f6NQQl_fvqpxyAAba_LB0sw50E8wFNqXS_rrXiofjh1eoNFZq2Ziv_W_poRMLPFZTTmphgOb1ifgztM-IXdDbXgsAPbBHZpGzhwnIoAWny6IP--ejEMk2hfGdQ8JgNBCFmz2Y2jqa2ZXJZg4pPoD3LGEa9-FOqBSk7eWW5FZVK_bnQlLGjp3ieDRQDUNiUu3oUoo5FHm1PP8p6qDAzUlFmbRmmKoD4c4CqIexjwVpcLQpeIeui9t2huzWlwAujzqqMgg2eLkvm72rxIJfRGoMXaRqB1bRPSgZPmg44Apih1f8osQ09He__DQWAqH_gk4p69o-NRi6Sov6IxlpQzd9TPnhmRbNPgN9-ios5CPjB4bYiy6T6hlQEC2DDRTuuZe3IeY8lr6e6eljQPTXnH1b_u46E2ZEgBpxqo5uzIhm-YZQNMATP0ZJhDq_SNKGZWfoTZsf6fhVXKGSWpQj-e2xcnukK7sHa-vWV_tYhHCcBEIQEfhG2XP3n6breLMSHX0qhV3wq7Wr__AjUjw4yOlFf6OboEDkfuqQNouyvVvso_YBu_cxz3VPTkVpzenZj7YdUzg3JW0fl3e8lkPeb8-sYc4KKY4MMvtv8uj6WN-7PbaJeUCvlAQLzeD7r0IJNcitRo_FZ0_38VGhyjfHHwQUxn8Pwu6FhTuHTT_6Os69tebp_2Fix7HXxlv7n8DF",
  "id": "rs_0fc0d1298a6cb22c016ab44b26bd4487d0b1f37cc75c603049",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.2},\"note\":\"The yellow object is now visibly between both fingertips at the bottom of the wrist view. I’ll command a narrower close; contact should stop the settled jaw reading well above the target if the object is secured.\"}",
  "call_id": "call_4FirnbMo3ImKZGMDfwujD8Ea",
  "id": "fc_0fc0d1298a6cb22c016ab44b283ea887d097735440b3500e96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4FirnbMo3ImKZGMDfwujD8Ea",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5816, -0.0189, -0.0383, 0.9998, 0.4694, 2.3028, 0.8711, 1.351, 0.3962, -0.0883, 0.205]\nstate[eef_state]: left_x=0.265 left_y=0.0019 left_z=0.1345 left_yaw=0.0031 left_pitch=-0.2208 left_roll=0.0008 left_gripper=0.9998 right_x=0.4951 right_y=0.1787 right_z=0.0556 right_yaw=0.1457 right_pitch=0.5108 right_roll=-0.1366 right_gripper=0.205\nstate[joint_eff]: [-0.0068, -1.3744, 6.8308, 1.6728, -0.0464, -0.0562, -0.0171, 0.1162, -11.3026, 3.3573, 1.5263, -0.022, 0.0366, 0.1294]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812e1dfd7afa3f509f778b37fc992ea8ae7a08fc3998c0a6dc17d97667fa8474",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209633e59917ddc670f137c5938981150226f012aeb1d8fa7b4b2be07cbbb807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147fb3d642aa74bd164ee8ba30b15400cdbf1f151bce154dad4f42fe2e1725e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6064, -0.5377, -0.0189, -0.0383, 0.9998, 0.7937, 1.8343, 1.248, 0.152, 0.6403, 0.1684, 0.3836]\nstate[eef_state]: left_x=0.2724 left_y=0.0018 left_z=0.1438 left_yaw=0.0029 left_pitch=-0.1705 left_roll=-0.0003 left_gripper=0.9998 right_x=0.4361 right_y=0.298 right_z=0.1924 right_yaw=0.1622 right_pitch=0.2427 right_roll=-0.0994 right_gripper=0.3836\nstate[joint_eff]: [-0.1162, -1.5795, 7.0496, 1.6923, -0.0317, -0.022, -0.0122, 0.4444, -9.2239, 8.7179, 1.9512, 0.3932, 0.1929, -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, 0.8227, 0.6064, -0.5632, -0.0189, -0.0383, 0.9998, 0.4721, 2.2936, 0.8665, 1.3163, 0.3943, -0.0761, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1382 left_yaw=0.003 left_pitch=-0.2002 left_roll=0.0003 left_gripper=0.9998 right_x=0.4934 right_y=0.1797 right_z=0.0506 right_yaw=0.1477 right_pitch=0.483 right_roll=-0.1336 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.5658, 7.0085, 1.6337, -0.0562, -0.0562, -0.0171, 0.1846, -6.5983, 3.959, 0.7643, -0.0611, 0.2808, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5816, -0.0189, -0.0383, 0.9998, 0.4694, 2.3028, 0.8711, 1.351, 0.3962, -0.0883, 0.205]\nstate[eef_state]: left_x=0.265 left_y=0.0019 left_z=0.1345 left_yaw=0.0031 left_pitch=-0.2208 left_roll=0.0008 left_gripper=0.9998 right_x=0.4951 right_y=0.1787 right_z=0.0556 right_yaw=0.1457 right_pitch=0.5108 right_roll=-0.1366 right_gripper=0.205\nstate[joint_eff]: [-0.0068, -1.3744, 6.8308, 1.6728, -0.0464, -0.0562, -0.0171, 0.1162, -11.3026, 3.3573, 1.5263, -0.022, 0.0366, 0.1294]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:812e1dfd7afa3f509f778b37fc992ea8ae7a08fc3998c0a6dc17d97667fa8474",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209633e59917ddc670f137c5938981150226f012aeb1d8fa7b4b2be07cbbb807",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:147fb3d642aa74bd164ee8ba30b15400cdbf1f151bce154dad4f42fe2e1725e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEssqviDk7qpURM3PGXw6gsay61gF_qFSl6T87_yQw-cu0XN1h2enJAa4imBOe3fDjLTCO8bUZ9iI9iMRWhf6cY-kLaI5X6UjO37HkUJ56Rw5P9qz3yrc7HDpO7oS2Jv9qN03LAX_wRGD1btVLChtCi9x4cGQmGM2EzCqPCCCo5uVONBY49-MyoWUgZgCDCrM5txI_vjrpHNO5g2v53yLYw2MOdTYxY7NFRsSDi6mm6PSzn9Nb1sJGn2uncSorHc43jtszlPYzZMimlf-It7dykxyGjx1tMZxiCq2_bw1ZiFSC7tblsf9TiWHDQkTvDDBAkdGPLzeYJu2d7DwJAAT-HR4A2uffyrQ79O8Veh-jFnuL9eQozLbXQH4y2mwTflanz8l56mic9nBERFkMl3XWGN05mhfSZMVvNTGJrhQ9NjFj0ZO8sqDPVFoA2bCeeu61JZVfR-yim6B-x7wc9Y3SAI_09wbYTgHOOsVWxfqff3ncAr_D3luZTsZxyD987FPBTYcjw1VKSboi5aT6QoObQknl0VPKWpFyJiwfXUiAk_ruj7FSfj73EF4jKuKGuPBxHN2_WUuEgCmBvlC4jlKp1ecih9InNCDPB0SX_Ob5J1EjRiL-ii8377jdxPGuZxuFghGr64hiDSb4RvVMWqJQQsnhMERiErD5NCRLi6a3yVB_clXyB-zjCKcDEWLprHUOSMtB3M2B1pgwDH3_IBq6VdDzQ2gQoZ00InxZJDhzzr1-tvhRWzloDp5Mematt7DcdxhfAQkr35wha6BTabEUGvJ4wNN_WQ6Bqy8YNGnccGTobYssnK3_D9g15IQ0dsXYiktIoq6QH9a7vW26qir-WK670CGw4noZ6GaQLFoYCz5b0h1OYcDEY4d2UAYzmGNRIpozWDqaJogVMiQrDb2xxamgOnZMmp9iWmiJTuQ1l5nJ7OTyPiVCPkXPjWvth8oryGvA4BOVMPNL4vahiXnLNdaOiDSYMXumfITt0umqmm4hhDCWtxDyWd5oMrG8TBOAosc-I0GxqTKDunnPMjrzh3kkh99ggUiFKDX7138nQYYIf_wIRNcdnxOhI8f2EtXB5j5Us3aSaJgWIHQ9PN7jiT1jE214c8TgWt2WWBuFMUR2edy63HolbxbImVCFV2heEZjD4fV3kPYT7k9-jnsnBKFpmCvMTAhTl0lOh9UqwmE1kI1QHXFphjzdFRwaDaBczGlSsxseOi5FQ6vyAZvYzdJDPMwuoNzY5ua_SAcu0923hF0qFaDXoV0IokxjMalpfMruLH4Y725eAtErURFbL1haahO-iGYWulICOGhILXWCGo-fdz7MzEQPO--efMEoUYoKK6PZoCcV21a6MJlcJAvi7B7S1jZ_l4YqqyjBM5cz5ES5fRTstNtdrisouARelZgLdPtdplA_cwwVqcQ1Yf_e5kGBQ8o5AL7S4qI-g3PYTAqCgbYbexOm7WymmoWAWvW33ySrzjoL0rDFpCt1LiN4gt94dOYkSVAc9xptj7m7TwKefq4RkA04eNS4-ul0P1Q6xO09EePy5iPBTjeItMyrdTB1NrAfkzI4USeQg9gTOkL14WTan812HWUJmpzcfPp6zrjCti7mCeXY0Qv5oQT-vPq015GS_7yVztgRUN6piuSso6JtUwsp-zDeXuNYXM5cPxKlzRm88IhIhBxYuUa16ICrWdVszu9iQ1MkthQhWpn_kSQ_tL_J2kJfCGMaKJSDNkuLQ2xpWtXD7r7vTx6XBx_wQrQfTz3DAKp_6v3BM=",
  "id": "rs_0fc0d1298a6cb22c016ab44b2afd3487d08516e3415936baa4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The yellow object has disappeared from the wrist view as the jaws closed, and the overhead view shows a yellow edge moving with the gripper rather than remaining on the table. I’ll lift vertically to verify the pickup before transporting.\"}",
  "call_id": "call_ChRki3ixPFft459hogtGlvnM",
  "id": "fc_0fc0d1298a6cb22c016ab44b2be52887d0b89eaa3738defdc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ChRki3ixPFft459hogtGlvnM",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5861, -0.0189, -0.0383, 0.9998, 0.4702, 2.0357, 0.8577, 1.074, 0.3912, -0.0906, 0.2036]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1337 left_yaw=0.0031 left_pitch=-0.2258 left_roll=0.0009 left_gripper=0.9998 right_x=0.4925 right_y=0.1787 right_z=0.1207 right_yaw=0.1565 right_pitch=0.4884 right_roll=-0.147 right_gripper=0.2036\nstate[joint_eff]: [-0.0205, -0.7863, 6.7897, 1.536, -0.0659, -0.0708, -0.0171, -0.2667, -11.2205, 6.5983, 2.127, 0.0659, -0.0073, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c5397717e3e186aa975f1c00881f241fe84f3bab3f76cde5c12bb69a5c5272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26f651cc09d0fcb8f76202b4f002e40e48e069017676c69ec74736b4b8b15d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf0c5f28e1fa421fa09e7cfd2bc9f9b589dbbaba5d15fdb4335b8cc1b1f764d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5533, -0.0189, -0.0383, 0.9998, 0.4736, 1.8568, 0.8982, 0.717, 0.3832, -0.0265, 0.9962]\nstate[eef_state]: left_x=0.2698 left_y=0.0018 left_z=0.141 left_yaw=0.0029 left_pitch=-0.1865 left_roll=0.0 left_gripper=0.9998 right_x=0.4839 right_y=0.1778 right_z=0.1435 right_yaw=0.1481 right_pitch=0.3618 right_roll=-0.1238 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.1145, 6.8581, 1.746, -0.0708, -0.022, -0.0171, -0.212, -8.2393, 6.3932, 2.3272, 0.0708, -0.0317, -0.1783]",
      "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, 0.8249, 0.6064, -0.5816, -0.0189, -0.0383, 0.9998, 0.4694, 2.3028, 0.8711, 1.351, 0.3962, -0.0883, 0.205]\nstate[eef_state]: left_x=0.265 left_y=0.0019 left_z=0.1345 left_yaw=0.0031 left_pitch=-0.2208 left_roll=0.0008 left_gripper=0.9998 right_x=0.4951 right_y=0.1787 right_z=0.0556 right_yaw=0.1457 right_pitch=0.5108 right_roll=-0.1366 right_gripper=0.205\nstate[joint_eff]: [-0.0068, -1.3744, 6.8308, 1.6728, -0.0464, -0.0562, -0.0171, 0.1162, -11.3026, 3.3573, 1.5263, -0.022, 0.0366, 0.1294]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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, 0.8257, 0.6067, -0.5861, -0.0189, -0.0383, 0.9998, 0.4702, 2.0357, 0.8577, 1.074, 0.3912, -0.0906, 0.2036]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1337 left_yaw=0.0031 left_pitch=-0.2258 left_roll=0.0009 left_gripper=0.9998 right_x=0.4925 right_y=0.1787 right_z=0.1207 right_yaw=0.1565 right_pitch=0.4884 right_roll=-0.147 right_gripper=0.2036\nstate[joint_eff]: [-0.0205, -0.7863, 6.7897, 1.536, -0.0659, -0.0708, -0.0171, -0.2667, -11.2205, 6.5983, 2.127, 0.0659, -0.0073, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c5397717e3e186aa975f1c00881f241fe84f3bab3f76cde5c12bb69a5c5272",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c26f651cc09d0fcb8f76202b4f002e40e48e069017676c69ec74736b4b8b15d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf0c5f28e1fa421fa09e7cfd2bc9f9b589dbbaba5d15fdb4335b8cc1b1f764d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEsvrPYibEfdh_rrUZK-3CLNK2KI3gZGM-TW_movluCaankW1lA74lU_1qtGaMsXCXVkhrPALjGBeXNDpq6HfKI3wYjykMzFvo_vqCKCzWNfH0au00T7bmkc7ha1IJgNxeuK8fPZr88n6gYYBO4Lmuev3kinN0K42XcfFvndJopGJ-QK-7Vvs7xeFjtx8hHDqBK8wP7-YrxQE6GWV5oMv4hbUnXLLqK3WcyvDIv7b2XbxFJK3-0p9yecR_DGDjLnm_4J2hgWa7gNYu5LznOXB_8hIGlLc85rVzt_s8ekW9VeRJxFvn0394VuXPRwilp0SzfePgyQdqjmHkVShSoUvv56w1iKasXTbWItgqzdDMqx7B0tKCMqaScZJBLVl0nTWPWUg8qvcwl1sMNIZU9_zr-HdlhZOg5sV5xtVSzmdnH4LgZMPYWi7SLJ3hTIbFWtpM5ifHUAseJtPNVe9ATkf53yTCmrrJ0ozDutiAgbXZBtrn7Drp2dlgH9D-t-3FdzkWIa3q5AY_loHtpR93hNHSTtmnUrdMWt8Q4H1ejDrhKqoDVLRKr_TQ_kZskScZr8u5vLVtmnM4v1u_Y1DWbUms_1uisFhSrHBeowPPsr57eKxatH-bqpOivwUXbYATVeYFSytMlXbTt1B42m7mIo4lQxhhKL0PDBlBcxt7Q9XR45It5JxChhZiXKqjV3PV5ajkzkJTV0nf4mffMRh6Y1mzUnEH5AuoOrgcbKAYXKWy_KnkHUnWpe7GFbP6lxwPnFdRig-cPx6-C9O9_AavEZLl3k4nLSBoVttCgY3FE5X-9W6qeKcjJ_LE8il2wiNa_b7nAEeBfM4n3fW3FzrzpWClfRoA3t4UR0hnXWhCvTnh-Brf_p5SjT7NkTbJmnhvo-mSgRpd3XuI0wMksaXV5f-wj_0ADKLbONAYAYw7LJHcyo5iCD82ffkOs3k3m8V9mucvkE9H2Cc1deK7UBVyZPvhZScDAvBH70o0lptok-vFdm-P_ym8_v6Bb3vg5ZQA7aie7-Du5osHyT2s01fZcfY0XoKC89uKK6RVoJC2SpOk6vmXgbLzK0wWPta4I5TIPBJvC5Ttif5fwWBua2O2Gk7jIEG6uFfixxhbKUn5OhIAEi1Ds2LnJ22Cu4-oNilkjcwpEq66pP5ktHcMzvXsdJ1p3pM0iUSYayUrifytTFE8hvyEyb5XM69wJ1nH89olHe8LdsFFC6Nlfso-aMjMQ31nBabwKCUBDknRp4Y-VHSYGJxncN6jCAt9y7nXS-bUi9lHbDxN4plyKaNRiviAGUEnM5aL0IWhTCHzYVtDoYZr1_G9bZlXoq3bFxH9BhkzBEypXQvlo1yummlwk3IXEkOkyUAyijCP29Y0NA-wdh7UGbKdLJlTihoC_V-E5gmR-ad1uZuqlp81aZRzDwdW9irxuoBGzhY7hYlF7D985fiJnIB_6Fa7Y11yPNk3NasX5UGfru0Qeg57bizQzV-UMCZpgiDt1XFyYUYPloayL6jZkSx3s=",
  "id": "rs_0fc0d1298a6cb22c016ab44b2e273487d0874192ffe3800503",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.295,\"right_z\":0.2,\"right_pitch\":0.2},\"note\":\"The yellow object is visibly suspended beneath the gripper and has left its table position, confirming a successful grasp. I’ll carry it high over the center of the safe opening.\"}",
  "call_id": "call_cP6UupRjegkfunN0WsBDtsg7",
  "id": "fc_0fc0d1298a6cb22c016ab44b2ed81887d0af38b4909775666a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_cP6UupRjegkfunN0WsBDtsg7",
  "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, 0.8272, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.7891, 1.853, 1.2652, 0.1081, 0.6224, 0.1112, 0.2034]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.2345 left_roll=0.0011 left_gripper=0.9998 right_x=0.4371 right_y=0.2993 right_z=0.1812 right_yaw=0.2103 right_pitch=0.1966 right_roll=-0.1738 right_gripper=0.2034\nstate[joint_eff]: [-0.1573, -1.4154, 6.9538, 1.536, -0.0366, -0.0024, -0.0171, -0.0068, -11.6308, 8.8137, 1.9853, 0.3639, 0.2173, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8529bf1646aa0d359b758736a3771d9f9064ac8f2b968f918371380650aef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff625a8ccb59b9a3085095dd714f9fd4f7593036c3812ff8d3c536ee16782c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9091f402eab95ecc01a5d14d3b9b079255162a40a0a087f64c75d8d419997ce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8227, 0.6064, -0.5632, -0.0189, -0.0383, 0.9998, 0.4721, 2.2936, 0.8665, 1.3163, 0.3943, -0.0761, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1382 left_yaw=0.003 left_pitch=-0.2002 left_roll=0.0003 left_gripper=0.9998 right_x=0.4934 right_y=0.1797 right_z=0.0506 right_yaw=0.1477 right_pitch=0.483 right_roll=-0.1336 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -1.5658, 7.0085, 1.6337, -0.0562, -0.0562, -0.0171, 0.1846, -6.5983, 3.959, 0.7643, -0.0611, 0.2808, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5861, -0.0189, -0.0383, 0.9998, 0.4702, 2.0357, 0.8577, 1.074, 0.3912, -0.0906, 0.2036]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1337 left_yaw=0.0031 left_pitch=-0.2258 left_roll=0.0009 left_gripper=0.9998 right_x=0.4925 right_y=0.1787 right_z=0.1207 right_yaw=0.1565 right_pitch=0.4884 right_roll=-0.147 right_gripper=0.2036\nstate[joint_eff]: [-0.0205, -0.7863, 6.7897, 1.536, -0.0659, -0.0708, -0.0171, -0.2667, -11.2205, 6.5983, 2.127, 0.0659, -0.0073, -0.1587]",
      "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, 0.8272, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.7891, 1.853, 1.2652, 0.1081, 0.6224, 0.1112, 0.2034]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.2345 left_roll=0.0011 left_gripper=0.9998 right_x=0.4371 right_y=0.2993 right_z=0.1812 right_yaw=0.2103 right_pitch=0.1966 right_roll=-0.1738 right_gripper=0.2034\nstate[joint_eff]: [-0.1573, -1.4154, 6.9538, 1.536, -0.0366, -0.0024, -0.0171, -0.0068, -11.6308, 8.8137, 1.9853, 0.3639, 0.2173, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f8529bf1646aa0d359b758736a3771d9f9064ac8f2b968f918371380650aef6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ff625a8ccb59b9a3085095dd714f9fd4f7593036c3812ff8d3c536ee16782c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9091f402eab95ecc01a5d14d3b9b079255162a40a0a087f64c75d8d419997ce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fc0d1298a6cb22c016ab44b3186d887d086f37b2dce5064f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.16,\"right_pitch\":0.45,\"right_gripper\":1.0},\"note\":\"The overhead view shows the yellow ball still beside the safe; the previous tight close evidently squeezed the rounded object forward rather than retaining it. I’ll retry from the verified pickup coordinate, but this time use a much gentler diameter-matched close.\"}",
  "call_id": "call_qOCYhYa6W3SJbd4Jt1FDexMM",
  "id": "fc_0fc0d1298a6cb22c016ab44b35ec4087d0a079afe70ed18607",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qOCYhYa6W3SJbd4Jt1FDexMM",
  "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, 0.8299, 0.6064, -0.6064, -0.0189, -0.0383, 0.9997, 0.4702, 1.8595, 0.894, 0.7219, 0.3748, -0.0975, 0.9957]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1291 left_yaw=0.0033 left_pitch=-0.2506 left_roll=0.0015 left_gripper=0.9997 right_x=0.4838 right_y=0.1774 right_z=0.1414 right_yaw=0.1938 right_pitch=0.3533 right_roll=-0.1959 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6923, -0.0806, -0.0611, -0.0171, -0.1162, -8.2256, 6.3111, 2.3565, -0.0513, 0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49192235bf4d5d89c77b9dd3ccf72b1e244903d8d482d936ef00801772b964a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c92d2dcf80f26ac959bc5c46e46b0fa150cde195c9b1e39d52e8bd6c444daed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532c90f4484400ff80422ea3128680c373848acc60eff1c27eb4a67272747413",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5816, -0.0189, -0.0383, 0.9998, 0.4694, 2.3028, 0.8711, 1.351, 0.3962, -0.0883, 0.205]\nstate[eef_state]: left_x=0.265 left_y=0.0019 left_z=0.1345 left_yaw=0.0031 left_pitch=-0.2208 left_roll=0.0008 left_gripper=0.9998 right_x=0.4951 right_y=0.1787 right_z=0.0556 right_yaw=0.1457 right_pitch=0.5108 right_roll=-0.1366 right_gripper=0.205\nstate[joint_eff]: [-0.0068, -1.3744, 6.8308, 1.6728, -0.0464, -0.0562, -0.0171, 0.1162, -11.3026, 3.3573, 1.5263, -0.022, 0.0366, 0.1294]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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, 0.8272, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.7891, 1.853, 1.2652, 0.1081, 0.6224, 0.1112, 0.2034]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.2345 left_roll=0.0011 left_gripper=0.9998 right_x=0.4371 right_y=0.2993 right_z=0.1812 right_yaw=0.2103 right_pitch=0.1966 right_roll=-0.1738 right_gripper=0.2034\nstate[joint_eff]: [-0.1573, -1.4154, 6.9538, 1.536, -0.0366, -0.0024, -0.0171, -0.0068, -11.6308, 8.8137, 1.9853, 0.3639, 0.2173, -0.0269]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6064, -0.6064, -0.0189, -0.0383, 0.9997, 0.4702, 1.8595, 0.894, 0.7219, 0.3748, -0.0975, 0.9957]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1291 left_yaw=0.0033 left_pitch=-0.2506 left_roll=0.0015 left_gripper=0.9997 right_x=0.4838 right_y=0.1774 right_z=0.1414 right_yaw=0.1938 right_pitch=0.3533 right_roll=-0.1959 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6923, -0.0806, -0.0611, -0.0171, -0.1162, -8.2256, 6.3111, 2.3565, -0.0513, 0.0855, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49192235bf4d5d89c77b9dd3ccf72b1e244903d8d482d936ef00801772b964a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c92d2dcf80f26ac959bc5c46e46b0fa150cde195c9b1e39d52e8bd6c444daed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:532c90f4484400ff80422ea3128680c373848acc60eff1c27eb4a67272747413",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_0fc0d1298a6cb22c016ab44b39787887d098ac0d84b779642e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.18,\"right_z\":0.03,\"right_pitch\":0.45,\"right_gripper\":1.0},\"note\":\"The ball is now fully occluded beneath the open gripper at the corrected approach coordinate. I’ll descend straight down, preserving this alignment.\"}",
  "call_id": "call_nC95CS1Yc1xV67m28gB9Y7vL",
  "id": "fc_0fc0d1298a6cb22c016ab44b39bba087d094cc924043dac736",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nC95CS1Yc1xV67m28gB9Y7vL",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6064, -0.6147, -0.0189, -0.0383, 0.9998, 0.4679, 2.2841, 0.8597, 1.2938, 0.3809, -0.1349, 0.999]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0033 left_pitch=-0.2605 left_roll=0.0017 left_gripper=0.9998 right_x=0.4923 right_y=0.1792 right_z=0.0478 right_yaw=0.1951 right_pitch=0.4583 right_roll=-0.2036 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.3197, 7.0222, 1.5311, -0.0855, -0.0513, -0.0073, 0.1436, -7.0632, 4.0821, 1.0965, 0.0024, 0.1978, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11773d1119639172aef5e9a23f35cd09a668cf31015bb67a62eb16fc15469c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f0804848f99d847d3847723043296bb5754d5f9d298242d411cd0e13c13f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e5893a8064e73ec66fc3b32be127ef961cd55bbc6d4e801ea144442e8e5cfc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.5861, -0.0189, -0.0383, 0.9998, 0.4702, 2.0357, 0.8577, 1.074, 0.3912, -0.0906, 0.2036]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1337 left_yaw=0.0031 left_pitch=-0.2258 left_roll=0.0009 left_gripper=0.9998 right_x=0.4925 right_y=0.1787 right_z=0.1207 right_yaw=0.1565 right_pitch=0.4884 right_roll=-0.147 right_gripper=0.2036\nstate[joint_eff]: [-0.0205, -0.7863, 6.7897, 1.536, -0.0659, -0.0708, -0.0171, -0.2667, -11.2205, 6.5983, 2.127, 0.0659, -0.0073, -0.1587]",
      "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, 0.8299, 0.6064, -0.6064, -0.0189, -0.0383, 0.9997, 0.4702, 1.8595, 0.894, 0.7219, 0.3748, -0.0975, 0.9957]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1291 left_yaw=0.0033 left_pitch=-0.2506 left_roll=0.0015 left_gripper=0.9997 right_x=0.4838 right_y=0.1774 right_z=0.1414 right_yaw=0.1938 right_pitch=0.3533 right_roll=-0.1959 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6923, -0.0806, -0.0611, -0.0171, -0.1162, -8.2256, 6.3111, 2.3565, -0.0513, 0.0855, -0.1343]",
      "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, 0.8314, 0.6064, -0.6147, -0.0189, -0.0383, 0.9998, 0.4679, 2.2841, 0.8597, 1.2938, 0.3809, -0.1349, 0.999]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0033 left_pitch=-0.2605 left_roll=0.0017 left_gripper=0.9998 right_x=0.4923 right_y=0.1792 right_z=0.0478 right_yaw=0.1951 right_pitch=0.4583 right_roll=-0.2036 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.3197, 7.0222, 1.5311, -0.0855, -0.0513, -0.0073, 0.1436, -7.0632, 4.0821, 1.0965, 0.0024, 0.1978, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11773d1119639172aef5e9a23f35cd09a668cf31015bb67a62eb16fc15469c30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55f0804848f99d847d3847723043296bb5754d5f9d298242d411cd0e13c13f8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e5893a8064e73ec66fc3b32be127ef961cd55bbc6d4e801ea144442e8e5cfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEs_29PMrWW3kT9qnKVQgoqdMILwKzFFvIOnj3qw83HI5TIkdDEKB23lrHZegjGgOMF_rTLjgi5-Cxd4u2iQLO0zBeZHPr51sC8m_Eh-fTZaWSm2TFHEMMpfv94knj_jqUDmNFNAOsm2MsQKivIpqpyDaXwVhKGDl3gpMVDfifpLiIxVY7YuZ5Qiz9Oh6jyII9FvxTCyC4nGC8Of0yAzQG5q1ejhDf8DCn2TU6rfwtQN-Nn3cVEGQoMxxyVJY0Kn7kXcMW4e8EcUN_s_IBRIqIUA5hrum6vloCJCZVLmzgkqztYpUY9KLkahzRdFOEpnwMBTyd5CHjLn3olYwFms5N0T7B8t1GtQ830bX-9cnhW45qTOCWdo20WNxofen0DIDN3ZyvUW_I-sOPACvzbf7C1YCXyEBWTRJCJadvUiy8Ect-xMZiWeeaqNjZyV-z8xeREeHoyRLR6OHy0Y0lx_mD6eHK5i6n4zXPrvx_YX8ZTjxQQXP3HrErExOba97INa2CVYpvgCa6t08-RSODDO0ngJ9diYB7ExY-kwjbWzYqi1IsjoNB9EcPGEXH1vD4LmcBgM2ddL6xnoeQEZKW1nLlISlG-GZAVRwKqNQVYNc24xu8emm7GytXLO21Yd_ALS_eD1i6Tld2wfiE0G0RkNR2NjAv5yceTqj0S-SBeZOIq2xFemd34SuPVXQPKrI7ZgJnJBfb3BEqcvc96n1epFYeRSrRYcn0_KO2cfXCxcYPS51Rz4Q6Pq0Pdevsut4IF9e1W1erKryUMh4YT-6Ov_fE3-T4xIg40Xj_dGg7zRT8sP02TuLBD8pQ6amxEyYLZqBZI_9z7LqUgOymjw-AXqhlNzs4V0pyHarndHn4-FA8fH5bwABZLjrciXImRhr17y88QSCc-Ldt73OeO6-chT7V0BZlD6HGN4VrkcWVwR4YsmakXvfLtgYoiZ7ijsCE1jxsF3NTg28Sb6XlnlbMziLcnCKFO7jBY4ViJYJBHwz6Xe1e5QlYvKjF2Y_mmK1PVAwMUNoMTmDVnroOwqVxxP3Siw1roylUfzZEhMjyErDU8YbGEEmgZpvaiQjOyWFsvFB3M-jIlDPEwNqaCKSy2vxDd3WtWpdrmkStXnL0khDRWWDRxcANdDbaMeJcUXA2yKEksNlvbUeoOarrrzScrJ1l2sviBO7SVy7QQBSv6TlA6JvQGtFp2A0DrmqTiyYtvyRXGD60C7pjFip3noC-mXVCtYHh3JKTHkEB8MaFxZrGuCfSETPhr4-1HpE2KvqrG2r1m0gO2dRG93MPFcthEeEK3OOdp9TnDSQBaONF47vG4cp1KLTcMenX4A6j2qnxt57fVDQq0tQ8OnoNRlMEYFYRXpwgy8sssaZohNEXZLeSv6eJ2waPcpzktPPEv4JNJPTACRe1Ao7MzeANEau_lv2MRyvTbx2Lfg9rgvt_HOY_g7SVFPk3hZ5n1XPM8ovV2po8FtEKdVSilj6nQRhbnPbRqbVJzQnKCBg8zr7B1p2_blMYVX1Jcwv5lT0kWdop8CMKRPdBSiifxp5kLNhF-Ci7nzjg==",
  "id": "rs_0fc0d1298a6cb22c016ab44b3dbca487d0a084ea68b9d32844",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The yellow ball is centered symmetrically between the fingertips at the grasp point. I’ll close only to a roughly 4.3 cm jaw gap, matching its diameter and avoiding the forward ejection caused by the earlier tight close.\"}",
  "call_id": "call_Bvg87S8e4Na2mTB4CszrOCdQ",
  "id": "fc_0fc0d1298a6cb22c016ab44b3e7ed487d099ad67784318902e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Bvg87S8e4Na2mTB4CszrOCdQ",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.63, -0.0189, -0.0383, 0.9998, 0.4698, 2.2944, 0.8631, 1.3201, 0.3779, -0.1471, 0.4544]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.1247 left_yaw=0.0034 left_pitch=-0.2765 left_roll=0.002 left_gripper=0.9998 right_x=0.4928 right_y=0.1811 right_z=0.0498 right_yaw=0.2047 right_pitch=0.4755 right_roll=-0.2109 right_gripper=0.4544\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.5751, -0.0659, -0.0659, -0.0171, -0.3487, -11.3983, 3.4803, 1.6337, 0.0171, 0.0855, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c3b57747d2f4b2ff0c98de355ac9c80afb9ed8869641bab8402c1c6a168f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae51e552f8a55b94f6a676dad5bffc7afc36a01bb6c80dfe04a7c90c6bd85a74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d070c170bb2f9f5818940cc6134942e2875733b33be3fadc901161843b7c4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8272, 0.6064, -0.593, -0.0189, -0.0383, 0.9998, 0.7891, 1.853, 1.2652, 0.1081, 0.6224, 0.1112, 0.2034]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.132 left_yaw=0.0032 left_pitch=-0.2345 left_roll=0.0011 left_gripper=0.9998 right_x=0.4371 right_y=0.2993 right_z=0.1812 right_yaw=0.2103 right_pitch=0.1966 right_roll=-0.1738 right_gripper=0.2034\nstate[joint_eff]: [-0.1573, -1.4154, 6.9538, 1.536, -0.0366, -0.0024, -0.0171, -0.0068, -11.6308, 8.8137, 1.9853, 0.3639, 0.2173, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6064, -0.6147, -0.0189, -0.0383, 0.9998, 0.4679, 2.2841, 0.8597, 1.2938, 0.3809, -0.1349, 0.999]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0033 left_pitch=-0.2605 left_roll=0.0017 left_gripper=0.9998 right_x=0.4923 right_y=0.1792 right_z=0.0478 right_yaw=0.1951 right_pitch=0.4583 right_roll=-0.2036 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.3197, 7.0222, 1.5311, -0.0855, -0.0513, -0.0073, 0.1436, -7.0632, 4.0821, 1.0965, 0.0024, 0.1978, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.63, -0.0189, -0.0383, 0.9998, 0.4698, 2.2944, 0.8631, 1.3201, 0.3779, -0.1471, 0.4544]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.1247 left_yaw=0.0034 left_pitch=-0.2765 left_roll=0.002 left_gripper=0.9998 right_x=0.4928 right_y=0.1811 right_z=0.0498 right_yaw=0.2047 right_pitch=0.4755 right_roll=-0.2109 right_gripper=0.4544\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.5751, -0.0659, -0.0659, -0.0171, -0.3487, -11.3983, 3.4803, 1.6337, 0.0171, 0.0855, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c3b57747d2f4b2ff0c98de355ac9c80afb9ed8869641bab8402c1c6a168f33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae51e552f8a55b94f6a676dad5bffc7afc36a01bb6c80dfe04a7c90c6bd85a74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54d070c170bb2f9f5818940cc6134942e2875733b33be3fadc901161843b7c4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtF22ZPS_yo2PX23vyIunZdyNy59zdfkKbtMltTKEj2v-T6Hfn1ABMZ-4lpwMdJdCoIk-8S8tFTNFs1m0dNpsR6812zwvguTl2cov86PG4ZPLw2bUXM30c2DdX9fTWBKTozzNFP3GAz46thnQstISA4mdkW6WDo2tSv28lvsoLnAgoselM2vPqa3vuY_ARIoj0kCsSZfQaeeB7hz1YsjH8M3yTOEcviTn96eZEPDrpieOIzTyelG0f6LDPIXqx1emg9zVBgebFRRBiTJvDvJlSYxfpMCiEr4cDftDOAWxrZE_JO3Y2Fs-56xJyv07CWmkogyTDgJhClA_s2nM1FOOQeFyGk0MmSR21X9HUSht-DUeReUVZnTXQGnOYjsfKhYLAoc32xBRsezk0F3cPZffmUcJJ0bKyPeoAOyiFhrEqTBW94pblMu7uAF7gyH-eLTo3YMVi8v1c4_yDlP1aRTSb-nYXr1_mUQ7arRsJPukhho_i3-uTzEQ7BBpwDE7wKBRzJpXt097hdLCrWmw00E8Mh2Ojq4PB6K9XVrZw9ipBVTQO1tyITrPBkD9BivvgeOJ-VPBzcxgsafyCtLhm74Cs3IHjO_QqtKAjiScgcRfLUcvdDV6WdHAYS8jNGKjRopVwajMzSpsao6r0HI8M_9e7V-0ZbihqpxkDg-FSoveggs2uvcRsXGSSCY50ctQa65tf9HZOdLvnqfW7uM-yWafIRZfdlgdslaKMf6LRBcCa0Iq8LRMn-0-1VOFzQNrrTL4KXmq2ICFtcB6rxsdOfyOAkmWa3ofjCGMfs0946yGRZ7l7ZB25RpDUG6BqPsGW0-sCbCH0p0uyU1MktcahjgB3YRAnH-Ufh2kH2WpVZ63hzIBM_i0aCfgYdRtZm_ki6HuLEBqbVMHmESDlFD6KffYhnQvVZSw8C3mNX2aJxKBjEEQjS97WGPDDRurWkGS8QM3uJEZdE9eb01eZlFEgfpyZCMA1lAKmYXEmLs4wgESOwy8WgqBEZXQ8yc9ChY9yh_-yE-5d5ok-2cq3HNXB-UJVY5GttpFnPQFpF7tZ98C4evrpnMkAqOcxcDG5qnDkzR0TDWRMzN4KZZx-mseeRZD4D4XKJj-CqKo-ELHKhgYLzrS065uW-ZIL3TuJhauzlgVD8ejYW7xDcCDIHWhKuNjYzWCbsPY5k3E7WrUU6kRYViKwS6kTZXEaO0nK962K9fvsnZ8fq61SH4D7Taq8-eViQ7HbhD-NL-Hlgq70cFw5g_143yIhS9NXZ6Fauchrko1pkoRe_70zPvkLrglGNgbWnlfWQvpJPm8wXoEpNuu_w6MsVsvcoOicWtk0zwZ8BfedIau1j1aVMIDq_kB1flbQ6qHwRwztA6_en2A47umuG5GDf5oPiih0ZaeZ-853EwOXQSVMo1ouLLRx77VRgFFDN6oT8T0aGZKSXY9fGNkJdb_ZyCTG_JwVkOnbQYfXDkHfwhred2NZiZirZ9HyiIyugiFLNW_bfblE8z9buU40rLzu0A4NmwJjVi7ttzWoa8xNtq8Zl_SadAZCesn8BkEREAPNyZmdmn0fAKIt-f8ZuNb8oYCmrp-gzYSpVh1Rsy7Is2jzIpYZaNRgS-G0Uo-y3OLrLhq4IquqGHU5MRPYbxdPC3kPOuWhrA3v10XB2yGB6uXiPSNV57G8M5OJgHFJcys8A1SA8cw8vSJ0TMEZXEl4bHUGVeZl5DftmeMkooiYWVf3H5d9y_qixSwlIUa6lWzDbl2CCjmNVnZB_iwQpT78dw6mztbwJp3UmzmQldvef4nwujyjFqOY8HaN3ld6TYHR6PL4wBGT90Jie14jjowSMmnySd-zRVGTi92J8bWSH338zx3u29xr3ruQCQKGbYJ2uCP8Xz9myGV0-Iss8n4XAtb5bHcIBg6Z1O-AohnObd08B3ORPil5Ei-bSFVy1YNGE_7Z7TmtPOP4VhoDPUMwELQ3k50HLNUy7EJeYVcSlUye3eKZTGjJOtrnX-Z_D64GR989ho8bsqD4W0oRtICTJGtfysHqc-VdbCnU31bcIqed7yDNCW7eWk4mhJ8DgXR7UHo866yTFAZuTGWJu4sCz7UAKh2j5LRYzO2oITlviz99TuKN1gZ5Q1u3d642388lNVM8L9heDFjwSDuQaS5HcuWULCdrwVTnwAj2yg5lIi6ByMCbXvuML-5ofUkzYfSIQ2kn9l3dAxhMlIALC-Esdew4Gg2_H2uaewf1fjoYrOdmfkSEUtzaLTjGMn2rdxAr3EZtzGGAe-3iX95EW6awrQ90B7T3PKb5eoWLCiLpMycp9KWGQoSd53g-qoebMb0mkjrr4mS6nNA_aQT7PNcvC9yfByeWAtK0UZgUrx6QU1YgtP2SOzhsO1g973yoIlYPOYHjBx4JVrl441h_PDx5yv3EYmas1dBWRU5ouAyP6km3FFTMt13g1lKRF_xRv4u0fu3NDDgmTDLPCEPHfHAMdNLU4q32r9tcbdewnGvHLcpUbz7YRJKO1fjLX4d0QaZHaTbXTmy36XyVtRBMv0Gc=",
  "id": "rs_0fc0d1298a6cb22c016ab44b41e59887d0b5f25d22dcc1a491",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.14},\"note\":\"The ball has disappeared from the wrist view and is visible between the gripper fingers in the overhead view rather than ahead on the table. I’ll lift vertically while keeping the gentle jaw gap fixed to test whether it remains retained.\"}",
  "call_id": "call_nUpeaK0hdLPuDE6yVlLlhNEe",
  "id": "fc_0fc0d1298a6cb22c016ab44b4452c487d098dc1337e0ccf2a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nUpeaK0hdLPuDE6yVlLlhNEe",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6373, -0.0189, -0.0387, 0.9998, 0.4706, 2.0083, 0.8516, 1.0191, 0.3725, -0.1509, 0.4537]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1237 left_yaw=0.0037 left_pitch=-0.2834 left_roll=0.002 left_gripper=0.9998 right_x=0.4893 right_y=0.1808 right_z=0.1191 right_yaw=0.2161 right_pitch=0.4495 right_roll=-0.222 right_gripper=0.4537\nstate[joint_eff]: [-0.212, -1.1419, 6.7624, 1.5018, -0.0855, -0.0708, -0.0171, -0.3761, -11.1385, 7.4051, 2.1807, 0.022, -0.0415, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f44c814bc9703524fcc4a51af68f36f857e0c2a6133b6344f21c0100211a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a8c88444a7526ca2b8a42c8693d2b54060742aefbb908baa07fa9420525366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94926be716374b4040392c2e5d6bf5684fbd0514dc91498670fd0a468433ddfa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 71 changed as sent

message 79 changed as sent

message 83 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8299, 0.6064, -0.6064, -0.0189, -0.0383, 0.9997, 0.4702, 1.8595, 0.894, 0.7219, 0.3748, -0.0975, 0.9957]\nstate[eef_state]: left_x=0.2607 left_y=0.002 left_z=0.1291 left_yaw=0.0033 left_pitch=-0.2506 left_roll=0.0015 left_gripper=0.9997 right_x=0.4838 right_y=0.1774 right_z=0.1414 right_yaw=0.1938 right_pitch=0.3533 right_roll=-0.1959 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.3333, 6.9812, 1.6923, -0.0806, -0.0611, -0.0171, -0.1162, -8.2256, 6.3111, 2.3565, -0.0513, 0.0855, -0.1343]",
      "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, 0.8322, 0.6064, -0.63, -0.0189, -0.0383, 0.9998, 0.4698, 2.2944, 0.8631, 1.3201, 0.3779, -0.1471, 0.4544]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.1247 left_yaw=0.0034 left_pitch=-0.2765 left_roll=0.002 left_gripper=0.9998 right_x=0.4928 right_y=0.1811 right_z=0.0498 right_yaw=0.2047 right_pitch=0.4755 right_roll=-0.2109 right_gripper=0.4544\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.5751, -0.0659, -0.0659, -0.0171, -0.3487, -11.3983, 3.4803, 1.6337, 0.0171, 0.0855, 0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6373, -0.0189, -0.0387, 0.9998, 0.4706, 2.0083, 0.8516, 1.0191, 0.3725, -0.1509, 0.4537]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1237 left_yaw=0.0037 left_pitch=-0.2834 left_roll=0.002 left_gripper=0.9998 right_x=0.4893 right_y=0.1808 right_z=0.1191 right_yaw=0.2161 right_pitch=0.4495 right_roll=-0.222 right_gripper=0.4537\nstate[joint_eff]: [-0.212, -1.1419, 6.7624, 1.5018, -0.0855, -0.0708, -0.0171, -0.3761, -11.1385, 7.4051, 2.1807, 0.022, -0.0415, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f44c814bc9703524fcc4a51af68f36f857e0c2a6133b6344f21c0100211a2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7a8c88444a7526ca2b8a42c8693d2b54060742aefbb908baa07fa9420525366",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94926be716374b4040392c2e5d6bf5684fbd0514dc91498670fd0a468433ddfa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtHlxgyxpBO40fO5WHRVuoJZdZoKHf6Rs7qi2nonLXy_lZw6DaODcHo1Ebj599AyRJSgdaJrmHolrwEgvhfzqcPk642HAcrnuDkpG0pjoz6-9e69ogZ2gb791O8FfM2eqhLkT0PcWWxpJZEhAghxu7l6WcuWLd2vpSVIouVbQMGNPi2n5xssMBA9uK2dEw8niph6-K3LpkXJz0y7JZyFwFfyBW4OHItQpvHSkt82Q5vMLDEgGMn8XDoQdAr-pwqDf_5MP31rjxbhGsZJ6Dm4k0yzNpmUYCCvqsoW4kLXimtCfTZ-TKppA4o3P5aNQZIFgpsJp0ifjxmFAabk5raUTm3-bevTAg6TJ4Z2GZ51zP0NABTgfUdK87ey2BxbkCa055nRYVxJNWXIq_qX7Olk5_uT3nSIp9KVi3DYUNNHtfCsbVzOTAdBkm5tyAxZdiWCefV287vJxXqG1d6oeluMsuiy3NM2EBG1SgAh8nPY5PwaIVhP1UR4BxVtTjwFvQ8zXzVBNfAnyJSHIsgKJSMwr5pF4mzZLJQ2q10sgaBLG4uS5Izf_3vf2jf0F-KGEK4Qwwv_xD8jdbLS4WNQvnbgS4RebkPr35dbTV8T5PqdjuTOweN_70svz0qqa9MEkNtTcILsY_F6oP3zGO1K4kgD8nM1EDPn3v6yku_5i6UqqSrWzUcReof95T5sg5jS_kbqcS2Qcmj4KlgAloI6fW8B_NIfALwVfsl6SWMqr23XHLk1_Vpve7SCqHUrSo43UXtApo9zkCWRWuzQsG3WpnTnK_FWViRTf2sfqHT0swQYFAXMR2PSG6gZL1pQq2jLP3vlPUVmP6HPEW3DYyUlpQiuFCqWZgZk6G5DMuYD8wPI_4wPLU8t5f7y9scq82k27o1jZbXhYKUvDsdnvAIhXgIG8b0jtXV6xzHeWP3N5q4UhwOugJnBHcBK6topsUdBthuP4b12BB1jiM-xNK9UUQmPqyd9ps_2YPi6ejlKXM-cQaiRzaviuiVRUP8Y2GHYBs5Jdw6xEM4PUN4exAwkP48XGsUCE1fhgLTffupjn2vEpotfTPSei7O_r9FlzsFL9Hks5hPclwdrU-YaJScG1G15p9ktHcprP-OytzB6hOoz4tmMp4Xq6r80lwPNqef5FT1_K35At5bHhZs74dZpIK296byJIHe8p8U7qCX9ryFMRWynfCPMZbCFcSQNLwtP5FEy6sJoDPAzmCqLRmGTs_3cgzOaeDCjfecqfOioRJSquQR2vkAui7VdItBjRqGHngpxbOeCGDPz6YTOMLWpdsW-1JkkTWbWhZXGJXPZAsHXESntaSSHrivSiCiI5nGVtxdmB83wKFtetEBGh8n6pWw_mXSavLQeU2pgva16gWcfoiIzF4Dd9VSUSd4uR6c_FXZ-3lCp9snhdT-5txBlv7RsUcqeg==",
  "id": "rs_0fc0d1298a6cb22c016ab44b46bde087d09e954291d033b14d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.3,\"right_z\":0.2,\"right_pitch\":0.2},\"note\":\"The yellow-green object rose with the gripper and is clearly suspended below it, so the gentle grasp succeeded. I’ll carry it over the safe opening at high clearance.\"}",
  "call_id": "call_MbN4aOheMnp5QQlgW4FSJa7p",
  "id": "fc_0fc0d1298a6cb22c016ab44b4735f087d0b780b5dcd24222a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MbN4aOheMnp5QQlgW4FSJa7p",
  "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, 0.8356, 0.6064, -0.638, -0.0189, -0.0387, 0.9998, 0.794, 1.8542, 1.2606, 0.1207, 0.614, 0.0246, 0.4537]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1226 left_yaw=0.0037 left_pitch=-0.2879 left_roll=0.0021 left_gripper=0.9998 right_x=0.4356 right_y=0.3032 right_z=0.1807 right_yaw=0.2694 right_pitch=0.1906 right_roll=-0.2481 right_gripper=0.4537\nstate[joint_eff]: [-0.1709, -1.5521, 6.9949, 1.4335, 0.0073, -0.0317, -0.0171, -0.0889, -11.453, 9.2239, 1.9512, 0.4029, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f187a20eec6e2ae39c97ce043f25e8306a330112e19ac766a0b79d172cf62bb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9963b571a8945fe385ecea9a0623ed9ccfc23112793f2c5b06cb116d00a7d751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:570e1912fc7aac15c87f80163f3ffbe3b405fe81a11c63b5e10d9c80ec701ac0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 75 changed as sent

message 83 changed as sent

message 87 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6064, -0.6147, -0.0189, -0.0383, 0.9998, 0.4679, 2.2841, 0.8597, 1.2938, 0.3809, -0.1349, 0.999]\nstate[eef_state]: left_x=0.2592 left_y=0.002 left_z=0.1273 left_yaw=0.0033 left_pitch=-0.2605 left_roll=0.0017 left_gripper=0.9998 right_x=0.4923 right_y=0.1792 right_z=0.0478 right_yaw=0.1951 right_pitch=0.4583 right_roll=-0.2036 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.3197, 7.0222, 1.5311, -0.0855, -0.0513, -0.0073, 0.1436, -7.0632, 4.0821, 1.0965, 0.0024, 0.1978, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6373, -0.0189, -0.0387, 0.9998, 0.4706, 2.0083, 0.8516, 1.0191, 0.3725, -0.1509, 0.4537]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1237 left_yaw=0.0037 left_pitch=-0.2834 left_roll=0.002 left_gripper=0.9998 right_x=0.4893 right_y=0.1808 right_z=0.1191 right_yaw=0.2161 right_pitch=0.4495 right_roll=-0.222 right_gripper=0.4537\nstate[joint_eff]: [-0.212, -1.1419, 6.7624, 1.5018, -0.0855, -0.0708, -0.0171, -0.3761, -11.1385, 7.4051, 2.1807, 0.022, -0.0415, -0.0806]",
      "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, 0.8356, 0.6064, -0.638, -0.0189, -0.0387, 0.9998, 0.794, 1.8542, 1.2606, 0.1207, 0.614, 0.0246, 0.4537]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1226 left_yaw=0.0037 left_pitch=-0.2879 left_roll=0.0021 left_gripper=0.9998 right_x=0.4356 right_y=0.3032 right_z=0.1807 right_yaw=0.2694 right_pitch=0.1906 right_roll=-0.2481 right_gripper=0.4537\nstate[joint_eff]: [-0.1709, -1.5521, 6.9949, 1.4335, 0.0073, -0.0317, -0.0171, -0.0889, -11.453, 9.2239, 1.9512, 0.4029, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f187a20eec6e2ae39c97ce043f25e8306a330112e19ac766a0b79d172cf62bb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9963b571a8945fe385ecea9a0623ed9ccfc23112793f2c5b06cb116d00a7d751",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:570e1912fc7aac15c87f80163f3ffbe3b405fe81a11c63b5e10d9c80ec701ac0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtOtFwZSmcYNBWyQlg23dxn_BL_LViL3Eb4XuzsZ_8WBVqn3uXY4FB-1aF5e5hGmSbHtV08VW5iveznC3-8TsX7RG4_O9m01HSYTf8TQW-z5XTbXPcnoe9RLiYsDNA28fiauwIYlC9sy-xl0sBwpZa8u09-8rQVNibrb5WSGO9_ZbCHpSoBRhQL9V-rvBTevZptRBULYCVXc1Pxid7IDLtIlfbOR6skpy6sfeNjExpP0DXB1u6WR4k86aK-d5cR-oMWzhZqlVbWuXjmlnqASjUdmRVUYGhtjtlGXb_VTje07HG6K_kOftvcPEV9wHob04ifIM3e1X7OzrUg97gY8jrDcO9UU9mec75cBtjPO_oTTaaqeeBqb9K5GwlcBBEcyNpfQunj6t3NXahG3Vyj7fs5cZWu2jTbmAzQX_om7y9Y7j7qa02bB8HWZq9KAuqFy_9fV-xjd-mwrTdj-ZaEp2PuJi6fV05skg_j3qE-4dCyjOuAiPfEKEBpG0LLzabcFlYIWEgxSW9ZqSLss-wNjTCGdUROm-xtfwKmqIcJSpdXZTJpOoS-jkUDCc9GWzR5tGvDx2wrbZtVQzY9zVD-naL7HUuauEskC61Z89d8_7bwiPWTsJ3SGTmRyH4oOz_72C26BzLwN1tP6ifxq47_qSKbZ88oSXiaAsRl0Q3iROmv2PzDDyjDkyGwpYRXatLFvfXmTXMZHP_7pc6Yqq3YHzGhLQba3qeCUM43QysWMB5M66DgdKaWPvR5SrUnnZ7_kzxwtrHTCm9GuUK9c-b_vabkjq6-dbfoSuGCIE9VlGmZgjOimc_3iCM8LKt1kqudD3EkJQJEuujIuUaoTayOtxOefdWrosRuV0o7M9yJkOuUh5hyM3x5931omLdTUKsTpg3n-HNATv58kX4JQ1Mn-tKYTWsSAlfcKcMZ_vss95LsNrimwDYmrGp65jTuQTqZzo5gfggorcQGjl8LCf7Ggxfzxa85wQZcu_mJmWwyv5kHU_bjHVvlxCzVNu-JK2qSwO3DWUNhFymjycm4U-iz2No6F2rWaKKtBpR5u377YsA1IzieySq9r2MiUrRvGqLdtlXdn0C99AvJKe3gu9bKIFC7dbdp1pARXJii8wsv7SBX9KxZxfdpcvwoOrGPLo7RD9sk4HoqfbC1wc2L4sACWi97K3uTKhDs5KVQZtbD_MHI7TB1ISXWSYdnpo8VgMJy7Ho39RH4YlLvmtpqenET4AcvR-yGBKaz8Fb_wdcycZqBFUB95l6bF5TkaJTGYYeb_cU8E7izvUgm4c1qDen3GPy7YcRfKUfydn2aT7sV2BVmm0gsNmfQmo-ppkBcvFVoGysiPx_x0n0BoifIld3NitC4ceqLmd7_3pAgJ6h3HvnALzDZXKt3qUrAtEV4sWO9G4nxbCGzEcR2EtfQiMJfAyODMEnJk1kFqP1wJLXm3Ks30RNoFsBSABHh7Y5WcUxg3SYj67eVKsZTCGgJwkRg6CKT8nzjkHGzjHAA94oE5fFuhsqEIfCsX57w1Y5IGiwhJTWn8BFDjWacVABjfCBOI5VswSlkTZO1VzaLvH0ff741mDHpCSZh1lRtnu-Pk8I7K65wIJBjri2X1ZneG5kRtvZByAB-TpdWw0v5-74vJCLoNMuCK3hkgKyw8P1nWkR2GzNMkuh6iNCZQiukYSXlz_kTluNI2oqYYflxlGq9NOR-VtogGIN6PoXhzUN-iI4kMzgOFDE7ctHlIRHspegHdP4KHuQCxI0ChoNAdnpDBzbpc4CO2N7ZWs8aBmi2o6wSDqFROyDoOOCoE7KwB9P5_h1XszOnnoFJWBmiV91GUNf7hpMvvOMe-XpA3j7m-Mp5-i0KgfMCIYqdYTu4P34mJwFsg81EvHFXgflT_xNYUAZR7Hh4PT_fWRq2GOh5m0zYgw_NJdrKUDWaNfpY0_-5p5tijknGqCwK5A6Zr2yE0KAuTDLgcVQvmciFyb8jJPASqGDZ1Ib1OKwEX2F2vhVPia53qcSfGd_aAy9gS72GwWwB8ywFIxolGJAk6d1kUir1oScGCeqEw53PRnaZaT381p3KF-q-moDmE7qUA-RaQnQuvdjNPcPoU5x7sH3oF0gY8vnhhKJ4Kbt0PC8xzCKMolV29LJDezVlxjGzOTFA-buykCTK_MZcL9I9RlU4DBvReuFMAk9-QHw0l9EdvZgtb73LEkAIkJZpyE0ehsMYX9BqcsWyy9arCTuKwV2KqFYW5IjhCQdk-JtW3ehZyw5JWrvRaMdfp6lcPvR-Z06oXFJYqsReXM_GFE_bt6bv-GYFHeK5IoYPkt_hzHy9ssKl3MPwyYL8KLBrKEnPLb8sdN7ue_SAuIrPZWkWabEkjtDYcBYbQssejOOr7rEYgQzRsfiFjtqY1wTtnaiNUmLT1EF8aqD3jdJTF7bAymYc1582u9oX9wzsE15g5ZiOZe-yYXkuHXwkbzvS32nWDME8y_mWgPdQetLWnd5Q8EIM8mZahMxAwfbaSStf_RyNqHjp_hFC7E1dFsusp2HLM4JQvkKULL1gZJ6S-o9YxxhaQtHL6WoBES1JDRrKd5QwjCrufCPapFEKUctngrP5qjXERRQvf8JKue5xyTFI7vGYhS6IA3ryt-R3mOmN6PZ-RRG_BmV6ZNsZpo6w_ASlyA9Lusa2S_1ZiuGj-3bI-w_zlavFCjCzcgbr6Q9GD552Q_GxiFNnNLrPtVT8udqcOcpaBKKs2aSyRhQCz9GEitsfFF7BylnOESpRu-YBlY3OeA1MCgkIe-2vMjK7C5mrxguWEvM2N-yzYtk2k-FYGxOc0AM5f5vbJTrGH5Rw8seyAZ7nYtm1MnkLBp06AaKR9p1T5GKEhIA_daVmGJhSY6fLZOWQuoMuQVW1Uok-eU1WU0kl7emsF0yXOkMv5Xj3CkkvmEXjG1kuOEoESi-d7HdEQWct4zhOsWJIVqMEJT5ZZ7NeumtoJDco_iovwIF_7sVtop5RxFFVjBK0LMH_aVKSGPfTz0DUX_-MdtCPLoHo28zKhcSoFoK0_LNScCbHMguckmLCl3i6lTj8Kkw9vAJJGVFHTU6irhTc8tuHxT5RGZMgUPcIWA==",
  "id": "rs_0fc0d1298a6cb22c016ab44b4a09a487d0ba7a87765894e5a1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.2,\"right_z\":0.16,\"right_pitch\":0.0,\"right_gripper\":1.0},\"note\":\"The rounded yellow item slipped again and remains beside the safe, so I’ll switch to the easier plush objects and return to it later. The large brown plush lies below-right of the safe opening; I’ll approach it from above with the right gripper open.\"}",
  "call_id": "call_sSeTwkXNhMdLbaYQBBfpwhHX",
  "id": "fc_0fc0d1298a6cb22c016ab44b4d3cec87d09b52a79f82a51e27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sSeTwkXNhMdLbaYQBBfpwhHX",
  "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, 0.8379, 0.6064, -0.6525, -0.0189, -0.0387, 0.9997, 0.8585, 1.3052, 0.7856, -0.1989, 0.6098, 0.1463, 0.9974]\nstate[eef_state]: left_x=0.2521 left_y=0.0022 left_z=0.1198 left_yaw=0.0038 left_pitch=-0.3047 left_roll=0.0025 left_gripper=0.9997 right_x=0.3059 right_y=0.2049 right_z=0.1559 right_yaw=0.283 right_pitch=-0.0034 right_roll=-0.2675 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -0.9641, 6.735, 1.5995, -0.0611, -0.0806, -0.0171, 0.4171, -5.2444, 7.3231, 1.9414, 0.2759, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cb0fd98f56f8a95eb2527e1ea18e2b886a575952e26f25ba762bbdc7f14bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d123f7328fb9d62b47976cb0f240a0b2a999f579b7c9f7c781491e5fea1e3647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f700a84b6f1de0b333ff9b47b944d2965c70dfd81c399ac46fee3973f8649f84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 79 changed as sent

message 87 changed as sent

message 91 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.63, -0.0189, -0.0383, 0.9998, 0.4698, 2.2944, 0.8631, 1.3201, 0.3779, -0.1471, 0.4544]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.1247 left_yaw=0.0034 left_pitch=-0.2765 left_roll=0.002 left_gripper=0.9998 right_x=0.4928 right_y=0.1811 right_z=0.0498 right_yaw=0.2047 right_pitch=0.4755 right_roll=-0.2109 right_gripper=0.4544\nstate[joint_eff]: [-0.1709, -1.3197, 6.9538, 1.5751, -0.0659, -0.0659, -0.0171, -0.3487, -11.3983, 3.4803, 1.6337, 0.0171, 0.0855, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8356, 0.6064, -0.638, -0.0189, -0.0387, 0.9998, 0.794, 1.8542, 1.2606, 0.1207, 0.614, 0.0246, 0.4537]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1226 left_yaw=0.0037 left_pitch=-0.2879 left_roll=0.0021 left_gripper=0.9998 right_x=0.4356 right_y=0.3032 right_z=0.1807 right_yaw=0.2694 right_pitch=0.1906 right_roll=-0.2481 right_gripper=0.4537\nstate[joint_eff]: [-0.1709, -1.5521, 6.9949, 1.4335, 0.0073, -0.0317, -0.0171, -0.0889, -11.453, 9.2239, 1.9512, 0.4029, 0.149, -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, 0.8379, 0.6064, -0.6525, -0.0189, -0.0387, 0.9997, 0.8585, 1.3052, 0.7856, -0.1989, 0.6098, 0.1463, 0.9974]\nstate[eef_state]: left_x=0.2521 left_y=0.0022 left_z=0.1198 left_yaw=0.0038 left_pitch=-0.3047 left_roll=0.0025 left_gripper=0.9997 right_x=0.3059 right_y=0.2049 right_z=0.1559 right_yaw=0.283 right_pitch=-0.0034 right_roll=-0.2675 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -0.9641, 6.735, 1.5995, -0.0611, -0.0806, -0.0171, 0.4171, -5.2444, 7.3231, 1.9414, 0.2759, 0.1197, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44cb0fd98f56f8a95eb2527e1ea18e2b886a575952e26f25ba762bbdc7f14bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d123f7328fb9d62b47976cb0f240a0b2a999f579b7c9f7c781491e5fea1e3647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f700a84b6f1de0b333ff9b47b944d2965c70dfd81c399ac46fee3973f8649f84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtTH3L3NlzN9nz9z86aomoExxx1ajNP6vkds94rucYcyIhBGKzS4uc9kR0u4bkIK7wcHL5d8gO24Vj-jMLEejHBKcE4wdXHtr2yVRN1rAT54begVHUdwwAworzFgxWr5BR_wsPJeOnfoHG196LKDDVFt3fGG5cSCZ1rezoeAIeslvuMgiKxlD9yfemfiT6Q1AvjytZeutVysISsNkrf9zCApixBOpUgdqrR9alunYE17qRl0wi9qB6DVAEDVPOjrwsX0V0fiKS6tHXGcPEvuAWKQbZKrU8gAQkNsuSDiC-sLyFcVIAYyfFkfQXeTHK1PiLTXbkoOH_xl5HlA19mrN1c-CJ1lcgiEkZ1Y4p1fTbxktTLgQHEPwHH4Vhxa6bjtWm4l68NGxX7i_jsa5Hd0pu5Z38I-iXgNeDWmX4ufNP9aoVMoWQ_62qE14tiQTcP4WbWtT7NcqVrWQf9ajIGrsVU9mxYOITiRrMzZhm1ub5b85rUmnriQ4tY_jZSp0G3Kg8aeoqatMyzwbs_SDLXFRfsVUa5qLq_spdYG3ZT_NdHd-kbZV0CwBRcmypeuMf6jIylaJ4GyoaURR88TKIn6LeXYX9Ygo_Wgt-Z_euvyyfGau0F1gSYOtuyCmV4Ghxdc0QYNwyI8nAsSCJQ5BvcR__t4zYGkyvWY8kTysnRYgO569b93j15QmDVl5MJapA7Bfu8ULl8VKaYhZ6Tm2HLUufTuAhjOLNqEqzA1Rv6rJWYT-UyhyeN2MV-cMUKJltWYDDSei5kQXkHcJzJqJmZcGvBwJQL2gNalG8aRB2sx8H7AA2NIqMZ4HmYRtnt0dQG2O1rHzE_2MaxWVk3Dihz2jJYJ0naUgjOyLLwZuXbo5bQCYyV2dRW5gjmnWSBMcWTuAmxTGFOsS7T_xtTY4WyB3cneeYu1XTfr0iPYeot_JrGYKdtLqTjC3cDXATLkYGCoq3r6fav97DRm9Gk9WuNGWcIIDC-jb8sDgrUzb3HdUrZeRMwR_P7xwZSDtx--87rRW1KEp8dtmbhgHniqXgG36a3owur3W99puFbigWThPkAIktirACkzOyWw7Z2mVBWAQRcEwFVKdm5y0LoBA08pwn8hfc15RgBr6l000OkEJi77PfhMdrCAPcIIibmUuSe5rQX42gotPzbs6FUU1_ddidhdgJmcmgm_0QbUet6jiZb4P-UcEZTGaehPYLmv7wtJ0GCxByUrvMyyMahgubaMFdfJ3mcSfhMzZI_q2N10wlP9Mz1pL9dAZygYhRrm5vL79Wli8xh-y3UyUdWxSd_ddxWbkg0nBRLh7mOeaF7GWNRcOY8p_b7sshSVxwvGUesAiVSfNnE8Iwj07_aOvjPW8lamXPLlpaPLOqXvbXPr6CfroEqouCdhe04l4tezp5U24xLXJxuAn64dwe0gI8UA5iz59mgNAASDz2jmnPArNASWfAhL3QgydRDirPtYdEvDMnYH2eYBWTaqGZ0813cxcOF0VWzALW5xc9mojey613ADQBxxlWVHNrkdvnBQ95gtt02h-uYmLZsHZNDkMiCQb16gHim4wrc_N5bw6bzsvEo0Pr3ToOPD4N12Kiz0wW_pksqiGSeybR0BU3ZfyWF7t8aTI0HIf2kL44rOYi5sQWqK7jbPi66XqEaUbLH_Gmv72HklrVIlO84px3xndULO0bKMVbCu6nJs3EVHeRecSpCi9dvKKS5O3mlctN-GqfHHgGxrwmrIYloXzUHTGsWmBBNzs0fXnp0660TwI4gaCdY4TYsH2Gxv_aiPIAQSZVrcJjaiKKkts7t0l9cGrZgv867xg==",
  "id": "rs_0fc0d1298a6cb22c016ab44b50b98487d08b9eca5150086b82",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.215,\"right_z\":0.04,\"right_gripper\":1.0},\"note\":\"The large brown plush fills the lower center of the wrist view and is aligned with the jaw column. I’ll descend to about mid-body height with a small leftward correction for a secure side grasp.\"}",
  "call_id": "call_oDjzGbu53N4wWkgBbA7DdJxA",
  "id": "fc_0fc0d1298a6cb22c016ab44b528e4887d081b708555b35ca1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_oDjzGbu53N4wWkgBbA7DdJxA",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8425, 0.6064, -0.6609, -0.0189, -0.0387, 0.9997, 0.865, 1.6268, 0.551, 0.2844, 0.6132, 0.1555, 0.999]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.1174 left_yaw=0.0039 left_pitch=-0.3177 left_roll=0.0028 left_gripper=0.9997 right_x=0.3048 right_y=0.2064 right_z=0.036 right_yaw=0.2808 right_pitch=-0.0617 right_roll=-0.302 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.6205, 6.735, 1.453, -0.0611, -0.0562, -0.0073, 0.5812, -6.0513, 4.9436, 1.536, 0.2418, -0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc15db7db7acf7f967f41ec2787c93feea82fbe38ee71cae775b96a94435a1bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6de1e3d10e3a9437fa02b132424b1f7175045d4eddbec84ce6ae4969afc8d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f60774562c2c4aade62c3891e44c87910137a02ac9912c6220dd326ad29c664",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 83 changed as sent

message 91 changed as sent

message 95 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6373, -0.0189, -0.0387, 0.9998, 0.4706, 2.0083, 0.8516, 1.0191, 0.3725, -0.1509, 0.4537]\nstate[eef_state]: left_x=0.2551 left_y=0.0021 left_z=0.1237 left_yaw=0.0037 left_pitch=-0.2834 left_roll=0.002 left_gripper=0.9998 right_x=0.4893 right_y=0.1808 right_z=0.1191 right_yaw=0.2161 right_pitch=0.4495 right_roll=-0.222 right_gripper=0.4537\nstate[joint_eff]: [-0.212, -1.1419, 6.7624, 1.5018, -0.0855, -0.0708, -0.0171, -0.3761, -11.1385, 7.4051, 2.1807, 0.022, -0.0415, -0.0806]",
      "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, 0.8379, 0.6064, -0.6525, -0.0189, -0.0387, 0.9997, 0.8585, 1.3052, 0.7856, -0.1989, 0.6098, 0.1463, 0.9974]\nstate[eef_state]: left_x=0.2521 left_y=0.0022 left_z=0.1198 left_yaw=0.0038 left_pitch=-0.3047 left_roll=0.0025 left_gripper=0.9997 right_x=0.3059 right_y=0.2049 right_z=0.1559 right_yaw=0.283 right_pitch=-0.0034 right_roll=-0.2675 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -0.9641, 6.735, 1.5995, -0.0611, -0.0806, -0.0171, 0.4171, -5.2444, 7.3231, 1.9414, 0.2759, 0.1197, -0.0366]",
      "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, 0.8425, 0.6064, -0.6609, -0.0189, -0.0387, 0.9997, 0.865, 1.6268, 0.551, 0.2844, 0.6132, 0.1555, 0.999]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.1174 left_yaw=0.0039 left_pitch=-0.3177 left_roll=0.0028 left_gripper=0.9997 right_x=0.3048 right_y=0.2064 right_z=0.036 right_yaw=0.2808 right_pitch=-0.0617 right_roll=-0.302 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.6205, 6.735, 1.453, -0.0611, -0.0562, -0.0073, 0.5812, -6.0513, 4.9436, 1.536, 0.2418, -0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc15db7db7acf7f967f41ec2787c93feea82fbe38ee71cae775b96a94435a1bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6de1e3d10e3a9437fa02b132424b1f7175045d4eddbec84ce6ae4969afc8d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f60774562c2c4aade62c3891e44c87910137a02ac9912c6220dd326ad29c664",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtWR1AkxRwZj_tWDsk14X8b_wsZUWVK9FODNMUsj3nOYyzJQ8VL5jA2mcaDBuHtobg9DJm1kfFEPYlE3EfkgNtrvxM2LCcNQc82lrkM25H_TCCnHrtvkGlV61_NEwLFrNiOBnz7I4zILGqvZ0aG9__wA5jrlym7mPQs9GgQwzKy_k0ABCqhi8popa8K7-M4IOS60IWMMu7Edl0iDuwR_baIBZabh6Y9GJSlUDtg12slzZbSyAoneZncHy6hUPDwGCNenoYaCHn6qkE_eVoDp5wM2ognh0jE50XtoVaUVpUcEO3LeZmISgiAlSY06uMhtuj3uAgnrefiGfq0cXYznk1_JA3i60NBaBkGffrxF1Tgn9yBxonp8j2Uqd-G1C4S7VKGATF4mCQHKLxCsdRxQNXXxJx7VWTLu4bHIgNMrVXb0xl3SfKtmwuqiXS_XGrtVP1j8uwG5hnhIaEhNv32UzwhSE9wEOxPbmzbHyXN31bGykMdx-EqpmLUXVbvWafxQ3vOdqDBfYb1NdYv83i2mfXAoxRDu43K1B3z3b72DwKCoxM_8zPqaOT4Ll9ccTJpx7RIlMTNDTM-7iiTcDnmUwymqTEdFeByf9hghzv4uL2KOwhZr8NQsM9WtGcoMdDqTV5VFWOgq9hIn31kQLcXtbpRMI2hfFLlrsOLPEwviM4pVZXBCTX1I_ZnR_NbQZ8fyO7GiM2tqKBuA_lQQjTqIc40HykMDOHcmIUNL8_sshebKqlVfWUcnB3_8WwH3FB7KQpZXKAnmKFzPtiB8BYwoq74lbJ0IRKzdXFkRv-Jv17Ozkvb1Fdx4SWEUIxg2boWvQuxfnJpsVszhXAAU0YBVuzWbjdoVagch8oBD5in970nDogHk5HDnOlaUj8CrDulZotVAj9ARLtpzsV3Z4x3n1_OBbr8og5RB5x-FvgO5_uvq5o_lcu3_FJSTzGD7w6APTuzHXxjc-c5Uabq5MDP0Z65j_XFpG3YwCgV1K_X-UlzaVauHKqbaPP7mp0j1hcXmHiwoBE-Coi9LFUTIY0wusKhBY6x-zyXmy7Fpk7zP7nKCWFYlDPKyo0OCMBWx4wLKFo1FKKrpECq3vHRXfqlZEqpabnCjLRUDG2JhJPKbgPc1KnQ53wiqKRyLym-Nbsc4VHn2iyErOrzQgiV8bNUz0Ydt2XOx8s0Aja9dOu3PciBb953tWiobCBiqFu7BwB8WXh6VPO-XUKPE4BF2lDjP1TOTXoTdxBcHc1gPysWof-B63uowWKKRGkYm28ngFP1iDTh0wZhRaWMBjDIyIbeoBOLAw==",
  "id": "rs_0fc0d1298a6cb22c016ab44b55576887d0a1dfccc8411d4148",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The plush body is now directly between the jaws at mid-height, with fur spanning the full lower wrist view. I’ll close fully; the soft body should yield a clear nonzero settled jaw gap if grasped.\"}",
  "call_id": "call_8gfJ8KbxsMJ6dBsKlQNvBpC4",
  "id": "fc_0fc0d1298a6cb22c016ab44b5586b887d0af57cc2818b662c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8gfJ8KbxsMJ6dBsKlQNvBpC4",
  "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, 0.8433, 0.6064, -0.675, -0.0189, -0.0383, 0.9997, 0.8646, 1.6402, 0.5446, 0.2817, 0.609, 0.1535, 0.0086]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1151 left_yaw=0.0038 left_pitch=-0.3326 left_roll=0.0034 left_gripper=0.9997 right_x=0.3022 right_y=0.2041 right_z=0.0288 right_yaw=0.2836 right_pitch=-0.0825 right_roll=-0.3134 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -1.1009, 6.9538, 1.5214, -0.0611, -0.0122, -0.0122, -0.1026, -7.3504, 5.4496, 1.4481, 0.2711, -0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8729a2e5d73eaf71fd3607d0eccd6451616452835fb27c6851fdc7edd19943f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90586beaf06734ed6b10b42509d4e2dc2d9e3874e83e3e16f0f2fbc7ec8eaeb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664da52cbb725c1adb7635ddb294a5f8bc3da0910d474d36e4a2eef66b2bbd0e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 87 changed as sent

message 95 changed as sent

message 99 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8356, 0.6064, -0.638, -0.0189, -0.0387, 0.9998, 0.794, 1.8542, 1.2606, 0.1207, 0.614, 0.0246, 0.4537]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1226 left_yaw=0.0037 left_pitch=-0.2879 left_roll=0.0021 left_gripper=0.9998 right_x=0.4356 right_y=0.3032 right_z=0.1807 right_yaw=0.2694 right_pitch=0.1906 right_roll=-0.2481 right_gripper=0.4537\nstate[joint_eff]: [-0.1709, -1.5521, 6.9949, 1.4335, 0.0073, -0.0317, -0.0171, -0.0889, -11.453, 9.2239, 1.9512, 0.4029, 0.149, -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, 0.8425, 0.6064, -0.6609, -0.0189, -0.0387, 0.9997, 0.865, 1.6268, 0.551, 0.2844, 0.6132, 0.1555, 0.999]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.1174 left_yaw=0.0039 left_pitch=-0.3177 left_roll=0.0028 left_gripper=0.9997 right_x=0.3048 right_y=0.2064 right_z=0.036 right_yaw=0.2808 right_pitch=-0.0617 right_roll=-0.302 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.6205, 6.735, 1.453, -0.0611, -0.0562, -0.0073, 0.5812, -6.0513, 4.9436, 1.536, 0.2418, -0.0317, -0.1148]",
      "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, 0.8433, 0.6064, -0.675, -0.0189, -0.0383, 0.9997, 0.8646, 1.6402, 0.5446, 0.2817, 0.609, 0.1535, 0.0086]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1151 left_yaw=0.0038 left_pitch=-0.3326 left_roll=0.0034 left_gripper=0.9997 right_x=0.3022 right_y=0.2041 right_z=0.0288 right_yaw=0.2836 right_pitch=-0.0825 right_roll=-0.3134 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -1.1009, 6.9538, 1.5214, -0.0611, -0.0122, -0.0122, -0.1026, -7.3504, 5.4496, 1.4481, 0.2711, -0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8729a2e5d73eaf71fd3607d0eccd6451616452835fb27c6851fdc7edd19943f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90586beaf06734ed6b10b42509d4e2dc2d9e3874e83e3e16f0f2fbc7ec8eaeb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664da52cbb725c1adb7635ddb294a5f8bc3da0910d474d36e4a2eef66b2bbd0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtbErkNjkRRwvOddLxqxlxKx7XZz-J7YzINdKb0cZD4fmWdA9SwgAQUimvmgargl6wmNSHXnD7xB20piGZo2b_HNtPKuovO2mMlBMVe-psD7jBi48dm01Lk6SMv0D6nWDMCVVfIavVtGjhwr5lOJ6fOFxpWAtppukZhKmpXvuzqvxGp-iXhY8ZEeIRzyOtPl3fM5_lzeikLZOfAV45-e7KLDtmwLVWclQR9nzFAIktox8HzZkhXyPlDPspLqjMoZXUgBACAUG9YvH-2RNbeeQZleBOWLrgmlCL7HKfZz3E0CJZijHpk5BCu9ksEyf6BMdIL_tNv7ZDpx7-Q-iCNU66ymaqr3mAKthfc81Ak-6PCaJtcyN7ycdG-K9M27xvyFzAJJOwJzCHg_YdoC_L38WuAn5JzAjFRiIJQjacnzSfchXzx5YWG7ngwww6kPHXpRF7rzGjTCgWitgpPFa0hJW7HYW6782-9Txy8OrjFyZOb2CxTpBPEDBxaRH1Ch2y-wc15kIVLXHid1Ctl76dSTFMlRuLpZsvTYSFHY7dNH2XK5aU3IN1NPofaMZcKgq4ATzDTivAPFA319wsnKWep1DouF5bDdrusFBt7UUA7xO856rGlfDk7Ifa418FTMrGhaKtSkCxEHlLEBeizaEbn5kbhO9TB4kvqIjhizZ9EQiWENpC0lGdVz4XbmRKeGG7I51qevUHvvsRJnHRd6EI9MfmF8vfDet4ZAs8yHrGy9Ux1GhpgrzYKE6gx2RWI4CMta4wt9yosdOuy3-afFVaH6Idi3iLgpiDwd5CZEJXj3bCYXPjuUabjjyrr2QXZKo6_XvO94iU7xPylNY8BDagK5T225WqWHeRnHbGdE5t5vCc36ACVFqSe1IkQOD7YBr1c9HmhPu2dPp5Rd33_QGGiWCr7YQp0z89H7zOLgYRL0RjIuOPGzCVCuP_f3OhLvsvdSfIns-B7Gpo4AkPTHVyAIcLDCXtUf4Ehw1lbEEo4-m0OUWtVKLvd8TOphtHrNm4VrV7yr8BBbvRWUGQjT-BrG3uTI2wmVTR0twcUwcLh2gia59grvA0xwVnsBi_c0MmmYyca-uMegjYIDvt5I4xIOdvYs8MYmK6Uxqjdhl3htm7s61KuBWvhjwSH9_cmRc3QkVvGE3ty8p8wBAr9WBBfq9WHKNPVYFt9DDs-shVUv3L_Cxd2ljdpDaf1vtcX9E4lqW6fVSq1SvZr4Ds1kE3_U8dCVW1YYf1vFQZkDEruJ4s52EbPtDRxZkLe-jJr42U2VjfJBCc_nwNjqP9dI2MxPXpBZHtxexm3MvjGDmliL8HIW36ETCnNgt-PdUU-5xg0FT8-15z3WLi3xvoLeGJIZmb0GOQ1OxGVfTLid03rcQG7Yp4Gt_Vyu-b-DQXhDStJpEtNcP6YKmUb6f030jb3ETeIzsmsjmspRMFDbuiPq_Va0DcAPL76p2l2_3C2vcs5nMSYqGXjCNjxsqp3LTKYwmxdivKqamv0TkgFNBxuhe8nSaLOlB5RNtog7LEST5vLsSefxIODbhl4xD-H2z4EslFNYRTGxHdjiH7J7Vs9qQUUwk5Fnp2-2TBHjti7Qf3udbkXCDErIRjONu3UNHhhq_smIDaC9nTUqGVQGshk5YhQFf4LzfDsqntsKFD06C52Mj63qaOhfu9jJWuGrDnA3ccJF-tttKmtUxK8oOR57qaFbAIhNGYyqmP7mddC2X_9oUA2m07TVgORWkb5Dx8XttmlmtCxwsnZjXG9TVWRWeyXH4XWv4DRfIPYiOeJVahj3i9v6pROMzv4zJJNBjSjxUVPjNqm9OecWA1oGYZlGbT24FPa782I94knf0xWFZm6FfdrA5mD7b7rb4l5uJL31rTclIbXW8w3VkJR0g7XTQuGdM_fr7eLr_UttvqIlSgL1ViJ6eWB4MNfrh6xeGEtTgBm1ANaBCYjCnhwQ6oyx_wxbbD5yT4ZD-EsnwYy_WvaNA_rGQPNtaJjmrSpE5rzG9bFUEFdXHvIbQx9i-bf-X1-foAgrVMVJwBW1Vo0GUJboFyAv-Iwc9GXJIVz2xXZt3LtxZsqicOmLPSi58J515TIhKxAYQuFrYT75t0dbfcK3dhQCB37xwdRCvv_ubW_WnxRJI8WU4YHELbOmrXQrOQxxCtYQkM9Q-YwS-Pk6T3IAek_qwJbx1IVQHGkLIrEfhZq2D2RiEVwKEcpIyAqTIHMv-x8yAItHyZo3iYRyl3bCXbPDtMgP_wMLG2gK0z2WF0LFmFkPMwSlJLjbkCZ-AXQc827NbYZK8B0X5Ro9zw_fn-YqugfXjYnCy0d7hxap9CcVMQFeDwU7WBKKnEEAXjaiFw5vRDJ91sXtMH4PaiKEQjHOu-ZbW2CVUidpKbFDi5Po6CJWiUFUYEckz39Oxap9CuNwmDoFNivYhmOWGFvy0BUadQG0wDyMXXnfwyLw3zwaX3FvX05GIm1qVOYslA3JVU=",
  "id": "rs_0fc0d1298a6cb22c016ab44b58a3a887d0a39439c3c589eed4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.16,\"right_z\":0.13,\"right_gripper\":1.0},\"note\":\"The settled jaw reading is empty and the plush was pushed to the gripper’s right side. I’ll reopen, lift, and shift about 4 cm right to center the plush body for a second attempt.\"}",
  "call_id": "call_K1DCtj9186DnYpWPgV5oKe4a",
  "id": "fc_0fc0d1298a6cb22c016ab44b5b149487d086feebf942eb1223",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_K1DCtj9186DnYpWPgV5oKe4a",
  "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, 0.8433, 0.6064, -0.6899, -0.0189, -0.0387, 0.9997, 0.746, 1.2327, 0.6315, -0.178, 0.5285, 0.0593, 0.9946]\nstate[eef_state]: left_x=0.2449 left_y=0.0023 left_z=0.1128 left_yaw=0.0042 left_pitch=-0.3474 left_roll=0.0035 left_gripper=0.9997 right_x=0.2981 right_y=0.1591 right_z=0.1157 right_yaw=0.2774 right_pitch=-0.0974 right_roll=-0.3197 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.265, 7.1179, 1.5311, -0.0708, -0.0659, -0.0073, -0.1983, -4.7248, 9.0598, 1.5995, 0.1001, 0.0366, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bec8f525d2befae2d2e07fce0f42f083b373b9b1d9d50c2e348577eeb46110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c91371c6928ff7836b1730af2f8309ac875fb0ea2c3c8793a67221b09264264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ae36248fb95e3de4f4b9be08ffa6f886d899639503830da308f8cf92e1fe96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 91 changed as sent

message 99 changed as sent

message 103 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8379, 0.6064, -0.6525, -0.0189, -0.0387, 0.9997, 0.8585, 1.3052, 0.7856, -0.1989, 0.6098, 0.1463, 0.9974]\nstate[eef_state]: left_x=0.2521 left_y=0.0022 left_z=0.1198 left_yaw=0.0038 left_pitch=-0.3047 left_roll=0.0025 left_gripper=0.9997 right_x=0.3059 right_y=0.2049 right_z=0.1559 right_yaw=0.283 right_pitch=-0.0034 right_roll=-0.2675 right_gripper=0.9974\nstate[joint_eff]: [-0.0889, -0.9641, 6.735, 1.5995, -0.0611, -0.0806, -0.0171, 0.4171, -5.2444, 7.3231, 1.9414, 0.2759, 0.1197, -0.0366]",
      "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, 0.8433, 0.6064, -0.675, -0.0189, -0.0383, 0.9997, 0.8646, 1.6402, 0.5446, 0.2817, 0.609, 0.1535, 0.0086]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1151 left_yaw=0.0038 left_pitch=-0.3326 left_roll=0.0034 left_gripper=0.9997 right_x=0.3022 right_y=0.2041 right_z=0.0288 right_yaw=0.2836 right_pitch=-0.0825 right_roll=-0.3134 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -1.1009, 6.9538, 1.5214, -0.0611, -0.0122, -0.0122, -0.1026, -7.3504, 5.4496, 1.4481, 0.2711, -0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8433, 0.6064, -0.6899, -0.0189, -0.0387, 0.9997, 0.746, 1.2327, 0.6315, -0.178, 0.5285, 0.0593, 0.9946]\nstate[eef_state]: left_x=0.2449 left_y=0.0023 left_z=0.1128 left_yaw=0.0042 left_pitch=-0.3474 left_roll=0.0035 left_gripper=0.9997 right_x=0.2981 right_y=0.1591 right_z=0.1157 right_yaw=0.2774 right_pitch=-0.0974 right_roll=-0.3197 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.265, 7.1179, 1.5311, -0.0708, -0.0659, -0.0073, -0.1983, -4.7248, 9.0598, 1.5995, 0.1001, 0.0366, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68bec8f525d2befae2d2e07fce0f42f083b373b9b1d9d50c2e348577eeb46110",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c91371c6928ff7836b1730af2f8309ac875fb0ea2c3c8793a67221b09264264",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6ae36248fb95e3de4f4b9be08ffa6f886d899639503830da308f8cf92e1fe96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtfxPYHgzBnKTP-ZvTPIiptbrCt7C63tYstz7WT0caWmHfXKfIZGSo518v0aQgtQvpZB-qshWi2roStZFTyye9mf9cdRHU84A7biPWTqausMFqyn2op-uyA208JTSrmFHgCIRUJc39o8JqCUv7i1x3_AaS185YaVpRZBSLh5BxNIkSuGGAn0iJgztVj_IJziYTyeesf9afTrb216mlDzEsJXiRgQCALpqeQ6rp9vnYMmR-hHlIyaBqBvY8Gnq4xtd277p9wVfW0wRnZpf7xU4PVcZyrMMKKqXOfEvpeMX3QtS4bkuoNvUR-G_C51HhfXvGiBWLk9wrwU_DlpGOJPJiMdPp6mBhJ8GnoTmaRbrXLWhnT_8qayeJ9naML6OeaT5oOZj7QH6au6GdZ86pq5QGezFnH3z0MSQmfM1JTCxwhCZH9tOUJEWI2Erc5btYUI_B-hR8Q_KcCncy_fWnR_FX_CgD8Yq9JW_vRTJCVWi3F8h117hKKjPU0loqWqk-H5QvQliI3E8D_HjySuFPKrDfacJJm6xgHQXYZko8BbxQnkg_REItnJweUE9k-gutmikysK9q3K2ucLAClEjvxL5GdDCXoFlI4X_LH0l_MZG5JBCFQxWOdR9p4xVcAaM-vxluh7Ec0JGeqI4xSlw1gzOuPamCffYHCRlpxr9Cc5VlLDKhKyoI9D1Iv1FUHA9besYGZO-YSwVxcoE6XaFygvyzym-Qrp7kaAbxcZRy_mQ9O1ujtO8Gbh8PdTsrzK1j5U-dfPn5aL1yYjb92ynJ7k9nC3_xv_kUj8wFVTG5gHzHSEGfCRopXie3KeJQY1kJbFRzAzcmNIyjTqfcB8XAYisLhAKNLT-3Dz4HVW0WY2t638C0A0cZGhEXkEKrn8naCw34T_ksMlqck1ekBRZmaJ1HYDGXoaBcuWa7pqJdyTo1kpoVI67YZoLtpGLffSUYFx6fO76_GvW6gloL52b8pDwPbc-Ap1ZfqSa8VyLbZqzWXPUn-y16EmifD68BzvZVTfaigKfzbjqs1m_8XeAITBo8NkVNQYGeV7eYvKunQPdw8iypyZGv3kgc3pto8VaqYZBGqRTA2U7Wlj4nwOkE0NH2bJVFXwgfvKnY8TGDOpM-rkuXjDGAo2DRwi6aHp4QMgV7M2iileAXZkdZvcbkDOwJcwGnHiB4sixm9tEl17IMsA6HeaHRSYfBtR2k6U3xkWHSySErib_ISUyFQzOpz9I-WHz-QlHyDU2S5AzQqDZGHOwqI3vVnM5ipPRcZDhK-CNceAjAcLP73eig_sr1it7J2CTksKrTrn0MnRwTycbclQOtUoH9wUtcJicua-7YRFV5k_cggqPJ81Z_CJev3TntPKeUaiA90UwpcaEq6qXR2VORlYkWhUumIscyA7K_92PVK",
  "id": "rs_0fc0d1298a6cb22c016ab44b5e28c887d0a8e98c3f7fa9afd1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0.15,\"right_z\":0.035,\"right_gripper\":1.0},\"note\":\"From the corrected high pose, the brown plush now spans the jaw column rather than sitting entirely to one side. I’ll descend at this centered coordinate to grasp its main body.\"}",
  "call_id": "call_WPJJLvFAv648HH9RFh0Xb7Zw",
  "id": "fc_0fc0d1298a6cb22c016ab44b5e924c87d0820d8fdb3ea969fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WPJJLvFAv648HH9RFh0Xb7Zw",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8452, 0.6064, -0.6975, -0.0189, -0.0383, 0.9997, 0.7124, 1.4269, 0.4217, 0.1802, 0.5102, 0.0402, 0.999]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1113 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2934 right_y=0.1442 right_z=0.034 right_yaw=0.2656 right_pitch=-0.1477 right_roll=-0.3428 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.3744, 6.7077, 1.3846, -0.0171, -0.0415, -0.0122, -0.3624, -3.7812, 4.6974, 1.3211, 0.105, -0.1441, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e189c3760e073a1c53a53d42ab756d9d72ec136d5716e61abf5c11c9bb1b51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5dc9c8013e035f279a3682e0b537d80366d937a446d7a1e1674d08346f396d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babe51adaae2a77b180ba5f0363c5ad49f33085dd6b535e32ef100673699caef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 95 changed as sent

message 103 changed as sent

message 107 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8425, 0.6064, -0.6609, -0.0189, -0.0387, 0.9997, 0.865, 1.6268, 0.551, 0.2844, 0.6132, 0.1555, 0.999]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.1174 left_yaw=0.0039 left_pitch=-0.3177 left_roll=0.0028 left_gripper=0.9997 right_x=0.3048 right_y=0.2064 right_z=0.036 right_yaw=0.2808 right_pitch=-0.0617 right_roll=-0.302 right_gripper=0.999\nstate[joint_eff]: [-0.1573, -1.6205, 6.735, 1.453, -0.0611, -0.0562, -0.0073, 0.5812, -6.0513, 4.9436, 1.536, 0.2418, -0.0317, -0.1148]",
      "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, 0.8433, 0.6064, -0.6899, -0.0189, -0.0387, 0.9997, 0.746, 1.2327, 0.6315, -0.178, 0.5285, 0.0593, 0.9946]\nstate[eef_state]: left_x=0.2449 left_y=0.0023 left_z=0.1128 left_yaw=0.0042 left_pitch=-0.3474 left_roll=0.0035 left_gripper=0.9997 right_x=0.2981 right_y=0.1591 right_z=0.1157 right_yaw=0.2774 right_pitch=-0.0974 right_roll=-0.3197 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.265, 7.1179, 1.5311, -0.0708, -0.0659, -0.0073, -0.1983, -4.7248, 9.0598, 1.5995, 0.1001, 0.0366, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8452, 0.6064, -0.6975, -0.0189, -0.0383, 0.9997, 0.7124, 1.4269, 0.4217, 0.1802, 0.5102, 0.0402, 0.999]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1113 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2934 right_y=0.1442 right_z=0.034 right_yaw=0.2656 right_pitch=-0.1477 right_roll=-0.3428 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.3744, 6.7077, 1.3846, -0.0171, -0.0415, -0.0122, -0.3624, -3.7812, 4.6974, 1.3211, 0.105, -0.1441, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e189c3760e073a1c53a53d42ab756d9d72ec136d5716e61abf5c11c9bb1b51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5dc9c8013e035f279a3682e0b537d80366d937a446d7a1e1674d08346f396d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babe51adaae2a77b180ba5f0363c5ad49f33085dd6b535e32ef100673699caef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtjGa5AkARjizhooH3q7jEASuc9YY2CBj8zIHX1AqFISon751hgj7a0JRZVaEeKQK_1nLp7TUA_OexKXjMDHaWcPHeWfQJEOnxq-Yzkp2ReOdjXxP6E0oxcEewn11PqtYXG4Y9g6Jpu1c_i0mlVJJ5-gOOtS5LJWhn6_GyN570DomH3feFjfnPOgcZnsnsnVn6AWVl9vGA4qPD2mIC5gNIa9NPUrzLBeyJNtfuYXm0njxlWrrspxqH0aoc5tCvKvFl6Pn_09PUotSsff7Apec2AM2LtMZLtDW9FuMksJ7P1t7F8w8Ty5X-lXvCR6aRu9gIGW1g14ptJOa9NMsGdjLpi5P1yY-mL8B_kyfo4MIhiYRuD4q2Ghu5Osss_870gsiHU74mC58hxu6uVIAUvZWf26R7CxHGVupVq2fJgN-pX7TAdxkFdbKsvqeQSVwyZXgxGU3im53kwbLloid4km9AmgszOCDU5LyotLp6yc8m7IaTJNZ3Zy-uoLjivRGwALhfpDRv19PtiDmdIEWGrOU8JPxjubyGgHgtexNhJYfj5W7IFXQ_2oK64fbxqxzVvLsDacxlqh6niTJJRiyeI08rKk6XtP-yH-X7_xuQ4GlMjsgscccj4ypQYruXdVBYyllQrykaC9mupX6N1Xaz2a-QVPcCDlX2fKsETULsxbis9Isyf1ejvvCWSopBRXMIG8fIZCYlsQyzB58DM1D5DWkVpD7vGbjnR7zNJCCr_ZrbiX5y5IZypCo29v-uhQ976PuFUSrXbiIkHv0vej4Kt_sKlsxGKy5UPHLQTCrwk-G_l2hc2Cco7QpuHydMwH5M4V4UU0S3o262lIAaZDuE5KlHkB24ZMT4jk_gQa_3_weUmMGJSPdt_fzdGyN8nlB16LrLgR5ikrvTrv9fHo0QFIPLKIFg6QEASmbHWTJ0zskvqfkBEfvxrEc4TcuXrUT5z2n3_ViyxhT0ayE-lTSw_NagJWJzz8S1IZsWw56F4-V5tXHPQpFzwU5f8uiMQ6dE5lk0G4oybipEAcDhIsZn_sUwc2rk2snZ_kU1rsVxQl39XPYxugWc891ZlhXL_nR7G6FyuyNxFMGXTTL3Ny_PEJW_Kpyg0hEgb1b1UFaj4T6iYhGUqpA-7HT8i8trUl41gYAybXPZDW4KjUbdtF7DDlZorq9rGjZvD1u0dNJ98qScrS4019ALsjjib28h-1DdcWXKFiHQQxufnEVCrghgrKuRb2BhX26sksgLvjkyc01OG_-0=",
  "id": "rs_0fc0d1298a6cb22c016ab44b61b15c87d0b487284be7d9eacf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The main brown body is now centered across both fingertips at table height. I’ll close fully on this thicker section and check for a nonzero settled gap.\"}",
  "call_id": "call_z3ANhi4tm99rq5R36aZg4MAp",
  "id": "fc_0fc0d1298a6cb22c016ab44b61ff6087d0ae06491f22403e2e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_z3ANhi4tm99rq5R36aZg4MAp",
  "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, 0.8455, 0.6067, -0.6975, -0.0189, -0.0383, 0.9997, 0.7113, 1.438, 0.4072, 0.1738, 0.5034, 0.0338, 0.0088]\nstate[eef_state]: left_x=0.2435 left_y=0.0023 left_z=0.1114 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2879 right_y=0.1403 right_z=0.0246 right_yaw=0.271 right_pitch=-0.18 right_roll=-0.3569 right_gripper=0.0088\nstate[joint_eff]: [-0.1299, -1.1556, 6.8581, 1.3211, -0.0415, -0.0611, -0.0073, -0.0615, -5.559, 6.3248, 1.4969, 0.2613, 0.0562, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a9e36ffc7596c32031611b987612e38df6adecdb08d7cf9154053055f30b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4bcb26d26439d0a3f6311639cb77c2ae2a26b377934ac1cc0331830cd4a857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e413aaf80722bfbb4c561de42e00ee2e0ad7cc34a83034c963e209fb614e03",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 99 changed as sent

message 107 changed as sent

message 111 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8433, 0.6064, -0.675, -0.0189, -0.0383, 0.9997, 0.8646, 1.6402, 0.5446, 0.2817, 0.609, 0.1535, 0.0086]\nstate[eef_state]: left_x=0.2478 left_y=0.0022 left_z=0.1151 left_yaw=0.0038 left_pitch=-0.3326 left_roll=0.0034 left_gripper=0.9997 right_x=0.3022 right_y=0.2041 right_z=0.0288 right_yaw=0.2836 right_pitch=-0.0825 right_roll=-0.3134 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -1.1009, 6.9538, 1.5214, -0.0611, -0.0122, -0.0122, -0.1026, -7.3504, 5.4496, 1.4481, 0.2711, -0.0269, 0.6667]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8452, 0.6064, -0.6975, -0.0189, -0.0383, 0.9997, 0.7124, 1.4269, 0.4217, 0.1802, 0.5102, 0.0402, 0.999]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1113 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2934 right_y=0.1442 right_z=0.034 right_yaw=0.2656 right_pitch=-0.1477 right_roll=-0.3428 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.3744, 6.7077, 1.3846, -0.0171, -0.0415, -0.0122, -0.3624, -3.7812, 4.6974, 1.3211, 0.105, -0.1441, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8455, 0.6067, -0.6975, -0.0189, -0.0383, 0.9997, 0.7113, 1.438, 0.4072, 0.1738, 0.5034, 0.0338, 0.0088]\nstate[eef_state]: left_x=0.2435 left_y=0.0023 left_z=0.1114 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2879 right_y=0.1403 right_z=0.0246 right_yaw=0.271 right_pitch=-0.18 right_roll=-0.3569 right_gripper=0.0088\nstate[joint_eff]: [-0.1299, -1.1556, 6.8581, 1.3211, -0.0415, -0.0611, -0.0073, -0.0615, -5.559, 6.3248, 1.4969, 0.2613, 0.0562, 0.6276]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28a9e36ffc7596c32031611b987612e38df6adecdb08d7cf9154053055f30b33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4bcb26d26439d0a3f6311639cb77c2ae2a26b377934ac1cc0331830cd4a857",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e413aaf80722bfbb4c561de42e00ee2e0ad7cc34a83034c963e209fb614e03",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtr5-KhpVBfnwoqO39ZJ9MqZ4nw974PsdF99_QQsps8nldZG-HhTTey2n_oiIAn3xGl__niDq9GkNBMAFi5OxCdRSLiWpLQ3OS7ULD6SK5AgstRMPY6CQxIDtbmACzR5YiOudcJNY2fV_tpezYka5-zFkRojqyxAAYcssDvxkz2HQVyjnPaCA2uW0pdmJDNL8O0a5K3OcU43-fh8FzZM1LJe9dvFWsfKaXk90uCZWxHaxb3HI7QDeEGooWI2Y_q84SO0b_-L484jM8xC6-D6ymr0pwTHeyyI5wuWSX9UL09j6Y_VEV9YmWtb4yDBw7-A5_7UY03NTBoFM6dj6pznU6T_HT43XFqMMOVO_jY9t4k1WNq_Fz-JSxjEfJ9ZcqZXQ7nqvooFiqnCYFiizbXVaA1m-z2ZSCJUlyIA07bGfdjlFbAobkLoSbU34Zou_ssBQjawQAztm5JLz0u5mqh9RJBw6Lc1pHsjNRN6_HR1NohOb8DKwlAa416HECgjTYpWjDMwUZjXgLPt7k3jOkLEa1UOWaPThdIWhx-pkgpMtQgaBPgJEjBa_bq_whetuj2Fzjr96D1xjjKRnNI3xilmBfiQCXWc9dJGrBB-FL6XilYfjolew_nat27wZEDq5WDVC8YSVWl_EmQuMXhBDmesad03pu3SjsUiilxTvuNqhWcjObeNjA5m8BOWbEzwxQvQSNgTWQf7RcaMTK1N2f74L2Q8r5WcyDuFUSDrJCaDXfpgpqeENrWqhwM2gx_gCfxT5lARxGnApRbeB2vxrqvZQvRjZ32lOwJMPn5I4-8NXhkyjBpgr8NnBf4CoR75mHKJ964gWWnJCtelMihS6sZvB8evEi-ERmpDmKXL53mSlmSp8ku-VOPKcHhkebYRZUJZgLFYls2dATBrSxyKYyaURbgY4yqRfzfvYv8ppVXcR1s1bVJWc2_xLU5mMg2xsiti5Wv7D7cOaN6FsbZ_2QcVuhGk3sVK4hF7i4V5FKhbOR6U7VpoRsFNOKr7ytrEY2OuiqffzXiewmQaP4uu7FBRErPjPIZnlvc0R3cWw34htRzDhCS2qFSOGLXH8Jh5LT21mzj0S0yjJWHOudc2Rd1-lbrgqDUdmK-GRT8ja4GtNThJ0mB2YnMcfEQQY25m8hW9VipBdxxR_ABTc9CrbkkcWgI0XOd6qUgxqr-k4ajWEdsi3tvTmFmmP6BgDdsZ-g5fldOwKg4Me8VC6s5qqchV6E_NVb5t2Kbir6zOM2otQ_JQ2WcMUwJe2AR0y6RyiB916uWTOp9S-m8WM9rd01HRZ8uHaRxlB__QgyUeHozEKh1WcDjijFS4RyQZIlq0YBts9ClwvxTMqpO6apKC7eKv5IFr_U9vvLxFljmjnREb7JWvhX8eSSDbX1kNDLLhRLWPCeVwIcO_WvkLzkt45OhmF339cKE-Ju8woo7fO04TOIsn4zLNRRFmWPlKooQfzOeZ9QwRKk0aZ1Yyjq8fZUaR7YBY0PKbru9ycuaqjv1C_qZWJ_6NgXF1t9ZFK5E1WJu_el8SQM0n1VYhCuAS7sT4hbUqcZiAgRs_lqCUBXlEpOVSjpFfXwde8U87y0OVDcuFOg6Q-cMZmyPGYt0he0CCc0J60x6qis7X42LHZAJycYRe1fogrKwLRuZleZAFCWWJad9PjJ4M1oynAj7difu9RL0cHhxJS11Qx_xW7eT8K_gDuCTyJ9dLd3G2BDpm_EHlFT9DYoAybXdZGKOYxf_7aMfUuZrtSd8hX67H-gnhzB7lXeDvJnxGQBsGTOsmo-Tc0RPZZJlgFhZqmaMqYqDQ9gGoNzp96myx4a1R0pBms31cBit8UzImfCi9BW_etdlbIjOkUNN8QAoiovRDBvv7s9kdtBgkDOxLnfzw8WsLDdrz3WxfI26MyDkSQ65bqZj_WKtR1STRhlScTuhS8tVFxKexkgOx5yLPhCQxE7R-uvnkDaQW2hh256wJg2d91SvPB9w25vt7wQ1KAVfY-9p_m8cbtbHULXmGIxdybgjsa4i9CwIdozL3j0hZhgg2_i5_6IlBDQ40I8jVhKsfYqQVKBz93VxQqzlV5B-uy5gc8bSISDQ0w3kzbxLgbfXY0Ed66sqcwubwibXKm5zRhqvr8S0gxRLZHhU55VcHV0QckZiL2M5vDyYTBJ0SUn3zERTGqYP10Kr55hFi2Q88neKx2tmTkNrjAB54OlCwI_UeBB4N8JkwMksEZw-y8HrRRvlpWOF3gs5nPYzuvciNt6cNGzG4hxPoLa908NorQKvRtDczKDwpJrNqrzVi1pvTKa6f3yaDD56xDFJUbYpxTyaVSxycKd875ay24uw1bfoXY59gGMVDvWx7l0SJx6GcQkaufnIaxgEH6zQF8E3GLQd--43lXy1-71YXJyF1I2oTKaPESbCniF8Kp8DWqnJXf_LgjQ7qIWMoPGkPhkrz8KKNQL9TzA2ghNqWvFlX8tDRdXTibEQ5sJmoe6LrQ5l1bJRxlYIAu_EVmjBx7KIwQ8BqbyIRu0YrCz0q4aQ9drv6Ok_SLVLR809HAC3pl6fyxJqidtWkFNGAAtz6EcSmegbrAxeti6l4POfzjaC0BJ1zxbo26ce54l8VaHXvqOwUghhMifOPLfJ-Z_Gco3TLqomG8B_dIHrz2zLAWtvvlrFoLgFpC2UV7crel4FPKYaiehZgZSQ7sF_T0e8BuIeDhhfAF2tLad7hEMrx2HArKw53FgLU0KL1Ms6w2Jvv11Zh6lnGa9SAW1gDiugKQkXYdpB59CvRbYPzGm92rr95noJLXi_CNNUPIjBJPjsj883Sk1hfHNsqA2XfSlbFt6gfi6lvB31inFvuWY-l8Z0QnO5rRhgeIFqHd4putJdF6ayiybagsVFOVnuWUnjgZzSxNj8pwc7psIJD7Gy-8eGu59DvicesPS1EQv9U30QMLWIjd80crH5cZa5Fs9oTC_lp9a7B8ZoDW7lV2_rZXOHqNuf-A96bsUPJaoyVGWJ-R1nkpxcTdvzG1oM32j5TP7NxwE5Nzlk4BVTALCHRiEzOH9MOmtfeD3HUEs1J7tIPVOJcU33wcJsTBAnbIbL-nd0TRZyVVsPnvitPqZnHulhwhOa8rvNkaFiK5GlCM73BI3pVXLaEhSU4OK7WJCbHm4Sj1pyybiLIwUEidvs4iXo7a8AwIw3YHiWGL0-2L_07qG_OTpJhGFycby3Imneo4EdZwsmxLodWD8w2pb48TgTva_ZDnQNe1mQldhxiFjMGolMx48VkHRUfs1syDtYlcwp6HinvT22jWDgxY3iPXpLpOUDWt_8X2Q=",
  "id": "rs_0fc0d1298a6cb22c016ab44b66289087d08ab202bf0055c832",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.18,\"right_gripper\":1.0,\"left_x\":0.3,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1.0},\"note\":\"The right gripper again closed empty, so I’ll park it clear and switch arms. The beige plush lies below-left of the safe and is better aligned with the left arm; I’ll bring the open left gripper above it.\"}",
  "call_id": "call_alqK2vmyJBIVoUlCYUh6N9HV",
  "id": "fc_0fc0d1298a6cb22c016ab44b6a421087d08109e876edd9442d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_alqK2vmyJBIVoUlCYUh6N9HV",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8051, 1.4742, 1.1202, -0.7933, -0.4206, -0.7181, 0.9997, -0.017, 0.8959, 0.7147, -0.5808, 0.0116, -0.4694, 0.9971]\nstate[eef_state]: left_x=0.2903 left_y=-0.1928 left_z=0.1354 left_yaw=-0.0047 left_pitch=-0.4043 left_roll=0.0219 left_gripper=0.9997 right_x=0.2854 right_y=-0.0033 right_z=0.1628 right_yaw=0.2312 right_pitch=-0.2182 right_roll=-0.3513 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 9.1692, 1.033, -0.4762, 0.0659, -0.0415, -0.212, -2.0444, 9.3197, 1.7705, -0.1294, -0.0415, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d9dd490230c32b0d788e09c623d4dd4218b8b5bd6731b213d13faaa43dff28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48235ad5e686a28808bf4e1f396d344c70222037a5fa512b1f1263991f784cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f481bbddad759266a274c09616a8e7871788d04fe59bffa7540465622969f8cc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8433, 0.6064, -0.6899, -0.0189, -0.0387, 0.9997, 0.746, 1.2327, 0.6315, -0.178, 0.5285, 0.0593, 0.9946]\nstate[eef_state]: left_x=0.2449 left_y=0.0023 left_z=0.1128 left_yaw=0.0042 left_pitch=-0.3474 left_roll=0.0035 left_gripper=0.9997 right_x=0.2981 right_y=0.1591 right_z=0.1157 right_yaw=0.2774 right_pitch=-0.0974 right_roll=-0.3197 right_gripper=0.9946\nstate[joint_eff]: [-0.0068, -1.265, 7.1179, 1.5311, -0.0708, -0.0659, -0.0073, -0.1983, -4.7248, 9.0598, 1.5995, 0.1001, 0.0366, -0.0708]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8455, 0.6067, -0.6975, -0.0189, -0.0383, 0.9997, 0.7113, 1.438, 0.4072, 0.1738, 0.5034, 0.0338, 0.0088]\nstate[eef_state]: left_x=0.2435 left_y=0.0023 left_z=0.1114 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2879 right_y=0.1403 right_z=0.0246 right_yaw=0.271 right_pitch=-0.18 right_roll=-0.3569 right_gripper=0.0088\nstate[joint_eff]: [-0.1299, -1.1556, 6.8581, 1.3211, -0.0415, -0.0611, -0.0073, -0.0615, -5.559, 6.3248, 1.4969, 0.2613, 0.0562, 0.6276]\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]: [-0.8051, 1.4742, 1.1202, -0.7933, -0.4206, -0.7181, 0.9997, -0.017, 0.8959, 0.7147, -0.5808, 0.0116, -0.4694, 0.9971]\nstate[eef_state]: left_x=0.2903 left_y=-0.1928 left_z=0.1354 left_yaw=-0.0047 left_pitch=-0.4043 left_roll=0.0219 left_gripper=0.9997 right_x=0.2854 right_y=-0.0033 right_z=0.1628 right_yaw=0.2312 right_pitch=-0.2182 right_roll=-0.3513 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 9.1692, 1.033, -0.4762, 0.0659, -0.0415, -0.212, -2.0444, 9.3197, 1.7705, -0.1294, -0.0415, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d9dd490230c32b0d788e09c623d4dd4218b8b5bd6731b213d13faaa43dff28",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48235ad5e686a28808bf4e1f396d344c70222037a5fa512b1f1263991f784cd8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f481bbddad759266a274c09616a8e7871788d04fe59bffa7540465622969f8cc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEtw-qV9b_uefv4Dd4LZY7VO9INUPxP3NQUR8nB8ldBW5QU2Q5c8yoK6oOdo59jHbC6ASWa_m4ttsxRVT2cK6UMrsJ4plHJmC9jc4eShkD3EWZ9xhyUq34b29_yHp6Qs5_phWZvZyDXWClfRrt0_v9hQnIKMhXAEaki2WQKpxviAqsF5hYQI5NRxPdUK0P9b-OtIndtHFVGeG_qkBhTyVUI7B4fCMNx_y0_01PcCzkd3UBOK_mRGJa77Yvkw_GylHU8AIFPMy11EkMNqttWnpnbEkYETrUG0D0ZnL54uUpxufmymOJJXCTBMgKiRGX7sY-TYFKsb7SP8SzXvZW8uyA3AbKdoWqTZGpM07bSPhOwI34LHpxO_ch9YiYb2BGK_Mtop7jLYe_HUo1EYvzfS4Ya80mVoS0Mpx3GhY0zvzVKYJfTCegvU52xGQWF3tCx26yAS780IbddURI0oTIgnEN6FEB_F0t9T2Kip1Yr7kwQYjrR3ol6Zm2oISNGMEwt95PivD07Q0PrvA3iNbvXXF-S2vVUnq-Bp-4AxWEEbvGAiBLHzE9t6FsHOGKlwDjvfx5frO4xyV5RErU_jPzAvpg2OrZB16juHNVDvyc1AnwANq0QHD-_IJu4vchU7rgVnWRFHD2lIZw93Ce8A3RCdNczwmgeRToJLWao2Xqog3sVyr5wUfF0UDcPEf6LMQIXU0Hl2e0l6f2SxekKoF3BqyUGKixfp3_fucjDV4YIDEtFsOPMV63dBU2jkxf2a7VoqBZ2unq3WBPrFtbWu8q33gpW52Ns1zXOhw0CEfPiVTGNiSM3xTqRNOQILNiadyMAz06NbzLr1WVmzR3xepnWtVrb-qXaWyuQ-78vz7pisIfIdAprHRTpDKtcx28SGzfiuYIOVTyfmNzxE7SeeI3S_lNFdAgpbfqjo4SYDEwzDhzLodJsofBhW7keo9dg0bDtgbbAU00i2CFfRhJCVK3r4BAUVGkelyla_4Hmwt1SVctmP-Jy398CqKsdAJIG6YfrIE11inTBLqaoc1Zfhz-dIE-rrXnvFrjTEW-tWWL3DPLYz9unLekb61zSe7A-a7Mlqq3Vlyldh5A_B9MXO1eyNOjxpWqlVHii8n-j_NCwTGSrRVHGgggUNVPrEE9Y86ktlzesXuCjn7FZUdYEV7QSse1M3qanN_5R8I99-MMRjbtVf1sYVve7X2_NnsHR8eE0aQRq4rIWxTalDaRy1QzLO3z6pHUlBm5GL3IXC4M5vjKzsd-MNqMFy3-ZP_QdBdTrS5JCMa_8iaB-s0Zj5H_k1-9tdzF51v5_aHADlETNYNPS_gLplEPPIg6Z6rX7-Expcc4pBlP_jhwth7rIYdRlwcnCHRcu5oR5TyxEzlfDmbJaOEU5_4Z7ME7YPeu7eMFOe796xK4WuZUo9jNm0fLIXALa1wCGMsDEv9jObgdSmvixdUvmivlUxPpoWARYi4TMj4Hag7jHaiq72JD3IYix73aSxOQ==",
  "id": "rs_0fc0d1298a6cb22c016ab44b6f381087d08e7a158ea33c6cfe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.2,\"left_z\":0.15,\"left_pitch\":0.2,\"left_gripper\":1.0},\"note\":\"The beige plush is centered on the left jaw column but still has clear wrist-image space below it, so it is a few centimetres short of the fingertips. I’ll advance outward and pitch forward slightly to preserve vertical reach.\"}",
  "call_id": "call_FJnXAsR4Np8xsfYu83GqI8Ju",
  "id": "fc_0fc0d1298a6cb22c016ab44b6ff5c087d09682dd5b6b347e05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_FJnXAsR4Np8xsfYu83GqI8Ju",
  "output": [
    {
      "text": "executing move_to over 21 steps (2.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9081, 1.4117, 0.6895, 0.0505, -0.8001, -0.4885, 0.9997, -0.0189, 0.8974, 0.7143, -0.6125, 0.0067, -0.4858, 0.9987]\nstate[eef_state]: left_x=0.3199 left_y=-0.1981 left_z=0.1357 left_yaw=-0.0191 left_pitch=0.13 left_roll=0.0468 left_gripper=0.9997 right_x=0.2799 right_y=-0.0029 right_z=0.1567 right_yaw=0.2445 right_pitch=-0.2529 right_roll=-0.3507 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -5.6547, 6.1333, 1.7851, -0.4664, 0.0904, -0.0415, 0.1026, -1.7709, 7.0769, 1.8584, -0.0122, 0.1441, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6b7268776be6f682ef0191ec782643c3c75f6bfb23b17162afa21924d22276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451d06506ed13c364b40f974b6bb9dae07ff50ed1bbfbb51450eb7c515fa8c09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fae262ee5b629ecb1a13038f0bf9b8353dbc5a8c381a735e0f4c7a1952743cf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8452, 0.6064, -0.6975, -0.0189, -0.0383, 0.9997, 0.7124, 1.4269, 0.4217, 0.1802, 0.5102, 0.0402, 0.999]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1113 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2934 right_y=0.1442 right_z=0.034 right_yaw=0.2656 right_pitch=-0.1477 right_roll=-0.3428 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.3744, 6.7077, 1.3846, -0.0171, -0.0415, -0.0122, -0.3624, -3.7812, 4.6974, 1.3211, 0.105, -0.1441, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8051, 1.4742, 1.1202, -0.7933, -0.4206, -0.7181, 0.9997, -0.017, 0.8959, 0.7147, -0.5808, 0.0116, -0.4694, 0.9971]\nstate[eef_state]: left_x=0.2903 left_y=-0.1928 left_z=0.1354 left_yaw=-0.0047 left_pitch=-0.4043 left_roll=0.0219 left_gripper=0.9997 right_x=0.2854 right_y=-0.0033 right_z=0.1628 right_yaw=0.2312 right_pitch=-0.2182 right_roll=-0.3513 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 9.1692, 1.033, -0.4762, 0.0659, -0.0415, -0.212, -2.0444, 9.3197, 1.7705, -0.1294, -0.0415, -0.0806]",
      "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]: [-0.9081, 1.4117, 0.6895, 0.0505, -0.8001, -0.4885, 0.9997, -0.0189, 0.8974, 0.7143, -0.6125, 0.0067, -0.4858, 0.9987]\nstate[eef_state]: left_x=0.3199 left_y=-0.1981 left_z=0.1357 left_yaw=-0.0191 left_pitch=0.13 left_roll=0.0468 left_gripper=0.9997 right_x=0.2799 right_y=-0.0029 right_z=0.1567 right_yaw=0.2445 right_pitch=-0.2529 right_roll=-0.3507 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -5.6547, 6.1333, 1.7851, -0.4664, 0.0904, -0.0415, 0.1026, -1.7709, 7.0769, 1.8584, -0.0122, 0.1441, 0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6b7268776be6f682ef0191ec782643c3c75f6bfb23b17162afa21924d22276",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:451d06506ed13c364b40f974b6bb9dae07ff50ed1bbfbb51450eb7c515fa8c09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fae262ee5b629ecb1a13038f0bf9b8353dbc5a8c381a735e0f4c7a1952743cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt1it9OuNcvXwDhIRi4r1QwWy5HJKpwuIGH0tyAwD6n5AoTS137AcfJUGSalHQTcW5GxM8oeaJXessnuw4auwgwactAzUgGYruDvzWJZqMFAFaNJ_DyESIyW73fmJ2FjdU0ycAdILEcv7WuZ2ulP_kK3RKVDsF2o_7J9U88PwPQl3TmAwrsUU6NSf-f1gdTW-fXgoNYqxcJ88Yrau80-wIqaXtzzEI7W-wQbLBoHinlunh6P69gorTo6Yrb6N12pBwrfIvuR5aYLvLXeAwa6mRaQ6J9Fc9GMZqM13P0Z6xtWO7A5RSnaVPlEgykmvXdHs_FqhE6cvVN2UDoTMNIOJWJIdkvJwrBjojNyunUmno1vNn54w7OhhovIyr3bHn6Vybb8npF6_KaKIB2hdjmGiMUMhH5f5BIrqKMhMKHfDK_evfggKfEuwSnHUM8Jc-cqAE2UH5BgjSeruzs-NJZ5bcpXXrBc_vFOdfTuMiMuMaToDKijLTcVu3YIPJM4KSW8DY3xz-QK2I1hI1nJMUmgx7q_ay4YInOLvsCfYFHSKDrEQJHQFpzOor8qB56tda3p2popAundJpZ_8Y_thZAPkddL68RYDsoVyXuryEHfZKP1PI5BTgYAIvBNaGiWpOx8IJxvn6AjLM0IFL_tAcMrKyYp10dyAc-4TZsF5gLPZriUmc4-J0N4cr28gVIPNaoxu1NgaBlymIZc6UMHd5rv9Bdh0Ye7JpBMOrnAn5pNr0ZI7gVC646ehig1EurSQIHXR6dLzi1iPAMdJFlFS2P71IYS1GHswj5oZzg1ff44DgwzT6nua58kdOyIhK0xQfVuDJN-HUItL-ypkOVDCMlJhnDjUDuG9hVFXm1zb4f6fZI53sOYEjTZWf9VKsVLFFKa7VOYYjCnYmaF4wCjL1HzldeeBmYuSsFfJ5c4_zklJPVGLNr1U1O3fR9YYiEb_LNZNz3TE83QeqtZR3hM91uM8lf0Va6dEHeD5PmaB2lPxfkwd5N4nXV6tZUxO-OZZZA7x_DckjyDYmPkg1WcFpBaqM-B560Vb7uuuPvtdEf6uOCZZaDgnFcPFSJvLEpo-ihdEttAnOS7fwnL_9Lg0MitqglLfrhR5tDa0HS_Ov124-ic9L6-LxV-ZEFQPsPApHbLWTFMNvpF-KWdSIFSCG2kyn8t9J4X2U7LqkRqJX0a67byjr5wdTiCUZflzy6PyHnLGw9Nw6jQdxFtyIUBxgWKcg9wCb1aErAw8f0sbYAzTqpHjnqxACeN1RUxgP8MlhsGkAXfRRrkSIqDUVGXbnmQcwt1g==",
  "id": "rs_0fc0d1298a6cb22c016ab44b74413887d08b768053e0bc4113",
  "summary": [],
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}

{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.2,\"left_z\":0.035,\"left_pitch\":0.2,\"left_gripper\":1.0},\"note\":\"After the outward correction, the beige plush has moved to the bottom convergence point of the left wrist view and is centered between the fingertips. I’ll descend to mid-body height for the grasp.\"}",
  "call_id": "call_W0DBWXDqeYhRwPQrerGDlYlA",
  "id": "fc_0fc0d1298a6cb22c016ab44b748aa087d086a10d484a404eef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_W0DBWXDqeYhRwPQrerGDlYlA",
  "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]: [-0.9092, 1.8172, 0.4892, 0.638, -0.8246, -0.4419, 0.9997, -0.0193, 0.9009, 0.7143, -0.635, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1929 left_z=0.0239 left_yaw=-0.03 left_pitch=0.1281 left_roll=0.1131 left_gripper=0.9997 right_x=0.2761 right_y=-0.0028 right_z=0.152 right_yaw=0.2488 right_pitch=-0.2787 right_roll=-0.3465 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -7.665, 3.5077, 1.7509, -0.3785, 0.1148, -0.0415, -0.3214, -2.0444, 7.1726, 1.7216, -0.0659, -0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a55127a7bb099746a6c0aabd165f3c7b5eefaaeaa96a7ca76b0c881ef35d83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db1efcb724b04190f553df8015729e000acb1e3e50432011e7eef92f89aabf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093e2b292633e0944e20121ced685a414f0e4b44b4c403b530ce4895eb19bfc2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8455, 0.6067, -0.6975, -0.0189, -0.0383, 0.9997, 0.7113, 1.438, 0.4072, 0.1738, 0.5034, 0.0338, 0.0088]\nstate[eef_state]: left_x=0.2435 left_y=0.0023 left_z=0.1114 left_yaw=0.004 left_pitch=-0.357 left_roll=0.004 left_gripper=0.9997 right_x=0.2879 right_y=0.1403 right_z=0.0246 right_yaw=0.271 right_pitch=-0.18 right_roll=-0.3569 right_gripper=0.0088\nstate[joint_eff]: [-0.1299, -1.1556, 6.8581, 1.3211, -0.0415, -0.0611, -0.0073, -0.0615, -5.559, 6.3248, 1.4969, 0.2613, 0.0562, 0.6276]\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]: [-0.9081, 1.4117, 0.6895, 0.0505, -0.8001, -0.4885, 0.9997, -0.0189, 0.8974, 0.7143, -0.6125, 0.0067, -0.4858, 0.9987]\nstate[eef_state]: left_x=0.3199 left_y=-0.1981 left_z=0.1357 left_yaw=-0.0191 left_pitch=0.13 left_roll=0.0468 left_gripper=0.9997 right_x=0.2799 right_y=-0.0029 right_z=0.1567 right_yaw=0.2445 right_pitch=-0.2529 right_roll=-0.3507 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -5.6547, 6.1333, 1.7851, -0.4664, 0.0904, -0.0415, 0.1026, -1.7709, 7.0769, 1.8584, -0.0122, 0.1441, 0.1587]",
      "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]: [-0.9092, 1.8172, 0.4892, 0.638, -0.8246, -0.4419, 0.9997, -0.0193, 0.9009, 0.7143, -0.635, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1929 left_z=0.0239 left_yaw=-0.03 left_pitch=0.1281 left_roll=0.1131 left_gripper=0.9997 right_x=0.2761 right_y=-0.0028 right_z=0.152 right_yaw=0.2488 right_pitch=-0.2787 right_roll=-0.3465 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -7.665, 3.5077, 1.7509, -0.3785, 0.1148, -0.0415, -0.3214, -2.0444, 7.1726, 1.7216, -0.0659, -0.0269, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a55127a7bb099746a6c0aabd165f3c7b5eefaaeaa96a7ca76b0c881ef35d83",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0db1efcb724b04190f553df8015729e000acb1e3e50432011e7eef92f89aabf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:093e2b292633e0944e20121ced685a414f0e4b44b4c403b530ce4895eb19bfc2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt44oYY75UReG-vaqD1b2QULlY2Kgs4tchsl7aantiNH_MvUJGbpsHKM0QqeunN6Xb93mYuC-OU63XE8FY3wz_wGn4sBchSDSzu3p3F0PzlJy5fyLMHjUdErLCcuqhdRt-o35nMlqvEjyksH5oC7E3R92JTAz48Z42vE6xwPKrKnJD0xQWyWBiGp2wq8prhD0RFaHyUwWugWbFo-WsLht2MwBUdpTo7h6qQI3h72TeQQnm-hAXtf8mrYtJv420GVjOpXwtpSBaOWF7vv2sVE99EqIONDUu6KbYgPmP0mxs7d9TCFZDLnargA6Bxsd_qAIQWDRpdMYoBAAYq0BS6nY4GIEIktA1OxLlEg0rD5dq7ngYDzg8LjmTD-GBOKkwMFTAtJnsImwsvK4GEDrgwsEjWiJDVg8mS2D2kzbacPcl7nQhmH8keLeAXh_UgkSnodoWMhEPAtwK_knm2h2Juf8RJf_VXJLBbgiWpH8bSToRYRNDL5zGA2uiS2RALA5ppyK92MfdtYvafXW015ZzCWMIhsxWuu9Lfkw8ldzUPvJ8oaRGY_QZpa0Uj0PqpEs9xDqCGjixJ2USCghP3SbNlt-PiMw_SP5o8ws0J1AlzZYcjx8rMkeLbYlnNdbIToNUeN3XGycTqd_BQ8NQTqMV3UPqTHe2-c8c8D--r-i7ziatWmOPns_h12KOrKpGM7cGm1PN54w0c1hMDnMQTReFgAqxzufULMxYdDeNtxQbgUHanJlLhNPvZjmM2TnGGHn-ZK7B-JUQ4xaYQGPQQt102B9Mp8BBhPW-gGTzGfdt3lSvJyFVw-3FJhHwOKz6VnI83i3GZcT2U3npR-n7oq64wxgN4P8x0xE_mxoNwARbYGn8t-OicCHrT5xnApZ2TcgPPnUSoolLWwxrTfOQHYUUcVIHxtgbe0wH3V-ejyiLlyNrW0s27TDjpQ3-cvMvgh2uehNKWKvZn6XX-OtcG1Ti4JeFe5e_9eZnIyVNtd2xgWRnYZKCX9dJXx-h9qlTkqpNBWpTjGKXv_7nTNDHrZo_fi3YyLS9LHOnHanX1zYUDvffPtk5axOug6MHDKfDrvw_XgpabVz0COcigfkUEAbfz31tmW5QD_4hHfoy6H-r4x7U1z9V7yXda_e41B1cwLjMBE6Y-zxEtnPk_SN4i_J1-OtZxNx_GDxYs0Tb6AObRAwKp6ELOxwQkObydgp7ZbL8Pw-BSuejoqk3AZytmPZHB_9quIQg5_dmMIWqhsVlQ8rSzhqI=",
  "id": "rs_0fc0d1298a6cb22c016ab44b77807087d0afa5cb7332990924",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The beige plush body is squarely between the left fingertips at table height. I’ll close fully and use the settled jaw gap to confirm contact.\"}",
  "call_id": "call_VSiXyp1PbQmXmA9DMXpc9HjY",
  "id": "fc_0fc0d1298a6cb22c016ab44b77a28487d0a2414e87c0934195",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VSiXyp1PbQmXmA9DMXpc9HjY",
  "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]: [-0.9092, 1.824, 0.4797, 0.6655, -0.8322, -0.4492, 0.1989, -0.0189, 0.9012, 0.7143, -0.6571, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.319 left_y=-0.1912 left_z=0.0238 left_yaw=-0.0194 left_pitch=0.1393 left_roll=0.101 left_gripper=0.1989 right_x=0.272 right_y=-0.0027 right_z=0.1482 right_yaw=0.251 right_pitch=-0.3004 right_roll=-0.3402 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -7.4188, 4.6017, 1.2186, -0.2369, 0.0513, 0.6569, -0.0479, -1.5932, 6.7761, 1.7411, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75916da6afbde40d322e80ed1095a42bbc2dad22b5209295be51d306f3b11e6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010b91265106376561d778a1e0ac388f28ecf1a68625a5466c75781fcc3b1c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a28e367fa9c203801204d1971f07aaae3989ac902ec29c489a963e2973ed143",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8051, 1.4742, 1.1202, -0.7933, -0.4206, -0.7181, 0.9997, -0.017, 0.8959, 0.7147, -0.5808, 0.0116, -0.4694, 0.9971]\nstate[eef_state]: left_x=0.2903 left_y=-0.1928 left_z=0.1354 left_yaw=-0.0047 left_pitch=-0.4043 left_roll=0.0219 left_gripper=0.9997 right_x=0.2854 right_y=-0.0033 right_z=0.1628 right_yaw=0.2312 right_pitch=-0.2182 right_roll=-0.3513 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 9.1692, 1.033, -0.4762, 0.0659, -0.0415, -0.212, -2.0444, 9.3197, 1.7705, -0.1294, -0.0415, -0.0806]",
      "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]: [-0.9092, 1.8172, 0.4892, 0.638, -0.8246, -0.4419, 0.9997, -0.0193, 0.9009, 0.7143, -0.635, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1929 left_z=0.0239 left_yaw=-0.03 left_pitch=0.1281 left_roll=0.1131 left_gripper=0.9997 right_x=0.2761 right_y=-0.0028 right_z=0.152 right_yaw=0.2488 right_pitch=-0.2787 right_roll=-0.3465 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -7.665, 3.5077, 1.7509, -0.3785, 0.1148, -0.0415, -0.3214, -2.0444, 7.1726, 1.7216, -0.0659, -0.0269, 0.0024]",
      "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]: [-0.9092, 1.824, 0.4797, 0.6655, -0.8322, -0.4492, 0.1989, -0.0189, 0.9012, 0.7143, -0.6571, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.319 left_y=-0.1912 left_z=0.0238 left_yaw=-0.0194 left_pitch=0.1393 left_roll=0.101 left_gripper=0.1989 right_x=0.272 right_y=-0.0027 right_z=0.1482 right_yaw=0.251 right_pitch=-0.3004 right_roll=-0.3402 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -7.4188, 4.6017, 1.2186, -0.2369, 0.0513, 0.6569, -0.0479, -1.5932, 6.7761, 1.7411, -0.0073, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75916da6afbde40d322e80ed1095a42bbc2dad22b5209295be51d306f3b11e6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:010b91265106376561d778a1e0ac388f28ecf1a68625a5466c75781fcc3b1c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a28e367fa9c203801204d1971f07aaae3989ac902ec29c489a963e2973ed143",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt7HjrzfYr3hIf1P8j6x6zxqm0FHjqzoLoC4onsPvQsmnKTUCZSoVHJ6uqWEFLinKMFv8NP6lDS_9P2cbrBFZxDXA6l1_WqAyOJb1Fqkn9VVQfujFJnkXQoM4Zw8rbnKm26xtgzFIKUXIsaQn9E4ls7quEU1DxUACO8moJVXSNZTvOA3xPmb76QJJTkbU0Qfw8MyTOsuxRaTmYudTweySCU5_erBEw89g30-5IvcrfiSQw8qLJrUXZmEqsm2gYWYe2vHmWm_ln88PvlD6YpJOUfERtNt0VR8iSeQ8nbEGHgxndA7Jz4VL4-1aaRD5mEURQEO1512fXjXDr8AXlym9vtXvOHE_B7eVqp8ZyJZdBOuTczTqIxHB_atkAWynDk_Z6w2JWlphYeX6_m3QVYOSROQD8y_LcOLjctUDA8cDo7O4mDPJkQ7P82l74odUx5YWBkF7Hfqy7JL2y4O7EKY4g_I6H3dPbR8fbjQdvwQvwL3cal5g-3Hg8luxG0J-HFqFxjnbgVj3IBbe1S8HE394AbDeJ-YvXJHUVq9c7R-3E-Ws8NcYe38pliq9DmITLObIRKrHZAgEwyJhKeGdkjzNjCHs8kyt_ocgFB46Dfdf8YJu81uxxUhbHStto46gcqFiHVHU_ne-2X2DHuJvzJWSSWm9VZUBS1KOOEq-y78rBfPoQGVHONUO74fys6moY05DHkoPzABOqPy9rb9Wv5qhOveOEKhM3WZos1kKS8IbR3GxCb1AwIn5O9sVa8xjCOnjlaIEjhFNBcYWt9D1buql2Z06jqWdCWJ-T4p43ZaVlJCiIPuRtVOngdFZESrXn-HZGpnO9P8vPQAXcQxUA1tpVg97x3Ff2BSlejB5vYR8UtgZG_E-eJcJ99zfs3NhbpRQdf38kurw_irjnV2Eb3vxMhALU0lJeQQCtMHCE1Rehj7XqKcZydq9IFPWgSqgTdtVq-T88xRGcLv_Z4YPdXhnkjcd1W-LQS8SXGrqeakv6P3ya7_MwvY_0azy4vP98rOPeYBlufeHYcDQ5YEK3EoFZqyBVTXVfwaa9XWVBaHenhYW5iSgl93LqWdSI5j6cptzspOz38vj3RuIxbTa4mAo1QbHEmQWz4TzUsxffgoHWYrJRw1oVzjtbE6rdQAn2FUVfJfIcHImWV2icsmQWHHv8aMcpTyxsLNm6SUIySJ0EpTZja68psYhVGS8gPfbs7xWCOWWBVqL2h4ebV9LPBPhz_NA==",
  "id": "rs_0fc0d1298a6cb22c016ab44b7a8bcc87d096905a3c873747eb",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.13},\"note\":\"The left gripper settled at a 1.9 cm gap, well above the empty threshold, and the beige fur is visibly clamped between the jaws. I’ll lift it to a clear transport height.\"}",
  "call_id": "call_qwSPnlritcjZE2yXPAgQMPWw",
  "id": "fc_0fc0d1298a6cb22c016ab44b7ad2b887d0a9bae44b503c2e9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qwSPnlritcjZE2yXPAgQMPWw",
  "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]: [-0.9092, 1.4544, 0.6178, 0.1547, -0.828, -0.458, 0.2003, -0.0189, 0.9031, 0.7143, -0.6762, 0.0067, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.3176 left_y=-0.1903 left_z=0.1132 left_yaw=-0.0179 left_pitch=0.1358 left_roll=0.0937 left_gripper=0.2003 right_x=0.2685 right_y=-0.0027 right_z=0.1446 right_yaw=0.2527 right_pitch=-0.3208 right_roll=-0.3349 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5573, 8.4991, 1.5751, -0.3492, 0.0757, 0.1343, -0.1026, -1.8393, 6.7624, 1.6777, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402d95cfb499cb36692009f7e452148465c47766da232add1b8d148af398922b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c81857cfa4a43e2ac7f91506b82d67a37b3f4adcf00e0bf5a3295d304fd569",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888c7b9ea7beba30d91aa05fdd97d17df4b0c48bda37bf52f77256110905ecbc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9081, 1.4117, 0.6895, 0.0505, -0.8001, -0.4885, 0.9997, -0.0189, 0.8974, 0.7143, -0.6125, 0.0067, -0.4858, 0.9987]\nstate[eef_state]: left_x=0.3199 left_y=-0.1981 left_z=0.1357 left_yaw=-0.0191 left_pitch=0.13 left_roll=0.0468 left_gripper=0.9997 right_x=0.2799 right_y=-0.0029 right_z=0.1567 right_yaw=0.2445 right_pitch=-0.2529 right_roll=-0.3507 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -5.6547, 6.1333, 1.7851, -0.4664, 0.0904, -0.0415, 0.1026, -1.7709, 7.0769, 1.8584, -0.0122, 0.1441, 0.1587]",
      "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]: [-0.9092, 1.824, 0.4797, 0.6655, -0.8322, -0.4492, 0.1989, -0.0189, 0.9012, 0.7143, -0.6571, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.319 left_y=-0.1912 left_z=0.0238 left_yaw=-0.0194 left_pitch=0.1393 left_roll=0.101 left_gripper=0.1989 right_x=0.272 right_y=-0.0027 right_z=0.1482 right_yaw=0.251 right_pitch=-0.3004 right_roll=-0.3402 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -7.4188, 4.6017, 1.2186, -0.2369, 0.0513, 0.6569, -0.0479, -1.5932, 6.7761, 1.7411, -0.0073, -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]: [-0.9092, 1.4544, 0.6178, 0.1547, -0.828, -0.458, 0.2003, -0.0189, 0.9031, 0.7143, -0.6762, 0.0067, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.3176 left_y=-0.1903 left_z=0.1132 left_yaw=-0.0179 left_pitch=0.1358 left_roll=0.0937 left_gripper=0.2003 right_x=0.2685 right_y=-0.0027 right_z=0.1446 right_yaw=0.2527 right_pitch=-0.3208 right_roll=-0.3349 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5573, 8.4991, 1.5751, -0.3492, 0.0757, 0.1343, -0.1026, -1.8393, 6.7624, 1.6777, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402d95cfb499cb36692009f7e452148465c47766da232add1b8d148af398922b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c81857cfa4a43e2ac7f91506b82d67a37b3f4adcf00e0bf5a3295d304fd569",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:888c7b9ea7beba30d91aa05fdd97d17df4b0c48bda37bf52f77256110905ecbc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEt_dsanA_MYg67MqbUOiIbXfxCuLv03Zr429peXF_vC0UWVQrIAyt-1_Dty120eomQBcq3RjrCrME_TfZPso_GNZFZF-Ga1M3O5hOMo07CEwQr_V28AZqV7MSHN7tPRLVmJyHM-RFAQuKMrYqMJfVdUYGpvfjNsk4aCubNZz1Ng2y1n6-7H3idVaqdmtDg_TZT_10l-z2NfTtVOuYO587n0DDK4Gfu4yDu2EfoqN9fc1hwOkPHffGQO_wyTJN7fF6DQFNywIUeBidSa7UcVDHQeP2xhSnTva7cj0w4ikoEM_IVEwNgdzUnmArqejXpDveA7JtfJ40u_J2dPRS5W2xstTMUVeLDXrDm7PJddnOoXnXghs5kf1G38WAUMPFoNTQ2dnQfgQaeS5kQIAvB1awnhY2UMC22v7fADkDmX1PWnKnZbq_Wco8WMVuUvF9G-enjJB8CXCAypyVatxlQ7Dl7EWw3A4fpklmy62w2hPbopzGkV4lj_EmBfRefBM0ElPZIdf-BuUbbduXkLbpeQHcLXHmurxwSHZQc-XJIJow750M98diTenD4tublXwoMLuRD56-aDvbtV_JwP7Gk45N6MM__4CaWWU_eqLfnLjE2CxRdkCw1JiPMDYjxkX38I--0yUo37oQf_Wm5tqicN3QnEDKgG52xCpqa9QsVS4T_OlcEgtsxj26cShtzab1d7aIqbvSvcLQSKPsIehNRFqOIe6ObvEr5rOcIy2teaWcfHqUY5p9fbDXEkRjfyUJQAiebN6ETBX5dA9yGeTJPvrQKRX8weYDqGLnKrDJki6ZtqjJPB3SyWD08h6Ikuq7l9YhMhPScmLEC3P4WWyY4TWEw57sQDn28a2Cd3ohgqgRj2KHG85ytQYjUL42PMdCBOGbsjt-ngg6RQvoXYjroUT8g26QBgjgq99VvEZU0yZf0tprSHl1LnMeLf7o5KF1cOjVh1WffDz3JDZNjDefcv_gibb4iFi7-fkJTwF1Gd7aUpxayIZCyV7UMFUqfatjiplADc-Mk5xlAFJ8bhTHNR1y5ER9W-G6Ad16bbMe74lunocQpHMbuy-WoQLAdF78o8ooBZUdYQjSlxpgMd8xM12T79G-KxW16sR7lmfyP7WARx_KRzpI4F-uPf5xvoDeytSZRKM7t2lWD_QMiqZ1GGtRB4ahJZq8xHIvlTHUbR667EwT2-E-UoBVV6sZptnlFQUR7Br0LE5Z_R31vImjV_-dfICQYUdsHe4VzIe49E7Ntr6wiKuw7nIGQkau3FLXMS5EG2l3mJrg4Sq1_T1Yuq7VFLkcFSllGjDyQq-VI1C7gEQfdUekaxZTA-szj7QknB0F-ZONYSGdbmvNFBpcxln40vpEI5YVOWJzMY0_kaiChA4g_F59ICKU_Kp4hOB7Ea5tBKCVUUiV1ySC4z5kR4ZgqU28JMAlfhJJAYjSF3rjP88g1C2KxOJpOvl76A0PkI2zpV",
  "id": "rs_0fc0d1298a6cb22c016ab44b7d5be487d0bc4813dc30481891",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.34,\"left_z\":0.2,\"left_pitch\":0.15},\"note\":\"The beige plush has lifted with the left gripper and is clearly secured. I’ll carry it high over the safe interior, using the corresponding left-arm center coordinate.\"}",
  "call_id": "call_sfdTiTfZk14hgQjYzTovZoXN",
  "id": "fc_0fc0d1298a6cb22c016ab44b7e1ad887d0b2da59107be9ddea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sfdTiTfZk14hgQjYzTovZoXN",
  "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]: [-0.9161, 2.0003, 1.5799, -0.2649, -0.8352, -0.4747, 0.2023, -0.0189, 0.907, 0.7139, -0.7006, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.4259 left_y=-0.3339 left_z=0.1876 left_yaw=-0.0107 left_pitch=0.1381 left_roll=0.084 left_gripper=0.2023 right_x=0.2639 right_y=-0.0025 right_z=0.1397 right_yaw=0.2555 right_pitch=-0.3482 right_roll=-0.3262 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -11.2752, 9.1282, 1.4042, -0.3492, 0.2027, 0.1929, -0.0752, -2.0171, 6.735, 1.6386, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8efbf0cc15f058523e2ea0631fc4749ab3fa3b7e9e33e1531a33c8c20050b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32daaec06d30ba43c1701363b1d18f97c0639a976c08c652cfa6242ee7dbb034",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d05c0c5e5b754088a10b7adf5f11cb3c03bc9b99e19cf24703cddeaab041c60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9092, 1.8172, 0.4892, 0.638, -0.8246, -0.4419, 0.9997, -0.0193, 0.9009, 0.7143, -0.635, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.3191 left_y=-0.1929 left_z=0.0239 left_yaw=-0.03 left_pitch=0.1281 left_roll=0.1131 left_gripper=0.9997 right_x=0.2761 right_y=-0.0028 right_z=0.152 right_yaw=0.2488 right_pitch=-0.2787 right_roll=-0.3465 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -7.665, 3.5077, 1.7509, -0.3785, 0.1148, -0.0415, -0.3214, -2.0444, 7.1726, 1.7216, -0.0659, -0.0269, 0.0024]",
      "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]: [-0.9092, 1.4544, 0.6178, 0.1547, -0.828, -0.458, 0.2003, -0.0189, 0.9031, 0.7143, -0.6762, 0.0067, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.3176 left_y=-0.1903 left_z=0.1132 left_yaw=-0.0179 left_pitch=0.1358 left_roll=0.0937 left_gripper=0.2003 right_x=0.2685 right_y=-0.0027 right_z=0.1446 right_yaw=0.2527 right_pitch=-0.3208 right_roll=-0.3349 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5573, 8.4991, 1.5751, -0.3492, 0.0757, 0.1343, -0.1026, -1.8393, 6.7624, 1.6777, -0.0269, -0.0611, -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]: [-0.9161, 2.0003, 1.5799, -0.2649, -0.8352, -0.4747, 0.2023, -0.0189, 0.907, 0.7139, -0.7006, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.4259 left_y=-0.3339 left_z=0.1876 left_yaw=-0.0107 left_pitch=0.1381 left_roll=0.084 left_gripper=0.2023 right_x=0.2639 right_y=-0.0025 right_z=0.1397 right_yaw=0.2555 right_pitch=-0.3482 right_roll=-0.3262 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -11.2752, 9.1282, 1.4042, -0.3492, 0.2027, 0.1929, -0.0752, -2.0171, 6.735, 1.6386, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8efbf0cc15f058523e2ea0631fc4749ab3fa3b7e9e33e1531a33c8c20050b3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32daaec06d30ba43c1701363b1d18f97c0639a976c08c652cfa6242ee7dbb034",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d05c0c5e5b754088a10b7adf5f11cb3c03bc9b99e19cf24703cddeaab041c60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuDxoJ398fCqtQH2BkjmDSbqQkg_NkhYQFiN0WwTu5eXNJrU7HgJnEcc_7lyfaL78zVZ_pucHdvL-JtTvEDlpsDYHqygCy0xGaoRHUWkhRTK2GejGlidtcytvweEAjzWkOq8cJpQkbpV1o3gMpNEtyW93s9mLrJzOyINkuQY-EINSm6rSwdQ3XviOiyuN799jsN4cDZzBeRbU1yeVVLzwYyX8TV2NzFtU5nK6rgRVZ-rZNxT1urVJvY9IROJBUGuXMOCGF-XN9gfKU8l3mbdH272WsP6WgR7zyEYOaXV7kdqNCN92b8vVMkjLvevQj3KX0octmPWuVDO7GtOTyURZ881dDOXawBa9yuu7i03xGudoh4lJReyOSxYH-L9hJZFwn21-MXpdgBE6LELApOSBx_SK2uEpGCc_pydrG_9WqiIY1adAf3pFv3c54BET2azkhw-31by8CVfzWOerYxEXPy_DONgrazIvjbYjZb2ZMuP7R_eIFz9m1YOaPcJ3ISifR2oaDGN8CiUDmQhAI3o8yQ5YtJ9YDdR2TxCcjX0-OeSQfHZBc5zNpcVYwGweHuMn8NXpoowTRewf9sZsz-4e58-Mb9aiBXxZ53cjDPogUCdaHFYA_dAWqywkjNBE-7dNYeUadVdbZmnhUoEPPauiVsYD1DnKXZmCbuDTk0TEWytSOlWyhVQO0oMRlTK4JpqxB095kIykGoBWanPA1iFC8ixBEXbEU5RHgRFKu92X7BLI_FscPBNRTC8aJG7Bp2EI0dPVJDqKTghVc7uVp-2eQJ1mYjxwQxhBse1vcLcZKzo-ORUjgyj1tJJ076wAo1ecVez26jnqbSazQk0FuwDlSSVnv_bDeFpr5IAMbkSDItXFd9yOXHmNU83o1vFGmXY-_YLj8XYg2RK702UJMdg_G97zOW4b1qLpenMlkfcqpmYNhmaAi8S7POarsvgf0kcoDpj7fP38k7h5m1aB4ktL0kQUmUWg3Cr1-r5NmHVNkFfFWSzydht0d6RdJhLXiyY47z8Goo28bwfdZEb6UsEpQsuJDONiPq-QwWpUmwS67Q-BXc44ZpX6aG1K2uifGUYfzfxBaELPp9r82-akhSyZz1UvIV_EurAoAm7WHLX0_etBc2tsenF4hOyX9j5omao6M-B9qTwN7_ZEK1VxbIqZD7HgulTdVQ7XdfhUGxNIiiTuVZCFAZEIvXPyEr64lEMtsohSDSVS7ZIMVkfm09yrpdV0fQKztu2kME7FnyofY712RZIkDwnWtM7ERV_5DOONJ9O1Edh6QI0jhfra7uzYZu3_KaGcpMveb6o8CUL3XD36whO9BV19MFCCH2WyPBEr5dYkzTIj_ebr3tIx95ieV79lrPXF8uBQQSFRSFqXABIt4y48m53kL8gcm_iuW_dbOcGD6E6jQj4W9W11AF9bco1gygKu3p4-L6TtR_VmXvzEKI6W-y9W8L5onUCwSA8Lgs5D9sDzDCrYAmhSY8wxyBLY0vm23qycbV6ThtMFR9XpDWkpftY9OzF-hPCBcNaLSD455TY0L9YwvYND9B0yRODMMCMk6Li2Sw8ZE6YtHrMGIcr-lZDbueXnuMlbktVxLFxsXmQoVTItbKQs8fAE8L6g==",
  "id": "rs_0fc0d1298a6cb22c016ab44b81f9b887d0ba97676ed9dc7280",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.33,\"left_z\":0.08},\"note\":\"The held beige plush is centered above the red safe interior, with the rim visible around it. I’ll lower it inside to just above the safe floor before releasing.\"}",
  "call_id": "call_5Mt2Ai0ypoMUnmKcK0DRyt0s",
  "id": "fc_0fc0d1298a6cb22c016ab44b83091087d099817332098b948a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5Mt2Ai0ypoMUnmKcK0DRyt0s",
  "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]: [-0.9161, 2.1086, 1.3327, 0.0399, -0.8318, -0.4759, 0.2037, -0.0189, 0.907, 0.7139, -0.7223, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.3247 left_z=0.0832 left_yaw=-0.0173 left_pitch=0.105 left_roll=0.1217 left_gripper=0.2037 right_x=0.2597 right_y=-0.0024 right_z=0.1364 right_yaw=0.2579 right_pitch=-0.3692 right_roll=-0.3201 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.7282, 5.5043, 1.536, -0.4176, -0.0806, 0.1343, -0.1436, -1.7299, 6.6667, 1.5751, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec8f5710b9ad51101abaab59c70258588fd00ab2912f8de8b027a6fe289b750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112a5a2d1091ab8f976f91bdca827df57f9c5689e1e7b4f65ac14aba5dba33d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0074b5cf49ff40083248df5f45a7bbcb6617e06072a86e11c8d5a07864c8b439",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 127 changed as sent

message 135 changed as sent

message 139 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9092, 1.824, 0.4797, 0.6655, -0.8322, -0.4492, 0.1989, -0.0189, 0.9012, 0.7143, -0.6571, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.319 left_y=-0.1912 left_z=0.0238 left_yaw=-0.0194 left_pitch=0.1393 left_roll=0.101 left_gripper=0.1989 right_x=0.272 right_y=-0.0027 right_z=0.1482 right_yaw=0.251 right_pitch=-0.3004 right_roll=-0.3402 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -7.4188, 4.6017, 1.2186, -0.2369, 0.0513, 0.6569, -0.0479, -1.5932, 6.7761, 1.7411, -0.0073, -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]: [-0.9161, 2.0003, 1.5799, -0.2649, -0.8352, -0.4747, 0.2023, -0.0189, 0.907, 0.7139, -0.7006, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.4259 left_y=-0.3339 left_z=0.1876 left_yaw=-0.0107 left_pitch=0.1381 left_roll=0.084 left_gripper=0.2023 right_x=0.2639 right_y=-0.0025 right_z=0.1397 right_yaw=0.2555 right_pitch=-0.3482 right_roll=-0.3262 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -11.2752, 9.1282, 1.4042, -0.3492, 0.2027, 0.1929, -0.0752, -2.0171, 6.735, 1.6386, -0.0366, -0.0415, -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]: [-0.9161, 2.1086, 1.3327, 0.0399, -0.8318, -0.4759, 0.2037, -0.0189, 0.907, 0.7139, -0.7223, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.3247 left_z=0.0832 left_yaw=-0.0173 left_pitch=0.105 left_roll=0.1217 left_gripper=0.2037 right_x=0.2597 right_y=-0.0024 right_z=0.1364 right_yaw=0.2579 right_pitch=-0.3692 right_roll=-0.3201 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.7282, 5.5043, 1.536, -0.4176, -0.0806, 0.1343, -0.1436, -1.7299, 6.6667, 1.5751, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec8f5710b9ad51101abaab59c70258588fd00ab2912f8de8b027a6fe289b750",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:112a5a2d1091ab8f976f91bdca827df57f9c5689e1e7b4f65ac14aba5dba33d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0074b5cf49ff40083248df5f45a7bbcb6617e06072a86e11c8d5a07864c8b439",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuHRw1TLNhseF8vNCjzAuXBRiepTqdNa1Mu8iBGkXjUYAMznMM3WlP2Mqq8dyy2vr6Dl8LO5KS4g1ZysKvZq9Mu9Nakb_RmCpZX5GIaBZ9twZCzqCcOq-zuIjetWjSzEtliwtmVlmhMzoPzj1poMFBH-ak25FgRr8TYHtkknxoFNHMViYQCF5GsHUYfXDmjOIH6jd5vdDosNl95Dv9Ca_alA09Ie1DoH3IDxQJdwBZ9xLyyiNWaXLV9CFS5ue66Ed3FXKLMZh2zEsnHfoPFl4XoZah2daUDIXHc63HOivKl0abAOAQ-QmdlpR8VTHILawd-R723kdi2gweQCV3Ba67W1kosfaW77r_iUQbC5HcdV_NEUuS2LJKMk0UgGsJvPZh7uSP9GB9ds81GGIimGx5pdhUJ4A2AKmyybuoWsdpx7zMv352xkJOQupEkGSTL4tVcmca19c6GD_nStKx-fa9hvZlefb8dQEj_p4HJMYE7wS08UlqEa-P-Bu8_68E-dswwr6qL2CAecv_1gw3fYLTIWDm8D4adyTY3z6n61J8sKPQiZvgIX-Gy6tyMAJbCSVyAIKpxVFeQQ1ltLYtGLXseEYB-1R7CWfsuaUQa5L77qqmUJPt2Rvx0PhMXRmRXhDN7jW-J7bBdRGbAuqT44E14fmFOQkA0i3nmxeEXaNPlPvl5J2q04FgELXUPeduL3DxqnTLVtW-oG2BFX8qhiWZQDqf1U1StXBYVNQxfPW-UX0XseLtBnpVwQyiXhN-xvEZUUAMMUBXtQW52xz2ORs6svr0HK32VeArQnxScJseJKhKkUXe4wwJ4bbuV7_ZI_jsqPSkyGFxE2dcWguXJAXoUIXOvOa50LEUA1fRmfdO0cNoMeGGE_c_1I3qgdxPUHvTQrR2dRrCbc4YLaXI_-fgJmjeRYS_3kPYV-s9J8NHDUJ4H75MWe_tXJ7smcavycfL5M-ejCGyxaiRoxBM8tydRZiRfQNtulk5-Jk1ZgNk27TRX5XV8QNqVcfmquuu_8hztbS58DoSH_KxMHdPSErXVdBN9ZpX-gITgDEmgoe4MrWcJvFx03AblhM-ePh1LYByHyWmUTp6Y1sYkmcmhEmPvbS6H_XS6Dj_wyK2rqlTtQInIhxIDMMjx91D-6ksaXDjSz86rxV8BIa1q8OOs_G2fsGmNOLFsRdeNdyOuY9d9JHE=",
  "id": "rs_0fc0d1298a6cb22c016ab44b86d08487d0b15388dfc8deac95",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1.0},\"note\":\"The beige plush is now below the safe rim and resting within the red interior. I’ll open the left gripper to release it.\"}",
  "call_id": "call_UmuuAOSUccU8kXhJb8My0dem",
  "id": "fc_0fc0d1298a6cb22c016ab44b86e60087d092a712048153129c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UmuuAOSUccU8kXhJb8My0dem",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9161, 2.1304, 1.3117, 0.0368, -0.8314, -0.4805, 0.9953, -0.0189, 0.9073, 0.7139, -0.7322, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4142 left_y=-0.3194 left_z=0.0647 left_yaw=-0.0184 left_pitch=0.0766 left_roll=0.1534 left_gripper=0.9953 right_x=0.2578 right_y=-0.0024 right_z=0.1348 right_yaw=0.259 right_pitch=-0.3791 right_roll=-0.3171 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.2855, 7.7333, 1.4139, -0.3834, -0.0122, -0.1343, -0.0752, -1.6479, 6.7214, 1.4676, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2691b1f148bf6e5f64e87c5db69a66284ed0d448278c19f5a98e36a810efb71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e3f8e8e414126bc66875915c39b16b3132db9dc3604b77cb47002746ce0769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16199010ee5e1fd3fb6f5d91e78f4e057141d4fdf46ab3fb13ed1e9fcab6b13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 131 changed as sent

message 139 changed as sent

message 143 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9092, 1.4544, 0.6178, 0.1547, -0.828, -0.458, 0.2003, -0.0189, 0.9031, 0.7143, -0.6762, 0.0067, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.3176 left_y=-0.1903 left_z=0.1132 left_yaw=-0.0179 left_pitch=0.1358 left_roll=0.0937 left_gripper=0.2003 right_x=0.2685 right_y=-0.0027 right_z=0.1446 right_yaw=0.2527 right_pitch=-0.3208 right_roll=-0.3349 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -6.5573, 8.4991, 1.5751, -0.3492, 0.0757, 0.1343, -0.1026, -1.8393, 6.7624, 1.6777, -0.0269, -0.0611, -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]: [-0.9161, 2.1086, 1.3327, 0.0399, -0.8318, -0.4759, 0.2037, -0.0189, 0.907, 0.7139, -0.7223, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.3247 left_z=0.0832 left_yaw=-0.0173 left_pitch=0.105 left_roll=0.1217 left_gripper=0.2037 right_x=0.2597 right_y=-0.0024 right_z=0.1364 right_yaw=0.2579 right_pitch=-0.3692 right_roll=-0.3201 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.7282, 5.5043, 1.536, -0.4176, -0.0806, 0.1343, -0.1436, -1.7299, 6.6667, 1.5751, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9161, 2.1304, 1.3117, 0.0368, -0.8314, -0.4805, 0.9953, -0.0189, 0.9073, 0.7139, -0.7322, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4142 left_y=-0.3194 left_z=0.0647 left_yaw=-0.0184 left_pitch=0.0766 left_roll=0.1534 left_gripper=0.9953 right_x=0.2578 right_y=-0.0024 right_z=0.1348 right_yaw=0.259 right_pitch=-0.3791 right_roll=-0.3171 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.2855, 7.7333, 1.4139, -0.3834, -0.0122, -0.1343, -0.0752, -1.6479, 6.7214, 1.4676, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2691b1f148bf6e5f64e87c5db69a66284ed0d448278c19f5a98e36a810efb71d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83e3f8e8e414126bc66875915c39b16b3132db9dc3604b77cb47002746ce0769",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16199010ee5e1fd3fb6f5d91e78f4e057141d4fdf46ab3fb13ed1e9fcab6b13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuO3qkGZQ6SFPIwTs6fWEexaWfFUcq9iQ_RUolYjyVpckl9xzymV4u7nxmbf-9bM0nyDmfMgUPf2KvdtVWWq33itxWxBG-cX683YpqjnsalBBekjLSt3ncnvdC-zuMvM5CwkQdzl6uEsj2FN3kvEjOiItfqhV5rGfsgl6cZTtURCE1WJG4HfPR49tDkmzv9nPyY22MfXkLd-icdBcKS0PuM0oaiOy4R1aw6gMESegS-psT3ECd-2_UCq74bD7YysQc1CiPQuGQWa63ZpR5IYICgd39Ya7fAo-KyXNXo-XAE3QkCLIJW_e4gtqz9cGFN2CciyG0kBTNSZzJuOgUduOV4B-qq2lTmRWp-G62vjLTfvcoPzuE3VZSWiRGQhYIkLQk51IDbgb3znRszDaZw3lRgXxPPcVIGyl-ZVxtOfzT_Trhqy87kgKqtB_CV3gRwUmwTUho3qRV9iQUwg9qE1CEbZiQ8fIdRhhVtxHkfYQL0gGMHMbz2qGzEoMSnBMYobPcEt0t64hy6UoiTvG8LH_kTLPdC5BMKpj7KzgHiQ5-JL5shIFAfaVvET9-MTj0OO4D1b_d-HEETYr70wz28LjzmZVHnD3QwN53BgRRai8Siej-CTn2SC-060-tsOyNpGGRRwliAG-hQWsEB0rqN4hXsQBsnVqcls_Exd-cPDEqVfpGYB-PAYmpa3nfSNwb_je1rnTWZyA66EoBV3CPCKPu-GKVNkGuTfOq75ZdPt0qfuwoAqNTlRgdHzxTxFi4zoIf1_cfeGZQfzXNyYzG3Nv00UHtQFGakKsrKr6zzmq2uPg4fqz4tzJpwwUFphpn92XqpWzLFksyc5P41qLwouDCANx6hD1jMltgqaYSghKJEfC4cPYmHnsvBOqGledPK7GCGXOcoEauqRww26OY-_4nXLF68ItPg2I3xDxdb8pf1kao34wTDqLGcglOB1Xdyx52IFujnQXB6W9xOkVT3Mzq3R06G2ws9AMKPIc1fcf1PTvmpZ-yp2rGG9lSw6fmgPI0LN3xDF0JAkEog9w4b4j1nJyrjAcfY7LojQgX14kmMSXMzNFgh4FNPaH0vxmc6xbnPd9bMiu3CWNj2BwiapWinVlTjZy_ijT1i4JWtVgMd14nGZZXWr7wH3IyqaHJ_XwgC5iTtdbCS6BTSTw9H-wIwYvlanw9v92_4QTOZzwi9oUAMpqwpqS8Kal9RVDPov8MH416ksNJS2PMu22TE4RXOlTLFxkJij_I5xeiICTcGGdtJ9RprdlwMD0cAGgpssmn1EC8b4g5f6iTprineTmV6G4kCBrgvxbb_ufoErQxA0Jt3yE6oycOxmW5-Gn-3MwRZS9Yh77ksXCMd30FAZMsjeaj3JUMl0ZSge__uEtAPUOZBtRBA_ILprUe5rpaP5cu7vVHZGtePlpxaHW5VJE-p_8WOENPfmeJtJqhl7B7zpuZuUzf9flWPZ236nWtnsnCm0SPLvLg1t_AdNbi0uSAaPkfZY0dDXQDRrVgeFr9BKAC-yr6J2cUMQYAB9ayQ8Q2eBZ7bsUBNa5DeAV5UVHQOx8czA8BC8mhYGqjlaEpk7Q2N2r0NCGX0glCLzxOMCs1zxNRO4I5hljGgEFybk2wjti5zQ5P0fNi7p0eIX5GlQBprPNQboIJ19cxqpP4xuaojPFc_tyWykSq3Get5C-i4PljN6I1eB_gOqejTzZSKNXyrGtk-W0jhSX3P5TOV8h185CJGHb94uPYBuPKfjLdDW0qa_gbtt0vehzWM08eSdL6yDr5QJJOpA0Bul_gW0NvWpUGPm_22xq2TwStAaENE7Z0WFT5rxVC8OZGe1FgEnzyXjjn4pdBYy8M4OAJx52mgB53mLetrMgveVYgWCvxqxTR97yFEQftO2Ox9qXoUSEK2rcIbLh4Yxa9O71nnPKAtO78jdPTfHvCnpgEIxnoQbTyBbodnbTQG20tgdY_eOj6L-uG-IBKjRY2LoSfrjiv8cXH7lrrwndPcir8j28L8P7d4MLrXXrvFuI4t843OgQBsFb6fvOstcIekacDlkYazLy4pecZI7XTwLtRqpcUxHhhRZ9sIk4AYOB-DFlrq_Ua5QbkLAteQvOoPf0Wwiz1aRTTFanhfbY2daWrrq7KKmopuY8ZnHZvrL2roHAPrVuxHa3qwzidcces1oPqr2Rar7KcFYKq3QZX3_1ZvspZtEi-cI9BDk9ZYedsMlPeBxYxkblJm1RbDUPXl9chI8Hrqh0hQHaYjFvtXEv3Nbscg3Mc05qIuViqpQxhxBDFsn3jsVGmiKkDzibrVUcOlp6eCViVsm00rYnN_Vt2yenlAa2jmm9WWdVwdUpSfM86nX4coJXaKO7jXvEVT54AzQg13i3LGsGsn1RKy8sms9jokU5-qeRgCwh04GE22ZqaY8wWpe33TbdyoIKG7vfY4Gy-jyCyh6CdUimpoxQFYavJvK21v9Z5T-YwkMwEv_kLW9sXm9zcLa0LeW4gJX7HST02aXbzgV3kprcBlhpsB5D7ZDu3Tx_-SdPshB5QkOCl9EcOJZThJ3BsOML30XipO-YixnZTUXUEnc_mitJf9nPH2frTZd2Ebr8WhrfKFCQ77WWORKI_qJj1GdKLbSGVHKt7b9wlX0Q2oi8AEBi-ycRWTLzhQtPji3M3Uc0PfF1LirCgauzCHD0U6a4HDQNzN5BTDTQrnHJ1iOq7mpObSDAI1gQu9edfnfw_6Mt0U5dWRWPtSBDYwvpBYJXUAUFsF3N6G",
  "id": "rs_0fc0d1298a6cb22c016ab44b89fb8c87d0827693d94f4de286",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.18,\"left_gripper\":1.0,\"right_x\":0.29,\"right_y\":0.15,\"right_z\":0.14,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The beige plush has been released inside the safe. I’ll park the left arm and re-approach the large brown plush with the right gripper rotated 90 degrees, so the jaws straddle its long body instead of closing through the narrow gap that caused the empty grasps.\"}",
  "call_id": "call_7i09JtWCiISiPa7mmfjFBytz",
  "id": "fc_0fc0d1298a6cb22c016ab44b8cdd5c87d0ae3b1d410f7184e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7i09JtWCiISiPa7mmfjFBytz",
  "output": [
    {
      "text": "executing move_to over 29 steps (2.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1448, 0.7387, 0.5213, -0.2825, -0.2493, 0.0074, 0.9985, 0.165, 1.4506, 1.0832, -0.8829, -0.5396, -1.4677, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.005 left_z=0.18 left_yaw=0.0448 left_pitch=0.0891 left_roll=0.1447 left_gripper=0.9985 right_x=0.2886 right_y=0.1437 right_z=0.1319 right_yaw=1.5264 right_pitch=-0.3991 right_roll=-0.2918 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -0.8684, 7.4188, 2.0391, 0.1245, 0.1294, -0.1783, 0.3897, -5.3949, 8.3214, 0.6716, -0.5104, -0.105, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8edb6c9c67c93d9d4a2a27fb3e5c44f136287728ad1bad55589b65d4787f526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5132c6ffca208b6518df1d0632d445a7c8d7b411434fb75ce3df367d5dfad26a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da378c9915bcbdb8688bfb0c793129fcae9ff8260db755dfc553318fb1fe10b0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 135 changed as sent

message 143 changed as sent

message 147 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9161, 2.0003, 1.5799, -0.2649, -0.8352, -0.4747, 0.2023, -0.0189, 0.907, 0.7139, -0.7006, 0.0063, -0.4904, 0.9989]\nstate[eef_state]: left_x=0.4259 left_y=-0.3339 left_z=0.1876 left_yaw=-0.0107 left_pitch=0.1381 left_roll=0.084 left_gripper=0.2023 right_x=0.2639 right_y=-0.0025 right_z=0.1397 right_yaw=0.2555 right_pitch=-0.3482 right_roll=-0.3262 right_gripper=0.9989\nstate[joint_eff]: [-0.2803, -11.2752, 9.1282, 1.4042, -0.3492, 0.2027, 0.1929, -0.0752, -2.0171, 6.735, 1.6386, -0.0366, -0.0415, -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]: [-0.9161, 2.1304, 1.3117, 0.0368, -0.8314, -0.4805, 0.9953, -0.0189, 0.9073, 0.7139, -0.7322, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4142 left_y=-0.3194 left_z=0.0647 left_yaw=-0.0184 left_pitch=0.0766 left_roll=0.1534 left_gripper=0.9953 right_x=0.2578 right_y=-0.0024 right_z=0.1348 right_yaw=0.259 right_pitch=-0.3791 right_roll=-0.3171 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.2855, 7.7333, 1.4139, -0.3834, -0.0122, -0.1343, -0.0752, -1.6479, 6.7214, 1.4676, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1448, 0.7387, 0.5213, -0.2825, -0.2493, 0.0074, 0.9985, 0.165, 1.4506, 1.0832, -0.8829, -0.5396, -1.4677, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.005 left_z=0.18 left_yaw=0.0448 left_pitch=0.0891 left_roll=0.1447 left_gripper=0.9985 right_x=0.2886 right_y=0.1437 right_z=0.1319 right_yaw=1.5264 right_pitch=-0.3991 right_roll=-0.2918 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -0.8684, 7.4188, 2.0391, 0.1245, 0.1294, -0.1783, 0.3897, -5.3949, 8.3214, 0.6716, -0.5104, -0.105, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8edb6c9c67c93d9d4a2a27fb3e5c44f136287728ad1bad55589b65d4787f526",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5132c6ffca208b6518df1d0632d445a7c8d7b411434fb75ce3df367d5dfad26a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da378c9915bcbdb8688bfb0c793129fcae9ff8260db755dfc553318fb1fe10b0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuU8HWDIFn_k1OMi0IEy2lnhGF36YwxCTQz323rwBdBWeA5cgAWOlXDLpLkd-Cx3Y2J0_9KKCRAythY22mVfgRKSYLnSU08pNoT08JHCNpdwy9TttBbMTngG3z_svpvPj9siYIT2vSDbue_rLa8Qro5pWGqs5vcCufdrLBQOX7MmOEh2d4S46CQ2pyJclJSg7hOVJrrU6tjezKLGPUUdJpQ7SK81K90QNaLr2-JzXTWS18rpl9IaoFVBCwOJ3lVVWP9gKH_yU0FEd81WRfrSRc-D9llHXBbJ9pgPJc7oSNBXuz7JkH4-30Gs5Lqzu1I6UrShHocHm_-reyRyVPXd7OCionlLgeQ0wJUdMjKt5z2ecKtA9ZiTEuftVL93Oacd5aJXCOIdGqWtn5K86QPXceesaCZo80tIdpbHVNmJsJnY1Bxl6IeDhQ92h2jtFLYdVnFxdYlR29Fmv5iPVN42uY6xtWiERoGwW-crnFSRdCUmHxf0TXN21-Jw5FshvS6530lGGjoJ0tvP7jQtBqNW7zQQcdA6LdXvIGfAYFATD93nhtSQKwYYmF-XYDTHraCV-y9vx18jt-4kqSqZLueSINVh9otk9WXSZLv6B92wCVmzgZkmDGBUJNtYj210XNCRKlrx6qgz1u846ob7SUBQQryBUq5Pyoah7SHpwQIfCDPazBmnN_rcba4EhXb9PvLqDkryg-zgcx5ZRRaD7h-ygmH9OdH9ViaXaYm_B1ZXtrvkkTolOdHn6mkt7Y24feFTAAzsAlKNmxbXjh0Qd7ofTO7ulz5ngc107z7R1T4I3e5-NO6z0_3YAsLw_cx8BQy-0-r1crXc-ZKJ2inq8SEQN7c75f2Ic-Fbg1owAiUYVtt_6bdsKolCiN_eF3kplwUYCQqZtRxqu0EWATDDOWIS3xUI9FqJhlBcpqUIzCGYe1K2-BWLJYxLOHnwNvqeKW7WONn_Mg-DB9h4paDmst-iDU73YnK4XGQO2uk6DzBAw-fE0WGFtuyuVnZFmUoiloIrPCpSbJkl8BrPQIYQ3hAg2TsY-Z2PCMJyhdd0kRS_8MuNr_HChHJHBFoAhlTZadkW3ItzAFTAwWyf2jOiH5I3FN290El_4wM1bzk8FoeKPkaJ-TvZIqxvihzPdTNb4BgzV2JejnH1X3NNYznatKFxJc02gUza8I-zMeEYKD9j76pKEJ9wVlUS3Nl_RbYb7AjxcD6_34bCYKZVa091z910Q5-E1Uwafup4smjGoxChz_qACz66eBsQFBFOACt1ZBc09RfZ9fyoBamS22hrCgS6aHKWEV8X-qWbDZ7ygMvTgTiTV_FepjUsWO6GYrmrh1OxE9V0Ky5VpGSsF9agC3mscCd4u4hFqWOazyAa31UlhVMOtYm_RGDSOW3TcWO1IeReIWJ9eOVrZGop657E7tAAnOmZhJVYpp86kpNLgm1fM8jm_lr7RlxF88oKONIvaHN834gI-u0-brU6qsRKRjLLI9EX66m-dr25-71jyW02uQ8nj1Go8_KbwoOzD-cqguo4WwBJ_ZEkzz4uS62yrJgGnGVxHUsz1luTxdpw3yFslHvYgzfEVO8VswMJVvLaUYRfLSaJ1txKyXYiLA81jr-QdxtgJX8-Qc7p2vfWKg1qFxiALkS8xB0D7AW53AcWVi90PNus72rvjLGNL3XBcGNyvBFNkHaj-kBNWLeYDit_u-44UoPLNt0gKwsE2MzRCbzPnUbn0FKMBG-mdP3SS_yjiSrAe6-b91Bl3L7TQfTRID8eSYRi5R3uiOdLyO7CSpR_2i2n3RBiHxveUvsUs_1DLMcLQ==",
  "id": "rs_0fc0d1298a6cb22c016ab44b927b0487d096d8fb5c9be2106b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.26,\"right_z\":0.14,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The rotated wrist view shows the large brown plush well to the left of the jaw column, and the overhead view confirms the gripper is too far right. I’ll shift the right arm about 11 cm left while staying high and keeping the rotated grasp orientation.\"}",
  "call_id": "call_xEJEnzt92f1BpRCBJVQXrgUs",
  "id": "fc_0fc0d1298a6cb22c016ab44b93c7a087d0ac9887c9d9ccd261",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xEJEnzt92f1BpRCBJVQXrgUs",
  "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]: [-0.1432, 0.7422, 0.5213, -0.3115, -0.2405, 0.0067, 0.9983, 0.5293, 1.581, 1.198, -0.7597, -0.4156, -1.1667, 0.999]\nstate[eef_state]: left_x=0.2896 left_y=0.0044 left_z=0.1728 left_yaw=0.039 left_pitch=0.0565 left_roll=0.1458 left_gripper=0.9983 right_x=0.2803 right_y=0.2507 right_z=0.1294 right_yaw=1.6074 right_pitch=-0.4256 right_roll=-0.2657 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.2103, 7.0496, 2.0147, -0.2125, -0.0415, -0.0366, 0.1299, -6.8581, 8.5949, 1.243, -0.3541, 0.1245, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea61bc8be8c3025bfe5f12ecefc3063d944806e74038eb619b8d9aab274fad7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316c209af3366fba40c8338e428afcc009ee85a5e315b097d64ea9818f959c07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6759c7a41b6ee237ae6cab260cc536a42fa2680c325d04d0a55219e0b8b59b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 139 changed as sent

message 147 changed as sent

message 151 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9161, 2.1086, 1.3327, 0.0399, -0.8318, -0.4759, 0.2037, -0.0189, 0.907, 0.7139, -0.7223, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.3247 left_z=0.0832 left_yaw=-0.0173 left_pitch=0.105 left_roll=0.1217 left_gripper=0.2037 right_x=0.2597 right_y=-0.0024 right_z=0.1364 right_yaw=0.2579 right_pitch=-0.3692 right_roll=-0.3201 right_gripper=0.9989\nstate[joint_eff]: [-0.4855, -10.7282, 5.5043, 1.536, -0.4176, -0.0806, 0.1343, -0.1436, -1.7299, 6.6667, 1.5751, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1448, 0.7387, 0.5213, -0.2825, -0.2493, 0.0074, 0.9985, 0.165, 1.4506, 1.0832, -0.8829, -0.5396, -1.4677, 0.999]\nstate[eef_state]: left_x=0.2927 left_y=0.005 left_z=0.18 left_yaw=0.0448 left_pitch=0.0891 left_roll=0.1447 left_gripper=0.9985 right_x=0.2886 right_y=0.1437 right_z=0.1319 right_yaw=1.5264 right_pitch=-0.3991 right_roll=-0.2918 right_gripper=0.999\nstate[joint_eff]: [-0.2256, -0.8684, 7.4188, 2.0391, 0.1245, 0.1294, -0.1783, 0.3897, -5.3949, 8.3214, 0.6716, -0.5104, -0.105, -0.1148]",
      "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]: [-0.1432, 0.7422, 0.5213, -0.3115, -0.2405, 0.0067, 0.9983, 0.5293, 1.581, 1.198, -0.7597, -0.4156, -1.1667, 0.999]\nstate[eef_state]: left_x=0.2896 left_y=0.0044 left_z=0.1728 left_yaw=0.039 left_pitch=0.0565 left_roll=0.1458 left_gripper=0.9983 right_x=0.2803 right_y=0.2507 right_z=0.1294 right_yaw=1.6074 right_pitch=-0.4256 right_roll=-0.2657 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.2103, 7.0496, 2.0147, -0.2125, -0.0415, -0.0366, 0.1299, -6.8581, 8.5949, 1.243, -0.3541, 0.1245, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea61bc8be8c3025bfe5f12ecefc3063d944806e74038eb619b8d9aab274fad7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316c209af3366fba40c8338e428afcc009ee85a5e315b097d64ea9818f959c07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6759c7a41b6ee237ae6cab260cc536a42fa2680c325d04d0a55219e0b8b59b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEuYn2Z17_nBzGpgNk25lxWs4rWXprj96YrVEdzzHHhoxv9bXxDiPe5QgBi8jDha2WH0taOdTkCXf8VvkVlF8zM_S_s64IjMKFGw_v2QeHmQfksytSp95jxEfNrUf4aFo5UodbldULsW-kVz-OSKlbErv9K5W4W8n5CBDZ4PKpN7EyUvtOpmowqD5sgxfqeUm1CufXY8qZgR_pLoPicyD1MSCgf1blRTHO7Cu7RNLXDJmYeYncKqHmGpNt5J8oFw8U_rtjp83pmtPRu9ifkD3yrANWbrJBFc58EF2WmhHedeOZ3-CgkJ2lXnaoPs67y7L9u1X5CsctYXJ5z7uND61PIOvpSEqY_AhN8d8YKBIuV46aNVU5QpH4dAZ9LYM_mGBDBGS_a82tlPK7PKEfIVE_-NOr64cEFmHpOzZdkGHBlrhGdhkkLrsmBm4dMB0iQHQFJSVV_2eXgwZp93grBBhtmREAsvxyPLLzbsm4BElp13dhkasvC3JsweyeYZbnFmOYd2LJSu-oYswGf-4ypQzTzwRAhiVrtGKUhIrIMUm0R1lyBQClDMBUbisotMX03vnnW4phbYO79w7WoQrWo0ip10l6y1eLCWLCSdPwWdYaNlHS_5nwZel6tdLQGNHrh7sACMvS29BZ8QyGl8qlOGZGEqSbjHJlZSpqW-joEDUXbq-tCXMUXs50Fhfu-9eVQK4izsjpa7MZ5cOMps86FNE43hOqYa-aWs3gL8Y60e4kmxxd7_-4q3m_rroqPFW9B2LEgpv3LPTXv9WyRjqPjr0NK1kSq8KeNBwC0yBkQdicn7h8tsHZygPW16cxis7Atrn0Q5VDH5R9M8VShKcAoSDptEgTiv4Ump1g5w2iTtRGbaN-ioL3rT7rCerTQavVabzJYtIx3jBbjLnllsjs8vCbixDTXekiKrn9b2wi8epeDqL2iYWcg3Ay_ElYTcuBqv_DSHypUcIbvR6ou0248iDJo7NI3bBQcsRJ1d_n-oY3RUX7S9x91Pn5LvQpThw6e2siJqKxR-Ll3gq13-kZ_5lpp46AH00Ficq6Hqq174HJiz2wjEG222T9xyAICZPiu5S39zkrXzps6t1BAhXKCtzZztYuHxwbjoIkY9fzb-JoD7NJGIKGPxKyO2QpA6Op93eYb8-KfzlPudNMA62-bC1UW_ScMzDqsZHaTCHyPuUYMitXHjyyJmw5_oHkNB5wXVhprE6dq0-4Nkf1erhgeSWQB9c9qF7UC8bF7Oqk21bbhX5ivlCiHmjn-PpYs97ptreYidk5WshJLBMhenfuLfVcxo6-Xw3mNnQJtlUTG9xN7wZ9ooqOCDPKPXtVBB28c9i-OqluSF76lTyVrCdYn6HUH8qz4CVMHflXMRAyfSq2QBibcomIZvZRAiHPCTlFRt00iFzzf6CI6qr9DsMTjFqA6l-u2XWlsNnkGzmJsgkvUEwrN1u3Y2ruq02iWtlxHZCi-CMRCTHmVQ1QQgSvHlfvNsQpmCm0e83vjfgwma045vyheBWd08PRPgfLnvGCv936_yuI_TTUVrqDY21lkFfqHg_g==",
  "id": "rs_0fc0d1298a6cb22c016ab44b96f8ac87d0a5cd5671db00869a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.31,\"right_z\":0.04,\"right_yaw\":1.57,\"right_gripper\":1.0},\"note\":\"The large brown plush is now close to the rotated jaw column, still slightly left, and its torso reaches the fingertip region. I’ll make a final 5 cm left correction while descending to body height.\"}",
  "call_id": "call_9TxchCVaSfaSxBHb4YKywXUm",
  "id": "fc_0fc0d1298a6cb22c016ab44b97ac2c87d0b7601fe87d85354c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9TxchCVaSfaSxBHb4YKywXUm",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 0.7422, 0.5213, -0.3225, -0.2436, 0.0067, 0.998, 0.6647, 1.7973, 1.0966, -0.445, -0.3511, -1.0302, 0.999]\nstate[eef_state]: left_x=0.2882 left_y=0.005 left_z=0.1706 left_yaw=0.041 left_pitch=0.0459 left_roll=0.1494 left_gripper=0.998 right_x=0.2771 right_y=0.2989 right_z=0.0423 right_yaw=1.6211 right_pitch=-0.4593 right_roll=-0.2184 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.9094, 7.0359, 1.8193, -0.1001, -0.0708, -0.0415, 0.253, -8.0068, 5.4632, 1.0672, -0.0904, 0.0904, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ee2492a499c9ce62d3770ad558f55bd75666f951a6d0049c7aa644ad46515f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2287bcc2b3ccfd979d06530886c6d038f8fbc7528a01480e613ca5e2a2605b1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6e6ede5143f71dc0a62d6d2dff37c46d9f3abf9ffc72e8e4de797e68a1bd9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

message 143 changed as sent

message 151 changed as sent

message 155 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9161, 2.1304, 1.3117, 0.0368, -0.8314, -0.4805, 0.9953, -0.0189, 0.9073, 0.7139, -0.7322, 0.0063, -0.4908, 0.9989]\nstate[eef_state]: left_x=0.4142 left_y=-0.3194 left_z=0.0647 left_yaw=-0.0184 left_pitch=0.0766 left_roll=0.1534 left_gripper=0.9953 right_x=0.2578 right_y=-0.0024 right_z=0.1348 right_yaw=0.259 right_pitch=-0.3791 right_roll=-0.3171 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -13.2855, 7.7333, 1.4139, -0.3834, -0.0122, -0.1343, -0.0752, -1.6479, 6.7214, 1.4676, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1432, 0.7422, 0.5213, -0.3115, -0.2405, 0.0067, 0.9983, 0.5293, 1.581, 1.198, -0.7597, -0.4156, -1.1667, 0.999]\nstate[eef_state]: left_x=0.2896 left_y=0.0044 left_z=0.1728 left_yaw=0.039 left_pitch=0.0565 left_roll=0.1458 left_gripper=0.9983 right_x=0.2803 right_y=0.2507 right_z=0.1294 right_yaw=1.6074 right_pitch=-0.4256 right_roll=-0.2657 right_gripper=0.999\nstate[joint_eff]: [-0.1299, -1.2103, 7.0496, 2.0147, -0.2125, -0.0415, -0.0366, 0.1299, -6.8581, 8.5949, 1.243, -0.3541, 0.1245, -0.1148]",
      "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]: [-0.1436, 0.7422, 0.5213, -0.3225, -0.2436, 0.0067, 0.998, 0.6647, 1.7973, 1.0966, -0.445, -0.3511, -1.0302, 0.999]\nstate[eef_state]: left_x=0.2882 left_y=0.005 left_z=0.1706 left_yaw=0.041 left_pitch=0.0459 left_roll=0.1494 left_gripper=0.998 right_x=0.2771 right_y=0.2989 right_z=0.0423 right_yaw=1.6211 right_pitch=-0.4593 right_roll=-0.2184 right_gripper=0.999\nstate[joint_eff]: [-0.1983, -0.9094, 7.0359, 1.8193, -0.1001, -0.0708, -0.0415, 0.253, -8.0068, 5.4632, 1.0672, -0.0904, 0.0904, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ee2492a499c9ce62d3770ad558f55bd75666f951a6d0049c7aa644ad46515f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2287bcc2b3ccfd979d06530886c6d038f8fbc7528a01480e613ca5e2a2605b1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6e6ede5143f71dc0a62d6d2dff37c46d9f3abf9ffc72e8e4de797e68a1bd9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEub9cLDPdcR9TK1apZuBL-EK0Ft1DhnqtoVT8nDHaLmEXl6M2g30qNoyWfgMIkKARehLh298CpkEydXqxia8feeSVGNv-qr6DCDXv8NCXxHFfkIpn0fvHxhG7KRtZ1P07BDwN3e-hbU7LsmiHe6DT1tY6SPan98R3lFsb6vm-hb7dhKnNGuzWJCzb9eBVfung4WncPKAMq_UDNg6eSUu7xQ5iy6nzHUKGdx9TscrAyIJfNfbfDVFb8ePZd5SSuzkGwv_PVlFW52dDkBjSC_WBopjtPwLI2sJYr-5588JS7eWTUJtCzYAbhBSf-upBu7r1yAv3i0CuuSGj74THAOy8s1Yr5DSbTholY2AhwOvYegTFYeLers9yZtmFLjlA-ds8J9va5gB9Ji-Qogjvg2G2loGCTdrnW1KzWonoUdtkEy-KUHDCW2_IrvWUcFhyxgdgunlpKJ4rpv-nIixLYZGnKDeoAGo4YwhR0jHMro0jB5q6DiYdHYu8nnA6dfxnpE_G3zDZoj2ep_NUSeoBOI7bYeE83K5DOxeMPGRgu07__xmmiMKRloUvIgt4ourh8HvbnOzj3pidb9-f5knMtZGD68Zjb3RPeh7Ny5teK6da0rGt9O9VRV0HfgI5VZ_4heH4Jj6WTZFCbfD7_ewFtDtQ0Fi0AsWPSC547U0mKeeve95c7JRZyVfs0WrpJZa5BlYvMmeUvHQF9ByntfCQoQoah6k4z_OzNzzsU3xThY1HELaXRMPUUtMe560-yaWdI_WiyAcQuKq5aLgoUu67oGflFdbY0KKDfoCI56RRpvUWiJJmzU3d703KJJPmx_WytKpZN8UjKs4RhFqjPmGmw6e5vpIblpQrhw1023jOn8mPP0WcgO-jfmyP3i-TFlekAqgM5SM-6nTFFgrjXoK3WjNOq8rSJ3U6yT6LWg4XNmssFjPZMJzFn0t4m05xMkLmahuYExMgbp2xwdScmWI9PICvCer08hhYiPZ0_hIHDhaYsG4895IMoZgEGUYhVN5jXQq3c6cKKKwY4AxEMRp9BJa5dDG1Ve3bNVgnU8-Xb5EPaQJP9BZly1ntSpSGqYS4EM6TqqRAoS74GQbN-pVLBZVlkfxaWPeruTrsEk3xEFZurPNO1ciR8sOJ7YNM_8uDmPOkCOndnsRzWHF0BWeiN3eT4lHXL6Aob1skqeAXrN0AWv9O7cFHJA1Uqt2pvMwHWMaPsiXS7fYBrwiwYX64li5cR_dL_Q-jQJwc5v2O0UnW9SoGmdUjijlMbvTrudt4iURlPXIWtip6ORYkPfecJQEV0MKxFi5Mv0_9UYRibAQkPdM6jLYWzbxc9JR-jsRdKstIcBCeP4x2Wz2TpmXqLksaMILQ==",
  "id": "rs_0fc0d1298a6cb22c016ab44b9a9d2487d0bb4c8474692a6442",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The rotated jaws are now lowered across the large brown plush’s torso, with the gripper centered over it in the overhead view. I’ll close fully and check the settled gap.\"}",
  "call_id": "call_DaqnPWwLKOK6iOfIIwaNnBrE",
  "id": "fc_0fc0d1298a6cb22c016ab44b9addc487d0ac98b839a4e8a318",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DaqnPWwLKOK6iOfIIwaNnBrE",
  "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]: [-0.1432, 0.7422, 0.5213, -0.3386, -0.244, 0.0063, 0.9979, 0.6666, 1.8069, 1.0927, -0.429, -0.3477, -1.0313, 0.0089]\nstate[eef_state]: left_x=0.2862 left_y=0.0055 left_z=0.1673 left_yaw=0.0418 left_pitch=0.0302 left_roll=0.1522 left_gripper=0.9979 right_x=0.2781 right_y=0.3 right_z=0.0388 right_yaw=1.6203 right_pitch=-0.4605 right_roll=-0.2235 right_gripper=0.0089\nstate[joint_eff]: [-0.0342, -0.8137, 7.2137, 1.8681, -0.1245, -0.0513, -0.022, -0.2256, -8.9915, 6.5709, 0.9353, -0.1978, 0.0317, 0.7106]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:826b867d091f51f97a2d341e55ccc5d102b1caec3ec86e5ef64cf42d52f9f029",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51131d2a8c8e1493de22b1eb7f8147ddafaf47b060caaeb808eddd1d02cbf81d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5101e381fb17621771e35cbec3c22f48f9a20464e22cf35bd134795c8833545",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}