adhoc

model

gpt-5.6-sol

effort

high

temperature

n/a

tool count

3

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6041, -0.3923, -0.0193, -0.0341, 0.9998, -0.0212, 0.794, 0.6067, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1779 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.306, 10.2769, 1.9853, -0.0659, 0.1636, -0.0366, -0.2667, -1.5111, 9.7436, 1.9121, -0.0269, -0.0611, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f37b25c375252567ea2497bddea3e579bf4a79b545932ee4ce11b9ef0cf30ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e40e73b057218355675b74f2d4fc0f2237b5555bc955e842f8d56afec17aae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428db6d94a7f6cb224959e45a56dbf33754229ff35525b4764c76a724174acff",
      "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

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

{
  "content": [],
  "encrypted_content": "gAAAAABqtENWokRBcr93h2zj7-0Zx4Rpzl3EwGH9yi3vbGliFMowbudPJOXEV2tDCao2S4jT1L59C3SwJZVwsrzUUdMhJ_5FbWVdq5ohA71dMW4V7VFaCKCUMbAaVI47m66r4Ugydm1xQLPC92_IyB9dSa5uokhIvK3B1xju_AIQAK22SgHQ1tk6B6fVic0rTdJqq2WiKbIKQdJoklb1GUoo2ApDTuTTozeiHjYjRX9cpPHvMt5cHLJSHIoOJlIcTjIzIO_giz1lUjloHm02iTusjdjjR-uGBxHSfV8liia4QISTwpFP4B4an9rqy5wjoB0Pdh3arBLYA0JL62IJPL8vOscJf5JXW0YOgotqLJpt6mEh5XTiVZiKYtzUF_eR6u9fCSbjoDFoexFk8KWeHxWPLh4kyjrslE07n-dr9sWPcnbwQw_lZZJ4foWAXF-n45Ycc5qrERywvXw5aqpRHni5qbTOZef51S1t1ZzHCxs6w7sNKWQvvkx8o_lrpDG1f0dutfzoglPiIvQe_v88W3UcCL6O_68M_ru4dYDf39H86CrqQYI83ClN7-ipt0JFeM9HExxBdX4FqF5ysu9Lw7nXC01gab-UEHFvX4afijnMcf7FzIeHDyrXo-xu-oXlByW4eHJESTYF8ijAFviX4CLrMPY4DKZmFrsSOe6Ite9i7rxlhfdhxBpRQTZK4QTvikb7Yvu9qdvlnk2tKHtS1lfRUz1wEms7ZgsgLynRhU8mBuCkxATmvYuhkhTdhQHPET8zr4r6TzToaR3DDqTrkh5UrYfAqEgw81DualU4wiHrtgrozR3s4EnMzIf7PPv7Pnpcw89iXDoy68S8HXR-O76F_MRc6uqbMl8BuEke3CDtls_GZeaPS_0apRf75To6MqNWopE7PVq-7TjYK0ovO3rCbiehd2v_PUAEZhXEerNJDzfUdcCcZfVkYNS8lXmx0lTAuZLBkse4zW7D6tv-F0BTzJNJGRYtUQEeQg5CfWRkGBXzVNTwX1nSVf7lEvASwZMceqe3UKZwq1Cln2N50bmNoaHWKAN-GFgDA18lLcehsy8NKrZyjlGMbOxv_ZsuV0_cHkD_tyVzduZkoMsKC1r6cy8YP2au_VLmMxjMis2bspObWeVyH6rTHF-t0r_9pzTPJvjCVRZazbBoQwbgPrG3IfflIAKbiQcbBGvBU0tuG5u35YC4TbIvhH4IZqAWlytK6WhtttdtJaHDIkwG4uXapk_OtBypEnX70UhJVnLO2c_LRZbPr_X1c3JNYzWQUwTde9B6CxrYyU2pBXKFnJ4Dxcpufxl2yd72_gPdIIRa2pMnxiTbCtfNIrnsAPs8xeRH7zj4kepmGY6--M1ayoRDSHQl4quG4B6m79D9srrdvI5k-DzLOQYFgFmbK4D_Q4MChQYwlFdlJMhlD5DkQ5kpMtdp0n_cpmgj0NbcGtojQfJ24VvedUIU50A0XgWERaNfa5ePIfFQxF7R6oOWW_VKGWJIDDGqRORUid29n4jP9yVPc_kWue3hdHiz6-ATFQdw3qsVXgWwZbahEAH8sszF9rI8rtLWq7P589LFxAnV4VG9WdYg0tpAxY11a1gRxRK7B-txg4cmah174zv1S6uq_wLT6fL7cXesFYJS9-fUazDTWQwarIBhr6-F0CBeamiFZNLF_aHU_fGEm56lE68JyJ6YKoGTw8plGENDC5KZ7fh4rpv09hAG_b0UpqWrqgtNTq8bxfIM_8gYCwvOwLBQrBzSNFVSKZviDwBVkct3a8sgJWyotbJ6mqXdgV2-DdxxxQBn_6GOS7sCJFab6t5bt2oQEPMhgdXzZTWGm__YpTTp0ppcO0JCTcsV4f3wB7g9vEDOwOciloMKd4Cgvw2VfjPYydeErZwFY5KuBLFmwW-ZbB05zLJXuxcMjn1S0F5HKtWZhWULE0z9a7Zpws3ZB49Zzr00ekZzPj7NBjWur07u7A4P7DsyEyD8dHUFtMdL8V6sBMh_555aRsq3rCBsN9y4jmJLSvSmEbgTNo93powmj_ubkzWGc8p2GTgOn-7lGMg4kBgapNHD3BeJOHI8KhGlp8JCxUI6SShu_3MKmlkaZRb2UiCGYq1Pe2kDi8L-gX-Buggl0xl07qDAvT1zNmjHn4NJ0WGD-b8_2q2pfXOhUkL_uUg3BDPOjFBHisU1ov6YxJjso3OJjac29upWJJ5QPBXTs3NiSikyC8qyggn7bbkFydrd4NA_CyqWnig0LvF2S5CHzmYiOuCYEaWmE6UdpmwYAfXdxj1yNZ9-hVghroY7bctSq8MVULEGq5gu6VgKUA_agpaueZ7eAG8Mc9c9sj_w4titmd8gMyEq8swn4MyovVZecOWmOYhzzlYse2PdULCEeiGcB4dCg3LyUtDjhfZaMmODTKiAEIodbpTTOgdAUQcZPqZumJ0Egrl_cNOuD2cTe0_kigbYq2wzAtM33kjKsy4i8dhLUKFAyH1ij_jl8v-rIoEHXfO8Up2iRaXWHrD9u6Rgu51Cfz0oBKqx3vjnPj6HWY6kJRJLtHhxqf6v47LjrGk4SDINoFEr4D5wcw6bDa8vCn3rCiU52NgNlXDhn6obb7Nlc8VW1H00jCV5oF7xvHzrw0p3na7Er_Qq_-LtU5F5-NTY3-FdFO9K5ldBtg==",
  "id": "rs_0cd8c2626f3e00d1016ab44352ddb487d08b8aba990c22068a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.16,\"right_z\":0.17},\"note\":\"The yellow object is visible well to the left of the right wrist camera, while the right gripper is open and at a safe height. I’ll shift the right gripper leftward across the table to center it over the yellow object before descending.\"}",
  "call_id": "call_DKScsskYwgC7LK10CiL4sPq9",
  "id": "fc_0cd8c2626f3e00d1016ab443558cd087d0a885ff7ca4fa12ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DKScsskYwgC7LK10CiL4sPq9",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4057, -0.0189, -0.0349, 0.9998, 0.8021, 1.1568, 0.7334, -0.4084, 0.5987, 0.4744, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2827 right_y=0.1542 right_z=0.1482 right_yaw=0.0517 right_pitch=-0.0747 right_roll=-0.064 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6205, 6.8308, 1.8291, -0.0366, -0.0073, -0.0171, 0.1573, -4.0137, 9.3607, 1.8046, 0.4469, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f0d3151f6a1239994900872e65e6f9fb1be7b2f3b464d2e759bb6a64d525dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7a8e7dd453192043cc23c4e5dc9cdd6ace4878e0185dff8ad352b42beb2449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e76e8a3a6af274c14145a36e1393ec4c4943b74abb2abbf5624c4ed623a333",
      "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, 0.7933, 0.6041, -0.3923, -0.0193, -0.0341, 0.9998, -0.0212, 0.794, 0.6067, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1779 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.306, 10.2769, 1.9853, -0.0659, 0.1636, -0.0366, -0.2667, -1.5111, 9.7436, 1.9121, -0.0269, -0.0611, -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, 0.6067, -0.4057, -0.0189, -0.0349, 0.9998, 0.8021, 1.1568, 0.7334, -0.4084, 0.5987, 0.4744, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2827 right_y=0.1542 right_z=0.1482 right_yaw=0.0517 right_pitch=-0.0747 right_roll=-0.064 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6205, 6.8308, 1.8291, -0.0366, -0.0073, -0.0171, 0.1573, -4.0137, 9.3607, 1.8046, 0.4469, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f0d3151f6a1239994900872e65e6f9fb1be7b2f3b464d2e759bb6a64d525dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7a8e7dd453192043cc23c4e5dc9cdd6ace4878e0185dff8ad352b42beb2449",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65e76e8a3a6af274c14145a36e1393ec4c4943b74abb2abbf5624c4ed623a333",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtENdyR5VrglLKYAN3r8_OSsGjjOSCjttXNK1gE07TJ7WJaur8upso0AkMniVwWRvMCWEE8syqhJJw5Nt9BH_7Uo9SO3UIH6atYROeCwPdxnolgMQJpJKHBAjLsBAVOcP13WcC3ZH-aD8siIsSYSigyJJoDbcVHW9p2cdCocBnaoo2KjIktmHA0Af-fZLp_tBLW-BmwpuwDzKXb8iaVGffg4yy6EuwXGJeuRpvIz3YDNPGhhYpyEFtprja8ypxwbPHHFjfvW9fZEU6pXBdAKkH6OaXIrb4K1-1tOnxe-fXS5M7zIAswRWTz3TDuwFwOL6mZQv2CPUcDlBmhi7scyqEgeP0zr4UyLg6QEOBxx7QSEpRN7sXke0dJXW1F33c4LdFwNMBLjKClJW4CYMy4DhFX8byANYfYePN6IgwmVvB3y3zSiv6bIsQS1UTD-57jhzgW5slucu1PYlQv330Utf7cpD5DXz1xRMqBadMsF6CxxkqUQQaTtsrOkMKoI_82j52zC0I7BtUJvDSeKJHzM9sDEglJFvUhm-ofSxPNYXCmT28-klOqnNxFM-1r-B-TBTE18fd4ARwqbY49R8VUvTC9yoqHBl0vP46iXNkUQ0xCzsjCMalx9tcwYKRFrmYDe2REcp-UgCDT7iCh0w-c-opDulOSGzeYB3zsVIkfNX-k_PLrsj2k223m2tvZnarqzE4V5-6ebzNwDrtdvwfR8tuDiAHKdQEM_zxFcJgBTUFigy7DaNG4mZgSgAt2zsRfGZG_QcLiNUJZOli_Rl-fvWy5o4SNv5yhfSJHG8b_PfdaL5d8AaAkg3o6rkaXXd_mcuScMn5D_WVV_8JAJr55fksJkM643cn1KYVal5HZA7pdPSt_Mucyww9nQqMN6Fi8C-kqBt5VpIClFe16p-rUv_O63beBf5HQiM8YlBAHLCdX4KpfzGTR5Vi-cEIw6P650DzKsA6knk5rR-o5d4b9mt2AR2jV8gS4KR-MaBRAq2IvrBDK-ExFe_9X3q_dTnP7Z-ifVlD4bQcLn3bN9MY3yn54oxxY02kRYgHaT4C5KPeVeLH-TTamCAKF4pPSh2julQjxwwQGGrz5KbFYH6R7cDc7rqwMjwpibD9Y_OFlyUMHS84kfTJeCsCanL1Jw1XPImeQ9goXXaTnSFcD5QVChzlGEL4m_M6dHkkXuC_Rn_OZVGV4H7mtaKiPrgAnV1BskCEHJ5FSRQ1R2da2DgiA_jkgXrv2D7NKE-s4YJnBBhU5rzeZRhPNWTWSnLok-fLZe5lMpTPglxF0QI9qH0UYeauW1FmeNEO3IXhby8XkjjKr-bvY0-e-X0zMjqOCtBxhASRAdQ0ySYXp1IKAGnqu-02JFOV9uniF64AzQRSKFcJA6Np_gsWFGPFxCQ1CrsXqGj6X0Y1s1rMvxTGw2BmHhNSWMYGV4bn0Jt7ugNKiK68WuLPGheDrjWzzXQzoz4lr9KyQ-OUZ1ZP4l75Q9RYwIOE8tepqR0M3SDX278TPEv5VxEy4SyrMCZhA2HbxGYKqnZ205DFwjY5aB5BfIo0dsElWeO68nXAKf9osb3DYeXVTquBOuhkII84_cZRnuR9YnRu2_utfNXoZePfhiT_B-5MMv6tk496W9tyMsEV1J2DqHopxO4ST0ODrr4R73iQjlRydQsZMU-aSpNQV57oJT4r-UN271IEhR_KOKfhvhV6ndT6qCpFd7D3OQA1_-QJLoZHDpt-i4-JEqGuPjqc29x2qImL2ZpGerBC-ndeg37R_0hEqgBlFTZNIFY0VSHnsDMRcFqDZbRc1N1y9SfnkuW3JquBXDrsZ-SNU1R0_HcOk5V7P_q2zAW4XZZk20sf4qiS7s85a3RhIDXYvuqPhnRMx3GiozMJutfWT47Alk_3r5oBHdlFlC-HAq286YCcQsoMV28-dhFq9bzwn2a221zbvFCYKkPfFlGHOUvmw7UXlI_YwLGZzVeWN9_PwhEXvptzzmyl7x_iRUHKquEJnVwmb2Ftf-drZ50YfA4vyTYE9fmnzvQlDc1a_NVnT_YcDSYAVxMnbuTTwYsC0aS0xUMq7Z5wJOWbbfmPZSy2alyMZosTBw7kfQhAAIH0OWkS0NrDqYn8czGLwDXXnEE9QLO-YUdCPWIIDNzRabWqR1zk1jG9uXhKw2ddqm7CmYLFcIxoPyY7tQrcV-NJ0VEO__08ZeH3pS4qGd8SWkG7Dnt-pcb3w3lnWa1moV2lGsumAIJ-eUHmigIi9pp2-ngT6ep7m0in4I38s-Q2yapLrleY4kpaPC14Im3E4l2BCo-nLgfIo7k53KizeS2GEH_EIa8a-D7st4SLoc_ok5kx6oVwxbsXguDF9iL_Ydbbq_fQbLu1NP9a691Sox3o6DA4e4sOOKMHqfhRdXy6-P74CesW6S7y9H3nAx6kPg9pYBGKH73mrfW9lYNmaAqv1SwD5FF2Xp8cNf56fPe5sMRFppZwHqYPXIzuju-1vsTRjGVeaW43g0dxBgs2I6LD2qZnjHEF16AmQLbvkJAfTDS26hHmF-XoFrF1GJtboeEKvS_GEDD30GeorbAhMUzgFLRyTdPWmcrLogN8akHYUVqWQ3MpIREjcohTTO53mUrnTtjuo56SxINT1YJryQ-H6auDrQ0AzPhqJnfkOI3tml1A_k6Ymm0UCJocw2D37WkFduN8fona77sKAageOVU2hnfJ8SnpYeSc2NljRbR-tdaibKwCOIadKc5TfDVTjJmEDdL-CHVX-ZTxaj-FJhAckhCwZGxFwhbxSMV7TD3TH6ebvGWXPqKRXAaylsymtgop7n8TKQWpJQUl0YOHbL9CYtDpJhdSZxogugEnngck_WcAl0LDhZdONrY1OMVRxMnFSFkbwSRxiw13HEisNvSQTo-sJCsOZ3HwKAPakQ81H092ImoxSC4kgI-KPuOgiPlj0olgPfrBNeow5R5CtSjZpFyLWHGseIcO3ZJGN1bXnqIdbX5zc-J0szyP9HrgZXjOh079LabM930GxdEK12_XrXzmy9wNlczCOFxlurkrYSM2k451zvfyEwSDG_LDaHmrdXFZpWwnZBis8wv3ObCufzBXLNeqFIqaMFMhxBuyx1eko0MnLBBmMJD4Yq6iG16MM4u801cat5sMJ9Q6YrgGnilJh7iAgPWCecDYNrXZffft8aLD53NPeRLk6enIlTYd1aNMMRvlxNgIdxExChLHVCWpL6JPIO7v7E8KBTJXXjuYDTV7muCes2vIF_MiRLmEgPsZY4ZL37DT_KjuqlYTWYDGNaamJWqd5NnlGOFfohHipEqDaCKjHqfFqWCqhGtnUfJYiP1eVHxOr6IXyqqySIxLRJWwA6Qv0aDVeHIPhv3OytRPsYZ__frpMNppSBCcb1ynIdj4ojBFG3xPF1zXwgDOt0MaLBceAZdo4IFwdft4S9zMV0MKw5i-vDoqquF4vflhpbWtSr1A_Z4iFrx-UfvdT5Y7GA-aJ78HBgjOfnXL5uo-T6uu_nlUQM_ZGwwuvn2bneZBY3N9rOU4PlapjI1d8j9V97sFaZ2kGFwYSNwZBLRTv1UVdBJkFVb3GjiCGQxXfCiem3UNipevf0kdcDttaxaslp2QIrYb3Swdu7ZXDnWig1js2gzSxWgqlI206ma1jVh5heiHp7JDxl4895JX3eOvlq6UA==",
  "id": "rs_0cd8c2626f3e00d1016ab44358d95887d0be3b41eb86013535",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34},\"note\":\"The lateral shift centered the yellow object on the jaw column, but it remains high in the wrist view, indicating it is still beyond the fingertips. I’ll advance the gripper outward by about 6 cm while staying elevated.\"}",
  "call_id": "call_toWGTgMJkQpxtf45H2Hp2ygm",
  "id": "fc_0cd8c2626f3e00d1016ab4435d1c7887d091eeaddc725cae4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_toWGTgMJkQpxtf45H2Hp2ygm",
  "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, 0.8024, 0.6067, -0.4133, -0.0189, -0.038, 0.9998, 0.6506, 1.3197, 0.7925, -0.3412, 0.5018, 0.3649, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1721 left_yaw=0.0022 left_pitch=-0.0282 left_roll=-0.0028 left_gripper=0.9998 right_x=0.3212 right_y=0.1422 right_z=0.1247 right_yaw=0.0286 right_pitch=-0.1543 right_roll=-0.1151 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 7.0222, 1.8095, -0.0366, 0.0024, -0.0122, -0.2256, -4.9026, 9.347, 1.7021, 0.2222, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa03f3e0753273cc4fe21cfc75ce74c02711393ef26a2d9715fe07ea861e9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45971391496af15a85a72a21f30213861bec205efb1f5f7b09d0590e9ce73748",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e638abba85cfb913eb03a0bbd1d2ed92fcb7a20731d2e2c7db74a57e7f6dfd4b",
      "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, 0.7986, 0.6067, -0.4057, -0.0189, -0.0349, 0.9998, 0.8021, 1.1568, 0.7334, -0.4084, 0.5987, 0.4744, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2827 right_y=0.1542 right_z=0.1482 right_yaw=0.0517 right_pitch=-0.0747 right_roll=-0.064 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6205, 6.8308, 1.8291, -0.0366, -0.0073, -0.0171, 0.1573, -4.0137, 9.3607, 1.8046, 0.4469, 0.1001, -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, 0.8024, 0.6067, -0.4133, -0.0189, -0.038, 0.9998, 0.6506, 1.3197, 0.7925, -0.3412, 0.5018, 0.3649, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1721 left_yaw=0.0022 left_pitch=-0.0282 left_roll=-0.0028 left_gripper=0.9998 right_x=0.3212 right_y=0.1422 right_z=0.1247 right_yaw=0.0286 right_pitch=-0.1543 right_roll=-0.1151 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 7.0222, 1.8095, -0.0366, 0.0024, -0.0122, -0.2256, -4.9026, 9.347, 1.7021, 0.2222, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa03f3e0753273cc4fe21cfc75ce74c02711393ef26a2d9715fe07ea861e9d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45971391496af15a85a72a21f30213861bec205efb1f5f7b09d0590e9ce73748",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e638abba85cfb913eb03a0bbd1d2ed92fcb7a20731d2e2c7db74a57e7f6dfd4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtENncWdOrm4z7nVbEIqYHjz3PEOjwzfk2DbA2EvfqI9z2V0F1M3HVjKL5AgVzf0Vv-K0u5yQm-NTgkbqIdtFKC2IRCYRHJY3u9_gBntcWBv1Tsh9DcQ5Xwi5GAe1h6-pMjhJp5gxr7DkB4d74TWz5HOuGyr3XMnX1d6U3PCo9bkJ_nqdLVDhI-naSxoc2O_tJoGOGG-yZwGs57t7BEdDU-hGTxt7r78UVM16M4ru3gxFIkDX1zqaeEUPfY1riyvDNm5CAifn0gBzz1RJ0TbJYT-MrMMM7S5iy1iK2L_p9ZcewIhz65HrQ-k4J0FFSU5hX7H_zSL9XGmaQ4uMvyfzk30PnFNdcO4Qe3hv-47MDz1FnLSMMKNmgZ7urW0mJL8DobTG9WnYgte61JL3DmZI_l5ZqXhdI6NwzWPBlHMSKDIf_2rnNBXVqaskDBApPUp2z5V-JqvtUak1qG36gmcSUMsTFx4CPTEnYRLjiCa9HBx6y40CeC1PlGYK4S28Njlp6DbVqLf8des8Nf_PRu8X5Op8Lsr3TI61MuL0NaEPs1khhGoqWq1XNoX80c7wFL-pZh5LMv1GpuhXY7Ye98PBhFSCwtKgstHZCg5d4ew2pnKR9t3INTkmh4Mm455qW1pn-xD2njmRbO2AmqVuXdlhc1_RD5HnFLu76IgWBth0efIvIob65AZVSFaImIxqh0xJ9hKUECcMu15CS66pWsU5xKJTLejK2lU5Qhx2zVK4-4J-Ot1z-IRfitEaT3kssHGhZn_WMWfmqCcHSDD9F90G_D9rJCzoOA-kSteFin4N57QClDo8MCn-ADmVI2x3bHHYXfRQNxkblOt09NdDYNBZTFKf13EPAptAnRh1Q1-RDR-OhATgy-PkZxMMsDgSUI9PIOoyP2-lnBorQIvNL0Dg-55cgEX_98Ig1sgWqtPNqgywQIa1QTnMG6u6REgLVgddUT-xrXKWHDEc_O7ARmjmlxr1458xh6BuNlNT2Vo3_yhsA7EtAs8ebRdXb1Wo4HLyKXkKDZqFY8yaCY9iyCSSvG9p2UoJEs8fS6jAKJQ__Ul2ueY2ubcQ3s6JIXKF5qrtSOjURO3Sj8kMmcOYyNzqKWgsxNyEus-eiGW-Zf6LOgsbfNA-UR8noAEEFj69iOiH_bmyVXPw0Pwab-hvsf47dYA_u3NaI41rs82oz3kQBkhr2UQ_qtNoGNMOAAui88FE0mzWyRcCqhAYnGU0wVfu76NU1YXXSvMBLUNpXxK1iyLUUxuZ7WcwAJghpgH13e6v9XICrM2bK3abrG7elVL_fNS5J61TJX5oSHmjx2tIVCsiwSwAj0IKzuV1Rdw1XOqb4FoZEhLCIAZEOejfSRerVBR_M5uNRd71_M8DneXA48lPncClvtXOAhwPpHOd-zkJkOTDwsLHSAAucFrySmL1YeaGB8qCXryFBgx4yZQOOV0HFE3CR3EUJO3MQAynn-XniEcyRmNq0TDZAcG95DYgb1MwDIFq-04XNYmNNpzhgFL86sruCU_VWqdeQV9ujPhWDxnRYexlstOx1jyw4SlqTC9iLGPIylYBVjsO_G0v7jEysTiS9a4IF4bpzzV2zQId77-M4IMDY7ZJCdoKd8g9VqsBQowOPqQHdzU16FsrtCPWMgb6fT177GgmSqDjqTFZw4Cg6vDUn90pYpRyPqF-YLtQI1LQeV2lgf6W-970oYz7T1lTqSX1rI8JqEUBG3MGFm9Ocv7SztRTYa-jp9hmLn7xJ4LVNWpiVHNIIGGpfKciZm0aZcNIb5oGizgH_eRD3YcoXlYuYRyAvp470JUOb713vPPMbCtoCEdFGp00am1j6qr4L055binE_RvORFkbvM2Mpb499ksqmcOK_ymBs4Eqcd5Ia5Jqw8495Hm2V5XQ5VACOrPFS_2SWz18ViT_XL1qcG4Wz4UKwp1I0g2o_KfZuBuJM5PpamljR8lIOSJ4pZIdmwLUplXx-RzyMAfnRbJiQHoogtgH6SsQ6cO3BYJxAe-mAssTsZ2NrpdxMOoAOtEoUSmv5xBpV0wNAvvaifExROE3RZx5tzBs05qkbEpNBPW35uRfpFsfbi6xQgFmtN2907X7AZndYlyxVni87GJYlFEpWfyQxaJErsjQt9sdeuhNIppPPBFKXPiwJTaIDY4FVDmUrNoQOG6_EGKmjh4rwZ1SVTdkjZT1CmsKv4VD3gmv401KSQ4v4awur1WGB7Ki1j0ibC3-DF3E3RJgnbO5WpKNMsSzoYfJgYbPTwVP3954219Ys_pGgbXfvwjpE0m_zboC38zfwBnjdf2hcNzf9pGNlhGCuT_1vV5yQ5GTcpr31mcebhf__Xw_LMffVHmRyHjJp62ma7pC5cBZlZXlzUwlCRvsTHus2VUbTL-hTKpXIzwVavFIjY6_hIT2xM-TcYy5gxNV6eaEzGL8Mtt0HX5HVapN886twAvId_ITf5oVWplpS6impGTbuHXCpukyp4yRw4rWy6jj1QOPJYdWunHemNvGQ0kHa_hCrDuB_Sn8l3IvWBpz-N9k17Hi-sV3AL_yW8cw1kmPHFs1WI9xVb7WscRX9VaQkKMDj-9UZuYbnY7i6gmxDsc7lUb60fPMwjzS_HYObAhm6KZqIItDNHqbX0JAsB_fZt8XjJMV8ASk0E74potifTf9HJGyB-SkwivQOX26cH1_gx3Lllf_XISVTUCvgt2Z_1H1-2V-_QbPfx2szkiqFWuR4dcKLjkxPLvBBImrP5sKNG6Ia6RNGY-BSgClffJIDAgYz7xjNIv-NAGSTVAxd02ZPXlQ4PhYudVH4B7xELszqHLdqM70h8OwZ2u5PZI530ubVNkIwCFueLMsW5NSjFpe51VVshlrsf6Pw_b1VSDIN4XJIX_bPvXM2PxoSpcZMvDoY4yxOnOq2qhcwCgnRPXoqgM-1B94NxBaEmlNufN79Y6cI1b7LazRlsQxV0cf8pHgU8Nsx8Hy4vqerMQLx6DfHtnRE8TN1bxFv9phAocVQ3XIEXUpTnOCECwzzEdwaXVHZ0xD3bTDIhtutY1D3ObG6z4A-Gfv2k_xeDT9uPnEqUzmEavtxlu_KMOR-AO399s4jIm9zEKaG-CIztP2wg6iIJ4f-DlMV8-mHdyNYlZCebCoD8UG_Am3W6SvBAt-CsLe6RS3BTfrd_Z49gDZuCVuxWOGMvVkDsiWTkN9L9RkQyaY9HtJ2u5W7LGVaywPDqwiviuBRNv69MDOW-eEMmIzmn-e7FfIq-AJ9EOejDHmcApdyAksp1ZzBNOISOFf_1uLOqbpNM3o6_TL6SeQtVsx2lxHnZDpnqfvRhEmClQaqfe0iP2DVoVnPNv1-_SKevCatN-5T9lcFfW4fCzv-MnbkdApsZDnJQozU40w4Ny856HTf38dBaB8JCV_qZ1KCEAAF-htRxOdNSxmhg0uXOxA8EfX_PsHf5QwpRFSSibXGekExe1Z2EeETIeShf77G7O6LcGL0GgrCwbFt0sFE5JtvYxC-WVubDbwQfoMywOvsL31pv49OkKpSsj40B6YvjnG57X22eNPVrVkjEpwBnDVcQH2LDjZPbpLrTCUelPY4ae5IMe8js0O-WF822kmrqIm0VpnKaiaByAaRzvx-DHyzckUf04bm97HBOUCxUBPNfoIuxSO61iV2UorRHyToNA2OckQ7f33zCTf6tY-pXRvXNiRB_yGEDOHXyLS228l3iJzxfeONi1qcLlG7wYhuPdYZNl6Jdo5cmBxlOLRdTP_gH7Ugri4E38Nfd2_7IGEfvmpZNn2K5ZhvtcSvK1PLmIdItmvhZ0u12MWdHWVJHMKtWkavB_3D4moDiz7dxgQNv9xElPzuzLcv9ds30uVvStNlvEOl7SqcmIj2jU5tYz9JhMTkIGBnRBXbKKLTqh_hbwp0EV0S46mq5uGKd5YF11J_aaewyle_EDi9mmEJuqcbej2tzpc_7d85pBJ1kd9jQFQUYLE",
  "id": "rs_0cd8c2626f3e00d1016ab4435f871c87d08e58f42b60834bec",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtENnYy3nFhs_VIQ2PXjVFnIREUYoQlV-qSlApE3rblOW8XsQtinSekQ0hDHHLcbw5YXV0RiN0d_RPU0NsgxvuulNMSXgcGP9w0z_w9GG-0SuY4vFQVSyujELclCJeTKZRnOOHXnxnX5RUVybezIojNFK7fCY0Yn0pEM6u69vydwx27JvUO7nIi-HnVz1v5XxTPz5ZLZQATNwL73y2o_XJhjI0-JmZUhxnR0vp9HxQMvkUzCHJrhr7qWt8rjGlv9Di8Udl4D6DRYuKFiv5FO4tlOkyn5jTs00FQ5wmq93toT-FZDpw6Q44ocJrnCHIS7G9ScjEt_BtVOp-eg4lwrdyX59XoRqZOel5rr0wkU-BKn3FrjuIuv8fgAWMaQx2Wcj4cf3N4RRjgzDSVmoOvs0U24fuTSox-QSXlFsoFZkQAnolHa_TUG19Mve7saA45UI9hDVEduUeYqB-lo5H2uLdKVRtyYwLo_pwLU67uqhVJPgsV2TDf39bSjQ7XHwzA-AFkulV8EnpWTWvNgnLcCNDPrCKZD2dmv0pfrzvrqC9fcSmraJQ9EEoUr8pxdDMaGwOxikzozza5-LmCNU5OHnhT2k2pezFOJzWf-TkYKiuh7--xxJKzAyu77KZszpUqRZNaQ4pPVRRvazwJ8nWZ93pmIXyOZJDVt6v1UuGLi1sjcyUzChYY-lnYOtT1Nwwsh1PAP2d7v0_cF0GFnLrq2JsfsEbVhpj7qa8SmBj191u7L6cm2DYAGEBW_JUjYJDg4tecCHjOOEqviISjcw9vaApOkRXzG9GhGu2aV60hILRw9omcg0KFORP5jIIcmIN2CViXQgFTCHfihmU5YK_mPyb2hCZ8NUbxLvLx4t8MhQyBUnzVE4lfOS-3Dob9TJl6NQ3bVxOiMLuKFOSR6xR9ujc7O6zf_w-XPy7tHbmDXbSbxpChjZF3enyvXhTUofJjkN9KMR1e8R2McizvQx7mCHt5_R0J6vcHzlmtbGKicxE3FkdoV7keQ_YlY2aZTfzth3OOtbeUymis3bTNKlgTmWQFn1TN-03WSSlYd8i9feSTshlHHEMBt8_6scwhR-nj_Zb2JJEC5ECtXzA0wrAXzbqFKBqq6XmiG8RPcaKq2yv3g3sxduyiYWMDbxOx9038XcuIndpgNUEQR6psWIuN0u5QuChMmJgfZRCvY6Fyrg65_IY90uvnT1DFBHdQq3qCd3iVKBsPr4id-UxqJd8TSQPtCOSFFW0zjREUChiOeZJoLJ7kH1Dk3A0Hgo9lgehvc0Dr-HH4t_d1_nBiDU_eU1JFd_RQNiOC2Fr2RVeCEF0vdtfgElnVyeE1HJoYckQjvoFP50i9VoilGIQK_iz3HcMMYqFpRqpLlYwH8qWiEuod8-q4fKJeVOYDNTQmHZceTffLH4LLujOQuPug1rGpMeN81NnVvsUE-Wr288DtCmCTGy8mEg91-ZJTFeJMUubM4B9XT1hYs1KrE9BxKKSWgnS4WEd_HWs-5ZkJJadvfmBdrx-fL9ZDmMEkCSS-YwHYmIJuBIh4-kTkn7LSGtCC9JeiRvAvl0-db73ae3s_7qfedM5oCUAIthEem9sAOAkZU3VhqZcGsQWJecw8dzA7O4YLYH8UwWLXng-dJtOk29c2NkXFPRSAEX8oO-cpuKenNz2GslGRCt_xUhyH1cayXFgVoCNXhfNKByLwfx03i59AukPZoN_79nSYrdxIS2yaQ2gJXX3hlgMUneARQd992t1LBHLPWEGT7bUzQe2wHHa8b6vKZAELJVe25jy_d5O-iZTCGDb7hS9lhtHjqMc6zljOVxVTD7uELbB7lGQlymoWeA-nOn4qE52a-DVASqPWCuid05Y-BVh_fv0Znr3LxbEcSqGTBDw9wzuGKVynnl_f96LmTuwIMmDeO5EwckYw_FUFZC",
  "id": "rs_0cd8c2626f3e00d1016ab4436515e487d09aa644562a86b094",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.17,\"right_z\":0.045},\"note\":\"The outward move brought the right gripper visibly close behind the yellow object in the overhead view, and the object remains nearly centered between the jaws. I’ll make a small diagonal correction and descend to the object’s mid-height for a careful grasp.\"}",
  "call_id": "call_vkm4kUKZKAMFRsbAB1gc3n8j",
  "id": "fc_0cd8c2626f3e00d1016ab44366a1b487d092199555c4802382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vkm4kUKZKAMFRsbAB1gc3n8j",
  "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, 0.8024, 0.6067, -0.4278, -0.0189, -0.0383, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0427 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0632, 1.8535, -0.0513, -0.0464, -0.0122, -0.0752, -5.2171, 8.841, 1.7998, 0.1978, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb77a066a29b7329c1e711169c11de950a1a2b797471cd38fa36581f9fa346e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafbf31ce97543938e0cbf550f164a82066ee56b88a593bf1dfb6ad872a1c2c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78167e7e61eec180bebccbc9f5e495a9daa6c2471b6e8cfd534e23f166ff2ed1",
      "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 16 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6041, -0.3923, -0.0193, -0.0341, 0.9998, -0.0212, 0.794, 0.6067, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.1776 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9998 right_x=0.2929 right_y=0.0009 right_z=0.1779 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.306, 10.2769, 1.9853, -0.0659, 0.1636, -0.0366, -0.2667, -1.5111, 9.7436, 1.9121, -0.0269, -0.0611, -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, 0.8024, 0.6067, -0.4133, -0.0189, -0.038, 0.9998, 0.6506, 1.3197, 0.7925, -0.3412, 0.5018, 0.3649, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1721 left_yaw=0.0022 left_pitch=-0.0282 left_roll=-0.0028 left_gripper=0.9998 right_x=0.3212 right_y=0.1422 right_z=0.1247 right_yaw=0.0286 right_pitch=-0.1543 right_roll=-0.1151 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 7.0222, 1.8095, -0.0366, 0.0024, -0.0122, -0.2256, -4.9026, 9.347, 1.7021, 0.2222, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4278, -0.0189, -0.0383, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0427 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0632, 1.8535, -0.0513, -0.0464, -0.0122, -0.0752, -5.2171, 8.841, 1.7998, 0.1978, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb77a066a29b7329c1e711169c11de950a1a2b797471cd38fa36581f9fa346e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafbf31ce97543938e0cbf550f164a82066ee56b88a593bf1dfb6ad872a1c2c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78167e7e61eec180bebccbc9f5e495a9daa6c2471b6e8cfd534e23f166ff2ed1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtENsPDpjhwP_8zbLYvR7rFvT2WbOfejvb_0czCwsK7ENQ0fnt0KfyAVuDImwiJcxnE7CZHatu3sEtfmTr5gFfCPqD5hfcSM4ADlC-na00F7P1OJbdJ08qamiApBG85mcWhuXrduk2j-oejZZl8cZcBIb-v7PcnlpELA9hyThHTum9SdyW-Dkfi4lZngsVjdiKj_CEECfkQ13ZYQRRt_oUxQnx6K0P-g73vRt_0DbLn9OjGdq2nqIpOWwDcH3YYzttmX-t0v4KYILZykM7D81MTQKyLQEuPpYu4jDncJtNp0wuK7mSqRj9bKTMOYZrzfRGTxGfM34Dwd64lrJeVlfJVTEerZBXDc8wWSnEQbN7sIJTdzZKPPqESi6CGErWu4rjwbdDmCguRvT0aGMdVrin3_vT2Pbs6L6u3POtRhf4YMz-i5GQlNGQTAZgiLsr7WY-d246K4_zBXDi7WaYoKz4aA0SfE2hoz2rQ8ERAHjnEkyZ2hYlENI70QnmObs3e-0DYAaI7BXAEj_PFi6Fi1PuhxvgG8x7IApQGcsbP9BneMoo5yHI3Dzk1JtlT6e31YVvMe-_m_0LqJe13qGcDzdTUmICOWV6FCFWbAie-HEatihyXNUUZdTYfINQStk1aB9XEe87yWwOn2ezPNFmheAk6d9TGfCVxca9D2vZly6krkbWqdyBnXB40a2xTP-ELRB68fLpQA2VK1Wg6E9gTH_OziOeAgpGNgud99UmVf6n2Pp22dlVpMLVIhiAY-zbPYuSKPjXn9Et8qw9SKncKur0KsONLvSFTKUQP5ra8FE1SQ5Endj7pSRRW9ZCX0ynML0yO4BI8kKeHES7lhLhwNn4iA0GshO3zeYczvh1-ybKOph5WFljSMPR02_F7O9VAaT55XpM3uI12WbrrcBRxNQsvH4hMvCM_632pC_aD_ViYfmsL0E_gdZDsrhOY7_QzucSsHqn9jeDxEEo6xDDs5disp9yTenpJuLY7KNXXjKDVHAJH5hCUNMQA8iG0mXglJQ4CTFP6Zql-fDiqshAg3N0KsTm1teiUga_HMkCacm14woJylRi9jUmgx1wUoFyX0DUZgD_1JNK5JB-uZFJ7gYELcZ2btOFoBNwUT68GOdvqUHWuskueA0zQgo0BagxFPRLh5D-dXaXDIY74Km2b1HGtyqIs_6UWlHj7wEp5wjI2lsKEIt3asRBeLfAcCbj2yfSDMaetUPr2pXWDhjPNaKuUxpVc17DYoGnDJ23mLLVVBc5pxdc3pPfW2KTF3hVXIrsR7tghXxoy8hPoPy14Qs16jT5pG8iAPtN19dBf5YuF47pbQiOuZ0idlEo3Txav0uia_7lsAKc9pxPbGaadr9iPzHEajfU0c9Ii9yhAfXZ9v9j2VWQ_JbcFRI6KOikew00ENzCUppizn8MsVidbv_m62tixJ4cMX2zel93kTv-xkedSOBvmk0qdIhQMgXSzRo2fzVK3Nbw7mLugnTwSarq_d_hkogvoAwy36FCCHk-Xpic1fYZ9Ku8qF3vmT6UY0N3VvmiOcZokJXY9rqti5Q0t4Qih8dVn08WNxkDxgKlbJSBDPIM989ns_-7pYfSDFwrZPWH6VET5EbKJJHiubGqx5UXwHYBfDEdvQD8BeRMCKPqCO1bLEYBPiq7i_bLt_L6MUJwNTGgoPfWHfUTCN-FJCKutYFP802cRK8ahQIJlKDcqqkscg01VyvUgGkLnT5R4vZ2dGdAS7csCJIMU1CtXQIKXeJTlcH-iy67_tqgjW-u1-66xqOh31PmPopuyA7jfEbLVVsGf22qTCI34xujfQH8TS6B4kh7UKHWGkJ8DPcDJzKsw-GOnTl5DDAdpPvQQ8gJvqRSqK05xwTVV82hmYIc_yRBygjH11pHEbHWxtSiHsWxg8FTOxKjva20M1Q8VeoDcAWp8awglqkbO_ywuoie4uueQTApGZ_vtvadVAcs_7VgneUruXljs0m9oGpHM30Pp0av-UiHKwkeY1PGuinA5a8xueUqzqbYrO-K8Xw8ajwHVuoNob_oyTF2LnLGTRtiTwIrT5STqAb-xbxdLFr6-1kSCc1QL5P7Eqaqfvb-FwdeXD1j9X2Jn-uXha_OIf7HkfZcFOYWZfOmYyOwmDT9G6Dvn_vv0ezpwOq373z6sn5RcH2pTpM_nfc9wRZ1vQ1OYi3gIQtEAiEAEEI8C5qc20Gb3xq5Zv1T-7omrOAy3U=",
  "id": "rs_0cd8c2626f3e00d1016ab443695a1887d09d609eed6ab0dff0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.06,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arm did not follow the requested descent; its readback is still around 13 cm high, with noticeable unintended wrist tilt. I’ll straighten the wrist and retry a shorter vertical descent from the current horizontal position.\"}",
  "call_id": "call_wto53VNZpob9cKIpeAmhrjQj",
  "id": "fc_0cd8c2626f3e00d1016ab4436b5d1487d088a6ee1924d17308",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wto53VNZpob9cKIpeAmhrjQj",
  "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, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0029 left_pitch=-0.0503 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7705, -0.0464, -0.0757, -0.0073, -0.1573, -5.1761, 8.7863, 1.7705, 0.1929, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1565e057486b99bfa6a03e335571618f81cacb5e8c2c5b6ee6c5362d7fc8c91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990e3a2b95289e57078aea39ad0113c1e4f1ab8040d3129b0150c6d0d67c3439",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df335f6caee2204858a7bd95c8ce5773e3838df9b2376617932ecafd94df2c73",
      "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 16 changed as sent

message 20 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, 0.6067, -0.4057, -0.0189, -0.0349, 0.9998, 0.8021, 1.1568, 0.7334, -0.4084, 0.5987, 0.4744, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0014 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0168 left_roll=-0.0005 left_gripper=0.9998 right_x=0.2827 right_y=0.1542 right_z=0.1482 right_yaw=0.0517 right_pitch=-0.0747 right_roll=-0.064 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.6205, 6.8308, 1.8291, -0.0366, -0.0073, -0.0171, 0.1573, -4.0137, 9.3607, 1.8046, 0.4469, 0.1001, -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, 0.8024, 0.6067, -0.4278, -0.0189, -0.0383, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0427 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0632, 1.8535, -0.0513, -0.0464, -0.0122, -0.0752, -5.2171, 8.841, 1.7998, 0.1978, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0029 left_pitch=-0.0503 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7705, -0.0464, -0.0757, -0.0073, -0.1573, -5.1761, 8.7863, 1.7705, 0.1929, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1565e057486b99bfa6a03e335571618f81cacb5e8c2c5b6ee6c5362d7fc8c91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990e3a2b95289e57078aea39ad0113c1e4f1ab8040d3129b0150c6d0d67c3439",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df335f6caee2204858a7bd95c8ce5773e3838df9b2376617932ecafd94df2c73",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtENwEepOnTgpdbzJ-nwHV3g9Mwz_iUg4J4Wc5mEHeGBqKxSDJDIPYWqxOr3-Nfb-6gX8ekjZAu0K7NjWgJBvbAe6UUM9lbPbUbEEcm2iK1lJrvN4HnL-ym07lGKBInHq2gfjlGninJLZayEab7NHXST_kN8Jhut9UPTO6fn_vhHVW-GPV_CuioM-LKgqE4kTuXl1-5gUtAtJ0nREI-4LO6RNji-4qIHj3wcEpy8uK6o4xkxUfOw-mUcbCVcyjTocW3MEHetiH89KzHhMwFkkrCU8fXXMPrFIIMY4rmY6yucTwR79MQvp-XvugXOgkZdMw9yp4R_4fJ5LICIKrYU4T0FZhUZRGvTWROvQC8o49c2nBNMi4LLZYlfmaupP26CgM5eCc_hiRaQUAfU4Arp7Af7thbCYK62JP0dk_B6hYAPyHPdvZzsdPH3tNrwHD1hdS6z7HvajUnw3dkvWeUqorVfLr6ls55RgzoYeQzGVC-Q1HwaPk5O19ZyTqp_8pcONm48XjeEANs3deWUTsMIHHBXBBlij4T1_MOuc4MZlIqYeOh2k51Ah6xEwqW1x1RMQFoft_lsf33hRQ-SXNqsywK8mQqVwY7RMqa3rvO-P7_bU3YVH3NS89NV2xZQWSDEa5yChH79L-j3eYwVLlRay574tkUfl5YKNr8U4UqMmaajlC7z0_FQrU3qs12GDX1nrtk9TrGkc4yhia207dLqH3vxHGn7ijuCScw9IB9kP0D2yG55e5YIFtFYZ-YEDKyQI3loOQCYP3_kVzzOOI5_Xts23itO-OnG_9TBM4L_xMpoTEexfR_2K5Cxv_B8E4YanExPHILxnkxfVX2C0ldwfBIvuNJDQo4-P7Op6xE81LrX8yEA7CTXVs027Yg5hFR_pWg3-BAkcLVlbJuyKKbYy7GSF4uet43lJ-ARWaAr12bKR3yVlDESbv1mElXy5cwShcopOryikIYEKGwUdc239SHV6YAKBRUBezMPn2sb3GV2pOoHszFCAKBZzu1CIxvD7aXpaHQWEaEVxmqrbuH5RUJLVUl4pogByTAXggPsyDc_sTCAB6bbC1TlPP9UGtjHxFKR9SThuoYrLWdWRusfDeCyTzJxkCf7MpkTrdcHcIbex8UubheFFdesYkSHvrJH7pzgpxCLs7AyrxJZzyH-WRoCdRd7mZBWJzfqeFlVNZMRVieIV_ofgAYZV4-k9IB36nBpigGkgVBHZmEZ4N1kQb_YNMRveanV7XcZRBth2njtrdiQQSrfahkYdJp2ASKrK3IBy5cKUGwPsyaqEBIYJ3wfTgLKX8nbNbhxsMJ5lKmr8J9az9EF6oWGEn_d4YYOYXgpWEtHzHiPhep1I2JiU-Ui7QBqoUyHDWeVJgpgc-OzsEktO4EEAjTIbixgNnaGYpHZdfjMenjsTKcK2HMK8eBxSlONLPA1kFGhAJyegrHMhMCk2cQBm1uHMJgeGDsuWjf-dCA52WylcXpcAGt7b9VxuCpk0eQNXx85MA3TtWqtggMTdTiC17lOe5EZBaR2FV8y6DA_iMf2DUSzqUqj4_1eWBe8MNDlgMoVs8Yvzlp6zyq0CRur0Ngoet9LBnHiM8BNVg_qNS3Rt-CObAz4OAatfgNjG0K_0H6tzcuwfS-jVCrcPsUGDkU5eVeZwMCBwPBawKdXCODpM9MZPipArJzzo-vXxAD9Thg6GR3tRfVzOjTBUpmzDEpXa_K810T104mYLvYbv87zz92Wq003WYmpY3iwLuXqoM5rFE0McWnF0QIg=",
  "id": "rs_0cd8c2626f3e00d1016ab4436dfad087d0b68366c728ec2287",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.25,\"right_y\":0.15,\"right_z\":0.22,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The second descent also stalled completely, so this is an IK posture issue rather than contact. I’ll back the right arm inward and upward to a more comfortable pose while keeping it laterally aligned, then re-approach the object.\"}",
  "call_id": "call_hEKV7KT9KfSSKxRvAmI7gALn",
  "id": "fc_0cd8c2626f3e00d1016ab4436f753487d096ac53bf8e5f741b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hEKV7KT9KfSSKxRvAmI7gALn",
  "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, 0.6067, -0.4541, -0.0189, -0.0387, 0.9997, 0.9295, 1.0466, 0.8806, -0.6571, 0.6781, 0.5797, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0744 left_roll=-0.0024 left_gripper=0.9997 right_x=0.2538 right_y=0.1608 right_z=0.2071 right_yaw=0.0657 right_pitch=-0.0244 right_roll=-0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5795, 6.9812, 1.8974, -0.0806, -0.0513, -0.0073, 0.1573, -3.2752, 9.4701, 1.5751, 0.3834, 0.1001, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee68c6c5abae60e18263a9093d5f21bd508d23452499f0cd80af0bc6bc4d1fce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64db76117c7394ca8a6d2f168e09cfcd70ae7159f0baec15fe0e45b89f5b1b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0182921fab9e8840e62bda66867f44746bd8ca1e253735bca3cb171e2fa38e5d",
      "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 20 changed as sent

message 24 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4133, -0.0189, -0.038, 0.9998, 0.6506, 1.3197, 0.7925, -0.3412, 0.5018, 0.3649, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0014 left_z=0.1721 left_yaw=0.0022 left_pitch=-0.0282 left_roll=-0.0028 left_gripper=0.9998 right_x=0.3212 right_y=0.1422 right_z=0.1247 right_yaw=0.0286 right_pitch=-0.1543 right_roll=-0.1151 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.5521, 7.0222, 1.8095, -0.0366, 0.0024, -0.0122, -0.2256, -4.9026, 9.347, 1.7021, 0.2222, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0029 left_pitch=-0.0503 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7705, -0.0464, -0.0757, -0.0073, -0.1573, -5.1761, 8.7863, 1.7705, 0.1929, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4541, -0.0189, -0.0387, 0.9997, 0.9295, 1.0466, 0.8806, -0.6571, 0.6781, 0.5797, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0744 left_roll=-0.0024 left_gripper=0.9997 right_x=0.2538 right_y=0.1608 right_z=0.2071 right_yaw=0.0657 right_pitch=-0.0244 right_roll=-0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5795, 6.9812, 1.8974, -0.0806, -0.0513, -0.0073, 0.1573, -3.2752, 9.4701, 1.5751, 0.3834, 0.1001, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee68c6c5abae60e18263a9093d5f21bd508d23452499f0cd80af0bc6bc4d1fce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64db76117c7394ca8a6d2f168e09cfcd70ae7159f0baec15fe0e45b89f5b1b39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0182921fab9e8840e62bda66867f44746bd8ca1e253735bca3cb171e2fa38e5d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEN0svYBKnlx4Wd2fzQyai2GFsW82VDfIq_JFDr-MGo7R2YXwgm-yTxyjyDyGD0wSurpmzSZONt6PdPZONU_rAOlUXrmfuiowbu01buEHX1qzf5tBWAsDQshASKHV2tOhLzfUWrTJJEvzRsGe0nuQqXx2cd4z-8qXJkiCNDGoCHxp3uu0TTjqGs-zDQZgPBiXTCoVUt76R0eIP93GrIaGQURaCMMIEQN1Jbj4JdaNMWZ-bSWkik57Z1ScQnStfouhHx95YM4kRr4KmxzxB3AJAUnxLPJpjr9or6mvqwMp5Gm244JQeAqkSBDKPikOeiwP8F89uhBx5mQxnaVwmFX-ld0GCPB1lIEVfCOpYxiPtj-NKQDh-MRPsZDK7z036Tru29HAEXcAHg5cVipi5fIwFRhB836hLXlK5JWAnReRzNRYu5LiqOS2FK6gxFvW0-nhXR8l9zP572n0vyHbWOjOo0SRwL8REon7chl6JIPnh5eA2ZnFwTX0RyqZXneGEjHLFnZ9l7nXkc93a9W-SEIlbHckuXcCcPfSG1_8LeMpG-vB-46Blb2-DTLxuFUWum6ymCtJoP3XsQiha88d3C9KY2DRq5rxjwd3V4tkRcT4_Cpu4b5UTAy1HjpZagA8z1duOOWuNCrKd3LBkcZ5y5iUt54ySqALMdjwms07gLDo5Ebyh5ktGNGxe5Bz2yMjyuwF-ZJmE03qghSQaKaZ_hvag87GtSz51UxUqS3NOhUfGWHeIypLw298WTg_vZy3tigtwPoAmbeZMdgvea3TEnbz8aQHVlwoANP0nLQQp4xUJwvREZmWbJ_7HYvMZxca6QXwLS7wOonjJ1OakOKpShHvUN77gqCnw2di1N6uOy_zEJd8T6hbZz-VfurzMftfOJt68-Fme7qQiFodfCbxFj1084q9keWOa-DtZg_JEEmNaYyW96EUGt_dkAFBK-1RQscVIZ2-jINWn6G2Hmw5HRualKX3omVmfmEodcYus8p3s2NA0bHNX0wvYhee9hlicggdXwxq9iRh_tZV9sRmFociEUsruBHcwdGa4oUGzytqns3Tphfr2Ajj156EU3NcZtes5aLN5FSIC_CtMsQ4uC-AEMd6ebI-dB0ylfzXGGakOh0btE27RUopO_nwmwdsSZVm4yDY4URAoayEmgYTjE_xFUqI_g-HcM8hx3WaQLdSOaLR6lPT7zac7s43dnw-6giuU7NlqqNVmkrBS8g7T_in7maXhaUKq_YBkolAO3_SBaZdEgGnFI6LqcHA9uGi9BoebFVCwv8PH0E3EfRwd2DjlfJ69lDC_V3AlohK_Lhoq4nUEbRYBkuJeRJrsbyZ3XF_ilv3xounet0FpLXMgJ0LfcWr8XiN32oio3iaVrCCagtkYXelpYByN3YPCS7Oy-P3_AfZyEeaHS50S1MIMY2UBxuLVkfi01x_BV5zvYLqPJfo1q3o7x8cFD2EwsPXTyR2DJSZoJB4-dg6tw46xtCoqf1X_NXkBZs0zbZbvkAmsuNjCL1ELuuQNOZ1gF3cXjH9awCHAD1XKE_F4u6N3i5PgFNfuXRqbwEgntW8qL42c2dPB1gu1A1elR_OgV9UQJ15yWw8TirNWvGJtv3IPlilo1aO8Pge-FQjK1mOjXe0N6337RYl90a18nr7Lr76Uo4EDeR1-3J7_LNaOq8SEGjE9Cs04JWiOnK8pHOgVtPd599fK4=",
  "id": "rs_0cd8c2626f3e00d1016ab44372505c87d0a420abdfb5fc6175",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.16,\"right_z\":0.1,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The reset succeeded and the yellow object is now centered in the right wrist view from a comfortable posture. I’ll advance only 2–3 cm and descend to 10 cm first, avoiding the singular configuration that stalled the prior approach.\"}",
  "call_id": "call_1fF7EsDgfsoQ95hbweDWjVZB",
  "id": "fc_0cd8c2626f3e00d1016ab443736b7487d0ae907003ce8ccabb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1fF7EsDgfsoQ95hbweDWjVZB",
  "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, 0.8097, 0.6067, -0.4587, -0.0189, -0.0387, 0.9997, 0.8646, 1.2179, 0.5392, -0.2066, 0.6727, 0.5758, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0026 left_pitch=-0.0808 left_roll=-0.0023 left_gripper=0.9997 right_x=0.2686 right_y=0.1508 right_z=0.0916 right_yaw=0.0044 right_pitch=-0.068 right_roll=-0.0608 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 6.9675, 1.6728, -0.0415, -0.0513, -0.0122, -0.2803, -3.9316, 6.8991, 1.5751, 0.3834, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e16fb3fe3c9758d4b0cc3899b415d05c7a8ae9fcc864a0dea28d9c147ced0211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab279670182a25694b72cef135d8a5290fcfdb80430cab379306a4f0158fa93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d15020604e97f3a513cf37b27b57d925dcf98b96c05eca19c31d8f51936ab3",
      "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 16 changed as sent

message 24 changed as sent

message 28 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4278, -0.0189, -0.0383, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.1692 left_yaw=0.0024 left_pitch=-0.0427 left_roll=-0.0028 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0632, 1.8535, -0.0513, -0.0464, -0.0122, -0.0752, -5.2171, 8.841, 1.7998, 0.1978, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4541, -0.0189, -0.0387, 0.9997, 0.9295, 1.0466, 0.8806, -0.6571, 0.6781, 0.5797, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0744 left_roll=-0.0024 left_gripper=0.9997 right_x=0.2538 right_y=0.1608 right_z=0.2071 right_yaw=0.0657 right_pitch=-0.0244 right_roll=-0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5795, 6.9812, 1.8974, -0.0806, -0.0513, -0.0073, 0.1573, -3.2752, 9.4701, 1.5751, 0.3834, 0.1001, -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]: [-0.0189, 0.8097, 0.6067, -0.4587, -0.0189, -0.0387, 0.9997, 0.8646, 1.2179, 0.5392, -0.2066, 0.6727, 0.5758, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0026 left_pitch=-0.0808 left_roll=-0.0023 left_gripper=0.9997 right_x=0.2686 right_y=0.1508 right_z=0.0916 right_yaw=0.0044 right_pitch=-0.068 right_roll=-0.0608 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 6.9675, 1.6728, -0.0415, -0.0513, -0.0122, -0.2803, -3.9316, 6.8991, 1.5751, 0.3834, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e16fb3fe3c9758d4b0cc3899b415d05c7a8ae9fcc864a0dea28d9c147ced0211",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ab279670182a25694b72cef135d8a5290fcfdb80430cab379306a4f0158fa93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87d15020604e97f3a513cf37b27b57d925dcf98b96c05eca19c31d8f51936ab3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEN4m0GqXNT7NyAfRI7MpOFVn02VxFzAqiF9v3f7Qc_j5dG7vpYs7Iwn2zAUbRiGXyQchefzS5pVHjvql5vnUEbQd6WK_T0otGWXkUeik0WvIU83oC7OGUPhUGh7rhkFrp0dnopLXWZueSYnlQg3GThKFEjrXWFrDPYn6pgxuXmPl-4xtoqZOBsVN9XLk3BLMktmdj9OOK9ZDcsJHwphTqfWUC6vzFwQpHsyss8iiScTYKUVui87-J8HRk1IoJVYxwprMAIOS4dw4twjKwwJAXHJ8Yd_Q-fY1b-QoMI2qTLkQpH5dtOAbNWXJrHIS4CHHEhtkghtFzw3pbKcMxxeiZptjMd3IXnORfSpzerdwzrcyD6lcPjKypbA-A7Rwj3fAS_1iZ7h-VxDAekIQ57FVl7a9HonOgNIUOlelvcd3qV-fyJEb0oSMuY7D1ajA09iOBYYP069GKGiDSHVdU7VkclGmVij2bg4mTm7J3F3u86V_kntA24USFSbfvdv0uKYhN6-SGxvSfWegEtici4xzrKodDDYJ4q4iZnbWbqJ_oVouOjc4dy5Z34tnV_momvSCH5SU3XWwXZ5fBO4DcOhFqzz80oMQ1KAKgLCfuajYkqOMI_twsI4WoWfRTUAKY8Aj6Tzp-Ssxb-vC2sS6YN5seRuYTA3OQx5WpxWpGIaeRhmRlOv-8wJElun1_sWx565r3i99CYNPubkcoNyTCu6veFFfWXPoQ4fQqg8boplNBf7TZTtDymek6ZrBh-RnKVNvl3UvC_Ml_E8f-PuvvwPPUu153IuwBgeybaNCHv-crIM2ychy0881skUVoPlgCQPMbUhW7S99rFC6BshC6opd59JZHQ1-_Mjldd7m3rFAnYWo1VCBRHRXj4t1rvTOkxCzOQSd3PWnQsXPI5iCKIgjON9TK1wuc62RxVLNXvRHWm4h8lMA0kV-avAtUXXzrY1rRQcnf8jOskdfTDpTQTNTDqEXrXqIWgI_uGFoqD_svOeUzWAg5SSzq22iTgAfENCS7o2WBFEndOjHZVQLHENcQxJMRISPRluRh9f3k85h-WGcwCHITQPIDnSKzKzBeoYfLhI2-TqaJW-hvatj3zacb4BV9iJXHSqY8twZFcUd1VTqG8npNwq0QhQZa57_ny2kxQ1Mlt8Z1ObfYghNTUGsb-uUnN6eVOSNS90xgkE9h2xfI3HyLW4-rrkAXOASeOJUrh8CqEGRUmuDbdETAEbwhjcL1xrazIifb4xRxCSrQPDEIuBb-ea4HNLUD6EV-660wqcJHGP0CK_cPqoX6z4OcGqfKQeeFr_LAir86PHgvAdYywe_9j1A6DnYDEvH7N7Ur-8igH2FqAtyM5uBm1kpKtkzy7SB3AZyjU-Zkeu09Ji5uTksIS_p7C39tOMZpu98qB9F3lbWylyxsXXihsVNkzCaoZEXeNGNMb6duNxOaaZ17VEUqoUYUNAZrTxyTS8ap9pGhKjeHaiiSPLraOyIRQu4btzZy2MBGJsNbWOVGE9SiDuu-8WEDUs6g69dZhQb6qEaMvx2mMdHmU8mV1DxAImnVXWRWWOYton4bBEP-0Iip1JkZx5nzXgETJDteucXYmbQTtEW2gf46NGKSSS_wJo55wI3EoWM7rrAW2mGVRBUSvbvOsFwyn2N7bg7X-5nwKC1HH0QPes0SQ35q9L57kHhNwjIIttng5iI1zfRGwxwew=",
  "id": "rs_0cd8c2626f3e00d1016ab4437608d487d082e8c6f8fd393387",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.17,\"right_z\":0.09},\"note\":\"The arm descended successfully this time, but the overhead view shows the low gripper still several centimetres baseward and slightly right of the yellow object. I’ll slide it outward and a little left at the same height to get directly over the object.\"}",
  "call_id": "call_VSM8BxhG43BpXRQZyXOwtsgB",
  "id": "fc_0cd8c2626f3e00d1016ab44377367c87d09f8896f8b84ceb19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VSM8BxhG43BpXRQZyXOwtsgB",
  "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, 0.8135, 0.6067, -0.4763, -0.0189, -0.0387, 0.9997, 0.7425, 1.4464, 0.6582, -0.0998, 0.5922, 0.4736, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1567 left_yaw=0.0027 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9997 right_x=0.3142 right_y=0.1594 right_z=0.0746 right_yaw=-0.0065 right_pitch=-0.1191 right_roll=-0.0994 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.9812, 1.8193, -0.022, -0.022, -0.0073, -0.3624, -5.6957, 8.1846, 1.6044, 0.3785, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d7d3d58d98a79fca628b21ec2b0262b92404f4ba7e44c358e080f2d80fbd88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d99d3607fd8a5ccc95a859280b79579bf2021b99f7eec3ce344a6228b7027a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b047769b004f45043f1268e994b6cc528dd2b330b01e4fa6af8280eb7b4239a4",
      "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 20 changed as sent

message 28 changed as sent

message 32 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0193, -0.0387, 0.9997, 0.6384, 1.3312, 0.8051, -0.3004, 0.4767, 0.3397, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0016 left_z=0.1676 left_yaw=0.0029 left_pitch=-0.0503 left_roll=-0.0027 left_gripper=0.9997 right_x=0.3298 right_y=0.1483 right_z=0.1305 right_yaw=0.0527 right_pitch=-0.1319 right_roll=-0.0944 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7705, -0.0464, -0.0757, -0.0073, -0.1573, -5.1761, 8.7863, 1.7705, 0.1929, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4587, -0.0189, -0.0387, 0.9997, 0.8646, 1.2179, 0.5392, -0.2066, 0.6727, 0.5758, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0026 left_pitch=-0.0808 left_roll=-0.0023 left_gripper=0.9997 right_x=0.2686 right_y=0.1508 right_z=0.0916 right_yaw=0.0044 right_pitch=-0.068 right_roll=-0.0608 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 6.9675, 1.6728, -0.0415, -0.0513, -0.0122, -0.2803, -3.9316, 6.8991, 1.5751, 0.3834, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.4763, -0.0189, -0.0387, 0.9997, 0.7425, 1.4464, 0.6582, -0.0998, 0.5922, 0.4736, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1567 left_yaw=0.0027 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9997 right_x=0.3142 right_y=0.1594 right_z=0.0746 right_yaw=-0.0065 right_pitch=-0.1191 right_roll=-0.0994 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.9812, 1.8193, -0.022, -0.022, -0.0073, -0.3624, -5.6957, 8.1846, 1.6044, 0.3785, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4d7d3d58d98a79fca628b21ec2b0262b92404f4ba7e44c358e080f2d80fbd88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d99d3607fd8a5ccc95a859280b79579bf2021b99f7eec3ce344a6228b7027a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b047769b004f45043f1268e994b6cc528dd2b330b01e4fa6af8280eb7b4239a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEN9ORUsqGCTGCzNWw55CdYYPok9d5qrNEy6Ux_lBVBi3M6GzIUldQNeNPjuXgznm3xurniymOHQrVKaRAZ5Fj5d6G6S-tboPQ6QHjq6_z7z8XUGh-3WBB7P8XRu6G4qhifWqSMlZwnUCTyxiYTPUSTpCvhNLGP07LQjOh5pU2tFNCfZlXTmH4bZsm0BdQC6EJXIYxYCTCKDtRHLl30ZPJm0LW1p-bxcNRg1uOtPoE-k2i4mWxsbW2dcOOWvECOKcZt2MIgJa1hUxPULhUMPcpAaHJ3XTYvFC52DanYfeBzRHaQ8_GXTctSxcqrh-4bZnniJSVKISp18Ag2x5JX9pjJ9e8XulBipZGp_EcBuWEn9Axb6FSzZD_rotMJIaNTs3cks27UKZ-NOFEVDtcyanpM8CZ4TF5byiDTuhRYeKbzul5xKhzp6dOmyBkuVbutq20fFKjT9svtmB5446WxhhHBCycozxWeOEKLXlhhUDAYKewhDEm_hUGXXzrxadFZswqb0kBOikpzxhKZuJW8qCeUvGyfqVqzoOZ3fx9pGmb4UDyvexNskQFmA8VpgUrahUWlOH0C8tR1QpJYVuc920a-vORn81WDIZ3LDL50dOis4_EoUL0JlZhu1YSrBEK8CICV_SIm8AqIbFfYr8pvuRYVp7u4XsGS64QPHNp7GQeTQmvd-Y6q6Yi8Z6qo9YVTJNkVJlVZzuDOtdUw6EgmrMpYh4HY6UxOWEz7OxRMBBGlp7SB2DgDuw10mDoJkPji4a3x8ArZJTETLDLeg7MrucnxlKRNWNReDCAw4xOGNcav44Hz-ptRWIq8BHORq2jzX70FV2n6sqJo5e7dbfZstN94tbchFbgqrJvDUOCpLArL8IAZ1AMPo5Xb22UjVUDhtotcEYJr6gU9Qy_PBGL0vg9KaHlvqrARQdQkHJ7VHW_32W2RadL3s8etjSX1mBq0ouX734Y51Ydm5rD_t4QpvF4ds8qJjqJt-FLspCIk6zlAFTULcS3EziQF1eKUMoGBF1J6V-n6JmmF1YFaSfim0vQ6TP_Aq8V3hyKBBSqI4Pm_z4c1bt7cGhBsf-8NYKKRsv00ys4YIgkxOMrSmviTwV6oph1rSq5RYVEJeiC2RlEbXeHKYHgBEIJana3AwufFVRzDJaat9wjjkXlN7HA5TLYsSqvZ7PbKFQZ6a3zRtsOQkqh24om38dtAqymScoSsjfDIRp18TBWzxqCcqQF-3OeWCblEV9c3iRSwwAe6YAu3PTCr79qvVqBgYtLKoaIyPJMDNGLSidKu3Z77fUqrxQrCh-ny1Lo3l1NZ-bJ9eBk75PjSolc-m2pp60wbsuV5M0d6OcBS06yerd_JXGIcYfOdDCrGXo8-WM-gYHPg-CFkl421pE_b9jWFUVGuvRg6XjrDQuY5BztD7nrv6kWTufYFb1CtBMmtjQ3_-EInK9R9_SzZkNzCaA-MwBlrLNjWMqBqOOcvkdFkfZ0lrcypN_dWPgwdSkFDxDky2nBW_fkb1tEPd4ioucBfOaQgYrxuCVO1D",
  "id": "rs_0cd8c2626f3e00d1016ab4437a6bfc87d08679d6090dafc4b4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.345,\"right_y\":0.17,\"right_z\":0.035},\"note\":\"The low gripper is now nearly aligned, with the yellow object centered laterally and just a few centimetres outward in the overhead view. I’ll make the final small outward correction and lower to the object’s midline.\"}",
  "call_id": "call_Z5NsmhsfgPybkxG6wNWzWjvn",
  "id": "fc_0cd8c2626f3e00d1016ab4437b4e1887d08624218a41062622",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z5NsmhsfgPybkxG6wNWzWjvn",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6067, -0.482, -0.0189, -0.0387, 0.9997, 0.7025, 1.6508, 0.675, 0.0399, 0.5629, 0.4408, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.1547 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9997 right_x=0.3321 right_y=0.1623 right_z=0.0293 right_yaw=-0.0126 right_pitch=-0.1725 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4974, 6.9538, 1.7021, -0.0269, -0.0513, -0.0122, -0.3077, -8.4855, 6.0239, 1.6435, 0.4274, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a7092451dee90b30ac6372792a7be587539f4e5b0bd48e60676cf5732984a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92be7cb77a64dad0af5429a2fc0b2df112fa34db8931e17099e1201f6162568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9699636579676a2bffd39ed31e0fb732719307024f5644cdf246494fbaeca1fe",
      "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 24 changed as sent

message 32 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4541, -0.0189, -0.0387, 0.9997, 0.9295, 1.0466, 0.8806, -0.6571, 0.6781, 0.5797, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1625 left_yaw=0.0026 left_pitch=-0.0744 left_roll=-0.0024 left_gripper=0.9997 right_x=0.2538 right_y=0.1608 right_z=0.2071 right_yaw=0.0657 right_pitch=-0.0244 right_roll=-0.0131 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -1.5795, 6.9812, 1.8974, -0.0806, -0.0513, -0.0073, 0.1573, -3.2752, 9.4701, 1.5751, 0.3834, 0.1001, -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]: [-0.0189, 0.8135, 0.6067, -0.4763, -0.0189, -0.0387, 0.9997, 0.7425, 1.4464, 0.6582, -0.0998, 0.5922, 0.4736, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1567 left_yaw=0.0027 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9997 right_x=0.3142 right_y=0.1594 right_z=0.0746 right_yaw=-0.0065 right_pitch=-0.1191 right_roll=-0.0994 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.9812, 1.8193, -0.022, -0.022, -0.0073, -0.3624, -5.6957, 8.1846, 1.6044, 0.3785, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6067, -0.482, -0.0189, -0.0387, 0.9997, 0.7025, 1.6508, 0.675, 0.0399, 0.5629, 0.4408, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.1547 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9997 right_x=0.3321 right_y=0.1623 right_z=0.0293 right_yaw=-0.0126 right_pitch=-0.1725 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4974, 6.9538, 1.7021, -0.0269, -0.0513, -0.0122, -0.3077, -8.4855, 6.0239, 1.6435, 0.4274, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a7092451dee90b30ac6372792a7be587539f4e5b0bd48e60676cf5732984a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b92be7cb77a64dad0af5429a2fc0b2df112fa34db8931e17099e1201f6162568",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9699636579676a2bffd39ed31e0fb732719307024f5644cdf246494fbaeca1fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEODNZapPlmSUDBVC6vBzXlChaLng9ukAbf6hyTHkmo2LRo1PyAoO3FFWEWJ9gHO0ka4CJMJty5i941sfLc5ARttz8uNNbxyQliqinUEUJYTz_d3pkBBbUyDLt9XypvBOzENmgzmMUt-QJ9WuRubQHQVXLNz6HNAM8tHvyHKEASDkZpL6heT_zv5I3tpbRmCacyvJZqGUduoHcBKWSnvHiFDcwrYr7caHTXhhvTxjLCL1_nvwazOc7vOJzMVgLKAc47bHSzd7XRDcjXwxwfebCXAr032DYC10ykwaULbwCeIGusuhJRYt0YYdr-r-kKWspzkmL4k67TaxhTzfUTL4TUNIe0gYdHbHRlmgVvKSfqAFlxvkQbMNxeaPjEQ7r_8ZD72rBLwqhhQUaCoCmGB5p5PTSWpXsBlO8j_5FAnqqpDcg7U68o-LFgh91BXaNj_fXxZBEI0GIRfOm8SMUxMI9n8UiHvOpcLtVbEQA8maPCWHSM1leT2l8Jo_UPTvtNr1nyszhF8HLs65xdyPzqLQgoDi2pks5maxRk1ctfTHrS_WF6WWA10dhsdJxWAJFA-zTzYxJrjREnoM30sr-F8RZXSd-KMPQcywGBU3F64_EjQUBLHSJZ1NB2n0Fx7pckUmcRVVBJmZgtmk-RlTKzXbpEnsluYXCigf4TPG89qGEMgWFJZi7KsYf9lLwaDK96XYjOvhGAjophYA2fVnB0USarvA_gJ0zgbxtqeTFiuZrhiaiyOaL9AzX_sh0URyWR2aOQaxxjhxvmY7AXmnQSreqaqKBjhIy7QHzoJeDmXvNstht4NLhMiD6lU4RbtLZInvADGv_sOsgFqv319EFLpLrbCMG5oObMkoDNPLrpXfHeSsooILEGwfPzvrAY8R2X-v8pTJk7E0gpgC8AZ1L98ZQXFRdNCc9Up4Rbhjp5e2EvkkQ1kdfgOvjD2yEoyFrvvkujsBMy-wJiJUE4ffhXt8Cx9RSjb7D6ivHouYdskT2M58oB_YDezao2d8wTlA62hrU4NJ-OspBm6OA8LOgcFRTmWcFXYSnJcBC_wanCQP9HwS2lNLBz2XhGY0Lbu4msLcuWLA0JE7WJSJ6DHXHtShEPML305V4j0exR7vgwbDjhNWbh0su10Ah113zA2bZkr9AaANg7ES3pAyjOPC1kimpiEaMAvY8PptU_7TlLDamZXgTumzE1LQxGs4uM9clL8tcSfJhpWJwk3WRX_VHxwuMBPzuRtSmDJ3OjELMnnzwnkCobIgXE8n6EHzR-OkrXwz6zxxygqwvVAa9NtFy7btmPmOLpFZDpexVgykTkhWDM5drB5HsYfKC9LfQR5QIdzJxKVETwn8I79WOfA_aD9lvPDJCk0Du4iyL69qjycwhC2DnlubNRBXYXInNWWhDBm2P0ySH5gAWHe7pGwJoITRqF6kJ0SCYgzeIF_dhFs13n69tTmrNhzkFgnQsH9W92ThpcV-dZM5N1cmE-kXTVF1-MH1wpvp-57xel53-OVIq58iqYs0soI1krEN16Ac94G9bO3qHrgWskIu12PFjh1J4kQ8yQEMP6lSgR8CdCNO8aD2F2Ece98X-yUHeSi7PQj4bynUF27iXAvccbzJsgKf-p2QVVZSzrTMdWkXCq2Zjblr6vY5sGWdGpp6tfLrd18dBELHUVR08nJ-c9rIaWSQSnxb8IScB1JmD0pdboP_mXVvTalNH1j78FAFfEsyOaJfTkDwxvN1LVeu37uet3gXfPRFEDduG4B7vQx3R0DjhhwFinHbLNiPkuHYJQ8cLfeQlQCk7TtazKgi5XgHUwV9lw_8qBoItRuMZpWzBvkV1j-K1tefmx41X1bIc4c5kxIV2LVua8HsT-Pmf7LbVIZyPmNF4Speenv0F8CFr54llmImO9uzGLPc0mmDXOqKY5etkSVPkR4CEvdDsYE4cVWZbIYeV_MwhRb1FFpQrXPLEZS6NT6Vnp1DeopwHCs0k_W7gi9NbbkFroQnxbUC5M8_k8YTzOQgFS8GH99iba2CiJAPqEAzebBg9t89qy7umCXpVTr_pEoGv8sGd_1Ws3Mp6fMD_dBS0WcmRNziES-3jx3MmFyZBK6u1JLhiFFg0byUXSG2vd1OKm6Hcx7yu_8RxBNUk5PuoZjzrmTCTq7gk1UKi1NZU5bEBV4qQ3LtNJCUwatI8qszje51cJhUMGBO7Hl08pUbi9wGRspoaPQnLyQRxPyetgOiIlQ-GgsTCSJ2wVjst2x9-cVcR3GH9bqTw1CnvBR9WIrHg_ALoEyed0bHsRgWaEza3UzAmz-MtKwAER_4IgSnSa6q4qpH1VnfNS6mWP92Q1b6AK5_2RttheC8LgEtd0lc9H54zW0BfdkSkWZGJBVnh5yt5418RBFf1ukXS8eGAYk4r2bJWEerdCjaR0GLWdiaDkM70wv4wDNH-ByyS4RSj6s9it98q84jbiRTx2_LNzMJouyLNw9fJmoYnTOC1zGtghSaGvsaW5G45saWwZE302MKjXFZgNrajvVy9nDz9BLp77mVHiaRv5hLJ4GUqChsl1L3_rbOmNsFZvzo2m7-E6zzigEYTPRJ3qeG8galPz0WT9laV9gA3KDYm7MTqV1aRsyTGdlEMy5G1u9KnckdNFChpG-FSci16cbLvq6mExH9HImOdP00TK1uonMFYKzggtNMPGefoQHDqLjRr0zz22NeZ-9Ef3F0bq3qAP6ZztxC3qZeTFRZPZKp0pDwxI8zifY9orLHxyRh4BWy-dV9CDUuf7qwepi3klGQVWdn3SS7UYuV7HZITWQh_R3KYoEvcv_KqmKH7NzZLu-Xijp6-hZGXBqdK6QgMd40xue2kjO-_Q2ycd5iBkjb_mQ_3ec1D3SpvSrswAKWiWN93t5UrnUiEC6R-CVGmTjNN3L-EdKi0K8IgfTYS9UNsphqFSpUdQhtX0ingGVR_DIdjtM4yU9K-RYza-d1N5PYId_x7jDkE2XyqYLwb-XxFRkphazs-0yp9xH1AASatYC7rqWy6inT-i1gOvfPjPd8o0UaAgpbxO4HyOlupZAKoDsvo6hHCAPL8aruSYb3UMe7HwINGJcZUE87zBRMU39Mw==",
  "id": "rs_0cd8c2626f3e00d1016ab4437e537887d087587f71d435b1c1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.17,\"right_z\":0.035},\"note\":\"At table height the yellow object is still fully visible beyond the fingertip area, so the gripper is baseward of it despite the lateral alignment. I’ll slide outward about 7 cm at the same low height to bring the open jaws around it.\"}",
  "call_id": "call_KWD7CUeONnHY3DboNPMfZZjw",
  "id": "fc_0cd8c2626f3e00d1016ab44382471487d08115ffabc9e7eca9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_KWD7CUeONnHY3DboNPMfZZjw",
  "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, 0.8188, 0.6067, -0.4965, -0.0189, -0.0383, 0.9997, 0.5961, 1.8133, 0.8749, 0.012, 0.4946, 0.3462, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1515 left_yaw=0.0025 left_pitch=-0.1278 left_roll=-0.001 left_gripper=0.9997 right_x=0.3861 right_y=0.1649 right_z=0.0259 right_yaw=-0.0163 right_pitch=-0.2062 right_roll=-0.1583 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4427, 7.3231, 1.7265, -0.0806, -0.0122, -0.0122, -0.4308, -7.8838, 7.5009, 1.5067, 0.1587, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5498f1046f66ee05595ca814ff118157bf0dcc8855c7c9ad433aebac956d6691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c84f8fa959dbb69bbfa639ac43907164ffdb0babfa7559af9b8d7fbeb6757cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cf562979e5cabbbc9058ac4fc03d7f436360410cd8c59640a8556ecd1d3a84",
      "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 28 changed as sent

message 36 changed as sent

message 40 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, 0.6067, -0.4587, -0.0189, -0.0387, 0.9997, 0.8646, 1.2179, 0.5392, -0.2066, 0.6727, 0.5758, 0.9996]\nstate[eef_state]: left_x=0.2848 left_y=0.0015 left_z=0.1611 left_yaw=0.0026 left_pitch=-0.0808 left_roll=-0.0023 left_gripper=0.9997 right_x=0.2686 right_y=0.1508 right_z=0.0916 right_yaw=0.0044 right_pitch=-0.068 right_roll=-0.0608 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.4291, 6.9675, 1.6728, -0.0415, -0.0513, -0.0122, -0.2803, -3.9316, 6.8991, 1.5751, 0.3834, -0.1148, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6067, -0.482, -0.0189, -0.0387, 0.9997, 0.7025, 1.6508, 0.675, 0.0399, 0.5629, 0.4408, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.1547 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9997 right_x=0.3321 right_y=0.1623 right_z=0.0293 right_yaw=-0.0126 right_pitch=-0.1725 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4974, 6.9538, 1.7021, -0.0269, -0.0513, -0.0122, -0.3077, -8.4855, 6.0239, 1.6435, 0.4274, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.4965, -0.0189, -0.0383, 0.9997, 0.5961, 1.8133, 0.8749, 0.012, 0.4946, 0.3462, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1515 left_yaw=0.0025 left_pitch=-0.1278 left_roll=-0.001 left_gripper=0.9997 right_x=0.3861 right_y=0.1649 right_z=0.0259 right_yaw=-0.0163 right_pitch=-0.2062 right_roll=-0.1583 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4427, 7.3231, 1.7265, -0.0806, -0.0122, -0.0122, -0.4308, -7.8838, 7.5009, 1.5067, 0.1587, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5498f1046f66ee05595ca814ff118157bf0dcc8855c7c9ad433aebac956d6691",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c84f8fa959dbb69bbfa639ac43907164ffdb0babfa7559af9b8d7fbeb6757cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99cf562979e5cabbbc9058ac4fc03d7f436360410cd8c59640a8556ecd1d3a84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOGPFI8qtCUF9jtMcFmjjD_JKSNtOXXGBAPvxlrAipj0sOyjlLpm_gksMIQOrfBvhnnAqOYn_jlQtdSJTgkJkhWfJOtehYfwZF-DUnyhivxTFJtFdBsctzirNi1LI7zkqYnSE29zfDJgNKFuZTcXLFzm_Ozk-ug4HUhadARV9O__IwUoHF_KxzBSfc_EWJdo2FeYgTProHlqdMX5zGqrmcASKEBkpRdxW6TnFkHQmh9oJ-WRRnVIfzt8i4_mobgLcSaZzdTN7KC9yqO00kMumGpGCZsorOGe-CtDP8FkLx1yijFsLjqqwJW5mEGSLqa2Ygb3LY7kVhJBH46wxCqx4vO2Vc9gGpOx-Qs98r8H3BgNSWzdYK65M__GZ7yOFztqXe8blQtHA4vfeb-e3f0hJ8MOcUtlT6ZpBv68-doSX3X6L4nzmvGuTrn83lbaCf1_lQoBIbV9mFwInHeNKBbj13HAnBY0qj1CdDpO_w8sYGyesQWAXzP_VJ3oF17i_SbgbuHjWTg8HuFd6zbujqpw1jrDN3fQ9sNF_Ya0kkh_6I9Tf36GSLPutgOAR8OcfkmxlE2qecz0aeUr3oEV5bEEt5bqfwAmptWfnfCbxj-xB1htvGGUdL3dmMrZAunBQmz-vDtUmbpGOtccAUq8OC8mA3tuRyTOZFRhGhTiEg7vpMg6IAdM9YmlkNn1-G2AeBoEBcRaQj0_xohAq9T68hTvBP1buFKimykK5CqZbR5kFu--8eXOiNCNHPB1jyTNIzUyBR2K_OQEsalg_HF4kguY2U7UtGT1qXdy9IF18nXiHsSGpyWjxR8y4GQuWxB8Cuyaeil-vAreKZfAj9KuJFDvuSaZmWrepqi26IVYExFlZ8Ju6lytUllWYI-P7b4VZjEybP-AqRlwswb9W-LxF4Kx0bY1A8P9lnA8M2JLyA0XiTcsPAI22kFarRICtUwUbURwnjm3HCfRf43j4srzyUtV7l0gc_ie-TQ0uIgUnSPrcH5toQ6dOn_IPJf5VZ-nibxjvAZ55XD_yzGGPAA4Zo8Q7WZok2jSZCgGZmAanOFx4MmNe2drhnpsieULMffMCgxhOmS-ZzkbDV6D_1U7AhiZgFzgMviOCnFMOj6I_PO7vqzMEszzlb85q5DRWs26w_6sTP9xJ5ZAA8VetitbwvQJEIpy-fss27ttXSfj4xIo5qv1h3WoXOHYFZC8lhAjNk0KtZYH6ZBo-_qOeQvyA0-2hD0Ax0-jDGE6uCUWWlDKr-Ehq8CsKe-fiQoTBShLNTlpRhnCllOyiKTN7tzxUNNJzxUujO2vk2vXfCSCgylIbrNSBo-V1j-lfxatqUzSsf-iB_nZ5iGHTgaMjNb7hYI2s-ibUdaD8MYrQmyK_mK7u2H4hk6lFEixZrHfegeCkuk4Q5bvSh3dMGlHICKTXFKiRrgtI5XMGPXDkhJnls21EQs4qOEDh0sjXJ5KopyIrpqIy16faKVviBx9ztuNTy_vSW4OE2s9YfZo3N69mjakoutOfo=",
  "id": "rs_0cd8c2626f3e00d1016ab4438555f887d0a4284391802bf1a3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.4},\"note\":\"The low outward slide placed the yellow object directly on the jaw column, and the overhead view now shows the gripper overlapping it. I’ll close only to about 4 cm jaw spacing to secure the rounded object without squeezing it out sideways.\"}",
  "call_id": "call_QVLsJjVJXHnrRgoNMMW8I8Vf",
  "id": "fc_0cd8c2626f3e00d1016ab44385ea1087d08dd47fd4d0d450e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QVLsJjVJXHnrRgoNMMW8I8Vf",
  "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, 0.8188, 0.6067, -0.5106, -0.0189, -0.0387, 0.9997, 0.5907, 1.8225, 0.8768, -0.0059, 0.4812, 0.3405, 0.4052]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.1489 left_yaw=0.0028 left_pitch=-0.1419 left_roll=-0.001 left_gripper=0.9997 right_x=0.3835 right_y=0.1631 right_z=0.0197 right_yaw=-0.0118 right_pitch=-0.2335 right_roll=-0.168 right_gripper=0.4052\nstate[joint_eff]: [-0.0752, -1.306, 7.0359, 1.7753, -0.0513, -0.0513, -0.0122, 0.3214, -9.1966, 5.2991, 1.4969, 0.359, 0.0171, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f04ff02388afac424561c568be201a2e19100758ed782db4be5194660243f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd6c43f5260c486021f48629a03f4e601aafb7bc73b51818ce1ab5c8c61774d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd811d67086efb6cbe4c248976f64b5d81746aefb1197e6a0b8e26ab02aa8fe",
      "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 32 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6067, -0.4763, -0.0189, -0.0387, 0.9997, 0.7425, 1.4464, 0.6582, -0.0998, 0.5922, 0.4736, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1567 left_yaw=0.0027 left_pitch=-0.1022 left_roll=-0.0018 left_gripper=0.9997 right_x=0.3142 right_y=0.1594 right_z=0.0746 right_yaw=-0.0065 right_pitch=-0.1191 right_roll=-0.0994 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.6068, 6.9812, 1.8193, -0.022, -0.022, -0.0073, -0.3624, -5.6957, 8.1846, 1.6044, 0.3785, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.4965, -0.0189, -0.0383, 0.9997, 0.5961, 1.8133, 0.8749, 0.012, 0.4946, 0.3462, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1515 left_yaw=0.0025 left_pitch=-0.1278 left_roll=-0.001 left_gripper=0.9997 right_x=0.3861 right_y=0.1649 right_z=0.0259 right_yaw=-0.0163 right_pitch=-0.2062 right_roll=-0.1583 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4427, 7.3231, 1.7265, -0.0806, -0.0122, -0.0122, -0.4308, -7.8838, 7.5009, 1.5067, 0.1587, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5106, -0.0189, -0.0387, 0.9997, 0.5907, 1.8225, 0.8768, -0.0059, 0.4812, 0.3405, 0.4052]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.1489 left_yaw=0.0028 left_pitch=-0.1419 left_roll=-0.001 left_gripper=0.9997 right_x=0.3835 right_y=0.1631 right_z=0.0197 right_yaw=-0.0118 right_pitch=-0.2335 right_roll=-0.168 right_gripper=0.4052\nstate[joint_eff]: [-0.0752, -1.306, 7.0359, 1.7753, -0.0513, -0.0513, -0.0122, 0.3214, -9.1966, 5.2991, 1.4969, 0.359, 0.0171, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f04ff02388afac424561c568be201a2e19100758ed782db4be5194660243f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bd6c43f5260c486021f48629a03f4e601aafb7bc73b51818ce1ab5c8c61774d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fd811d67086efb6cbe4c248976f64b5d81746aefb1197e6a0b8e26ab02aa8fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOKIthfwiBF1FJzm8wgMmXnvOOHK-Hjy6DAeW185ZPpRYdiLG3VVlh3dnrwsNKAN9fepjal7TwyfhvpZsYdbfKPbIJAu1Oq3m6n35E3oiAhhvStGfvfHcohvnTiM4D_Vd85nUAtSW1HYKhPbgDKhMRbS2LRyRK5C-mVrEzcnMruDJNMqQriLjGDmjr8tV6bH3Oc5SQeHIQc6CxmNu40S3fH6oUub1tzS-qjUD51TiEihzTqDNSMWmHyF5EjG7WVx4cVEJxHgRgZqxGPTzz_5Rmy7EBuxfhuoyx7MJCCQl_uD1N71ElblOrLkN2DRwPGsENjCtCk0dnl7MaM0mxCbhhQ5hkd3KqZCYt83Wi_Bi1fzXozs4fDanwxTlf4SMf9RHuowvKxBrh8OF2SBW8Mf7vZhX-R9IfPWE9KNsXC8dl_hnjhHlm5DM4e4LjmhwKeKJMn880tEUIwBXoXDzCNSnn9gKKtzEyefrM7Ty1kxoRnjvdmvJsaj07bbDQnP4VD2RGQFWxEkVJwzJ1PPyEL2e82wn0jpwc3oU1nD5nMNhXtyFHCm5c4GBOX_aSQS-0OgJOw7aLDYCqMmty-Ytt-dKZ1psnCOdIon3LR6S2ZBh3Ng50leYU_qDF5XTbL6OXeg6xWi6yfrQ1jfIDrpqmVE_LOmnfICvI5atnwT2z-4vSWGX4JRafzL9iRLAVeHL7oWfWYVcrWXFkYN5lLjEQ3RsTDmGETrV7JSaUYLmE4TIL8Mw2KOGmEL56Q7srZHzl10rJg8sXof8dhzQT1zHVDrYiE60EF96W2s0M74pm9QkKI8f3chsUw_8Gk22HpAXDS5VMGnoFYT6SFeqcPDEztaSM8U4dI3i6c72SezZPVIIICHE3kHPJzoVUzOOiikfyl_6N7Ph_qa212IvFPAhZoh84LZpliumVippnIghsVe4PVHdtfbzwZi6hlGw9HWfrZgImVeoVUZQl_ZFuazt8NmrkNDzvmB49kA4yaGblBagD0HD2hTxDmG2r3ggrSLO7gGYk6EB1tWEBN4bAyW_D1podBkaulgX--fl_o0IFqqTg6N3KW7eHp5W7Cp11G1yXr-Xkk6QQTYpiiJw_TCA3AcVmxyH-vjlJaRXSvt1j69GzqNdbOWvZ8VBWSZ6KrnrWLxJk_RQ4JOvnBRbrPBQKXeYHLsw1grgunIaU4BDfX0lxw7y1gQ0T97sIPrniHBqYAjeFNnq92NuWAXnDIL4YEAUTZEcUVtlSfobc43YQ89EB8I6-Y0UxqDa_KEVlpCX0J7TW9Bg5SjKBUQT5PmgthD___zC6kLSfsHw_wil-TDoVtYXXoAxt9W8rnnrF8dGNWrI3XcUsorpK7dHf6OwxG56csT-mOFX4ZxksuJvVj0PJvybx4O5esW8ivUtNrQxf1h3lfkFen2F8JM7jsCh_7p_RTPbbhMjEJl_bMFlJkTT6-mz5Y1T5xiSi-MqI83Y3xPM_7YxwOgZuTLS6zRHJ7mQ1WfRiAOZpdGQOxlJeYLIOINjch0LB8OBfI--HnhzC9JsfNC1n0hc69X-UfzulPx9LygXlTyhBTC3RQaJOQ1WkyR6tEjh8oOJxpZXoYI-jiIj9YSb-ux53V-L1HUhfMf1eU7hhYM6jgKkiiZ_n_kuroH6ZYeGdSXTek4liBZ-GFAr0fXPyUq5kzGZqLpRuGRivuhWQryB8E1asBbGXJ1mRYZOk=",
  "id": "rs_0cd8c2626f3e00d1016ab44388683c87d0a62ffd8980e6b20c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43},\"note\":\"The gripper reached the commanded width without obstruction, and the yellow object remains visible in its own wrist camera, so it is still just beyond the fingertips rather than grasped. I’ll reopen and advance another 4–5 cm while maintaining the low alignment.\"}",
  "call_id": "call_hJWmwoaKBMofDQxe7RWj3m3o",
  "id": "fc_0cd8c2626f3e00d1016ab4438948c487d0a4f181110f3523c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hJWmwoaKBMofDQxe7RWj3m3o",
  "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, 0.8207, 0.6067, -0.5205, -0.0189, -0.0383, 0.9997, 0.527, 1.927, 1.0084, -0.0505, 0.4393, 0.2771, 0.9944]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1466 left_yaw=0.0026 left_pitch=-0.1537 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4151 right_y=0.1588 right_z=0.0117 right_yaw=-0.011 right_pitch=-0.273 right_roll=-0.1919 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.6825, -0.0855, -0.0317, -0.0122, -0.7179, -8.4444, 7.6239, 1.4969, 0.2955, 0.0513, 0.0757]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d76662b6e2c63b5462d5fbc1a4981602447d598b08944d2116763112e3bcc0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f94fa3b7745fd91d686464d3743747b06a1d846e1262dc263535933f377f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6219d5c8f2721f66fa325a394b827f7937fa639f762db57e3fa1547c58a2a74b",
      "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 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6067, -0.482, -0.0189, -0.0387, 0.9997, 0.7025, 1.6508, 0.675, 0.0399, 0.5629, 0.4408, 0.9996]\nstate[eef_state]: left_x=0.2815 left_y=0.0016 left_z=0.1547 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9997 right_x=0.3321 right_y=0.1623 right_z=0.0293 right_yaw=-0.0126 right_pitch=-0.1725 right_roll=-0.1391 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -1.4974, 6.9538, 1.7021, -0.0269, -0.0513, -0.0122, -0.3077, -8.4855, 6.0239, 1.6435, 0.4274, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5106, -0.0189, -0.0387, 0.9997, 0.5907, 1.8225, 0.8768, -0.0059, 0.4812, 0.3405, 0.4052]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.1489 left_yaw=0.0028 left_pitch=-0.1419 left_roll=-0.001 left_gripper=0.9997 right_x=0.3835 right_y=0.1631 right_z=0.0197 right_yaw=-0.0118 right_pitch=-0.2335 right_roll=-0.168 right_gripper=0.4052\nstate[joint_eff]: [-0.0752, -1.306, 7.0359, 1.7753, -0.0513, -0.0513, -0.0122, 0.3214, -9.1966, 5.2991, 1.4969, 0.359, 0.0171, 0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5205, -0.0189, -0.0383, 0.9997, 0.527, 1.927, 1.0084, -0.0505, 0.4393, 0.2771, 0.9944]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1466 left_yaw=0.0026 left_pitch=-0.1537 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4151 right_y=0.1588 right_z=0.0117 right_yaw=-0.011 right_pitch=-0.273 right_roll=-0.1919 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.6825, -0.0855, -0.0317, -0.0122, -0.7179, -8.4444, 7.6239, 1.4969, 0.2955, 0.0513, 0.0757]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d76662b6e2c63b5462d5fbc1a4981602447d598b08944d2116763112e3bcc0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56f94fa3b7745fd91d686464d3743747b06a1d846e1262dc263535933f377f7e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6219d5c8f2721f66fa325a394b827f7937fa639f762db57e3fa1547c58a2a74b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEONc3RXqj9Lypnci5Et3i0MEY7LfBuEu5dzGGgOGQet79mAG4oZiYAMF7QJPvesMP84igpgcABVe54F769NLFPxKbYzsa4iwqbR3YNGB90ayIa-0Ni1umTacE3dFsnrILAnZQiRcwNPcLJnvZ9G9j-23pk9coMIYE8bgXDnQRTKTUtf7mMu989mfQTae9ejeMBdAYcLt3jqQjmh2j_Wos4peFSxiHcj5p46idgpsHaO-fJKbhLeecTo62eMXiBt8wQTgURudnD0trCLYOJ1vwytywbtvBcanQ2S_PxmZWtAVROR-lboeSJ8fV2o1H5du0zHhpi4-YKkKnOi39hXYZBEZuFfYw2QHbM1E_DKvqVoQrpDa3V_XG3-w0yCOLfgOHQ_Qnc1yCNOsBWN__H8sqqR9PNelS17OYKZsbenvsVSE9cCCKvEFB4X0oP_VmkjWTTvN5iB2sRWrIKQiAqJ1Wuy7KU2-w5AwL0htAMMOFB1Js31udM0mJjTLlB42tHEKeOGMj7K4W2kDkwSjZp8bA38XM8TwGG53zhLslDQuXb3o1oCps0leSqX_GJipbgXslL-cAUNoV0x2X8vBE5Mgc_i_lWiV_IupiSX_jgjegfbiWG3u3qJcBQwyg89wPZz5QBTyl_lw2642LIXHdgsEVtjEPVp79SXrcU3X4dLAXM9mxPYWclx-STIZyUynjJXWexuYcUF8WTCVJy4hszVyGCrSD0N2Ioqb1ZgXnv4U43X-CStETf1DVL_sFK2Q5frWnnWDYMBaMH_AMmN8wHC1xEV-XKIOQSWIgOhPIdea12id02-8-EYEyv22LBqe0aLef1tU6C7WxRmhfLaTVUcKoFVctmTCdkcPr-IsAeC6dbOO0wUMn90nnVqIGEanAqZxWgzTAZOQC4MWGwBoLL1nAZDWsxNMPjQzfp0MLTl__h83BtQNfo4fNMe2kzgQN4-XCQnEtfELcsKQi2zRpDsZROsUG1s3uLeSnsfuWeBzjeIC-n12UMo7sMYdhC1bFlXgCDsfCIGrq38OLEr3gpceujUpBeRk4zkFncFosx9r5fr9lwj7ZxgQkUenUZ9GFuIkpliX80wosdWACrrW_zNPlRp7_sdesI8AipE_MFZnPmgPOPwZc7b5plJj_oh53M7HBNSbg8A7g4Stqvj3291KfDlm7SDgMaFWrzTiGL5CuJ_mIMu-MYcHFsLVBEYNKgjh-C2L_vn9QFnSgLvjaOaM2dgVoQejy7vJD-QKlTnbx8nTmS7Z8B0QAJCP--Hky5wME3AxWkXz_3JHLbTbQ19kKWzGLdXlbEE-w_aMM32wuJiS-sHvVFTtPlaau-RTBlBOOIyl5698CWr-zU7zbdkFP-NFB7tEqcFFNhzwh62PsjEIHRZtsrOd97TYobXq6y1Na_BXG1bFD6DnBbD3j9R45Q3b88hGbHFnyGlLyXJpk0X4J1SCMaAPpQnyOSZ-gCduXZrYqB4XdOpivRvId9j7ZWt-Mma2z6Pyc9C7wgnq4AuViIqj6LROef8kVamGQzCpPrBdf6_c77Txx_jjwmhcOqjttWJmK8JREEvJ9nCeKAQ5kSl7NaxJYV3JKZJktCPI8eNkOZ9gF4THR34_yZEYckAdx2XqPXa0BHaYagTRD2A0qRX51aDqRrPa4uipsZEZ_5G",
  "id": "rs_0cd8c2626f3e00d1016ab4438bd8b887d0a611198e96abf0b1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_z\":0.01},\"note\":\"After advancing, the yellow object is much larger and centered between the open jaw rails, with its near edge close to the bottom of the wrist image. I’ll advance the final 3 cm at table level so the fingertip grasp point reaches its center.\"}",
  "call_id": "call_vLVn2gqnOHpsctJoZoXDJKxz",
  "id": "fc_0cd8c2626f3e00d1016ab4438cfa8c87d0ae76e3bfb89be229",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_vLVn2gqnOHpsctJoZoXDJKxz",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.5289, -0.0189, -0.0387, 0.9997, 0.4999, 1.9808, 1.0927, -0.0761, 0.4202, 0.2493, 0.9953]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9997 right_x=0.435 right_y=0.1596 right_z=0.0119 right_yaw=-0.007 right_pitch=-0.2794 right_roll=-0.1941 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1043, 1.6923, -0.0562, -0.0562, -0.0073, -0.6769, -8.1436, 7.0359, 1.2821, 0.0952, 0.022, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c9daaa57bda89d27e07b2b13247e76d4988ea97e7e03d7acaab435b53707e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69217695152094152cd3cc5966aa1699cdc41aad648bd9bab0420ed48511854a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956bcf12853f466637d723d8308aa94230873482c5a9131974a99720a07e5c0e",
      "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 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.4965, -0.0189, -0.0383, 0.9997, 0.5961, 1.8133, 0.8749, 0.012, 0.4946, 0.3462, 0.9996]\nstate[eef_state]: left_x=0.2793 left_y=0.0016 left_z=0.1515 left_yaw=0.0025 left_pitch=-0.1278 left_roll=-0.001 left_gripper=0.9997 right_x=0.3861 right_y=0.1649 right_z=0.0259 right_yaw=-0.0163 right_pitch=-0.2062 right_roll=-0.1583 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.4427, 7.3231, 1.7265, -0.0806, -0.0122, -0.0122, -0.4308, -7.8838, 7.5009, 1.5067, 0.1587, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5205, -0.0189, -0.0383, 0.9997, 0.527, 1.927, 1.0084, -0.0505, 0.4393, 0.2771, 0.9944]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1466 left_yaw=0.0026 left_pitch=-0.1537 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4151 right_y=0.1588 right_z=0.0117 right_yaw=-0.011 right_pitch=-0.273 right_roll=-0.1919 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.6825, -0.0855, -0.0317, -0.0122, -0.7179, -8.4444, 7.6239, 1.4969, 0.2955, 0.0513, 0.0757]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.823, 0.6067, -0.5289, -0.0189, -0.0387, 0.9997, 0.4999, 1.9808, 1.0927, -0.0761, 0.4202, 0.2493, 0.9953]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9997 right_x=0.435 right_y=0.1596 right_z=0.0119 right_yaw=-0.007 right_pitch=-0.2794 right_roll=-0.1941 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1043, 1.6923, -0.0562, -0.0562, -0.0073, -0.6769, -8.1436, 7.0359, 1.2821, 0.0952, 0.022, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c9daaa57bda89d27e07b2b13247e76d4988ea97e7e03d7acaab435b53707e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69217695152094152cd3cc5966aa1699cdc41aad648bd9bab0420ed48511854a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956bcf12853f466637d723d8308aa94230873482c5a9131974a99720a07e5c0e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOQhrC903jp1vgTwgAdz7_-qc-JBQ71pgltH3gM8m-eXDJM1jyUH7ZJ32AryDdcl4c1VaDSzg6CrUBuqQoQbhcMvDibVxHWyI5hJ3kSxB7SNwBDIc8bAzhjA6kIt45O4yV8jtPzjMtN54Xr-hHPjD9Gy5NVm2vC8LnHyjH0EATBJ_-byqp0LsYBitZjwAYqUl-ryWMjaUsJOp6Uopln-_zOtkCb3j04nYYyZlVYpAziBKu74NX1Upk_8wd_8PuOsAFLiXxqpYodyv1-E5LoIs9m-C202T7SVfh0YgqE1dd6jFr1SjcVt7-MPlfjjpIJ9qRPfuIJEx0P2LwQfxPvydtFQMqMJXK-JdkfT9C3Kwzjsm_XEFpbHrD256M6dSFDfx6xsmWeo3-h8qZKGNzZUgjJSzZzBtHAduvGBh_8NukPhVaDGtPQIK3C-QFHQpoUWe7gcw2xIiEwF4byP-a0MsmSma0eesn7FnhWLusJ4p9G40AxfOM49iINs-6BXJIxrepgKFPR2yVah9YFXMpar3auiCcOADCMcrFX3aSfFBv8FrSgEfbuMj2CP0YrBgGkCA5VaGn_I7o4plRclrnXZxqR9I24OBBHK9R9n9PaH9J_rmFes3w4jf3peBDd9IXolRMzSfNQrUR8BsC9jeTUGLpc4KJ7AgPHI9r7JmqSOTLKGEYgAxS4q-2rZQZ6xtotvKnK6ABJYm-W4tUlt3VavRAKVojxAWl3Eg-Mi9wUxr1VZv_7IZ3GT1RrUDMBK0OQlPZqpel21GSKqmCYKtKaFuGeqT4cCRV0A3Z0nGEmO5OYMnplVt7Jw_0fdFjxpImMXLarK12hIY0vEwTX1NMWgzu79mdUnDNFcI-Bmf7ofReft5M5QWlSH2-P5TO-yzMfnyuRZ_pjcc74LaCHFI9zXMdbT3kEvC2tK4t12EczjiD0FHDk-7ynYprYZ_aeeKlq13evdPW_4y8bZcA9-wDjcPAh0oHaKjp9PpJE5A2faQaKhnmdAec0xFOf3steJdvTL-WLwpeNUn2_zqwvBZkHObfkEPNflZBZM3LHlJjmpnCdPUbcnkTOwSbv0b0Gk4uC1vFynBWTth4XLL6zsaocjKQT669bQnojPx60Znv8PiUAW--qbcD0Rw3DNGjM9nOX8iW0sqW2aGwrbEtL_Zai4eB5iXx01VG6wafxyaFZmEqTHTAvgcph6GWJB5JsM3GwuYDVukS1482KLvYLVrbxZ3nMARLjDdLb7gV3JAXFiw9t9JDu7muHz5TD-0XPFl_vfjqSZP9h8u7zwrXIOI9cxDXNHc8gCTVmwz07Of3NNlLE2U2Ijn0t1QU_LbkJJv7PuklD5pS8bkHWyzBwbsaRWzVN2w==",
  "id": "rs_0cd8c2626f3e00d1016ab4438f9d6c87d091bc301306b16d03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.1},\"note\":\"The yellow object’s near edge now reaches the bottom of the wrist view between the fingertip rails, indicating the grasp point is centered on it. I’ll close firmly around it and check the settled jaw spacing.\"}",
  "call_id": "call_EUGbzdqrIWMDVCxu8BXYrMIq",
  "id": "fc_0cd8c2626f3e00d1016ab4438ffa0087d097d33bdc78330ac4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EUGbzdqrIWMDVCxu8BXYrMIq",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.54, -0.0189, -0.0387, 0.9997, 0.498, 1.9934, 1.0973, -0.0925, 0.4099, 0.2428, 0.1051]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.142 left_yaw=0.0029 left_pitch=-0.1773 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4323 right_y=0.159 right_z=0.0052 right_yaw=-0.0008 right_pitch=-0.3056 right_roll=-0.203 right_gripper=0.1051\nstate[joint_eff]: [-0.0752, -1.0188, 6.8991, 1.6777, -0.0855, -0.0659, -0.0122, 0.0205, -11.1111, 5.2034, 1.409, 0.3248, 0.0464, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae45ad5f9f2ad6ecc3bb90d6660472f17d95b3e0bacc0cb80294e4c42f51b0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259b29b1d8cd2fa79e7f98a12ac2dc7c27c082e574cdc3d322a841ed5b9737e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a1c832d8987b1cd891275ed95fdf39791f46d07ee2af13e8de1959845d190b",
      "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 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5106, -0.0189, -0.0387, 0.9997, 0.5907, 1.8225, 0.8768, -0.0059, 0.4812, 0.3405, 0.4052]\nstate[eef_state]: left_x=0.277 left_y=0.0017 left_z=0.1489 left_yaw=0.0028 left_pitch=-0.1419 left_roll=-0.001 left_gripper=0.9997 right_x=0.3835 right_y=0.1631 right_z=0.0197 right_yaw=-0.0118 right_pitch=-0.2335 right_roll=-0.168 right_gripper=0.4052\nstate[joint_eff]: [-0.0752, -1.306, 7.0359, 1.7753, -0.0513, -0.0513, -0.0122, 0.3214, -9.1966, 5.2991, 1.4969, 0.359, 0.0171, 0.0464]",
      "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, 0.823, 0.6067, -0.5289, -0.0189, -0.0387, 0.9997, 0.4999, 1.9808, 1.0927, -0.0761, 0.4202, 0.2493, 0.9953]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9997 right_x=0.435 right_y=0.1596 right_z=0.0119 right_yaw=-0.007 right_pitch=-0.2794 right_roll=-0.1941 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1043, 1.6923, -0.0562, -0.0562, -0.0073, -0.6769, -8.1436, 7.0359, 1.2821, 0.0952, 0.022, 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, 0.8249, 0.6067, -0.54, -0.0189, -0.0387, 0.9997, 0.498, 1.9934, 1.0973, -0.0925, 0.4099, 0.2428, 0.1051]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.142 left_yaw=0.0029 left_pitch=-0.1773 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4323 right_y=0.159 right_z=0.0052 right_yaw=-0.0008 right_pitch=-0.3056 right_roll=-0.203 right_gripper=0.1051\nstate[joint_eff]: [-0.0752, -1.0188, 6.8991, 1.6777, -0.0855, -0.0659, -0.0122, 0.0205, -11.1111, 5.2034, 1.409, 0.3248, 0.0464, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae45ad5f9f2ad6ecc3bb90d6660472f17d95b3e0bacc0cb80294e4c42f51b0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259b29b1d8cd2fa79e7f98a12ac2dc7c27c082e574cdc3d322a841ed5b9737e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a1c832d8987b1cd891275ed95fdf39791f46d07ee2af13e8de1959845d190b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOUtm3OKq0kZ6gqCGdSCxNEfU4l5SXz8DJUWM3rnxCQk8Rm6-7oUS5OW4OoAS0TKQT-CHEEQ_yTkbGasaXym_UdIya6t7q7mc4JmMgcY7pEJvwSAjf96saKAaTdboWAUxsWX9yK6TWpfQnF_rS5iElYoDkcJEqHxYEVwsG8REFUWzgXjcvYrPz9O_ojYnRcq0GyJRSo6TzJCg-RSaa7STMbU_uVlT4P59QBrqA80U1oQnDfvqRFizTnWptPlQsBbdE774zHzJaUWIXwrjUbTy0FUtk6RMuYuykepicq7OYihpnW54fvO2_5oUqakp8oxJc_rQ8TVetE0zzSS3ZbYSj049SWWOeC-9JqbdiDZKVJYArotqkfPskWAVRg5T4Q0BTUdMzKyzPYI18yW3xDQlplvOtYuHRvgMz8zLOFG0zLLf5hHOZVGaSmgKlZmf5Fc8sxyXzfzh8SQbvHbl6CkthyAFk_GDGVc9jZztIcdYRmv7W9TyKyDgktfI-_tYtupaIqHCfUfhUc_TDZzjI-lnvyOosgWmRaJdsqZ1lL9-gAMIDZGGMzSDDDxwOYE-uftM_BZPOKgpheK-9jq3YCx8PkTbZyBKjINQpsZYwlkk_GpoAvqhESdil5o36YWdadrFIyA43DurVz7XJo5zr-erMsdTj2B-f_OpDcPhQH-ls7ApPb5ku7hS9z1L7VTW1g24OIiAWukW7G5upZn9dxTfvIIiIdN4lz3iuczXlyge-B2BrA3nNtgXWh92CCPNkhRG7LEXZ7q6w3-0gaqb_kvZulmef2Izj35_mkohiG4X1mb8wew1izgqodTOgjM4edzrkVfAGT7cxgypY9I5F1jTFQmYgQN640-BfN8Yo2TEEqpBDdP9wxbzvQSgSVB4THcWxIhFbz-EpyTuCf-xWFZnP7_9fD_MsxsVfi2JVcSmaMOnQ3VJ0PivjwImCtA-y7D73G4dLzYcK6Kaj1Ude2TFM27ZcRL4XpFVFMTP_-qGfaVFsETGcyBUxsyGmLAyK4mmN5xg63nbCmdPgWnzCbVmSxpK0wZdSAquwGdKb8LgjnNRjuufGtuWieK340K4dyV0pLISk08REQn5nJ8xudBxKUFzVZo2fvtQ-dEcDeTJh0RLbM6N_F3RhpR4tj9KyJ4fDhP_gw-g745ar6Vu5btePKkTBptzQSZIKsxjKjSOri3INpMqiTickZ049yZBfZctFLOfkaN2G7q9BB-iYV1I3SI3VwpW1-PF-AvGOES5ROTah__6Udjh73grY3i1hAKwl4r0uNhor67T0o--wbTD2eCERZSYMKiefWYCAPWWgmyUwNbIVQ2y_kyEmw5ZHg34v1X5yuSnrqsGJoNdVwYoHMhvnvqYQtGPBU3Qwo-PzQkE2s_Grl8tEEkgyoIXDYQRyljXmThoDnCw3t8TplS6xniy-QCBWd8JlF2gqNnyoFUzWhFObZZ-5562Dan0CyQHcQ823iktn0gwaNNRgs9R-TUHS8mZUArTC5OelasKOmp9u09e9jKCm5SKSwiXqkN8km9msQ0eV4tFEQs9l8sKEme9-w58c0pXNOiikK6rtbVfUs6BV3xlFh4WTYAauVENFoOUayoL_A76r2tFafH0icbzEZJj7-JIj7Rcuz4qtHmaBQwBZP43lpq9QY3SpO5N-c",
  "id": "rs_0cd8c2626f3e00d1016ab44392f37c87d088cb590c1f89189d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.47,\"right_z\":0.005},\"note\":\"The jaws again closed nearly to the command and the object is still visible, so they met in front of it rather than around it. I’ll reopen and advance about 4 cm farther, keeping the fingertips pressed lightly at table level.\"}",
  "call_id": "call_ypRSAIku6Wo7TKGwdgVf82aW",
  "id": "fc_0cd8c2626f3e00d1016ab44393cfc487d08cc9476afea94fc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ypRSAIku6Wo7TKGwdgVf82aW",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.556, -0.0189, -0.0387, 0.9997, 0.4576, 2.0644, 1.2366, -0.1375, 0.3901, 0.202, 0.9951]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1389 left_yaw=0.003 left_pitch=-0.1941 left_roll=0.0002 left_gripper=0.9997 right_x=0.4658 right_y=0.1585 right_z=0.0128 right_yaw=0.0008 right_pitch=-0.2969 right_roll=-0.2037 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.3333, 6.8718, 1.6679, -0.0317, -0.0562, -0.0122, -0.4991, -8.5949, 7.4872, 1.2186, 0.1099, -0.0366, -0.2271]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7fd73fdad7457b9f4d6f63768a959c6b87f803473576609f39cbf8d941a24e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3c0584106df5c3e1fcc8c84ad4703fdbe55339b5d35e4a067cb460c9684d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a95427f98c7aa6e1740f6bd1b9d637e8706c470b69250da999155097bbc912",
      "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 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5205, -0.0189, -0.0383, 0.9997, 0.527, 1.927, 1.0084, -0.0505, 0.4393, 0.2771, 0.9944]\nstate[eef_state]: left_x=0.2754 left_y=0.0017 left_z=0.1466 left_yaw=0.0026 left_pitch=-0.1537 left_roll=-0.0004 left_gripper=0.9997 right_x=0.4151 right_y=0.1588 right_z=0.0117 right_yaw=-0.011 right_pitch=-0.273 right_roll=-0.1919 right_gripper=0.9944\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.6825, -0.0855, -0.0317, -0.0122, -0.7179, -8.4444, 7.6239, 1.4969, 0.2955, 0.0513, 0.0757]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.6067, -0.54, -0.0189, -0.0387, 0.9997, 0.498, 1.9934, 1.0973, -0.0925, 0.4099, 0.2428, 0.1051]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.142 left_yaw=0.0029 left_pitch=-0.1773 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4323 right_y=0.159 right_z=0.0052 right_yaw=-0.0008 right_pitch=-0.3056 right_roll=-0.203 right_gripper=0.1051\nstate[joint_eff]: [-0.0752, -1.0188, 6.8991, 1.6777, -0.0855, -0.0659, -0.0122, 0.0205, -11.1111, 5.2034, 1.409, 0.3248, 0.0464, 0.1685]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.556, -0.0189, -0.0387, 0.9997, 0.4576, 2.0644, 1.2366, -0.1375, 0.3901, 0.202, 0.9951]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1389 left_yaw=0.003 left_pitch=-0.1941 left_roll=0.0002 left_gripper=0.9997 right_x=0.4658 right_y=0.1585 right_z=0.0128 right_yaw=0.0008 right_pitch=-0.2969 right_roll=-0.2037 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.3333, 6.8718, 1.6679, -0.0317, -0.0562, -0.0122, -0.4991, -8.5949, 7.4872, 1.2186, 0.1099, -0.0366, -0.2271]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7fd73fdad7457b9f4d6f63768a959c6b87f803473576609f39cbf8d941a24e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f3c0584106df5c3e1fcc8c84ad4703fdbe55339b5d35e4a067cb460c9684d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a95427f98c7aa6e1740f6bd1b9d637e8706c470b69250da999155097bbc912",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOYWnHmbXop0nuJdEapB2aeor2lvp4dTXplse3g0_SCzsEMQX-K9h1MBPNn5jM5cXWYyHG47krfxUoRDMZLAg4XtiJXHz0yKucPK6arWAOwX2Yjzv3xEDeTg3Ska_0qJBsIBjYVMCLIYCMMXoNvUsVXbywCwPb9I8hz7jjUIqy4zgW2jdxXQDDZKE6Ovp1j1oG2OecGNt7wpjo1MOYRhMbQCdlyVV5lyP35zG0DjHstQ2P4ZTnmZILD8NAqS_EfPwCMsUijxcJQtaVDo5_5irKyszCUv6SUoJ8mXwIkEhBacI1WpBYb3S3uOLYmVEkcBMsD5CACJ_Ge_Qrz5GrqYpDdXm0tFHRBaF_wzRmqQPy3l042vvWs5XT9nwoFHBbK4EJTUMyrcvuBZEUrqOeSPTl2ol6twngzP6pT40jOU36jWhAtOFcUBKfiJxIkztV8hJkv45i-qNta-hcY2qQ7iPa_v16XrJGWpDDcVU8CSwKQ95wkUYnPHqrQSR7pFg8gEyIcNHTrflXW5k73pg8jjl_ls7-Y-btHHJo-3GCmFZ0v-jS0Wr52lugDb_5O6QNJAFm0DcU3U5O99GNfjx6uwa4oUbAA6O7wvGtXCxVGTmtNyVd_rzAukFAV4loCoPLxxmWbFSxsq4PZOwGZtaLvC8yr8JuO_RsPUliG2EzkxnyJ4jx7BiraGql1XY6-Rr25hMinbQfCq-nZGf3vnulp8SOxLCWrxo6d0_H5UXo1_o75TNqy8wb0gpsJpSDUwSFUQmtc-zkV19pniJJQDW9RHXzxN_MS9KcE83TfvYCUz11EQ5o3nmcKNsAfOafFpo8VRRFnOI2KRdsBL39yR7PJpgqm_I93tDLdY7XAGXhItFkxEuxsdNji4tuujb6-xZYzB41Y3aAYxKrCHQl4VBgzMUOKqvNvzNLuOU7Ab0d_CuD8IeLSzFXLYbRElPFm3DdtEJFeId8uqP4nXSbukaGjZeJ2njBeL1tQJJ1iI95Wg9Fp1taain_zBE57_mX9vzG_6FMTU0SDH7RIYPGisd2s8EzMEdBjXbuZdGAVA3B8VBDeNp3h_TOHb4VfmomIaoD_jAE8X7DXsHr3zHhDb1dA-l4EacLKjjtFiY56irly9ZqvgC0gBJWxBmVX-zKsnot48y48JpmUE7ESIm9lfOrCC1NBaHYZ3ffnW-JDgIOscuftH6WOe8H7wBhvE4w7SJSaV4lcPV6OChcoMZobBPg9NM8IhqCa7iA83r4DDO2LEWqvYXVn0oylzVv9_n8Pzq5b-4UIjw52-fs3ZX_hvFJneiQtO7PVrPkhr7nofEL0AyZKMZwIpYvDDKkqZnq9pOI_B5iN3NluJQ7MQzEJOs5qZocwPOx22ZpcemAsRylUOM4cuap_DPQC0tczyBbLMGcmEUjUubb1x0B6J854oGV0TEaDbrSBd4QVK41eY5e_feqfzeH_tR49P2ZkhXIe4S2RJKQGo6hoCMJ4X53SwWhzYQ8piutJE0JwbbrmRhMFoZKSZx6um-3ac_h-EL7462JrKkQeltE6F2u31VZrLHCdAPDHcA==",
  "id": "rs_0cd8c2626f3e00d1016ab4439717f487d08620216ed1194d6e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.18},\"note\":\"The final advance brought the yellow object to the fingertip depth, but it sits slightly left of the jaw centerline. I’ll shift the gripper about 2 cm leftward across the table to center it before closing.\"}",
  "call_id": "call_5zc0vhnnHh2XzZFMaxp17DlD",
  "id": "fc_0cd8c2626f3e00d1016ab44397cf7087d0b992f449ed0ca9f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5zc0vhnnHh2XzZFMaxp17DlD",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.5617, -0.0189, -0.0387, 0.9997, 0.4789, 2.075, 1.2617, -0.1635, 0.4038, 0.215, 0.9967]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1374 left_yaw=0.003 left_pitch=-0.2017 left_roll=0.0004 left_gripper=0.9997 right_x=0.4649 right_y=0.1672 right_z=0.0138 right_yaw=0.0024 right_pitch=-0.3006 right_roll=-0.211 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.347, 6.9675, 1.7118, -0.0415, -0.0415, -0.0122, 1.306, -8.8821, 8.0205, 1.3748, 0.0708, 0.2271, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24703b80260f50d0fa36f6ccea81ce18c1aad46c644392908347ab25f23c3663",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b2acc660c3d8a4c1ee5d5a6c64d08ecb0f97d445f0b34252090d7b48c61244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50bb70a0d64f39c49a418342ef34249088d92a41901c2a58540f46873c14e5b",
      "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 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.5289, -0.0189, -0.0387, 0.9997, 0.4999, 1.9808, 1.0927, -0.0761, 0.4202, 0.2493, 0.9953]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1444 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9997 right_x=0.435 right_y=0.1596 right_z=0.0119 right_yaw=-0.007 right_pitch=-0.2794 right_roll=-0.1941 right_gripper=0.9953\nstate[joint_eff]: [-0.3077, -1.3197, 7.1043, 1.6923, -0.0562, -0.0562, -0.0073, -0.6769, -8.1436, 7.0359, 1.2821, 0.0952, 0.022, 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, 0.8257, 0.6067, -0.556, -0.0189, -0.0387, 0.9997, 0.4576, 2.0644, 1.2366, -0.1375, 0.3901, 0.202, 0.9951]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1389 left_yaw=0.003 left_pitch=-0.1941 left_roll=0.0002 left_gripper=0.9997 right_x=0.4658 right_y=0.1585 right_z=0.0128 right_yaw=0.0008 right_pitch=-0.2969 right_roll=-0.2037 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.3333, 6.8718, 1.6679, -0.0317, -0.0562, -0.0122, -0.4991, -8.5949, 7.4872, 1.2186, 0.1099, -0.0366, -0.2271]\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, 0.8276, 0.6067, -0.5617, -0.0189, -0.0387, 0.9997, 0.4789, 2.075, 1.2617, -0.1635, 0.4038, 0.215, 0.9967]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1374 left_yaw=0.003 left_pitch=-0.2017 left_roll=0.0004 left_gripper=0.9997 right_x=0.4649 right_y=0.1672 right_z=0.0138 right_yaw=0.0024 right_pitch=-0.3006 right_roll=-0.211 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.347, 6.9675, 1.7118, -0.0415, -0.0415, -0.0122, 1.306, -8.8821, 8.0205, 1.3748, 0.0708, 0.2271, 0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24703b80260f50d0fa36f6ccea81ce18c1aad46c644392908347ab25f23c3663",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b2acc660c3d8a4c1ee5d5a6c64d08ecb0f97d445f0b34252090d7b48c61244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a50bb70a0d64f39c49a418342ef34249088d92a41901c2a58540f46873c14e5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOaIVGvQrFAy5Cc7f5PYfI1dnIVicQFPGXGCZYQe5Hl6EYXdQ43_4h3rFg5X2WJgocTTUK0dAFF8EV086-4cBq2mp7OUyy9YpUwdDakwTOMB_w5zMe-0qMpsUzoGAEib0LKBkudnTSZhlh-1YI8UjKItnHZDYS0RnLdC7Qw7h8ZpDTfBkqjOIT_TGdvBoViP02rwUQNO0-x7rloJYds7dglisiacMkiOV3c7i6mHJH3ECk5X3Hypi-G3ewiD29YXaaVJr00EEmlyCVomqUOaxFRGsonGyQHWBtekUcXEpYKO2J4r226-LSvdYqV3YNDSQx6AwHDPmxPBF1Ku67qMIs4-K3DlWJX160I4rMdI0TvvkZqOlt0ePe20st55XeL229elpZA9X2xpI9brwyc4uraydA-cYyQdPSWD9ePWrOdJ5_5_IUywZanHakJOWZNOFldEN2FvkfCqiIxcwSpoIhxXrexql8OKfyZK_saPSLt_XEu9T6ZD8evnjw6T3SYKb_w3Q3jlJgG3xuDXoH9k6KfCjOanuZPBh9zbfY9vqzWtvFRQEWkQrUkfLvsSYryorOYfz1HvQ_WDP3sF8eCGJ7gzy4OCsWMI-QVuZtgr9DS4Clfr8svT9Wil5-NWKwgNorLoBuMhrt8j2O9lcX3rptR5MT4XZQmdaq9sjY4Rp6P0CWD9-rz-ZyPyHnf2tZF1YVN3hWmlExtfHSG0jg5pIRaZpBCTwGw2akWXhfyWNe3Ji_nngmVyD0ksmm0rmlYCiPy1VC6XB6yYh4eec96NN0DuduJibRcgsbTETqs-MRgYHZNlag3CgD64xdGwCVzm-D_MPCXg_obc8ZfFbeipjLvyPlki_FS1mlDr2So101ti9S7N2G9G666NOc5zYXWyxiXeybfZKiIPtpjwUZMNFG-ziTIk5bP5PsYxx7gv67izqXGCXYUTPdbpeVMOKGKP8snbgQzYarxYeqnJwE4irDvAXHhbqFEQUyL_w4-5GQGC2l14Fgo0hxMw-XOgGBQGIULUE2HnwM335hUS234-Qt3tFnuubcmEP4dtnO0soKkT8Mxs9iyYUYb-3tc_fevSwXxsg7pSmqBP0ZNE2dU2zTXcUNv3SAvN50-K5aijt0zK5r7Y0cTPE5jC6bSCoDUSDZUmwu9jctwzbNas42a7-t5D60EXKJ7WIlHeS1otYBEJOdQQfbW87jOmv7frujNzCacqwNCwthejTrySrwA71UAYpYXK7ht20T20Lh8c-2LpG1YQ8dFhhBFidDQoQrq7bLZ",
  "id": "rs_0cd8c2626f3e00d1016ab4439a013087d0ae606b0688a675ea",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The yellow object is now centered at the fingertip depth between the jaws. I’ll close fully and use the settled jaw reading to verify that its width blocks the gripper.\"}",
  "call_id": "call_iBiS7TZFI8dF6SAcn7VGgCZO",
  "id": "fc_0cd8c2626f3e00d1016ab4439a44f487d0837428a09ff14ea9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iBiS7TZFI8dF6SAcn7VGgCZO",
  "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, 0.8276, 0.6067, -0.5705, -0.0189, -0.0383, 0.9997, 0.5076, 2.0819, 1.2766, -0.2005, 0.4068, 0.2359, 0.4229]\nstate[eef_state]: left_x=0.2671 left_y=0.0019 left_z=0.1359 left_yaw=0.0028 left_pitch=-0.2105 left_roll=0.0008 left_gripper=0.9997 right_x=0.4574 right_y=0.1785 right_z=0.0111 right_yaw=0.0124 right_pitch=-0.3227 right_roll=-0.2137 right_gripper=0.4229\nstate[joint_eff]: [-0.1709, -1.2923, 6.8718, 1.6239, -0.0562, -0.022, -0.0073, -0.4171, -9.6479, 7.2274, 1.4628, 0.2662, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b78a1b4b312199f0ca87ce2e39c1a1522bbbe0a2b5b90668e20e4b39d1f330",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20dddd7f331cfbed037040d5cb0a4b3adf8d793153062c5f4d315a1ba7bc7942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2651de5aacd1ee1484ddc70cb4a5fb0e77d44cd7008aa2ee87e784a1b955a274",
      "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 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.54, -0.0189, -0.0387, 0.9997, 0.498, 1.9934, 1.0973, -0.0925, 0.4099, 0.2428, 0.1051]\nstate[eef_state]: left_x=0.2723 left_y=0.0018 left_z=0.142 left_yaw=0.0029 left_pitch=-0.1773 left_roll=-0.0002 left_gripper=0.9997 right_x=0.4323 right_y=0.159 right_z=0.0052 right_yaw=-0.0008 right_pitch=-0.3056 right_roll=-0.203 right_gripper=0.1051\nstate[joint_eff]: [-0.0752, -1.0188, 6.8991, 1.6777, -0.0855, -0.0659, -0.0122, 0.0205, -11.1111, 5.2034, 1.409, 0.3248, 0.0464, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.5617, -0.0189, -0.0387, 0.9997, 0.4789, 2.075, 1.2617, -0.1635, 0.4038, 0.215, 0.9967]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1374 left_yaw=0.003 left_pitch=-0.2017 left_roll=0.0004 left_gripper=0.9997 right_x=0.4649 right_y=0.1672 right_z=0.0138 right_yaw=0.0024 right_pitch=-0.3006 right_roll=-0.211 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.347, 6.9675, 1.7118, -0.0415, -0.0415, -0.0122, 1.306, -8.8821, 8.0205, 1.3748, 0.0708, 0.2271, 0.1538]",
      "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, 0.8276, 0.6067, -0.5705, -0.0189, -0.0383, 0.9997, 0.5076, 2.0819, 1.2766, -0.2005, 0.4068, 0.2359, 0.4229]\nstate[eef_state]: left_x=0.2671 left_y=0.0019 left_z=0.1359 left_yaw=0.0028 left_pitch=-0.2105 left_roll=0.0008 left_gripper=0.9997 right_x=0.4574 right_y=0.1785 right_z=0.0111 right_yaw=0.0124 right_pitch=-0.3227 right_roll=-0.2137 right_gripper=0.4229\nstate[joint_eff]: [-0.1709, -1.2923, 6.8718, 1.6239, -0.0562, -0.022, -0.0073, -0.4171, -9.6479, 7.2274, 1.4628, 0.2662, 0.0562, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7b78a1b4b312199f0ca87ce2e39c1a1522bbbe0a2b5b90668e20e4b39d1f330",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20dddd7f331cfbed037040d5cb0a4b3adf8d793153062c5f4d315a1ba7bc7942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2651de5aacd1ee1484ddc70cb4a5fb0e77d44cd7008aa2ee87e784a1b955a274",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOeKrWPZBWQa3FajCH4XNZI9uphgpF-77V7ZCzBhk3q6mCcejPX-OQVC0Q5IC_kqL_-Tr27v0Q66pJ5y7rvIvI1svVsrvpd408HbB7k2yC3EfQnEbL-yzObjnQZ-ypIxUzu2RtPA1MdjzhjscP6aJkPL4ZUZpGMZkezBIt9Q6dnoW4tf-_WRbQ4-Q1hYhUCm0KHzunyYPmBr-loDI2wr9NXKC1D1HaFdZbXfgV0v-D1dwEHWuM-dlmS5ZYOm1OXQ2Gdu55r_X8P9zYoFRkVgKu5BIPhYCiCS2_xfR1JHd-TQVZQoj5GoPmydmyltvODat6tISnpMmwKN_3La48ToJJBlFmvUyLmE6it3kEqLgGDYFDKMGMJafAAvUv9SX-l2C9YLfKLrejQ7J-NttrvxSYBxdbVtNVmNes4KjZ1RcST4gVlYrbS9PXKk28AJ58wgGfUnLPAGkufyY7643QEzHiRT0L-KSYaHUWBAm-DZ2qhJATZBh0ZYxRBUUToorC6ypHpCQy3G65UEkCRbWcd_Farhe5Hhmv-srMvoKM5Ng4CPtnUQYXDVWehvd7SMtai_1bAenNlNUyZsZIgfsqrh_lIsJAbEYn16dG1F6eepY1KpTVX7ioqCvYE_NxjQRL5SqpnyImjjjp3iYryFBajdqIXeUZg0_BlUDjprrnGhRWw7aZYqEuSmvUyI3l6fKZdPEMEXDRdYz5IruTPAqUkFlOjusyQ8kj_4MGeIAfXU_-E1u7jWcleNhXOaY-QijvCP6vfYPrwsuRF04mYf_UwVfZc3yh_wmhpVpLkMxHgL3A9p6IN1w9vx80DVI4HSw4BncPjtoeUShF43KZ8FBFZeEqVvnyOvQIWA5sQ74oNZnSyjE4ew0gFwwcOhjEe6sehRmH7VownbLQP9812Ph0DOVgsOOkL_BTKFhnnDoLtMmzXLWzG2ZmsNR4w48LKxapIunUiJ56z6BRrwBggc6C7F85Igri9KSR0Ox7OFpGieAVhUYkLbTa2IVHxM3yyyR8Vs4epd8GpBWALjpdmV0_y0DXbfkzbcuCrAM-Qh5CpfoCvzEL5fLfvwOOWj5wqHGbawF3LfI_dqUGWoWs3GekbzF0lDb7sLPi06uXiXVSfacqeLmlTQhn28015-IAq-IHDpASgtHKNvlIMJpfX0bYZq-_63RNXDziYHTEv6Gbc-nSAoUGqj_FVjgkvAJOP4KvDT8ld_YvmRvGAo8CR1iJ0Srsx57zS792pMi6tm46GOBC1kZUNdI7_IADD3_Iitx2urRTbT8bgxbLTd6wwhkRShtvEU3ilYewcfe4xfOaST8b4-gCV2EUM3rRtTVCWi5K6OkI60S56MdqYdh1CO5XoAw2_LpQrPYxfcEyC2H4CbD_ka21dQdoPPBLMXh9v7GJ28QTFlfDX_fp2tF0fp0uH5tdsVhWl25wiDwrz5aeh7EjpWwU=",
  "id": "rs_0cd8c2626f3e00d1016ab4439d2c3c87d09d4744fbbe0fd250",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The gripper stopped at 0.423, corresponding to about 4 cm of captured width, so the yellow object is securely between the jaws. I’ll lift it clear of the table and confirm it moves with the gripper.\"}",
  "call_id": "call_VK2HIu2sY3oqOgIDQOKkuvS1",
  "id": "fc_0cd8c2626f3e00d1016ab4439da12087d08089d8546d86c2ef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VK2HIu2sY3oqOgIDQOKkuvS1",
  "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, 0.8276, 0.6067, -0.5842, -0.0189, -0.0387, 0.9997, 0.5076, 1.9736, 1.483, -0.5667, 0.4023, 0.2279, 0.4235]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0031 left_pitch=-0.2242 left_roll=0.0009 left_gripper=0.9997 right_x=0.4532 right_y=0.177 right_z=0.0899 right_yaw=0.0117 right_pitch=-0.3708 right_roll=-0.2412 right_gripper=0.4235\nstate[joint_eff]: [-0.0615, -1.1009, 7.0359, 1.6386, -0.0806, -0.0415, -0.0122, -0.0068, -13.3949, 8.8137, 1.4286, 0.2711, 0.0366, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87059be31d5d0c41fc93ba49d292b79f04cef7a98d7dee7b583b002731203c86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0e0b52c3888aaa11b9f698a4200c81f07d370ff997a9929cc4d9ee6a0ec294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdc66e0e51a73bc3761b5282ebfe80818b17dca6d34e60b60bca4820b193f1f",
      "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 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.556, -0.0189, -0.0387, 0.9997, 0.4576, 2.0644, 1.2366, -0.1375, 0.3901, 0.202, 0.9951]\nstate[eef_state]: left_x=0.2696 left_y=0.0018 left_z=0.1389 left_yaw=0.003 left_pitch=-0.1941 left_roll=0.0002 left_gripper=0.9997 right_x=0.4658 right_y=0.1585 right_z=0.0128 right_yaw=0.0008 right_pitch=-0.2969 right_roll=-0.2037 right_gripper=0.9951\nstate[joint_eff]: [-0.1573, -1.3333, 6.8718, 1.6679, -0.0317, -0.0562, -0.0122, -0.4991, -8.5949, 7.4872, 1.2186, 0.1099, -0.0366, -0.2271]\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, 0.8276, 0.6067, -0.5705, -0.0189, -0.0383, 0.9997, 0.5076, 2.0819, 1.2766, -0.2005, 0.4068, 0.2359, 0.4229]\nstate[eef_state]: left_x=0.2671 left_y=0.0019 left_z=0.1359 left_yaw=0.0028 left_pitch=-0.2105 left_roll=0.0008 left_gripper=0.9997 right_x=0.4574 right_y=0.1785 right_z=0.0111 right_yaw=0.0124 right_pitch=-0.3227 right_roll=-0.2137 right_gripper=0.4229\nstate[joint_eff]: [-0.1709, -1.2923, 6.8718, 1.6239, -0.0562, -0.022, -0.0073, -0.4171, -9.6479, 7.2274, 1.4628, 0.2662, 0.0562, 1.033]",
      "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, 0.8276, 0.6067, -0.5842, -0.0189, -0.0387, 0.9997, 0.5076, 1.9736, 1.483, -0.5667, 0.4023, 0.2279, 0.4235]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0031 left_pitch=-0.2242 left_roll=0.0009 left_gripper=0.9997 right_x=0.4532 right_y=0.177 right_z=0.0899 right_yaw=0.0117 right_pitch=-0.3708 right_roll=-0.2412 right_gripper=0.4235\nstate[joint_eff]: [-0.0615, -1.1009, 7.0359, 1.6386, -0.0806, -0.0415, -0.0122, -0.0068, -13.3949, 8.8137, 1.4286, 0.2711, 0.0366, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87059be31d5d0c41fc93ba49d292b79f04cef7a98d7dee7b583b002731203c86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f0e0b52c3888aaa11b9f698a4200c81f07d370ff997a9929cc4d9ee6a0ec294",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdc66e0e51a73bc3761b5282ebfe80818b17dca6d34e60b60bca4820b193f1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOjX8VNuQxC6cawSpA4GqvED4GGCog8Mp24IHsfIMcIoOEQ1UEHVHhL2K_iKuBCVkJeDN5CFtymBZjmLnGUm37sa4LPPIGVzowcDNgE-rKpX2nUNoLWcsZ2jJ5YTQ3kZLgK4e3Ry15AE3ZBwj3ZDq2_wDeFjrOPPQ6rNrxN1D6hsJ8_RbRHYT1Uzp8qFCMOu3n_i-tNhUgCz0uxMF4P_l8PnPXpgzFksBOWnIB0n11QQc-2-QJ0RWvNWXG1LV6v-WXOXsuy0dHNHePYyfyTtLNStakKjE_vIM_9mP1zI1G9Om8HcYG5SQgIPias3tOCkgHa_xKGZGlPzgxCP9hSV1SVyX1JZVQ19pup_vLFxs0lgQVn6-FeN2kR83DBEIckgyIVlaNG_EVGe6qB0MB9_mlKvg-fp6L9G7mWBJW06_50ebbQdIfmxXp0gVflyii8mWOKq9xGdyGSl_jQS8jeZlvhR_QlnLl53rsGRX_t_nsVhPU8kKOeY9MQcW3RctC74D-KjK63v_sYdOxq8iMy9URanrH1rZHlCjTE_CqDT7GBHffTR4XH9aCKfrPYNTeQ2M7N-V0Nw05RKfEhPhHI4HMVaeO2j6CD16DsETpzcObp2d6P5ZuglZ2JonFiindrWU-nCWeSi8VS1WOEslQCpyZkT-5uoj4y5zvypDTqRgLz2sbyht2opK3IwjH2iyaNI0YN6EutsROD4oyk4OxHnubt1BzTNVEo0NxKWmyz__AOtNfm4zGdghSc9PQe5YHSpzlAWTh7d6caIXkTLT0DFAVDjA0QniXrgBVcpKjcce0JRIMggxrkjpZ9bsXL9RbTQv8wnsUXFWC2DVoUCMuRyMD3AO5uicvTzy_duKzawwwh2-_ve0bXVhQ0rDFE_fjYobtYcYM9euTciw6HXrDNFDcYj-x8HmHiEvIZTaBIxmXBuRjyViBhhvxHD-u1lF9ETyGoblv9xSdz3jdHpXLnJE3WLliVTSZPI_da3nRl90aUygKPEaAkKsaqExArrOuC9vRNXzFP8DrOCzVVLSg3jKI1HMFj1wMhpAFICORpIIYl9ES-ljdbRNddpZ_H-VRRgLO_ZZidXkC39InXpH1IH4y796c0xWZT9AexTLIzVWowxS_qAx0OVxu7xS3XkbegfVo-n460ekc2HQ_ZCYIV0D-dLtiaX8onbNuFEUKg3vtLyFVUZY5XVPyBzAWvv5WR7arC3Vrzwyww_bT7hyWy7h_TaVmHWWpcoyuZQCkZUuFV-nwj8ZXx6AkOJbIbSnhw6Ge4Rhfhf1BROUm9v1MENISnZ1m44B1fqYqvlKjftsJJhiVEMJa49WB-Dwys8NNoORWpf59PR-tXlQehrrBFEoJQ-qQGJuh6R-7QxKUd0HjL_T992ZMI7f5DmGFit42jDwHyJ6xZAOQacMGgBB1Y3w10odxrHQ71UsWTyt3dMQq3sqXHUYZmaawutuDrySZhXHH31N__9naxn5KYaj409bi4TkF6rYMk7ktbD4sZlT624CWLpdrdfY4IYL3bnr4Ofmts0olAT5Gf5Uvs8_UJ2IAwk1pO8JU6WYR4TYEC0d6AgaIyZ9v2MPCwRr8AqASJNl-w3zNK4RvKOvakqC3HZB1_VgaDBkslsiVtmLG-zImsfw7nRacfv4t_NREHWuGXAyxUi9VYcJZy17mk6mw8RPtYeGOf1tisVShrnqNIWzpCtM6VCJXSFuCFcvpYpCxgcYVRfcl7ut3syFWZJEsulvuHRpON8gHQwhWah5bgvt2XDv5QJ-5WDNnD-yenOrv1x6fuE0vDJlRvxI9reaqzLvBa5R88Go-fqXh-HxtdC3bhXt21m_zT7dbuvX0WJgiMha07xzq6HLUvA4actddwWNZtjPUn5KPFc0eS7vj3BCx6fg83xT0gsP8dj6O6jQFFLLK3pjb7kZbXpuk364vJOEHLZ3iFHssxQG73_fp0IRe8ZinzQb6UWsQv7uZ684pcrlj5Lbu2LQeeeGEQcayizEaRZg==",
  "id": "rs_0cd8c2626f3e00d1016ab443a0605087d090291f87e083dbf7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.31,\"right_z\":0.2},\"note\":\"The yellow object rose with the gripper, confirming the grasp. The open safe is leftward at roughly the same radial depth, so I’ll carry the object high across to the center of its red interior.\"}",
  "call_id": "call_sOdlqr1pqrbWjWqMookj7v4q",
  "id": "fc_0cd8c2626f3e00d1016ab443a21e0487d0bf41921f4bd88990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sOdlqr1pqrbWjWqMookj7v4q",
  "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, 0.831, 0.6067, -0.5892, -0.0189, -0.0383, 0.9997, 0.7975, 2.3047, 2.4458, -1.2976, 0.5026, 0.4774, 0.4243]\nstate[eef_state]: left_x=0.2639 left_y=0.0019 left_z=0.1319 left_yaw=0.003 left_pitch=-0.2326 left_roll=0.0013 left_gripper=0.9997 right_x=0.4225 right_y=0.3162 right_z=0.1962 right_yaw=0.0622 right_pitch=-0.3688 right_roll=-0.225 right_gripper=0.4243\nstate[joint_eff]: [-0.2256, -1.5795, 7.0906, 1.5458, -0.0562, -0.0269, -0.0073, -0.2393, -12.0684, 7.0085, 0.6569, 0.4811, 0.188, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac97576e71c34637802310a10ff12ca4e305dd6a99f589c8360a3e906ba702b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a228bd245d43897c38ea7ab14d621be1df92037be98283eed5d53ade9c95af4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8110b19d2e1fd6651cf6e905791557d1f88bd5aa1abc0d060fba736781fe53ec",
      "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 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.5617, -0.0189, -0.0387, 0.9997, 0.4789, 2.075, 1.2617, -0.1635, 0.4038, 0.215, 0.9967]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1374 left_yaw=0.003 left_pitch=-0.2017 left_roll=0.0004 left_gripper=0.9997 right_x=0.4649 right_y=0.1672 right_z=0.0138 right_yaw=0.0024 right_pitch=-0.3006 right_roll=-0.211 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.347, 6.9675, 1.7118, -0.0415, -0.0415, -0.0122, 1.306, -8.8821, 8.0205, 1.3748, 0.0708, 0.2271, 0.1538]",
      "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, 0.8276, 0.6067, -0.5842, -0.0189, -0.0387, 0.9997, 0.5076, 1.9736, 1.483, -0.5667, 0.4023, 0.2279, 0.4235]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0031 left_pitch=-0.2242 left_roll=0.0009 left_gripper=0.9997 right_x=0.4532 right_y=0.177 right_z=0.0899 right_yaw=0.0117 right_pitch=-0.3708 right_roll=-0.2412 right_gripper=0.4235\nstate[joint_eff]: [-0.0615, -1.1009, 7.0359, 1.6386, -0.0806, -0.0415, -0.0122, -0.0068, -13.3949, 8.8137, 1.4286, 0.2711, 0.0366, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.831, 0.6067, -0.5892, -0.0189, -0.0383, 0.9997, 0.7975, 2.3047, 2.4458, -1.2976, 0.5026, 0.4774, 0.4243]\nstate[eef_state]: left_x=0.2639 left_y=0.0019 left_z=0.1319 left_yaw=0.003 left_pitch=-0.2326 left_roll=0.0013 left_gripper=0.9997 right_x=0.4225 right_y=0.3162 right_z=0.1962 right_yaw=0.0622 right_pitch=-0.3688 right_roll=-0.225 right_gripper=0.4243\nstate[joint_eff]: [-0.2256, -1.5795, 7.0906, 1.5458, -0.0562, -0.0269, -0.0073, -0.2393, -12.0684, 7.0085, 0.6569, 0.4811, 0.188, 0.8523]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac97576e71c34637802310a10ff12ca4e305dd6a99f589c8360a3e906ba702b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a228bd245d43897c38ea7ab14d621be1df92037be98283eed5d53ade9c95af4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8110b19d2e1fd6651cf6e905791557d1f88bd5aa1abc0d060fba736781fe53ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOoQLtUvI6-oY9pdHZCyW_nRBwQXwFtE5KDZJQxrLddoySl0Q0yN3siUJ1MODPfrTIGLo_7fTgD2jfCSUJRzT0Ck3q5_3jrVMJkDBWUQMIyDyjBXxJYh9IZeaqBznM1tHSM5Pb6Ym6AWIeffJQtYTRg3LT2lKCItfRtR37EUTRW5V-bAmcMn1lT8iQP9YmH-dk5e0iZbTGdpYUiExB7OolNj0yJAOEV-PAeJNWoZ-KUniEqtPzQwP7Z8a3jOauYzmJNHjxNAAqek8CvjkwmRy6zfykGYsYOGKRt2qh61Cs8_2saoAxRhzxnnISqD3RKPjYy8t9-BLzxb4ZbtSKymD_biBFnq4ioshoWuokiZgxz0eFNa959kFDihygejJaC2UJyTgeRoaw0CUQ9b0CufcJbK2O8uPtSZlTOr0Oa5AOrmISsJBlJn2DheWWNYKzIL4iWcIYhWpq0yNeOUIPDJ-dgGQ9TEKRZWy8F8ETYazu3tbZ6DOCig53urvUEBOhPv2z-JHy_sg6aULFTekns_-KKAB6xhiYkhVcR3tVp2avnWHpJc8S7MYy14Su8Dx_E5hVM3IJ_00bpSaPyXO6gdHc2JEh7W61OAzqv2Lxeor5PyluUtcpt7j8tBIS9RbF4EhewU8cO1DB-xempEdEsJ-gK1AnBLcr2Tv4TBAs5JnEPvw8BAEoWXkUpvaTLy-jYnN7AweikbNO_KD9I27NyRhFQAs7fhasycSzC5l3ZbTOoCoOriImyF5BN_ELOv7H9a25D9iIWF8kQhWc3Yi5y8NQ96X66Lkb9yVWJ4cYrV82pDLTDokc-NFTtKUIuSqClBdiTgy3PpFC7L_71eUSWiUrKfhw1Z2IWq2-SI6r8fbah_-CJBkM3QPCbB8bEuGtFwgsRqWxyfeZ4uoCLhtsnT7qOeMGRfjAQfmYQrD9dMuD6Z1tzvs24OzCEAml8y-1OTsq56KlTDW3rVT85aDBiiM5KKcMumFRJ6iiOpPQeFIiEIA1Z8IDXSofZ0YA6bPb7I7e3PbSibhPxsK40p802yZmwUyBqg0zZgVWqMAb4p9dp8rr1LOFzHq853LdgcwpHZlXJToThobGTBS_kws5JoWnwkiqPg381qLN_ezFjPXovF1lRGOtKRe3CsTtbkm2BYqKFj3PTI98QIfJ1yaolA9HyV2vk3NJKunIq6OgZ4KJ-31ejB3e1Uzyvk9FLXGmkxEuLmF8WvsWxOwuzjbrrOZXCU-VktLjRoRepXg78igbwPI4iohb_j52oAn94ujg7K8i81kyhgowHV_QqROczm7jlQMlyHXIKWc_Sf-rf9dy6Q_rBi9hgNmDBypR4B_DvrqOK35imCApZLlDxhh4oCUcqG8zevoAMA5TwrqSUQiJpt_YBgGtvqb_1TIZvK95jD4zneu5083m0THbBhkH14F-mPGZ1Hz8ZwpCAc5yfdadGHqqFu4m5V9nS4XV42q6AqBjkfvN-9Wn-H0daQ8LWYAkZ2eZdgIaz2WQg25584wFtlTQgtuKHmgR0jMplOVBoHWV8_K1Itb26DPJ9yKhmzbEWR_8ihvgrant8KlSk5DPPl44t75GB3RTBtvabR6-Zmy6ys3XyaTth3_nBcdp2p-ZtCEBeINuKvqd-HuMKZCOso2jJQYyjfIjHKfbXbgmQ5yxk_YRUz2Uzit2-6ki7htsvhg==",
  "id": "rs_0cd8c2626f3e00d1016ab443a5c0c087d09843c84ffa7a78fe",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.06},\"note\":\"The carried object is now over the safe; the wrist view shows the red interior directly beside and beneath it. I’ll lower into the box to just above the safe floor before releasing.\"}",
  "call_id": "call_ZxVHa8yq9cyL3aXGJdiBxhtx",
  "id": "fc_0cd8c2626f3e00d1016ab443a740a087d09175f42fb0765fcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ZxVHa8yq9cyL3aXGJdiBxhtx",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.593, -0.0193, -0.0383, 0.9997, 0.8009, 2.2444, 1.8011, -0.791, 0.4938, 0.4744, 0.4279]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1308 left_yaw=0.0033 left_pitch=-0.238 left_roll=0.0017 left_gripper=0.9997 right_x=0.4099 right_y=0.3076 right_z=0.0546 right_yaw=0.0509 right_pitch=-0.4321 right_roll=-0.2775 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.3333, 6.8308, 1.5018, -0.0806, 0.0073, -0.0122, -0.4444, -12.8205, 6.8308, 1.0134, 0.2369, 0.0073, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bc1aedf7bcb42ffb282db4b4b1a42febe4eefc22a05fdc7f73ec6a24d45da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914053a68d388a021e0561dff3a560df951f8215f398fe9875436d8564ac4885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253a453bbd42ca4c9ecb6b274e96e6e8af057b56797a89368dcbc90a94b69c76",
      "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 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.5705, -0.0189, -0.0383, 0.9997, 0.5076, 2.0819, 1.2766, -0.2005, 0.4068, 0.2359, 0.4229]\nstate[eef_state]: left_x=0.2671 left_y=0.0019 left_z=0.1359 left_yaw=0.0028 left_pitch=-0.2105 left_roll=0.0008 left_gripper=0.9997 right_x=0.4574 right_y=0.1785 right_z=0.0111 right_yaw=0.0124 right_pitch=-0.3227 right_roll=-0.2137 right_gripper=0.4229\nstate[joint_eff]: [-0.1709, -1.2923, 6.8718, 1.6239, -0.0562, -0.022, -0.0073, -0.4171, -9.6479, 7.2274, 1.4628, 0.2662, 0.0562, 1.033]",
      "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, 0.831, 0.6067, -0.5892, -0.0189, -0.0383, 0.9997, 0.7975, 2.3047, 2.4458, -1.2976, 0.5026, 0.4774, 0.4243]\nstate[eef_state]: left_x=0.2639 left_y=0.0019 left_z=0.1319 left_yaw=0.003 left_pitch=-0.2326 left_roll=0.0013 left_gripper=0.9997 right_x=0.4225 right_y=0.3162 right_z=0.1962 right_yaw=0.0622 right_pitch=-0.3688 right_roll=-0.225 right_gripper=0.4243\nstate[joint_eff]: [-0.2256, -1.5795, 7.0906, 1.5458, -0.0562, -0.0269, -0.0073, -0.2393, -12.0684, 7.0085, 0.6569, 0.4811, 0.188, 0.8523]",
      "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, -0.593, -0.0193, -0.0383, 0.9997, 0.8009, 2.2444, 1.8011, -0.791, 0.4938, 0.4744, 0.4279]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1308 left_yaw=0.0033 left_pitch=-0.238 left_roll=0.0017 left_gripper=0.9997 right_x=0.4099 right_y=0.3076 right_z=0.0546 right_yaw=0.0509 right_pitch=-0.4321 right_roll=-0.2775 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.3333, 6.8308, 1.5018, -0.0806, 0.0073, -0.0122, -0.4444, -12.8205, 6.8308, 1.0134, 0.2369, 0.0073, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7bc1aedf7bcb42ffb282db4b4b1a42febe4eefc22a05fdc7f73ec6a24d45da5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914053a68d388a021e0561dff3a560df951f8215f398fe9875436d8564ac4885",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253a453bbd42ca4c9ecb6b274e96e6e8af057b56797a89368dcbc90a94b69c76",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOrul-GDE8BqDwH_JI1yDicV-HZFq0a4Y9ZhYOLfn6EDodrY48Wu41H1b3TVreqFBXWXa3-XT3zLqWj_6La5333gwa89mAHZE05FF1EHCB33p-BaGRt0D0J-N-R22mpFepCUhIZpNewTb_yYsLpMO_CzvwzYdJOc1qDxRzVYJFRTti_vrjJNwKw3iSxY0ly7BaPysBgUcII2OnQR560LpNkpcxmCG1VMTPynLU7pALUKvSnn9-eDaMoB-ifzqVX-fH5RV6FNyK0RDv76vBMN3BrfBZlx-LfctpetkonKG58uPYdkPrPupg-Z2rhYCRzB3uI34WQFF1VP98HoAI9EhfnoCVvFkbkxbRSPr-Q8ZaC9vCGhAjFkl_SUJiJyVD6keIVo51Rq2eWksSCyKFVZYEGjDE6NMaNGxBLUs8U82NgNmzt9EZIDU3N8wta6bl0nOTo5XGlrpbIhqC48acCmD66NDHHEXVBTiMM7K2-FyTRAzEYKwopV0sCGFzZMr_muAw7N5vdQV_1317WN4wtMYbe05y-4rSENCZrwTNkUfqUcZIjp_6N23L6wC4oDnqCL_VGNe2atRqNZjtAITgWIVQVfP7CvpXAofuPEYHMiUibiH06LKHYILfHlC1nOyXF-nyvaKwPK2JRT73DsMi_TH_CqFMRvL4Ku_3x0Of_fPvh0aSkNPwEW5r4BnV-G1HSMbGgo_11QydixoqAXXQ3o6mTgZq7RbAAKOzIPXxEpUOA3TIocAeW6Rj2MYKMkI8qiF8sjPwjjND9YN2h0kwhiKiTaFa4IXjrrEZMIzPFCOaFB6WN80AHd68F778wnMOgKP6zqv8moOFxs5OBP2hkmqrK3iyT0J3dkfH3Yw82ItRd5SqkKe2SEZIsJYr3GFYz1YLEiwiS6qKu-djQl5EkRpJnTGSBxn-HUdrvO3hGQU2BOB4eOI1k8ixZsh8hQKvoySZQWf2s_S4zs5ere9dP8K1Gzc4ofAHaToh3DNV97q91UbSroAkNyeRg6iX66gOq5kDiUf92aVhFPAZ4BYvXKzKeIJf0ni2SZQNY_H6qSwPacEglAjWGvryqXWocCiEMUALZ1Km--NTUZ9W7ftbs1Eqwly-QNGFBhgI66qfGFPageEC-Vzzj8whkfSQTTG8VWmbU8yMPADSG6LjF-EHJ9XgdDUTFRdEzlYyp8kIo7eSsStxxI8NsahPO2oP__Ev_TJbPE_Lw3ur3kt4N1E-FpL1cqEAL_chrYLIuEkL6x_PXIfk=",
  "id": "rs_0cd8c2626f3e00d1016ab443aadd7487d0b1b2eb4ef6614d80",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The gripper reached about 5.5 cm above the table, placing the yellow object down inside the red safe interior. I’ll open the jaws to release it.\"}",
  "call_id": "call_NlkfW9OqD61gUgnNvqvK6T5y",
  "id": "fc_0cd8c2626f3e00d1016ab443ab059487d08009b9c15d06bff8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NlkfW9OqD61gUgnNvqvK6T5y",
  "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, -0.5983, -0.0189, -0.0387, 0.9997, 0.8013, 2.2444, 1.787, -0.7918, 0.4889, 0.4713, 0.9947]\nstate[eef_state]: left_x=0.2622 left_y=0.002 left_z=0.13 left_yaw=0.0032 left_pitch=-0.2429 left_roll=0.0013 left_gripper=0.9997 right_x=0.4065 right_y=0.3056 right_z=0.0497 right_yaw=0.0515 right_pitch=-0.4466 right_roll=-0.2867 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.1556, 6.9812, 1.6044, -0.0611, -0.0611, -0.0073, -0.2393, -12.6291, 7.4872, 0.8278, 0.2662, -0.0317, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec01136a4f066deb5e708221fc80ed0037b17ad02559cc8d3ed4e88ac59e66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9ad1f2c296885f700bad69573d8a2fdec119b16b5ba104e70aae5be8ed8d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2579bede5cb1c3753d92ea38a220d793cf904b38c439f2b5e8d021aba1669427",
      "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 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.5842, -0.0189, -0.0387, 0.9997, 0.5076, 1.9736, 1.483, -0.5667, 0.4023, 0.2279, 0.4235]\nstate[eef_state]: left_x=0.2647 left_y=0.0019 left_z=0.1336 left_yaw=0.0031 left_pitch=-0.2242 left_roll=0.0009 left_gripper=0.9997 right_x=0.4532 right_y=0.177 right_z=0.0899 right_yaw=0.0117 right_pitch=-0.3708 right_roll=-0.2412 right_gripper=0.4235\nstate[joint_eff]: [-0.0615, -1.1009, 7.0359, 1.6386, -0.0806, -0.0415, -0.0122, -0.0068, -13.3949, 8.8137, 1.4286, 0.2711, 0.0366, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.593, -0.0193, -0.0383, 0.9997, 0.8009, 2.2444, 1.8011, -0.791, 0.4938, 0.4744, 0.4279]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1308 left_yaw=0.0033 left_pitch=-0.238 left_roll=0.0017 left_gripper=0.9997 right_x=0.4099 right_y=0.3076 right_z=0.0546 right_yaw=0.0509 right_pitch=-0.4321 right_roll=-0.2775 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.3333, 6.8308, 1.5018, -0.0806, 0.0073, -0.0122, -0.4444, -12.8205, 6.8308, 1.0134, 0.2369, 0.0073, 0.6764]",
      "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, -0.5983, -0.0189, -0.0387, 0.9997, 0.8013, 2.2444, 1.787, -0.7918, 0.4889, 0.4713, 0.9947]\nstate[eef_state]: left_x=0.2622 left_y=0.002 left_z=0.13 left_yaw=0.0032 left_pitch=-0.2429 left_roll=0.0013 left_gripper=0.9997 right_x=0.4065 right_y=0.3056 right_z=0.0497 right_yaw=0.0515 right_pitch=-0.4466 right_roll=-0.2867 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.1556, 6.9812, 1.6044, -0.0611, -0.0611, -0.0073, -0.2393, -12.6291, 7.4872, 0.8278, 0.2662, -0.0317, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec01136a4f066deb5e708221fc80ed0037b17ad02559cc8d3ed4e88ac59e66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf9ad1f2c296885f700bad69573d8a2fdec119b16b5ba104e70aae5be8ed8d3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2579bede5cb1c3753d92ea38a220d793cf904b38c439f2b5e8d021aba1669427",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEOwJfLpgmWS1i_PLl9szeE6RZ6hfnNlceu-uYExWk2WN0BuJiL9gLejczW1ixbbGP_sz28Ix5d0yUDD7tWHFtoDqAcffEU1XYMjSMhRJOPOLXVQxeMCojnqWj6uoNHAgOfFVBy_C7bJfp5fZw2IVaLDR7PkVhQhw0eXX0jl75OGT7hHe6ukoiv6P59AASf_pwMWnAZXLPJvoicjUJn2_fiazxPEc2ymzmOhRncobYdLdZjyyrhEdl-ITmHHv_HI5uYuktjHs9LuKCddXVjH0btSu9O9VVwF3uSg_YYBXigK-yuQxNAC_5wsPtnZYRGBZMhRTo8Gnih9n6fF6F6T1IMHnrtxZCKU94R38FSmoeu5IyG03_6E7-sl-V8Kd6HsEyTeC1yUT5TytzxICRB2Qzx9FJXfd5HSZ8J-wYVuI626E2wCb1N8gaay-1FOh6pe4muSlHIaVrmcqna2dyCkfEV0Zx48dfGp3kTR7p9EqYcPawNgV9JzmC4GfRbi20BAJvrN2Q_GrsAkAw4VzTb4ZgcB2sF_pH7tCCWVRRLmWppSOw55jyMLSJQ2VcBdV6fezQDkX9fX39EyDzG_kaCwqTgqpzXsY7rHhBQxTF76OtrNpR85r7CFVpSDhMvfUOPOnqcaIESjGrkrz4H6uwMJxeUrfnJSwrYSq9eXdNAHWx5IMNAWp3JUC9lQLwoBSzfUV5TqBJgcNgcfp4oqpcgkyX-xaBdYlaff8nWeeMxqEzN7ucvGMrgdfdLbYfz2HiVLwo10ACLbfEYczS2DZEXk18nu3QECuoQcXuv0UuhidWfyf_RLJhl7GxRQBgKlHZSHxMV49URmGJ_D0fBu4RciQy-hGpTaOYxDV8wWGcTIrAm_ENigUU9hyzb9oRHi_H4Ufs-slhthKbfl58No4T_hf5vmufkP1IH4lRqF9UpQ-mXVEjAvMFbDruyxM64wruZJazo_TlJ3lNKcMzyP_80YrX1ZHydR3EydZ8ER6rrlb5rKi79Ikgmtoml2r07F8wiAEB5o9KU86VhWylP-MssMY-h8BW5vSVWu6AqCL7mhIJZVWV7q2SduGn7UVx4zwd-z4jYtcMy0vZbP87tsCmT1MKG_SQCKxuTIOMlxv_X4H95MJmloPV-5uvLHmuPOV60SsruvuaM-YTpZ3t7kE6Zwp6D2ohhrQT1rUYD6CIRVJQ9LaqRTxRBpODnD382_foonfQkSArtwH-ttUWwcfYCetrvB6S89-aHHyNi-RaozBat8Q9gW7jFA5EHzZG__i2Ju75WFQG7Wx2poHws5es7zsbJmWmBZV7SSgI_VoHAYTkxLnf_-gZu17iVxCssPuSePlcCDmDwezhmLIsjRZgkhplN2IBhF_QACi__Xj4cuj8pnhrurkpR5H6Kr0UbZuCIcpWPIqeaqYn57PbR-1VObX8j0Ai2pDXYnWox4P1xSSgHrPdObZ5ngw_l1NrkjXudLL5VZKP6GJEmJTNDoeXSMsKYJeZwUJkqMkSuYIF45_CJ4dFpYtU2oHuCa3347gb6hLw4uwlAOVbT73PrvvWLFZg3fKm-kvx7KTGDLsI0plPOFzoF3thZhxSAm9hbWiezrHSAdqPbviio7QYQdJ_9BqvDA4YJ9VjrtpCuNvTtSBebDUloH5T1wSGub_poaGggOd-K_hmsbsZDZY6w-Pa_0unbund2mRCnrdlSRpHW9m6F7aud531mGhUPYP5Uc6dtmc3ic5ybnTraENUKuMuokwhDcsaOkBG1gLYoN6rw_7DF4F-vhet-bgsajszzKbtvQ1WSrYLcyV9l8puxhEb1q4Hy9LJ_eyUEknJEY9Gu9KWxrHDvYbUm9B6t1YRY0wNu3Rib0NhFFxUcBu_KXLFBC8feWAA==",
  "id": "rs_0cd8c2626f3e00d1016ab443ae1d0487d09ad89018fc5f9bde",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The yellow object is visibly resting inside the safe after release. I’ll retract and park the right arm so it clears the center, then use the already well-aligned left arm for the white plush object.\"}",
  "call_id": "call_pr7pBUuZIcjDRTvyMUG18Bex",
  "id": "fc_0cd8c2626f3e00d1016ab443af6db087d09ef88317493ebb8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pr7pBUuZIcjDRTvyMUG18Bex",
  "output": [
    {
      "text": "executing move_to over 26 steps (2.6s)",
      "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, 0.836, 0.6067, -0.6098, -0.0189, -0.0387, 0.9997, 0.001, 0.8089, 0.696, -0.4953, 0.0513, 0.0242, 0.9953]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2582 left_roll=0.0016 left_gripper=0.9997 right_x=0.2904 right_y=-0.0052 right_z=0.1943 right_yaw=-0.0576 right_pitch=-0.024 right_roll=-0.0102 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.1009, 6.9402, 1.6679, -0.0611, -0.0513, -0.0073, -0.0205, -1.306, 6.8171, 2.0098, -0.105, -0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff62b6033b85c0d0f6be2beda251873e4dbcc221fe4792bd0d59dad8a2b23ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07104d0145b8b7a28598e87c3e1182fae27eb94687f9fa53bd26543aa49b33c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5412dd26d6648250065c789ada4ded1b10f75dccef4028a31e346086745553b7",
      "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 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.831, 0.6067, -0.5892, -0.0189, -0.0383, 0.9997, 0.7975, 2.3047, 2.4458, -1.2976, 0.5026, 0.4774, 0.4243]\nstate[eef_state]: left_x=0.2639 left_y=0.0019 left_z=0.1319 left_yaw=0.003 left_pitch=-0.2326 left_roll=0.0013 left_gripper=0.9997 right_x=0.4225 right_y=0.3162 right_z=0.1962 right_yaw=0.0622 right_pitch=-0.3688 right_roll=-0.225 right_gripper=0.4243\nstate[joint_eff]: [-0.2256, -1.5795, 7.0906, 1.5458, -0.0562, -0.0269, -0.0073, -0.2393, -12.0684, 7.0085, 0.6569, 0.4811, 0.188, 0.8523]",
      "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, -0.5983, -0.0189, -0.0387, 0.9997, 0.8013, 2.2444, 1.787, -0.7918, 0.4889, 0.4713, 0.9947]\nstate[eef_state]: left_x=0.2622 left_y=0.002 left_z=0.13 left_yaw=0.0032 left_pitch=-0.2429 left_roll=0.0013 left_gripper=0.9997 right_x=0.4065 right_y=0.3056 right_z=0.0497 right_yaw=0.0515 right_pitch=-0.4466 right_roll=-0.2867 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.1556, 6.9812, 1.6044, -0.0611, -0.0611, -0.0073, -0.2393, -12.6291, 7.4872, 0.8278, 0.2662, -0.0317, -0.0269]\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, 0.836, 0.6067, -0.6098, -0.0189, -0.0387, 0.9997, 0.001, 0.8089, 0.696, -0.4953, 0.0513, 0.0242, 0.9953]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2582 left_roll=0.0016 left_gripper=0.9997 right_x=0.2904 right_y=-0.0052 right_z=0.1943 right_yaw=-0.0576 right_pitch=-0.024 right_roll=-0.0102 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.1009, 6.9402, 1.6679, -0.0611, -0.0513, -0.0073, -0.0205, -1.306, 6.8171, 2.0098, -0.105, -0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff62b6033b85c0d0f6be2beda251873e4dbcc221fe4792bd0d59dad8a2b23ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07104d0145b8b7a28598e87c3e1182fae27eb94687f9fa53bd26543aa49b33c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5412dd26d6648250065c789ada4ded1b10f75dccef4028a31e346086745553b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEO2zmIU_PCNEB9s_zcYR844uVBvlfrFlj-nYHOuw1dz4vzpW_VKWKtp3XnS3avCLIs1mf7cw4ShtZcnFfH3lY7PSo1NDVXHgcjiKNVifgJtTjnmzQwhgT1GQ8OJaANvNBLC7Cjt_-IP-UCN1gduytMPDBDPXCp0JtKD7LTHDRmGXZ1_MKI4Jfy1Q8DAELZpX_zELF7iVZIL7zUg3SP_T0yxRAeIx7SWtICIpMlz0-dK3nd4aYMrNW8QCKLV7l4ulD61oaGiW9sE0Z8LVvkBMPBGMsB9xV9DALugqpt-WXnQ_BCzebRufCQyuhgMYKDFtaarAFgpmebYXy-FpOE50iqJumbmqXMH6wCWyMwnWPYLvzOVYzG0ZCp7hnJOmGvJour6645aFcX8XMVTACEKAcwpGnuufG-m6eb6Z6uI6YmFH9klrG-5jkq20GJ2GKoQuHolIdnovLHBa7EFZ8R77aGmVfUn3jeB8IW7TnPrD5X0hn9_Ev6t6fjPofMxk63quEPVdwfMV4y6ggAYcqZeXMQntRelwfTebEphuszy5lXNqMQ32gaDmnD9GE2XA0j5Lm-Y0Ao-b-njrCOH16MWldCbnDL9Vrdk7Ke6ws8YJKsIYzDEFmt1TEWFtvXbMFQETb2NnOwRgRb2R8XPV23ps1JaoIzpZ2E9X49_SO8Eja23quLSvNdDUp-5c9HcLENNeR78fqIHZpVeNsU0OCyL-LzRdWfkKxwK9XrQJqoGWKC2DzIa4cR7rX2C-DiwtCbXkALYB39ziPplmYszk61jjBzLmQNFiQ-OHMKEv9P4C9EgR0fHR4amSTmbQiiW-hdnZjKgeYifXO7p5KBp4ND_Lt9iUf2ofNsEwcE-evsc7qlkLRIhsiwBcE0FMlE4B75eNbNjp58IQ0MKI3HO0y3GiF4tYERW243phtrJVnoXD22NCC_XkHcYAFI3ym_NAqXMWNkFRfZGUm2YUVcLMA2OdNKwcajwkwxnD7GSrxB8DkJzL-XJ9kwDaNZ-a4VWI6RsP7R6gUnc8xFLpeuyFNtHAMyo-oApmZwkefTX_8yNgxjh3s_h2N9eRbVJEhbMoq2VzypJ4W2bbvm7FNk8pcDvIerp6tf0B3C_dK_2Ll-waMFt_34SHHJnmmypWiKZ_n30wde-g1wUX-jE8n38_1fF1l4EeEIr1WqpC-d36VDkk5V5wMQP6KQ4GiSoDEG1rnfFXT3uiCS5je09WvJOCpgeSqQhUKmzKmdMsIFNk6EnjIJaQagFLFcKG5wPzSBhJVjLT609kiVThhonJxzBCe34RaJ_KX68XGjI-ny5kruzSmOqnDNlxxmu0_fP95kjTuZj_-CaHyuG3HHyOQ80DejgNufnRomP4my7w4wDe2YOFm-aYmwewValabmaAxcmkvs_hyY7wvTSzqx81zSFxCq2E0Yaiav_Bt377UFNmn_3kOVZ4mI5qlqqrxdIpx3nqzE86vUrlnOqn1kDfGpRZ7fSG3DnZSMH7q5nM-CCUwjzShqCwvg7Cd_76CVOJcL9avcufOn9AdpH-cmD9tLCsjJBSlb65aiFU8jdQ9K6_cG4GLqrrT2sq5jngwI27INCuRH7X1M04B2VB4Z0Vzs35266zmoYIdc9_ksvCeQ-hKP_nR321GKFpaGcjPEd6qkQEKixnOLkmALtp5iWuqkNAmDcbZbJQIoQQjneqRC51IHWA3IQww8dGJ5FJveR7OzsoMkIfKKobMWTICc1rkGcGKE9_DQ9b65BkZgvQGu6v_nrGabK6kmHS9IuE3wIOJ0Qy4rcue1JAlYjzejm6WB6YWt6zAcvpLDTZsZPjIChU-sWS5lMzKM_vSK-1AGQjq3FD-heI2AEkj-sUQddhZpsqc4ywOvaKrjhr5Uxu6qO0fsIaj7-stElOFn3NzgIgWf4NUu12Iiv",
  "id": "rs_0cd8c2626f3e00d1016ab443b3d0ac87d0aabd9173f37153e2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.02,\"left_z\":0.08,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The white plush is centered just to the right of the left jaw column and lies ahead of the fingertips. I’ll move the left arm outward, slightly right, and down to an 8 cm approach height while keeping the wrist straight.\"}",
  "call_id": "call_R5V02ElIHZtF6Wd5CUBFQgPP",
  "id": "fc_0cd8c2626f3e00d1016ab443b5870487d0b6ad65416c0cadbd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_R5V02ElIHZtF6Wd5CUBFQgPP",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1123, 1.2449, 0.4026, 0.1173, -0.0914, -0.0914, 0.9997, 0.0006, 0.8146, 0.6952, -0.5232, 0.041, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3277 left_y=-0.0171 left_z=0.0563 left_yaw=-0.0003 left_pitch=-0.1407 left_roll=0.0077 left_gripper=0.9997 right_x=0.2868 right_y=-0.0035 right_z=0.1868 right_yaw=-0.0421 right_pitch=-0.0587 right_roll=-0.0167 right_gripper=0.9953\nstate[joint_eff]: [-0.7316, -4.3419, 5.9692, 2.1172, -0.1587, -0.0171, -0.0073, -0.1573, -1.6205, 7.1179, 1.917, 0.0855, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7793c9e4c47c3bbca33fe18d8b36b80c433fd1b9d8e02c1db72c295b3d8f8655",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9b33fb26de358589a9804afda81682dca9ea3995b46bab655b7ffd16483469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a5663f20b4fa722154fb102e1e546d88ae4db30fbf66839223684fd8bbb17c",
      "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 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6064, -0.593, -0.0193, -0.0383, 0.9997, 0.8009, 2.2444, 1.8011, -0.791, 0.4938, 0.4744, 0.4279]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1308 left_yaw=0.0033 left_pitch=-0.238 left_roll=0.0017 left_gripper=0.9997 right_x=0.4099 right_y=0.3076 right_z=0.0546 right_yaw=0.0509 right_pitch=-0.4321 right_roll=-0.2775 right_gripper=0.4279\nstate[joint_eff]: [-0.0342, -1.3333, 6.8308, 1.5018, -0.0806, 0.0073, -0.0122, -0.4444, -12.8205, 6.8308, 1.0134, 0.2369, 0.0073, 0.6764]",
      "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, 0.836, 0.6067, -0.6098, -0.0189, -0.0387, 0.9997, 0.001, 0.8089, 0.696, -0.4953, 0.0513, 0.0242, 0.9953]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2582 left_roll=0.0016 left_gripper=0.9997 right_x=0.2904 right_y=-0.0052 right_z=0.1943 right_yaw=-0.0576 right_pitch=-0.024 right_roll=-0.0102 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.1009, 6.9402, 1.6679, -0.0611, -0.0513, -0.0073, -0.0205, -1.306, 6.8171, 2.0098, -0.105, -0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1123, 1.2449, 0.4026, 0.1173, -0.0914, -0.0914, 0.9997, 0.0006, 0.8146, 0.6952, -0.5232, 0.041, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3277 left_y=-0.0171 left_z=0.0563 left_yaw=-0.0003 left_pitch=-0.1407 left_roll=0.0077 left_gripper=0.9997 right_x=0.2868 right_y=-0.0035 right_z=0.1868 right_yaw=-0.0421 right_pitch=-0.0587 right_roll=-0.0167 right_gripper=0.9953\nstate[joint_eff]: [-0.7316, -4.3419, 5.9692, 2.1172, -0.1587, -0.0171, -0.0073, -0.1573, -1.6205, 7.1179, 1.917, 0.0855, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7793c9e4c47c3bbca33fe18d8b36b80c433fd1b9d8e02c1db72c295b3d8f8655",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba9b33fb26de358589a9804afda81682dca9ea3995b46bab655b7ffd16483469",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a5663f20b4fa722154fb102e1e546d88ae4db30fbf66839223684fd8bbb17c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEO5C6vNGjIr0xq2ZRoJ2JLh_7_Pqf1GyHNy8Az8LFl-FFMCwiFedJcZ5QfaXcJbICR_UDO5Mx8HahDnw2xecE2s9wC40oGSIUosJW6mQ6ULJUz7R9oQ918vcfWnOOSrmRdKz99n4CYRS1CSY_jO0XvP6VddIRDLt303u0tL1g7Ek3wPo_qvXKn8m9oq8QeD3_Rz0GhaP-4_crut4diemVOdzEW8HUtTCENa9na1QiLA5ue82q3TXxfac_SvgYPmPPmqlDC1nNN3nnwcLI4xs18DzQKw90Y1vj9LipyuFDJ4QiBNCleh2v3MHG0wGu3WQmfVQGE8r5rNd5fKYuBC3CpdloqCEkYgmFCmMCR8JU2glNosBj5t_rM6ZxuV0zbQ8hhA8zZyFz46mg87VDCQeu8wir7RRB2Ps6F6K_HIUd_FMoooAdcy--V60D_EsuguE6VTIV-LbyvanUI71MaLGYbUa33jm7aSxfQrHFbT5QnvPSh3pfE0QwEfR1mKp_sCVbJO7CNxYvGPTotckb29_A0acnyI7CJaJl6E_ZoBk3wlPdZhZvSp2953pLL1AsTzirJrySEJnu1pRjeRuqoiFb_tQ8K8gVf0R7edCCrMc0NVhuKit5iKdm6vQFxCQHDc2SIcKPGkPYPS1WucYbr3zFSucp749ppm8J1hm6Q05CCOf0x1oDs0gMNgqdDl4EUz7HiHZSeK7ySLEnshr0YYeV6xnfl3pcY-eCKR_c08aVLkqkT6tcMIXdk03oxNjEmXZiLJZNAncWc341OkQmX-Zu4L00o3B1R6jyyVipGlsA8ia7ZtnrfJp7UFOP2jKvvM5S3KyDRSEMguF-qupzn4dm3N-HTwbrnWITWbg4FCG0VYUMf3vA2UYgbG-vATS2YExDcOfbAonpz1QM3axLGhhEgRH7h2Z0NXVOyOlnnZW8YYrpIEOZZc67NA6GDc7HWsK5dRz2DQcwncmOjir2kQUdMKb8CUJFMNvJeY3d7Aw0KQF19Wp5-p1UVtVA9K5Q7G4MwGX32s31xcAj0MBBL7XbxTIywi-soGKLAfdthzRS8Y6qw72CE3Jpx132o4YQcIh2kXfgap6ezAL1F-VIbdvW3B3PcH74WCujv55fATTLB8voAwyieyQY-Msjg6c6fSsIVaDSyzwkqYLgltGL0akPFGKEGOu_PSYBDJFkU5pv_J-qXlKvwWgyfiAx1TW8jk9eR0gmjRtvBdEUk-HWwIL6TzVjm_NJuk0OTgZ-DPOOClGEQCEOXbcG_vxPQjs9OLSj9guGxG4D66qnW7sBy5mgLE7V8lhIAjQGPehKCcxDFh6tfrrgYQnrP1jGWEtx6zbYYlQF7X7dpgQgqxgPz7de-um9YElfM7c68c53x9nVgw2V-vu08Wx-3nvLRb2jLYP0OPGpOM9vWeeyQPp_07vGJpzHcm6C_rTt0qHl_UwJUPAApvnewmscxZueYkfLAXj0PkMxnBZpMoQeRo9NxsA8c4_lpPIke1f3WYtz7f9BfeQaddjr9VMLU3DXaqlonb5ASuW0DV_5DNwyBvv4njYAFGXg==",
  "id": "rs_0cd8c2626f3e00d1016ab443b8560887d0869486f324654e0d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.055},\"note\":\"The approach brought the white plush to fingertip depth, but it is still far to the right side of the left wrist image. I’ll slide the low open gripper about 4 cm rightward to center its body between the jaws.\"}",
  "call_id": "call_scjTc7CksfCHdVWelq0jG7vB",
  "id": "fc_0cd8c2626f3e00d1016ab443b90eb487d0b56934b0b2323925",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_scjTc7CksfCHdVWelq0jG7vB",
  "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]: [-0.2806, 1.2762, 0.4004, 0.1219, -0.1852, -0.1822, 0.9997, 0.0006, 0.8158, 0.6952, -0.5491, 0.0406, 0.0074, 0.9954]\nstate[eef_state]: left_x=0.3214 left_y=-0.055 left_z=0.0482 left_yaw=-0.0387 left_pitch=-0.1574 left_roll=0.0073 left_gripper=0.9997 right_x=0.283 right_y=-0.0034 right_z=0.1815 right_yaw=-0.04 right_pitch=-0.0858 right_roll=-0.0203 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -3.4256, 8.5538, 1.5897, -0.2711, -0.022, -0.0171, -0.0615, -1.306, 7.1179, 1.9365, -0.022, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4093faa748d59cc878d0da411ddfd10dc6ded1fafc8bbc618140f2301b4e8e71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2a852099d2438f0a214da26e09322a92f659ec3bdff65b2b3ed49b802858f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1552f211285b92b55a2037cf11c3d50209c2703b57e3db0555f35f754bd47f",
      "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 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.5983, -0.0189, -0.0387, 0.9997, 0.8013, 2.2444, 1.787, -0.7918, 0.4889, 0.4713, 0.9947]\nstate[eef_state]: left_x=0.2622 left_y=0.002 left_z=0.13 left_yaw=0.0032 left_pitch=-0.2429 left_roll=0.0013 left_gripper=0.9997 right_x=0.4065 right_y=0.3056 right_z=0.0497 right_yaw=0.0515 right_pitch=-0.4466 right_roll=-0.2867 right_gripper=0.9947\nstate[joint_eff]: [0.0068, -1.1556, 6.9812, 1.6044, -0.0611, -0.0611, -0.0073, -0.2393, -12.6291, 7.4872, 0.8278, 0.2662, -0.0317, -0.0269]\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]: [-0.1123, 1.2449, 0.4026, 0.1173, -0.0914, -0.0914, 0.9997, 0.0006, 0.8146, 0.6952, -0.5232, 0.041, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3277 left_y=-0.0171 left_z=0.0563 left_yaw=-0.0003 left_pitch=-0.1407 left_roll=0.0077 left_gripper=0.9997 right_x=0.2868 right_y=-0.0035 right_z=0.1868 right_yaw=-0.0421 right_pitch=-0.0587 right_roll=-0.0167 right_gripper=0.9953\nstate[joint_eff]: [-0.7316, -4.3419, 5.9692, 2.1172, -0.1587, -0.0171, -0.0073, -0.1573, -1.6205, 7.1179, 1.917, 0.0855, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2806, 1.2762, 0.4004, 0.1219, -0.1852, -0.1822, 0.9997, 0.0006, 0.8158, 0.6952, -0.5491, 0.0406, 0.0074, 0.9954]\nstate[eef_state]: left_x=0.3214 left_y=-0.055 left_z=0.0482 left_yaw=-0.0387 left_pitch=-0.1574 left_roll=0.0073 left_gripper=0.9997 right_x=0.283 right_y=-0.0034 right_z=0.1815 right_yaw=-0.04 right_pitch=-0.0858 right_roll=-0.0203 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -3.4256, 8.5538, 1.5897, -0.2711, -0.022, -0.0171, -0.0615, -1.306, 7.1179, 1.9365, -0.022, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4093faa748d59cc878d0da411ddfd10dc6ded1fafc8bbc618140f2301b4e8e71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2a852099d2438f0a214da26e09322a92f659ec3bdff65b2b3ed49b802858f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1552f211285b92b55a2037cf11c3d50209c2703b57e3db0555f35f754bd47f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEO8jNBuEacSeef7E2B7eJRf3G2hi7nZPlkdSGsEjKbfRGb-ob9iRAQ-3HMXrgE31HP2A6vfNkdVv3748L9IKpEMll4gHdI97u0YZhyYQq6OX_qdzAb8iYmANO1G5klNp9SW7rtmsZHECOKTc_4yj9tURHwYBw5uQElrkLdU9Q0enY0aM822wZjpWxb1xFr5FMkUrhGN2Rdc_5iICbc7u8H2-Q6YKaVvd3BFBz6bUGf4dhTHh5cPqI16RyjDkIK_ig6YPlUKJQv4zjweeKeoHhG_0RV45kkPgrVordHOhknNh9E2TrU8wEyKLvuJB310py3jI3NShk8axl_it2Tc1q7KeuSV4XgMhntLOzYOeM-dSsYfq_I7JsQctNrzegMpCxSq_lvmhQGUGbNMA3qNAaJ5Yeff2VfwvrfeMvLAdT1ufs8xuaPYeVMdrrkBT6o4yOsDsSHydMx86G1qZLYCYxZu2_WNejecQNZG2balRprp8nrP5EK6tFAE_juYAlnM6NiUpSxBZTsJZ8vpbm10E0t14POCxUWcK-Z9W8HFu7BdRKlIyjFOqbhN1eb5DeiXsPH2fCmd6pO5dolCqSa-vSjagThtDlsz72yjVNGCG8Pns2nNmEbzrot8l12XtzvnFMy0IBxE7RRUWQVmcFbb1412GoUU6L3dvx5u0VLO4OtnfWXK_k2WyHbiDd4gyY0ZINiQG9_0ypZMp3vJ2p-SZp0-fdj4zuQHGMdP815WRp-xKkf3515veiJUoXYWEVxyFBvkucmRlIlduHHYMv9pSypIKNfEtmgH4bJMZi03HmGXlULURVeiTICe0MLCdVW9kL7fqjd0r8bvK76PwalmhLKcVEAj7f_mP5A940vhQuXaDkSzYOA1gDidPcBZlcQ6nSNiNi0kPNkWyIaT9j4FveByriSDvDpwRzBc_IO12DobqNDULPvF_SzIbk1zVDWt3aRvvWt8RYkOBL7pXwJuxnFEj3BXRC_6V-mj__qxXYMspkukpAFX0-PrZtNeLv9K3UqZ48Xl82skJpbXpC8tMHXs4TEVkIUmnqLK9gfHYKwfMeinHYugwqUAXW4HAqtQRGa_0JwsCfNSFV8nHAKiONXzVPXB0aSrkMdMKk9qdwcQktlDvXWB5h8IBSjTLWITZKlzgyM1p3LRHWgBFu7EY3NVY4vbV7RUnnFhnChHLftrRsQ9g9_MawG54CWZXyN2QgGp520IZOZcqv7VjBi02i09qL-mNR6s85Yw8xy3n8Rfh0yZYynAMXOuPZaQ4VGC_MAKv_k5PnNfVbBdAZxqsWYUV0n4-Z5fyD78ladjikrFvPuVi6xfySH2QAWyTEQUqO1IhVLz-W0bilGVfnQmr80EFYEyhGs6idHp5X-fOjAHrU1FzA7NkWo6d3IyVwvBw5F1",
  "id": "rs_0cd8c2626f3e00d1016ab443bb533887d094f8f201d1754f75",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.085},\"note\":\"The first lateral correction moved the plush substantially toward center, but its torso remains about 3 cm right of the jaw column. I’ll make one more small rightward shift while holding the same low height.\"}",
  "call_id": "call_J3FgWdI2KE8TZMjYJYWWOwU9",
  "id": "fc_0cd8c2626f3e00d1016ab443bbec1c87d08ca21cc8a0cdfe7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J3FgWdI2KE8TZMjYJYWWOwU9",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.2903, 0.4084, 0.0952, -0.2222, -0.2192, 0.9996, 0.0006, 0.8177, 0.6952, -0.5697, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3168 left_y=-0.0629 left_z=0.0432 left_yaw=-0.0331 left_pitch=-0.1819 left_roll=0.0139 left_gripper=0.9996 right_x=0.2799 right_y=-0.0035 right_z=0.177 right_yaw=-0.0401 right_pitch=-0.1083 right_roll=-0.0218 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -3.4667, 6.106, 1.7314, -0.1099, 0.022, -0.0171, -0.1026, -0.8, 6.8718, 1.8291, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a8a5fbf1fae8fb7646f7d459e0abb9b610c5d17e0ac1dbbdc300737ebe852b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1418f9f18fbebd22477d10280ab7eb0d6f5688c0205d14f42fa94259a85cd84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7640b8a9f5417b6e122e137bb076f3518e5afc49430f048f868282d35fc30081",
      "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 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6098, -0.0189, -0.0387, 0.9997, 0.001, 0.8089, 0.696, -0.4953, 0.0513, 0.0242, 0.9953]\nstate[eef_state]: left_x=0.2602 left_y=0.002 left_z=0.1272 left_yaw=0.0033 left_pitch=-0.2582 left_roll=0.0016 left_gripper=0.9997 right_x=0.2904 right_y=-0.0052 right_z=0.1943 right_yaw=-0.0576 right_pitch=-0.024 right_roll=-0.0102 right_gripper=0.9953\nstate[joint_eff]: [-0.1983, -1.1009, 6.9402, 1.6679, -0.0611, -0.0513, -0.0073, -0.0205, -1.306, 6.8171, 2.0098, -0.105, -0.1294, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2806, 1.2762, 0.4004, 0.1219, -0.1852, -0.1822, 0.9997, 0.0006, 0.8158, 0.6952, -0.5491, 0.0406, 0.0074, 0.9954]\nstate[eef_state]: left_x=0.3214 left_y=-0.055 left_z=0.0482 left_yaw=-0.0387 left_pitch=-0.1574 left_roll=0.0073 left_gripper=0.9997 right_x=0.283 right_y=-0.0034 right_z=0.1815 right_yaw=-0.04 right_pitch=-0.0858 right_roll=-0.0203 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -3.4256, 8.5538, 1.5897, -0.2711, -0.022, -0.0171, -0.0615, -1.306, 7.1179, 1.9365, -0.022, 0.0171, -0.0073]\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]: [-0.3279, 1.2903, 0.4084, 0.0952, -0.2222, -0.2192, 0.9996, 0.0006, 0.8177, 0.6952, -0.5697, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3168 left_y=-0.0629 left_z=0.0432 left_yaw=-0.0331 left_pitch=-0.1819 left_roll=0.0139 left_gripper=0.9996 right_x=0.2799 right_y=-0.0035 right_z=0.177 right_yaw=-0.0401 right_pitch=-0.1083 right_roll=-0.0218 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -3.4667, 6.106, 1.7314, -0.1099, 0.022, -0.0171, -0.1026, -0.8, 6.8718, 1.8291, -0.022, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a8a5fbf1fae8fb7646f7d459e0abb9b610c5d17e0ac1dbbdc300737ebe852b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1418f9f18fbebd22477d10280ab7eb0d6f5688c0205d14f42fa94259a85cd84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7640b8a9f5417b6e122e137bb076f3518e5afc49430f048f868282d35fc30081",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEO_g-zqfHh0QkZZ-8De4RLM0CfsslFL6YrVJvsa0qIeOQgL4tTiT9Wfx3fJCp7wHUwLpfoJuNzXKOO-48xoUQeC06ZnRBC9BGBixKNMNE8ZDIkXjbu1VP2SPpzaIa-hiowESNWa2YI1QcsvIZVVZuDF2LRCaCR_Ide0pqx_WMdHcDFdtoNidMvK64Ra_D31G3kIChDW_7VxRiZabU8XTPd7yPrq02HpiRLL-yLbvqs17n0tH1WSQ6c_75tmrTiNxb1N0AVKUvAd1SZGDCblHhOOkedoM1Fs4WaLzsws47tNodtsV_-yUzJ0MFzVBJYseDMM--9ZdMDGVV0lVB-LR3kdY0M2KKDC6t50fO-YiNqgOn2lXRuH7Du5Eo0LIakqO2BL-Qh5q_8s1QYSlLal0CInGHYTSiNCsKy8blYTITxy-eX_E6UkXETvyc8vUEYQAdbbG7BzIapHwNVhEn39RGGXbEgxFbL0wrwwTTgHbgHfrwSevmsPBf69yPnm-lC99_Jm3HzfUI8uAkmh07U27X-D4Gh320eY0tkgE9Ajnnbk6hqY4F-ieWlnxrh5lPHQxTpXNxO2k-JrCYcFCtUOYq3R2X3H_fDN_0mrlnjynvDyHaLNOkznstHbNBDDsodxYzSB3upnGpcfg1GdrQ_rAFBiBPqs_47SKpL8c7Q8T8DbBVFSkoHP4W4AjjcjLp312YXdFZM778UDDzxYLzTe99q9WKaNUPuwvsojCZrJhMDGqdBOFvf1bR-T7r1oKzdlZ2lZEKP34Io9FSLq5wmuwiKBu0plZx7QR7iC1FU96Mggayg5VcDnbHh1OWsjRJyBn3O4AcVmzL5HSwG-AS0WtzdfJ2Fz3L40K5iN-3Gxb0BMTmjP5ih7olop4FJ-cEnc4nV7wv63KjHWup_OYXZtDSUIOvigiAHV0PZ4J7gtrdByt0osCCy0g4oKmGyoc-Hv2dD-_eKz-P_YUVOJ7mknWdryE_DRTcIZ20QDuMUugTublVKBlFpPAzGtAU_2uXxYEX2TynWXUSiGAz-nD7REP-wk0C8LfGa_5hqqde_tN-qMvxS6z06wiDnl-erNXcctXHOYGdLRifn8MTss2XVwpnz37Wo23nHmwgbPS0cpHjtzCu8nJBlgQtEM_edqS5Yta7l61Gt6UgXh0jghWcy8vQ59o5RoLF4vHuZblOxLdhV281SDq1Re4d6-6HtTvGz9-Rr1Z33XXQF1VsgzAVk1q_YFNq-PKVRwwcSNxucXIXKEBn-fW_KI3X8HODhXFTeEycba6163-8UU_MzeD1QM6VuOTC4ghTEsUOjMGjvjcwBhduLOn-IOYYXcfMicdMNtObaIrZlM3Sk9DNwc7GenO88FWqF43--NKbqjjpL0A3mriTB7F7bNryD0NWcPTOv0xd-Z3uGj8KydJLfYdgIX6EYgCzVdD3CnhzTIZeD7arc0xk-0x76aF-zJXnVmvB8mNSZ2Mfw7R371J0UYgCMQR85k2Df2Ok_CD1umR7MUlP_QdXsqDJ0aDBeCcWYBefRLmt8_",
  "id": "rs_0cd8c2626f3e00d1016ab443be257c87d0be1faaa508a7d914",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_y\":-0.1},\"note\":\"The second shift stalled after less than a centimetre, likely because the low wrist is pressing against the table or plush. I’ll raise a few centimetres and continue the rightward correction from a freer posture.\"}",
  "call_id": "call_SOrg4rx36VFhJr7yNLJcZ5YV",
  "id": "fc_0cd8c2626f3e00d1016ab443beefe887d083e5903dbc4b17ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SOrg4rx36VFhJr7yNLJcZ5YV",
  "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]: [-0.3279, 1.2915, 0.4084, 0.0959, -0.2222, -0.2188, 0.9996, 0.0006, 0.82, 0.6952, -0.5911, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3169 left_y=-0.0629 left_z=0.043 left_yaw=-0.0333 left_pitch=-0.1823 left_roll=0.0143 left_gripper=0.9996 right_x=0.2766 right_y=-0.0035 right_z=0.1724 right_yaw=-0.0403 right_pitch=-0.1319 right_roll=-0.0228 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.8359, 6.0786, 1.7216, -0.1001, 0.0171, -0.0122, -0.1162, -1.4564, 6.9402, 1.7998, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a814be67169106e90fb3f92ae091c2834e2eaf02ada84a4e02910b6167e4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3be585e3be0e751a5348cf7d0ed3635e38f5c343c8250bcf9cb4a4ebb44b9926",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44162960fd2c66923cfef3780d53b6ebe35dc8260b1e3946903c44160f9e2606",
      "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 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1123, 1.2449, 0.4026, 0.1173, -0.0914, -0.0914, 0.9997, 0.0006, 0.8146, 0.6952, -0.5232, 0.041, 0.0109, 0.9953]\nstate[eef_state]: left_x=0.3277 left_y=-0.0171 left_z=0.0563 left_yaw=-0.0003 left_pitch=-0.1407 left_roll=0.0077 left_gripper=0.9997 right_x=0.2868 right_y=-0.0035 right_z=0.1868 right_yaw=-0.0421 right_pitch=-0.0587 right_roll=-0.0167 right_gripper=0.9953\nstate[joint_eff]: [-0.7316, -4.3419, 5.9692, 2.1172, -0.1587, -0.0171, -0.0073, -0.1573, -1.6205, 7.1179, 1.917, 0.0855, 0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.2903, 0.4084, 0.0952, -0.2222, -0.2192, 0.9996, 0.0006, 0.8177, 0.6952, -0.5697, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3168 left_y=-0.0629 left_z=0.0432 left_yaw=-0.0331 left_pitch=-0.1819 left_roll=0.0139 left_gripper=0.9996 right_x=0.2799 right_y=-0.0035 right_z=0.177 right_yaw=-0.0401 right_pitch=-0.1083 right_roll=-0.0218 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -3.4667, 6.106, 1.7314, -0.1099, 0.022, -0.0171, -0.1026, -0.8, 6.8718, 1.8291, -0.022, -0.022, -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]: [-0.3279, 1.2915, 0.4084, 0.0959, -0.2222, -0.2188, 0.9996, 0.0006, 0.82, 0.6952, -0.5911, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3169 left_y=-0.0629 left_z=0.043 left_yaw=-0.0333 left_pitch=-0.1823 left_roll=0.0143 left_gripper=0.9996 right_x=0.2766 right_y=-0.0035 right_z=0.1724 right_yaw=-0.0403 right_pitch=-0.1319 right_roll=-0.0228 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.8359, 6.0786, 1.7216, -0.1001, 0.0171, -0.0122, -0.1162, -1.4564, 6.9402, 1.7998, -0.0024, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32a814be67169106e90fb3f92ae091c2834e2eaf02ada84a4e02910b6167e4b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3be585e3be0e751a5348cf7d0ed3635e38f5c343c8250bcf9cb4a4ebb44b9926",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44162960fd2c66923cfef3780d53b6ebe35dc8260b1e3946903c44160f9e2606",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPDlYGbGujZN-zqFD_j1uBcOOCt4aim2o9IwVDt137yFDIZuPGKLF37JijYeHIzbWQ0BCNWEH_9X0nxGEcVQlbTVdk2g5ScMFTzfAWwWixIkhHGFfwPgZqukhCmyzXOj7YbbE49Fks1IY5EChD_NRBpEkjFEfmapB8CK_ewwdkV7qRoIZmYndPgwo5Ic5dchBZ0D1bABwqDjQjbAP_B2gYKCu7jcfYRqo33v9yt7apyb_O_dM8pB2iJMjqSGgczI9uVLYCtaAfWARBsLnZ3lJYmjoRt9gDzvGFPwktVNVQErmzfG9c6LETi9YAi7pyJYQRRZsgDEgE9mifaO5iwHD3CnerOZAR8WfZpBs177yZ6WlDXYthhIOran2Dvtzp4h2tJmnIkIow1QhN4blyx_SgUPbjr_Oas3s0AjaBNQnA03twLn_b5_6fl28OB2f8HG4orVeXdjhJbXzq8i6v9EiNNBo0GCGh7uo6NoCbPJdfGqlJFAaqmPI06mwjqU5GnETfmceenjQp27pDYTBO1c-6x8BSgOr1mz9dAF7dSTiEvj7nwcHEdxcFK1T1I8ALujDqKlyfu2nNZwlX64x-th-4ENJHaaOpr8vGihQtnaHQYmrRoTAqYsqqncoBf_LMigVRQdT5dpcQvQytJ4zwsuK_I2EDkOEtXPvMXDou_aCLUODMMPRWwjALc_oBqiEV82rl9DS7tD5__dOvOQNgU6HAMc8MSh7fYsNOnPkCriGYJmFyZM-H5PuiJ6ADfs9RCn28THoXuuXWNqmxvLcSAMGRpdy1MXAxopTchFXIyESCnUxnmZeidmxEnPDlZ1J4s5wSaXQCzpunVXcv239dleV0Eoma3xal3DniwSxf6VZP0FwzF-v6zehdunQRtV3IH2G-rUNYaDFi0rW2Jtsw14X9HN7r_ZpytKRxrqNhLAaqPcC-pvRcl9sxaEXIxy-9WgxSOy-eQM4aFUVPX0cQuN3ER0yS9cMjO7lDtr61p-Kr2DMQvZJ0dBY36wd38Wz49Pb_pudJlyoI8YmBMpzphgXFFcr9dQnXgxigIBk4kslGdVFXVX8orPouggxWs05eRVio5EQcRlUe-f5JYI7tncVWtoy3GVUYj_juivntdaREt4iIVZvzmxbvui8iaOwJBqARJ0AkceUR6cUwO0HiVFoMSC52wDDV7vSsHPvRy6fPt01NC_IXzQp4aKrYfOM9yeN-6JyR_GSz9kgumBTod7Bd-F8gXaU8bDADb1WWgsIZuDKGk87YUeYiAtCrzqP4xYVajjgYU85GT6x9ovph3B9uH48Pc_RjrJqZBfYCdDUIFfLSGnDXQsidfp2pcU2I-4JrPqeGh0m4RVw6i4pgw6hDDhJzOHYq-k3FM5vG7jUbQUCfyo8z1g56B1X5NW7Ptd5Yyhato4qjLatKm7adG6gswTebVpkEc2i_J0SA79syhczc2tkohKn2qbLCxItOtdzQmOvcs1MZH9DqZREk0BT2h4h3AXvle7DrHyHfMw1zIkGPwtSrmx3jHQRRD0ugIa8St",
  "id": "rs_0cd8c2626f3e00d1016ab443c13b2487d095cc8878a856412e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.1,\"left_z\":0.16,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The arm is fully stalled in this low configuration, so continuing to nudge it will not help. I’ll retreat inward and upward to reset the IK posture while preserving the needed rightward offset, then make a fresh approach.\"}",
  "call_id": "call_WxwXqmw7155BWyet3QzeIn4Y",
  "id": "fc_0cd8c2626f3e00d1016ab443c2305887d0a46b5a3ba82f8d3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WxwXqmw7155BWyet3QzeIn4Y",
  "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]: [-0.8154, 0.8249, 0.556, -0.2764, -0.5373, -0.4885, 0.9993, 0.0006, 0.8234, 0.6952, -0.6182, 0.041, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2623 left_y=-0.1414 left_z=0.1838 left_yaw=-0.1193 left_pitch=0.1126 left_roll=-0.1489 left_gripper=0.9993 right_x=0.2723 right_y=-0.0035 right_z=0.1666 right_yaw=-0.0402 right_pitch=-0.1624 right_roll=-0.0243 right_gripper=0.9953\nstate[joint_eff]: [1.6068, 0.4718, 6.4205, 1.0672, -0.6129, -0.0659, -0.0513, -0.1299, -1.1556, 6.8718, 1.8242, -0.0024, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e6817f80713b385fa78afa24b9ead19f63027d2228b4e7d79803e6679e8823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e783599f1011ec3468666b58110c66de9685f038b97dc959bebac7e1feac247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d14dd822fba30393814a0407c1cb2dfa31c2a392eb072bef1638730563cea4",
      "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 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2806, 1.2762, 0.4004, 0.1219, -0.1852, -0.1822, 0.9997, 0.0006, 0.8158, 0.6952, -0.5491, 0.0406, 0.0074, 0.9954]\nstate[eef_state]: left_x=0.3214 left_y=-0.055 left_z=0.0482 left_yaw=-0.0387 left_pitch=-0.1574 left_roll=0.0073 left_gripper=0.9997 right_x=0.283 right_y=-0.0034 right_z=0.1815 right_yaw=-0.04 right_pitch=-0.0858 right_roll=-0.0203 right_gripper=0.9954\nstate[joint_eff]: [-0.2256, -3.4256, 8.5538, 1.5897, -0.2711, -0.022, -0.0171, -0.0615, -1.306, 7.1179, 1.9365, -0.022, 0.0171, -0.0073]\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]: [-0.3279, 1.2915, 0.4084, 0.0959, -0.2222, -0.2188, 0.9996, 0.0006, 0.82, 0.6952, -0.5911, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3169 left_y=-0.0629 left_z=0.043 left_yaw=-0.0333 left_pitch=-0.1823 left_roll=0.0143 left_gripper=0.9996 right_x=0.2766 right_y=-0.0035 right_z=0.1724 right_yaw=-0.0403 right_pitch=-0.1319 right_roll=-0.0228 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.8359, 6.0786, 1.7216, -0.1001, 0.0171, -0.0122, -0.1162, -1.4564, 6.9402, 1.7998, -0.0024, -0.0464, -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]: [-0.8154, 0.8249, 0.556, -0.2764, -0.5373, -0.4885, 0.9993, 0.0006, 0.8234, 0.6952, -0.6182, 0.041, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2623 left_y=-0.1414 left_z=0.1838 left_yaw=-0.1193 left_pitch=0.1126 left_roll=-0.1489 left_gripper=0.9993 right_x=0.2723 right_y=-0.0035 right_z=0.1666 right_yaw=-0.0402 right_pitch=-0.1624 right_roll=-0.0243 right_gripper=0.9953\nstate[joint_eff]: [1.6068, 0.4718, 6.4205, 1.0672, -0.6129, -0.0659, -0.0513, -0.1299, -1.1556, 6.8718, 1.8242, -0.0024, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e6817f80713b385fa78afa24b9ead19f63027d2228b4e7d79803e6679e8823",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e783599f1011ec3468666b58110c66de9685f038b97dc959bebac7e1feac247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94d14dd822fba30393814a0407c1cb2dfa31c2a392eb072bef1638730563cea4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPGiS3M6sEib2GOTBRl8SAY7XHE2nUMUEuEamzYFoacoIh-b10pB2uCrYdR-v2-fvCj1wR_N8VM4HubIVf1lUfaEjfORC3C_9FbJVcxl1vf_ZgwCWnwO2ar5RTR7VyJysRP-0axQwFRn1PEgmD_huDn2ZHGe8m5XVqxk_lhaMqBzSjYHy__tQJQRaYl_yYzox6h2Xk2oOOd4hquYGUnSILSk3g5fn4QpWtHrRD9jpKCUyEGopkyKFpIwEqvsza5jDcaLc9ac2hPDSaxkmUJpRnWgN-_A83228QfWtWWCU_8Syf_Ry32IHPQc6Bv8YVB9eviTQ9B1zc0zbmHGbKraDRHBHgERiXxN6x6C6AMBxboxNIPehXJTQclpkWjbNiLR4ASL-n2ZsyltSW1pQGtTJJMw0F91pQrI0tOAIPo7VWX1qkVrfYXfjPeBG3p7jDbwtjPFVh9NQM9nzwVhdH8hqwfONxTOm1BiFGipjgsMY8mZwQBas_9sB4kjUh2PFxArJfI-cs0Hh2FoN3C6lGA5rvUHpYzRaJD97FQTqezbxFwol4hdqMdYQyHgfrEeh_cenVP3FVxlKjHQa1Ce3oryrNNkgkHCKUiV5_M0clLgdntPosWrJE1eTzXi2LBstDcGiGZ9tFKRAZlMtrHfOi19yypqb6b7v3Zjz8jsbfXQKFXlVrKJoJNgrx_kCLUfFBAYIEOjYSm4Z66pm0OcaetRuReV-yCu462l8do-UdxOM3ckJhsura1gZmA1DLw2uFxKNpNm2ZIUy_vpdEqcsdHovLfXupTfBlF5FUt6iLbG_5rFZE8aCnT_ZxsF_y35bhbt5urtTkao7qbBJjMsZtzNHThP0bqMte0Bam_zxUHXV2AdpUOUn93I2LC1RQWbaub7pdaXUHBrkrBB92xg9keZuMRMOyyQqRki6dODfuHLaMpdwpfLx7vK58UlcL_jtWN7-15BSmCHWofjoBWlwjK_YUaskeUTBjpqPQ7EnTuXJDP8L8BIBJh79sbpgYKwWP0lmdGpV5vXo1It-NL-cO12TGYzfX5kafZDaqKWvnQNE_oDSfsg4FD0BIPjaODM8az-EjJnj9qQ37FZwZlEy7Jh7NOVu2_xbVNv2-L1QYl5D4cZfB48OB9_5nKi9so3vncH4xyAlqLVxgqz2PaHJaxR0EyFRicERXRIc0UzuZhfUPUhkI1y3HRG_FdACRYyTpTZgjCla5a3itdgTzcHP9vSPx3e0QfPXTWdxmDhoVqfHOD_JCGLKtj4eE_0HQHIspc3RIFgXa0R-ttkpw890oeGNxLPhqaZe-xZUD7sr7pH_7kARk2QexVzCR3BbJLASwV_cjsJ8hISe7WBPt_P7ComdbSiI7xHqkTF-491x7utU-OYoRhv-EdtEsuafT00AKaLLt3EYUNVmyRxyPAZutfikBAyy0iD6Wy77dXTUmR8Al2VSuId-FuelXwj0_W94Owlgj4tcMkbINZs02DcEoQ-KUbjBy_IEKMU90w2Rp2AKZaD70maOqVSWQq_ZnfF0VpuiHi86ffm4aoFi4J856JeFy3Z36g5uVD3sJ9HIqmY7HJ6R0rtmmQHbiq3mke682BQdu6fAQz4P_d9XDBBXWoiCbAaW4rApuG4HGOq7BAk0bYWi8=",
  "id": "rs_0cd8c2626f3e00d1016ab443c4f4e487d0b0899b167928e52c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.08,\"left_z\":0.09,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The reset freed the arm, but it overshot to the right; the white plush is now left of the jaw column and close in depth. I’ll re-approach at a middle lateral offset and 9 cm height from this comfortable posture.\"}",
  "call_id": "call_GtlChcg3jVNNzStGWZODtuHH",
  "id": "fc_0cd8c2626f3e00d1016ab443c5c79887d0848922eba2d7a1de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GtlChcg3jVNNzStGWZODtuHH",
  "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]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4641, 0.9993, 0.0006, 0.8284, 0.6952, -0.6388, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0676 left_pitch=0.0433 left_roll=-0.0888 left_gripper=0.9993 right_x=0.2691 right_y=-0.0034 right_z=0.1616 right_yaw=-0.0401 right_pitch=-0.1879 right_roll=-0.0251 right_gripper=0.9953\nstate[joint_eff]: [0.0615, -2.2906, 7.4598, 1.9463, -0.0952, 0.1392, -0.0171, -0.1573, -1.6889, 6.8171, 1.7509, -0.0171, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d2b75e38cd2723742be65ac6443855f451d25c307835a099483a638996ee6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3254b2f274defb8334a3050096b36a7be7322f376cd9f57ecc28cba5075771bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8f3144aec8b980788cc35ba3d9fb299f970524ce31f6c2092485ff0480f460",
      "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 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.2903, 0.4084, 0.0952, -0.2222, -0.2192, 0.9996, 0.0006, 0.8177, 0.6952, -0.5697, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3168 left_y=-0.0629 left_z=0.0432 left_yaw=-0.0331 left_pitch=-0.1819 left_roll=0.0139 left_gripper=0.9996 right_x=0.2799 right_y=-0.0035 right_z=0.177 right_yaw=-0.0401 right_pitch=-0.1083 right_roll=-0.0218 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -3.4667, 6.106, 1.7314, -0.1099, 0.022, -0.0171, -0.1026, -0.8, 6.8718, 1.8291, -0.022, -0.022, -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]: [-0.8154, 0.8249, 0.556, -0.2764, -0.5373, -0.4885, 0.9993, 0.0006, 0.8234, 0.6952, -0.6182, 0.041, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2623 left_y=-0.1414 left_z=0.1838 left_yaw=-0.1193 left_pitch=0.1126 left_roll=-0.1489 left_gripper=0.9993 right_x=0.2723 right_y=-0.0035 right_z=0.1666 right_yaw=-0.0402 right_pitch=-0.1624 right_roll=-0.0243 right_gripper=0.9953\nstate[joint_eff]: [1.6068, 0.4718, 6.4205, 1.0672, -0.6129, -0.0659, -0.0513, -0.1299, -1.1556, 6.8718, 1.8242, -0.0024, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4641, 0.9993, 0.0006, 0.8284, 0.6952, -0.6388, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0676 left_pitch=0.0433 left_roll=-0.0888 left_gripper=0.9993 right_x=0.2691 right_y=-0.0034 right_z=0.1616 right_yaw=-0.0401 right_pitch=-0.1879 right_roll=-0.0251 right_gripper=0.9953\nstate[joint_eff]: [0.0615, -2.2906, 7.4598, 1.9463, -0.0952, 0.1392, -0.0171, -0.1573, -1.6889, 6.8171, 1.7509, -0.0171, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d2b75e38cd2723742be65ac6443855f451d25c307835a099483a638996ee6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3254b2f274defb8334a3050096b36a7be7322f376cd9f57ecc28cba5075771bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d8f3144aec8b980788cc35ba3d9fb299f970524ce31f6c2092485ff0480f460",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPMfVuXJFPhWOR21xwRjFy5OOHApL2EJiEzVLYV69LQfi2YgieFBp8uNfeaDw-iNIMM-km2NJI08YuqRYe7ZGzYo7UVO5kBiudODIbO9RfCQcSZGVTuKUOKIzzDPRmDmWnAlMo3i78czqvVUZ7UKkbVE8wRaDhIDuwvdApG7u3V7ncLWscFIIxd_rzZrVTwZVWoGbtKnvFb44hulHFxj_LWTgGda5Q0G1V23N8bFHKUDC_7tnARzNFBgjByRmG3ieHM4UkZqvBZuIY1Isbd35qVg_Q8VgFUYNBIgaqQbe10NDu5YN7qFoUtEnG3IIoAZa1K6gDGOQ4PpyaXPFiB84gOIL4LCEm6-ZMrvBid-CqzpfMXmtn5I2VKtyLMaEvV6__-zThrPZpGZfnOAGX375MF8rICRuqfMPevkX91cE7NMotFiMIkQkf9S-lo4qwpbBCAWCDeXk2mA5litJT4KLnMAycqZ421-Z-3oD-hFljHp0CHSUO1Rv0kdB6f0RXGBCKAHN7E5py3DsUXCcUWGWCFiUmm4k_O8bc0jp44sod0YG4-AkVEB5RutTdclt8s8i_7NOlJRloroYQ8o6m41nqyBSKZ53qN6GpCT0gItmw9kB_lGyqd-a1Ar3rPJSCScZdIpLzjM-UJBDzIl0AHFqxVjvluQtE966feQ-SH35l_Z6IIpCAfgONoQX-d5lWafF7r6ZFGcTKUHlEEQ7DJ01zMrrvGi-ThQUk0ksuKkcl9gK-UUmWJF0BLb9eYPrRIyJX6JJnk9DGqWcTg2CQJ7YmwvdRHPE3rzhCTcihF8yN1gG5GFBo7YFO2e_bIz9c80mgXWlz5N9eEMuu42jALTV9PmpNk_lG-HKLoVm-bdEEvRJ_LEf7H78wAT-qRc8jiXczp-myZC_dKm_7YpwAvg-p99_VBBbyIbbF8TBr2bgfxdCvbXiReEgiG8Y2K_iQsupSYnAiDzpat02UbkwICVsPZcQx_UtiCt1AOTyPLkusyyqnCMnZAVUpZ-dJUkqyACKuqLptwZVMXf9mQTq3jy4jg2lFwUdCi1Ko9m8oQViRU_WYV2Fa8uAFhWx_89bjZFpyG2BEBvK-u8g6EF-62Abxqx5T6HE9tMxLH-C7AbueQ_EkhAAFkxIRQHeU3S1CDD56Q_QOVnFYMbzATSzICAoj7eRZd_goR5l2lZTQ90rjL54GfRqU3N8ymDnoUzDLM8HckZATkHHMyHibJzRYR6cz6kRN5-wgvLUgnlpYX-QTmu225I70wXNChdzQ_CCK_mnzkxYPCEv3zQCtl1GvihSPymD6jwxt9Ngq7IFVqh7ClIedGGCpMI1a2czcpXhWpOkJ7uGzb6DNdMIEY4VWuvUhyCnx6IDz706aiBCilcXnEHwuzioTzRx42BgX22TegR2duRxs2UH0t7wPQylhXUHhEkP3J49ZCR2lC113FrU0QEodlT8zH6xwMp7Slrn6q1Llg8Ykv34SVGYhcZB70y4Dia9kX2qmSYwmauNNM1BOEH7l1b6dtSTWSV3Zn6Fx17IiDgakMWR2pDJ8Ups5RJW8VZizR3Qt7ToqspNcBfcR_FI6HmDyjIeIwzqLwgZwX5MAx6raHnTXvVR3mWTQwkaufUavMioOHYtwu5rZWjt5kyRou148ig1ofUdvuEv2mg3uQ94RXPQAiMNFr5bOfhBDY86VoZkrEV7ihEDH3Qtpty3JkedTKsIjBnu_MZxN-Cg0hnuljXoaMAEOABlQi1-sbMg==",
  "id": "rs_0cd8c2626f3e00d1016ab443c95b9087d0be5685f962649c4a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.09,\"left_z\":0.08,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The fresh approach is moving correctly; the plush is only slightly left of center and still a few centimetres outward. I’ll advance toward its estimated center, shift a little left, and descend to an 8 cm grasp approach.\"}",
  "call_id": "call_M87hBgV8h4YMHLrpquDfo8LP",
  "id": "fc_0cd8c2626f3e00d1016ab443ca7af487d0b6f9a106ec0e2916",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M87hBgV8h4YMHLrpquDfo8LP",
  "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]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4568, 0.9993, 0.0006, 0.8288, 0.6952, -0.6647, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0716 left_pitch=0.0436 left_roll=-0.0826 left_gripper=0.9993 right_x=0.2646 right_y=-0.0034 right_z=0.157 right_yaw=-0.0403 right_pitch=-0.2142 right_roll=-0.0262 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -2.4, 7.4462, 1.9463, -0.0855, 0.0806, -0.0171, -0.1709, -1.0462, 6.9812, 1.79, -0.022, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ee9c9e127fd3b8b848b5a43d402c073e7cb745cd86046b19578a47a6e2b308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec807e2c39f0b170df4667aebfbb34241a3368ba8d3dfe3ad8e1f95769b87f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc46725b8b1527a948f2efc8d65e001d9f51574accad92a246ad213ef4f39d31",
      "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 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3279, 1.2915, 0.4084, 0.0959, -0.2222, -0.2188, 0.9996, 0.0006, 0.82, 0.6952, -0.5911, 0.041, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3169 left_y=-0.0629 left_z=0.043 left_yaw=-0.0333 left_pitch=-0.1823 left_roll=0.0143 left_gripper=0.9996 right_x=0.2766 right_y=-0.0035 right_z=0.1724 right_yaw=-0.0403 right_pitch=-0.1319 right_roll=-0.0228 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -3.8359, 6.0786, 1.7216, -0.1001, 0.0171, -0.0122, -0.1162, -1.4564, 6.9402, 1.7998, -0.0024, -0.0464, -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]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4641, 0.9993, 0.0006, 0.8284, 0.6952, -0.6388, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0676 left_pitch=0.0433 left_roll=-0.0888 left_gripper=0.9993 right_x=0.2691 right_y=-0.0034 right_z=0.1616 right_yaw=-0.0401 right_pitch=-0.1879 right_roll=-0.0251 right_gripper=0.9953\nstate[joint_eff]: [0.0615, -2.2906, 7.4598, 1.9463, -0.0952, 0.1392, -0.0171, -0.1573, -1.6889, 6.8171, 1.7509, -0.0171, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4568, 0.9993, 0.0006, 0.8288, 0.6952, -0.6647, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0716 left_pitch=0.0436 left_roll=-0.0826 left_gripper=0.9993 right_x=0.2646 right_y=-0.0034 right_z=0.157 right_yaw=-0.0403 right_pitch=-0.2142 right_roll=-0.0262 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -2.4, 7.4462, 1.9463, -0.0855, 0.0806, -0.0171, -0.1709, -1.0462, 6.9812, 1.79, -0.022, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34ee9c9e127fd3b8b848b5a43d402c073e7cb745cd86046b19578a47a6e2b308",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec807e2c39f0b170df4667aebfbb34241a3368ba8d3dfe3ad8e1f95769b87f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc46725b8b1527a948f2efc8d65e001d9f51574accad92a246ad213ef4f39d31",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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{
  "content": [],
  "encrypted_content": "gAAAAABqtEPQTnhqdyAAmG8BwMOZCg7tpc0H5u6l-yfYX4BlyhIBMF9nWRoWBNt-GiGWUXiJWMHAqQegsr_pJi6kGkwFoKfIMyFNNyCINw8x8Ee3NfAFOjyjdoCbfVlXwKzsk9lPJcslqMI3yZsln2N2JvAZCb2Xb56fZ_eI1yVfshkaYHINzoBhunMKwsE7KwbrqkCBSvlXEuabyerSNXEA7sYHAArhYAHTLUuQrJ880-tRzVYx_qb6gXhHVhaSNaTQMWpECkZm11svG2uyjzPkR8qAunobayRoOXybmM7-a242oOGfhFpxjALZbwi2eSHSNFsx9CxE_T6OQ3AX9aqrtGvQ5qRlUbiiOkyf-VborFJ2D6zOeQoF1nfoTWKK7O-QPxBftdNy4sg3n9zBnqdrS9GULWAEEVq9za0djrOUYDh99MeOIGfFmvuEmyN3VFNifYWPQmnHnGvkDbAlF4VfIr2OdfggzwMui9tEGtFI-3_ZWZsrz2s2q4BY1nNt2H5YaVKiuuqzwGf77mEo0BvxUfSrl2d2YNtYo91JQyMqnRB_HHMWb0Pm_4lSbGF2UQl8NwFIuCgWoMReZoEksLdUjH35X0snVqG9LLy1w4J-fpaKFEx6b3J01fDTa_NMZkgqyuuN-t8N72lNtNAsFkOVViO2Nj4wOG3fE6bptZQc0goYzgd0OR8sJZvl5U39fgY3usorA6VXf22XydcnoOjUgnyHAGwP_HDZ5YkpQUFoNMqw3ZSWr4ZtzsK7LCtT-GFKZnujyKof1-EOWbtaqZPyYaL3SzkiAXG3z9inB70usPJfev1zqR6BOGIe0dQgha45ylZBxH1wilWRqoBS835dCXrs_JTjRRsPe3JMWH5btyj--mnr0WjdYGBVK6NPTY59AORlCpuw-7y5x86Hx_M_twUOFXdCqhBX04dlkYEQ_5s3vsEHtbuEESoYn6fyg3K8NulJWcx5y5yOozG6GQlWD_xG7kuD3oqvUBcvQURCzKZGUK1HVmxEJCPE3oysWD22d4yPoRg-X1ZG1wvHhnhs-etu2wGzG-15BmkxTa2Rb5px-QNs0K7yQ9iHO9MuggD6O9OAPz9pfzLqMWtxUHmYqPl6H7Jk3XMGxflstt2B7AomLCzo2DBIdKoCDOeI6JRSOXECcjF-qLApSoa-jCxmYqFJqRwuZKY8mW-YL-pzl06pGD30YAPRocJ88Hb2vAMyyRUcZDd-ngKn86X2135s-QkPtsCUI7k2RV6qklSNm8GLCz0EqDNVTD5frC4jKYkO7ZZdJ4kUktRVrXDXaP7rOQ4uY1zZL0jnRQv9zQKi9kp1kzI9bMfZBEZLikbAM4bYiFVZneHS5uFYLbmjOTZyojNGteiU2aBA402eCrMsjlwtbYcaGX5qpqSI0ZnHMZjKRuod0wrfFyA_jF-FHgX8N7b8qaMKG2MrEMB_99e9nSOq96iLTiL4_wTe4RQDeKzexYXl3GC5dPj0Oso7YrTK7w9V_jNfchkElK7ztDftZpPP-1ejEfk=",
  "id": "rs_0cd8c2626f3e00d1016ab443ce501487d0992ae5d7e0b196a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.18,\"left_y\":-0.08,\"left_z\":0.25,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left arm stalled again before descending, indicating it has not fully escaped the awkward elbow branch. I’ll make a more pronounced inward-and-upward reset so the wrist can straighten before the next approach.\"}",
  "call_id": "call_1REXmlOTFDYcXm7qh3S9DMV3",
  "id": "fc_0cd8c2626f3e00d1016ab443cef82c87d0bcba9f33b6346468",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1REXmlOTFDYcXm7qh3S9DMV3",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1927, 0.7437, 0.9512, -0.9436, -0.8047, -0.8543, 0.9992, 0.0006, 0.8333, 0.6952, -0.6842, 0.0406, 0.0063, 0.9954]\nstate[eef_state]: left_x=0.194 left_y=-0.1337 left_z=0.2708 left_yaw=-0.106 left_pitch=0.0817 left_roll=-0.2251 left_gripper=0.9992 right_x=0.2613 right_y=-0.0034 right_z=0.1526 right_yaw=-0.0403 right_pitch=-0.2383 right_roll=-0.0275 right_gripper=0.9954\nstate[joint_eff]: [0.8137, 0.6906, 7.3778, 1.1502, -0.5055, 0.022, -0.022, -0.1573, -1.5932, 6.7897, 1.6679, -0.0024, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d365a02a4bac671f09c605674a2520eea2b8940dbedb87daf72480d8b6a2dbe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35c27ef81e1a69c731bb2bb49cf51736c7955f860862a47d17d3141c32fe117e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c54f15f5248b9c2c8be587bb70677085c1bcd1f1ba92d18b8b8ee871f97ee0c",
      "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 108 changed as sent

message 116 changed as sent

message 120 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8154, 0.8249, 0.556, -0.2764, -0.5373, -0.4885, 0.9993, 0.0006, 0.8234, 0.6952, -0.6182, 0.041, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2623 left_y=-0.1414 left_z=0.1838 left_yaw=-0.1193 left_pitch=0.1126 left_roll=-0.1489 left_gripper=0.9993 right_x=0.2723 right_y=-0.0035 right_z=0.1666 right_yaw=-0.0402 right_pitch=-0.1624 right_roll=-0.0243 right_gripper=0.9953\nstate[joint_eff]: [1.6068, 0.4718, 6.4205, 1.0672, -0.6129, -0.0659, -0.0513, -0.1299, -1.1556, 6.8718, 1.8242, -0.0024, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4568, 0.9993, 0.0006, 0.8288, 0.6952, -0.6647, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0716 left_pitch=0.0436 left_roll=-0.0826 left_gripper=0.9993 right_x=0.2646 right_y=-0.0034 right_z=0.157 right_yaw=-0.0403 right_pitch=-0.2142 right_roll=-0.0262 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -2.4, 7.4462, 1.9463, -0.0855, 0.0806, -0.0171, -0.1709, -1.0462, 6.9812, 1.79, -0.022, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1927, 0.7437, 0.9512, -0.9436, -0.8047, -0.8543, 0.9992, 0.0006, 0.8333, 0.6952, -0.6842, 0.0406, 0.0063, 0.9954]\nstate[eef_state]: left_x=0.194 left_y=-0.1337 left_z=0.2708 left_yaw=-0.106 left_pitch=0.0817 left_roll=-0.2251 left_gripper=0.9992 right_x=0.2613 right_y=-0.0034 right_z=0.1526 right_yaw=-0.0403 right_pitch=-0.2383 right_roll=-0.0275 right_gripper=0.9954\nstate[joint_eff]: [0.8137, 0.6906, 7.3778, 1.1502, -0.5055, 0.022, -0.022, -0.1573, -1.5932, 6.7897, 1.6679, -0.0024, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d365a02a4bac671f09c605674a2520eea2b8940dbedb87daf72480d8b6a2dbe1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35c27ef81e1a69c731bb2bb49cf51736c7955f860862a47d17d3141c32fe117e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c54f15f5248b9c2c8be587bb70677085c1bcd1f1ba92d18b8b8ee871f97ee0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPTYM0a6d0eKIRJfeFjsAlMPhzWSj23I8sK35qHvCfocyOZicakNlTFP1eA0jk4woInmlvqWXcTRpM81WmjnVAHP_kIriSF1zd2PMFIxX3EQjlPIVXGqwXxNyiI4DK8EWCYfU6-wL5FrnV_t_R7hAS902nbgiZgrlTcZvGA4Jaak4qh3E1ghn2qvFvQsLojGKcShW64j2tqMbpPAZF68MVx4yh490CF1P3nzc-fLuaEHIZiEtOsUahd_j-B_aEcjUba9Sm_owo0EM3njlyTWJM4EtIwGyWCAbDDVQuLb3KtaF4d12C3V2bFBPnq5vGyfy6FOIt97AR1-Pi6eF9ArFlxO7A9GwBvMelNN5d_Pp5Pfv_39dw66R-_u_urKBxsaBQPmCeV-EOG_xBXbnpvcnJJiRj8d_Hce6OECElGqZ6rUeg9pwlNg1Pupo4_6xeeLrRYFItTbiVbH7o8KsQK14vnD1kfKnCSAsbMZ97_UdPWkcge-k2IPBEC6Q7bHESpObtnOwXRfC_uFS35G8SgJpb-kx69E3cBCV3eybbGKzDVBK-7swGxXu6pWdrNEUYU8MJ-XBV-NAANwZLvT5w1-iYJgBi-KRvb34B_dDfKD3k2Hc2cbyvFEoeKJ83-P0C3ar46HdTnCfgjtVAB3zoW04es4ia_ERwgPuZeTVphrUTFboKUf_m0AAhRgo9PAsriR2KyjmPXSrgPfSBx7ZOFGh1fh3_UzAirEli9I57dqm5iDsrvlVC-bYlrj70LTPTgMoWLVk4HPBavPuEGWQgfexhLTITNIlAKyBW0-qZNvwESmBhyWuFjfCpkKZVeqY7lKxt5Aoj7kYGS9zwInWy6__Xr_2zT56QwqpUg7_2CWO8Iz9nHiHl5yOYnpFGWTUi9MT4T4SrFkRYmwctl1pPbwYfbEz7KwVJIO-UwC8UudrJjEkXu0vrLiLFhOY88GshpULLBnuhoAZGwxAMI44-w74d852VHxaPF0IQXZQZvMr9m-_eA3mt9fvJOfhdJL3CSdLuGviJLCygPdJFOTYnPBj6IdHd6l5HiQPpGw3oYmwt4t7kL88eanfU_L5aT0NB5v23UK0h1-PpVwcUUCCOxCH-cmpWDoRmxDx4IQcjfgqQ43ojYNX3-tyMR50VK8XJ92iil7paE_8oR2Bz4rh-gMpDG9yRrwOARW8burMvCF_gmInNGVKJw38ScYWtVZFrZpf9e871lUInFiQfbUrqxDYYcGS-RIzcUVk5tnpqOHX3KWxElUjAx_FXPkoPMsC577utwBobv8gQ0MrCWSGNULuMIRJ5xP9iKpJ_4QGd6t5jZIsqkN8sB92f3Qdfz5IdfrtgbOfguhtHFQxyr6bTYw2a-mVqMRtR9ZglbucyCvWd7aTYuy6YpkQiFG_gqdsStNdfB0gKbCCslVXxBidjirpa9oiUHqoTNIFwPStuoSehNV54KDAgLrSR-SjqE7rbP2orE_Loh9YIzNJw9n6SeZ8-ROA==",
  "id": "rs_0cd8c2626f3e00d1016ab443d1da9487d08bb690ec785c4510",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.05,\"left_z\":0.15,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The deeper reset succeeded and gave the left arm a high, free posture. The plush is left of center, so I’ll advance at safe height while moving leftward across the table to approach on a better elbow branch.\"}",
  "call_id": "call_LRqz3SD299aqLAE5al9WftOO",
  "id": "fc_0cd8c2626f3e00d1016ab443d28cb487d0b9629bc1f73289aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LRqz3SD299aqLAE5al9WftOO",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0325, 0.6617, 0.8902, -1.0054, -0.7101, -0.8448, 0.9992, 0.0006, 0.8379, 0.6952, -0.7025, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.1954 left_y=-0.0957 left_z=0.2453 left_yaw=-0.0199 left_pitch=0.0062 left_roll=-0.2139 left_gripper=0.9992 right_x=0.2581 right_y=-0.0034 right_z=0.1484 right_yaw=-0.0408 right_pitch=-0.2611 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [0.0889, 0.9368, 5.8325, 1.6581, -0.3199, 0.1148, -0.0171, 0.0615, -1.6342, 6.7624, 1.663, -0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa76df4ecb98cf94a7a52912541c99fea420942959417f65857f3820758265c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ab16bf0e4483d588263124595d95fb7fd1e6e1ff95f4504fb0f51031bd58f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646f3510ce50c1d3f024487ccfec7c4673759745b962f7a4037121bc17473c9a",
      "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 112 changed as sent

message 120 changed as sent

message 124 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4641, 0.9993, 0.0006, 0.8284, 0.6952, -0.6388, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0676 left_pitch=0.0433 left_roll=-0.0888 left_gripper=0.9993 right_x=0.2691 right_y=-0.0034 right_z=0.1616 right_yaw=-0.0401 right_pitch=-0.1879 right_roll=-0.0251 right_gripper=0.9953\nstate[joint_eff]: [0.0615, -2.2906, 7.4598, 1.9463, -0.0952, 0.1392, -0.0171, -0.1573, -1.6889, 6.8171, 1.7509, -0.0171, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1927, 0.7437, 0.9512, -0.9436, -0.8047, -0.8543, 0.9992, 0.0006, 0.8333, 0.6952, -0.6842, 0.0406, 0.0063, 0.9954]\nstate[eef_state]: left_x=0.194 left_y=-0.1337 left_z=0.2708 left_yaw=-0.106 left_pitch=0.0817 left_roll=-0.2251 left_gripper=0.9992 right_x=0.2613 right_y=-0.0034 right_z=0.1526 right_yaw=-0.0403 right_pitch=-0.2383 right_roll=-0.0275 right_gripper=0.9954\nstate[joint_eff]: [0.8137, 0.6906, 7.3778, 1.1502, -0.5055, 0.022, -0.022, -0.1573, -1.5932, 6.7897, 1.6679, -0.0024, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0325, 0.6617, 0.8902, -1.0054, -0.7101, -0.8448, 0.9992, 0.0006, 0.8379, 0.6952, -0.7025, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.1954 left_y=-0.0957 left_z=0.2453 left_yaw=-0.0199 left_pitch=0.0062 left_roll=-0.2139 left_gripper=0.9992 right_x=0.2581 right_y=-0.0034 right_z=0.1484 right_yaw=-0.0408 right_pitch=-0.2611 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [0.0889, 0.9368, 5.8325, 1.6581, -0.3199, 0.1148, -0.0171, 0.0615, -1.6342, 6.7624, 1.663, -0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfa76df4ecb98cf94a7a52912541c99fea420942959417f65857f3820758265c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90ab16bf0e4483d588263124595d95fb7fd1e6e1ff95f4504fb0f51031bd58f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646f3510ce50c1d3f024487ccfec7c4673759745b962f7a4037121bc17473c9a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPXC1Yl3SU78rrRh8fQmoh7SCgUGIeBMNmMF-IDkrfygvnL-TmG5xImhedRN_1YRJxsCVS_NqThH9YpNY7T6hqq1nBqsS4OY0eHVfiCl5NJuBQXq4m6i29H7X-aCVQlRZD7jMc2iOKssloLtYSjVUIJ5eK7VsNKE8byxI5cj4jt22rujhx-HbdZ9nDu4HOXnuRJ5p9CirHLoBsst05pC3EWiwO0PG87COmAkLWKbiw5z5r0DHA7F9-IE6366iS3a5AIw3Y6oxoPIKjGEvvu1_R0ieIq8NDbMc0zmDIRSqAbqmHI7PJzm57R6ovBnnZGv6PBqFqoZpMJgZCFcUMkg3jEozbT598HLDy2tIXCOLpapTMqO_tY8ndDDB72VsJ69L9YmyaULr_B9WjK2PQ6F0TdNK2XmDhYW8VANDysd_XiMgIKOAPECR-PngItfmeRefxDzQhvGDlYS1BJWAHPOiHt7sNDo94dId1_OMXl3OVpL0-HIkFpD9E2UOuVqc3RA65Tq7rwSMPBIWqtWdRPObPXbvqh4K6U_THElxJFaeLXZB0bV_eCf1scBmLznKzNPbx321hBLa0Ox8PbMNIL2Z6Is-JQ93ofdWwTvvY1Mb_XQbjP4T1G0MAJQsoopWVDOKPDX9K61zAWw0VF8xPc3hgm46sNYZ-hgVVCFqH0LY-Iy6bVZP5nwdHyL07EjK4xCPM_us8zl1PE5OU7tdO40Wc-iU0TZb7ru9Bv9nQNpDXJOv9WS-floggBmOZSMVi-hoAthhtxndnUrJNZAnn0iubrW1F6uA3vBiIE9MQWJ1VesvQXgzPgc0SdQSSgL8ulerYkMltMG6JpxdU8BK7ciqTS7xApTFgEwbfJl_d-Z0x_llhAtzHw86LoAPausk2FhXNYbBPbCmqHkkrihd9rr7RArDD8_ZDElExuIpIAaLceQYP899mIU4WRCeEBKtni6EwKNZvlVs4039klb8B3FjeWuoBcdmndw2jm0OYYClas5KVOpGD7I9Jk7KrHm6t6h6WrITwJPOkCMj1jQXyfVXTYUFw2h25XWsngLJVhOcsBIVUvkrBNcZRfVWOw4X_v1q-ovBsw7M8AHtBXUKO5ixS0s9aYyeiv_i8bQD4DXloEkPc8o1la-XwqN_V22xrOJz9UyJOT1ppQsb_IxiopZqSWB57K4UaWsnY8p76WwZ6xsd8DcDJKtihpvsDrl45iOLdNV1MktEjg24nle9mSSyK3X9vvQWTOKm2Cfj6qMyFnofSwOPwbQ--jBy9SABQWcMNAiwANwaSyEw0B1sPzLa32fKoYJwugw7Sux6-t-s3Fh7oU9omhvsDtQoktO63e2Pqc3iuyxDmGFSRPGzuXc3iNoBEWtvoZoR1OmKptR11zCKbh5Uy_PbW-LZwidChSPjkVnVi9lDFmB16Ou6Ta5uqYOF619lBSbM81dJ9l9D8DlABgrW_5igNtYUhRDgL5pqW6n-h9TX688r-4bwyJxJD13i_2gDxVtBBiB0PRCsMIFU4=",
  "id": "rs_0cd8c2626f3e00d1016ab443d5b33487d082d269a1d98c04f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.05,\"left_z\":0.35,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The arm is now free laterally but still refuses to unfold outward from the folded posture. I’ll raise it higher and request only a modest outward move, following the rig’s recommended recovery for a folded arm.\"}",
  "call_id": "call_UOPkOW085l7OuAhQCFFx9aSB",
  "id": "fc_0cd8c2626f3e00d1016ab443d64a7087d09adcc38bb33fdf58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UOPkOW085l7OuAhQCFFx9aSB",
  "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]: [-0.5102, 0.9337, 1.3663, -1.066, -0.4561, -0.4236, 0.9991, 0.001, 0.8436, 0.6952, -0.7269, 0.0402, 0.0071, 0.9953]\nstate[eef_state]: left_x=0.2532 left_y=-0.0485 left_z=0.3462 left_yaw=0.0817 left_pitch=0.0188 left_roll=-0.0756 left_gripper=0.9991 right_x=0.2537 right_y=-0.0033 right_z=0.1432 right_yaw=-0.0406 right_pitch=-0.2912 right_roll=-0.0289 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -0.5402, 6.0103, 1.2576, -0.0073, 0.1197, -0.0171, -0.0068, -1.0325, 6.8308, 1.7509, -0.0464, -0.0269, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ea3e528293fb883765ceee4159fb999f97c624cf9f4eae1c56db78743ea7ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8ae489387766ddb8fdc3d75110a21f5be7b30ad3c37123d5d6b5e295e76218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277a5464e12f76483e6ae1033ae30e80b94f9fb3c18286d90f3e7b283e88e789",
      "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 116 changed as sent

message 124 changed as sent

message 128 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7258, 0.8677, 0.482, -0.239, -0.5114, -0.4568, 0.9993, 0.0006, 0.8288, 0.6952, -0.6647, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.2698 left_y=-0.119 left_z=0.1459 left_yaw=-0.0716 left_pitch=0.0436 left_roll=-0.0826 left_gripper=0.9993 right_x=0.2646 right_y=-0.0034 right_z=0.157 right_yaw=-0.0403 right_pitch=-0.2142 right_roll=-0.0262 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -2.4, 7.4462, 1.9463, -0.0855, 0.0806, -0.0171, -0.1709, -1.0462, 6.9812, 1.79, -0.022, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0325, 0.6617, 0.8902, -1.0054, -0.7101, -0.8448, 0.9992, 0.0006, 0.8379, 0.6952, -0.7025, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.1954 left_y=-0.0957 left_z=0.2453 left_yaw=-0.0199 left_pitch=0.0062 left_roll=-0.2139 left_gripper=0.9992 right_x=0.2581 right_y=-0.0034 right_z=0.1484 right_yaw=-0.0408 right_pitch=-0.2611 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [0.0889, 0.9368, 5.8325, 1.6581, -0.3199, 0.1148, -0.0171, 0.0615, -1.6342, 6.7624, 1.663, -0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5102, 0.9337, 1.3663, -1.066, -0.4561, -0.4236, 0.9991, 0.001, 0.8436, 0.6952, -0.7269, 0.0402, 0.0071, 0.9953]\nstate[eef_state]: left_x=0.2532 left_y=-0.0485 left_z=0.3462 left_yaw=0.0817 left_pitch=0.0188 left_roll=-0.0756 left_gripper=0.9991 right_x=0.2537 right_y=-0.0033 right_z=0.1432 right_yaw=-0.0406 right_pitch=-0.2912 right_roll=-0.0289 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -0.5402, 6.0103, 1.2576, -0.0073, 0.1197, -0.0171, -0.0068, -1.0325, 6.8308, 1.7509, -0.0464, -0.0269, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63ea3e528293fb883765ceee4159fb999f97c624cf9f4eae1c56db78743ea7ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8ae489387766ddb8fdc3d75110a21f5be7b30ad3c37123d5d6b5e295e76218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:277a5464e12f76483e6ae1033ae30e80b94f9fb3c18286d90f3e7b283e88e789",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPatz8O9NOpl-HGKVNl0upmanyALepDdCtfPp3HvORTM0zU4Gpjd9MjD6Wd4BfPn10WZ_sdI5eexJNUYBHlA7jX2C31hiM9Q-Oc3TDWG6JmGhgRPHxgKnefGsltbL8c4i39POp9vT6vH833VtVf3CDqqh6WsS7EIxgxZ1ue5r6IMX_B_yTgKomasX1rMVQcYhmRFWvA7bKjhfsBQgiuxmKCoRVGueZtS0h2XZNnBZgS1IiKYDile7ZfFVokfpYzdkkjCdUMji9-HujOBGokDoWjXiDCbXE-hH42GhmmJLjENXjd_cl0WSftRFJneirVhWwzaomtn7qOVBW2ouCiep6F7H2fbmErzbAYKpddUdi17UovONtalqwi9OsQ-SPD6daUqbXHARHuS6yuWMshLSRGJL3dQNp7S2eY251_vEOYfE7FWlFEUqYzsnKewfkXY4QtK7zOHF7wjVY6EkZal-U7ci0EZywlsxOjdo89IrFm8yslaBCk0I4rhNpkIR4FLRyzPV1nO6QmcC1ZEBPbfVMWrowPxzPupwROWyIjVtmyU54P-PUJix5dKAm1VrZjOt6Kb6Qqx9W6JQYHUUURvyjc04rFo19VYJ5hJJbo5NrgX0GisDLVbehhCFo08_ADRTueWGNtbnD2a3rnTKmu39MeV7OxjYpclFTNF3g7Qn8Z4vJp2sBxGZnsczpNSsgyfTFlO70wvAAj3Kx9RC_cjkbZrir4TZsUUjO296ixssSXf3o2GClB1f8BzZyLOl2ZNNCj2DwivrYWHvWOquWb9qFp0DyQSX63K5B-sHtQSFAgfXKLE0Qt8rwNosWg4DodyY7SyZ4x08Wk0AlaXT6OGUUH7ptDSDRCigIVfkDK7od2w7KnZusqPT2ODDb66TCAdHZ1yCeg_lW0Fx9jT0ELDa4dIPLs9NFZDKq8ZfIL54qCAR4Z5vCldxJe0gRrsogxD1umgmVkvG-XewXPfUJ9XZGbIhlMUQvQD8T68XiZxh2hYtWBl73GzIn22BhOg9i4EzDw782_2ggFjLq73kfqgXYmuIRfKDV52AQxlbmuug2Y8yb3Gd58DD5THcd2RiaGE0qT58ry8TP8NV5by7VPoTUHMnXtl9nzBochjSaR9mn7Zcu8bIeVmfu1d4mjD9oceG3zR9O2KZv-Vza8D6g24p6PVaj2u7UscqBtgQYke2XdDJ5iV1me8mw99w41E9e79cyIHBWSV-dyyYDtJGn0WRITwVAIWBNOkZZCmn58-GKArrcm_GIxS3PI62GzAeC_6sdQtLsXWHzSt21JvyheV1vWCl4peRKvYZLbbOeAAHFQp4TLi1giqTZrId-tacNfMKx2_7RYoSaDKLxTbrCAJdcOdJWtnBEH-ijicKli4O8Dfmj_sBN3jqAAivwLKPXcovVKY5Bo1oG7pWYy2dJ587bvHA==",
  "id": "rs_0cd8c2626f3e00d1016ab443d937ec87d091fd8f1f73c6f9f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.08,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The high reset worked; the left arm now tracks normally, and the white plush is nearly centered below in the wrist view. I’ll make a controlled outward-and-downward approach toward its torso.\"}",
  "call_id": "call_ns5xTQJz39LeCJ0s4VPQPyBQ",
  "id": "fc_0cd8c2626f3e00d1016ab443d9e18887d0a166a503dd087254",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ns5xTQJz39LeCJ0s4VPQPyBQ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4187, 1.161, 0.5552, -0.1081, -0.358, -0.2794, 0.9991, 0.0006, 0.8471, 0.6952, -0.7452, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.3268 left_y=-0.0737 left_z=0.1099 left_yaw=0.0169 left_pitch=-0.08 left_roll=0.0289 left_gripper=0.9991 right_x=0.2503 right_y=-0.0034 right_z=0.1395 right_yaw=-0.0414 right_pitch=-0.313 right_roll=-0.0304 right_gripper=0.9953\nstate[joint_eff]: [0.5402, -3.9179, 6.4615, 1.873, -0.0708, 0.1343, -0.0073, -0.1299, -1.4838, 6.8991, 1.5653, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca5706659708742c249c3001e6bae0bfdd223bd1a5accd327ad507856284f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3178ede11a73d8c604e6b45478c9a1d98ff6c30688c344467b79b3aeb8a3bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b1e59429f94ad81b47d56c28e26842402095fbd4bf35fd5a674b12be50e8ba",
      "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 120 changed as sent

message 128 changed as sent

message 132 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.1927, 0.7437, 0.9512, -0.9436, -0.8047, -0.8543, 0.9992, 0.0006, 0.8333, 0.6952, -0.6842, 0.0406, 0.0063, 0.9954]\nstate[eef_state]: left_x=0.194 left_y=-0.1337 left_z=0.2708 left_yaw=-0.106 left_pitch=0.0817 left_roll=-0.2251 left_gripper=0.9992 right_x=0.2613 right_y=-0.0034 right_z=0.1526 right_yaw=-0.0403 right_pitch=-0.2383 right_roll=-0.0275 right_gripper=0.9954\nstate[joint_eff]: [0.8137, 0.6906, 7.3778, 1.1502, -0.5055, 0.022, -0.022, -0.1573, -1.5932, 6.7897, 1.6679, -0.0024, -0.0611, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5102, 0.9337, 1.3663, -1.066, -0.4561, -0.4236, 0.9991, 0.001, 0.8436, 0.6952, -0.7269, 0.0402, 0.0071, 0.9953]\nstate[eef_state]: left_x=0.2532 left_y=-0.0485 left_z=0.3462 left_yaw=0.0817 left_pitch=0.0188 left_roll=-0.0756 left_gripper=0.9991 right_x=0.2537 right_y=-0.0033 right_z=0.1432 right_yaw=-0.0406 right_pitch=-0.2912 right_roll=-0.0289 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -0.5402, 6.0103, 1.2576, -0.0073, 0.1197, -0.0171, -0.0068, -1.0325, 6.8308, 1.7509, -0.0464, -0.0269, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4187, 1.161, 0.5552, -0.1081, -0.358, -0.2794, 0.9991, 0.0006, 0.8471, 0.6952, -0.7452, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.3268 left_y=-0.0737 left_z=0.1099 left_yaw=0.0169 left_pitch=-0.08 left_roll=0.0289 left_gripper=0.9991 right_x=0.2503 right_y=-0.0034 right_z=0.1395 right_yaw=-0.0414 right_pitch=-0.313 right_roll=-0.0304 right_gripper=0.9953\nstate[joint_eff]: [0.5402, -3.9179, 6.4615, 1.873, -0.0708, 0.1343, -0.0073, -0.1299, -1.4838, 6.8991, 1.5653, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca5706659708742c249c3001e6bae0bfdd223bd1a5accd327ad507856284f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3178ede11a73d8c604e6b45478c9a1d98ff6c30688c344467b79b3aeb8a3bdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84b1e59429f94ad81b47d56c28e26842402095fbd4bf35fd5a674b12be50e8ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPfyQSGxXgZupsWFJj4Ghc4EYq_u6rNYDAZEzwhHk33diY5xIhp0SFiMwixNW73AMbHJOecdcks3N2LhSy_nNuAxpLzoYN9p7u5A1oUqSP1Q00DTo7x1N_0hIkUtWCORhUhJ7tdvKQF6odUjztqp91TUBZ3MFXiFLOqt5FVAgjFir5MWxM_s5Nc022bdkghYRe0NVT7Kz_uf-ug89ayCDoOptiBUwbMLR-8Uii9SMReF8sZUfULv9WVwaIJVsIq-Ado9uqFe69awf2N_085o0QMc1TwUOKc7AQrXkOcqt7p_LEgU6KWnc2Z12Nf4nuhmT4vxp7TKZOm9hBL3eb6tdoo2D1RTYBkzemWozm2lP4Ra261qDC1mV8E0eo8y6AE3YSHc9rbbNQVWEwDvZPwlwylCgTHm17q8wKmFKi0VHbFfLt6gJmO8iBUrfq7_5RV8YqW7Pp1i-nGICVItBgaBgcjcWuIhrA0Uk_Ds8DMOJzz3bVBIHmyB7GtzjV21ZUqVgBoOi7QbkEkcsoU0wIdMs_FHuUIO771DDrogyZBEQEljG33GeIQONYQ-DNhTdcb64_ZeoR_y0gKDNQ6zJfdvHbxTLUc9dZneCq6g_uvFo8EL-9NsQEpZn06pS346qw2AsFFEUobC8HNgmgHIokYe1Z2NT0Ce0OiV9Hae3yFX1c05tl9gp0PYjbNxkZs7u80SpxVrefmfQgLWyogInO8KvrASfUapBfEy6SOrsixPXkVNP86-QeHcCtdo34-jbGEAaRDIWzeG8L7f8sqQhvHjDzz44c5Zi8syVc_wPfdRxsyAEaGLAmy_0F3kRchAzOkQh8x_9ojGVywj9G8ezzU030HAm79PRuFzfZoiSjoE2pGWl1HBNfayry3Td4LEIcw0FJ46gysBfYUUxy3rEbGs9j4Mlo17Z9QCgy071Eiq2EkWyq61V1PlzxDD_9FBHbSrENMlMZoU-UYGyzZMjBH3o8lUhaDRYpveW3bt6rNgBXMtggSYSasAfNkLA8ryGCivvxBjKJLnF_YlUKDwTGoCjX-Dw2vq6SCl5oQ4u--FCzRut7ecVA0CticcxtT7XQcWt8JTF3Kaimu4kpQBsCaxIJhDncRYxqYNXnLaJIT8VTd9Qvl6QsCarRpOIIKhFXH0_iSM37r5PxqZhwHvIqaPKUj35KdN59eV8X83s3hrHx7yooyFXa-jfHDmp7PPy9qBEETPTThF05L7p9m8uY7edl7lImnDag6gZ3XmUUnB9XNFQDgNV4s7DETVuRhYTd8nWTNohatqDIBpFPI11HTWZipeCAcUtktyHeA7fIfgbPHN4d-N4nxGBB5pUmGBOqlX9q01Ecz7IgcY776qzwjJ7irjGws885OceEhRhbALCZpMCzuunC69Scw5r5mFmnuLEckhWKkI8QWVKjep6YYXjCosK8hJ3OeOfaW8YRkAUNU2BevOLfkXZSFkAq00RKQBth8G0yRnkx9pNgFyUNwmDwd_mCjXNaUYx8PnH8d0I-QgzP9vS-dYpxKMVlvAOiXflKcEjcRu-Ze4HrIJsTh5KILvKjaLo2zzWNgP4OZoCUAUEDSCiIrhWGA5PyZI0alcvPdEtQrflt1JxM9ISKt5xYvU62vFtuQw4tnN90F09KoXvE=",
  "id": "rs_0cd8c2626f3e00d1016ab443de28c887d0bc9d1e032ddda15b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.075,\"left_z\":0.045},\"note\":\"The plush torso is now centered between the jaw rails and fills the lower wrist view, indicating it is just ahead of the fingertips. I’ll advance about 3 cm and lower to mid-body height for the grasp.\"}",
  "call_id": "call_EdY4pme5fY9StvAe9Ejsdiry",
  "id": "fc_0cd8c2626f3e00d1016ab443deb0b087d08f6f4b228fb58d0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EdY4pme5fY9StvAe9Ejsdiry",
  "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]: [-0.3733, 1.4784, 0.4885, 0.1947, -0.3313, -0.2619, 0.9991, 0.0006, 0.8509, 0.6952, -0.7582, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3448 left_y=-0.0695 left_z=0.0338 left_yaw=0.0352 left_pitch=-0.162 left_roll=0.0591 left_gripper=0.9991 right_x=0.2479 right_y=-0.0034 right_z=0.1367 right_yaw=-0.0417 right_pitch=-0.3297 right_roll=-0.0312 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -5.9829, 5.2034, 1.9609, -0.0464, 0.1832, -0.0073, -0.0479, -1.4974, 6.6803, 1.5995, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dcb0863c5b5c571963259e15bb422e8cad5a7663ad4046c58671f7204dfa9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299f918f84230ce1a77bac4c565e44617bf3d35e823354ae6f8497d2464d6619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956cee325f2c7c16e5686827587b18d4c636a3b208cfd214f120b324c696e9f",
      "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 124 changed as sent

message 132 changed as sent

message 136 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0325, 0.6617, 0.8902, -1.0054, -0.7101, -0.8448, 0.9992, 0.0006, 0.8379, 0.6952, -0.7025, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.1954 left_y=-0.0957 left_z=0.2453 left_yaw=-0.0199 left_pitch=0.0062 left_roll=-0.2139 left_gripper=0.9992 right_x=0.2581 right_y=-0.0034 right_z=0.1484 right_yaw=-0.0408 right_pitch=-0.2611 right_roll=-0.0282 right_gripper=0.9954\nstate[joint_eff]: [0.0889, 0.9368, 5.8325, 1.6581, -0.3199, 0.1148, -0.0171, 0.0615, -1.6342, 6.7624, 1.663, -0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4187, 1.161, 0.5552, -0.1081, -0.358, -0.2794, 0.9991, 0.0006, 0.8471, 0.6952, -0.7452, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.3268 left_y=-0.0737 left_z=0.1099 left_yaw=0.0169 left_pitch=-0.08 left_roll=0.0289 left_gripper=0.9991 right_x=0.2503 right_y=-0.0034 right_z=0.1395 right_yaw=-0.0414 right_pitch=-0.313 right_roll=-0.0304 right_gripper=0.9953\nstate[joint_eff]: [0.5402, -3.9179, 6.4615, 1.873, -0.0708, 0.1343, -0.0073, -0.1299, -1.4838, 6.8991, 1.5653, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3733, 1.4784, 0.4885, 0.1947, -0.3313, -0.2619, 0.9991, 0.0006, 0.8509, 0.6952, -0.7582, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3448 left_y=-0.0695 left_z=0.0338 left_yaw=0.0352 left_pitch=-0.162 left_roll=0.0591 left_gripper=0.9991 right_x=0.2479 right_y=-0.0034 right_z=0.1367 right_yaw=-0.0417 right_pitch=-0.3297 right_roll=-0.0312 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -5.9829, 5.2034, 1.9609, -0.0464, 0.1832, -0.0073, -0.0479, -1.4974, 6.6803, 1.5995, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dcb0863c5b5c571963259e15bb422e8cad5a7663ad4046c58671f7204dfa9f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:299f918f84230ce1a77bac4c565e44617bf3d35e823354ae6f8497d2464d6619",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1956cee325f2c7c16e5686827587b18d4c636a3b208cfd214f120b324c696e9f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPiSnSYDZER79oxyDb97UbyW4LSFjjmOFUDaiu5w_eXz2HImH3VBFMhikA2WpZM1RijxiprDjnmLXh_j6Co_CP0YAKSgbRDLGw--9n-Czc3mnxuIlO22NESjir8ECbN7R1auKdpHFoyl2jHEEy9woJ8i60Y9TMR473RzoRI-UBIvwh7ZpY75q8BSfMjfMo7YfDkBcaW9IcSznro7-niHF_evb7FSy2_ut_rpQwzkHmKNKrBX_0cc-NQQB1rVJdnW2Qa5_VpY2mIbz9wZ2T-h8OQEP85sQieL7yfvKf5WPwKGpHqkoptudisGP7oNfBAUJMm9Ze2Au6Sq9XOD2UW3S5j4LDSE-0TnjO3Le9EDVBweB61O9O2FXVNYzG3lHL6m_VeRGhjxCDu98gofTc3NJCV4ldh_SKOLxijkeaTGgbQ-AYHuIJqU2fRuEAVal3G4xK5GNIQqtlkk3lidNRL3hpQAuds6yY2j-d5RLRmNkeXyDAPrkdZRZcds1XOPw_S8afY0VTljUKdVexU1b1nstJD4N44lx_T6_DppElmpJ5Vf4lTmR9wkh0fy-imlAy-nc17znJT-8oIaZ9kEYcYM10bNrQFKU5dhEZgfAquL2CQ0Xbzi7s3Cfphi8tRSqgcuEdpBkHbGDyq7kH3OV2v4YsM9Ff-U6YFnoV3HPCjsa1WSJJ9nfsyAnFaCh9bxGzlo0L7jzsIMwif9TWpLa-BtD7IfHaazsYZvrvt4boJ-SdN6NPorAQ1yv8qWfYqfkFHGZ4Hch_4VFCUJz8XWTr9rpsqdRcWKoKbJGDMOqgJvm_EZOkowRBIAtxseZH94KsU3o-JPtSngUSVhBrErq4pkQe1erKPs8cRVz89WrwtnBaIS4oGxRLRDVe9oMrbDCkB50ofTVHFKVprD67a409A8cN9FW9JZSUzbXdpSnazCzkJjScRafiIojB1OJbjtxjsnl-3plsKVHXKYFZ7gl19IvQwYWB0Td3xKpCvSHjkWpcMAvqOjBSSUVXYFrx2riRtSL1m7neyL6Fa5vYtcyjoclStAsT4hzsvjvLBKJt4wQC1WKcPEiGjBWmiCbrygvL3L7Y2xAB0NW-u2DOiOqGA4mAsipVSLdC5ssHYgtTH7PycQ95CN4esnvR6NTAjHIWi_hm-TkNaNjC6PmYUpX01-1rkMW9GOScmSZdCm9mIrL1TLNuJ8Qlc4wzJ7G0fC44JicEHzN63o5o9E9prP0QIHMAnHZtmTagRI4GMbub-Y4EJzkN_nZe7m9jshaL8_ASyyUU7ySWqePdKYGFM-2YnC1RelA==",
  "id": "rs_0cd8c2626f3e00d1016ab443e191d487d087ca2a819aace211",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"At 3–4 cm height the plush body is centered and its near edge reaches between the fingertips. I’ll close fully around the soft torso and check for a nonzero settled opening.\"}",
  "call_id": "call_NNcUngnGyzfCYP4lNXSSdE5V",
  "id": "fc_0cd8c2626f3e00d1016ab443e1c89487d090c25d2d854deda9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NNcUngnGyzfCYP4lNXSSdE5V",
  "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]: [-0.3706, 1.5055, 0.482, 0.2886, -0.326, -0.2474, 0.0114, 0.0006, 0.8528, 0.6949, -0.7734, 0.041, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3552 left_y=-0.0735 left_z=0.0384 left_yaw=0.0223 left_pitch=-0.1084 left_roll=0.043 left_gripper=0.0114 right_x=0.2449 right_y=-0.0035 right_z=0.1338 right_yaw=-0.0423 right_pitch=-0.3472 right_roll=-0.0323 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -5.8872, 5.4496, 1.8828, -0.0415, 0.022, 0.9158, -0.1436, -1.4291, 6.7077, 1.5507, 0.0073, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13a2947833a595922517d2e1093235a96b2149390fe8cc79f8320aac557cd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f4f88f778d4ec393304a644f9fede814cbf83dc5c96189cd9fed72a90123ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13426049681b34b397100f7fee2ab44bbc04f07be6a083f2fa4b1cbe7ddb11ba",
      "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 128 changed as sent

message 136 changed as sent

message 140 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5102, 0.9337, 1.3663, -1.066, -0.4561, -0.4236, 0.9991, 0.001, 0.8436, 0.6952, -0.7269, 0.0402, 0.0071, 0.9953]\nstate[eef_state]: left_x=0.2532 left_y=-0.0485 left_z=0.3462 left_yaw=0.0817 left_pitch=0.0188 left_roll=-0.0756 left_gripper=0.9991 right_x=0.2537 right_y=-0.0033 right_z=0.1432 right_yaw=-0.0406 right_pitch=-0.2912 right_roll=-0.0289 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -0.5402, 6.0103, 1.2576, -0.0073, 0.1197, -0.0171, -0.0068, -1.0325, 6.8308, 1.7509, -0.0464, -0.0269, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3733, 1.4784, 0.4885, 0.1947, -0.3313, -0.2619, 0.9991, 0.0006, 0.8509, 0.6952, -0.7582, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3448 left_y=-0.0695 left_z=0.0338 left_yaw=0.0352 left_pitch=-0.162 left_roll=0.0591 left_gripper=0.9991 right_x=0.2479 right_y=-0.0034 right_z=0.1367 right_yaw=-0.0417 right_pitch=-0.3297 right_roll=-0.0312 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -5.9829, 5.2034, 1.9609, -0.0464, 0.1832, -0.0073, -0.0479, -1.4974, 6.6803, 1.5995, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3706, 1.5055, 0.482, 0.2886, -0.326, -0.2474, 0.0114, 0.0006, 0.8528, 0.6949, -0.7734, 0.041, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3552 left_y=-0.0735 left_z=0.0384 left_yaw=0.0223 left_pitch=-0.1084 left_roll=0.043 left_gripper=0.0114 right_x=0.2449 right_y=-0.0035 right_z=0.1338 right_yaw=-0.0423 right_pitch=-0.3472 right_roll=-0.0323 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -5.8872, 5.4496, 1.8828, -0.0415, 0.022, 0.9158, -0.1436, -1.4291, 6.7077, 1.5507, 0.0073, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f13a2947833a595922517d2e1093235a96b2149390fe8cc79f8320aac557cd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39f4f88f778d4ec393304a644f9fede814cbf83dc5c96189cd9fed72a90123ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13426049681b34b397100f7fee2ab44bbc04f07be6a083f2fa4b1cbe7ddb11ba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPmEW87aJDN41vBufqwKXtBBssIQgWGDMuZIR2pvSlUH7HwfiJN87K3u7c62w7MsOcqfj4H_bGRpjbHt-kY1izJ9y1-FdZ1XJwtA9PeeTjPqfckM0l--z6OXdUGobSE-1T9mI8B0j-P6lNrK7UXl9oxJjqcfuLWQhTvM37tnJu8mhxaZALvnBG3ep8xUNsMQJ9sUHiZObO75NUwnYinGZXANOIiYUjonjjuvEaKTclO6y3LaTdyoOTPhKR0qGa1TVMU3uwOfgTNMZZ_tjp_IicfH5KdQr3KxzL2y9R7-TzYDfkTmqKF8EApeg3NOqgoKTxTsSJ12LMHOxBoHCGNZl7yvWlAXt3Nf7Wm5cN5u23V-_8RyzJeLJOCjxToOis_YrH62zK8pm5ZrCLlsvAeA8RMKbuK5Qoh2fxWsrsM0CSD1789Y4NCRFARp9WAjv0qXBjO30_gzcfaIWEL_imKd6K5XKZVEdIXCN_EgOEFyBAUTK2A4pVrokLUSaywp23aMSug_kZj9EV0jrMP-wEokGaHeppkNCLm-xgJHiRIl0m19HWG2wdCji43ScPN1OBdYyfLPCLqR3OUW_dtMhf28HTJZn-6ICrvs5hMgnQhfoaWKKSRohe2WlicEH9rMkS7aBLDUXBuQ-3AFxjKW4ej0oMUAYPdvEHqqGcMsbd3vcper20Ts-ltbG6CGM5YWz1BQGvsFjp8zMKv-tn1EC8IpxCf14XGGDRZj86EX-Fmtewp8FvPjZ6u5H4NmpjRMq16b06NBtpwtjmFmaHtkisfqhkkSXe1-5_FyLDbzudNOTfdjVcTpP9vIBFmkZWEjvOintH78vDoF5nlthf-1POe_V_wmhB1_XG_CdGqahNJnOPoCoQZw1gpQgR-94GjJbqFBj0YHqxgCd6v9NE-H5_URyjAZYVUgMDitwRbrARHtGg1TeZCLJ5UfW7TyhoAeKUHMeWFcv3uEOwx_yhy44ZDfmMVwml6dhChIrpBX4FpBuFrfu6hdQFY2wWpB_vTydo0ON1DEIKN_fIlfIAmFIEABtvM28wFfchaLufGE1tQYxEXJTZJqUq-4k5npPOoCHIM88-mTalJrLQpXLUTQWY5Ug6ASNBVtFfhHwZ162g_HrB7xFgCLW4JVyZ3nFGjAI6DlxBC3XHyK9Oq_HbAtEZkrluZwsilo4HKeml5NX2Ugy95pLy36wUodkAhZDyBviSl4k59D8tVz3Q0f3_NDLeEfNUWRY3owDrhOzgMjyiMFftuAKkAfgmY-EhnN6exh5x0P1iZm3KHEil6AYLw67U5PK3AqQoVgfrEoxxsep0oACGP6NxkAfxEaHjLwI7zM2BQaHXugSjbpIyMNmYK6UEidlZVFzJFoAr_ywfWXFjVjY5woGghSGOX0uT8ziGs5naaMkhmJ4oskrlu46jT0YkuRRrr9-XybTdBShK8MOyM9F9B34NehpgnBp08xGmTTr3DoNu41YbW6VtJQ-FhENMsRRElLpn0YuUVpsg8Sv3s0H1_bQK1G0UqkHaqHZDbImyuU_7ldmN8r0E_FHkELPEqA4JQGzmBx0cOd2gZtyuSdErVYq4=",
  "id": "rs_0cd8c2626f3e00d1016ab443e4b65487d0824cc249c2455d7c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.395},\"note\":\"The gripper settled nearly fully closed, so the first close was empty; the plush remains just beyond the fingertip grasp point despite being centered. I’ll reopen and advance another 4 cm at the same low height.\"}",
  "call_id": "call_APDuSFuJC3vi60xlkJPiYj6W",
  "id": "fc_0cd8c2626f3e00d1016ab443e56d5887d0b53ccf73952b730b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_APDuSFuJC3vi60xlkJPiYj6W",
  "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]: [-0.3233, 1.6375, 0.5892, 0.2806, -0.3019, -0.2283, 0.995, 0.0006, 0.8558, 0.6952, -0.7918, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3817 left_y=-0.0687 left_z=0.0274 left_yaw=0.0411 left_pitch=-0.1456 left_roll=0.0544 left_gripper=0.995 right_x=0.2413 right_y=-0.0034 right_z=0.1306 right_yaw=-0.0423 right_pitch=-0.3682 right_roll=-0.0329 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9556, 7.8427, 1.7558, -0.0171, 0.1197, -0.0171, -0.2393, -1.4974, 6.7487, 1.4969, -0.0122, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8166edff34ee2282e775975fd7bf1fc6a3fd2fb76a2a97048010ddc34a821c24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d263365acc2e0a3baedc63978fcb37147c7c0b82617e9fd731fefc4e4d0312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61934af972e986a5e6fac10d64e0397da9a60d694f605b065d20f63aec2ef8e3",
      "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 132 changed as sent

message 140 changed as sent

message 144 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4187, 1.161, 0.5552, -0.1081, -0.358, -0.2794, 0.9991, 0.0006, 0.8471, 0.6952, -0.7452, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.3268 left_y=-0.0737 left_z=0.1099 left_yaw=0.0169 left_pitch=-0.08 left_roll=0.0289 left_gripper=0.9991 right_x=0.2503 right_y=-0.0034 right_z=0.1395 right_yaw=-0.0414 right_pitch=-0.313 right_roll=-0.0304 right_gripper=0.9953\nstate[joint_eff]: [0.5402, -3.9179, 6.4615, 1.873, -0.0708, 0.1343, -0.0073, -0.1299, -1.4838, 6.8991, 1.5653, -0.022, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3706, 1.5055, 0.482, 0.2886, -0.326, -0.2474, 0.0114, 0.0006, 0.8528, 0.6949, -0.7734, 0.041, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3552 left_y=-0.0735 left_z=0.0384 left_yaw=0.0223 left_pitch=-0.1084 left_roll=0.043 left_gripper=0.0114 right_x=0.2449 right_y=-0.0035 right_z=0.1338 right_yaw=-0.0423 right_pitch=-0.3472 right_roll=-0.0323 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -5.8872, 5.4496, 1.8828, -0.0415, 0.022, 0.9158, -0.1436, -1.4291, 6.7077, 1.5507, 0.0073, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3233, 1.6375, 0.5892, 0.2806, -0.3019, -0.2283, 0.995, 0.0006, 0.8558, 0.6952, -0.7918, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3817 left_y=-0.0687 left_z=0.0274 left_yaw=0.0411 left_pitch=-0.1456 left_roll=0.0544 left_gripper=0.995 right_x=0.2413 right_y=-0.0034 right_z=0.1306 right_yaw=-0.0423 right_pitch=-0.3682 right_roll=-0.0329 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9556, 7.8427, 1.7558, -0.0171, 0.1197, -0.0171, -0.2393, -1.4974, 6.7487, 1.4969, -0.0122, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8166edff34ee2282e775975fd7bf1fc6a3fd2fb76a2a97048010ddc34a821c24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5d263365acc2e0a3baedc63978fcb37147c7c0b82617e9fd731fefc4e4d0312",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61934af972e986a5e6fac10d64e0397da9a60d694f605b065d20f63aec2ef8e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPqBPv5FbpJ71_EhlLJ9C4gcwN9tZILdcWlS6FyD4ewS4720WeXNfdfNJpfolnEjYBKIOKlgNBK-ir9LX7bzxHmDGrVpa5kUXobWFcFUYgZo39GtR08OCDAEfNZpx91su6IqICv704SEWThnRpeh3B6GY89O-Pu6fcLvBr1ZfSMn25aceirfJ5jytv1v8CNRAACwY812b7iLEwn6iEzzvDnuUnAa22Y0ceFJ9LALvcdZ1rf4_XoeZndzHKKfCSQcPuZbud5GxupBQzSGh6ayuOIQEB4oaVrvPSnRhBg5JerfXHdn1R-l7StNAhWWI7wnqfWxbMQyXHO25b2Qd1aW7Nm8eDynSAePlkihL62DbfGiAh64TEuC5d-t-63nsuGgdrQwAay4CcXHvm9JZc09iKZwQReG029f2JcLs-6dgvSgX1rNZyesd__WDRVCijZfsd_DBQ6Rdzpq_KIf0-CRLLZwhbXRsREqX5wrX2Xp5my6xtkTT3FC7OlHej1G69y_5luCE9JHHmQLfztpEiJrjBCr0QSkDke9a5nIA4koVq4NsvmGSUf_oEbYQRSOMump8InnEf8tbnCGtjafjVjMifNQaAVG_mBbqFcEwlkXUBiOCLdvKOBVN6H7__Dw_Nk5KI3eNIbYS8iovzI9ESGVIDEaJnmtMIYqQfWGD9wguvAVlH4EzMZV6A6rWp1JauTi6qL2_oQPFN9G_PRmlIV5dYjLWwsZdNFjbqWxrmR4gk0M1buCdJonaxmSQbXXT4CXMkZz1n0YAp1XRiOy4MkZAMdG2u-mH5LoewGZubpQyrHk4DyqxMCvqPXC_VDes7KSiEdw5GNtAh_-JUHpp1Y8av1dWb88NxTnPkUd1oBOITyZKB6a4Pw-49ZcIf6hVGIDarwekYvdUSkPyRUngyni8PL4CObP67pD1hg4pxsUxOzrpX7v01N18Dodco7VRoV6Szfa7IZxJBCPiLI3k9bLp88hST8Q3-DBc9qwO0iP-9wk2qesE2A60pOJlTJ53gq8IOJcOpDV29M-kXnkDcV8paWHcAKLSEZSRk5YEcLkybijo4OaIhjDeBNnkQHEFj2qkklWAFH-s18Y-XWDxSMWqlbdlhauJ3SSgJdWfTK5VT5cAL03kGUtcQDKzF8oBsxMQCVBFLtRjAp5AsjAWlMWQfzmz3CBJtFlqGnlZA_1NTHBgO0sNEDktN67-1jKWLsbzGuqkg--dCLKhIC_UUSrnEbmkoMgqeZi9n5Zwn8QsL7qMP5YVCpiuumZQgz_0w7L5YnWKCIYR1UH86T0xJ9YZP6TNsln2025sSn2RZKcuVn4M6T447CMFKLnafwtDTpDncGsyJkLm6O4Xy-HRdVQB8D2Wzg0mZu57iCZo0Y6fjZAR4dPDkrF0VbbJIteohwxz3ODsD4RQdMzMQvDVTdxjNFmnX0GlDWwa1p6UXa1UTIJdY=",
  "id": "rs_0cd8c2626f3e00d1016ab443e8bd0887d085fd29e7fe206804",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.09},\"note\":\"The advance reached the plush’s depth, but contact shifted its torso slightly to the right of the jaw centerline. I’ll slide the open gripper about 2 cm rightward to recenter it before the retry.\"}",
  "call_id": "call_5MVwY8c4xWyOLVLAqeECD919",
  "id": "fc_0cd8c2626f3e00d1016ab443e9505487d0bbec3bef5682b3d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_5MVwY8c4xWyOLVLAqeECD919",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3622, 1.6489, 0.5964, 0.2672, -0.3279, -0.2516, 0.9963, 0.0006, 0.857, 0.6949, -0.7956, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3786 left_y=-0.0788 left_z=0.0245 left_yaw=0.0371 left_pitch=-0.1543 left_roll=0.0606 left_gripper=0.9963 right_x=0.2405 right_y=-0.0034 right_z=0.1297 right_yaw=-0.0423 right_pitch=-0.3736 right_roll=-0.0332 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -5.5726, 7.7744, 1.4579, -0.2564, -0.0904, 0.1245, -0.0615, -1.1692, 6.6803, 1.3504, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d194dfe4c464cf571fb8b0b52bcac7dc35d695097b281e6237cdbb83d019ec26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ac875f2c2b22b9bea82aaa21375bd82da4344df0c461e7df29dbd3ab67a2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db818097623e8acdace5a445bba7349531bfd9408d9daf944797ae05771abe82",
      "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 136 changed as sent

message 144 changed as sent

message 148 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3733, 1.4784, 0.4885, 0.1947, -0.3313, -0.2619, 0.9991, 0.0006, 0.8509, 0.6952, -0.7582, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3448 left_y=-0.0695 left_z=0.0338 left_yaw=0.0352 left_pitch=-0.162 left_roll=0.0591 left_gripper=0.9991 right_x=0.2479 right_y=-0.0034 right_z=0.1367 right_yaw=-0.0417 right_pitch=-0.3297 right_roll=-0.0312 right_gripper=0.9954\nstate[joint_eff]: [0.4308, -5.9829, 5.2034, 1.9609, -0.0464, 0.1832, -0.0073, -0.0479, -1.4974, 6.6803, 1.5995, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3233, 1.6375, 0.5892, 0.2806, -0.3019, -0.2283, 0.995, 0.0006, 0.8558, 0.6952, -0.7918, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3817 left_y=-0.0687 left_z=0.0274 left_yaw=0.0411 left_pitch=-0.1456 left_roll=0.0544 left_gripper=0.995 right_x=0.2413 right_y=-0.0034 right_z=0.1306 right_yaw=-0.0423 right_pitch=-0.3682 right_roll=-0.0329 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9556, 7.8427, 1.7558, -0.0171, 0.1197, -0.0171, -0.2393, -1.4974, 6.7487, 1.4969, -0.0122, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3622, 1.6489, 0.5964, 0.2672, -0.3279, -0.2516, 0.9963, 0.0006, 0.857, 0.6949, -0.7956, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3786 left_y=-0.0788 left_z=0.0245 left_yaw=0.0371 left_pitch=-0.1543 left_roll=0.0606 left_gripper=0.9963 right_x=0.2405 right_y=-0.0034 right_z=0.1297 right_yaw=-0.0423 right_pitch=-0.3736 right_roll=-0.0332 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -5.5726, 7.7744, 1.4579, -0.2564, -0.0904, 0.1245, -0.0615, -1.1692, 6.6803, 1.3504, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d194dfe4c464cf571fb8b0b52bcac7dc35d695097b281e6237cdbb83d019ec26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ac875f2c2b22b9bea82aaa21375bd82da4344df0c461e7df29dbd3ab67a2a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db818097623e8acdace5a445bba7349531bfd9408d9daf944797ae05771abe82",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPtJdF9ZWWWLHedOcUZ5JNO-1WBCx9poaPIrUzyaZEbWSSKX3v4AoTchfaWp7BiEXTxwOY3jMASpbNRlUdoJ9zg7w5Z3BGLHhkHCBxt_XSyflIr84YNb3i4THN3v_5GgJfw0237c5ime8zdEPS5d9HLCyhja3ZDtaFG8v_cOjjnETtKJgjUsd2cZ71Z9bKgL5ioUk7Bg6pOT-IFADstG2voPCiS6MJRBIDCOvxykIRUkJIzzkaFsiwrj6EQm6e1cztpsC-EOLvlASMiTIUl3d3OyYb38wmDWjE5eOvnJHGHUGyGJPAWUhvEn7OWmJkcvog_yJPvjy5ghF_CSh1OhuZArxRJ0kgCAGQVcooXYY9rp9lfFjDDdKZJKhHPeMBulzRwPclLez0sw15ElsTUGDpQstQJRRGA37Z5wDLV6OyZwcHbUnY1jnB3yAMUsDfghfbIr6nn-T8hANN4ccZAJazI9I54eh7uxz5Gk6NGGojti5PDcUBnwjZzPmmkor0ttN4DwvJ7YmitJIYDSW98R_UM6yAdetfqEOS9iRLqjcEFp0ezL_3A96TJGzKL9Au4OkWaIQQP4jXaEYit-Nu4lRN-jMoJ6R2V5QCbXCGAw-UYk123F6yx8y9ku4h87Xelm6ftxylAjxPElem1ElghM_h3sNkmz9BI5lrvrO0lBlQjRPGLnDqXk8RRwS1B-3AJ7U1LfrPIzUts5T081g4GDORxuj0F_Qn_xmuJphXKVnXGwNBfB_Z1C3Ow0f_E1yu4oUfiHjuZA4t0KOgo2KQW9rVdY_EJzAtX5XwZv_hSB2sdvg2k__YH2HRvlQqi1OBlMytTmNMxToLjUDvEtEEBN4tEamoeeuVa6lVOCNzfEsCBn3Ml6-8Q8_umK07JTYK_ezjgmWTWL6QS8aiUjZSxt-PXK9N9XIC2E_izkdQsr5gqvNwGlKIB930VMfDeG3dC4kwIEgjn9a-hm92Kwcc6KaU64fzL55v0iq45bsLgdFKXiyQlvZyjCNIjOowxsVDcnp2IBs-xUsGNAWoqMC_r_gtcUyKkhlsr_kQZzNw1M_r26CXanMav-OH1Ekj5s7jLvJPt92chDRoUjbY1O-wRk-YDAlukstKQYscawLejHzYZYSrUi39OZjyOuNcUVI20rkD6xgdiHBEVjHR_nN28geQRtdor4nBJqthEhuPOyjeXTGB1aG3BnJYx6dX10_sTTjztb_blKopT0gBGXkwFiB65410T7OXqdRyzBEUwrw1v6Oc_593e-7UA_4kPDXS7lqSvLosB0XueXGm_-b7G_UQHx0riOMMYJiv_14U8y2oMALUNliI580zcrD9OKy8QExdgQ5vjMn1KHRoz0DZlVVQhHsfCBmXdXhoYlOzZTg4RO5B0hjQ6RIX-Q4fdor8rMKQU",
  "id": "rs_0cd8c2626f3e00d1016ab443ebaad487d08809f914795a7eca",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_y\":-0.12},\"note\":\"The small shift moved the plush toward center, but its thick torso remains about 3 cm to the right. I’ll continue rightward with the jaws open so they straddle the widest part of the body.\"}",
  "call_id": "call_scEz75xvol1JoUaMyvVTaTV4",
  "id": "fc_0cd8c2626f3e00d1016ab443ec20dc87d0a1451d7a0135af64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_scEz75xvol1JoUaMyvVTaTV4",
  "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]: [-0.3996, 1.6562, 0.5976, 0.2466, -0.3454, -0.2783, 0.9964, 0.0006, 0.8577, 0.6949, -0.8131, 0.041, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3725 left_y=-0.0885 left_z=0.0196 left_yaw=0.0305 left_pitch=-0.1726 left_roll=0.0632 left_gripper=0.9964 right_x=0.237 right_y=-0.0035 right_z=0.1271 right_yaw=-0.043 right_pitch=-0.3918 right_roll=-0.0344 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.9282, 7.159, 1.5604, -0.3101, -0.0659, 0.0024, -0.1573, -1.3197, 6.7761, 1.4676, 0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1343ab2e8e337508103fd78b4d1f8a8c6330e8372bf448ed138751b40c9ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2626b34694a129f2ff795352fdea3946a3b6fbedb2ad99988bc5a28ee21b88ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb47ccd500142b163ae548b1322e20ca0c4683b01a19fb77c7f313fdc4d3cf0",
      "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 140 changed as sent

message 148 changed as sent

message 152 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3706, 1.5055, 0.482, 0.2886, -0.326, -0.2474, 0.0114, 0.0006, 0.8528, 0.6949, -0.7734, 0.041, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3552 left_y=-0.0735 left_z=0.0384 left_yaw=0.0223 left_pitch=-0.1084 left_roll=0.043 left_gripper=0.0114 right_x=0.2449 right_y=-0.0035 right_z=0.1338 right_yaw=-0.0423 right_pitch=-0.3472 right_roll=-0.0323 right_gripper=0.9954\nstate[joint_eff]: [0.0479, -5.8872, 5.4496, 1.8828, -0.0415, 0.022, 0.9158, -0.1436, -1.4291, 6.7077, 1.5507, 0.0073, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3622, 1.6489, 0.5964, 0.2672, -0.3279, -0.2516, 0.9963, 0.0006, 0.857, 0.6949, -0.7956, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3786 left_y=-0.0788 left_z=0.0245 left_yaw=0.0371 left_pitch=-0.1543 left_roll=0.0606 left_gripper=0.9963 right_x=0.2405 right_y=-0.0034 right_z=0.1297 right_yaw=-0.0423 right_pitch=-0.3736 right_roll=-0.0332 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -5.5726, 7.7744, 1.4579, -0.2564, -0.0904, 0.1245, -0.0615, -1.1692, 6.6803, 1.3504, -0.0415, -0.0269, -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]: [-0.3996, 1.6562, 0.5976, 0.2466, -0.3454, -0.2783, 0.9964, 0.0006, 0.8577, 0.6949, -0.8131, 0.041, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3725 left_y=-0.0885 left_z=0.0196 left_yaw=0.0305 left_pitch=-0.1726 left_roll=0.0632 left_gripper=0.9964 right_x=0.237 right_y=-0.0035 right_z=0.1271 right_yaw=-0.043 right_pitch=-0.3918 right_roll=-0.0344 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.9282, 7.159, 1.5604, -0.3101, -0.0659, 0.0024, -0.1573, -1.3197, 6.7761, 1.4676, 0.0073, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb1343ab2e8e337508103fd78b4d1f8a8c6330e8372bf448ed138751b40c9ebe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2626b34694a129f2ff795352fdea3946a3b6fbedb2ad99988bc5a28ee21b88ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb47ccd500142b163ae548b1322e20ca0c4683b01a19fb77c7f313fdc4d3cf0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEPw7ycdj_9HsrXY3hMXqB9KBtwFmJF-q0VslNim0undZXHTqnDELNGTlS3B5ReoqtK5_r_lPOeDMiHSPS4usQOLQu_pTsxA6Zb_u34nFC5E79PTj8SR9A9QGuOe21yYJY8BericJE8UUzX4ghptGavXdfgJ1_QOPatsGM9yvwzzOBmtNRbmAPqiMme3Erp9Sd-V2M9yCyD_n6E2CINZWKxhSzN8nkUHUcicr0vcq0pPHJpmySEtEd0df9ov1uIEPU31bOOXHevZK9_YhPKqHCv7spcV5wXlIUvD_x_82eEFhv4nSBU0_871gDlfvJCPcJBfEauj-dGyPMy6cQBVUf_8j6BsruRjzd5-NRAbm7XmbK9MVbVB7j9ZMslbZVR8YCM_Ytqq8n63mRyaPA1a1tYkOUj9C0psOmhg3YbC71LuniFciujlqFvjjHTdoeZ7qDNebRxBmclqmLuth8sqC0RokkGSuBGMpY8RdiWbhN6Z8HdBnwbAidnuS_1fUjEYNjrtmObFeT8KYNRkn8p-L4JPqLM-sXACiydRCo_-kmiq3ZSvUBPYiMPXQXJ4NJbXRssfjyFV-ejgs2V8bsE9bpUhpAgJc085oh4zNNSYHAWWT-p-uM14GLzZ2l1FOE6olYp9RrI33ogS43d130ai0LmXGYSBk-3OXrlLHcjdR9CMEaAvz1Um5rANkdYvzBQxZx2tLpGiEdBNXJT5Qir0ikVWxI9GCaoPeYADzh2ZU2OHMXFZifNUYhwTWMA5yzImYxqarfmdCdeDogZG0UqC_pQcrGE5adSE3h3IG52Pxq8vCDa2U2sX0K6MRtZJatphIYm4Lb8ascXCGntN4OF6wP51YMsGjRDkG6GwoLUqG7QyHX4KRWicweuhHkOKNoY2AhTmcwaOe5rT2akwyQHYjNfd_H52TWNQZnAnRI4DefQagafsEPhfEGKMjXLqbM2zTS9JAblgMDinuxK5O4KPq8MCj_sFJGMqDbZv-Simb5ZCqm62rkXm3s9hGxExNCDD2AKHNlnBF_NnnZJ5yvfT3xyuVN44BFYS2eRL3XVfLqhhjhJHX5-F6OZkVWC2rCeA6daEr0dw78c1hyVUnDovclWLoFKh8rpUWH2JCSDNKCt978dqkWZECSBSXbUwsoVMPrT7Mn86CBu0EXnc8J86LfmeOlTOlSzV05cY1sCgE1OlciTMKzRKp-kksEK4dxxEcqu0x-d01wpc6lHdhxgjItDB7a1GWMqQgI_YTWUJZFmlrV0sZvUy6qtOQWwFIW_WFJnK9QhZXq2LAMiC_U98DElGAvOOy7nFGNMoAjq3qOlk3yzrlHe-EGz1ykPwnqhsChEd-OmUXLiM2RB8oLI3qF-9TzlukNAAgw3RWa0Ll7s9dSzOc8hh2GCYVCGovTEq_vV3vtnnODJVSyyJFAIirJBNLncM8inrjd6NQOSZoY1Bpl5AQqlenwDAr_tAR4F0xEE0GDNYwuokL5zqlfooLYhlzl9vFp6Fo2QKEdwAMZnpaRStKFj96mX1zrLDLNUlj3_r",
  "id": "rs_0cd8c2626f3e00d1016ab443eedc3887d08f35a3c53cadf9f9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm is now at table contact and lateral tracking is slowing, but the plush’s torso lies between both open jaws with only a small residual offset. I’ll close fully for the second grasp attempt.\"}",
  "call_id": "call_sGUl76SbpuJUkS79c6xGf1cJ",
  "id": "fc_0cd8c2626f3e00d1016ab443ef9d1887d0a0d382191bcbf8d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sGUl76SbpuJUkS79c6xGf1cJ",
  "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]: [-0.3996, 1.6562, 0.5972, 0.2386, -0.3477, -0.2874, 0.0108, 0.0006, 0.8585, 0.6952, -0.8341, 0.0406, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3711 left_y=-0.0875 left_z=0.0182 left_yaw=0.038 left_pitch=-0.1792 left_roll=0.0616 left_gripper=0.0108 right_x=0.2327 right_y=-0.0035 right_z=0.1242 right_yaw=-0.0433 right_pitch=-0.4132 right_roll=-0.0348 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -6.5709, 5.2308, 1.5165, -0.1245, 0.0855, 0.9109, -0.1026, -1.2923, 6.5436, 1.4823, -0.0269, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8df482153c57e84d343cb46cebe9ed35efe1349fa63d95cddc78a44a0cffe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:510f70d811d88469d93371e026596fdeb54475099f9d1952bb4e81c3239e01ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f17198d0cc7c5fd540f6640eaf6c54d55b4ac8e684ec1578f5e2c19b8fcb809",
      "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 144 changed as sent

message 152 changed as sent

message 156 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3233, 1.6375, 0.5892, 0.2806, -0.3019, -0.2283, 0.995, 0.0006, 0.8558, 0.6952, -0.7918, 0.0406, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3817 left_y=-0.0687 left_z=0.0274 left_yaw=0.0411 left_pitch=-0.1456 left_roll=0.0544 left_gripper=0.995 right_x=0.2413 right_y=-0.0034 right_z=0.1306 right_yaw=-0.0423 right_pitch=-0.3682 right_roll=-0.0329 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -5.9556, 7.8427, 1.7558, -0.0171, 0.1197, -0.0171, -0.2393, -1.4974, 6.7487, 1.4969, -0.0122, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3996, 1.6562, 0.5976, 0.2466, -0.3454, -0.2783, 0.9964, 0.0006, 0.8577, 0.6949, -0.8131, 0.041, 0.0067, 0.9954]\nstate[eef_state]: left_x=0.3725 left_y=-0.0885 left_z=0.0196 left_yaw=0.0305 left_pitch=-0.1726 left_roll=0.0632 left_gripper=0.9964 right_x=0.237 right_y=-0.0035 right_z=0.1271 right_yaw=-0.043 right_pitch=-0.3918 right_roll=-0.0344 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -5.9282, 7.159, 1.5604, -0.3101, -0.0659, 0.0024, -0.1573, -1.3197, 6.7761, 1.4676, 0.0073, -0.0415, -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]: [-0.3996, 1.6562, 0.5972, 0.2386, -0.3477, -0.2874, 0.0108, 0.0006, 0.8585, 0.6952, -0.8341, 0.0406, 0.0071, 0.9954]\nstate[eef_state]: left_x=0.3711 left_y=-0.0875 left_z=0.0182 left_yaw=0.038 left_pitch=-0.1792 left_roll=0.0616 left_gripper=0.0108 right_x=0.2327 right_y=-0.0035 right_z=0.1242 right_yaw=-0.0433 right_pitch=-0.4132 right_roll=-0.0348 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -6.5709, 5.2308, 1.5165, -0.1245, 0.0855, 0.9109, -0.1026, -1.2923, 6.5436, 1.4823, -0.0269, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc8df482153c57e84d343cb46cebe9ed35efe1349fa63d95cddc78a44a0cffe3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:510f70d811d88469d93371e026596fdeb54475099f9d1952bb4e81c3239e01ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f17198d0cc7c5fd540f6640eaf6c54d55b4ac8e684ec1578f5e2c19b8fcb809",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEP1RsAtJ-FvhuWkLUAiozOqNiUDTMsTtHzN2LHdAxSh6N7fPX4-j4QFaPDc5yDlNGlXMBgQfB6ahCAN8_dLtYiQ0-uLFByKnH82TiIu2LOlODZpMrNa8N2NpaxgKUz2TI60CM-2WGBT_i7rFb1gDgq2y-BuwqaF5vXPZ2ZzhSMoCZDUDCtSVA450skPaSzt9I6EUiPvhJFCZJTQeAn_KTRXYCV0owN_jaJu1ifWRxQa9c-ZqIWBi93OmarqA6Y2oHkUo4zN3jalDiQ2fWNmSJu6HSz_0lBS21A0P-GMII9o-m4Ee1akcYautWPxhqhuTr7J-6-hq9GUGX6yghTCufAo5xWw08FBwbV_GMD-xPZcI1qHN_KDcTiuRCbEHb0SvGu0cQcJLga6is7iMaiXi50GLdll4qzhpq7JP-E1G0y334p_rGUpvNngu8rXIQ2x2udeETdDnwFhtVfQfJNrVTtvUMlQINKvHl58inrBTdMUH1hld2Wq62Lb7JYCtgT1Z556GB2J8yeou2_uy80SxzXnb_jn-9YYcElqCc4h9LJAG-0I9xgaCjMwUgrwNsTaMkkMir4u7XlEMgYhxEM8lKl5OW6CVJgl1OTwN0ChSKH0bllcQQtltNzvbSu679FKwYgoS9zAh5ZMeRft6tbGyb3uxAHZESBMn8KD8oj6VSnLWVamYmRbvnU-G8mjY7eqaURvTwhYlssoTVFV7Zw44YUAcTiRikAp-Tf5gqqqlUPjNd_13KOmszRLWurqrxc0EeoQlxBylj3O876cS-gOVDKFsMpBmWhXLbBWBCSml_BW6-UB2gogpZ91rRR8KLg0lxGtuTxVOX1vKu9pOWb9hXtiXInrrgwahJnXRZIXv9-e7W1enZESI38iBUo6IW8E5BWGHGkD2Xws517oqa9Quo91Z5-SXUDzMoIms_6kozR8TxTiVM81O2v7mVUAdfTgAyEYWCm5zYGz5YPveRb8gxTeOBDv7RfGOTpNS8CLbL2h22nxCsVenf3VpJA-728ndcVZcip-gf5gYaDYaPul2vl0tfSi8toylQojQlUOezO-7NjTJtCi00YuiNT0mw3TgGRrh0rWeJBKc_la2IYI9nSCicQ-4Th1m7YT6BXXE1-Qn0qArEgaqvfcvncWMRRN2BBpJarvte1LXvmEk3t2r2LAsMcG9q3M4QKoZsLerFrxw1W3bbmtmX7n_DIJQPVX5DYHpq2DKo6z99vZF0BFplx84huMsGX5Inrd-kExCMW3Bq9ZvixYI63tpHjtUQcHiqLu0gljZuDJ9akUIOjvEIo6zPq8uRn31knJ6cN6ORh40ATEz6Y3pAwKSqqHMmy23ce4e04-AV8HzkMkgFt-XfcSrV7zGrkAh4SEUZSI_WiHy7JZoytPrDhxuWYv4S5M0ND69rNzxG3OaqjEslKpFPyWFVjiZTxsNO21N6PaLTEuHfksZ3SLb_FdyeHHgV44ixTlw5Zcn72PKVqTsvNbogfFTrCOOlMn4jTf6AoVKBlcoX3Ow24XmZwB6QSckX3byZY9MuYOQV04b1kXiya1_egjIg==",
  "id": "rs_0cd8c2626f3e00d1016ab443f2c87c87d082f66d3ed615d4e6",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtEP1QRSGSXc_HCk3d2e6kSE6vWjYK1WFghkHjQ9hx7176Gkvtjl_66nwlowD4scmoTjFUn7XMo4XKTjRNbpooUmIWLyFLX_uXeOyY4WwTOXrkMY7b64w8sdp-SFhAES7KJwoYlHM2KxP0Hl5darP2QD0kBpQhSaC-orNBP2QvlzFoWkQiTs3-acebd8uw37FoqopBg5kHYUww-KyQrSjwP_00VNtvt2plewe71N9oNhfj91pU8f7xkjpOfrjtHcmVSzblnO-jbD1hXXHm6ivCQI-7doJExFrdnz2tQLwygJikgz5sePrA8KLw05Onyc6a3u-boEngP4Jd5Sy8oS00sxIvxuDPUJkIuwZmp8YMs4pl5vl8AuINDEUDlPTajHQmmGO8y1Z8k8WtxqtAm6luzGWd2XQEiyq1kod7XVHSmYnAtv5593F9PCehWnEZ_ZJqdSIgMZj0S52U2hTm24w9Rvu0OKzMeSovZkQ_YeTn-O985JM3e2pY236kuj3BMX7caFivAc5RTgZo2kRo72BqaKswuDC4Kn-Cry8nqaubxCdiwKcoTxnP7LnyfRafFY4xFaFUnoZhN_Y--p_rwZd1vxKhHSZa_2lFGODP2U3BBXNVcZy05rjn8DxYtIZSmCcd4RNEhbv45ZdjOPz4ayl1j_9-txEnQmGbAhRNBu5sM7ylL1I-mO6AYXVjyor-kzLw2iMl9ksotAxLkb__gfVuTBJ3WcFS-eHY5xxKUTLYLabuWNIvcBdvPv9pznC_FTDijLGwq7ZaaT-9iOgIAVhse3HrwFmL1kKeehsQlZzWs_jgKf16nyvKx5hWyZI4MDcmDAFwtE4wf1cKKzuc65nBW5ORmzziNPqDv-N-RKnzZ_yVNUgv-J9jCbnL0O9b5nMjnTyQoXcGBvFbd25wNTOV_2h3l7rvdr_H4toJh6HtoUO9RjeC_wrX4PTNme5XOhJ5W9bpVXvUJP28r4dU94ywI_4u6h71tcR7RMhfytiulfTYgTz92c2CMnwM-bdU0YC7LVhIv9jaLveaZf0aWKtoUCamImTjfrC42bqhx4QiV1aAXtwTc1rJ1uzj0YJ5b4ArbKOn2anqn8224IStMNHNKV2a3z74S2M5rAF7gG9mVgeCX9ZvJitUp-v0SP8LhdjtW6Q_ZwX2xHR9GzQa8vGFUHbQFLyl4wGl8zdyhzNeUOSO6WE75W2pP22xE92ZdD0QfZ3ygN7-Hib5C3sn8DyZek46q5j6Yy14RBJ2S1sBZGfccNe7eauLnOsCdAkenk7e-PGrooN5V66oGW81P8ukg5Jb_ZDf6fRGqHG-YW43cC_LszT_r61AwpAUy6x1SpemTSj3AVjHkmlM4MXWBe3IDXM7g==",
  "id": "rs_0cd8c2626f3e00d1016ab443f3426c87d086a17c511af698e0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.43,\"left_z\":0.015},\"note\":\"The second close was also empty, confirming that the apparent overlap is perspective and the plush is still beyond the grasp point. I’ll reopen and advance decisively another 6 cm at table level while keeping the current lateral alignment.\"}",
  "call_id": "call_UKaBnfY4LaWHTuZecAu5VPQ2",
  "id": "fc_0cd8c2626f3e00d1016ab443f3b3c887d0bb71055a8e8e93a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UKaBnfY4LaWHTuZecAu5VPQ2",
  "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]: [-0.3294, 1.8324, 0.7788, 0.1997, -0.3279, -0.2577, 0.9949, 0.0006, 0.8623, 0.6949, -0.8528, 0.0406, 0.0067, 0.9953]\nstate[eef_state]: left_x=0.4147 left_y=-0.0778 left_z=0.005 left_yaw=0.0784 left_pitch=-0.2171 left_roll=0.0835 left_gripper=0.9949 right_x=0.2288 right_y=-0.0035 right_z=0.1208 right_yaw=-0.0435 right_pitch=-0.4361 right_roll=-0.0361 right_gripper=0.9953\nstate[joint_eff]: [0.1983, -7.1453, 7.7607, 1.6825, 0.1245, 0.2222, -0.0806, -0.0889, -1.3744, 6.7487, 1.3797, -0.022, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebbb042056a3807b2da8ed10d4adf48f6cd01db1d4338d047648fc745ecc122d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcb4366f3d13699cf74a8c69b49c0f460fe64583d0a767032f51b85355a22767",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a2f9033399d0520cc01f8b11d25840086b9a2a707331a4202d619e403004e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}